METHOD FOR SIGNAL SELECTION AND SIGNAL SELECTION APPARATUS

Abstract

A method for signal selection for a flight system having an aircraft, and having a signal selection apparatus that receives first and second control signals, wherein at least the first or the second control signal is dependent on a remote control input from a pilot and/or an autopilot, and uses an analysis logic circuit to ascertain a piece of first reliability information for the first control signal and a piece of second reliability information for the second control signal. In step A, a system state of the aircraft is ascertained based on at least a piece of state information and/or a piece of mission information of the aircraft; in step B, an automated, formal decision logic circuit is used to take the first and second reliability information and the system state and a control hierarchy as a basis for prioritizing the first or second control signal; in step C, either the first or second control signal is output in the form of a prioritized control signal.

Claims

1. A method for signal selection for a flight system (23) having an aircraft (1), and having a signal selection apparatus (2, 39, 45, 47, 56), the method comprising: the signal selection apparatus (2, 39, 45, 47, 56) receiving at least a first control signal (3, 5, 7, 9, 35, 37, 41, 43) and a second control signal (3, 5, 7, 9, 35, 37, 41, 43), using an analysis logic circuit (16) to ascertain a piece of first reliability information (17, 18, 19, 20) for the first control signal (3, 5, 7, 9, 35, 37, 41, 43) and a piece of second reliability information (17, 18, 19, 20) for the second control signal (3, 5, 7, 9, 35, 37, 41, 43), at least one of the first or the second control signal (3, 5, 7, 9, 35, 37, 41, 43) being dependent on a remote control input (9) from at least one of a pilot or an autopilot outside the aircraft and, in a method step A, ascertaining a system state of the aircraft (1) based on at least one of a piece of state information (11) or a piece of mission information (11) of the aircraft (1); in a method step B, using an automated, decision logic circuit (21) to take the first and the second reliability information (17, 18, 19, 20) and the system state and a control hierarchy (22) as a basis for prioritizing the first or the second control signal (3, 5, 7, 9, 35, 37, 41, 43); and, in a method step C, outputting the prioritized control signal (13, 40, 46, 48).

2. The method as claimed in claim 1, wherein at least one of the first or the second reliability information (17, 18, 19, 20) is ascertained in each case using probabilistic or formal methods, using at least one of Bayesian filters or temporal logic circuits.

3. The method as claimed in claim 1, wherein at least one of the state information (11) or the mission information (11) of the aircraft (1) is conveyed by a runtime monitoring system (12) in method step A.

4. The method as claimed in claim 1, wherein the control hierarchy is selected from a multiplicity of control hierarchies in a database (22) based on at least one of the system state or the first and the second reliability information (17, 18, 19, 20).

5. The method as claimed in claim 1, wherein the method for signal selection is carried out as a spatially distributed selection method, with at least one of decentralized control preselection or decentralized signal processing based on spatially distributed subsystems (50, 51, 52).

6. The method as claimed in claim 1, wherein the method for signal selection is carried out as a cascaded method, wherein the signal selection apparatus (2, 39, 45, 47) at least one of receives at least the first or the second control signal (3, 5, 7, 9, 35, 37, 41, 43) from a subordinate signal selection apparatus (39, 45) or outputs the prioritized control signal (13, 40, 46, 48) to a superordinate signal selection apparatus (47, 56).

7. The method as claimed in claim 1, further comprising, in a method step D, the aircraft receiving the prioritized control signal (13, 40, 46, 48) and using the prioritized control signal (13, 40, 46, 48) as a basis for autonomously changing over between at least a first and a second operating state (28, 29, 30).

8. The method as claimed in claim 1, further comprising the signal selection apparatus sending at least the received first control signal (3, 5, 7, 9, 35, 37, 41, 43) and the received second control signal (3, 5, 7, 9, 35, 37, 41, 43), the ascertained reliability information (17, 18), the system state and the prioritized control signal (13, 40, 46) with at least one of a respective associated timestamp or a piece of event information to a flight recorder (15) in the method step C.

