Method and system for monitoring an object in the environment of an aircraft

Abstract

The invention relates to a method for monitoring an object (20) located in the environment of an aircraft (10) on the ground (2), comprising the following steps: transmitting a communication signal between a communications unit arranged on the object (20), in particular a land vehicle, and at least one communications unit spatially associated with the aircraft (10) on the ground (2); and determining spatial position information of the object (20) based on the transmitted communication signal. The invention also relates to a device comprising an interface, which is designed to read in data based on the communication signal transmitted between the communications units, and a determining unit which is designed to determine spatial position information of the object (20) based on the read-in data. The invention also relates to a system for monitoring an object (20), located in the environment of an aircraft (10) on the ground (2), comprising the a unit of this type.

Description

Technical area

[0001] The invention relates to a method for monitoring an object in the vicinity of an aircraft. The invention also relates to a device and a system for monitoring an object. State of the art

[0002] It is known to monitor the surroundings of a land vehicle using sensors that can be attached to the land vehicle for this purpose. Based on such environmental monitoring, objects in the vicinity of the land vehicle can be detected. Damage caused by objects in the vicinity of a land vehicle can thus be prevented. Aircraft on the ground can also be damaged by objects in their vicinity. However, attaching sensors to an aircraft to monitor such objects may not be possible or desirable.

[0003] From EP 3 486 888 A1, it is known to determine a collision risk between a taxiing aircraft and objects external to the taxiing aircraft. To provide location information of the objects external to the taxiing aircraft, a collision warning system is provided for object detection. This system receives ADS-B data from ADS-B systems via an ADS-B (Automatic Dependent Surveillance Broadcast) interface or transmits it to the ADS-B systems with which the objects external to the taxiing aircraft are equipped. Description of the invention

[0004] Embodiments of the invention are defined by the features of independent claims 1 and 14. Advantageous embodiments are specified in the dependent claims.

[0005] In one aspect, the invention relates to a method for monitoring an object located in the vicinity of an aircraft on the ground. The method can be performed for monitoring an object inside a building and / or outside a building. In other words, the method can be performed indoors or outdoors.

[0006] The object can be a moving object or a stationary object. The object can be a vehicle, in particular a land vehicle, for example an apron vehicle. The apron vehicle can be a vehicle for transporting baggage, goods, or food on an airport apron. The object can also be a machine or a robot. Furthermore, the object can also be a living being. To monitor the object, the method can comprise the steps of detecting the object and / or recognizing the object.

[0007] The aircraft on the ground may be at rest, in which case the aircraft may be in a resting position or in a parking position. Each of these positions may also be a stationary or static position of the aircraft. The aircraft may be in the resting position or parking position temporarily, for example for aircraft handling, or for a longer period of time, for example for maintenance or aircraft production. The aircraft may be inside a building, for example inside a hangar or a production hall, or outside a building, in other words indoors or outdoors. It is also conceivable that the aircraft on the ground may alternatively be in motion, in which case the aircraft may currently be in a moving position.The method may comprise, as one step, detecting and / or recognizing a rest position or a parking position of the aircraft on the ground. Alternatively or additionally, the method may comprise, as a further step, detecting and / or recognizing a movement or a moving position of the aircraft on the ground.

[0008] The aircraft on the ground may be on an apron for handling, maneuvering, parking, or servicing the aircraft. The aircraft on the ground may be at a gate or parked there. Alternatively, the aircraft on the ground may be on a taxiway for maneuvering the aircraft. The aircraft may be an airplane, an airship, or a helicopter. For example, the aircraft may be a commercial aircraft, an air taxi, or a glider.

[0009] The method comprises, as a step, transmitting a communication signal between a communication device arranged on the object and at least one communication device spatially assigned to the aircraft located on the ground.

[0010] The transmission of the communication signal may involve communicating the communication signal between the communication devices. The transmission may involve sending and / or receiving the communication signal by the communication device arranged on the object and / or by the at least one communication device spatially assigned to the aircraft located on the ground. At least one of the communication devices may thus be a signal transceiver or a transmitting and receiving unit for transmitting the communication signal.

[0011] If a plurality of communication devices, i.e., at least two communication devices, are spatially assigned to the aircraft on the ground, the same communication signal can be transmitted between the communication device arranged on the object and the plurality of communication devices spatially assigned to the aircraft. Alternatively, a communication signal can also be transmitted between the communication device arranged on the object and each of the plurality of communication devices spatially assigned to the aircraft.

[0012] The communications device spatially assigned to the aircraft on the ground can be a device separate from the aircraft. When the communications device is spatially assigned, it can be arranged at a distance from the aircraft. The communications device can be arranged on the aircraft or spatially separate from it. The communications device can be arranged on an object separate from the aircraft. It is not intended that the communications device spatially assigned to the aircraft on the ground participate in the flight operations of the aircraft in the air in order to carry out the procedure. Rather, the communications device spatially assigned to the aircraft on the ground can be a device used by ground personnel only on the ground for handling or servicing the aircraft.

[0013] The method comprises, as a further step, determining spatial position information of the object based on the transmitted communication signal.

[0014] The determining step can comprise determining the spatial position information of the object using a signal processing method, for example, determining a propagation time of the transmitted communication signal. For this purpose, the method can comprise, as further steps, generating and / or evaluating the transmitted communication signal to determine the spatial position information of the object using the signal processing method. Alternatively or additionally, the transmitted communication signal can be a signal that contains information about the spatial position of the object. For this purpose, the method can comprise, as further steps, modulating, transmitting, and / or receiving the information about the spatial position of the object.

