FR2708349A1 - Method of locating an aircraft in flight with the aid of a satellite positioning system - Google Patents
Method of locating an aircraft in flight with the aid of a satellite positioning system Download PDFInfo
- Publication number
- FR2708349A1 FR2708349A1 FR9309161A FR9309161A FR2708349A1 FR 2708349 A1 FR2708349 A1 FR 2708349A1 FR 9309161 A FR9309161 A FR 9309161A FR 9309161 A FR9309161 A FR 9309161A FR 2708349 A1 FR2708349 A1 FR 2708349A1
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- Prior art keywords
- gps
- aircraft
- location
- navigations
- altitude
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/08—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing integrity information, e.g. health of satellites or quality of ephemeris data
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Security & Cryptography (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Procédé de localisation d'un aéronef en vol à l'aideMethod for locating an aircraft in flight using
d'un système de localisation par satellite. a satellite positioning system.
La présente invention concerne un procédé de localisation d'un aéronef en vol à l'aide d'un système The present invention relates to a method of locating an aircraft in flight using a system
de localisation par satellite.of satellite location.
Le système de localisation par satellite NAVSTAR-GPS (Global Positionning System) est un système fondé sur l'utilisation par des récepteurs d'utilisateurs, de codes émis en ondes hertziennes par un ensemble de satellites géré par des stations d'observation et de contrôle à terre. Les écarts de temps observés dans le récepteur entre les codes d'un ensemble de satellites en vue sont représentatifs des distances entre le récepteur et ces satellites. Ainsi, en connaissant quatre écarts de temps, il est possible, connaissant parfaitement la position des quatre satellites correspondants, d'en déduire les trois coordonnées de position du récepteur The NAVSTAR-GPS (Global Positioning System) satellite positioning system is a system based on the use by user receivers of codes transmitted in radio waves by a set of satellites managed by observation and control stations. down. The time differences observed in the receiver between the codes of a set of satellites in view are representative of the distances between the receiver and these satellites. Thus, by knowing four time differences, it is possible, knowing perfectly the position of the four corresponding satellites, to deduce therefrom the three position coordinates of the receiver
ainsi que la correction à apporter à son horloge locale. as well as the correction to be made to his local clock.
Un autre système de localisation par satellite existant actuellement est le système GLONASS. La présente invention s'applique aussi bien à ce dernier qu'au système NAVSTAR. Tous ces systèmes de localisation par satellite seront génériquement désignés ci-après par GPS. Les systèmes de ce type, s'ils sont remarquablement précis, présentent l'inconvénient d'être relativement peu sûrs. En effet, l'un des satellites utilisés pour le positionnement peut être en panne, ou temporairement perdu de vue du fait des reliefs lors d'un vol à basse altitude, le système d'ensemble peut être brouillé ou encore le récepteur embarqué être défectueux. De -2 - surcroît, la défaillance d'un satellite peut être très soudaine et n'être connue dans certain cas qu'au bout de plusieurs heures. Un récepteur GPS ne peut donc pas être utilisé en l'état pour déterminer en vol la position d'un aéronef et en déduire des instructions de pilotage, surtout dans des situations critiques telles qu'un vol à Another satellite positioning system currently in existence is the GLONASS system. The present invention applies to the latter as well as to the NAVSTAR system. All these satellite positioning systems will be generically designated below by GPS. Systems of this type, if remarkably precise, have the disadvantage of being relatively insecure. Indeed, one of the satellites used for positioning may be broken down, or temporarily lost to view due to the reliefs during a flight at low altitude, the overall system may be jammed or the on-board receiver may be defective . From -2 - moreover, the failure of a satellite can be very sudden and only be known in some cases after several hours. A GPS receiver cannot therefore be used as it is to determine in flight the position of an aircraft and to deduce piloting instructions therefrom, especially in critical situations such as a flight with
basse altitude.low altitude.
