METHOD AND SYSTEM FOR REAL-TIME CHARACTERIZATION OF ATMOSPHERIC CONDITIONS IN AN AIRCRAFT ENVIRONMENT, DRONES IN THIS SYSTEM AND AIRCRAFT WITH SUCH A SYSTEM

Description

technical field

[0001] The present invention relates to a method for characterizing in real time atmospheric conditions likely to affect the flight conditions of an aircraft, particularly an airship. It also relates to a real-time atmospheric conditions characterization system and to drones used in such a characterization system. Prior art

[0002] Large airships carrying heavy loads are particularly susceptible to wind gusts when hovering over a site for loading or unloading operations. To counter these gusts, it is crucial to anticipate them so that the lateral thrusters can be activated in a timely manner.

[0003] Wind speed is measured using an anemometer. Meteorologists measure the "instantaneous" wind speed over a period of 3 seconds and the "average" wind speed over a period of 10 minutes at a height of 10 m above the ground.

[0004] A gust is characterized by a sudden instantaneous change in wind speed or direction, an increase in instantaneous wind speed relative to its average speed exceeding 5 m / s.

[0005] Gust detection can be achieved using LIDAR-type equipment installed on the airship. Document WO2016188759A1, filed by the present applicant, discloses an airship equipped with several LIDAR-type sensors (pulsed laser, 1.54 pm wavelength) capable of measuring wind speed in all horizontal and vertical directions at a distance of between 40 m and 400 m from the airship.

[0006] Based on the wind conditions in the work area, calculated using all this information, the system must inform the pilot about its performance (altitude maintenance, controllability, etc.) using the airship's apparent mass, the power reserve (turbines / propellants), and the wind calculated in a given reference frame (x, y, z), for example, the aircraft's frame of reference or the Earth's frame of reference. This information may lead to a no-go (if the power margin is too small), but the pilot will not be able to calculate this himself.

[0007] In the event of work on the area (the decision before arrival was "GO", information (either of wind change or gusts) must be transmitted to the propulsion units and electric power turbines to anticipate and minimize the effects of detected gusts.

[0008] Each LiDAR sensor includes at least two measurement lines for measuring two wind speed coordinates, and four measurement lines for measuring a third wind speed coordinate. This airship includes six LiDAR sensors, providing at least 24 measurement lines.

[0009] However, it seems necessary to complement these LIDAR measurements with other measurements carried out at a greater distance and in more complex spatial configurations than just horizontal and vertical components.

[0010] Before knowing the gusts on the work area (2nd time of the maneuver), it is the x, y and z components of the wind in the terrestrial reference frame on the work area that must be known in advance, in order to avoid entering an area where the aerological conditions will not allow stabilization and maintenance of the stationary position with sufficient power margin and room for maneuver to maintain a precise stationary position within the standards set by the operations.

[0011] Atmospheric condition detection systems are disclosed, for example, in US patent applications 2019 / 147753 A1 and US 2019 / 271563 A1, which use drones to detect local atmospheric conditions.

[0012] The aim of the invention is thus to propose a new approach to characterizing atmospheric conditions in the environment of an aircraft, in particular an airship, which makes it possible in particular to anticipate propulsive actions to correct the risks of displacement of the aircraft subjected to a sudden variation of these atmospheric conditions. Description of the invention

[0013] One aim of the invention is, in particular, to remedy all or part of the aforementioned disadvantages.

[0014] According to a first aspect of the invention, a method is proposed for characterizing atmospheric conditions in real time in the environment of an aircraft, comprising the following steps: (E1) remotely deploy a plurality of drones carrying atmospheric condition characterization equipment from said aircraft, (E2) calculate and transmit positioning instructions for each drone relative to said aircraft, (E3) collect, in one or more of said drones, measurement or calculation data of atmospheric quantities generated by said characterization equipment and positioning data from said drone(s), (E4) transmit said measurement data thus collected from said drone(s) to said aircraft, (E5) process the measurement data thus transmitted, to identify one or more atmospheric phenomena likely to affect the static and / or dynamic behavior of said aircraft.