[0015] The determining step can be performed by a monitoring device. For this purpose, the monitoring device can comprise a determination unit, which can be configured to determine the spatial position information of the object according to the determining step. The communication device arranged on the object and / or the at least one communication device spatially assigned to the aircraft on the ground can comprise the monitoring device or the determination unit, respectively, or can be configured as such. A single communication device can comprise the monitoring device or the determination unit, respectively.Alternatively, the monitoring device or the determination unit can be distributed across at least two communication devices, wherein the monitoring device or the determination unit can be configured as a distributed determination system for determining the spatial position information of the object. The monitoring device or the determination unit can also be configured as a device separate from the communication devices, which can communicate with at least one of the communication devices in order to determine the spatial position information of the object.

[0016] The spatial location information of the object can include at least one of a position of the object and an orientation or alignment of the object. The spatial location information can be spatial location information relative to the aircraft. For example, the spatial location information of the object can include at least one of a relative position of the object with respect to the aircraft and a relative orientation or alignment of the object with respect to the aircraft.

[0017] With the present invention, an object in the vicinity of an aircraft on the ground can thus be monitored without an environment detection sensor being pre-assembled or attached to the aircraft. However, within the scope of the invention, the position of the object in the vicinity of the aircraft can be initially determined and then monitored based on at least one communication device spatially assigned to the aircraft. Thus, in further embodiments of the invention, for example, a potential collision of an object with the aircraft can be determined and / or an actual collision of an object with the aircraft can be detected.

[0018] According to one embodiment of the method, the step of determining spatial position information of the object comprises determining relative spatial position information of the object with respect to the aircraft on the ground based on the transmitted communication signal. The relative spatial position information of the object can be or comprise a relative position of the object with respect to the aircraft on the ground. Furthermore, the relative spatial position information of the object can, alternatively or in addition to a relative position, be or comprise a relative orientation or alignment of the object with respect to the aircraft on the ground. The relative spatial position information of the object can be determined in an attitude system or coordinate system relating to the aircraft.This allows the spatial position information of the object to be determined in a local coordinate system or in a coordinate system related to the aircraft. The current location of the object can therefore be monitored relative to the current location of the aircraft. Furthermore, the current spatial orientation of the object relative to the current position of the aircraft can also be monitored. For example, it can be determined whether the object is currently located within a predefined safety zone around the aircraft or whether the object is moving toward it.

[0019] According to the invention, the method comprises, as a further step, determining relative spatial assignment information of the at least one communication device spatially assigned to the aircraft on the ground .The relative spatial assignment information can comprise relative spatial position information, for example, a relative position and / or a relative orientation or alignment, of the at least one communication device spatially assigned to the aircraft on the ground. The relative spatial assignment information can be determined in the attitude system or local coordinate system relating to the aircraft. The relative spatial assignment information can be determined by means of a sensor or a user input. The sensor can be arranged on the at least one communication device spatially assigned to the aircraft on the ground.

[0020] According to a further embodiment of the method, the determining step is carried out based on current spatial position information of the aircraft on the ground and / or based on a predetermined geometric model of the aircraft on the ground. The current spatial position information of the aircraft can comprise a position and / or an orientation or alignment of the aircraft in a higher-level or global coordinate system. Thus, the spatial position information of the object can be determined in a higher-level or global coordinate system. The determining step can also be based on the determined relative spatial assignment information of the at least one communication device spatially assigned to the aircraft on the ground.Thus, the current spatial position information of the aircraft on the ground and the relative spatial assignment information of the at least one communication device spatially assigned to the aircraft on the ground can be combined to determine the spatial position information of the object in the higher-level or global coordinate system based on the transmitted communication signal.

[0021] The predetermined geometric model of the aircraft on the ground can have a contour, in particular a two-dimensional contour, or a spatial model, in particular a three-dimensional model, of the aircraft. The spatial position information of the object can thus be determined in relation to the contour or the model of the aircraft. The contour can be an outer outline or an external contour of the aircraft. The model can be a geometric model of the aircraft. A current location of the object or a current spatial orientation of the object can therefore be monitored in relation to the contour or the spatial model of the aircraft. For example, it can also be determined whether the object is currently in a predefined safety zone around the contour or the model of the aircraft or whether the object is moving towards it.The safety area can be defined by a distance to the contour or the model around the aircraft.

[0022] According to a further embodiment of the method, at least one of the communication devices has a position-determining unit for determining at least one of position-related information about the object and position-related information about the aircraft on the ground. At least one location or at least one position of the object and the aircraft can thus be determined in a higher-level coordinate system, for example, in an airport system. The determination of position-related information can be carried out using satellite-based or RFID technology. The position-determining unit can have a receiver for a global navigation satellite system, for example, a GNSS receiver or a GPS receiver, and / or an RFID sensor, for example, an RFID transponder or an RFID reader.Furthermore, based on the position-related information about the object and the aircraft, the relative position of the object with respect to the aircraft on the ground can also be determined alternatively or in addition to determining the relative position based on the transmitted communication signal.

[0023] According to a further embodiment of the method, the determining step comprises determining at least one distance between the at least one communication device spatially assigned to the aircraft on the ground and the communication device arranged on the object based on the transmitted communication signal. If a plurality of communication devices are spatially assigned to the aircraft on the ground, a distance can be determined between a respective communication device spatially assigned to the aircraft on the ground and the communication device arranged on the object. Thus, a plurality of corresponding distances can be determined.The spatial position information of the object can thus be determined based on at least one specific distance or based on a plurality of specific distances, for example by means of a spatial arc section.

[0024] A distance can be determined based on a signal propagation time method or a Time of Flight method. For example, a distance can be determined based on a detected signal propagation time of the communication signal between the communication devices. The determining step can therefore include determining a signal propagation time of the communication signal between the communication devices based on a transmission and reception time of the transmitted communication signal determined at at least one of the communication devices. The spatial position information of the object can thus be determined in a particularly reliable and precise manner.

