Digital Range Image Algorithms for Flight Guidance Aids for Helicopter-Low-Level-Flight

This paper addresses some EUROCOPTER state of the art advances in the field of efficient algorithms enabling to compute obstacle contour line (OCL) or safety line for a manually-flown rotorcraft flying with a low-level trajectory. Extensive simulation and flight tests were conducted to develop and test a complete set of algorithms for terrain-following or contour flight, and more particularly to improve means of computing a reference OCL for a terrain-following rotorcraft. All practical experimentation was performed using two actual LIDAR OWS (Obstacle Warning Systems) fitted on an “all weather helicopter” of type EC155. In addition, a wire detection algorithm was designed and simulation tested using real flight test data.