[0015] The processing step (E5) can be advantageously arranged to identify the occurrence of a wind gust at a distance from the aircraft.

[0016] In a first configuration, the data collected in one or more of the drones may include measurement data of the speed and intensity of the wind to which this drone or these drones are subjected.

[0017] In a second configuration, the data collected in one or more of the drones may include calculation data of the speed and intensity of the wind to which that drone or those drones are subjected.

[0018] The step (E3) of collecting wind intensity and direction data carried out in one drone among the plurality of drones deployed may include a step (E31) to measure the currents absorbed by the electric drive motors of the rotors equipping said drone as well as its inertial data, and a step (E32) to process these current measurements in combination with inertial, positioning and heading data of said drone (position, speed, acceleration, orientation, rotation speed) and with its performance curves, to deduce an estimate of the wind intensity and direction.

[0019] The characterization method according to the invention may further include, prior to the deployment step, a step (Ei) to plan the deployment of the plurality of drones, based on predictive meteorological information received in the aircraft.

[0020] The characterization process according to the invention may further include a step (Ec) to control in real time the respective positions of the deployed drones, based on results of identification of atmospheric phenomena.

[0021] The characterization process according to the invention may further include one or more steps (Eg) to manage the energy autonomy of the plurality of drones, based on information estimating the energies stored respectively in said drones.

[0022] The processing step (E5) can be arranged to detect in anticipation of a variation in pressure and / or temperature in an environment close to the aircraft, which may impact the static lift of the aircraft.

[0023] According to another aspect of the invention, a system is proposed for characterizing atmospheric conditions in real time in the environment of an aircraft, implementing the characterization method according to the invention, this system comprising: a plurality of drones carrying atmospheric condition characterization equipment, said drones being intended to be deployed remotely from said aircraft, within said aircraft, means for calculating and transmitting positioning instructions for each drone relative to said aircraft, means, carried in one or more of said drones, for collecting measurement or calculation data of atmospheric quantities generated by said characterization equipment and positioning data of said drone(s), means for transmitting said measurement data thus collected from said drone(s) to said aircraft, means, carried in said aircraft, for processing the measurement data thus transmitted, to identify one or more atmospheric phenomena likely to affect the static and / or dynamic behavior of said aircraft.

[0024] The processing methods can be arranged to identify the occurrence of a wind gust at a distance from the aircraft.

[0025] At least one drone among the plurality of drones may include means for measuring the speed and intensity of the wind to which that drone or those drones are subjected.

[0026] At least one drone among the plurality of drones may include means for calculating the speed and intensity of the wind to which that drone or those drones are subjected.

[0027] The means for calculating wind speed and intensity may include means for measuring the currents drawn by the electric motors driving the rotors equipping said drone, and means for processing these current measurements in combination with positioning data of said drone to deduce an estimate of the intensity and direction of the wind.

[0028] At least one drone among the plurality of drones includes means to detect in anticipation of a variation in pressure and / or temperature in an environment close to the aircraft, likely to impact the static lift of the aircraft.

[0029] The characterization system according to the invention may further include means for controlling in real time the respective positions of the deployed drones, based on results of processing measurement data or calculating atmospheric conditions.

[0030] The characterization system according to the invention may further include means for managing the energy autonomy of the plurality of drones, based on information estimating the energies stored respectively in said drones.

[0031] According to yet another aspect of the invention, a drone is proposed for characterizing atmospheric conditions in real time in the environment of an aircraft, implemented in a characterization system according to the invention, comprising: one or more on-board atmospheric condition characterization devices, means for collecting measurement or calculation data of atmospheric quantities generated by said characterization device(s) and positioning data of said drone, and means for transmitting said measurement data thus collected to said aircraft.

[0032] The onboard equipment may include a LIDAR sensor arranged to deliver wind direction and intensity information.