[0025] According to a further embodiment of the method, the communication device arranged on the object and the at least one communication device spatially assigned to the aircraft on the ground each have a communication unit for communicating a positioning signal. The communication unit can be a positioning sensor. Furthermore, the two communication units can be a sensor pair or a multi-sensor system for determining the spatial position information of the object, for example, the relative position of the object with respect to the aircraft on the ground.

[0026] The communication unit can be a unit for short-range radio communication, in particular an ultra-wideband communication unit. The positioning signal can be an ultra-wideband radio signal. The ultra-wideband radio signal can have a modulated carrier frequency. According to one embodiment, the communication devices each have an ultra-wideband communication unit. The determination of the spatial position information of the object, for example, the relative position of the object with respect to the aircraft on the ground, or a distance between ultra-wideband communication units can be determined based on a signal propagation time method or a TDOA method. An ultra-wideband radio signal transmitted and received by an ultra-wideband communication unit can advantageously be communicated over a wide bandwidth.

[0027] According to a further embodiment of the method, this comprises, as a further step, determining a movement behavior of the object relative to the aircraft on the ground based on the determined spatial position information of the object. The determining step can also be carried out based on the determined at least one distance. The movement behavior of the object can only comprise information about whether the object is moving or not. Alternatively or additionally, the movement behavior of the object can comprise information about a direction of movement, a movement speed and / or a movement acceleration of the object. The direction of movement, the movement speed and / or the movement acceleration of the object can be a corresponding relative movement behavior of the object relative to the aircraft on the ground.For example, a direction of movement, a relative speed of movement and / or a relative acceleration of the object relative to the aircraft on the ground can be determined. Based on the determined movement behavior of the object, a potential collision between the object and the aircraft can be predicted or estimated. In a further step of the method, the occurrence or existence of a collision can also be documented. From the determined movement behavior of the object, a movement trajectory of the object can also be derived in a further step. Based on the derived movement trajectory, it can thus be determined whether the object is on a collision course with the aircraft on the ground.For example, the determined trajectory can be intersected with the contour or model of the aircraft, or the safety area around the aircraft. This allows for particularly reliable monitoring of moving objects.

[0028] According to a further embodiment of the method, the steps of determining and ascertaining are carried out repeatedly. These steps can thus be carried out in a loop to monitor the object. The movement behavior of the object relative to the aircraft on the ground can therefore also be repeatedly ascertained. In addition, for example, the spatial position information of the object can be repeatedly determined. The method can therefore comprise, as a further step, monitoring the repeatedly ascertained movement behavior of the object relative to the aircraft on the ground based on the repeatedly ascertained spatial position information of the object. The method can thus comprise, as a further step, tracking or tracing the relative position of the object relative to the aircraft based on the repeatedly carried out steps of determining and / or ascertaining.The spatial position information of the object can therefore be determined in (quasi-)real time.

[0029] According to the invention, the method comprises, as a further step, assigning at least one communication device to the aircraft. The assignment can be a semantic and / or spatial assignment. For example, it can be determined to which aircraft or aircraft type the at least one communication device is assigned. Alternatively or additionally, it can be determined, for example, where the at least one communication device is arranged on the aircraft or at a distance from it in the assignment step. The semantic and / or spatial assignment can be stored in a further step in a monitoring device for avoiding or documenting a collision between the object and the aircraft on the ground.Based on such a spatial and / or semantic assignment of the at least one communication device to the aircraft, the determined spatial position information of the object can then be assigned based on the transmitted communication signal to the current spatial position information of the aircraft located on the ground and / or to the predetermined geometric model thereof.

[0030] According to a further embodiment of the method, the step of assigning the at least one communication device to the aircraft can therefore also comprise arranging it based on a predefined spatial assignment and / or recognizing a predefined spatial assignment of the at least one communication device to a predetermined aircraft. The predefined spatial assignment can comprise the relative spatial assignment information of the at least one communication device spatially assigned to the aircraft located on the ground to the aircraft. The assigning step can therefore comprise arranging the at least one communication device spatially assigned to the aircraft located on the ground on the aircraft in a predefined spatial position relative to the aircraft.An arrangement position of the at least one communication device on or at a distance from the aircraft can thus be automatically derived in or based on the assignment step. For example, the at least one communication device spatially assigned to the aircraft on the ground can be arranged in a predefined position on a means for securing the aircraft's parking position, for example, a wheel chock, or a means for protecting an aircraft component, for example, a turbine inlet cover.

[0031] According to a further embodiment, the communication device arranged on the object and the communication device spatially assigned to the aircraft on the ground each have an activation unit for communicating an activation signal. An activation signal transmitted or communicated by the activation unit of the communication device arranged on the object can be received by an activation unit of a communication device spatially assigned to the aircraft on the ground. The method can therefore comprise, in a further step, communicating an activation signal between the activation units.Based on the communicated activation signal, at least one communication unit of the communication devices, in particular the communication unit of the communication device spatially assigned to the aircraft on the ground, can be activated. Alternatively, the communication unit of the communication device arranged on the object can also be activated based on the communicated activation signal. The activation signal can thus be communicated between the activation units to activate at least one or all communication units.

[0032] The activation unit can be a radio communication unit. The activation unit can have a positioning sensor. The activation unit can access a position of the object and / or the aircraft determined by the positioning sensor in order to transmit the activation signal based thereon or to use this signal to transmit information about the determined position of the object and / or the aircraft between the communication devices of the object and / or the aircraft.

[0033] The activation unit can be a sub-GHz activation unit. The activation signal can be a sub-GHz radio signal. The sub-GHz radio signal can be transmitted and received in a narrowband range. Compared to an ultra-wideband radio signal, the sub-GHz radio signal can be generated and transmitted over a longer range and with lower power requirements.

