Aircraft landing method and system and vertical take-off and landing aircraft

Abstract

The invention discloses an aircraft landing method and system and a vertical take-off and landing aircraft, and relates to the technical field of aircraft control, the method is applied to a tilt-rotor vertical take-off and landing aircraft, and the method comprises the following steps: in response to a landing instruction, identifying and locking a landing point of the aircraft to obtain a target landing point; planning a landing path of the aircraft based on the target landing point to obtain the landing path of the aircraft; predicting the flight path of the aircraft based on the flight state information of the aircraft to obtain a predicted flight path; and based on the landing path and the predicted flight path, adjusting the flight state of the aircraft to control the aircraft to land. According to the scheme, the accuracy and safety of aircraft landing can be effectively improved, and the operation burden of a pilot is relieved.

Description

Technical Field

[0001] The present application relates to the field of aircraft control technology, and in particular to an aircraft landing method, system and vertical take-off and landing aircraft. Background Art

[0002] At present, electric Vertical Take-off and Landing (eVTOL) technology is attracting widespread attention in the aviation field as an innovative flight solution. eVTOL technology uses electric drones or manned aircraft to achieve vertical take-off and landing and horizontal flight. It has many advantages such as high flexibility, low noise, and environmental friendliness. It is regarded as an important solution for future urban air traffic, emergency rescue and other fields.

[0003] However, eVTOL aircraft usually need to land vertically in a limited space, which poses a challenge to the eVTOL aircraft landing system. The existing eVTOL aircraft landing system has insufficient automatic landing capabilities, resulting in low landing accuracy and safety of eVTOL aircraft.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide an aircraft landing method, system and vertical take-off and landing aircraft, aiming to solve the technical problems of insufficient automatic landing capability of existing eVTOL aircraft landing systems and low landing accuracy and safety of eVTOL aircraft.

[0006] To achieve the above objectives, the present application proposes an aircraft landing method, which is applied to a tilt-rotor vertical take-off and landing aircraft, and comprises: In response to the landing instruction, the landing point of the aircraft is identified and locked to obtain the target landing point; Based on the target landing point, planning a landing path of the aircraft to obtain a landing path of the aircraft; Predicting a flight trajectory of the aircraft based on the flight status information of the aircraft to obtain a predicted flight trajectory; Based on the landing path and the predicted flight trajectory, the flight state of the aircraft is adjusted to control the aircraft to land.

[0007] In one embodiment, the landing path includes a level flight phase, a tilt transition phase, and a vertical landing phase, and the step of planning the landing path of the aircraft based on the target landing point to obtain the landing path of the aircraft includes: Based on the target landing point, surrounding environment information and flight status information, the paths of the level flight phase, tilt transition phase and vertical landing phase of the aircraft are planned separately, and the level flight path, tilt transition corridor, tilt transition path and vertical landing path are obtained respectively.

[0008] In one embodiment, the tilt transition corridor includes a tilt transition corridor window, and the step of adjusting the flight state of the aircraft based on the landing path and the predicted flight trajectory to control the aircraft to land includes: When the aircraft is in a level flight phase, adjusting the flight state of the aircraft based on the level flight path and the predicted flight trajectory to ensure that the flight state can enter the tilt transition corridor window; When the aircraft is in the tilt transition stage, the tilt angle of the tilt rotor of the aircraft is adjusted based on the tilt transition corridor and the tilt transition path, the descent speed and descent slope of the aircraft are controlled, and the flight state of the aircraft is adjusted in combination with the predicted flight trajectory to ensure that the aircraft flies in the tilt transition corridor.

[0009] In one embodiment, the step of adjusting the flight state of the aircraft based on the landing path and the predicted flight trajectory to control the aircraft to land further includes: When the aircraft is in the vertical landing phase, the height, position and attitude of the aircraft are adjusted based on the vertical landing path and the predicted flight trajectory to control the aircraft to land.

[0010] In one embodiment, the aircraft includes a display system, and the step of identifying and locking the landing point of the aircraft in response to the landing instruction to obtain the target landing point includes: In response to the landing instruction, the landing point of the aircraft is identified according to the surrounding environment information and the flight state information, a plurality of first landing points are obtained, and the safety factors of the first landing points are calculated; The safety factor of the first landing point is displayed to the pilot through the display system, and the pilot's landing point selection instruction is received, and the target landing point is locked from a plurality of first landing points.

[0011] In one embodiment, the aircraft includes a flight control system, and before the step of adjusting the tilt angle of the tilt rotor of the aircraft based on the tilt transition corridor and the tilt transition path when the aircraft is in the tilt transition stage, controlling the descent speed and the descent slope of the aircraft, and adjusting the flight state of the aircraft in combination with the predicted flight trajectory to ensure that the aircraft flies in the tilt transition corridor, the system further includes: Before the aircraft enters the tilt transition phase, the flight state of the aircraft is evaluated to confirm whether the flight state satisfies the flight state condition for entering the tilt transition corridor window; When the flight state satisfies the flight state condition for entering the tilt transition corridor window, the surrounding environment information is evaluated to confirm whether the preset tilt transition environment condition is met; When the surrounding environment information meets the preset tilt transition environment conditions, the flight control system controls the aircraft to automatically enter the tilt transition corridor window; and / or When the surrounding environment information meets the preset tilt transition environment conditions, an operation confirmation prompt is provided to the pilot, and a first confirmation instruction from the pilot is received to control the aircraft to enter the tilt transition corridor window.

[0012] In one embodiment, when the aircraft is in the tilt transition stage, based on the tilt transition corridor and the tilt transition path, the tilt angle of the tilt rotor of the aircraft is adjusted, the descent speed and the descent slope of the aircraft are controlled, and the flight state of the aircraft is adjusted in combination with the predicted flight trajectory to ensure that the aircraft flies in the tilt transition corridor, before the step, the method further includes: Before the aircraft enters the tilt transition phase, when the flight state does not meet the flight state conditions for entering the tilt transition corridor window, providing a missed approach warning to the pilot; and / or Before the aircraft enters the tilt transition phase, when the surrounding environment information does not meet the preset tilt transition environment conditions, a go-around warning is provided to the pilot.

[0013] In one embodiment, the aircraft includes a flight control system, the predicted flight trajectory includes a predicted hovering point, and before the step of adjusting the height, position, and attitude of the aircraft based on the vertical landing path and the predicted flight trajectory when the aircraft is in a vertical landing phase to control the aircraft to land, the method further includes: Before the aircraft enters the vertical landing phase, confirming whether the predicted hovering point is within the vertical landing area; When the predicted hovering point is within the vertical landing area, controlling the aircraft to fly along the tilt transition path, and controlling the aircraft to be in a vertical state with respect to the target landing point by adjusting the flight state of the aircraft in real time, so as to achieve hovering of the aircraft; and / or When the aircraft is in hovering, confirming whether the surrounding environment information and the flight status information of the aircraft meet the preset vertical landing conditions; When the surrounding environment information and the flight status information of the aircraft meet the preset vertical landing conditions, the flight control system controls the aircraft to automatically enter the vertical landing phase; and / or When the surrounding environment information and the flight status information of the aircraft meet the preset vertical landing conditions, an operation confirmation prompt is provided to the pilot, and a second confirmation instruction from the pilot is received to control the aircraft to enter the vertical landing phase.

[0014] In one embodiment, when the aircraft is in the vertical landing stage, before the step of adjusting the height, position and attitude of the aircraft based on the vertical landing path and the predicted flight trajectory to control the aircraft to land, the method further includes: When the predicted hovering point is not within the vertical landing area, providing a missed approach warning to the pilot; and / or When the surrounding environment information and the flight status information of the aircraft do not meet the preset vertical landing conditions, a missed approach warning is provided to the pilot.

[0015] In one embodiment, the method further comprises: When the aircraft is in a tilt transition phase, and the deviation between the tilt transition path and the predicted flight trajectory exceeds a preset first threshold, providing a path deviation prompt to the pilot, receiving an override command from the pilot, and adjusting the flight state of the aircraft based on the override command; and / or When the aircraft is in the vertical landing stage, and the deviation between the vertical landing path and the predicted flight trajectory exceeds a preset second threshold, a path deviation prompt is given to the pilot, and an override control instruction from the pilot is received, and the flight state of the aircraft is adjusted based on the override control instruction.

