Aircraft landing guidance method, display system and aircraft

Abstract

The present application discloses an aircraft landing guidance method, a display system and an aircraft, and relates to the field of flight control technology. The aircraft landing guidance method includes: when it is detected that the aircraft meets the tilt guidance conditions, a flight boundary indication image of the aircraft is generated, and the flight boundary indication image is used to reflect the tilt transition flight corridor of the aircraft from the current air position to the reference hovering point; the aircraft includes a fuselage and a tilt-rotor assembly, and the tilt-rotor assembly is arranged on the fuselage and is configured to be rotatable between the cruise position and the vertical take-off and landing position, and the reference hovering point is located above the landing destination; the flight boundary indication image is displayed on the display system of the aircraft. The present application allows the pilot to manipulate the aircraft in real time according to the flight boundary indication image, ensuring that the aircraft can safely transition from the cruise flight phase to the vertical landing phase.

Description

Technical Field

[0001] The present application relates to the field of flight control technology, and in particular to an aircraft landing guidance method, a display system and an aircraft. Background Art

[0002] The tilt-rotor vertical landing aircraft has a rotor tilt assembly that can rotate between a cruising position and a vertical take-off and landing position. When the rotor tilt assembly is in the vertical take-off and landing position, the aircraft can hover, fly sideways, fly backwards and land vertically similar to a helicopter; when the rotor tilt assembly is in the cruising position, the aircraft is equivalent to a fixed-wing aircraft and can perform high-speed long-distance flights.

[0003] When performing landing procedures, aircraft with a tilt-rotor assembly need to go through three stages: cruise flight, tilt transition and vertical landing. Especially in the tilt transition stage, for eVTOL (electric Vertical Take-off and Landing) with a tilt-rotor configuration, landing in a complex urban environment is more susceptible to impact, causing pilots to process a lot of information and make quick decisions on when to perform the tilt conversion and how to adjust the flight attitude after entering the tilt transition stage.

[0004] However, the aircraft display system of the related art has limited support for the pilot's operational intervention, and it is difficult for the pilot to obtain effective operational reminders from the aircraft display system, resulting in the need to improve landing efficiency and safety. Summary of the invention

[0005] The main purpose of the present application is to provide an aircraft landing guidance method, a display system and an aircraft, aiming to solve the technical problem that it is difficult for pilots to obtain effective operation reminders from the aircraft display system.

[0006] To achieve the above objectives, the present application proposes an aircraft landing guidance method, the method comprising:

[0007] When it is detected that the aircraft meets the tilt guidance condition, a flight boundary indication image of the aircraft is generated, and the flight boundary indication image is used to reflect the tilt transition flight corridor of the aircraft from the current air position to the reference hovering point. The aircraft includes a fuselage and a tilt rotor assembly, the tilt rotor assembly is arranged on the fuselage and is configured to be rotatable between a cruise position and a vertical take-off and landing position, and the reference hovering point is located above the landing destination;

[0008] The flight boundary indication image is displayed on a display system of the aircraft.

[0009] In one embodiment, the flight boundary indication image includes a first flight boundary indication image corresponding to a primary flight display and / or a second flight boundary indication image corresponding to a head-up display;

[0010] The display system for displaying the flight boundary indication image on the aircraft includes:

[0011] superimposing and displaying the first flight boundary indication image on the attitude indicator area of ​​the primary flight display; and / or,

[0012] The original image of the attitude indicator of the head-up display is superimposed with the second flight boundary indication image to obtain a first projection image, and the first projection image is projected onto a preset projection surface through the head-up display.

[0013] In one embodiment, the first flight boundary indication image and the second flight boundary indication image are both at least partially transparent, and the first flight boundary indication image and the second flight boundary indication image both include multiple boundary indication elements respectively located in multiple virtual vertical sections, each boundary indication element includes at least a left boundary indication sub-element, a right boundary indication sub-element, an upper boundary indication sub-element and a lower boundary indication sub-element located in the same virtual vertical section, and the multiple virtual vertical sections are arranged in sequence according to the chronological order of the reference arrival time of the aircraft.

[0014] In one embodiment, the method further comprises:

[0015] When it is detected that the aircraft meets the tilt guidance conditions, a landing point safety boundary image and / or a predicted landing point element of the aircraft is generated; the landing point safety boundary image is used to reflect the vertical landing corridor of the aircraft from the reference hovering point to the landing destination for safe landing, and the predicted landing point element is used to reflect the predicted landing point when the aircraft is in the current air position; wherein the landing point safety boundary image includes a first landing point safety boundary image corresponding to the primary flight display and / or a second landing point safety boundary image corresponding to the head-up display;

[0016] The first landing point safety boundary image is superimposed with the predicted landing point element and displayed in the attitude indicator area of ​​the primary flight display, and the first landing point safety boundary image is at least partially transparent; and / or, the attitude indicator original image of the head-up display and the second landing point safety boundary image are superimposed to obtain a second projection image, and the second projection image is projected onto a preset projection surface through the head-up display.

