Method of control of helicopter position in hovering mode and system for realization of this method

IPC classes for russian patent Method of control of helicopter position in hovering mode and system for realization of this method (RU 2244339):

G05D1/08 - SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES (for continuous casting of metals B22D0011160000; valves per seF16K; sensing non-electric variables, see the relevant subclasses of G01; for regulating electric or magnetic variables G05F)

B64D45 - Aircraft indicators or protectors not otherwise provided for (camouflage F41H0003000000)

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FIELD: control of helicopter position at low speeds and hovering.

SUBSTANCE: proposed method includes TV observation of surface under helicopter, determination of present hover height and/or present deviation from preset height making display of surface. Then bank and pitch angle data are determined and projections of longitudinal and transversal axes of helicopter are formed on indicated under-helicopter surface display in earth coordinate system and height scale image is applied with symbol of preset hover height and index indicating the present hover height and/or present deviation from preset height. In the course of control, point of intersection of axes is matched with point of preset hovering place and index on height scale is placed near preset hover height symbol. Proposed system is provided with control console, bank and pitch sensor, height sensor and/or sensor of deviation from preset height, TV camera, indicator and TV information processing unit.

EFFECT: enhanced accuracy of control of helicopter position in hovering mode due to full-scale information support both at manual and automatic control.

11 cl, 1 dwg

The group of inventions relates to techniques for controlling the position of the helicopter in the regime of low speed and hover over the set point and is intended for use in effecting release of the helicopter in the set point and the subsequent reduction to it.

The ability to hang in the air is one of the most important features of the helicopter, making it as appropriate aircraft.

Known methods and systems for controlling the position of the helicopter based on the joint use of automatic and manual control of actuators with integrated processing information from sensors parameters, formation control laws and ensuring the stability of the control processes in case of failure or disruption of the normal functioning of the media (US 4029271 A, G 05 D 1/00, 14.06.1977; EN 2150137 C1, G 05 D 1/08, 27.05.2000; EN 1797383 A1, G 05 D 1/02, 10.04.1995).

The disadvantages of the known technical solutions related to lack of proper review of the surface under the helicopter and the complexity of managing them, which creates difficulties in the execution mode, hovering and vertical landing. These major modes become very difficult and dangerous in conditions of limited visibility of the earth and when working with external load, for example, when mounting and rescue operations.

Currently widespread is giving get methods and systems control helicopter with the television view of the surface under the helicopter (EN 2212632 C1, G 01 23/00, 20.09.2003; EN 2170409 C1, G 01 23/00, 10.07.2001; EN 6249 U1, G 05 D 1/08, 16.03.1998).

Closest to the proposed method is a method of controlling a helicopter in hovering mode of providing television the view of the surface under the helicopter and the determination of deviations from a given point hovering in the earth's coordinate system in the horizontal plane), indexing the received image surface and the corresponding impact on the governing bodies (EN 6249 U1).

Closest to the proposed system is a system control helicopter in hovering mode, which includes a remote control, a height sensor and/or deviations from the specified height, television camera to the television view of the surface under the helicopter and the indicator for indicating the image of the obtained image (EN 6249 U1).

In the above method and system for providing a television view of the surface under the helicopter and the simultaneous generation of information about the deviation from the target space hovering the opportunity to significantly increase the quality and to increase the security of hovering mode.

However, the known method and system can be used only by helicopter with autopilot, and do not provide the pilot with reliable information about the exact position of the helicopter (for example, its center of gravity) in izontally plane and height relative to the site on the screen of the television display. In addition, the indicator no information about the angular position of the helicopter.

Pilot forced to divert their attention to obtain the missing information in other information systems (devices), which reduces the quality of the piloting and the safe execution mode.

The technical result of the proposals is the creation of a method and system that increases the accuracy of position control of the helicopter in hovering mode due to more vivid and full information support pilot both in manual and in automatic control of the helicopter. It should be noted that all modern (domestic and foreign) helicopter autopilot is included in the control system according to the so-called sequential (differential) scheme, i.e. the pilot and the autopilot work together on critical flight modes.