[0033] Also proposed is an aircraft equipped with an atmospheric conditions characterization system according to the invention, characterized in that it comprises: means for receiving a plurality of drones equipped with on-board equipment for characterizing atmospheric conditions, means for calculating and transmitting to all or part of said drones instructions for positioning each drone relative to said airship, means for collecting determinations of wind intensity and direction and positioning, made in each of said drones and emitted from each of said drones, and means for processing said wind and positioning determinations thus collected, so as to identify one or more sudden wind accelerations at a distance from said airship.

[0034] The aircraft according to the invention may further include means for managing the energy autonomy of all or part of the drones in the plurality of drones.

[0035] The characterization method and system according to the invention can advantageously be implemented for airships, helicopters, vertical takeoff and landing aircraft such as VTOLs and urban taxis. Description of the figures

[0036] Other advantages and features of the invention will become apparent upon reading the detailed description of implementations and embodiments, which are by no means limiting, with reference to the attached drawings in which: [ Fig. 1 ] schematically represents a side view of an embodiment of an airship equipped with a system according to the invention, [ Fig. 2 ] schematically represents a view from below of the airship shown on the Figure 1 , [ Fig. 3 ] schematically represents the system implemented on the Figure 1 , [ Fig. 4 ] schematically represents a process implemented by the airship shown on the Figure 1 . Description of the implementation method

[0037] The embodiments described below are not exhaustive; variants of the invention may include only a selection of the described features, hereinafter isolated from the other described features, if this selection of features is sufficient to confer a technical advantage or to differentiate the invention from the prior art. This selection includes at least one feature, preferably functional, without structural details, or with only a portion of the structural details if this portion alone is sufficient to confer a technical advantage or to differentiate the invention from the prior art.

[0038] In the figures, an element appearing in several figures retains the same reference.

[0039] An airship 1 equipped with a wind gust detection system 100 is now described with reference to figures.

[0040] System 100 comprises means 11, arranged within the airship, for receiving a plurality of drones 4, such as drones 41, 42, 43, ..., 4n. The means 11 may, for example, consist of a chamber for receiving and loading the airships. The drones may, for example, be multi-rotor type, although this characteristic is not a limitation.

[0041] The drones are planned to be deployed at a distance from airship 1.

[0042] Depending on one possibility, all or part of the drones are carried on board the airship as part of means 11 and are deployed from said airship.

[0043] Drones can be carried on board another airship and deployed from that airship. Alternatively, drones are stationed at a drone receiving station and deployed from that station, which can be located on land or at sea.

[0044] System 100 includes means 12a, on board the airship, to calculate and transmit to each of the drones 41, 42, 43, ..., 4n instructions for positioning each drone relative to said airship.

[0045] System 100 includes means 41, 42, 43,..., 4n on board each of the drones 4, for determining wind intensity and direction.

[0046] Wind intensity and direction can be determined along three axes forming an orthogonal basis, for example in the aircraft's frame of reference.

[0047] Several techniques can be considered to determine the intensity and direction of the wind.

[0048] The drone can, for example, be equipped with an anemometer 41a and a means 41t for processing the measurements from the anemometer.

[0049] According to another possibility, the drone can be equipped with a 41b lidar, with the 41t processing means configured to process these measurements.

[0050] According to yet another possibility, the drone can be equipped with drone positioning means 41c, the processing means 41t being configured to determine an estimate of the intensity and direction of the wind from the knowledge of two drone position readings.

[0051] As a preferred embodiment of the invention, drones attached to the airship are equipped with a positioning system and accelerometers (whose data can be processed and transmitted), enabling the calculation of wind speed using ground speed. It is also possible for drones attached to the airship to be equipped with an inertial measurement unit configured to provide positioning, speed, and orientation information.

[0052] According to yet another possibility, a drone according to the invention is equipped with an inertial navigation system designed to deliver positioning and orientation data, and means for measuring 41d the currents absorbed by the electric motors driving the rotors equipping the drone.

