阅读说明：本技术 管理飞行器的飞行剖面显示的方法和电子设备、电子系统 (The method and electronic equipment, electronic system that the flight profile, mission profile of management aircraft is shown ) 是由 P·卡佐 N·弗列斯特 杰弗里·尼科莱 于 2019-05-23 设计创作，主要内容包括：一种管理飞行器的垂直飞行剖面的显示的方法和电子设备、电子系统,方法包括步骤：确定预先限定的横向轨迹与投影在所述轨迹的平面内的飞机的当前位置之间的偏差；至少根据所确定的偏差从第一模式和第二模式中选择垂直飞行剖面的显示模式；当选择第一模式时计算飞行器的当前位置在预先限定的横向轨迹上的正射投影与飞行器的下一航路点在所述轨迹上的正射投影之间的距离,并在垂直飞行剖面中显示沿参考轴的距飞行器的距离等于所述距离的下一航路点；当选择第二模式时计算在所述轨迹的平面中考虑的飞行器的当前位置与下一航路点在所述轨迹上的正射投影之间的距离,并在垂直飞行剖面中显示沿所述参考轴的距飞行器的距离等于所述距离的下一航路点。(A kind of method and electronic equipment, electronic system of the display for the vertical flight section managing aircraft, method is comprising steps of determine the deviation between the transverse path limited in advance and the current location for the aircraft being projected in the plane of the track；The display pattern of vertical flight section is selected from first mode and second mode according at least to identified deviation；When selecting first mode the current location of calculating aircraft orthogonal projection and aircraft in the transverse path limited in advance next way point between the orthogonal projection on the track at a distance from, and the next way point for being equal to the distance along the distance away from aircraft of reference axis is shown in vertical flight section；It is calculated in the current location of the aircraft considered in the plane of the track at a distance from next way point is between the orthogonal projection on the track when selecting second mode, and shows the next way point for being equal to the distance along the distance away from aircraft of the reference axis in vertical flight section.)

1. the method that one kind is managed for the display of the vertical flight section (14) to aircraft (12), wherein track is It is limited in advance via the flight plan for including one group of way point (P2, P3), the method is executed by electronic organizers (20) And the following steps are included:

The display to the vertical flight section (14) of the aircraft is limited, the vertical flight section is included in expression height Y-axis on the first reference axis (Z) and the second reference axis (X) in the x-axis for indicating distance, and show the aircraft phase Position for first reference axis and second reference axis and at least along the next of the track limited in advance A way point (P1)；

It is characterized in that, the method also includes following steps:

The transverse path limited in advance is the track limited in advance being projected in the plane perpendicular to first axle, is determined Be projected in the aircraft in the plane perpendicular to the first axle current location and the transverse direction limited in advance Deviation (Δ) between track；

According at least to identified deviation, first mode (Mode A) and the second mould are included at least from the vertical flight section One mode is selected in one group of display pattern of formula (Mode B)；And

When selecting the first mode, the first value is calculated, the current location that first value is equal to the aircraft (22) exists Next way point (P2) of orthogonal projection (M) and the aircraft in the transverse path limited in advance is in the preparatory limit The distance between orthogonal projection in fixed transverse path (d)；And display is along described the in the vertical flight section The distance away from the aircraft of two reference axis is equal to next way point of the first value (d) calculated；

When selecting the second mode, second value is calculated, the second value is equal to be considered in the plane of the transverse path The aircraft current location and the aircraft next way point (P2) in the transverse rails limited in advance The distance between orthogonal projection on mark (D)；And display is along second reference axis in the vertical flight section Distance away from the aircraft is equal to next way point of second value calculated (D).

2. the display according to claim 1 for the vertical flight section (14) to the aircraft (12) carries out The method of management, wherein when identified deviation (Δ) is lower than the first deviation threshold (Δ AB), select the first mode (Mode A), and when identified deviation (Δ) is higher than the first deviation threshold (the Δ AB), select the second mode (Mode B).

3. the display according to claim 1 or 2 for the vertical flight section (14) to the aircraft (12) The method being managed, wherein first deviation threshold (Δ AB) is defined as working as according to the track of the flight plan The ratio of preceding part and required positioning accuracy.

4. the vertical flight section (14) according to any one of the preceding claims for the aircraft (12) The method that is managed of display, comprising the following steps:

Identified deviation (Δ) and the second deviation threshold (Δ 12) lower than first deviation threshold (Δ AB) are compared Compared with；And

When identified deviation (Δ) be higher than second deviation threshold (Δ 12), then shown on the vertical flight section The aircraft has left the indication signal (26,28) of the track limited in advance.