[0017] In one embodiment, the flight boundary indication image includes a third flight boundary indication image corresponding to the multi-function display;

[0018] The flight boundary indication image is displayed on a display system of the aircraft, including:

[0019] A third flight boundary indication image is displayed in the vertical situation display area of ​​the multi-function display; wherein the third flight boundary indication image includes a reference track line element and a tilt-transition flight corridor element; the reference track line element is connected to the aircraft current position icon in the vertical situation display area, the tilt-transition flight corridor element is superimposed on the reference track line element, and each point of the tilt-transition flight corridor element at the upper boundary of the vertical situation display area is used to reflect the upper limit of the allowable height of the corresponding track point in the reference track line element, and each point of the tilt-transition flight corridor element at the lower boundary of the vertical situation display area is used to reflect the lower limit of the allowable height of the corresponding point in the reference track line element; the reference track line element at least includes a tilt transition section from the current air position to the reference hovering point.

[0020] In one embodiment, the method further comprises:

[0021] When it is detected that the aircraft meets the tilt guidance conditions, a vertical landing corridor element of the aircraft is generated. The vertical landing corridor element is used to reflect the vertical landing corridor of the aircraft from the reference hovering point to the landing destination for safe landing in the vertical situation display area;

[0022] A vertical landing corridor element is displayed at the landing destination icon in the vertical situation display area.

[0023] In one embodiment, when it is detected that the aircraft meets the tilt guidance condition, after generating the flight boundary indication image of the aircraft, the method further includes:

[0024] Obtaining a transition flight prediction point and / or a go-around prediction point corresponding to the current air position; the transition flight prediction point includes a cruise flight tilt transition prediction point and / or a reference hovering point;

[0025] The preset phase transition flight elements and / or preset missed approach elements are displayed on the display system; the preset phase transition flight elements are used to reflect the phase transition flight prediction point, and the preset missed approach elements are used to reflect the missed approach prediction point.

[0026] In one embodiment, after displaying the preset transition flight element and / or the preset go-around element on the display system, the method further includes:

[0027] When it is detected that the real-time aerial position of the aircraft and the predicted point of the flight transition phase meet the preset prompt conditions, output the preset phase transition prompt information; and / or

[0028] When it is detected that the real-time air position of the aircraft and the missed approach prediction point meet the preset prompt conditions, the preset missed approach prompt information is output.

[0029] In one embodiment, the method further comprises:

[0030] Continuously obtain the predicted track within a preset time after the current moment;

[0031] The preset track elements are displayed on the display system, and the preset track elements are used to reflect the predicted track.

[0032] In one embodiment, the preset track element includes a predicted landing track element;

[0033] Display preset track elements on the display system, including:

[0034] When it is detected that the aircraft is in the vertical landing phase, the predicted landing track elements are superimposed on the bottom image of the bottom view image display.

[0035] In one embodiment, when it is detected that the aircraft meets the tilt guidance condition, after generating the flight boundary indication image of the aircraft, the method further includes:

[0036] During the tilting process of the tilt-rotor assembly, determining a normal flight envelope of the tilt angle corresponding to the real-time forward flight speed of the tilt-rotor assembly and / or a normal flight envelope of the forward flight speed corresponding to the real-time rotor tilt angle of the aircraft;

[0037] Change the display parameters of the area except the first angle envelope area in the tilt angle indicator bar in the display interface of the display system, the first angle envelope area is the area in the tilt angle indicator bar corresponding to the normal flight envelope of the tilt angle; and / or, change the display parameters of the area except the first speed envelope area in the airspeed indicator area in the display interface of the display system, the first speed envelope area is the area in the airspeed indicator area corresponding to the normal flight envelope of the forward flight speed.

[0038] In one embodiment, changing the display parameters of the area other than the first angle envelope area in the tilt angle indicator bar in the display interface of the display system includes:

[0039] The display color of the second angle envelope area in the tilt angle indicator bar is changed to the first preset color, and the display color of the third angle envelope area is changed to the second preset color; wherein the second angle envelope area includes the area between the boundary value of the normal flight envelope of the tilt angle and the corresponding boundary value of the operating flight envelope of the tilt angle in the tilt angle indicator bar; the third angle envelope area includes the area between the boundary value of the operating flight envelope of the tilt angle and the corresponding boundary value of the corresponding tilt angle limiting flight envelope in the tilt angle indicator bar;

[0040] and / or,

[0041] Change the display parameters of the airspeed indicator area in the display interface of the display system except the first speed envelope area, including:

[0042] The display color of the second speed envelope area in the airspeed indicator area is changed to the first preset color, and the display color of the third speed envelope area is changed to the second preset color; wherein the second speed envelope area includes the area in the airspeed indicator area from the boundary value of the forward flight speed normal flight envelope to the corresponding boundary value of the forward flight speed operating flight envelope; and the third speed envelope area includes the area in the airspeed indicator area from the boundary value of the forward flight speed operating flight envelope to the corresponding boundary value of the forward flight speed limit flight envelope.