[0053] The 41t processing means are configured to process these current measurements in combination with drone positioning data to calculate the wind intensity and direction. This calculation can be performed using knowledge of the absorbed currents and the drone's performance model.

[0054] When the drone has more than one wind intensity and direction calculation device, the 41t processing means can also be configured to merge the calculation results from the devices.

[0055] The drone may also include means for measuring atmospheric pressure and / or relative humidity and / or temperature. These pressure, humidity, and temperature measurements can be used to help anticipate variations in aerostatic lift.

[0056] The system 100 includes means 42, on board each of the drones 4, to emit the measurements v 1 , v 2 , v 3 ,..., vn of wind intensity and direction and positioning carried out by the means 41, in the three dimensions x, y, z.

[0057] The system 100 may also include means 43, carried in at least one of the drones 4, preferably in each of the drones 41, 42, 43, ..., 4n, to communicate with another drone of said plurality of drones 41, 42, 43, ..., 4n.

[0058] System 100 includes means 12b, on board the airship, to collect measurements v 1 , v 2 , v 3 ,..., vn of wind intensity and direction and positioning taken in each of the drones 4 1 , 4 2 , 4 3 ,..., 4 n and emitted from each of the drones 4 1 , 42 , 4 3 ,..., 4 n.

[0059] The system 100 includes means 12c, to process the said measurements v 1 , v 2 , v 3 ,..., vn of wind and positioning thus collected, so as to identify one or more sudden accelerations of wind at a distance from said airship.

[0060] According to one possibility, the means of processing 12 b of wind and positioning measurements are at least partly carried in the airship.

[0061] These 12b processing means can be fully integrated into the airship.

[0062] Alternatively, the processing means 12b may include devices external to the airship. Wireless communication means are then provided between the devices on board the airship and the devices external to the airship. Such wireless communication means are well known and are not described here.

[0063] Using an artificial intelligence system dedicated to processing data transmitted by the drone swarm in real time allows for the transmission of clear, concise, and useful information to the pilot or autopilot. This can include information such as GO ("let's go") and NO GO ("we'll abort") based on weather conditions.

[0064] Thus, the airship can anticipate these variations to more effectively stabilize its position and optimize intervention times. Analyzing the evolving environment, the airship's reactions, and the results obtained will allow for the development of the flight simulator and, subsequently, the autopilot.

[0065] System 100 may include means, onboard the airship, for managing the energy autonomy of all or some of the drones in the plurality of drones 4, notably based on estimated energy stored in the drones. The energy stored can be estimated from the flight distance traveled by the drones and the elapsed time. When the drone includes a means for measuring the current drawn by the electric motors driving the rotors equipping said drone, the energy stored by said drone can be estimated from the measurement of the current drawn.

[0066] System 100 may also include means 14 for planning the deployment of the plurality of drones, based on predictive meteorological information received in the airship. These means 14 are preferably carried on board the airship. The means 14 may, for example, consist of a processing unit. The predictive meteorological information received in the airship may, for example, come from a weather station carried on board the airship or from an atmospheric information system external to the airship.

[0067] The system 100 may further include means 15 for controlling in real time the respective positions of the deployed drones 41, 42, 43, ..., 4n, based on the results of processing wind intensity and direction data received from said drones. The means 15 are typically composed of a processing unit configured to generate positions from the measurements collected by the means 12b.

[0068] The P method for detecting wind gusts includes: a step E1 of remote deployment of the airship 1, of a plurality of drones (41, 42, 43, ..., 4n) carrying means of wind measurement (41), a step E2 of calculation and transmission of the positioning instructions of each drone relative to the airship, a step E3 of measurement of the intensity and direction of the wind in each of said drones, a step E4 of collection of the measurements of intensity and direction of the wind and positioning, carried out in each of said drones, a step E5 of processing of said wind and positioning measurements thus collected, in order to identify one or more sudden accelerations of wind at a distance from said airship.