5. the vertical flight section according to any one of the preceding claims for the aircraft (12) (14) method that display is managed, wherein corresponding to the distance of first value and/or the second value and/or described Deviation (Δ) is calculated as forward distance.

6. the vertical flight section according to any one of the preceding claims for the aircraft (12) (14) method that display is managed, wherein the selection of the mode be further received information function, received The flight of information instruction aircraft currently whether be subordinated to the track limited in advance automatically.

7. a kind of computer program, including software instruction, when executing the computer program by computer, the software instruction Execute method according to any of the preceding claims.

8. the electronic equipment (20) that one kind is managed for the display of the vertical flight section (14) to aircraft (12), In, track is limited via the flight plan for including one group of way point (P2, P3) in advance, and the electronic equipment is suitable for:

The display to the vertical flight section (14) of the aircraft is limited, the vertical flight section is included in expression height Y-axis on the first reference axis (Z) and the second reference axis (X) in the x-axis for indicating distance, and show the aircraft phase Position for first reference axis and second reference axis and at least along the next of the track limited in advance A way point (P1)；

The equipment is characterized in that:

The transverse path limited in advance is the track limited in advance being projected in the plane perpendicular to first axle, described Equipment (20) can determine the aircraft current location being projected in the plane perpendicular to the first axle with it is described Deviation (Δ) between the transverse path limited in advance；

The equipment (20) can include at least the first mould from the vertical flight section according at least to identified deviation One mode is selected in one group of display pattern of formula (Mode A) and second mode (Mode B), and

When selecting the first mode, the first value is calculated, the current location that first value is equal to the aircraft (22) exists Next way point (P2) of orthogonal projection (M) and the aircraft in the transverse path limited in advance is in the preparatory limit The distance between orthogonal projection in fixed transverse path (d), to order in the vertical flight section to along described the Next way point that the distance away from the aircraft of two reference axis is equal to the first value (d) calculated is shown；

When selecting the second mode, second value is calculated, the second value is equal to be considered in the plane of the transverse path The aircraft current location and the aircraft next way point (P2) in the transverse path limited in advance The distance between orthogonal projection (D), with order in the vertical flight section to along second axis of reference away from The next way point of the distance of the aircraft equal to second value calculated (D) is shown.

9. the electronic equipment (20) according to claim 8 for being managed to the display of the vertical flight section, Wherein, it when identified deviation (Δ) is lower than the first deviation threshold (Δ AB), selects the first mode (Mode A), and When determining deviation (Δ) is higher than the first deviation threshold (the Δ AB), select second mode (Mode B).

10. a kind of for showing the electronic system of the flight profile, mission profile of aircraft, wherein the system comprises:

Display screen；With

Electronic organizers are configured as order and show flight profile on the display screen,

It is characterized in that, the electronic organizers are the equipment according to one in claim 8 and 9.

Technical field

The present invention relates to the methods that a kind of display of flight profile, mission profile for aircraft is managed, and the method is by electricity Sub- display management device is realized.

Background technique

As shown in Figure 1, the display of the flight profile, mission profile of aircraft on a display screen is typically split into two independent regions, i.e., For showing the first area of horizontal flight section 16', also referred to as navigation shows and is expressed as ND, and vertical for showing The second area of flight profile, mission profile 14', it is also referred to as vertically displayed and be expressed as VD.

Horizontal flight section is the projection of flight profile, mission profile in the horizontal plane, also referred to as transverse path；And vertical flight section It is projection of the flight profile, mission profile on the vertical plane perpendicular to horizontal plane, also referred to as normal trajectories.

The trunnion axis of vertical section is limited by following the section (straight line and curve) of the flight plan limited by way point It is fixed.These way points are limited by geographical coordinate.The way point especially constructs work by the track of such as FMS (flight management system) Have or by pilot come using to limit from the track of origin-to-destination.The way point can pass through special sign, radio Reading on beacon, GPS location reading embodies, they can specify the course variation that must occur during track or other The point (for example, it is desired to passing through way point etc.) of constraint.Way point and its function are known per se.