On pourrait songer à simplement vérifier la position donnée par le GPS à l'aide d'un autre moyen de positionnement et de ne tenir compte des indications du GPS lorsqurelles sont confirmées par cet autre moyen. Si une telle solution est bien envisageable lorsque l'aéronef peut faire appel à des moyens d'aide à la navigation basés au sol, il en va différemment lors d'un vol autonome o l'appareil ne peut compter sur aucune aide extérieure et/ou, parfois même, les impératifs de discrétion l'empêchent d'utiliser certains moyens embarqués. En effet, tous les moyens de localisation autonome que l'on peut raisonnablement envisager d'embarquer àa bord d'un aéronef, et surtout d'un aéronef naviguant à faible altitude, sont fondés sur des mesures de vitesse (anémométrie, radar Doppler) ou d'accélération (centrale inertielle). Ces moyens ne fournissent donc une position qu'après respectivement une ou deux intégrations. Il en résulte une inévitable dérive, telle que leur précision est très rapidement largement inférieure à celle du GPS, de sorte que l'on ne saurait utiliser les données brutes qu'ils fournissent pour contrôler le bon fonctionnement One could think of simply verifying the position given by the GPS using another means of positioning and of ignoring the indications of the GPS when they are confirmed by this other means. If such a solution is well conceivable when the aircraft can use ground-based navigation aids, it is different during an autonomous flight where the aircraft cannot rely on any outside assistance and / or, sometimes even, the imperatives of discretion prevent it from using certain on-board means. In fact, all of the autonomous location means that can reasonably be expected to be carried on board an aircraft, and above all an aircraft operating at low altitude, are based on speed measurements (anemometry, Doppler radar). or acceleration (inertial unit). These means therefore only provide a position after one or two integrations respectively. This results in an inevitable drift, such that their accuracy is very quickly much lower than that of GPS, so that we can not use the raw data they provide to control the proper functioning
de ce dernier.of the last.
La présente invention vise à palier ces inconvénients en fournissant un procédé de localisation par GPS qui soit -3- sûr et fiable sans pour autant faire appel à une The present invention aims to overcome these drawbacks by providing a GPS location method which is -3- safe and reliable without requiring the use of a
assistance extérieure.outside assistance.
A cet effet, l'invention a pour objet un procédé de localisation d'un aéronef en vol à l'aide d'un système de localisation par satellite, caractérisé par le fait que, dans le plan horizontal, on localise l'aéronef sensiblement en permanence à l'aide du GPS, simultanément on entretient deux navigations utilisant des moyens autonomes et indépendants du GPS, on recale périodiquement et alternativement lesdites navigations à l'aide du GPS, on compare la localisation GPS à la localisation fournie par cette navigation, et, si l'écart est supérieur à un seuil prédéterminé, on en déduit une anomalie dans le système de localisation de l'aéronef. Plus particulièrement, lesdites deux navigations utilisant des moyens autonomes et indépendants du GPS peuvent être des navigations Doppler, ou, en variante, To this end, the subject of the invention is a method for locating an aircraft in flight using a satellite location system, characterized in that, in the horizontal plane, the aircraft is located substantially permanently using GPS, simultaneously we maintain two navigations using autonomous and independent means of GPS, we periodically and alternately readjust said navigations using GPS, we compare the GPS location to the location provided by this navigation, and, if the difference is greater than a predetermined threshold, an anomaly in the location system of the aircraft is deduced therefrom. More particularly, said two navigations using autonomous and independent means of GPS can be Doppler navigations, or, as a variant,
des navigations inertielles.inertial navigation.
On verra ci-après que le procédé selon l'invention We will see below that the method according to the invention
présente plusieurs avantages.has several advantages.
En premier lieu, les recalages périodiques des navigations autonomes permettent de s'affranchir des problèmes liés à leur dérive. Par ailleurs, il ne s'agit pas évidemment de recaler les moyens autonomes à partir d'une indication qui serait fournie par un GPS défaillant. Ceci est évité en entrelaçant les recalages des deux navigations, de sorte qu'à l'instant o l'on effectue une comparaison en utilisant une des deux navigations, on sait que celle-ci a été recalée convenablement puisque la comparaison immédiatement précédente, effectuée avec l'autre navigation, n'a, par -4 - définition, pas permis de déceler d'anomalie. Enfin, en ne procédant à la comparaison qu'avant le recalage (en fait postérieurement au recalage immédiatement précédent de l'autre navigation, c'est-à-dire durant la deuxième moitié de l'intervalle de temps séparant deux recalages successifs de la navigation considérée), on s'assure que cette navigation a suffisamment évoluée pour ne pas être First of all, the periodic readjustments of autonomous navigations make it possible to overcome the problems linked to their drift. In addition, it is obviously not a question of readjusting the autonomous means from an indication which would be provided by a faulty GPS. This is avoided by interleaving the readjustments of the two navigations, so that at the moment when a comparison is carried out using one of the two navigations, it is known that the latter has been correctly readjusted since the immediately preceding comparison has been carried out with the other navigation, did not, by -4 - definition, detect an anomaly. Finally, by only making the comparison before registration (in fact after the immediately preceding registration of the other navigation, that is to say during the second half of the time interval separating two successive registration of the navigation considered), we make sure that this navigation has evolved enough not to be
trop corrélée au GPS.too correlated to GPS.