[0043] In addition, to achieve the above purpose, the present application also proposes a display system, the display system comprising:

[0044] Primary flight display and multi-function display;

[0045] Head-up display and / or bottom-view image display;

[0046] A flight control module, the flight control module is connected to a primary flight display and a multi-function display respectively, and the flight control module is also connected to a head-up display and / or a bottom view image display. The flight control module includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the aircraft landing guidance method as described above.

[0047] In addition, to achieve the above-mentioned purpose, the present application also proposes an aircraft, the aircraft comprising:

[0048] Body;

[0049] A tilt-rotor assembly, the tilt-rotor assembly being disposed on the fuselage and configured to be rotatable between a cruise position and a vertical take-off and landing position; and

[0050] As described above, the display system is disposed in the machine body.

[0051] One or more technical solutions proposed in this application have at least the following technical effects:

[0052] In the technical solution provided in the present application, for an aircraft that has a tilt transition phase during the landing process, a flight boundary indication image that reflects the tilt transition flight corridor for the aircraft to safely fly from the current air position to the reference hovering point is displayed on the aircraft's display system, thereby providing the pilot with a visual safety operation guide. The visual safety operation guide provides the pilot with effective operation reminders, allowing the pilot to operate the aircraft in real time according to the flight boundary indication image, ensuring that the aircraft can safely transition from the cruise flight phase to the vertical landing phase. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] 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.

[0054] 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 work.

[0055] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of the aircraft landing guidance method of the present application;

[0056] Figure 2 This is a schematic diagram of landing destination locking in the HUD interface in an embodiment of the present application;

[0057] Figure 3 This is a schematic diagram of the display interface of the PFD in an embodiment of the present application;

[0058] Figures 4 to 6 This is a schematic diagram of the VSD area for this application MFD;

[0059] Figure 7 and Figure 8 This is a schematic diagram showing the display of the VSD area of ​​the MFD in track mode for this application;

[0060] Fig. 9 This is a schematic diagram of the tilt angle indicator bar in the embodiment of the present application;

[0061] Fig.10 This is a two-dimensional environment diagram of the MFD for this application;

[0062] Fig.11 A schematic diagram of the predicted landing track elements superimposed on the bottom view image display interface of this application;

[0063] Fig.12 This is a schematic diagram of the structure of the flight control module in this application.

[0064] 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

[0065] 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.

[0066] 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.

[0067] The main solution of the embodiment of the present application is: when it is detected that the aircraft meets the tilt guidance conditions, a flight boundary indication image of the aircraft is generated, and the flight boundary indication image is used to reflect the tilt transition flight corridor of the aircraft flying safely from the current air position to the reference hovering point; the flight boundary indication image is displayed on the display system of the aircraft.

[0068] In the related art, some aircraft have a rotor tilt assembly that can rotate between the cruise position and the vertical take-off and landing position. When the rotor tilt assembly is in the vertical take-off and landing position, the aircraft can hover, fly sideways, fly backwards, and land vertically like a helicopter; when the rotor tilt assembly is in the cruise position, the aircraft is equivalent to a fixed-wing aircraft and can fly long distances at high speed. Such aircraft include but are not limited to tilt-rotor aircraft, tilt-rotor drones, and eVTOL (electric Vertical Take-off and Landing) with a tilt-rotor configuration. Among them, the eVTOL with a tilt-rotor configuration can be a tilt-rotor configuration in which all lift / thrust components are configured, or a part of the lift / thrust components are configured.

[0069] In the embodiments of the present application, for ease of description, the following description is made using eVTOL as the execution entity.

[0070] eVTOL uses an electric propulsion system to achieve vertical landing and horizontal flight. It has the advantages of low noise, environmental friendliness, and flexible operation. It has become an ideal solution for future urban air traffic (UAM, Urban Air Mobility) and emergency rescue. However, for eVTOL, the landing process is relatively complicated. Compared with traditional aircraft, first of all, eVTOL aircraft usually land in a limited space, and the intricate buildings, obstacles, and wires in the urban environment increase the difficulty of landing. Among them, eVTOL with a rotor tilt assembly needs to go through three stages when performing the landing procedure: cruising flight, tilt transition, and vertical landing. In particular, the tilt transition stage requires eVTOL to have highly accurate path planning capabilities during the landing process to ensure that the aircraft can avoid obstacles and land smoothly in the complex urban environment.

[0071] Thus, for eVTOL pilots, during the tilt transition phase, pilots need to process a large amount of information and make quick decisions, such as when to perform the tilt conversion and how to adjust the flight attitude after entering the tilt transition phase. However, the flight display system in the related technology, such as MFD (Multifunctional Display) or PFD (Primary Flight Display), can provide basic flight information, but lacks real-time and intuitive visual display of the aircraft path planning during the landing process. Therefore, the human-computer interaction interface of the aircraft display system is difficult to meet the needs of pilots for efficient operation in complex urban environments, and the support for pilots' operational intervention is limited. It is difficult for pilots to get effective operational reminders from the aircraft display system, resulting in landing efficiency and safety to be improved.