Therefore, the VD shown in flight planning mode is generally included: the height of aircraft and its in the opposite of destination Position (appended drawing reference 22' shown in Fig. 1 indicates helicopter)；Describe the vertical velocity vector of the future trend of aircraft； Height of the element of flight plan relative to aircraft and the current location from aircraft reach the distance of the element.It is described VD can also include: the water of the vertical information (such as selected height) of automatic pilot, the landform below aircraft and VD (all information usually found on the trunnion axis of VD, the information include air defense region, safe altitude etc. for flat axis, weather, traffic Height).

In some cases, it during the equipment being managed using the display for the flight profile, mission profile to aircraft, uses Family (such as pilot of aircraft) may show flight profile, mission profile to track mode, this is also known.

In tracking mode or flight planning mode, along standard pressure altitude or corresponding to the amendment of QNH aviation code The axis of pressure altitude limits vertical reference axes.

Summary of the invention

The present invention relates more specifically to the method that a kind of display of vertical flight section for aircraft is managed, Wherein, track is limited by including the flight plan of one group of way point in advance, and the method is realized simultaneously by electronic organizers And the following steps are included:

Show that the vertical flight section of aircraft, the vertical flight section include in the y for indicating height

The first reference axis on axis and the second reference axis in the x-axis for indicating distance, and the vertical flight

Section indicates aircraft relative to the position of these axis and at least along the flight by the aircraft

Plan next way point of the track limited in advance.

When aircraft does not guide and/or leave the transverse direction further according to the transverse path limited by the flight plan When track, even if aircraft follows transverse path, continue under flight planning mode by aircraft description on VD, just as Nominally it faces the risk for needing to explain to present case in the transverse path.

This is solved the problems, such as using two kinds of solutions at present.

Simplest solution is no longer to show VD by deleting shown information, this obviously will lead to VD and loses All concerns.

Widest solution includes that VD is placed in tracking mode automatically by implementing complicated algorithm, to connect as far as possible Near-earth determines the channel of tracking mode and returns to flight planning mode.However, the flight meter that the solution causes VD to show The loss of the vertical reference for the mode of drawing.If pilot must rejoin the flight plan, he will no longer be immediately seen him Need the height of way point to be achieved.The solution also has the shortcomings that need VD to show under tracking mode, this needs is opened Hair and computing resource for limited operation to contribute.

In addition, these solutions can all lead to VD unexpected automatic conversion, this meeting between two entirely different demonstrations In the presence of the attention for attracting pilot, the risk dispersed him to the attention of current task and influence flight efficiency.

For this purpose, according in a first aspect, the invention proposes a kind of displays for the vertical flight section to the above-mentioned type The method being managed, it is characterised in that:

The transverse path limited in advance is the track limited in advance being projected in the plane perpendicular to first axle, is determined It is inclined between the current location for the aircraft being projected in the plane perpendicular to first axle and the transverse path limited in advance Difference；And

According at least to identified deviation, first mode and second mode are included at least from the vertical flight section One group of display pattern in select one mode, also,

When selecting the first mode, the first value is calculated, first value is equal to the current location of aircraft described Next way point of the orthogonal projection and aircraft in transverse path limited in advance is in the transverse path limited in advance The distance between orthogonal projection；And it shows in the vertical flight section and flies along second reference axis away from described The distance of row device is equal to next way point at the first value calculated；

When selecting the second mode, second value is calculated, the second value is equal in the plane of the transverse path The current location of the aircraft considered and next way point of the aircraft are in the transverse rails limited in advance The distance between orthogonal projection on mark；And display is along second reference axis away from institute in the vertical flight section The distance for stating aircraft is equal to next way point of second value calculated.

Therefore, even if in the case where having the route for the aircraft for not meeting the track according to flight plan, the present invention The VD of next way point including at least flight plan can also be always showed, while considering the offset for the latter, this Make it possible to predict that pilot rejoins flight plan in the future.

The invention enables can check that the beginning of transverse path is left in the current location of aircraft on VD.According to this hair Bright, the conversion between the first display pattern and the second display pattern is gentle.

In embodiment, it is according to the present invention for the method that the display of vertical flight section is managed further include with One or more of lower feature:

First mode is selected when identified deviation is lower than the first deviation threshold, and when identified deviation is higher than Second mode is selected when first deviation threshold；

First deviation threshold be defined as according to the current portions of the track of the flight plan with it is required The ratio of positioning accuracy.

