Method and a device for determining navigation parameters of an aircraft during a landing phase

摘要

A device for determining navigation parameters of an aircraft during a landing phase includes a video system including at least one digital video camera arranged on the aircraft, the digital video camera being configured to generate on the aircraft current video data relating to at least one characteristic point on the Earth, whose coordinates are known, and a data processing unit including an extended Kalman filter and configured to determine the navigation parameters on the basis of current navigation data of the aircraft, arising from a satellite navigation system, current inertial data of the aircraft, as well as said video data.

主权项

1. A method for determining navigation parameters of an aircraft during a landing phase, said method comprising steps implemented in an automatic and repetitive manner and entailing:
in a first step, determining on the aircraft:
by a first data generating unit, first data corresponding to current navigation data of the aircraft, arising from a satellite navigation system;by a second data generating unit, second data corresponding to current inertial data of the aircraft; andvideo data corresponding to current data relating to at least one characteristic point on the Earth, whose coordinates are known and contained in a database, said video data being generated by at least one digital video camera arranged on the aircraft and observing said characteristic point, the video data comprise the following angular measurements:
a first measurement, at a focal point of the video camera, of a first angle between an axis of an aircraft frame and a projection on a vertical plane of a line of sight of the video camera observing said characteristic point; anda second measurement, at a focal point of the video camera, of a second angle between the axis of the aircraft frame and a projection on a horizontal plane of the line of sight of the video camera observing said characteristic point; and in a second step, computing the navigation parameters on the basis of said first and second data and of said video data by a data processing unit, with the aid of an extended Kalman filter, said navigation parameters comprising at least some of the following data: a position parameter of the aircraft; a velocity parameter of the aircraft; an attitude parameter of the aircraft; and at least one parameter relating to an error of at least one sensor, wherein the second step takes into account an observation matrix comprising a first observation matrix relating to said first data and a second observation matrix relating to said video data, and said second observation matrix comprises a tangent of the first measurement and a tangent of the second measurement which are defined with respect to the following parameters:
the latitude, the longitude and the height with respect to the ground of the aircraft; andthe angles of roll, of pitch and of yaw of the aircraft.