[0072] To this end, the present application provides a solution. For an aircraft that has a tilt transition phase during the landing process, a flight boundary indication image that reflects the tilt transition flight corridor for the aircraft to safely fly from the current air position to a reference hovering point is displayed on the aircraft's display system, thereby providing the pilot with a visual safety operation guide. The visual safety operation guide provides the pilot with effective operation reminders, so that the pilot can operate the aircraft in real time according to the flight boundary indication image, ensuring that the aircraft can safely transition from the cruise flight phase to the vertical landing phase.

[0073] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as an aircraft flight control module, a server, a computing terminal, etc. The following takes the flight control module as an example to illustrate this embodiment and the following embodiments.

[0074] Based on this, the present application embodiment provides an aircraft landing guidance method, referring to Figure 1 , Figure 1 This is a schematic flow chart of the first embodiment of the aircraft landing guidance method of the present application.

[0075] In this embodiment, the aircraft landing guidance method includes steps S10 to S20:

[0076] Step S10: When it is detected that the aircraft meets the tilt guidance conditions, a flight boundary indication image of the aircraft is generated.

[0077] The flight boundary indication image is used to reflect the tilt transition flight corridor for the aircraft to safely fly from the current air position to the reference hovering point. The aircraft includes a fuselage and a tilt rotor assembly, the tilt rotor assembly is arranged on the fuselage and is configured to be rotatable between a cruise position and a vertical take-off and landing position, and the reference hovering point is located above the landing destination.

[0078] Step S20: display the flight boundary indication image on the display system of the aircraft.

[0079] Specifically, the aircraft in this embodiment may be an eVTOL, and at least one lift / thrust assembly is disposed on the fuselage, wherein at least part of the lift / thrust assembly is configured as a tilt-rotor assembly, and the tilt-rotor assembly is disposed on the fuselage and configured to be rotatable between a cruise position and a vertical take-off and landing position. During the cruise flight phase or the tilt transition phase, when it is detected that the aircraft meets the tilt guidance condition, the flight control module of the eVTOL begins to enter the landing guidance program.

[0080] The tilt guidance conditions include but are not limited to any of the following conditions:

[0081] (1) The “Landing Point Lock” function has been activated and the landing destination has been locked.

[0082] See also Figure 2 In this embodiment, the flight control module of the eVTOL is equipped with a "landing point lock" function. The landing point lock is completed through a high-precision sensor integration system and a target recognition algorithm configured in the flight control module. When the eVTOL approaches the landing destination and executes the landing procedure, the flight control module will search for the landing destination in the current scene environment through the high-precision sensor integration system. Once the landing destination is successfully identified, it will continue to track the landing destination and intuitively display the landing destination of the eVTOL on the MFD or HUD (Head-Up Display), such as tracking and highlighting the landing destination through the set landing destination lock element A01, so that the pilot can monitor the locking status of the landing point at any time. Even when the environment changes, the flight control module can still dynamically adjust and lock the landing destination, thereby preventing the aircraft from deviating from the safe landing area.

[0083] While visually displaying the eVTOL's landing destination on the MFD or HUD, the flight control module will automatically calculate the reference trajectory for the eVTOL to safely land from its current aerial position to the landing destination, as well as a flight corridor suitable for the reference trajectory, based on the eVTOL parameter information (including but not limited to status parameters such as airspeed and altitude, and fuselage parameters such as the eVTOL's own size) and the scene information of the surrounding environment (including but not limited to terrain information, obstacle information, and regional control information such as controlled areas and no-fly zones).

[0084] It should be noted that the reference flight path includes three stages: the cruise flight stage, the tilt transition stage, and the vertical landing stage. The end point of the tilt transition stage in the reference flight path is the reference hovering point. Each flight point has corresponding altitude reference information, distance reference information, reference arrival time and other data. It can be understood that the reference flight path is used for pilot reference, but the specific flight operation and specific flight trajectory of the eVTOL are still determined by the pilot.

[0085] (2) The tilt enable switch or tilt enable control is switched to the enabled state.

[0086] The cockpit of the eVTOL is equipped with a tilt enable switch, which switches between the enabled state and the off state. When the flight control module detects that the tilt enable switch has switched to the enabled state, the flight control module will automatically calculate the reference track line for the eVTOL to land safely from the current air position to the landing destination, and the flight corridor suitable for the reference track line based on the eVTOL parameter information and the scene information of the surrounding environment. Specifically, when the eVTOL approaches the landing destination, the pilot can toggle the tilt enable switch.

[0087] Of course, when the eVTOL is in emergency mode, the pilot can also toggle the tilt enable switch to the enabled state, thereby triggering the flight control module to calculate the flight corridor. At this time, the landing destination is the emergency landing point, and the reference track line is the emergency reference track line for safe landing from the current air position to the emergency landing point.