It the described method comprises the following steps:

Identified deviation is compared with the second deviation threshold lower than first deviation threshold；And

When identified deviation be higher than second deviation threshold, then the aircraft is shown on vertical flight section The indication signal of the track limited in advance has been left,

The distance and/or the deviation for corresponding to first value and/or the second value are calculated as forward distance；

The function of the further received information of institute of the selection of the mode, received information indicate the flight of aircraft It currently whether is subordinated to the track limited in advance automatically.

According to second aspect, the invention proposes a kind of computer programs including software instruction, execute when by computer When computer program, the software instruction executes method as described above.

According to the third aspect, the invention proposes a kind of displays for the vertical flight section to aircraft to be managed Electronic equipment, wherein track via include one group of way point flight plan limit in advance, the electronic equipment be applicable in In:

The display to the vertical flight section of the aircraft is limited, including the first reference in the y-axis for indicating height Axis and the second reference axis in the x-axis for indicating distance, and show position and extremely of the aircraft relative to these axis Few next way point along the track limited in advance；

The equipment is characterized in that:

The transverse path limited in advance is the track limited in advance being projected in the plane perpendicular to first axle, The equipment can determine the aircraft current location being projected in the plane perpendicular to first axle and the preparatory restriction Transverse path between deviation；

The equipment can include at least the first mould from the vertical flight section according at least to identified deviation One mode is selected in one group of display pattern of formula and second mode, also,

When selecting the first mode, the first value is calculated, the current location that first value is equal to aircraft exists Next way point of orthogonal projection and aircraft in the transverse path limited in advance is in the transverse rails limited in advance The distance between orthogonal projection on mark, with order in the vertical flight section to along second reference axis away from institute The distance for stating aircraft is shown equal to next way point at the first value calculated；

When selecting the second mode, second value is calculated, the second value is equal in the plane of the transverse path The current location of the aircraft considered and next way point of the aircraft are in the transverse rails limited in advance The distance between orthogonal projection on mark, with order in the vertical flight section to along second reference axis away from institute The distance for stating aircraft is shown equal to next way point of second value calculated.

According to fourth aspect, the present invention proposes a kind of for showing the electronic system of the flight profile, mission profile of aircraft, the system System includes:

Display screen；With

Electronic organizers are configured as order and show flight profile on the display screen,

It is characterized in that, the electronic organizers are equipment according to a third aspect of the present invention.

Detailed description of the invention

These features of the invention and advantage will show after reading this description, which is provided by way of example only, and And carried out with reference to attached drawing, in attached drawing:

Fig. 1 is to show to be divided into flying for two individual regions on the screen for being shown in display system in the prior art The figure of row section, the first area in the two regions is for showing horizontal flight section ND' and second area for showing Vertical flight section VD'；

Fig. 2 is vertical winged for what is shown on the vertically displayed VD' of the prior art of Fig. 1 when tracking mode when display pattern Row sectional view；

Fig. 3 is the schematic diagram of the electronic display system of the flight profile, mission profile according to the present invention for being configured as display aircraft；

Fig. 4 is flow chart the step of realization in one embodiment of the invention；

Fig. 5 is the schematic diagram of the horizontal flight section in flight planning mode, and the schematic shows of the invention one Different distance in embodiment calculates；

Fig. 6 is the schematic diagram of the vertical flight section in flight planning mode, and the schematic shows according to the present invention Display pattern A1；

Fig. 7 is the schematic diagram of the horizontal flight section in flight planning mode according to the present invention, the schematic shows Different distance in one embodiment of the present of invention calculates；

Fig. 8 is the schematic diagram of the vertical flight section in flight planning mode, and the schematic shows according to the present invention Display pattern A2；

Fig. 9 is the schematic diagram of the vertical flight section in flight planning mode, and the schematic shows according to the present invention Display pattern B1；

Figure 10 is the schematic diagram of the vertical flight section in flight planning mode, and the schematic shows according to the present invention Display pattern B2.

Specific embodiment

In Fig. 3, electronic display system 10 is configured as at least one flight profile, mission profile of display aircraft 12, i.e. vertical flight Section 14 and/or horizontal flight section.

Electronic display system 10 includes display screen 18 and electronic organizers 20, which is configured as pair The display of at least one flight profile, mission profile on display screen 18 is managed, which is connected to display screen 18.Therefore, the present invention relates to the man-machine interfaces (MMI) for example being mounted in aircraft cockpit for driving aircraft Field.