[0016] In one embodiment, the method further comprises: Through the display system, at least the landing path and predicted flight trajectory of the aircraft are displayed to assist the pilot in monitoring and adjusting the landing process of the aircraft, wherein the display system includes at least one of a primary flight display, a head-up display, and a multi-function display.

[0017] In addition, to achieve the above-mentioned purpose, the present application also proposes an aircraft landing system, the aircraft landing system comprising: A landing point identification module is used to identify and lock the landing point of the aircraft in response to the landing instruction to obtain the target landing point; A landing path planning module, used to plan the landing path of the aircraft based on the target landing point to obtain the landing path of the aircraft; A trajectory prediction module, used to predict the flight trajectory of the aircraft based on the flight status information of the aircraft to obtain a predicted flight trajectory; The automatic navigation module is used to adjust the flight state of the aircraft based on the landing path and the predicted flight trajectory to control the aircraft to land.

[0018] In addition, to achieve the above-mentioned objectives, the present application also proposes a vertical take-off and landing aircraft, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the aircraft landing method as described above.

[0019] One or more technical solutions proposed in this application have at least the following technical effects: The present application identifies and locks the landing point of the aircraft in response to the landing instruction; then automatically plans the landing path of the aircraft through the target landing point; at the same time, the flight trajectory is predicted in combination with the real-time flight status information of the aircraft to obtain the predicted flight trajectory; finally, the flight status of the aircraft is adjusted in real time according to the planned landing path and the predicted flight trajectory, and it is confirmed that the predicted flight trajectory conforms to the planned landing path, thereby realizing the automatic navigation landing of the aircraft, effectively improving the accuracy and safety of the aircraft landing, and at the same time reducing the operating burden of the pilot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0022] Figure 1 A schematic diagram of a process flow provided for the first embodiment of the aircraft landing method of the present application; Figure 2 A schematic diagram of a flow chart provided for the second embodiment of the aircraft landing method of the present application; Figure 3 A schematic diagram of a process flow provided for the third embodiment of the aircraft landing method of the present application; Figure 4 A schematic diagram of a flow chart provided for the fourth embodiment of the aircraft landing method of the present application; Figure 5 A schematic diagram of a process flow provided for the fifth embodiment of the aircraft landing method of the present application; Figure 6 This is a schematic diagram of the landing phase of an aircraft involved in Example 1 of the present application; Figure 7 This is a schematic diagram of the module structure of the aircraft landing system according to an embodiment of the present application; Figure 8 It is a structural diagram of the hardware operating environment involved in the aircraft landing method in the embodiment of the present application.

[0023] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0024] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0025] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0026] The main solution of the embodiment of the present application is: in response to a landing instruction, the landing point of the aircraft is identified and locked to obtain a target landing point; based on the target landing point, the landing path of the aircraft is planned to obtain a landing path of the aircraft; based on the flight status information of the aircraft, the flight trajectory of the aircraft is predicted to obtain a predicted flight trajectory; based on the landing path and the predicted flight trajectory, the flight status of the aircraft is adjusted to control the aircraft to land.

[0027] Technical terms involved in the embodiments of this application: eVTOL (electric Vertical Take-off and Landing): eVTOL is usually used to refer to novel and uniquely designed aircraft that use batteries, motors and propellers for propulsion and have vertical take-off and landing capabilities. eVTOL uses a multi-battery, multi-motor driven multi-rotor design with safety redundancy. Even if some of the eVTOL's rotors fail, it can still land normally, and its safety is greatly improved compared to traditional helicopters. At the same time, eVTOL is powered by electricity, and the cost of electricity is much lower than the cost of fuel, and the eVTOL has a fast flight speed, so its operating cost is relatively low. eVTOL can usually be used in scenarios such as urban air traffic, emergency medical services, freight logistics, and sightseeing tourism.

[0028] Although eVTOL technology has broad prospects, there are still some challenges and problems in practical applications, especially in the landing process. Landing is one of the most critical stages in the flight process of an aircraft and a key link in flight safety. For eVTOL aircraft, vertical landing is usually required in a limited space, especially in the increasingly complex and busy urban air traffic environment, which adds more complexity and challenges to the landing process of eVTOL aircraft.

[0029] However, the existing eVTOL aircraft landing system is imperfect and cannot achieve the aircraft's safe automatic landing capability, resulting in low eVTOL aircraft landing accuracy and safety.

[0030] The present application provides a solution, which identifies and locks the landing point of the aircraft in response to the landing instruction; then automatically plans the landing path of the aircraft through the target landing point; at the same time, the flight trajectory is predicted in combination with the real-time flight status information of the aircraft to obtain the predicted flight trajectory; finally, according to the planned landing path and the predicted flight trajectory, the flight state of the aircraft is adjusted in real time to confirm that the predicted flight trajectory conforms to the planned landing path, thereby realizing the automatic navigation landing of the aircraft, effectively improving the accuracy and safety of the aircraft landing, and at the same time reducing the operating burden of the pilot.

[0031] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a portable computer, a flight control computer, an avionics computer, a server and an embedded computing device, or a tilt-rotor vertical take-off and landing aircraft that can realize the above functions. For certain specific requirements of the aircraft during the landing process, the execution subject can also be a high-performance data processing device or industrial control equipment to ensure that all functions and requirements of this application can be supported. The following takes a tilt-rotor vertical take-off and landing aircraft as an example to illustrate this embodiment and the following embodiments.

[0032] Based on this, the present application embodiment provides an aircraft landing method, referring to Figure 1 , Figure 1 This is a schematic flow chart of the first embodiment of the aircraft landing method of the present application.

[0033] In this embodiment, the method is applied to a tilt-rotor vertical take-off and landing aircraft, the aircraft includes a landing system, and the aircraft landing method includes steps S110 to S140: Step S110, in response to the landing instruction, identifying and locking the landing point of the aircraft to obtain the target landing point; Specifically, after receiving the landing command, the aircraft landing system first needs to obtain relevant images of the area around the aircraft and the current flight status data of the aircraft through various onboard sensors of the aircraft (such as binocular vision-based cameras, infrared sensors, lidar sensors, barometers, GPS (Global Positioning System) sensors, temperature and humidity sensors, etc.). Among them, the landing command can be automatically triggered by the aircraft landing system through a preset flight path, or it can be received by receiving a landing command input by the pilot interacting with the aircraft. It should be noted that this application does not specifically limit the specific way in which the pilot interacts with the aircraft.

[0034] Then, image features are extracted from relevant images of the surrounding area, and feature matching is performed based on the image features of the known landing points, so as to identify several possible landing points in the surrounding area. Combined with the current flight status of the aircraft, a suitable possible landing point is selected from the possible landing points as the target landing point, and the target landing point is locked at the same time, so that the aircraft can be automatically landed later by dynamically tracking the locked target landing point.

[0035] It should be understood that the target landing point may also be a landing point pre-set according to actual flight requirements before the aircraft starts flying. In step S110, after receiving the landing instruction, the aircraft landing system may identify the target landing point according to the pre-set landing point geographic location information and the current geographic location information of the aircraft, and lock the landing point.

[0036] In a feasible implementation manner, the aircraft includes a display system, and step S110 may include steps A01-A02: Step A01, in response to a landing instruction, identifying a landing point of the aircraft according to surrounding environment information and flight status information, obtaining a plurality of first landing points, and calculating a safety factor of the first landing point; First, the aircraft landing system needs to respond to the landing command and obtain the surrounding environment information and flight status information. Among them, the surrounding environment information and flight status information can be obtained in real time through various onboard sensors of the aircraft during the flight. Surrounding environment information refers to the terrain, obstacles, weather conditions and other environmental information around the aircraft that affect landing safety; flight status information refers to the aircraft's speed, altitude, attitude (such as pitch angle, roll angle, yaw angle), acceleration, angular velocity, rotor attitude, and geographic location information (such as latitude and longitude, altitude) and other parameters related to the flight status.

[0037] In this embodiment, during the flight, the aircraft landing system can obtain visual images during the flight and three-dimensional environmental information around the aircraft through multiple airborne cameras, infrared sensors, radars, laser radars, temperature and humidity sensors, pressure sensors, etc., detect obstacles in the environment around the aircraft, the terrain of the landing area, wind speed and direction and other meteorological data, so as to obtain the surrounding environment information of the aircraft. The aircraft landing system can also determine the geographical location of the aircraft through the GPS sensor to obtain the geographical information of the aircraft. At the same time, the flight state parameters such as the altitude, acceleration, angular velocity and the like of the aircraft can be measured through sensors such as the inertial measurement unit and the barometer, so as to obtain the flight state information.