[0088] Alternatively, for an unmanned eVTOL, a remote pilot may control the tilt-rotor drone through a remote cockpit. In this case, a tilt-enable switch or a tilt-enable control is configured on the remote cockpit. The tilt-enable control may be a tilt-enable virtual button. Alternatively, when the unmanned eVTOL is controlled by a remote control device, such as a tablet, a corresponding tilt-enable virtual button is configured on the tablet's control interface.

[0089] (3) Receive landing instructions

[0090] Specifically, for eVTOL, eVTOL is connected to the remote tower through communication, so that it can receive information sent by the remote tower. In extreme cases such as eVTOL equipment being damaged or vision being limited, the remote tower at the airport can send a landing instruction to the eVTOL, which carries information from the current air position of the eVTOL to the airspace information of the airport, environmental scene information, and other information that is helpful for the eVTOL to land, so that the flight control module of the eVTOL can calculate the reference track line and flight corridor based on this.

[0091] Alternatively, for a tilt-rotor UAV, a landing command may be issued by a remote control device, and after the flight control module of the tilt-rotor UAV receives the landing command, it begins to calculate the reference track line and flight corridor.

[0092] (4) The tilt-rotor assembly is in a position between the vertical take-off and landing position and the cruise position

[0093] It is understandable that during actual flight, the pilot does not control the aircraft completely according to the reference track line. Therefore, the flight control module in this embodiment not only solves the flight corridor before entering the tilt transition phase, but also after entering the tilt transition phase, that is, when it detects that the tilt-rotor assembly is in a position between the vertical take-off and landing position and the cruise position, it continues to solve the reference track line and the flight corridor in real time according to the real-time status of the eVTOL (aircraft), thereby continuously updating the reference track line and the flight corridor.

[0094] (5) Detection of new obstacles

[0095] When the obstacle detection function is used, the flight control module detects obstacles around the aircraft in real time through a variety of sensors (such as lidar, infrared sensors, etc.). It is worth mentioning that obstacles can be static obstacles (buildings, trees, wires, etc.) or dynamic obstacles (such as drones, other aircraft, birds, etc.). For dynamic obstacles, the flight control module identifies and displays dynamically moving obstacles in real time, and highlights their positions and movement trends in color on the MFD and HUD to ensure that the pilot can make timely avoidance decisions. In addition, during the vertical landing phase, the BVD (Bottom Vision Display) can also display obstacles. Therefore, the flight control module can realize real-time monitoring of obstacles through the obstacle detection function, and then continuously update the reference track line and flight corridor in combination with the current speed, altitude and attitude of the aircraft to ensure that the aircraft can fly and land safely in a complex environment.

[0096] It is worth mentioning that, for obstacles, this embodiment not only provides obstacle warnings, but also ensures that the pilot takes necessary and optimal evasive actions in the shortest time by updating the flight boundary indication image to ensure safety.

[0097] The reference flight path obtained by calculation includes a tilt transition section and a vertical landing section. Therefore, the flight corridor obtained by calculation includes a tilt transition flight corridor corresponding to the tilt transition section and a vertical landing corridor corresponding to the vertical landing section. The dividing point between the two stages is the reference hovering point. Among them, the tilt transition flight corridor refers to a corridor-shaped space constructed with the tilt transition section in the reference flight path as the central axis and the safe flight distance of the eVTOL in all directions of up, down, left and right. When the eVTOL flies in this tilt transition flight corridor, the eVTOL can avoid obstacles such as high-rise buildings and controlled areas and fly smoothly to the reference hovering point above the landing destination.

[0098] Then the flight control module generates a corresponding flight boundary indication image according to the tilt transition flight corridor. It is understandable that since the display system of the eVTOL includes but is not limited to MFD, PFD and HUD, for different types of displays, corresponding flight boundary indication images can be generated according to the type of display. Then the flight boundary indication image is displayed on the corresponding type of display.

[0099] For example, for the PFD, the flight boundary indication image includes a first flight boundary indication image corresponding to the PFD; step S20 specifically includes: superimposing and displaying the first flight boundary indication image on the attitude indicator area of ​​the primary flight display of the aircraft.

[0100] It is easy to understand that the most important flight data is displayed on the PFD, such as the aircraft's attitude, airspeed, altitude, heading, etc. Generally speaking, the display interface of the PFD includes the attitude indicator area (attitude ball) in the middle, the airspeed indicator area (airspeed belt) on the left, the altitude indicator (altitude belt) on the right, and the heading indicator area at the bottom. The attitude indicator area specifically displays the roll and pitch attitude of the eVTOL; the airspeed belt on the left displays the indicated airspeed, and the Mach number is displayed below; the altitude belt on the right displays the pressure altitude and vertical speed, and the pressure altitude calibration value is displayed below the altitude belt; the bottom horizontal state indicator (HSI) displays the heading, etc.

[0101] It should be noted that in order to prevent the first flight boundary indication image from affecting the display of existing information on the display interface of the PFD, the first flight boundary indication image is at least partially transparent.