Aircraft 12 (e.g. aircraft) is as shown in Fig. 5 to Figure 10, wherein is depicted in and shows on vertical flight section 14 The appended drawing reference 22 of aircraft 12 is the shape of aircraft.Alternatively, aircraft 12 is helicopter or the nothing that is remotely driven by pilot It is man-machine etc..

The flight profile, mission profile of aircraft 12 is known per se, and is corresponded to aircraft 12 and incited somebody to action in continuing period of its flight The track of the estimation followed, such as the geographical seat based on all way points (reference way point P1, P2, P3 herein) along track As the flight plan of mark (such as in the form of longitude, latitude, height) predefines.

Vertical flight section 14 is known per se, and is the flight profile, mission profile of aircraft including vertical reference axes and water Projection in the vertical plane of flat reference axis.Vertical reference axes are along standard pressure altitude or repairing corresponding to QNH aviation code The axis of positive air pressure height is defined.Vertical reference axes are known as Z into Figure 10 in Fig. 5.

Horizontal profile 16 is also known in itself, and is the flight profile, mission profile of aircraft 12 in the water perpendicular to vertical plane Projection in plane.

When selected display pattern is flight planning mode, horizontal reference axis is by following the section of flight plan (straight line and curve) limits.In the current situation, the direction of trunnion axis is (straight along the flight plan section being currently traveled Line/curve) ground on projection limit.Electronic organizers 20 include computing module 24, which is configured For the restriction data for the vertical section that determination will be shown on display screen 18.Specifically, which is configured as with The mode known limits the trunnion axis X and vertical axis Z of vertical section, especially limits and is used for each X-axis, the scale of Z axis, to obtain Obtain the next boat occurred in the current geographic coordinate (such as by Airborne GPS/altimeter offer) and flight plan of aircraft 12 Waypoint (or even under N number of way point, wherein N > 1) geographical coordinate.Computing module 24 applies also for determining working as aircraft 12 Deviation delta between front position and the transverse path limited in advance, current location and the transverse path limited in advance are projected in vertical Directly in the plane of Z axis, so that the display mould of vertical section is selected at least two Mode As and B according to identified deviation Formula, each of Mode A and Mode B indicate the appended drawing reference 22 of aircraft 12 and along axis with for calculating in vertical section The corresponding modes of the distance between next way point of X are associated.

Deviation delta between the current location of aircraft 12 and the transverse path limited in advance passes through meter by computing module 24 The distance between aircraft 12 and transverse path are calculated to determine.Distance calculated be, for example, aircraft and its in transverse path Orthogonal projection point between forward distance (projection on the sphere with earth radius), or when distance it is smaller (< When 10Nm), distance calculated be the orthogonal projection of aircraft on this plane in the plane perpendicular to Z axis and the point it Between distance.

Electronic organizers 20 include display module 34, which is configured as order on display screen 18 to winged Row section shown, the vertical section 14 especially limited by computing module 24.

In the example of specific consideration, electronic organizers 20 for example further include obtaining module 32,32 quilt of acquisition module It is configured to obtain the mode in entrusted management model and non-managed mode.Entrusted management model is automatic pilot (PA) subordinate of aircraft In the track limited in advance under flight planning mode and by the mode of FMS offer (example: PA LNAV (laterally navigation) mould Formula and/or PA VNAV (vertical navigation) mode), rather than the automatic pilot that entrusted management model is aircraft is not subordinated to what FMS was provided The mode (example: PA HDG (course) mode or manual mode) of track.Entrusted management model or non-managed mode by aircraft driving Member or electronic module select.

In the example of fig. 1, electronic organizers 20 include information process unit 36, such as by memory 38 and with storage The associated processor 40 of device 38 composition.

In the example of fig. 1, computing module 24 and acquisition module 32 and display mould in the embodiment of specific consideration Each of block 34 is made in the form of the software or Add-ons that can be executed by processor 40.Then, electronic organizers 20 Memory 38 can store the software instructions of the software or Add-ons.

In unshowned alternative solution, computing module 24 obtains module 32 and/or display module 36 can compile accordingly The form of journey logic module (such as FPGA (field programmable gate array)) or (such as the ASIC in the form of specific integrated circuit (specific integrated circuit)) it is made.

When electronic organizers 20 are entirely or partly in the form of one or more software programs (i.e. with computer program Form) when being made, which can also entirely or partly be stored in and unshowned can be read by computer Medium on.Computer-readable medium is for example suitable for storage e-command and can carry out with the bus of computer system The medium of coupling.As an example, readable medium be CD, magneto-optic disk, ROM memory, RAM memory, it is any kind of it is non-easily The property lost memory (for example, EPROM, EEPROM, FLASH, NVRAM), magnetic or optical card.Then by the calculating including software instruction Machine program is stored on readable medium.