[0038] Then, the aircraft landing system uses a preset target recognition algorithm to visually identify landing points in the surrounding environment that can support landing based on the acquired surrounding environment information, identify several first landing points, and obtain the first landing point information, including the precise location of the landing point, the surrounding environment information of the landing point, etc. Among them, the first landing point is a landing area that is flat, barrier-free, and meets the landing requirements of the aircraft. It should be noted that the preset target recognition algorithm refers to the target recognition algorithm that is pre-set in the aircraft landing system by relevant personnel based on the actual landing requirements of the aircraft, wherein the target recognition algorithm is an algorithm that has been trained and optimized by relevant personnel based on the landing data of the historical aircraft landing process, and can be an image matching and clustering algorithm based on monocular or binocular vision, or a target detection algorithm based on deep learning, etc. In this embodiment, the preset target recognition algorithm can be implemented by first acquiring images of the landing point through the visual sensor of the aircraft, and constructing information such as the spatial position and posture between the landing point and the aircraft in combination with a monocular or binocular vision algorithm, and then extracting features from the images of the landing point, and identifying the landing point using the extracted image features through a pre-trained image matching and clustering algorithm.

[0039] Then, in order to ensure the safety of the aircraft during landing, the aircraft landing system can combine the flight status information of the aircraft and the first landing point information, and use the pre-built landing point risk calculation model to confirm the safety risk of the multiple first landing points identified, and determine the safety factor of each first landing point. Among them, the specific design of the landing point risk calculation model is to first use statistical methods and the expert knowledge base in the field of aircraft to determine the key risk factors and their weights that affect the safety of the landing point; then, by analyzing the historical aircraft landing process data and combining the experience of aircraft experts, quantify the impact of factors such as flatness, obstacles, safety distance, area size, and weather on landing safety; then use mathematical modeling methods to combine the quantification methods of each risk factor with the weight to construct a landing point risk assessment model, such as using a weighted average method or a linear regression model to calculate the safety factor of each candidate landing point. Furthermore, machine learning algorithms can also be used to automatically learn risk factors from a large amount of historical data, optimize the landing point risk assessment model, and enable it to dynamically adjust the weights of each risk factor and the risk assessment criteria, thereby improving the adaptability and accuracy of the model. The expert knowledge base in the field of aircraft is combined to provide additional rules and constraints in the model to ensure reliable landing risk assessment results even in extreme environments, thereby achieving a more comprehensive quantitative assessment of the safety of the landing site.

[0040] Step A02, displaying the safety factor of the first landing point to the pilot through the display system, receiving the pilot's landing point selection instruction, and locking the target landing point from a plurality of first landing points.

[0041] Finally, in order to further improve the safety of landing, the target landing point can be screened in combination with the pilot's flight experience. The aircraft landing system displays all the first landing points and their corresponding safety factors to the pilot through the aircraft's display system, so that the pilot can select the safest and most suitable one from several first landing points as the target landing point, and send a landing point selection instruction to the aircraft landing system through other interactive methods such as touch display screen, voice or buttons. The aircraft landing system receives the pilot's landing point selection instruction, thereby selecting the target landing point and locking the target landing point.

[0042] It can be understood that after the landing point is locked, the aircraft landing system can immediately start the dynamic tracking function of the landing point to ensure continuous tracking of the position of the target landing point during the landing process of the aircraft.

[0043] It should be understood that when the landing point identified by the aircraft landing system is inaccurate, or the environmental conditions around the identified landing point are not suitable for landing, the pilot can override the control and manually reselect a new landing point, or restart the automatic landing point identification and locking program.

[0044] In this implementation, a preset target recognition algorithm is used to obtain the first landing point based on the surrounding environment information and flight status information of the aircraft, and the safety factor of the first landing point is calculated. Finally, combined with the pilot's experience and judgment, the target landing point of the aircraft is locked, and automatic recognition of the landing point can be achieved, which greatly reduces the pilot's operating pressure during the landing process, so that the aircraft can be automatically navigated and landed according to the target landing point.

[0045] Step S120, planning a landing path of the aircraft based on the target landing point to obtain a landing path of the aircraft; Specifically, the precise position information of the target landing point is obtained based on the locked target landing point, and combined with the sensor data of the aircraft, the spatial position information between the aircraft and the landing point is further obtained through the sensor data. The aircraft landing system plans the landing path of the aircraft based on the spatial position information between the aircraft and the landing point, taking into account multiple factors such as the aircraft's dynamic characteristics, landing environment, obstacle avoidance, energy management and safety, thereby obtaining the landing path of the aircraft.

[0046] In a feasible implementation manner, the landing path includes a level flight phase, a tilt transition phase, and a vertical landing phase, and the step S120 may include step B01: Step B01, based on the target landing point, surrounding environment information and flight status information, the paths of the level flight phase, tilt transition phase and vertical landing phase of the aircraft are planned separately, and the level flight path, tilt transition corridor and tilt transition path, and vertical landing path are obtained respectively.

[0047] It should be noted that the preset path planning algorithm refers to an algorithm that is pre-optimized by relevant personnel based on actual aircraft landing requirements and is used to plan the optimal path for the aircraft to safely transition from a flight state to a landing state and stably park in a landing area. In this embodiment, the path planning algorithm can be a shortest path algorithm, a genetic algorithm, a reinforcement learning algorithm, a model predictive control algorithm, an A* search algorithm, a Dijkstra algorithm, etc.

[0048] In this embodiment, the preset path planning algorithm can be specifically implemented by the following method: first, a flight environment model including the spatial position information of the target landing point and the aircraft, the surrounding buildings and obstacles of the target landing point, and the no-fly zone is established, and then the path planning algorithm is constructed by comprehensively considering factors such as path distance, path obstacle avoidance requirements, path-related energy consumption, and path time as the cost of the flight path, so that the path planning algorithm searches for possible flight paths in the flight environment model, and selects the optimal path from all possible flight paths in combination with the principle of minimum path cost. At the same time, real-time environmental data (such as wind speed and meteorological information) also needs to be dynamically input into the path planning algorithm to cope with environmental changes and adjust the path planning. Further, the preset path planning algorithm can also include a path optimization process, such as based on dynamic programming, evolutionary algorithms, Kalman filtering or extended Kalman filtering algorithms to achieve path planning optimization. For example, in dynamic programming, the path planning problem is decomposed into multiple sub-problems, each sub-problem will be solved independently, and its solution will be used as the input of the next sub-problem, thereby gradually optimizing the entire planning path and obtaining the optimal planning path. Alternatively, an evolutionary algorithm can be used to generate multiple candidate solutions for planning paths by simulating the process of natural selection and genetic variation, evaluate the performance of the path (such as energy consumption, safety, etc.), and then select the optimal solution or combine these candidate solutions to generate a better planning path.

[0049] Specifically, refer to Figure 6 , Figure 6 The whole landing process of the aircraft is displayed, including the level flight phase, the tilt transition phase and the vertical landing phase. The aircraft landing system divides the landing path of the aircraft according to the flight phase, and obtains the landing paths corresponding to the level flight phase, the tilt transition phase and the vertical landing phase. Figure 6 The hexagonal pattern with the letter 'H' in it represents the target landing point of the aircraft. Figure 6 In the figure, we can see that the aircraft first confirms the target landing point during the level flight phase, and then follows the tilt path ( Figure 6 The aircraft automatically navigates to the top of the target landing point, hovers, and finally lands vertically at the target landing point.

[0050] First, based on the precise location information of the target landing point and the aircraft, the real-time meteorological data of the aircraft, and the information of surrounding buildings and obstacles of the target landing point, combined with the current flight status information, the preset path planning algorithm is used to plan the path of the aircraft in the level flight phase, ensuring that after the aircraft adjusts its flight status in the level flight phase, it can safely and smoothly enter the tilt transition phase, thereby obtaining the level flight path.