[0034] The transmission step can therefore be carried out depending on the communicated activation signal. The communication unit of the communication device arranged on the object and / or the at least one communication unit of the at least one communication device spatially assigned to the aircraft on the ground can initially be in a deactivated state, wherein in the deactivated state, no communication signal or positioning signal is transmitted between the communication devices. If the communication units of the communication devices are activated based on a communicated activation signal, the communication signal or positioning signal can then be communicated between the communication units of the communication devices as a next step.Activation of the communication units by the activation units and / or transmission of the communication signal based thereon can thus be carried out depending on whether the activation signal for activating the communication units has been communicated. The communication of the activation signal, in turn, can only be carried out depending on how far away the object is in the vicinity of the aircraft. A relative location or position of the object with respect to the aircraft can be determined using sensors, for example based on respective satellite positioning or RFID. If the object approaches the aircraft and / or is within a surveillance area around the aircraft, the activation signal can be communicated.Activating or waking up the communication units based on such a communicated activation signal can reduce the energy consumption of the communication units.

[0035] According to a further embodiment, the activation signal comprises spatial position information of the object in a higher-level coordinate system. The spatial position information of the object communicated with the activation signal can be compared with predetermined spatial position information of the aircraft in the higher-level coordinate system. This makes it possible to determine whether the object is located in the surveillance area around the aircraft. The spatial position information can comprise current positions of the object and the aircraft in a local or higher-level coordinate system, wherein the positions can be detected using satellite or RFID. Based on the positions, a relative position or a distance between the object and the aircraft can be derived and compared with a predetermined corresponding threshold value.The transmission step can thus also be carried out depending on whether a current distance between the object and the aircraft falls below a predetermined corresponding threshold.

[0036] According to a further embodiment, the aircraft on the ground is in a parking position when the method is performed. The aircraft can thus be parked on an airport apron. The aircraft is at rest.

[0037] According to a further embodiment of the method, the at least one communication device spatially assigned to the aircraft on the ground is attached to an object separate from the aircraft. The object can be a means for securing a parking position of the aircraft. For example, the means for securing a parking position of the aircraft is a wheel chock for securing a landing gear or a wheel of the aircraft in the parking position. The object can be a means for protecting an aircraft component. For example, the means for protecting an aircraft component is a turbine inlet cover.The at least one communication device spatially assigned to the aircraft on the ground can be pre-mounted on the means for securing a parking position of the aircraft and / or on the means for protecting an aircraft component. The means for securing a parking position of the aircraft and / or the means for protecting an aircraft component can also be temporarily provided with the communication device for carrying out the method.

[0038] According to a further embodiment, the at least one communication device spatially assigned to the aircraft on the ground can be operated in an energy-autonomous manner. The communication device spatially assigned to the aircraft on the ground can be designed as a battery-operated communication device. The communication device can thus have a battery or accumulator with which the communication device can be supplied with energy. The communication unit and / or the activation unit of the communication device can thus advantageously be operated in an energy-autonomous manner in order to monitor objects in the vicinity of the aircraft.

[0039] According to a further embodiment, the method comprises, as a further step, communicating an information signal based on the determined spatial position information of the object to a monitoring device for avoiding or documenting a collision between the object and the aircraft on the ground. Any damage to the aircraft that may have been caused by the documented collision can then be assessed and / or remedied in a further step. During the collision, at least one contact can occur between the object and the aircraft. The communicated information signal can also be based on the determined movement behavior of the object. The monitoring device can be a device, in particular a mobile terminal, for example a smartphone or a tablet PC, which communicates with at least one of the described communication devices.The monitoring device can also be an online service or a web service for monitoring the object. The monitoring device can carry out or initiate at least one further step to avoid or document a collision between the object and the aircraft on the ground. The monitoring device can therefore be a collision avoidance and / or collision documentation device. The method can therefore also be carried out to avoid or document a collision between the object and the aircraft on the ground. The method can also be carried out to avoid damage that could be caused to the aircraft as a result of a potential collision between the object and the aircraft on the ground.

[0040] According to a further embodiment, the method comprises, as a further step, intervening in the operation of the object depending on the determined spatial position information of the object in order to avoid a collision between the object and the aircraft on the ground. This step can be carried out by the monitoring device. The intervention in the operation of the object can also be carried out depending on the determined movement behavior of the object. The intervention in the operation of the object can comprise intervening in a dynamic system for controlling the movement of the object. Alternatively or additionally, the intervention in the operation of the object can comprise intervening in an assistance system for operating the object.Further alternatively or additionally, interfering with the operation of the object may comprise interfering with a warning system for warning the object or an operator of the object of a potential collision between the object and the aircraft on the ground.

[0041] According to a further embodiment, the method comprises, as a further step, triggering a warning signal based on the determined spatial position information of the object to warn of a potential collision between the object and the aircraft on the ground. The warning signal can be communicated with the object or triggered on the object. The monitoring device can be configured to trigger or communicate the warning signal. For this purpose, the monitoring device can communicate with a warning device present on the object, which can trigger or transmit the warning signal. Triggering or transmitting the warning signal by the warning device or communicating with it for this purpose can further be understood as an exemplary intervention in the operation of the object.If the object is a vehicle, a driver or, in the case of an autonomous vehicle, an operator or operator of the vehicle can be warned of a potential collision between the object and the aircraft on the ground.