[0102] The first flight boundary indication image may be composed of a plurality of dynamic trajectory lines, and the plurality of dynamic trajectory lines together define a flight corridor. Alternatively, as an embodiment, the first flight boundary indication image includes a plurality of boundary indication elements respectively located in a plurality of virtual vertical sections, each boundary indication element at least includes a left boundary indication sub-element, a right boundary indication sub-element, an upper boundary indication sub-element, and a lower boundary indication sub-element located in the same virtual vertical section, and the plurality of virtual vertical sections are arranged in sequence according to the chronological order of the reference arrival time of the aircraft.

[0103] The boundary indicator sub-element, right boundary indicator sub-element, upper boundary indicator sub-element and lower boundary indicator sub-element are used to indicate the safe flight range of the aircraft in the corresponding direction. The boundary indicator sub-element, right boundary indicator sub-element, upper boundary indicator sub-element and lower boundary indicator sub-element can be selectively displayed according to whether the corresponding direction needs to be prompted. Of course, since the eVTOL needs to land in a complex urban environment, it is preferred that each boundary indicator element includes a left boundary indicator sub-element, a right boundary indicator sub-element, an upper boundary indicator sub-element and a lower boundary indicator sub-element, thereby providing the pilot with visual cues in various directions.

[0104] For the left boundary indicator sub-element, the right boundary indicator sub-element, the upper boundary indicator sub-element and the lower boundary indicator sub-element of the same virtual vertical section, the left boundary indicator sub-element, the right boundary indicator sub-element, the upper boundary indicator sub-element and the lower boundary indicator sub-element can be sequentially connected or spaced apart from each other, and this embodiment does not limit this. Of course, the left boundary indicator sub-element, the right boundary indicator sub-element, the upper boundary indicator sub-element and the lower boundary indicator sub-element are located on a closed annular image. The closed annular image can be a polygonal frame such as a rectangular frame, a circular frame or an elliptical frame, etc., and this embodiment does not limit this either.

[0105] Take the closed ring image as a rectangular frame as an example:

[0106] See also Figure 3 In one example, the boundary indicator element A02 is a closed rectangular frame, and the left border, right border, top border and bottom border of the rectangular frame are the corresponding left boundary indicator sub-element, right boundary indicator sub-element, top boundary indicator sub-element and bottom boundary indicator sub-element respectively.

[0107] Alternatively, in another example, the boundary indicator element may also be a left boundary bar and a right boundary bar arranged at intervals on the left and right, and an upper boundary bar and a lower boundary bar arranged up and down, and the left boundary bar, the right boundary bar, the upper boundary bar and the lower boundary bar are arranged on a virtual rectangular frame. Compared with the previous example, the boundary indicator element in this example is a non-closed graphic, so as to avoid blocking the display of existing information in the display interface as much as possible. Alternatively, in order to further avoid blocking the display of existing information, the left boundary indicator sub-element, the right boundary indicator sub-element, the upper boundary indicator sub-element and the lower boundary indicator sub-element in the boundary indicator element each include at least two indicator line segments spaced apart from each other.

[0108] Alternatively, in another example, the left boundary indicator sub-element, the right boundary indicator sub-element, the upper boundary indicator sub-element, and the lower boundary indicator sub-element may also be the broken line segments at the four corners of a rectangular frame. Compared with the above example, the four corners can display the corridor range, but the display area is smaller, thereby further avoiding blocking the display of existing information on the display interface.

[0109] In order to avoid blocking the display of existing information on the display interface, and because the forward flight speed of the aircraft is relatively fast, there is no need to calculate and display the boundary indicator elements corresponding to each trajectory point on the reference track line. As an option of this embodiment, the sampling period can be determined according to a preset flight interval duration, and a plurality of periodic trajectory points can be determined in sequence from the reference track line. Alternatively, the sampling period can be determined according to a preset flight interval distance, and a plurality of periodic trajectory points can be determined in sequence from the reference track line. After obtaining a plurality of periodic trajectory points, a virtual vertical profile of each periodic trajectory point can be obtained, and then the boundary indicator elements of each virtual vertical profile can be obtained.

[0110] Different boundary indicator elements A02 are located on different virtual vertical sections, and all boundary indicator elements A02 together form a corridor-like figure that is "larger near and smaller far away". Multiple virtual vertical sections are arranged in sequence according to the reference arrival time of the eVTOL, that is, when the eVTOL flies along the reference track line, the virtual vertical section that the eVTOL flies to first is closer to the plane where the display interface is located than the virtual vertical section that the eVTOL flies to later. Therefore, the boundary indicator element on the virtual vertical section that the eVTOL flies to first is larger than the boundary indicator element of the virtual vertical section that the eVTOL flies to later.

