GB1048991A - Creation of Inventions and Patents with Artificial Intelligence

GB1048991A – Improvements relating to automatic avoidance of ground obstacles by an aircraft or missile
– Google Patents

GB1048991A – Improvements relating to automatic avoidance of ground obstacles by an aircraft or missile
– Google Patents
Improvements relating to automatic avoidance of ground obstacles by an aircraft or missile

Info

Publication number
GB1048991A

GB1048991A
GB19335/63A
GB1933563A
GB1048991A
GB 1048991 A
GB1048991 A
GB 1048991A
GB 19335/63 A
GB19335/63 A
GB 19335/63A
GB 1933563 A
GB1933563 A
GB 1933563A
GB 1048991 A
GB1048991 A
GB 1048991A
Authority
GB
United Kingdom
Prior art keywords
aircraft
radar
guard
window
command signal
Prior art date
1962-05-18
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)

Expired

Application number
GB19335/63A
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)

Thales SA

Original Assignee
Dassault Electronique SA
Electronique Marcal Dassault SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
1962-05-18
Filing date
1963-05-15
Publication date
1966-11-23

1963-05-15
Application filed by Dassault Electronique SA, Electronique Marcal Dassault SA
filed
Critical
Dassault Electronique SA

1966-11-23
Publication of GB1048991A
publication
Critical
patent/GB1048991A/en

Status
Expired
legal-status
Critical
Current

Links

Espacenet

Global Dossier

Discuss

Classifications

G—PHYSICS

G05—CONTROLLING; REGULATING

G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot

G05D1/04—Control of altitude or depth

G05D1/06—Rate of change of altitude or depth

G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft

G05D1/0646—Rate of change of altitude or depth specially adapted for aircraft to follow the profile of undulating ground

G—PHYSICS

G01—MEASURING; TESTING

G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified

G01S13/88—Radar or analogous systems specially adapted for specific applications

G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes

G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft

G01S13/935—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft for terrain-avoidance

Abstract

1,048,991. Pulse radar. ELECTRONIQUE MARCEL DASSAULT. May 15, 1963 [May 18, 1962], No. 19335/63. Heading H4D. In a system for automatically flying an aircraft (or missile) substantially at a predetermined height h 0 above the ground-eg. ” hedge-hopping “-means on the aircraft define a “guard” ” curve which extends below and in front of the aircraft and concavely upwards, and the evolutions of the aircraft in the vertical plane are controlled such as to maintain the guard curve substantially tangential to obstacles lying ahead. In the embodiments the aircraft carries a pulse radar which surveys the ground profile and the ensuing height and elevation data are fed into a computer together with electrical factors which define the guard curve; the latter may be the arc of a circle, centred on a point O a distance R c + R p – h 0 vertically above the aircraft and of radius R c + R p where R c and R p are the minimum tail-down and nose-down radii of the aircraft respectively; or it may be a parabola. Considering an aircraft A, Fig. 9 (not shown), with a velocity of magnitude v at an angle # above the horizontal, measured by Doppler radar, a vertical guard surface consists of divergent lines surrounding the guard curve and the beam (p) of a monopulse radar explores the elevation of the terrain ahead; the automatic pilot alters the attitude of the aircraft if there are any obstacles within the guard surface. The guard surface may be replaced by a three-dimensional zone limited by the surface of an incurved cone. When there are no such obstacles the aircraft follows the nose-down path on radius R p so as to bring it into hedge-hopping flight as quickly as possible. The pitch command signal to the automatic pilot is made substantially dependent on the clearance e between the guard curve and the nearest point thereto on the obstacle, and to ensure stability of control is also made dependent on the temporal rate of change of e, i.e. de/dt. The pitch command signal is of the form: where G and T are constants, for each obstacle encountered by the guard surface. The angle b of the horizontal control surface of the aircraft, relative to the longitudinal axis, is made, by the command signal, equal to (v/Kg)d#/dt where K is a parameter dependent on the aircraft specification and g is gravitational acceleration, or equal to (#v/Kg)d#/dt + cos # – 1. Radar ranging is effected by a gating pulse (” window “) of duration decreasing with range to correspond to the divergence of the lines surrounding the guard curve. In its initial position the radar aerial emits a beam along an elevated line of sight, the beam then being depressed at maximum speed; a fixed distance D, e.g. 15 kms. corresponding to the maximum range of the radar is defined by a distancemeasuring gate pulse F as long as no obstacle echo is received. A strobe pulse F 1 , Fig. 23 (not shown), oscillates rapidly between range D and a minimum range d, e.g. 600 metres. When an echo appears in window F 1 , the aerial movement ceases and window F moves to meet the echo; window F then continues to move in the same direction at constant speed and the aerial is controlled to maintain that window in contact with the terrain. The pitch command signal may be generated by an analogue computer, Fig. 16 (not shown), in which the factor de/dt is computed as v cos (# – #) where # is angular depression from O to the point P, Fig. 7 (not shown), at which the radar beam crosses the guard circle. The Specification includes a mathematical treatment on the results of which the computer is designed. The radar aerial may perform a cross-like scan, Fig. 21 (not shown), whereby it is available for azimuthal detection purposes. In a further embodiment, Figs. 21 . . . 24 (not shown), a rapid radar survey of the ground contours is effected and the contour data is quantized and stored as a succession of pairs of numbers X i , Z i representing the ground profile in abscissa and height and the pitch command signal function (d#/dt) i is calculated by a digital computer for each point X i , Z i , the signal retained being the maximum value of (d#/dt). The calculation is repeated, the programme for which is elaborated in the Specification.