[0042] According to a further embodiment of the method, this comprises a further step of determining, based on the determined spatial position information of the object, whether a collision between the object and the aircraft on the ground will occur or has occurred. The method can thus, alternatively or in addition to avoiding a collision, also be carried out to document or determine a collision that is occurring or has already occurred between the object and the aircraft on the ground. A collision and / or resulting damage to the aircraft can therefore be detected using the invention, even though the collision and / or resulting damage to the aircraft may not be detectable by the aircraft through a superficial damage inspection.This is based on the realization that collision damage to an aircraft can only occur in material areas that are not visible on the aircraft's surface, such as the outer surface of the fuselage. This can be particularly the case with the composite materials used in aircraft fuselages.

[0043] The method may include, as a further step, determining a collision location on the aircraft if a collision between the object and the aircraft has been detected. The step of determining the collision location may be performed based on the determined spatial position information of the object. The step of determining the collision location may further be performed based on the current spatial position information of the aircraft on the ground and / or the predetermined geometric model thereof.A collision location of damage that is not visible on the surface or on the outer contour of the aircraft can thus be advantageously detected and documented using the method in order to detect and eliminate such hidden damage, which may be safety-relevant for the operation of the aircraft, before the aircraft is in flight or in flight again.

[0044] In a further aspect, the invention relates to a mobile terminal device which is configured to communicate with at least one of a communication device arranged on an object and at least one communication device assigned to an aircraft on the ground. The object can be a land vehicle. The mobile terminal device can be a collision avoidance device for avoiding a collision or a collision warning device for warning of a collision. Alternatively or additionally, the device can be a collision documentation device. The mobile terminal device is configured to cause a communication signal to be transmitted between the communication devices. The mobile terminal device can be, for example, a smartphone or a tablet PC.Any embodiment or feature described in relation to the preceding aspect may be understood as a corresponding embodiment or feature of the mobile terminal according to this aspect, and vice versa.

[0045] The mobile terminal has an interface configured to read in data that may be based on the communication signal transmitted between the communication devices. Alternatively or in addition to this interface, the mobile terminal may have at least one further interface configured to read in and / or output data that may be based on performing at least one of the method steps described in the preceding aspect.

[0046] The mobile terminal has a determination unit configured to determine spatial position information of the object based on the read-in data. In addition to the determination unit, the mobile terminal can have at least one further unit configured or functioning to perform at least one of the method steps described in the previous aspect.

[0047] In a further aspect, the invention relates to a system for monitoring an object located in the vicinity of an aircraft on the ground. The system can be a collision avoidance system for avoiding a collision or a collision warning system for warning of a collision. Alternatively or additionally, the system can be a collision documentation system. Each embodiment or feature described in relation to the preceding aspects can be understood as a corresponding embodiment or feature of the system according to this aspect, and vice versa. The system can be a portable system.

[0048] The system can comprise, as a system component, at least one communication device assignable to the aircraft on the ground, which can be configured to communicate with a communication device arranged on the object. The object can be a land vehicle. The system can comprise, as a further system component, the communication device arranged on the object. The system comprises, as a further system component, a device according to the preceding aspect.

[0049] Furthermore, the system may comprise any further object or device described in one of the preceding aspects, for example, the warning device described in the preceding aspect of the method. The system may further be configured to perform at least one of the method steps described in the preceding aspect of the method.

[0050] According to one embodiment of the system, the at least one communication device assignable to the aircraft on the ground is designed as a portable system component. The communication device can thus be handled by an operator, for example, the ground staff of an airport, without additional equipment. Furthermore, the communication device can be assigned to an aircraft without the use of tools. Furthermore, it is conceivable that the communication device can be remotely controlled by the operator. The operator can be a human or a robot. Short description of the characters

[0051] Figure 1 shows an aircraft and an object to explain the invention. Figure 2 shows a communication device assigned to the aircraft to further explain the invention. Figure 3 shows a communication device arranged on the object to further explain the invention. Figure 4 shows a system, a device, and communication devices according to respective embodiments of the invention. Figure 5 shows the aircraft and the object before a collision to further explain the invention. Figure 6 shows the aircraft and the object during a collision to further explain the invention. Figure 7 shows a schematic flow diagram with method steps of a method for monitoring an object located in the vicinity of an aircraft according to one embodiment of the invention. Detailed description of embodiments

[0052] Figure 1shows an aircraft 10 located on a ground 2. In one embodiment, the aircraft 10 can be an airplane that can be located in a parking position 14 on an apron of an airport. The aircraft 10 is currently in a rest position on the ground 2, for example in such a parking position 14. To secure the parking position 14, means for securing a parking position 14 can be arranged on the landing gear 18 of the aircraft 10. The means for securing the parking position 14 can be wheel chocks 17. In one embodiment, the wheel chocks 17 can be arranged on the wheels of an airplane.

[0053] In the vicinity of the aircraft 10 located on the ground 2 there is an object 20 which may be in motion. In one embodiment, the object 20 may be an apron vehicle 4. At least one trailer for transporting goods or persons may be attached to the apron vehicle 4. The object 20 may move along the ground 2 along a movement trajectory 27. In this case, the object 20 may be on a collision course with the aircraft 10. In one embodiment, the object 20 may thus collide with a fuselage of the aircraft 10. With respect to the aircraft 10, the object 20 has a relative position 24 which can define a position of the object 20, in particular along the movement trajectory 27, relative to the aircraft 10. In addition, the object 20 can have a direction of movement 25 which can define a direction tangential to the movement trajectory 27.Alternatively, the direction of movement 25 of the object 20 can also be a relative orientation of the object 20 to the aircraft 10 and in particular with respect to a reference direction in a reference system related to the aircraft 10.

[0054] With regard to a potential collision of object 20 with aircraft 10, object 20 is in the Figure 1 shown situation in a non-critical object position 37. Here, the object 20 can be located outside a safety zone not shown in the figures. The safety zone can be formed or spanned at a distance from the outer contour of the aircraft 10. For example, the safety zone can be formed by a projection of the outer contour of the aircraft 10 onto the ground 2 and a selected distance around the aircraft 10.