[0111] As an example, see Figure 2 , the first flight boundary indication image is a plurality of rectangular frames set in layers, and the inner rectangular frame is smaller than the outer rectangular frame. It is worth mentioning that when the current air position of the eVTOL continues to change, the flight control module continues to solve the reference track line and the flight corridor, so that the first flight boundary indication image on the display interface is a dynamic image, which also changes continuously. Among them, when the sampling period is determined according to the preset flight interval duration, the multiple rectangular frames on the display interface are updated and displayed at a uniform speed, that is, when the eVTOL flies over a virtual vertical section, the corresponding outermost rectangular frame disappears, and in any two adjacent layers of rectangular frames, the inner rectangular frame becomes larger and is displayed at the position of the outer rectangular frame. When the sampling period is determined according to the preset flight interval distance, the real-time size of each rectangular frame is calculated according to the virtual vertical section where each rectangular frame is located and the real-time air position of the eVTOL. At this time, the faster the forward flight speed of the eVTOL, the faster the update change rate of the rectangular frame.

[0112] In addition, for the HUD, the flight boundary indication image includes a second flight boundary indication image corresponding to the PFD; step S20 is specifically: superimposing the original image of the attitude indicator with the second flight boundary indication image to obtain a first projection image, and projecting the first projection image to a preset projection surface through the aircraft's head-up display.

[0113] Among them, for HUD, the distribution of the original image of the attitude indicator is the same as the display interface of PFD, that is, it also includes the attitude indicator (attitude ball) in the middle, the airspeed indicator (airspeed belt) on the left, the altitude indicator (altitude belt) on the right, and the navigation indicator at the bottom. Different from the display interface of PFD, in order to avoid blocking the driver's field of vision, in the projection image of HUD, the attitude indicator (attitude ball), the airspeed indicator (airspeed belt) on the left, the altitude indicator (altitude belt) on the right, and the navigation indicator at the bottom are all composed of partially transparent lines.

[0114] The difference between the second flight boundary indication image and the first flight boundary indication image is that the left boundary indication sub-element, the right boundary indication sub-element, the upper boundary indication sub-element and the lower boundary indication sub-element are all constructed as partially transparent lines. For the remaining identical parts, please refer to the description of the first flight boundary indication image, which will not be repeated here.

[0115] In this embodiment, only the PFD may display the first flight boundary indication image, or only the HUD may project and display the second flight boundary indication image. Alternatively, the PFD may display the first flight boundary indication image while the HUD projects and displays the second flight boundary indication image. This embodiment does not limit this.

[0116] It is worth mentioning that, in order to facilitate operation, the flight boundary indication images all correspond to observation points on the organism. In this way, during the tilt transition phase, when the pilot controls the eVTOL flight, he can observe the display interface of the PFD and the projected image of the HUD with the naked eye to ensure that the observation mark is always located within the flight boundary indication image, thereby ensuring that the eVTOL flies within the tilt transition flight corridor. For example, in one example, for the PFD and HUD, the observation mark is the FPV (flightpathvector) icon in the attitude indicator. When the pilot controls the eVTOL flight, he needs to ensure that the FPV icon is always within the outermost rectangular frame in the flight boundary indication image. Of course, the pilot can also use the nose of the eVTOL as an auxiliary observation mark.

[0117] In addition, since the eVTOL landing procedure involves three stages, for the vertical landing stage, the flight control module also performs the following steps S30a to S50a:

[0118] Step S30a: When it is detected that the aircraft meets the tilt guidance conditions, a landing point safety boundary image and predicted landing point elements of the aircraft are generated.

[0119] The landing point safety boundary image is used to reflect the vertical landing corridor of the aircraft from the reference hovering point to the landing destination, and the predicted landing point element is used to reflect the predicted landing point when the aircraft is in the current air position. The landing point safety boundary image includes a first landing point safety boundary image corresponding to the primary flight display and / or a second landing point safety boundary image corresponding to the head-up display.

[0120] Step S40a: superimpose the first landing point safety boundary image and the predicted landing point element on the attitude indicator area of ​​the primary flight display, and the first landing point safety boundary image is at least partially transparent.

[0121] Step S50a: superimpose the original image of the attitude indicator of the head-up display and the second landing point safety boundary image to obtain a second projection image, and project the second projection image onto a preset projection surface through the head-up display.

[0122] That is, the flight control module can also selectively generate a landing point safety boundary image and a predicted landing point element while generating a flight boundary indication image. It can be understood that the first landing point safety boundary image or the second landing point safety boundary image includes multiple landing point boundary indication elements A03 on multiple virtual horizontal sections, each landing point boundary indication element A03 is a closed ring located on the same virtual horizontal section, and the multiple virtual horizontal sections are arranged in sequence according to the sequence of the reference arrival time of the aircraft. Among them, in order to meet the projection relationship on the display interface, the closed ring can be an elliptical ring. Similar to the tilt transition stage, in order to avoid blocking the display of existing information on the display interface, it is not necessary to calculate and display the landing point boundary indication element corresponding to each trajectory point in the vertical landing stage of the reference track line. As an option of this embodiment, the sampling period can be determined according to a preset flight interval duration, and multiple periodic trajectory points can be determined in sequence from the vertical landing stage of the reference track line. Alternatively, the sampling period can be determined according to a preset flight interval distance, and multiple periodic trajectory points can be determined in sequence from the vertical landing stage of the reference track line. After obtaining multiple periodic trajectory points, the horizontal and vertical sections of each periodic trajectory point can be obtained, and then the boundary indicator elements of each virtual horizontal section can be obtained. Of course, the size change of the landing point boundary indicator element can also be determined according to the preset flight interval duration, or according to the preset flight interval distance, which will not be repeated here.