Illustrate the operation of electronic organizers 20 by Fig. 4 is used now, Fig. 4 shows according to the present invention for winged The flow chart for the method that the display of the flight profile, mission profile (especially vertical flight section 14) of row device 12 is managed.Method 100 by Electronic organizers 20 are realized, and are repeated with given frequency f, such as f ∈ [1Hz, 100Hz].

During initial step 101, electronic organizers 20 are obtained via the acquisition module 32 of the electronic organizers 20 Driving mode Cd in entrusted management model and non-managed mode.

If selected driving mode Cd is non-entrusted management model, electronic organizers 20 are directly entered step 107.

If selected driving mode Cd is entrusted management model, in a step 102, electronic organizers 20 are via calculating Module 24 obtain aircraft 12 current geographic coordinate (such as geographical coordinate as provided by Airborne GPS/altimeter) and really Determine the deviation delta between the current location of aircraft 12 and the track as previously defined limited in advance.

Then, identified deviation delta is compared by computing module 24 with threshold value Δ AB.If identified deviation delta Lower than threshold value Δ AB, then computing module 24 executes step 103；If identified deviation delta is not less than threshold value Δ AB, calculate Module 24 executes step 107.

With for determining being referred to as in step 103 corresponding to the mode of Mode A of vertical section 14, computing module 24 with Known mode limits the trunnion axis X and vertical axis Z of vertical section, which includes for every in trunnion axis X and vertical axis Z One scale.The computing module 24 is sat from the geographical of next way point (N number of way point under or) is extracted in flight plan Mark.Computing module 24 determines the position that the appended drawing reference 22 of aircraft 12 will be shown on vertical section 14: the position is usually corresponding The present level that aircraft determines is equal in 0 scale of X-axis and the value of Z axis.Then, computing module 24 is true as follows It is scheduled on the position on the vertical section of next way point P2: by coordinate seat with appended drawing reference 22 along X-axis of the P2 in X-axis Scale value d (being in the current situation 0) is separated, and according to flight plan, coordinate of the P2 on Z axis is made to be equal to the height of point P2, Wherein, d value is calculated by computing module 24, below with reference to described in Fig. 7 and Fig. 5.

Fig. 7 schematically shows the predetermined transverse direction of way point P1, P2 and P3 by flight plan of aircraft 12 The cross-sectional view of track (or horizontal flight section) 16.In the case under consideration, aircraft has passed through way point P1 and just It is mobile towards next way point P2.

In Mode A (and subpattern A1 and A2 of Mode A discussed below), d is determined to be equivalent to working as aircraft Next way point of orthogonal projection and aircraft of the front position in the transverse path 16 limited in advance is in the cross limited in advance The distance between orthogonal projection (in the case of fig. 7, P2 is located in transverse path) on track.In one embodiment, d Next way point equal to orthogonal projection and aircraft of the current location of aircraft in the transverse path 16 limited in advance exists The forward distance between the orthogonal projection in transverse path limited in advance.In another embodiment, especially when d is less than When 10Nm, d is confirmed as the length of the straightway between the two orthogonal projections.

Fig. 7 shows two kinds of alternative cases.In one case, aircraft 12 is located in transverse path, then by being located at M The appended drawing reference 22 of point is shown.In another case, aircraft 12 is located at except transverse path, then by appended drawing reference 22' Indicate, aircraft 12 on track orthogonal projection at M point.

Fig. 5 is similar to Fig. 7, the difference is that the transverse path 16 limited in advance is curve, and way point P2 In the track limited in advance side and upright projection at P2'.

In the step 107 corresponding with for determining the referred to as mode of Mode B of vertical section 14, computing module 24 is also All operations described for step 103 are executed, the difference is that coordinate of the P2 in X-axis is far from appended drawing reference 22 along axis X Coordinate value D and non-value d.And D is determined as the current location equal to aircraft and next boat of aircraft by computing module 24 Distance of the waypoint between the orthogonal projection in the transverse path limited in advance, which is the forward distance of section, alternatively, special It is not if D < 10Nm, which is the length of the orthogonal projection in the plane perpendicular to Z of section, which will fly The orthogonal projection of the current location of device and next way point, which is used as, to be terminated.