The problem is solved in that in the method of controlling the helicopter in hovering mode, according to which the exercise of a tool, such as a television, a view of the surface under the helicopter and determine the current height of hovering and/or the current deviation from the predetermined height, indicate the received image of the surface and taking into account the indicated image surface and a certain height and/or deviations from the specified height of influence in rawaudio authorities to launch and maintain a helicopter over a given place hovering at a given altitude, determine the angular data for roll and pitch of the helicopter, on the displayed image of the surface under the helicopter form the image of the vertical in the earth's coordinate system of the projection of the longitudinal and transverse axes of the helicopter, passing through the center of gravity of the helicopter, or parallel them with axes directed through the structural elements of the helicopter, and cause the image of the high-rise scale with character height of hovering and index that indicates the current height of hovering and/or the current deviation from the predetermined height, and achieve alignment of the point of intersection of the projections of the axes with the image of the point you left hanging and placement of the index on the altitude scale of the character specified height hanging.

The problem is solved also by the fact that in the system control helicopter in hovering mode of containing the installed remote control, height sensor and/or deviations from the specified height, TV camera made with the possibility of a television view of the surface under the helicopter, and the led is made with the possibility of indicating the image obtained in the image - entered the sensor roll and pitch and processing unit of the television information, inputs connected to the outputs of the remote control, a television camera sensor roll and pitch, altitude sensor, and the output is the entrance indie is atora and made with the possibility of formation at indicated the image of the surface under the helicopter on signals of the roll and pitch of the image vertical in the earth's coordinate system of longitudinal and transverse projections the axes of the helicopter, passing through the center of gravity of the helicopter, or parallel them with axes directed through the structural elements of the helicopter, as well as drawing the image of a high-rise scale with character height of hovering and index that indicates the current height of hovering and/or the current deviation from the predetermined height, to ensure alignment of the point of intersection of the projections of the axes with the image of the point you left hanging and placement of the index on the altitude scale of the character specified height hanging.

The task promote private significant features of invention.

On the displayed image non-orientated surface under the helicopter additionally form the character of a given place hovering on the surface under the helicopter in a horizontal plane, for example, in the form of a cross, and combine the intersection of the projections of the axes of the helicopter with the specified character.

To allow adjustment of the location of the helicopter in a horizontal plane carry out the correction of the position of the character specified places hovering on the image surface under the helicopter.

To allow adjustment of the location of the helicopter in a vertical plane carry out a position correction in high-rise scale of the character specified height hanging.

Form the control signals, with the corresponding observed difference between the current and the desired location of the helicopter in horizontal and vertical planes, and submit them to the autopilot helicopter.

Processing unit of the television information can be performed with the possibility of additional formation is indicated by an indicator of the non-orientated image surface under the helicopter symbol specified places hovering on the surface under the helicopter in a horizontal plane, for example, in the form of a cross, and ensure alignment of the point of intersection of the projections of the axes of the helicopter with the specified character.

The system can be entered one or more sensors of the motion parameters of the helicopter, the outputs of which are connected to additional inputs of the processing unit of the television information.

The system can be entered forming unit control commands, the input of which is connected with the additional output of the processing unit of the television information, and the output to the input of the autopilot helicopter.

The system can be entered one or more television cameras, the outputs of which are connected to additional inputs of the processing unit of the television information.

The system can be entered in the block transfer of data is correlated with the processing unit of the television information and helicopter radio system.

The drawing shows a functional diagram of the proposed system control helicopter that implements the proposed method.

The scheme is e marked: a television camera 1, indicator (TV) 2, unit 3 handling information TV, a sensor 4, roll and pitch sensor 5 height, 6 remote control, sensors 7, 8 motion parameters of the helicopter, block 9 of the formation of management teams, autopilot 10, additional television cameras 11, 12, block 13 data and helicopter radio system 14.