Dans un mode de mise en oeuvre particulier du procédé de l'invention, en ce qui concerne le plan vertical, on compare l'altitude fournie par le GPS à une altitude barométrique et, si l'écart est supérieur à un seuil prédéterminé, on en déduit une anomalie dans le système In a particular embodiment of the method of the invention, with regard to the vertical plane, the altitude provided by the GPS is compared to a barometric altitude and, if the difference is greater than a predetermined threshold, infers an anomaly in the system
de localisation de l'aéronef.location of the aircraft.
Plus particulièrement, l'altitude barométrique peut être obtenue par correction de l'altitude-pression en More particularly, the barometric altitude can be obtained by correcting the pressure altitude by
atmosphère standard, de l'écart dû au QNH local, lui- standard atmosphere, the deviation due to the local QNH,
même mis à jour périodiquement en cours de vol par mesure de hauteurs radio-sonde à la verticale de points prédéterminés. Aussi bien dans le plan horizontal que dans le plan vertical, en l'absence d'anomalie détectée dans le système de localisation de l'aéronef, on sélectionne de préférence la position fournie par le GPS en vue d'une utilisation ultérieure, notamment dans le but de fournir des indications de pilotage soit au pilote lui-même de even updated periodically during flight by measuring radio probe heights vertically at predetermined points. Both in the horizontal plane and in the vertical plane, in the absence of an anomaly detected in the aircraft location system, the position provided by the GPS is preferably selected for later use, in particular in the purpose of providing guidance to either the pilot himself
l'aéronef, soit à un pilote automatique. the aircraft, or to an autopilot.
Une sécurisation supplémentaire de la localisation peut être obtenue en utilisant un deuxième récepteur GPS placé au sol en une position géographique connue, en comparant cette position géographique à la position fournie par ce deuxième récepteur GPS et, en cas de discordance, en informant l'aéronef de l'indisponibilité Additional securing of the location can be obtained by using a second GPS receiver placed on the ground at a known geographical position, by comparing this geographical position with the position provided by this second GPS receiver and, in the event of a discrepancy, by informing the aircraft. unavailability
de son système GPS.of its GPS system.
On décrira maintenant, à titre d'exemple non limitatif, un mode de réalisation particulier de l'invention en référence aux dessins schématiques annexés dans lesquels: - la figure 1 est un schéma synoptique d'un dispositif mettant en oeuvre le procédé selon l'invention, et - la figure 2 illustre le fonctionnement de ce dispositif. On voit sur la figure 1 deux unités 1 et 2 entretenant chacune, et indépendamment l'une de l'autre, une navigation à partir des indications fournies par un radar Doppler 3. Le radar 3 fournit aux unités 1 et 2 la vitesse de l'aéronef dans le plan horizontal, à partir de laquelle les unités 1 et 2 élaborent les coordonnées A particular embodiment of the invention will now be described, by way of nonlimiting example, with reference to the appended schematic drawings in which: - Figure 1 is a block diagram of a device implementing the method according to invention, and - Figure 2 illustrates the operation of this device. We see in Figure 1 two units 1 and 2 each maintaining, and independently of one another, navigation from the indications provided by a Doppler radar 3. The radar 3 provides units 1 and 2 the speed of l aircraft in the horizontal plane, from which units 1 and 2 develop the coordinates
dans ce plan.in this plan.
Les unités 1 et 2 recoivent également les coordonnées de l'aéronef dans le plan horizontal fournies par un récepteur GPS 4 et utilisées pour recaler les navigations entretenues par ces unités. Ce recalage s'effectue pour chacune des unités 1 et 2 à des Units 1 and 2 also receive the coordinates of the aircraft in the horizontal plane provided by a GPS receiver 4 and used to readjust the navigations maintained by these units. This registration is carried out for each of units 1 and 2 at
intervalles réguliers, comme cela sera exposé ci-après. regular intervals, as will be discussed below.
La position calculée par les unités 1 et 2 est élaborée à chaque instant à partir des coordonnées fournies par The position calculated by units 1 and 2 is developed at all times from the coordinates provided by
le récepteur GPS 4 à l'instant du recalage. the GPS receiver 4 at the time of registration.