9. A signal selection apparatus for a flight system (23) including an aircraft (1), the signal selection apparatus (2, 39, 45, 47) comprising: a processor configured to: (a) receive a first control signal (3, 5, 7, 9, 35, 37, 41, 43) and a second control signal (3, 5, 7, 9, 35, 37, 41, 43), and including an implemented analysis logic circuit (16) configured to ascertain a piece of first reliability information (17, 18, 19, 20) for the first control signal (3, 5, 7, 9, 35, 37, 41, 43) and to ascertain a piece of second reliability information (17, 18, 19, 20) for the second control signal (3, 5, 7, 9, 35, 37, 41, 43), (b) receive at least the first or the second control signal (3, 5, 7, 9, 35, 37, 41, 43) from a remote control input (9) from at least one of a pilot or an autopilot, (c) ascertain a system state of the aircraft (1) based on at least one of a piece of state information (11) or a piece of mission information (11) of the aircraft (1), and an implemented decision logic circuit (21), executable in automated fashion, configured to prioritize the first or the second control signal (3, 5, 7, 9, 35, 37, 41, 43) based on the first and the second reliability information (17, 18, 19, 20) and the system state and a control hierarchy, and the processor being further configured to output the prioritized control signal (13, 40, 46) by a protocol-based data link (34).

10. The signal selection apparatus (2, 39, 45, 47, 56) as claimed in claim 9, wherein the analysis logic circuit (16) is a probabilistic logic circuit, including at least one of a Bayesian filter or a temporal logic circuit, and is configured to ascertain at least the first or the second reliability information (17, 18, 19, 20).

11. The signal selection apparatus (2, 39, 45, 47, 56) as claimed in claim 9, further comprising a runtime monitoring system (12) configured to monitor signals in order to capture at least one of a piece of state information (11) or a piece of mission information of the aircraft.

12. The signal selection apparatus (2, 39, 45, 47, 56) as claimed in claim 9, wherein the signal selection apparatus (2, 39, 45, 47, 56) is connected to a database (22) in order to select the control hierarchy from a multiplicity of control hierarchies based on at least one of the system state or the first and the second reliability information (17, 18, 19, 20).

13. The signal selection apparatus (2, 39, 45, 47, 56) as claimed in claim 9, wherein the signal selection apparatus (2, 39, 45, 47, 56) at least one of comprises at least one of spatially distributed or cascaded subsystems (50, 51, 52), is connected to a subordinate signal selection apparatus (51, 52) for signaling purposes in order to receive at least the first or the second control signal (3, 5, 7, 9, 35, 37, 41, 43), or is connected to a superordinate signal selection apparatus (47, 50) for signaling purposes in order to output the prioritized control signal (13, 40, 46).

14. An aircraft (1), comprising: a controller (14) configured to receive at least one external control signal (13, 40, 46, 48), and a signal selection apparatus as claimed in claim 9.

15. The aircraft as claimed in claim 14, wherein the aircraft (1) is a vertical takeoff and landing aircraft.

16. The aircraft as claimed in claim 14, further comprising a flight recorder (15) that is connected to at least one of the controller (14) or to the signal selection apparatus (2, 39, 45, 47, 56) for signaling purposes and the flight recorder (14) is configured to store at least one of the first and second control signals (3, 5, 7, 9, 35, 37, 41, 43) or the prioritized control signal (13, 40, 46, 48), the reliability information (17, 18, 19, 20) and the system state with at least one of a respective associated timestamp or a piece of event information.

17. A ground station (10, 24, 26) comprising; a control apparatus for remote control of an aircraft (1), wherein the control apparatus is configured to output a remote control input (9) from at least one of a human pilot or an autopilot to a signal selection apparatus (2, 39, 45, 47, 56) in the form of a first or a second control signal (3, 5, 7, 9, 35, 37, 41, 43), and the signal selection apparatus (2, 39, 45, 47, 56) as claimed in claim 9.

18. A flight system, comprising a manned or unmanned aircraft (1), having a controller (14), the signal selection apparatus (2, 39, 45, 47, 56) as claimed in claim 9, and at least one ground station (10, 24, 26), wherein the controller (14) of the aircraft (1) is connected to at least the signal selection apparatus (2, 39, 45, 47, 56) for signaling purposes and the ground station (10, 24, 26) is connected to at least the signal selection apparatus (2, 39, 45, 47, 50) for signaling purposes.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0090] Further preferred features and embodiments of the apparatus according to the invention and the method according to the invention are explained below on the basis of exemplary embodiments and the Figures. These exemplary embodiments are merely advantageous configurations of the invention and therefore should not be considered to be limiting.

[0091] In the Figures,

[0092] FIG. 1 shows an aircraft having a signal selection apparatus;

[0093] FIG. 2 shows a schematic depiction for the performance of a method for signal selection;

[0094] FIG. 3 shows a flight system having an aircraft and a signal selection apparatus;

[0095] FIG. 4 shows a schematic depiction of a method for signal selection that can be performed in spatially distributed fashion;

[0096] FIG. 5 shows a schematic depiction of a method for signal selection that can be performed in cascaded fashion.