[0051] Then, according to the precise location information of the target landing point and the aircraft, the real-time meteorological data of the aircraft, and the information of the surrounding buildings and obstacles of the target landing point, the aircraft landing system combines the current flight status information with the historical tilt transition data of the aircraft during landing, considers the aircraft's rotor lift characteristic limitation, power limitation, maximum tilt angle limitation and other constraints, and uses the preset path planning algorithm to obtain the best three-dimensional space channel in the tilt transition stage, namely the tilt transition corridor, with reference to Figure 6 The narrow passage in the tilt transition phase of the aircraft. When the aircraft performs a tilt transition in the tilt transition corridor, the landing safety of the aircraft can be maximized.

[0052] Then, during the tilt transition phase, the optimal flight path of the aircraft in the tilt transition corridor is further determined based on the precise location information of the target landing point and the aircraft, combined with the preset path algorithm, to obtain the tilt transition path.

[0053] Finally, based on the precise location information of the target landing point and the aircraft, the real-time meteorological data of the aircraft, and the information of surrounding buildings and obstacles of the target landing point, combined with the current flight status information, the preset path planning algorithm is used to plan the path of the aircraft during the vertical landing phase to ensure that the aircraft can safely land vertically to the landing point on the ground, thereby obtaining a vertical landing path.

[0054] Step S130, predicting the flight trajectory of the aircraft based on the flight status information of the aircraft to obtain a predicted flight trajectory; Step S140: adjusting the flight state of the aircraft based on the landing path and the predicted flight trajectory to control the aircraft to land.

[0055] Understandably, in an urban air traffic environment, eVTOL aircraft may face route conflicts caused by other aircraft. In order to further improve the safety of landing, the aircraft landing system can predict the flight trajectory of the aircraft in the future to further confirm whether there is a deviation from the landing path, so as to facilitate the aircraft's immediate adjustment and help the aircraft make real-time adjustments, such as attitude control and obstacle avoidance, to avoid temporary obstacles or emergencies and ensure the safe landing of the aircraft.

[0056] Specifically, the aircraft landing system obtains the precise location information of the target landing point based on the locked target landing point, obtains the precise location information of the aircraft based on the flight status information of the aircraft, obtains the spatial location information between the aircraft and the target landing point through the precise location information of the target landing point and the aircraft, and uses one or more algorithms to predict the future short-term flight trajectory of the aircraft based on the current flight status within a preset time in the current three-dimensional space (for example, a three-dimensional space with the target landing point or the position of the aircraft as the origin), that is, the predicted flight trajectory. When predicting the future short-term trajectory of the aircraft, it is necessary to consider the relevant aerodynamic characteristics of the aircraft during the flight, as well as the influence of surrounding environmental factors (such as wind speed, wind direction, air pressure, etc.) on the flight trajectory. Among them, the preset time can be pre-set by relevant personnel based on actual flight needs.

[0057] Among them, the algorithm for predicting the flight trajectory can be a machine learning algorithm driven by historical flight data, or it can be an aircraft dynamics model constructed based on the actual physical characteristics and structure of the aircraft, as well as the performance limitations of the aircraft.

[0058] Finally, based on the planned landing path and the predicted flight trajectory, the deviation between the aircraft's flight trajectory and the landing path in the future is determined, so that when the deviation is large, the pilot can be prompted or the flight status can be automatically adjusted.

[0059] Specifically, based on the planned landing path and the predicted flight trajectory, the aircraft landing system needs to continuously adjust the aircraft's flight attitude and speed and other flight state parameters to ensure a safe landing. Among them, the goal of attitude adjustment is to ensure that the aircraft's attitude meets the ideal landing trajectory by controlling the aircraft's pitch, roll angle and other parameters. At the same time, the aircraft landing system will also control the aircraft's thrust during the landing process, thereby gradually slowing down the vertical and horizontal speeds to ensure that the impact force during landing is minimized.

[0060] The aircraft landing system makes the actual trajectory of the aircraft accurately match the planned landing path through the above adjustments, thereby forming a closed-loop control during the landing process based on the deviation between the planned landing path and the predicted flight trajectory.

[0061] Among them, the specific process of closed-loop control can be: The flight status of the aircraft at every moment (including position, attitude and speed) needs to be compared with the predicted flight trajectory. The aircraft landing system adjusts the aircraft's attitude and thrust according to the deviation between the planned landing path and the predicted flight trajectory to ensure that the aircraft corrects its own deviation in real time.

[0062] Since the external environment during the landing phase (such as wind speed changes and the impact of other aircraft) may cause the aircraft's real-time trajectory to change, the aircraft landing system will continuously make dynamic corrections and update the planned landing path and predicted flight trajectory in real time.

[0063] Through the above closed-loop control, the aircraft landing system allows the aircraft to continuously optimize and adjust in complex landing environments, adapt to changes in the landing environment, and ultimately achieve precise landing.

[0064] It should be understood that although the aircraft landing system can be responsible for most flight tasks, the pilot still needs to be ready to take over the flight control of the aircraft at any time and should ensure that the backup aircraft landing system is in an available state.

[0065] It should be understood that the aircraft landing system can also obtain route information of surrounding aircraft through the Automatic Dependent Surveillance-Broadcast System (ADS-B), vehicle-to-vehicle communication (V2V) and the ground airspace management system (UTM), determine potential route conflicts, and dynamically adjust the planned landing path and predicted flight trajectory.

[0066] The present embodiment provides an aircraft landing method, which identifies and locks the landing point of the aircraft in response to a landing instruction to obtain a target landing point; plans a landing path of the aircraft based on the target landing point to obtain a landing path of the aircraft; predicts the flight trajectory of the aircraft based on flight status information of the aircraft to obtain a predicted flight trajectory; and adjusts the flight status of the aircraft based on the landing path and the predicted flight trajectory to control the aircraft to land.

[0067] The present application identifies and locks the landing point of the aircraft in response to the landing instruction; then automatically plans the landing path of the aircraft through the target landing point; at the same time, the flight trajectory is predicted in combination with the real-time flight status information of the aircraft to obtain the predicted flight trajectory; finally, the flight status of the aircraft is adjusted in real time according to the planned landing path and the predicted flight trajectory, and it is confirmed that the predicted flight trajectory conforms to the planned landing path, thereby realizing the automatic navigation landing of the aircraft, effectively improving the accuracy and safety of the aircraft landing, and at the same time reducing the operating burden of the pilot.

[0068] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the first embodiment can be referred to the above description, and no further description will be given later. On this basis, the tilting transition corridor includes a tilting transition corridor window, please refer to Figure 2 , the step S140 includes steps S210 to S220: Step S210, when the aircraft is in a level flight phase, adjusting the flight state of the aircraft based on the level flight path and the predicted flight trajectory to ensure that the flight state can enter the tilt transition corridor window; Specifically, refer to Figure 6 When the aircraft is in the level flight phase of the landing process, the aircraft needs to first adjust its flight state according to the level flight path and the predicted flight trajectory when approaching the landing point, including gradually lowering the flight altitude and reducing the flight speed, to ensure that the adjusted flight state of the aircraft meets the conditions for entering the tilt transition phase.

[0069] It should be understood that in order to ensure the landing safety of the aircraft, the pilot needs to communicate with the air traffic control during the level flight phase of the aircraft to report the aircraft position and planned landing action to ensure the safety of the surrounding airspace.

[0070] Step S220, when the aircraft is in the tilt transition stage, based on the tilt transition corridor and the tilt transition path, the tilt angle of the tilt rotor of the aircraft is adjusted to control the descent speed and descent slope of the aircraft, and the flight state of the aircraft is adjusted in combination with the predicted flight trajectory to ensure that the aircraft flies in the tilt transition corridor.

[0071] It should be noted that the tilt transition corridor is composed of multiple tilt transition corridor windows. The tilt transition corridor window refers to the speed range that limits the aircraft to be able to fly safely and stably at different tilt angles at a certain point during the tilt transition process.

[0072] Specifically, Figure 6 As shown, the aircraft needs to glide during the tilt transition phase. Therefore, after the aircraft enters the tilt transition corridor window, the aircraft landing system needs to adjust the tilt angle of the aircraft's tilt rotor, automatically configure the rotor's thrust ratio and rotor speed, so as to control the aircraft's glide speed and glide slope, thereby controlling the aircraft to fly in the tilt transition corridor according to the planned tilt transition path. At the same time, through the real-time predicted flight trajectory, the deviation between the predicted flight trajectory and the planned tilt transition path is obtained, and the aircraft is automatically controlled to adjust the flight state through the deviation to ensure that the aircraft can smoothly hover in the vertical landing area above the landing point area. Then, after the aircraft successfully hovers, the aircraft landing system controls the aircraft to land vertically.