Par ailleurs, les positions fournies par les unités de navigation 1 et 2 sont chacunes comparées aux coordonnées fournies par le récepteur GPS 4 dans des -6 - unités de comparaison 5 et 6 respectivement. Dans le cas o, lors d'une comparaison dans une des unités 5 et 6 le résultat dépasse un certain seuil, une alarme est déclenchée pour indiquer au pilote un disfonctionnement de son système de navigation. Le récepteur GPS 4 fournit par ailleurs l'altitude Z de l'appareil. Cette altitude est comparée dans une unité de comparaison 7 à l'altitude fournie par une unité barométrique 8. Là également, dans le cas o l'écart entre l'altitude fournie par le récepteur GPS 4 et par l'unité 8- dépasse un certain seuil, une alarme est déclenchée. Par ailleurs, une radio sonde 9 fournit la hauteur de l'appareil au-dessus du sol. Cette hauteur est ajoutée dans une unité 10, à l'altitude du terrain survolé, extraite d'une base de données 11 o l'altitude est fournie en fonction des coordonnées X et Y. L'altitude de l'appareil telle qu'elle ressort de l'unité 10 est comparée dans un comparateur 12 à l'altitude barométrique fournie par l'unité 8. Le comparateur 12 fournit par conséquent l'écart d'altitude dû au QNH local. Cet écart d'altitude est utilisé pour Furthermore, the positions provided by the navigation units 1 and 2 are each compared to the coordinates provided by the GPS receiver 4 in comparison units 5 and 6 respectively. In the case where, during a comparison in one of the units 5 and 6 the result exceeds a certain threshold, an alarm is triggered to indicate to the pilot a malfunction of his navigation system. The GPS receiver 4 also provides the altitude Z of the device. This altitude is compared in a comparison unit 7 to the altitude provided by a barometric unit 8. Here again, in the case where the difference between the altitude provided by the GPS receiver 4 and by the unit 8- exceeds one certain threshold, an alarm is triggered. In addition, a radio probe 9 provides the height of the device above the ground. This height is added in a unit 10, to the altitude of the terrain overflown, extracted from a database 11 o the altitude is provided as a function of the X and Y coordinates. The altitude of the device as it The spring of the unit 10 is compared in a comparator 12 to the barometric altitude provided by the unit 8. The comparator 12 therefore provides the altitude difference due to the local QNH. This altitude difference is used to
recaler l'unité barométrique 8.reset the barometric unit 8.
La figure 2 montre sur l'axe des t les instants tl, t3... auxquels l'unité de navigation 1 est recalée à partir des données fournies par le récepteur GPS 4. De même, l'unité de navigation 2 est recalée aux instants FIG. 2 shows on the axis of t the instants tl, t3 ... at which the navigation unit 1 is readjusted from the data supplied by the GPS receiver 4. Similarly, the navigation unit 2 is readjusted to the moments
t2, t4...t2, t4 ...
On voit à la partie supérieure de la figure 2 les écarts We see at the top of Figure 2 the gaps
transversaux maximum par rapport à la route souhaitée. maximum transverse to the desired route.
On a pris comme tolérance du GPS la valeur de 40 mètres 7 - de part et d'autre du point fourni. Les unités de navigation 1 et 2 fournissent pour leur part un résultat dont la dérive est fonction de la distance parcourue et que l'on peut généralement considérer comme égale à 2 % de cette distance. Si, par conséquent, on effectue un recalage tous les 10 kilomètres (c'est-à-dire que l'appareil a parcouru 10 kilomètres entre tl et t3, entre t2 et t4...), l'écart est de 200 mètres. On prendra donc comme seuil d'alarme les 80 mètres de tolérance globale du GPS plus les 200 mètres de dérive The GPS tolerance was taken as 40 meters 7 - on either side of the point provided. The navigation units 1 and 2 for their part provide a result whose drift is a function of the distance traveled and which can generally be considered to be equal to 2% of this distance. If, consequently, a readjustment is carried out every 10 kilometers (that is to say that the device has traveled 10 kilometers between tl and t3, between t2 and t4 ...), the difference is 200 meters . We will therefore take as alarm threshold the 80 meters of global tolerance of the GPS plus the 200 meters of drift
de la navigation Doppler, soit 280 mètres. Doppler navigation, 280 meters.
On constate ainsi que l'erreur maximum possible de We thus observe that the maximum possible error of
l'indication du GPS est de 520 mètres. the GPS indication is 520 meters.
L'invention permet donc d'utiliser effectivement les données fournies par le GPS pour la navigation, y compris pour un vol à basse altitude, tout en conservant The invention therefore makes it possible to effectively use the data provided by the GPS for navigation, including for a flight at low altitude, while retaining
une très grande sécurité.very high security.