[0055] In Figure 2 is the one in Figure 1The area marked A on aircraft 10 is shown in more detail. Figure 2 A landing gear component of the landing gear 18 is shown, on which a means for securing a parking position 14 is arranged. In one embodiment, the landing gear component is at least one wheel 19 of the landing gear 18. In one embodiment, two wheel chocks 17 are arranged in pairs on the wheel 19. Rolling of the aircraft 10 can thus be prevented.

[0056] In Figure 2Also shown is a communication device 11 assigned to the aircraft 10 located on the ground 2. The communication device 11 is spatially assigned to the aircraft 10 via its arrangement position on the aircraft 10. The arrangement position can therefore be an arrangement position relative to the aircraft 10. The arrangement position of the communication device 11 can be geometrically defined via the landing gear component and / or the means for securing a parking position 14. Thus, the arrangement position of the communication device 11 on the aircraft 10 can be spatially defined relative to the aircraft 10 via at least one of a predefined dimension of the landing gear component, the position of the landing gear component on the aircraft 10, and a dimension of the means for securing the parking position 14.The position of the communication device 11 can thus be determined in a coordinate system related to the aircraft 10.

[0057] The communication device 11 can have an ultra-wideband communication unit 12 as a communication unit. The communication device 11 can have a sub-GHz activation unit 13 as an activation unit. The communication device 11 can also have a position determination unit 16. In addition, the communication device 11 can have a battery (not shown in the figures) for powering the communication device 11.

[0058] Figure 3 shows the object 20 in the Figure 1 marked area B in more detail. A further communication device 21 is arranged on the object 20. The further communication device 21 can be like the Figure 2described communication device 11. The further communication device 21 can have an ultra-wideband communication unit 22 as a communication unit. This can communicate with the ultra-wideband communication unit 12 of the communication device 11 assigned to the aircraft 10. The further communication device 21 can have a sub-GHz activation unit 23 as an activation unit, which can communicate with the sub-GHz activation unit 13 of the communication device 11 assigned to the aircraft 10. The further communication device 21 can have a position determination unit 26, which can be designed like the position determination unit 16 of the communication device 11 assigned to the aircraft 10. According to one embodiment, the position determination units 16, 26 are a respective GNSS receiver.

[0059] A device 30 for communicating with at least one of the two communication devices 11, 21 can be arranged on the object 20. The device 30 can be connected to the at least one communication device 11, 21 by wires or radio. In one embodiment, the device 30 is connected to the communication device 21 arranged on the object 20. The device 30 is a mobile terminal 32 that can be carried on the object 20. Alternatively, the device 30 can also be fixedly arranged on the object 20.

[0060] The device 30 can be connected to a warning device 35 for warning of a potential collision between the object 20 and the aircraft 10. This can be a wired or radio-based connection. The warning device 35 can emit a warning signal 8, which can warn of a potential collision between the object 20 and the aircraft 10. In one embodiment, the warning device 35 can be a visual warning device 35, which can emit a visual warning signal 8. If the object 20 is an apron vehicle 4, a warning light, for example, can be arranged on the apron vehicle 4 as the warning device 35, which can warn a driver or operator of the apron vehicle 4 (not shown in the figures) of the potential collision by means of a light signal.

[0061] Figure 4shows a system 40 for monitoring the object 20 located in the vicinity of the aircraft 10 located on the ground 2, according to an embodiment of the invention. The system 40 has at least one communication device 11 that can be assigned to the aircraft 10 located on the ground 2. In the embodiment shown, the system 40 has at least three such communication devices 11. The at least one or the at least three communication devices 11 can be configured as described in Figure 2 described communication device 11. Each communication device 11 can have a respective ultra-wideband communication unit 12, a sub-GHz activation unit 13, and an optional position determination unit 16.

[0062] The system 40 can be a Figure 4 not shown object 20 arranged communication device 21, which as Figure 3described. The communication device 21 can also have an ultra-wideband communication unit 22, a sub-GHz activation unit 23, and an optional position determination unit 26.

[0063] Based on relative positions 24 or distances between the positioning units 16, 26 determined with the positioning units 16, 26, a current distance between the aircraft 10 and the object 20 can be determined. Depending on the determined current distance, the sub-GHz activation unit 23 of the communication device 21 arranged on the object 20 can transmit an activation signal, which can comprise a sub-GHz radio signal 7. The sub-GHz radio signal 7 can be received by the sub-GHz activation units 13 of the communication devices 11 assigned to the aircraft 10. The ultra-wideband communication units 12 of the communication devices 11 assigned to the aircraft 10 can then be activated. They can previously have been deactivated.The ultra-wideband communication units 12 of the communication devices 11 assigned to the aircraft 10 can then communicate with the ultra-wideband communication unit 22 of the communication device 21 arranged on the object 20 using an ultra-wideband radio signal 5. Spatial position information of the object 20 can be determined via the respective ultra-wideband radio signal 5 transmitted between the ultra-wideband communication units 12, 22 based on the transmitted ultra-wideband radio signal 5. In particular, this can be done based on a signal propagation time of the communicated ultra-wideband radio signal 5.

[0064] Based on the respective arrangement position of the communication devices 11 on the Figure 4not shown aircraft 10 and a respective distance determination between a respective communication device 11 assigned to the aircraft 10 and the communication device 21 arranged on the object 20, the position of the communication device 21 arranged on the object 20 and thus the position of the object 20 in a coordinate system related to the aircraft 10 can be determined. For this purpose, the distance determination can be based on evaluated ultra-wideband radio signals 5. Based on the determined distances, the position determination can further be carried out, for example, with a spatial arc section based on the distance determinations. In order to resolve ambiguities or to carry out a three-dimensional position determination, at least three distances may be necessary.Thus, a current location of the object 20 relative to the aircraft 10 can be determined as a relative position 24 of the object 20 relative to the aircraft 10.