GB19335/63A
1962-05-18
1963-05-15
Improvements relating to automatic avoidance of ground obstacles by an aircraft or missile

Expired

GB1048991A
(en)

Applications Claiming Priority (1)

Application Number
Priority Date
Filing Date
Title

FR898052A

FR87853E
(en)

1962-05-18
1962-05-18

Improvements in the means of piloting aerodynes for flights at very low altitude, and in particular in low-lying areas

Publications (1)

Publication Number
Publication Date

GB1048991A
true

GB1048991A
(en)

1966-11-23

Family
ID=8779275
Family Applications (1)

Application Number
Title
Priority Date
Filing Date

GB19335/63A
Expired

GB1048991A
(en)

1962-05-18
1963-05-15
Improvements relating to automatic avoidance of ground obstacles by an aircraft or missile

Country Status (4)

Country
Link

US
(1)

US3245076A
(en)

DE
(1)

DE1292505B
(en)

FR
(2)

FR87853E
(en)

GB
(1)

GB1048991A
(en)

Cited By (1)

* Cited by examiner, † Cited by third party

Publication number
Priority date
Publication date
Assignee
Title

CN113467521A
(en)

2021-09-01
2021-10-01
北京远度互联科技有限公司
Generation method and device of unmanned aerial vehicle route inspection chart and electronic equipment

Families Citing this family (16)

* Cited by examiner, † Cited by third party

Publication number
Priority date
Publication date
Assignee
Title

US3396391A
(en)

1963-12-20
1968-08-06
North American Rockwell
Terrain-following system

US3936796A
(en)

1974-06-19
1976-02-03
Sundstrand Data Control, Inc.
Aircraft ground proximity warning instrument

US3958218A
(en)

1974-10-03
1976-05-18
Sundstrand Data Control, Inc.
Aircraft ground proximity warning system with speed compensation

US3944968A
(en)

1974-11-01
1976-03-16
Sundstrand Data Control, Inc.
Aircraft ground proximity warning system having speed versus altitude compensation

US3947808A
(en)

1975-01-13
1976-03-30
Sundstrand Data Control, Inc.
Excessive descent rate warning system for aircraft

US3947810A
(en)

1975-01-13
1976-03-30
Sundstrand Data Control, Inc.
Negative climb rate after take-off warning system with predetermined loss of altitude inhibit

US3934221A
(en)

1975-03-06
1976-01-20
Sundstrand Data Control, Inc.
Terrain closure warning system with altitude rate signal conditioning

US3958219A
(en)

1975-03-06
1976-05-18
Sundstrand Data Control, Inc.
Terrain closure warning system with altitude rate signal conditioning

US3934222A
(en)

1975-04-02
1976-01-20
Sundstrand Data Control, Inc.
Terrain closure warning system with climb inhibit and altitude gain measurement

FR2343223A1
(en)

1976-07-01
1977-09-30
Trt Telecom Radio Electr

FILTERING OF ALARMS IN A SOIL PROXIMITY MONITORING SYSTEM

US4030065A
(en)

1976-07-19
1977-06-14
Sundstrand Corporation
Terrain clearance warning system for aircraft

US4924401A
(en)

1987-10-30
1990-05-08
The United States Of America As Represented By The Secretary Of The Air Force
Aircraft ground collision avoidance and autorecovery systems device

FR2886439B1
(en)

2005-05-24
2010-11-05
Eurocopter France

METHOD AND DEVICE FOR AIDING THE CONTROL OF A LOW ALTITUDE AIRCRAFT

FR2932919B1
(en)

2008-06-24
2010-08-20
Eurocopter France

ADAPTATION OF SELECTIVE FIELD ALERTS, BASED ON THE INSTANTANEOUS MANOEUVRABILITY OF A GIRAVION

FR2962838B1
(en)

2010-07-16
2012-07-13
Eurocopter France

IMPROVED AIRCRAFT ASSISTING AID METHOD

CN106292699B
(en)

2016-08-03
2017-12-12
广州极飞科技有限公司
The method, apparatus and unmanned plane that unmanned plane flies imitatively

Family Cites Families (4)

* Cited by examiner, † Cited by third party

Publication number
Priority date
Publication date
Assignee
Title

US1965894A
(en)

1931-06-24
1934-07-10
Louis C Huck
Hydraulic brake

US2630283A
(en)

1948-12-04
1953-03-03
Honeywell Regulator Co
Automatic terrain clearance apparatus

US2965894A
(en)

1956-12-26
1960-12-20
Bell Telephone Labor Inc
Altitude control system

US3119582A
(en)

1961-11-24
1964-01-28
Honeywell Regulator Co
Control apparatus

FR
FR87853D
patent/FR87853A/fr
active
Active

1962

1962-05-18
FR
FR898052A
patent/FR87853E/en
not_active
Expired

1963

1963-05-14
US
US280306A
patent/US3245076A/en
not_active
Expired – Lifetime

1963-05-15
GB
GB19335/63A
patent/GB1048991A/en
not_active
Expired

1963-05-15
DE
DEE24832A
patent/DE1292505B/en
active
Pending

Cited By (1)

* Cited by examiner, † Cited by third party

Publication number
Priority date
Publication date
Assignee
Title

CN113467521A
(en)

2021-09-01
2021-10-01
北京远度互联科技有限公司
Generation method and device of unmanned aerial vehicle route inspection chart and electronic equipment

Also Published As

Publication number
Publication date

DE1292505B
(en)

1969-04-10

FR87853A
(en)

US3245076A
(en)

1966-04-05

FR87853E
(en)

1966-07-08

Contact information