[0073] Furthermore, in order to further improve the landing safety and accuracy of the aircraft, after the above step S220, step S230 is also included: Step S230, when the aircraft is in the vertical landing stage, the height, position and attitude of the aircraft are adjusted based on the vertical landing path and the predicted flight trajectory to control the aircraft to land.

[0074] Specifically, refer to Figure 6 When the aircraft hovers in the vertical landing area during the landing process, the aircraft enters the vertical landing phase. At this time, the aircraft landing system can adjust its position according to the locked target landing point to ensure that it can land smoothly at the target landing point. At the same time, according to the vertical landing path, the height of the aircraft is precisely controlled, and combined with the predicted flight trajectory, the aircraft is controlled to further adjust its height and position to ensure that the aircraft can land vertically at the target landing point.

[0075] At the same time, when the aircraft is near the target landing point, the aircraft landing system controls the aircraft to adjust its flight attitude, reduce the thrust of the aircraft, control the aircraft to slowly contact the ground, achieve a soft landing, and further improve the accuracy and safety of the aircraft's landing.

[0076] Understandably, after the aircraft successfully lands, the aircraft landing system will prompt the pilot to perform a safety check to confirm whether the current landing system data and the status of the aircraft are normal.

[0077] This embodiment provides a method for landing an aircraft, by adjusting the flight state of the aircraft based on the level flight path and the predicted flight trajectory when the aircraft is in the level flight stage, ensuring that the flight state can enter the tilt transition corridor window; when the aircraft is in the tilt transition stage, adjusting the tilt angle of the tilt rotor of the aircraft based on the tilt transition corridor and the tilt transition path, controlling the descent speed and descent slope of the aircraft, and adjusting the flight state of the aircraft in combination with the predicted flight trajectory to ensure that the aircraft flies in the tilt transition corridor; when the aircraft is in the vertical landing stage, adjusting the height, position and attitude of the aircraft based on the vertical landing path and the predicted flight trajectory to control the aircraft to land. Through the above scheme, the present application can realize the control and guidance of the aircraft to automatically land according to the landing path according to the planned landing path of the level flight stage, the tilt transition stage and the vertical landing stage and the real-time predicted flight trajectory, thereby realizing the automatic navigation landing of the aircraft, effectively improving the accuracy and safety of the aircraft landing, and at the same time reducing the operating burden of the pilot.

[0078] Based on the first embodiment and / or the second embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the first embodiment and / or the second embodiment can refer to the above description, and no further description will be given later. Figure 3 , before the above step S220, including steps S310 to S340: Step S310, before the aircraft enters the tilt transition phase, the flight state of the aircraft is evaluated to confirm whether the flight state satisfies the flight state condition for entering the tilt transition corridor window; Step S320, when the flight state satisfies the flight state condition for entering the tilt transition corridor window, the surrounding environment information is evaluated to confirm whether the preset tilt transition environment condition is met; During the tilting process of the aircraft, the rotor tilt angle will change, resulting in significant changes in the aircraft's aerodynamic force and torque, affecting the aircraft's attitude and stability, and further causing the aircraft to easily vibrate during the tilting process. Among them, aerodynamic force is the force exerted by air on the aircraft's wing surface. The magnitude and direction of aerodynamic force depends on the shape, size, angle of attack of the wing surface, and the speed and direction of the incoming flow.

[0079] In order to improve the safety of the aircraft during the tilt transition phase, in this embodiment, the aircraft landing system needs to conduct a comprehensive assessment of the aircraft's flight status and surrounding environment information before the aircraft enters the tilt transition phase, and confirm whether the current aircraft's flight status meets the flight status conditions for entering the tilt transition corridor window, and whether the surrounding environment information meets the preset tilt transition environment conditions. Among them, the flight status conditions for entering the tilt transition corridor window include aircraft speed conditions, attitude conditions, power conditions, altitude conditions and other restrictions, and the preset tilt transition environment conditions refer to the meteorological conditions, airspace safety conditions, and landing point area safety conditions set by relevant personnel based on the actual aircraft landing requirements.

[0080] Among them, the aircraft speed condition means that the aircraft speed needs to be within the speed range limited by the tilt transition corridor window corresponding to the current aircraft tilt angle. The attitude condition means that the aircraft's attitude angle (such as pitch angle, roll angle and yaw angle) needs to be maintained within a certain stable range to prevent the aircraft from losing control during the tilt process. The power condition refers to the maximum limited power of the aircraft's engine or motor that can support the aircraft's tilt and stable flight. The altitude condition refers to the altitude range that the aircraft needs to meet before entering the tilt transition corridor window to ensure that there is enough space for tilt operations.

[0081] Among them, meteorological conditions refer to the requirements for meteorological factors such as wind speed, wind direction, temperature, air pressure, visibility, and cloud height that affect the visual identification of aircraft. Since severe weather such as strong winds, thunderstorms, and low visibility will have an adverse effect on the tilt transition process of the aircraft, it is necessary to avoid situations that are not suitable for automatic landing of the aircraft in advance. The airspace safety condition refers to the requirement that there are no other aircraft and obstacles in the airspace occupied by the aircraft during the tilt transition process. The safety conditions of the landing point area refer to the requirements for factors such as the flatness, hardness, and obstacles of the ground in the landing point area. It should be understood that the flight state conditions that can enter the tilt transition corridor window can be further calculated through the tilt transition corridor obtained above, combined with multiple constraints such as the aircraft's rotor lift characteristic limitation, power limitation, and maximum tilt angle limitation. At the same time, the preset tilt transition environment conditions can be obtained by relevant personnel based on historical flight data and flight experience, and preset in the aircraft landing system.

[0082] Step S330, when the surrounding environment information meets the preset tilt transition environment conditions, the flight control system controls the aircraft to automatically enter the tilt transition corridor window; and / or Step S340, when the surrounding environment information meets the preset tilt transition environment conditions, an operation confirmation prompt is provided to the pilot, and a first confirmation instruction from the pilot is received to control the aircraft to enter the tilt transition corridor window.

[0083] Specifically, before the aircraft enters the tilt transition phase, the current flight state of the aircraft has met the flight state conditions for entering the tilt transition corridor window, and the surrounding environment information has also met the preset tilt transition environment conditions. The aircraft landing system can automatically control the aircraft to enter the tilt transition corridor window through the aircraft's flight control system.

[0084] To further improve the safety of the aircraft during landing, after the surrounding environment information meets the preset tilt transition environmental conditions, the aircraft landing system can also combine the pilot's flight experience to provide the pilot with a "confirm operation" button or touch key or voice prompt, so that the pilot can judge whether to let the aircraft landing system control the aircraft to enter the tilt transition corridor window, thereby officially starting the tilt transition.

[0085] When the pilot confirms that the aircraft landing system controls the aircraft to enter the tilt transition corridor window, the first confirmation instruction is sent to the aircraft landing system by interacting with the aircraft landing system, so that the aircraft landing system receives the first confirmation instruction from the pilot and controls the aircraft to enter the tilt transition corridor window.

[0086] Furthermore, before the above step S220, steps C01-C02 are also included: Step C01, before the aircraft enters the tilt transition phase, when the flight state does not meet the flight state condition for entering the tilt transition corridor window, providing a missed approach warning to the pilot; and / or Step C02, before the aircraft enters the tilt transition phase, when the surrounding environment information does not meet the preset tilt transition environment conditions, providing a go-around warning to the pilot.

[0087] Before the aircraft enters the tilt transition phase, if the current flight state of the aircraft does not satisfy the flight state conditions for entering the tilt transition corridor window, and / or the surrounding environment information does not satisfy the preset tilt transition environment conditions, the aircraft landing system may provide the pilot with a prompt of "not satisfying the conditions for entering the tilt transition corridor window" and provide a go-around warning, so that the pilot may override the control and manually adjust the flight state of the aircraft or perform a go-around operation through the aircraft's control unit (such as a joystick, etc.).