[0065] The relative position 24 of the object 20 can be communicated with the device 30 via an interface 33. Based on a relative position 24 read in by the device 30 via the interface 33, the device 30 can determine in a determination unit of the device 30 (not shown in the figures) whether the relative position 24 is a position in the (initial) situation of Figure 1 shown uncritical object position 37 or a Figure 5shown critical object position 38. If it is a critical object position 38 in which the object 20 is located within the safety area around the aircraft 10, the device 30 can communicate with the warning device 35 in such a way as to cause the warning device 35 to output the warning signal 8 to warn of a potential collision between the object 20 and the aircraft 10.

[0066] The device 30 can also communicate the relative position 24 with a web service 50. The device 30 can communicate with the web service 50, for example, via mobile communications. The web service 50 can be a component of the device 30 or vice versa. The web service 50 or the device 30 can store the determined relative position 24 and / or further evaluate it. For example, based on repeatedly determined relative positions 24, the Figure 1shown movement trajectory 27 can be concluded or predicted.

[0067] In Figure 5 Object 20 has improved compared to its Figure 1 shown initial position along the movement trajectory 27 towards the aircraft 10. In its current position, the object 20 has a critical object position 38 with respect to the aircraft 10. This is, as Figure 4 described, based on the ultra-wideband radio signals 5 communicated between the communication devices 11, 21. In the Figure 5 In the situation shown, this can Figure 3 The warning signal 8 shown is emitted by the warning device 35 to warn of a continued threat of collision between the object 20 and the aircraft 10.

[0068] In Figure 6a collision 3 between the object 20 and the aircraft 10 is shown. The object 20 has continued to move along the determined movement trajectory 27, having now arrived at a collision location 15 on the aircraft 10, for example at a location on the fuselage of the aircraft 10, and collides there with the aircraft 10. Based on the Figure 4From the position determination of the object 20 described above, the collision location 15 on the aircraft 10 can be derived and communicated with the device 30 or the web service 50. The collision location 15 can be documented in this way in order to document a damage location on the aircraft 10. If damage that is not superficially visible at the damage location due to the collision 3, for example, is present in the interior of a composite material in the fuselage, this damage can be detected and remedied based on the documented collision location 15 before the aircraft 10 leaves its parking position 14. Thus, damage that is not superficially visible can be efficiently localized and remedied.

[0069] According to a respective embodiment of the method, a warning can be issued of a collision 3, and alternatively or additionally, a collision 3 that has occurred can be documented. The system 40 can therefore be a collision avoidance and / or collision detection system.

[0070] Figure 7 shows method steps of a method for monitoring the object 20, which is located in the environment of the aircraft 10 located on the ground 2, in a sequence according to an embodiment.

[0071] In a first step S0a, a communication device assignment is carried out. In this step, as in Figure 2As described, a communication device 11 is spatially assigned to the aircraft 10. For this purpose, the communication device 11 can be attached to a means for securing a parking position 14 of the aircraft 10, which can thus be arranged in a known arrangement position relative to the aircraft 10. Thus, a spatial relationship between the communication device 11 and the aircraft 10 can be determined. In addition, the communication device 11 can be semantically assigned to the aircraft. In this case, the communication device 11 can be associated with a specific aircraft type. An attachment position or assignment position of the communication device 11 can thus be automatically derived based on a known model of the corresponding aircraft type.In addition, the relative position 24 can also be automatically derived from a communication device 11 assigned to the aircraft 10 with respect to the aircraft 10.

[0072] The communication unit of the communication device 11 assigned to the aircraft 10, in one embodiment the ultra-wideband communication unit 12, can initially be deactivated. If an object 20 approaches the aircraft 10, an activation signal communication can be carried out in a further step S0b. In this step, the activation units 13, 23 can communicate with each other to cause the deactivated communication unit of the communication device 11 assigned to the aircraft 10 to be activated. By activating the communication unit, the energy requirement of the communication device 11, which can be operated in an energy-autonomous manner according to one embodiment, can be reduced. The activation signal for activating the communication device 11 can only be transmitted when the object 20 is in the Figure 5shown critical object position 38 or within the safety area. The critical object position 38 can be derived from a respective position determination by the positioning units 16, 26. According to one embodiment, the positioning units 16, 26 can be GNSS receivers.

[0073] Based on the activated communication unit of the communication device 11 assigned to the aircraft 10, a communication signal transmission is carried out in a further step S1. In this step, between the communication units or the ultra-wideband communication units 12, 22 of the communication devices 11, 21, as Figure 4described, ultra-wideband radio signals 5 are communicated. Based on such a transmission of radio signals between the communication device 21 arranged on the object 20 and the communication devices 11 spatially assigned to the aircraft 10 located on the ground 2, a relative position 24 of the object 20 with respect to the aircraft 10 can be determined. Thus, in a further step S2, a position information determination is carried out, wherein the relative position 24 of the object 20 is determined as spatial position information of the object 20. If steps S1 and S2 are repeated or continuously carried out, the relative position 24 of the object 20 with respect to the aircraft 10 can be continuously determined and from this the Figure 1 , 5 and 6The movement trajectory 27 shown can be derived. Monitoring the relative position 24 of the object 20 with respect to the aircraft 10 can thus comprise deriving and predicting a movement trajectory 27 of the object 20. Thus, in a further step S3, a movement behavior determination can be performed. The object 20 can thus be dynamically monitored. In this step, it can be determined whether the object 20 leaves the safety area again or is no longer on a collision course with the aircraft 10.