The television camera 1, 11, 12 made with the possibility of a television view of the surface under the helicopter, and the indicator 2 - with the possibility of indexing the image of the received image.

Unit 3 handling information TV inputs connected to the outputs of 6 remote control of the TV cameras 1, 11, 12, gauge, 4 roll and pitch, gauge, 5, height sensors 7, 8 motion parameters of the helicopter, and outputs, to the input of the indicator 2 and the block 9 teams ' formation and management made with the possibility of forming on the displayed image of the surface under the helicopter on signals of the roll and pitch of the image vertical in the earth's coordinate system of the projection of the longitudinal and transverse axes of the helicopter, passing through the center of gravity of the helicopter, or parallel them with axes directed through the structural elements of the helicopter, and drawing the image of a high-rise scale with character height of hovering and index that indicates the current height of hovering and/or current otklonenie is from a given height, to ensure alignment of the point of intersection of the projections of the axes with the image of the point you left hanging and placement of the index on the altitude scale of the character specified height hanging.

Unit 3 handling information TV can be done with the possibility of additional formation is indicated by an indicator of the non-orientated image surface under the helicopter symbol specified places hovering on the surface under the helicopter in a horizontal plane, for example, in the form of a cross, and ensure alignment of the point of intersection of the projections of the axes of the helicopter with the specified character.

The output of block 9 of the formation of teams is connected to the input of the autopilot 10.

Block 13 data correlated with the unit 3 handling information TV and helicopter radio system 14.

The system works as follows.

The television camera 1 is installed on the helicopter so as to provide a viewing surface under the helicopter. TV signal from the TV camera 1 is supplied to the TV input unit 3 handling information TV. On one of the signal input unit 3 signals about the angles of roll and pitch from the output of the sensor 4, roll and pitch.

In block 3, the processing of the television information signals of roll and pitch is formed symbolic information (e.g., crosshair) polozhenii observed on the surface under the helicopter projections of the longitudinal and transverse axes of the helicopter, passing through the center of gravity of the helicopter or parallel to them, passing through the structural elements of the helicopter, the position of which must hold over a given location on the surface beneath the helicopter.

Total television signal, i.e. the television image of the surface under the helicopter overlaid with symbolic information from the output unit 3 handling information TV is fed to indicator 2.

The pilot, driving a helicopter combines symbolic information about the projections of the axes of the helicopter with the observed object (the reference point) on the display screen 2, which puts the center of the crosshairs on the selected on-screen indicator 2 object. At this scale deflection of the slats of the crosshair is selected the corresponding field of view.

Improve quality control and increase flight safety is achieved by a harmonious combination of capabilities view of the surface under the helicopter with a visual indication of the location of the helicopter on it and the simultaneous estimation of the spatial angular position of the helicopter position and movement of the slats of the crosshairs.

If you want to not hover over a landmark, in block 3 of the television information processing implements a function of binding to a specific place hovering on the basis of processing a television signal and forming the end-of-the systematic position information of the place (for example, in the form of a small cross) on the observed surface under the helicopter.

Enable this mode from the remote control 6 control. When this command is issued with its output to another input of the processing unit 3 of the television information. The combination of symbolic information and information about a given place hovering served simultaneously on indicator 2.

The pilot controls the helicopter, combining the background image of the surface under the helicopter the point of intersection of the projections of the axes of the helicopter with the symbol specified place of hovering (the center of the small cross), that combines large and small crosshairs.

In this case, increasing the accuracy and safety hovering over the non-orientated place.

Simultaneously with the calculation of a given place hovering in unit 3 handling information TV with remote control 6 control on the basis of processing a television signal is calculated, and is formed symbolic information about the deviation from the desired height of hovering.

Symbolic information about the deviation from the desired height of hovering is also available at the indicator 2 in the form of high-rise scale and index generated on either the left or right edges of the screen.

To implement hovering over the set point, the pilot controls the helicopter so that the display screen 2 in addition to the combination of the cross with the cross (Horiz is Stalnoy plane) at the same time took place the control height (in vertical plane ) tall symbol on the display screen 2.