[0088] It should be understood that if the current flight state of the aircraft does not meet the flight state conditions for entering the tilt transition corridor window, the aircraft landing system may also automatically readjust the flight state of the aircraft until it meets the flight state conditions for entering the tilt transition corridor window.

[0089] This embodiment provides an aircraft landing method. Before the aircraft enters the tilt transition phase, it is confirmed whether the flight status and surrounding environment information of the aircraft meet the flight status conditions for entering the tilt transition corridor window and the preset tilt transition environment conditions. Combined with the pilot's experience, it is further decided whether to perform the tilt transition of the aircraft, thereby ensuring the accuracy and safety of the aircraft landing, and at the same time reducing the pilot's operating burden.

[0090] Based on the third embodiment of the present application, in the fourth embodiment of the present application, the same or similar contents as those in the third embodiment can be referred to the above description, and no further description will be given later. Figure 4 , before the above step S230, including steps S410 to S450: Step S410, before the aircraft enters the vertical landing phase, confirming whether the predicted hovering point is within the vertical landing area; Step S420, when the predicted hovering point is within the vertical landing area, controlling the aircraft to fly according to the tilt transition path, and controlling the aircraft to be in a vertical state with respect to the target landing point by adjusting the flight state of the aircraft in real time, so as to achieve hovering of the aircraft; Specifically, before the aircraft enters the vertical landing phase, the aircraft landing system needs to confirm whether the predicted flight trajectory during the tilt transition phase reaches the end point of the vertical landing area, that is, the predicted hovering point, within the vertical landing area, where the vertical landing area refers to the three-dimensional space area where the aircraft can land vertically at the target landing point. The vertical landing area can be a vertical three-dimensional space corresponding to the landing point area, or a funnel-shaped space with an allowable error range.

[0091] When the predicted hovering point is within the vertical landing area, the aircraft landing system controls the aircraft to fly along the tilt transition path, and adjusts the flight state of the aircraft in real time based on the predicted flight trajectory to ensure that the aircraft flies along the controlled tilt transition path.

[0092] When the aircraft approaches the predicted hovering point, the aircraft landing system fine-tunes the position and attitude of the aircraft by predicting the position and altitude of the hovering point, thereby controlling the aircraft to be in a vertical state with the target landing point to achieve hovering of the aircraft.

[0093] And / or step S430, when the aircraft is in hovering, confirming whether the surrounding environment information and the flight status information of the aircraft meet the preset vertical landing condition; It should be noted that the preset vertical landing conditions refer to the flight altitude, speed, attitude and other conditions of the vertical landing aircraft, as well as the surrounding environmental conditions of the landing area, which are pre-set by relevant personnel based on the actual landing requirements of the aircraft, flight experience, relevant laws and regulations, industry rules, etc. Among them, the environmental conditions refer to the meteorological conditions, airspace safety conditions, and safety conditions of the landing area set by relevant personnel based on the actual landing requirements of the aircraft.

[0094] Specifically, after the aircraft is in hovering, the aircraft landing system needs to obtain the surrounding environment information of the target landing point through the aforementioned surrounding environment information before the aircraft enters the vertical landing phase, and conduct a comprehensive assessment of the surrounding environment information of the target landing point and the flight status of the aircraft to confirm whether the preset vertical landing conditions are met.

[0095] Step S440, when the surrounding environment information and the flight status information of the aircraft meet the preset vertical landing conditions, the flight control system controls the aircraft to automatically enter the vertical landing phase; and / or Step S450, when the surrounding environment information and the flight status information of the aircraft meet the preset vertical landing conditions, an operation confirmation prompt is provided to the pilot, and a second confirmation instruction from the pilot is received to control the aircraft to enter the vertical landing phase.

[0096] Only when the surrounding environment information of the target landing point and the flight status information of the aircraft meet the preset vertical landing conditions, the aircraft landing system can automatically control the aircraft to enter the vertical landing phase through the aircraft's flight control system and perform automatic landing.

[0097] To further improve the safety of the aircraft during landing, after the surrounding environment information and the flight status information of the aircraft meet the preset vertical landing conditions, the aircraft landing system can also combine the pilot's flight experience to provide the pilot with a "confirm operation" button or touch key or voice prompt, etc., so that the pilot can determine whether to let the aircraft landing system control the aircraft to enter the vertical landing stage, thereby officially starting the vertical landing.

[0098] When the pilot confirms that the aircraft landing system should control the aircraft to enter the vertical landing phase, the second confirmation instruction is sent to the aircraft landing system by interacting with the aircraft landing system, so that the aircraft landing system receives the second confirmation instruction from the pilot and controls the aircraft to enter the vertical landing phase.

[0099] Furthermore, before the above step S230, steps D01 to D02 are also included: Step D01, when the predicted hovering point is not within the vertical landing area, providing a missed approach warning to the pilot; and / or Step D02: When the surrounding environment information and the flight status information of the aircraft do not satisfy the preset vertical landing conditions, a go-around warning is provided to the pilot.

[0100] When the predicted hovering point is not within the vertical landing area, the aircraft landing system may provide the pilot with a prompt that "the predicted hovering point is not within the vertical landing area" and provide a go-around warning, so that the pilot can perform override control, and the display system may allow the pilot to visually confirm the specific deviation of the predicted hovering point. The pilot may determine whether to perform override control based on the specific deviation, that is, manually adjust the flight state of the aircraft through the aircraft's control unit (such as a joystick, etc.) if necessary, and change the predicted flight trajectory so that the predicted hovering point falls within the vertical landing area.

[0101] After the aircraft is in hover, when the surrounding environment information of the target landing point and the flight status information of the aircraft do not meet the preset vertical landing conditions, the aircraft landing system can provide the pilot with a prompt of "the preset vertical landing conditions are not met" and provide a go-around warning, so that the pilot can override the control and manually adjust the flight status of the aircraft or perform a go-around operation through the aircraft's control unit (such as a joystick, etc.).

[0102] It should be understood that when the surrounding environment information of the target landing point and the flight status information of the aircraft do not meet the preset vertical landing conditions, the aircraft landing system can also automatically readjust the flight status of the aircraft to ensure automatic vertical landing.

[0103] This embodiment provides an aircraft landing method, which confirms whether the predicted hovering point is within the vertical landing area before the aircraft enters the vertical landing phase, and further determines whether to continue the tilt transition of the aircraft and then hover in combination with the pilot's experience; at the same time, after the aircraft hovers in the vertical landing area, by confirming whether the surrounding environment information and the flight status information of the aircraft meet the preset vertical landing conditions, and further determines whether to perform the vertical landing of the aircraft in combination with the pilot's experience, thereby realizing automatic navigation and landing of the aircraft, effectively improving the accuracy and safety of the aircraft landing, and at the same time reducing the pilot's operating burden.

[0104] Based on the third embodiment and / or the fourth embodiment of the present application, in the fifth embodiment of the present application, the same or similar contents as those in the third embodiment and / or the fourth embodiment can be referred to the above description, and will not be described in detail later. Figure 5 , the method further includes steps S510 to S520: Step S510, when the aircraft is in a tilt transition phase, and the deviation between the tilt transition path and the predicted flight trajectory exceeds a preset first threshold, providing a path deviation prompt to the pilot, receiving an override command from the pilot, and adjusting the flight state of the aircraft based on the override command; And / or step S520, when the aircraft is in the vertical landing stage, and the deviation between the vertical landing path and the predicted flight trajectory exceeds a preset second threshold, a path deviation prompt is given to the pilot, and an override control instruction from the pilot is received, and the flight state of the aircraft is adjusted based on the override control instruction.

[0105] It is understandable that during the landing process of the aircraft, whether in the tilt transition phase or the vertical landing phase, the pilot should have the highest control of the aircraft to ensure the safety of the aircraft when the aircraft landing system fails or cannot handle emergencies.

[0106] It should be noted that the preset first threshold refers to the maximum allowable deviation value of the tilt transition path preset by relevant personnel based on the actual aircraft landing safety requirements and landing flight experience; the preset second threshold refers to the maximum allowable deviation value of the vertical path preset by relevant personnel based on the actual aircraft landing safety requirements and landing flight experience. Override control refers to the operation in which the pilot manually takes over the control of the aircraft's flight to ensure flight safety and smooth landing when the aircraft landing system is unable to handle or respond to an emergency.