-8--8-
Claims (7)
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR9309161A FR2708349B1 (en) | 1993-07-26 | 1993-07-26 | Method for locating an aircraft in flight using a satellite positioning system. |
| DE19501879A DE19501879A1 (en) | 1993-07-26 | 1995-01-23 | Positioning in flight of aircraft by satellite GPS calibration |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR9309161A FR2708349B1 (en) | 1993-07-26 | 1993-07-26 | Method for locating an aircraft in flight using a satellite positioning system. |
| DE19501879A DE19501879A1 (en) | 1993-07-26 | 1995-01-23 | Positioning in flight of aircraft by satellite GPS calibration |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| FR2708349A1 true FR2708349A1 (en) | 1995-02-03 |
| FR2708349B1 FR2708349B1 (en) | 1995-09-15 |
Family
ID=26011780
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| FR9309161A Expired - Fee Related FR2708349B1 (en) | 1993-07-26 | 1993-07-26 | Method for locating an aircraft in flight using a satellite positioning system. |
Country Status (2)
| Country | Link |
|---|---|
| DE (1) | DE19501879A1 (en) |
| FR (1) | FR2708349B1 (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997026553A1 (en) * | 1996-01-19 | 1997-07-24 | Sextant Avionique | Aircraft piloting aid system using a head-up display |
| EP0774148A4 (en) * | 1994-07-15 | 1999-10-06 | Worldwide Notific Syst | SATELLITE AIR TRAFFIC CONTROL SYSTEM |
| EP1287411A4 (en) * | 1998-11-27 | 2004-06-09 | Litton Systems Inc | 3d autonomous integrity monitored extrapolation navigation |
| US6803878B2 (en) * | 2002-05-13 | 2004-10-12 | Honeywell International Inc. | Methods and apparatus for terrain correlation |
| WO2004085961A3 (en) * | 2003-03-21 | 2004-11-25 | Honeywell Int Inc | Method and apparatus for correctly adjusting pressure settings on barometric altimeters |
| FR2916060A1 (en) * | 2007-05-11 | 2008-11-14 | Airbus France Sa | METHOD AND DEVICE FOR MONITORING A HORIZONTAL POSITION OF AN AIRCRAFT ON THE GROUND |
| US7612716B2 (en) | 1999-03-05 | 2009-11-03 | Era Systems Corporation | Correlation of flight track data with other data sources |
| EP1252479B1 (en) * | 2000-02-03 | 2010-01-06 | Honeywell International Inc. | Device and method for altimetry system |
| US7667647B2 (en) | 1999-03-05 | 2010-02-23 | Era Systems Corporation | Extension of aircraft tracking and positive identification from movement areas into non-movement areas |
| US7739167B2 (en) | 1999-03-05 | 2010-06-15 | Era Systems Corporation | Automated management of airport revenues |
| US7777675B2 (en) | 1999-03-05 | 2010-08-17 | Era Systems Corporation | Deployable passive broadband aircraft tracking |
| US7782256B2 (en) | 1999-03-05 | 2010-08-24 | Era Systems Corporation | Enhanced passive coherent location techniques to track and identify UAVs, UCAVs, MAVs, and other objects |
| US7889133B2 (en) | 1999-03-05 | 2011-02-15 | Itt Manufacturing Enterprises, Inc. | Multilateration enhancements for noise and operations management |
| US7908077B2 (en) | 2003-06-10 | 2011-03-15 | Itt Manufacturing Enterprises, Inc. | Land use compatibility planning software |
| US7965227B2 (en) | 2006-05-08 | 2011-06-21 | Era Systems, Inc. | Aircraft tracking using low cost tagging as a discriminator |
| US8072382B2 (en) | 1999-03-05 | 2011-12-06 | Sra International, Inc. | Method and apparatus for ADS-B validation, active and passive multilateration, and elliptical surveillance |
| US8203486B1 (en) | 1999-03-05 | 2012-06-19 | Omnipol A.S. | Transmitter independent techniques to extend the performance of passive coherent location |
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| GB9907123D0 (en) * | 1999-03-26 | 1999-05-19 | Bide Stephen | Position finding |
| DE19953640A1 (en) * | 1999-11-09 | 2001-05-10 | Deutsche Telekom Ag | Process for the telecommunication-based protection and detection of living beings |
| US6518918B1 (en) | 2000-05-11 | 2003-02-11 | Lucent Technologies Inc. | Wireless assisted altitude measurement |
| DE10236260A1 (en) * | 2002-08-07 | 2004-02-19 | Herpa Miniaturmodelle Gmbh | Assignment of a geographical position to two or more locations from a multiplicity of possible locations, whereby location assignments are made using one or more assignment criteria |
| GB0424491D0 (en) | 2004-11-05 | 2004-12-08 | Qinetiq Ltd | Airspace separation control and collision avoidance |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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Also Published As
| Publication number | Publication date |
|---|---|
| DE19501879A1 (en) | 1996-07-25 |
| FR2708349B1 (en) | 1995-09-15 |
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