In this case, you can hover and vertical movement over misorientation place.

From the remote control 6 control can be performed correction of the specified place of hovering and height that extends the capabilities of the system.

To provide the pilot with information about the height of hovering on another signal input unit 3 handling information TV from the sensor 5, the height of the signal height.

In block 3, the processing of the television information is formed symbolic height information, which is supplied to the led 2. Kind of symbolic information about the height can be the same as in the previous case.

This further increases the safety of the flight, especially vertical maneuvering, including the landing.

To facilitate operation of the system in conditions of poor visibility and misorientations areas (for example, water, snow) on the signal inputs of the processing unit 3 of the television information signals from the sensors 7, 8 motion helicopter with a different than the television camera 1 physical principles of measurement (e.g., satellite, inertial, Doppler, laser, etc. systems). In unit 3 handling information TV is a comprehensive processing of information from these sensors.

Processing information about the specified location hovering can make the transfer as using television information and independently of it. The result is a further increase security. Fail and expansion of the working conditions of the system are achieved through functional redundancy and increase the quality and reliability of the generated symbolic information through complex processing.

To enable automatic stabilization through the autopilot 10 helicopter is entered in the system block 9 of the formation of management teams, on which input signals are about the deviation from the set parameters hovering output unit 3 handling information TV.

Received in block 9 forming control command information in this block produces the control signals for the autopilot 10.

Increase accuracy and safety is achieved by increasing the keeping accuracy parameters hovering with simultaneous operation of the pilot and autopilot 10 and reduce the load on the pilot.

The introduction of the system of additional television cameras 11, 12 (one or more) can further increase the accuracy and security of piloting by increasing the reliability of the system (redundancy), improve visibility, with the ability to view works from a different point, improve the operation of the system in conditions of poor visibility when using the television camera is of a different type (low-level, thermal imaging etc), improve the accuracy of hovering through the use of television cameras with different fields of view.

For correction of the location of the helicopter from the ground, which is important when performing mounting and rescue operations, the system is complemented by a block 13 data transfer, helicopter radio system 14 and ground remote control (not shown), which remotely (for example, by radio or by cable) are connected. Control output unit 13 of the data associated with the control unit 3 handling information TV that receives control signals from the remote control. Control the helicopter with the ground remote control similar to the control with the on-Board remote control 6.

The quality and safety of ground control can be improved by providing on the ground operator television information observed by the pilot. To do this, with the corresponding output of the processing unit 3 of the television information signal on block 13 data transmission, with which it is in line remote communication is transmitted to the ground control panel. This line can be used for speech and exchange of information between the pilot and ground operator.

The system can be implemented in modern digital on-Board helicopter facilities. ICI the EMA can be performed as a stand-alone, it is possible constructive unification of blocks.

The functions of the television camera 1 can perform a review tool of any type: working in the visible range, night (low-level), infrared (thermal imaging), location, etc.. it is Important that their speed was possible to obtain information suitable for management. Can be used helicopter staff review system.

Indicator 2 may be of any type (CRT, LCD). It is important that specifications meet the conditions on the helicopter and the image was acceptable to the pilot. As the indicator 2 can be used and the standard helicopter display system information. Television camera and light can be digital.

As unit 3 processing television information can be used by digital computer, the functionality of which is similar to a modern personal computer.

As the sensor 4, roll and pitch can be used airplane girovertikal, including staffing, installed onboard the helicopter.

The 6 remote control can be executed as a standalone device and/or its controls can be placed neposredstenno on the structural elements of the helicopter in places convenient to use is their pilot, including on the levers of control of the helicopter.

As the altimeter can be used, for example, a radio or laser altimeter, including regular helicopter.

As sensors 7,8 motion parameters of the helicopter can be used accelerometers, global positioning systems, inertial, Doppler system, etc., including the staffing system of the helicopter.

Unit 9 the formation of the control commands may be analog or digital. Its functionality can be implemented in a regular helicopter control system or in the processing unit of the television information.