[0069] Later in step E4, the process may include a step Ec to control in real time the respective positions of the deployed drones (41, 42, 43, 4n), according to the results of processing wind intensity and direction data received from said drones.

[0070] According to one embodiment, the wind intensity and direction measurement step E3 carried out in one drone among the plurality of drones deployed may include a step E31 to measure the currents absorbed by the electric motors driving the rotors equipping said drone, and a step E32 to process these current measurements in combination with positioning and orientation data of said drone as well as with its performance curves to deduce an estimate of the wind intensity and direction.

[0071] This positioning and orientation data can be extracted from complete inertial data delivered by an inertial measurement unit equipping the drone.

[0072] Prior to the deployment stage, the process P may include a stage Ei to plan the deployment of the plurality of drones 41, 42, 43, 4n, based on predictive meteorological information received in the airship.

[0073] The process P may also include one or more steps Eg to manage the energy autonomy of the plurality of drones, based on estimation information of the energies stored respectively in said drones 41, 42, 43, 4n.

[0074] The information gathered by a method or system according to the invention allows the pilot to be informed. The apparent mass of the airship, its power reserve, and the information gathered are used to inform the pilot about the airship's controllability and its altitude maintenance. In addition, the information gathered can be transmitted to the flight management system to anticipate and minimize the effects of detected gusts.

[0075] Of course, the invention is not limited to the examples just described, and many modifications can be made to these examples without departing from the scope of the invention. Furthermore, the various features, forms, variants, and embodiments of the invention can be combined in various ways, provided they are not incompatible or mutually exclusive.

[0076] Atmospheric condition measurements include measurements of non-modelable phenomena (gusts, sunshine) and modelable physical phenomena (temperature, pressure, humidity, cloud movement).

Claims

1. A method for characterizing, in real time, atmospheric conditions in the environment of an aircraft (1), the method comprising the following steps: - (E1) deploying, at a distance from said aircraft (1), a plurality of drones (41, 42, 43,..., 4n) carrying on-board equipment (41) for characterizing atmospheric conditions, - (E2) calculating and transmitting instructions for the positioning of each drone with respect to said aircraft (1), - (E3) collecting, at one or more of said drones, measured data or calculated data regarding atmospheric variables generated by said characterization equipment and data regarding the positioning of said drone or drones, - (E4) transmitting said measured data thus collected from said drone or drones to the aircraft (1), and - (E5) processing the measured data thus transmitted so as to identify one or more atmospheric phenomena liable to affect the static and / or dynamic behavior of said aircraft (1).

2. The characterization method according to the preceding claim, characterized in that the processing step (E5) is arranged so as to identify an occurrence of a gust of wind at a distance from said aircraft (1).

3. The characterization method according to claim 2, characterized in that the data collected in one or more of the drones comprise measured data regarding the speed and strength of the wind experienced by this drone or these drones.

4. The characterization method according to either of the two preceding claims, characterized in that the data collected in one or more of the drones comprise calculated data regarding the speed and strength of the wind experienced by this drone or these drones.

5. The characterization method according to claim 4, wherein the step (E3) of calculating the strength and direction of the wind carried out in one drone from the plurality of deployed drones comprises a step (E31) for measuring the current drawn by the electric motors driving the rotors with which said drone is equipped, and a step (E32) for processing these current measurements in combination with positioning data and performance curves for said drone in order to infer therefrom an estimate of the strength and direction of the wind.

6. The characterization method according to one of the preceding claims, further comprising, prior to the deployment step, a step (Ei) for planning the deployment of the plurality of drones (41, 42, 43, 4n) according to weather forecast information received in the aircraft (1).

7. The characterization method according to one of the preceding claims, further comprising a step (Ec) for controlling, in real time, the respective positions of the deployed drones (41, 42, 43, 4n) according to results for the identification of atmospheric phenomena.

8. The characterization method according to one of the preceding claims, further comprising one or more steps (Eg) for managing the range of the plurality of drones according to information for estimating the energy stored in said drones (41, 42, 43, 4n).