DETAILED DESCRIPTION

[0097] FIG. 1 shows a vertical takeoff and landing aircraft 1 having a signal selection apparatus 2.

[0098] The signal selection apparatus 2 is depicted in detail in FIG. 2.

[0099] The signal selection apparatus 2 receives a first control signal 3 from a human pilot 4, a second control signal 5 from an avoidance system 6, a third control signal 7 from a landing system 8 and a fourth control signal 9 from a ground station 10. The fourth control signal 9 from the ground station 10 is transferred by means of a data link with a transmission protocol. Moreover, the signal selection apparatus 2 receives a piece of state information 11 from a runtime monitoring system 12, which is preferably installed aboard the aircraft 1 but can also be distributed over the individual functional units of the overall flight system. It can also be distributed over the functional units such that each functional unit monitors itself independently of the other functional units.

[0100] An analysis logic circuit 16 (see FIG. 2) and a decision logic circuit 21 (see FIG. 2) are used to ascertain from the control signals 3, 5, 7 and 9 a prioritized control signal 13 that is passed to a controller of the aircraft 14 in order to produce a flight movement or a flight maneuver.

[0101] The aircraft furthermore has a flight recorder 15 into which the control signals 3, 5, 7 and 9, the state information 11 and the ascertained prioritized control signal 13 are input.

[0102] FIG. 2 shows the mode of action on the basis of which the signal selection apparatus 2 ascertains the prioritized control signal 13. For the sake of better clarity, the flight recorder 15 and the signal paths leading to it are not depicted. Furthermore, only the functional blocks that are implemented on a computer or processor of the signal selection apparatus 2 in order to ascertain the prioritized control signal 13 are depicted.

[0103] The signal selection apparatus 2 has an analysis logic circuit 16 and a decision logic circuit 21.

[0104] The analysis logic circuit 16 is used to ascertain, for each of the control signals 3, 5, 7 and 9, an applicable piece of first reliability information 17 for the first control signal 3, a piece of second reliability information 18 for the second control signal 5, a piece of third reliability information 19 for the third control signal 7 and a piece of fourth reliability information 20 for the fourth control signal 9.

[0105] The pieces of reliability information each contain parameters for the variance in the respective applicable control signal. The analysis logic circuit 16 is designed as a Bayesian filter.

[0106] The analysis logic circuit inputs the reliability information 17, 18, 19 and 20 into a formal decision logic circuit 21. Similarly, the state information 11 is input into the decision logic circuit 21 by the runtime monitoring system 12. The state information 11 is used to ascertain a system state of the aircraft that permits unique identification of an operating state—for example whether the aircraft is on the “ground” or on a “mission”.

[0107] The formal decision logic circuit 21 is connected to a database 22, which is designed as part of the signal selection apparatus 2, for signaling purposes. The database 22 contains a control hierarchy.

[0108] Depending on the flight phase, each system state has an assigned unique control hierarchy that allows prioritization of the control signals.

[0109] The reliability information, the system state and the control hierarchy are therefore taken as a basis for making a unique selection for a suitable control signal 3, 5, 7 or 9, which is output to the controller 14 as prioritized control signal 13.

[0110] An example of the signal selection is explained with reference to FIG. 3. This Figure shows a flight system 23 having the aircraft 1 shown in FIG. 1.

[0111] The flight system 23 has a ground station 24 in the form of a takeoff vertiport, in the command center of which the fourth control signal 9 is generated and output to the aircraft as a remote control input. Furthermore, a second aircraft 25 is in the airspace of the aircraft 1. The flight system 23 has a second ground station in the form of a landing vertiport 26. The landing vertiport 26 has a human pilot 27 who generates a fifth control signal 31 in the form of a remote control input.

[0112] In principle, the aircraft 1 in the flight system 23 shown can have the operational states “ground” and “mission”, which are monitored by the runtime monitoring system 12. In the “ground” state, the aircraft 1 is in the region of the takeoff vertiport 24. The “mission” state is split into the flight phases “takeoff” 28, “avoidance” 29 and “landing” 30 by way of illustration.

[0113] In the flight system 23 shown, before flight begins, the human pilot 4 wishes to perform the “takeoff” 28 personally using the first control signal generated by them (cf. FIGS. 1 and 2). However, there is a stipulation for operation of the takeoff vertiport 24 that an aircraft cannot take off without prior mission clearance from the takeoff vertiport 24. This condition is taken into account in the database 22 for the control hierarchy that the formal decision logic circuit 21 accesses.