In the case where two kinds of situations being previously mentioned with reference to each of these figures, distance D shows in Fig. 5 and Fig. 7 Out.

The also determination of computing module 24 will show the appended drawing reference 22 of aircraft, the form of way point P1, P2, P3, these points Between path portion, each form of velocity vector etc..

In the embodiment considered, computing module 24 is less than according to deviation delta is also greater than the value with lower than Δ AB Identified threshold value Δ 12 (therefore only with respect to Mode A) Lai Zhihang particular procedure operation, with determine these display.Therefore, If after the comparison between Δ and Δ 12 at step 104, this relatively determines that Δ is less than Δ 12, then computing module 24 selects For determining the Mode A 1 of vertical section 14；If it is determined that Δ is not less than Δ 12, then the selection of computing module 24 is vertical for determining The Mode A 2 of section 14.Mode A 1 and Mode A 2 are a part of Mode A, and are outlined below.

In the embodiment considered, in Mode B, computing module 24 is by non-managed driving mode also according to Mode B What Cd was generated is still greater than that Δ AB is generated and executes particular procedure and operate by deviation Δ.Therefore, if Mode B is by non-managed Driving mode Cd is generated, then computing module 24 selects the Mode B 1 for determining vertical section 14, and if Mode B by deviation Value is greater than Δ AB and generates, then computing module 24 selects the Mode B 2 for determining vertical section 14.Mode B 1 and Mode B 2 are under It is summarized in text.

Then, the order of display module 34 shows the vertical section limited by computing module 24 on display screen 18.

Now, it in the case where aircraft 12, is described in further detail by computing module 24 with reference to Fig. 6 to Figure 10 in mode The vertical flight display completed in A1, A2, B1 and B2 limits 14 example.

Mode A 1: it is driven for determining that vertical flight plan shows 14 mode therefore corresponds to trustship.Aircraft 12 The transverse path (deviation delta is less than Δ 12) for following flight plan uses LNAV, element (aircraft appended drawing reference 22, speed arrow The section and next way point P2 of flight plan 24 between amount 23, appended drawing reference 22 and next way point P2 with it is latter Flight plan section 25 between a way point P3) description be it is conventional, it is as schematically shown in Figure 6.Next air route Point P2 is shown as value d on distance axis X.The movable part of flight plan in flight course, the here remaining area to be advanced Other sections (such as P2P3) (such as being shown with magenta) of the flight plan with shown in of section 24 at section P1P2 separately show Out.

Mode A 2: in this embodiment, vertical flight shows that 14 schematically show in fig. 8, aircraft 12 and flight The transverse path of plan is moderately far from (deviation delta is greater than Δ 12 but is less than Δ AB).In this case, relative to Mode A 1 In display, computing module 24 add appended drawing reference to show that aircraft when using LNAV is in the process of deviation route In.In one embodiment, appended drawing reference is presented by the frame 26 of the appended drawing reference 22 around the model of an airplane.It is used for frame 26 special With color (such as magenta) to identify PA still in entrusted management model.According to the cockpit of aircraft, can be used other than magenta Color code or marked using the attached drawings other than frame.Although the description allows to understand that aircraft and track seem folded It is added in VD, but they are not superimposed upon on transverse plane.If the centre, which is shown, allows to understand that aircraft continues far from advance What will occur for the transverse path of restriction.

Mode B 1: in this embodiment, vertical flight is schematically shown in Fig. 9 and shows 14, aircraft 12 and flight The transverse path of plan is separate or is significantly away from (deviation delta is greater than Δ AB).In this case, relative to aobvious in Mode A 2 Show, computing module 24 changes the appended drawing reference 22 for indicating the model of an airplane.It is new to describe (at present level in the example presented in the figure Dash) particularity with the original statement relative to the aircraft direction (front/rear) no longer indicated on VD.The description embodies Aircraft is in the process far from the next flight plan point P2 shown on VD.The description is still such that can check winged The height of machine, and therefore can check the height tolerance of the upcoming point relative to flight plan.Add during the display of A2 The appended drawing reference added is retained.The appended drawing reference continues to show between aircraft and track there are lateral deviation and using LNAV. First section 24 (between aircraft appended drawing reference and point P2) of track is further deleted from display by computing module 24, and is 28 slot milling of white space.This allow to it is clear and clearly reflection aircraft do not fly correct perpendicular segment the fact. Next way point P2 of flight plan is shown at distance D, and distance D corresponds to aircraft and P2 in the transverse path limited in advance On projection between direct range.As a result, display is coherent: seeing P2 really if aircraft point of distance P2 is mobile Point is far from the aircraft appended drawing reference 22 on VD.Do not determine that aircraft rejoins the definite track of next point P2.As a result, working as VD When additional information (such as landform, weather or the traffic) being presented in Mode A 1 and Mode A 2, in Mode B 1, computing module exists Any information not indicated in the information between aircraft and P2 in the restriction of VD is shown in Mode B 1.