9. The characterization method according to one of the preceding claims, characterized in that the processing step (E5) is arranged so as to detect, in advance, a variation in pressure and / or temperature in an environment close to the aircraft that is liable to affect the static lift of the aircraft (1).

10. A system for characterizing, in real time, atmospheric conditions in the environment of an aircraft (1), the system implementing the characterization method according to one of the preceding claims, this system comprising: - a plurality of drones (41, 42, 43,..., 4n) carrying on-board equipment (41) for characterizing atmospheric conditions, said drones being intended to be deployed at a distance from said aircraft (1), - within said aircraft (1), means for calculating and transmitting instructions for the positioning of each drone with respect to said aircraft (1), - means, carried in one or more of said drones, for collecting measured data or calculated data regarding atmospheric variables generated by said characterization equipment and data regarding the positioning of said drone or drones, - means for transmitting said measured data thus collected from said drone or drones to said aircraft (1), and - means, carried within said aircraft (1), for processing the measured data thus transmitted so as to identify one or more atmospheric phenomena liable to affect the static and / or dynamic behavior of said aircraft (1).

11. The characterization system according to claim 10, characterized in that the processing means are arranged so as to identify an occurrence of a gust of wind at a distance from said aircraft (1).

12. The characterization system according to claim 11, characterized in that at least one drone from the plurality of drones comprises means for measuring the speed and strength of the wind experienced by this drone or these drones.

13. The characterization system according to either of the two preceding claims, characterized in that at least one drone from the plurality of drones comprises means for calculating the speed and strength of the wind experienced by this drone or these drones.

14. The characterization system according to claim 13, characterized in that the means for calculating the speed and strength of the wind comprise means for measuring the current drawn by the electric motors driving the rotors with which said drone is equipped, and means for processing these current measurements in combination with positioning data and performance curves for said drone in order to infer therefrom an estimate of the strength and direction of the wind.

15. The characterization system according to one of claims 10 to 14, characterized in that at least one drone from the plurality of drones comprises means for detecting, in advance, a variation in pressure and / or temperature in an environment close to the aircraft that is liable to affect the static lift of the aircraft (1).

16. The characterization system according to one of claims 10 to 15, further comprising means (15) for controlling, in real time, the respective positions of the deployed drones according to results from processing measured data or calculated atmospheric conditions.

17. The characterization system according to one of claims 10 to 16, further comprising means for managing the range of the plurality of drones according to information for estimating the energy stored in said drones.

18. A drone for characterizing, in real time, atmospheric conditions in the environment of an aircraft (1), implemented in a characterization system according to one of claims 10 to 17, the drone comprising - one or more items of on-board equipment (41) for characterizing atmospheric conditions, - means for collecting measured data or calculated data regarding atmospheric variables generated by said item or items of characterization equipment and data regarding the positioning of said drone, and - means for transmitting said measured data thus collected to said aircraft (1).

19. The characterization drone according to claim 18, characterized in that the item or items of on-board equipment comprises a LIDAR sensor arranged so as to deliver information on the direction and strength of the wind.

20. An aircraft (1) equipped with a system (100) for characterizing atmospheric conditions according to one of claims 10 to 17, characterized in that it comprises: - means (11) for receiving a plurality of drones (41, 42, 43, 4n) fitted with on-board equipment for characterizing atmospheric conditions, - means (12a) for calculating and transmitting, to some or all of said drones, instructions for the positioning of each drone with respect to said airship, - means (12b) for collecting determinations of strength and direction of the wind and of positioning carried out in each of said drones and transmitted from each of said drones, and - means (12c) for processing said determinations of wind and of positioning thus collected so as to identify one or more sudden wind accelerations at a distance from said aircraft (1).

21. The aircraft (1) according to claim 20, further comprising means (13) for managing the range of all or some of the drones of the plurality of drones (41, 42, 43, 4n).