Block 13 data transfer can be implemented on the basis of the radio link that allows you to send a command (control) information, and television. Can be used as direct TV, and mobile satellite communications. Can be used and the standard helicopter radio equipment. Given the specificity of the helicopter, in the simplest case, use cable means for transmitting information.

1. The way control helicopter in hovering mode, according to which the exercise of a tool, such as a television, a view of the surface under the helicopter and determine the current height of hovering and/or the current deviation from the predetermined height, indicate the received image is arnosti and taking into account the indicated image surface and a certain height and/or deviations from the specified height affect the governing bodies for developing and maintaining a helicopter over a given place hovering at a given altitude, characterized in that detect the angular data for roll and pitch of the helicopter, on the displayed image of the surface under the helicopter form the image of the vertical in the earth's coordinate system of the projection of the longitudinal and transverse axes of the helicopter, passing through the center of gravity of the helicopter, or parallel them with axes directed through the structural elements of the helicopter, and cause the image of the high-rise scale with character height of hovering and index that indicates the current height of hovering and/or the current deviation from the predetermined height, and achieve alignment of the point of intersection of the projections of the axes with the image of the point you left hanging and placing on high index the scale of the character specified height hanging.

2. The method according to claim 1, characterized in that displayed the image of the non-orientated surface under the helicopter additionally form the character of a given place hovering on the surface under the helicopter in a horizontal plane, for example, in the form of a cross, and combine the intersection of the projections of the axes of the helicopter with the specified character.

3. The method according to claim 2, characterized in that to allow adjustment of the location of the helicopter in a horizontal plane carry out the correction of the position of the character specified places hovering on the image surface powerstream.

4. The method according to claim 1, characterized in that to allow adjustment of the location of the helicopter in a vertical plane carry out a position correction in high-rise scale of the character specified height hanging.

5. The method according to claim 1, wherein forming the control signals corresponding to the observed difference between the current and the desired location of the helicopter in horizontal and vertical planes, and submit them to the autopilot helicopter.

6. The system control helicopter in hovering mode of containing the installed remote control, height sensor and/or deviations from the specified height, TV camera made with the possibility of a television view of the surface under the helicopter, and the led is made with the possibility of indicating the image obtained image, characterized in that it introduced the sensor roll and pitch and processing unit of the television information, inputs connected to the outputs of the remote control, a television camera sensor roll and pitch, altitude sensor, and the output to the input of the indicator and has a capability of forming on the displayed image of the surface under the helicopter the signals of the roll and pitch of the image vertical in the earth's coordinate system of the projection of the longitudinal and transverse axes of the helicopter, passing through CE is the Tr of gravity of the helicopter, or them parallel axes directed through the structural elements of the helicopter, as well as drawing the image of a high-rise scale with character height of hovering and index that indicates the current height of hovering and/or the current deviation from the predetermined height, to ensure alignment of the point of intersection of the projections of the axes with the image of the point you left hanging and placement of the index on the altitude scale of the character specified height hanging.

7. The system according to claim 6, characterized in that the processing unit of the television information is made with the possibility of additional formation is indicated by an indicator of the non-orientated image surface under the helicopter symbol specified places hovering on the surface under the helicopter in a horizontal plane, for example, in the form of a cross, and ensure alignment of the point of intersection of the projections of the axes of the helicopter with the specified character.

8. The system according to claim 6, characterized in that it introduced one or more sensors of the motion parameters of the helicopter, the outputs of which are connected to additional inputs of the processing unit of the television information.

9. The system according to claim 6, characterized in that it introduced a set of control commands, the input of which is connected with the additional output of the processing unit of the television information, and the output to the input of the autopilot helicopter.

10. The system p is item 6, characterized in that it introduced one or more television cameras, the outputs of which are connected to additional inputs of the processing unit of the television information.

11. The system according to claim 6, characterized in that it introduced a block of data, correlated with the processing unit of the television information and helicopter radio system.