[0107] Specifically, during the tilt transition phase of the aircraft, when the deviation between the planned tilt transition path and the predicted tilt transition path of the aircraft exceeds a preset first threshold, the pilot is provided with a prompt of the path deviation through deviation display or voice broadcast on the aircraft's display screen, so that the pilot can confirm whether to perform override control. The flight state of the aircraft is adjusted through the control unit so that the predicted flight trajectory approaches the tilt transition path. The pilot can then decide whether to intervene in the operation based on the specific deviation situation.

[0108] During the vertical landing phase of the aircraft, when the deviation between the planned vertical landing path and the predicted vertical landing path of the aircraft exceeds a preset second threshold, the pilot is provided with a prompt of the path deviation through the aircraft's display screen or voice broadcast, so that the pilot can confirm whether to perform override control and adjust the aircraft's flight state through the control unit so that the predicted flight trajectory approaches the tilt transition path. The pilot can then decide whether to intervene in the operation based on the specific deviation situation.

[0109] Whether in the tilt transition phase or the vertical landing phase of the landing process, if there is a deviation between the planned landing path and the predicted flight trajectory, and the pilot is prompted with the path deviation, when the pilot confirms the need for override control, the aircraft landing system interacts with the aircraft landing system and sends an override control instruction to the aircraft landing system, so that the aircraft landing system receives the pilot's override control instruction and adjusts the flight state of the aircraft according to the override control instruction.

[0110] It should be understood that when the aircraft landing system hardware or software fails, such as sensor failure, communication interruption, computer crash, etc., the pilot can override the control and manually control the flight state of the aircraft to perform a manual landing.

[0111] This embodiment provides an aircraft landing method, which can effectively reduce the pilot's operating burden and further improve the accuracy and safety of aircraft landing by detecting the deviation between the planned landing path and the predicted flight trajectory of the aircraft when the aircraft is in the tilt transition stage and the vertical landing stage, and by detecting whether the deviation exceeds a preset threshold, prompting the pilot to perform override control.

[0112] Based on the first embodiment and / or the second embodiment and / or the third embodiment and / or the fourth embodiment and / or the fifth embodiment of the present application, in the sixth embodiment of the present application, the same or similar contents as those in the above-mentioned first embodiment, second embodiment, third embodiment, fourth embodiment and / or fifth embodiment can be referred to the above introduction, and will not be repeated in the following. On this basis, the method further includes the following steps: Through the display system, at least the landing path and predicted flight trajectory of the aircraft are displayed to assist the pilot in monitoring and adjusting the landing process of the aircraft, wherein the display system includes at least one of a primary flight display, a head-up display, and a multi-function display.

[0113] Specifically, the aircraft landing system displays at least the landing path and predicted flight trajectory of the aircraft through a display system, so as to ensure that the pilot obtains relevant flight information, thereby helping to reduce the pilot's driving burden, and also helping to improve the pilot's situational awareness and assisted landing capabilities, thereby improving the overall safe landing capability.

[0114] Before planning the landing path for the aircraft, the aircraft landing system can display the landing point identified in the current aircraft surrounding scene through the head-up display (HUD) by visual overlay, so that the pilot can lock the final target landing point. The image of the head-up display is formed on the windshield at the front end of the aircraft fuselage.

[0115] When the aircraft is in the tilt transition stage, the aircraft landing system can display the relevant information of the tilt transition guidance to the pilot through the aircraft's primary flight display (PFD) so that the pilot can monitor the flight status of the aircraft in real time. The relevant information of the tilt transition guidance includes the tilt transition corridor window, the locked landing point area, and the predicted hovering point. The aircraft landing system can also allow the pilot to visually confirm whether the predicted hovering point is within the landing point area through the display system. When a deviation occurs, the pilot can determine whether to intervene in the operation based on the deviation, that is, to make manual adjustments through the aircraft's control unit (such as a joystick, etc.) when necessary. At the same time, the aircraft landing system can display the planned trajectory and predicted trajectory of the tilt transition stage through the multi-function display (MFD, Multi-Function Display), where different colors can be used to distinguish the planned trajectory and the predicted trajectory.

[0116] When the aircraft is in the vertical landing phase, the aircraft landing system can also display the planned trajectory and predicted trajectory of the vertical landing phase through the head-up display HUD to assist the pilot in real-time monitoring and adjustment of the vertical landing of the aircraft.

[0117] It should be understood that the display objects of the above-mentioned display system include but are not limited to relevant data of flight status, geographical information such as obstacles and landing area terrain, and real-time surrounding environment information such as meteorological data information.

[0118] This embodiment provides an aircraft landing method, which displays at least the landing path and predicted flight trajectory of the aircraft to the pilot through a display system, so as to assist the pilot in real-time monitoring and adjustment of the landing process of the aircraft, thereby further improving the accuracy and safety of the aircraft landing.

[0119] This application also provides an aircraft landing system, please refer to Figure 7 , the aircraft landing system comprises: The landing point identification module 10 is used to identify and lock the landing point of the aircraft in response to the landing instruction to obtain the target landing point; A landing path planning module 20, configured to plan a landing path of the aircraft based on the target landing point to obtain a landing path of the aircraft; The trajectory prediction module 30 is used to predict the flight trajectory of the aircraft based on the flight state information of the aircraft to obtain a predicted flight trajectory; The automatic navigation module 40 is used to adjust the flight state of the aircraft based on the landing path and the predicted flight trajectory to control the aircraft to land.

[0120] The aircraft landing system provided by the present application adopts the aircraft landing method in the above embodiment, which can solve the technical problems that the existing eVTOL aircraft landing system has insufficient automatic landing capability and low landing accuracy and safety of the eVTOL aircraft. Compared with the prior art, the beneficial effects of the aircraft landing system provided by the present application are the same as the beneficial effects of the aircraft landing method provided by the above embodiment, and other technical features of the aircraft landing system are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0121] The present application provides a vertical take-off and landing aircraft, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the aircraft landing method in the above-mentioned embodiment one.

[0122] Reference below Figure 8, which shows a schematic diagram of the structure of a vertical take-off and landing aircraft suitable for implementing the embodiment of the present application. The vertical take-off and landing aircraft in the embodiment of the present application may include but is not limited to the following professional equipment: flight control computer, avionics computer, embedded computing device, ground control station, automatic landing system, laser radar system, inertial navigation system (INS), global positioning system receiver, visual navigation system, infrared imaging equipment, radar altimeter, ultrasonic sensor, and vehicle-mounted terminal (such as vehicle-mounted navigation terminal), etc. The above equipment can be used alone or in combination to ensure that the aircraft landing method disclosed in the present application can be implemented, so that the aircraft can complete the landing operation safely and accurately. Figure 8 The vertical take-off and landing aircraft shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0123] like Figure 8 As shown, the vertical take-off and landing aircraft may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the vertical take-off and landing aircraft are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. Communication device 1009 can allow the vertical take-off and landing aircraft to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a vertical take-off and landing aircraft with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0124] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0125] The vertical take-off and landing aircraft provided by the present application adopts the aircraft landing method in the above embodiment, which can solve the technical problems that the automatic landing capability of the existing eVTOL aircraft landing system is insufficient and the eVTOL aircraft landing accuracy and safety are low. Compared with the prior art, the beneficial effects of the vertical take-off and landing aircraft provided by the present application are the same as the beneficial effects of the aircraft landing method provided by the above embodiment, and the other technical features in the vertical take-off and landing aircraft are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0126] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0127] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0128] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, wherein the computer-readable program instructions are used to execute the aircraft landing method in the above-mentioned embodiment.

[0129] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0130] The computer-readable storage medium may be included in the vertical take-off and landing aircraft; or may exist independently without being assembled into the vertical take-off and landing aircraft.

[0131] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the vertical take-off and landing aircraft, the vertical take-off and landing aircraft: responds to the landing instruction, identifies and locks the landing point of the aircraft, and obtains the target landing point; plans the landing path of the aircraft based on the target landing point to obtain the landing path of the aircraft; predicts the flight trajectory of the aircraft based on the flight status information of the aircraft to obtain the predicted flight trajectory; and adjusts the flight state of the aircraft based on the landing path and the predicted flight trajectory to control the aircraft to land.