Mode B 2: in this mode, vertical flight shows that 14 schematically show in Figure 10, in aircraft 12, flies Office staff has selected another transverse guidance mode on automatic pilot, which is not necessarily to follow flight Plan is similar to Mode B 1, and computing module 24 modifies the description on VD in the following manner: attached drawings label describes aircraft PA the fact that be no longer on entrusted management model.In one example, the appended drawing reference by the appended drawing reference 22 of the model of an airplane around Cyan frame 29 present.According to the cockpit of aircraft, the color code except cyan can be used or use attached except the frame Icon note.Here too, since the first segment of track is deleted from display, understand and clearly embody aircraft not The fact that during flying over present level section.In addition, next way point P2 of flight plan is shown at distance D, Corresponding to the direct range of aircraft and P2 between the projection in the transverse path limited in advance.If aircraft is shown far from P2 Show it is coherent: seeing the appended drawing reference for indicating P2 far from the appended drawing reference 22 of aircraft really.And it is similar with B1, calculate mould It is not indicated between any additional information, such as landform, weather or aircraft and P2 in the restriction of display VD of the block 24 in Mode B 1 Traffic.

There are different methods to allow to determine the condition caused from display A (or A1 or A2) to the conversion of display B, and And in the embodiment considered, there are different methods to allow to determine the item caused from display A1 to the conversion of display A2 Part.

For example, in one embodiment, changing when reaching absolute distance deviation threshold (as unit of Nm), as above It is described.In one embodiment, the ratio of the navigation performance (RNP) needed for which is on current flight part.For example, threshold value Δ 12 is equal to α by selection₁₂.RNP, and threshold value Δ AB is selected to be equal to α_AB.RNP, wherein α₁₂<α_AB.In general, the value of RNP is assumed To between 10Nm, and to be changed according to the section of flight plan between 0.1Nm (in the sea).For example, α₁₂=1/2 and α_AB=1.

More complicated condition for triggering mode change will consider additional parameter, such as aircraft relative to transverse path Separating rate, aircraft axis of movement (or axis of airframe) and the current axis of track between angular deviation etc..

In other embodiments, display pattern A, B (and/or A1, B2 and/or B3) can be complete under non-managed driving mode At.

Aircraft initially follow really transverse path that it is limited in advance then more and more far away from transverse path in the case where, Such as in way point P2 in the case where leaping constraint, therefore display VD will be first corresponded in Mode A 1, then VD will be close Mode A 2 is switched to when P2, once last aircraft passing point P2, is just switched to Mode B 1 before returning to A2, then arrives A1.In In both of which A1 and A2, the first way point is shown at d value in distance axis, and d value corresponds to aircraft in transverse path Projection is at a distance from next way point is between the projection in transverse path, and then in Mode B 1, d value will be distance D.

The solution proposed no longer to be guided in horizontal flight plan when aircraft and/or when aircraft is far from horizontal When to track, high performance flight plan can be kept to show VD.

It continuously displays VD in flight planning mode to allow to keep the display to the vertical reference of flight plan, therefore It is expected that rejoining flight plan in the future.

In the flight transition period of non-managed to trustship, behavior prediction of the aircraft in vertical plane is improved.

Continue the elevation references (present level of aircraft) of display aircraft, this allows to keep to the good of vertical case Consciousness.

The solution allows to check beginning of the current location of aircraft at a distance from transverse path on VD.Cause This, there are gentle transition between the display proposed.

The solution may call upon the transverse mode of used automatic pilot: the magenta of the frame under entrusted management model Color corresponds in avionic device external member for showing all inputs relative to management PA mode and the color of mode.Equally Ground, cyan correspond in avionic device external member for showing all inputs relative to non-management PA mode and the face of mode Color.This allows to improve the consciousness to the state of PA.

The solution will not cause the unexpected automatic conversion between two kinds of different display modes.

The solution does not need to develop VD under tracking mode.