[0114] In this case, the formal decision logic circuit 21 first of all uses the state information 11 to ascertain which state the aircraft is in. Since the aircraft 1 is in the “ground” state prior to takeoff, the formal decision logic circuit 21 ascertains a group of possible control hierarchies in the database 22 (cf. FIG. 2) that are associated with the “ground” state. Since the fourth control signal 9 is conveyed to the signal selection apparatus 2 by means of a transmission protocol, said fourth control signal can be uniquely identified as mission clearance. As a result, the group of possible control hierarchies is limited further, which means that the first control signal 1 is ascertained as prioritized control signal 13 and is output to the controller 14 of the aircraft 1.

[0115] Following completion of the “takeoff” 28, the aircraft 1 is unexpectedly on a collision course with the second aircraft 25. Owing to this situation, the human pilot 4 reacts with a control input.

[0116] A speed sensor designed specifically for system monitoring ascertains the comparatively high airspeed and transfers it to the runtime monitoring system 12. Said runtime monitoring system recognizes from the airspeed that the aircraft 1 is in the “mission” state. On the basis of this state information from the runtime monitoring system, the formal decision logic circuit in turn ascertains a control hierarchy that is associated with the “mission” state.

[0117] At the same time, the automatic avoidance system 6 is activated on the basis of the second aircraft 25. The control hierarchy provides for the second control signal 5, which is sent to the signal selection apparatus by the avoidance system 6, to be prioritized over the other control signals. This permits an automated avoidance maneuver in accordance with the “avoidance” flight phase 29.

[0118] Following completion of the “avoidance” 29, the aircraft is on approach to land and therefore still in the “mission” state. In this case, besides the first data link that still exists to the takeoff vertiport 24, a second data link to the landing vertiport 26 is formed, which means that a fifth control signal 31 is input into the signal selection apparatus. The analysis logic circuit is used to detect that there is a timing overlap between the fourth control signal 9 from the takeoff vertiport 24 and the fifth control signal 31 from the landing vertiport. The analysis logic circuit also recognizes from the transmission protocol of the second data link that the fifth control signal 31 is a remote control input. The first data link is therefore terminated and replaced with the second data link. As a result, a so-called signal handover to the landing vertiport 26 takes place.

[0119] The fifth control signal 31 is landing clearance, which is required for the aircraft in order to be able to land at the landing vertiport 26 under normal conditions. On the basis of the “mission” state, the formal decision logic circuit of the signal selection apparatus 2 obtains a control hierarchy from the database that permits prioritization of the third control signal 7 from the landing system 8 taking account of the landing clearance. Landing is then automatically initiated.

[0120] FIG. 4 shows an exemplary embodiment of the signal selection method, which takes place on the basis of spatially distributed, cascaded subsystems. In this case, one part of the signal selection is performed inside the “aircraft” subsystem 32 and another part is performed inside the “ground station” subsystem 33. The two subsystems 32/33 are connected to one another via a data link 34.

[0121] Inside the “aircraft” subsystem 32, a first control signal 35 is generated by a first human pilot 36, while a second control signal 37 is generated by a first autopilot 38. The second control signal can be dependent on a preprocessed control signal from a different pilot or a pilot apparatus (not shown). A first signal selection apparatus 39 identifies a first prioritized control signal 40, which has been explained on the basis of the described mode of action.

[0122] Inside the “ground station” subsystem 33, a third control signal 41 is generated by a second human pilot 42, while a fourth control signal 43 is generated by a second autopilot 44. A second signal selection apparatus 45 ascertains a second prioritized control signal 46 likewise on the basis of the already described mode of action within the context of FIGS. 2 and 3.

[0123] The data link 34 is used to send the second prioritized control signal 46 to the “aircraft” subsystem 32, where it is sent to a third signal selection apparatus 47 together with the first prioritized control signal 40. Said third signal selection apparatus ascertains a third prioritized control signal 48 from the two prioritized control signals 40 and 46, which third prioritized control signal is input into a controller 49.

[0124] FIG. 5 shows an exemplary embodiment for the performance of the signal selection method with multiple subsystems 50, 51, 52. The subsystems 51 and 52 are identical in structure and each have three signal preprocessing modules 53, 54, 55 and in each case one signal selection apparatus 56. Each of the signal preprocessing modules 53, 54, 55 receives a sensor signal, which is processed and input into the signal selection apparatus 56 in the form of a control signal. This signal selection apparatus ascertains a prioritized control signal 13, which is subsequently transmitted to the superordinate subsystem 50 by means of a data link. The superordinate subsystem 50 in turn has subsystems that are designed in accordance with the subsystems 51 and 52.