[0132] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0133] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0134] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0135] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned aircraft landing method, and can solve the technical problems that the existing eVTOL aircraft landing system has insufficient automatic landing capability and low landing accuracy and safety of eVTOL aircraft. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the aircraft landing method provided in the above-mentioned embodiment, and will not be repeated here.

[0136] An embodiment of the present application provides a computer program product, including a computer program, which implements the steps of the above-mentioned aircraft landing method when executed by a processor.

[0137] The computer program product provided by the present application can solve the technical problems that the existing eVTOL aircraft landing system has insufficient automatic landing capability and low landing accuracy and safety of the eVTOL aircraft. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiment of the present application are the same as the beneficial effects of the aircraft landing method provided by the above embodiment, which will not be described in detail here.

[0138] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent processing scope of the present application.

Claims

1. An aircraft landing method, characterized in that: The method is applied to a tilt-rotor vertical take-off and landing aircraft, and the method comprises: In response to the landing instruction, the landing point of the aircraft is identified and locked to obtain the target landing point; Based on the target landing point, planning a landing path of the aircraft to obtain a landing path of the aircraft; Predicting a flight trajectory of the aircraft based on the flight status information of the aircraft to obtain a predicted flight trajectory; Based on the landing path and the predicted flight trajectory, the flight state of the aircraft is adjusted to control the aircraft to land.

2. The method according to claim 1, characterized in that The landing path includes a level flight phase, a tilt transition phase, and a vertical landing phase. The step of planning the landing path of the aircraft based on the target landing point to obtain the landing path of the aircraft includes: Based on the target landing point, surrounding environment information and flight status information, the paths of the level flight phase, tilt transition phase and vertical landing phase of the aircraft are planned separately, and the level flight path, tilt transition corridor, tilt transition path and vertical landing path are obtained respectively.

3. The method according to claim 2, characterized in that The tilt transition corridor includes a tilt transition corridor window. The step of adjusting the flight state of the aircraft based on the landing path and the predicted flight trajectory to control the aircraft to land includes: When the aircraft is in a level flight phase, adjusting the flight state of the aircraft based on the level flight path and the predicted flight trajectory to ensure that the flight state can enter the tilt transition corridor window; When the aircraft is in the tilt transition stage, the tilt angle of the tilt rotor of the aircraft is adjusted based on the tilt transition corridor and the tilt transition path, the descent speed and descent slope of the aircraft are controlled, and the flight state of the aircraft is adjusted in combination with the predicted flight trajectory to ensure that the aircraft flies in the tilt transition corridor.

4. The method according to claim 3, characterized in that The step of adjusting the flight state of the aircraft based on the landing path and the predicted flight trajectory to control the aircraft to land further includes: When the aircraft is in the vertical landing phase, the height, position and attitude of the aircraft are adjusted based on the vertical landing path and the predicted flight trajectory to control the aircraft to land.

5. The method according to claim 1, characterized in that The aircraft includes a display system, and the step of identifying and locking the landing point of the aircraft in response to the landing instruction to obtain the target landing point includes: In response to the landing instruction, the landing point of the aircraft is identified according to the surrounding environment information and the flight state information, a plurality of first landing points are obtained, and the safety factors of the first landing points are calculated; The safety factor of the first landing point is displayed to the pilot through the display system, and the pilot's landing point selection instruction is received, and the target landing point is locked from a plurality of first landing points.

6. The method as claimed in claim 3, characterized in that The aircraft includes a flight control system. Before the step of adjusting the tilt angle of the tilt rotor of the aircraft based on the tilt transition corridor and the tilt transition path when the aircraft is in the tilt transition stage, controlling the descent speed and the descent slope of the aircraft, and adjusting the flight state of the aircraft in combination with the predicted flight trajectory to ensure that the aircraft flies in the tilt transition corridor, the system further includes: Before the aircraft enters the tilt transition phase, the flight state of the aircraft is evaluated to confirm whether the flight state satisfies the flight state condition for entering the tilt transition corridor window; When the flight state satisfies the flight state condition for entering the tilt transition corridor window, the surrounding environment information is evaluated to confirm whether the preset tilt transition environment condition is met; When the surrounding environment information meets the preset tilt transition environment conditions, the flight control system controls the aircraft to automatically enter the tilt transition corridor window; and / or When the surrounding environment information meets the preset tilt transition environment conditions, an operation confirmation prompt is provided to the pilot, and a first confirmation instruction from the pilot is received to control the aircraft to enter the tilt transition corridor window.

7. The method as claimed in claim 6, characterized in that Before the step of adjusting the tilt angle of the tilt rotor of the aircraft based on the tilt transition corridor and the tilt transition path when the aircraft is in the tilt transition stage, controlling the descent speed and the descent slope of the aircraft, and adjusting the flight state of the aircraft in combination with the predicted flight trajectory to ensure that the aircraft flies in the tilt transition corridor, the method further includes: Before the aircraft enters the tilt transition phase, when the flight state does not meet the flight state conditions for entering the tilt transition corridor window, providing a missed approach warning to the pilot; and / or Before the aircraft enters the tilt transition phase, when the surrounding environment information does not meet the preset tilt transition environment conditions, a go-around warning is provided to the pilot.

8. The method as claimed in claim 4, characterized in that The aircraft includes a flight control system, the predicted flight trajectory includes a predicted hovering point, and before the step of adjusting the height, position and attitude of the aircraft based on the vertical landing path and the predicted flight trajectory when the aircraft is in a vertical landing stage to control the aircraft to land, the method further includes: Before the aircraft enters the vertical landing phase, confirming whether the predicted hovering point is within the vertical landing area; When the predicted hovering point is within the vertical landing area, controlling the aircraft to fly along the tilt transition path, and controlling the aircraft to be in a vertical state with respect to the target landing point by adjusting the flight state of the aircraft in real time, so as to achieve hovering of the aircraft; and / or When the aircraft is in hovering, confirming whether the surrounding environment information and the flight status information of the aircraft meet the preset vertical landing conditions; When the surrounding environment information and the flight status information of the aircraft meet the preset vertical landing conditions, the flight control system controls the aircraft to automatically enter the vertical landing phase; and / or When the surrounding environment information and the flight status information of the aircraft meet the preset vertical landing conditions, an operation confirmation prompt is provided to the pilot, and a second confirmation instruction from the pilot is received to control the aircraft to enter the vertical landing phase.

9. The method as claimed in claim 8, characterized in that Before the step of adjusting the height, position and attitude of the aircraft based on the vertical landing path and the predicted flight trajectory to control the aircraft to land when the aircraft is in the vertical landing stage, the method further includes: When the predicted hovering point is not within the vertical landing area, providing a missed approach warning to the pilot; and / or When the surrounding environment information and the flight status information of the aircraft do not meet the preset vertical landing conditions, a missed approach warning is provided to the pilot.

10. The method as claimed in claim 3, characterized in that The method further comprises: When the aircraft is in a tilt transition phase, and the deviation between the tilt transition path and the predicted flight trajectory exceeds a preset first threshold, providing a path deviation prompt to the pilot, receiving an override command from the pilot, and adjusting the flight state of the aircraft based on the override command; and / or When the aircraft is in the vertical landing stage, and the deviation between the vertical landing path and the predicted flight trajectory exceeds a preset second threshold, a path deviation prompt is given to the pilot, and an override control instruction from the pilot is received, and the flight state of the aircraft is adjusted based on the override control instruction.

11. The method according to any one of claims 1 to 10, characterized in that The method further comprises: Through the display system, at least the landing path and predicted flight trajectory of the aircraft are displayed to assist the pilot in monitoring and adjusting the landing process of the aircraft, wherein the display system includes at least one of a primary flight display, a head-up display, and a multi-function display.

12. An aircraft landing system, characterized in that: The aircraft landing system comprises: A landing point identification module is used to identify and lock the landing point of the aircraft in response to the landing instruction to obtain the target landing point; A landing path planning module, used to plan the landing path of the aircraft based on the target landing point to obtain the landing path of the aircraft; A trajectory prediction module, used to predict the flight trajectory of the aircraft based on the flight status information of the aircraft to obtain a predicted flight trajectory; The automatic navigation module is used to adjust the flight state of the aircraft based on the landing path and the predicted flight trajectory to control the aircraft to land.

13. A vertical take-off and landing aircraft, characterized in that: The aircraft comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the aircraft landing method according to any one of claims 1 to 11.

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