[0074] In a further step S4, an information signal communication can be carried out with the device 30 or the web service 50. Based on an information signal communicated between the communication device 21 arranged on the object 20 and the device 30, the device 30 can then communicate with the warning device 35 to trigger a warning signal 8.

[0075] In a further step S5, an operational intervention can be carried out on the object 20 in order to prevent a potential collision of the object 20 with the aircraft 10. For example, such an operational intervention can comprise the triggering of the warning signal 8 on the object 20. Alternatively or additionally, the operational intervention can comprise an intervention in the dynamics of the object 20, in the embodiment shown an intervention in the driving dynamics of the apron vehicle 4. Alternatively or additionally to the operational intervention, the Figure 6collision 3 that has occurred can be saved or documented, whereby this can be done by the web service 50. Reference symbol

[0076] 2Ground 3Collision 4Apron vehicle 5Ultra-wideband radio signal 7Sub-GHz radio signal 8Warning signal 10Aircraft 11Communication device 12Ultra-wideband communication unit 13Sub-GHz activation unit 14Parking position 15Collision location 16Positioning unit 17Wheel chock 18Landing gear 19Wheel 20Object 21Communication device 22Ultra-wideband communication unit 23Sub-GHz activation unit 24Relative position 25Direction of movement 26Positioning unit 27Trajectory of movement 30Device 32Mobile terminal 33Interface 35Warning device 37Non-critical object position 38Critical object position 40System 50Web service S0aCommunication device assignment S0bActivation signal communication S1Communication signal transmission S2Position information determination S3Movement behavior determination S4Information signal communication S5Operational intervention

Claims

1. Method for monitoring an object (20) in the environment of an aircraft (10) on the ground (2), having the steps of: spatially allocating (S0a) at least one communication device (11) to the aircraft (10), determining relative spatial allocation information relating to the at least one communication device (11) spatially allocated to the aircraft (10) with respect to the aircraft (10), transmitting (S1) a communication signal between a communication device (21) arranged on the object (20) and the at least one communication device (11) spatially allocated to the aircraft (10) on the ground (2), and determining (S2) spatial location information relating to the object (20) on the basis of the transmitted communication signal and the determined relative spatial allocation information.

2. Method according to Claim 1, wherein the determining step (S2) comprises determining relative spatial location information relating to the object (20) based on the aircraft (10) on the ground (2) on the basis of the transmitted communication signal.

3. Method according to Claim 1 or 2, wherein the determining step (S2) is carried out on the basis of current spatial location information relating to the aircraft (10) on the ground (2) and / or on the basis of a predetermined geometry model of the aircraft (10) on the ground (2).

4. Method according to one of the preceding claims, wherein at least one of the communication devices (11, 21) has a position determination unit (16, 26) for determining at least one item of position-based information relating to the object (20) and position-based information relating to the aircraft (10) on the ground (2).

5. Method according to one of the preceding claims, wherein the determining step (S2) comprises determining at least one distance between the at least one communication device (11) allocated to the aircraft (10) on the ground (2) and the communication device (21) arranged on the object (20) on the basis of the transmitted communication signal.

6. Method according to one of the preceding claims, wherein the communication device (21) arranged on the object (20) and the at least one communication device (11) spatially allocated to the aircraft (10) on the ground (2) each have a communication unit for communicating a position determination signal.

7. Method according to one of the preceding claims, having the further step of: ascertaining (S3) a movement behaviour of the object (20) based on the aircraft (10) on the ground (2) on the basis of the determined spatial location information relating to the object (20).

8. Method according to Claim 7, wherein the determining step (S2) and the ascertaining step (S3) are repeatedly carried out, and having the further step of: monitoring the repeatedly ascertained movement behaviour of the object (20) based on the aircraft (10) on the ground (2) on the basis of the repeatedly determined spatial location information relating to the object (20).

9. Method according to one of the preceding claims, wherein the communication device (21) arranged on the object (20) and the communication device (11) spatially allocated to the aircraft (10) on the ground (2) each have an activation unit, having the further step of: communicating (S0b) an activation signal between the activation units, wherein the transmitting step (S1) is carried out on the basis of the communicated activation signal.

10. Method according to one of the preceding claims, wherein the aircraft (10) on the ground (2) is in a parked position (14) when carrying out the method.

11. Method according to Claim 10, wherein the at least one communication device (11) spatially allocated to the aircraft (10) on the ground (2) is fitted to a means for securing a parked position (14) of the aircraft (10).

12. Method according to one of the preceding claims, having the further step of: triggering a warning signal (8) on the basis of the determined spatial location information relating to the object (20) in order to warn of a potential collision (3) between the object (20) and the aircraft (10) on the ground (2).

13. Method according to one of the preceding claims, having the further step of: establishing, on the basis of the determined spatial location information relating to the object (20), whether a collision (3) will take place or has taken place between the object (20) and the aircraft (10) on the ground (2).

14. Mobile terminal (32) which is configured to communicate with at least one communication device (21) arranged on an object (20) and at least one communication device (11) spatially allocated to an aircraft (10) on the ground (2) in order to cause a communication signal to be transmitted between the communication devices (11, 21), and wherein the mobile terminal (32) has an interface (33) which is configured to read in data based on the communication signal transmitted between the communication devices (11, 21), and wherein the mobile terminal (32) has a determination unit which is configured to determine spatial location information relating to the object (20) on the basis of the data which have been read in.

15. System (40) for monitoring an object (20) in the environment of an aircraft (10) on the ground (2), having the following system components: at least one communication device (11) which can be allocated to the aircraft (10) on the ground (2) and is configured to communicate with a communication device (21) arranged on the object (20), and the mobile terminal (32) according to Claim 14.

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