[0123] See also Figure 3, and all the landing point boundary indicator elements A03 together form a multi-layered annular figure that is "larger near and smaller far away". Multiple virtual horizontal sections are arranged in sequence according to the order of the reference arrival time of the eVTOL, that is, the virtual horizontal section to which the eVTOL flies first is closer to the plane where the display interface is located than the virtual horizontal section to which the eVTOL flies later. Therefore, the elliptical ring on the virtual horizontal section to which the eVTOL flies first is larger than the elliptical ring on the virtual horizontal section to which the eVTOL flies later. Of course, when the areas reflected by multiple virtual horizontal sections are far away from the current air position, multiple virtual horizontal sections are approximately overlapped on one virtual horizontal section.

[0124] It is worth mentioning that, in order to distinguish the landing point boundary indicator element A03 from the aforementioned boundary indicator element A02, the two are displayed in different colors. In addition, the first landing point safety boundary image is at least partially transparent, and the line width of the landing point boundary indicator element of the first landing point safety boundary image is greater than the line width of the landing point boundary indicator element of the second landing point safety boundary image.

[0125] As before, the reference track line calculated by the flight control module is for the pilot's reference, but the specific decision is still made by the pilot. Therefore, the flight control module can combine the real-time parameter information and reference track line of the eVTOL at the current air position to calculate the predicted landing point under the actual decision and operation of the pilot. The flight control module then displays the predicted landing point through the predicted landing point element A04. The predicted landing point element A04 can be configured as a corresponding "cross" icon or a diamond icon, and its display position on the display interface is calculated according to the actual coordinates of the predicted landing point. Of course, on the display interface of the PFD, the "cross" icon or the diamond icon is displayed at the geometric center of the elliptical ring on the smallest virtual horizontal section on the display interface. It is easy to understand that when the pilot observes that the "cross" icon or the diamond icon is not located within the elliptical ring, the state of the eVTOL can be manually adjusted through the joystick.

[0126] In this embodiment, in order to increase the visual reminder effect, the predicted landing point element A04 such as a "cross" icon or a diamond icon can be highlighted on the PFD and / or HUD. It can be understood that during the tilt transition phase and the vertical landing phase, the pilot should ensure that the predicted landing point element A04 such as a "cross" icon or a diamond icon is located on the landing destination icon locked on the PFD and / or HUD.

[0127] It is not difficult to see that the landing point safety boundary image and the predicted landing point element A04 can ensure that the pilot can accurately monitor the status of the aircraft during the vertical landing phase and perform correct operations under the prompts of the display system.

[0128] For the MFD, the flight boundary indication image includes a third flight boundary indication image corresponding to the MFD; step S20 specifically includes: displaying the third flight boundary indication image in the vertical situation display area of ​​the multi-function display.

[0129] Among them, the third flight boundary indication image includes a reference track line element and a tilt-transition flight corridor element; the reference track line element is connected to the aircraft current position icon in the vertical situation display area, the tilt-transition flight corridor element is superimposed on the reference track line element, and each point of the tilt-transition flight corridor element at the upper boundary of the vertical situation display area is used to reflect the upper limit of the allowable height of the corresponding track point in the reference track line element, and each point of the tilt-transition flight corridor element at the lower boundary of the vertical situation display area is used to reflect the lower limit of the allowable height of the corresponding point in the reference track line element; the reference track line element at least includes a cruise flight segment and a tilt-transition segment from the current air position to the reference hovering point.

[0130] Specifically, the VSD (Vertical Situation Display) area of ​​the MFD is a device that provides the pilot with a side view of the flight trajectory, displays terrain, waypoints, glide path and other information, and can help the pilot better understand the flight status and surrounding environment. Generally speaking, the VSD area often displays information including but not limited to: pre-selected altitude, altitude scale, distance scale, VSD mode virtual button, distance range scale, altitude pointer, track line and aircraft current position icon. The distance range scale indicates the ratio of the range displayed by the VSD distance scale to the range displayed on the navigation map. The track line extending from left to right includes not only the track line formed by the waypoints that the aircraft has flown over, but also the planned track line. It can be understood that the planned track line can also be an emergency flight route in emergency mode.

[0131] It should be noted that the update display of VSD includes but is not limited to the following methods:

[0132] (1) The display position of the background display elements in the VSD area remains unchanged, while the display position of the aircraft's current position icon in the VSD area moves in real time according to the flight of the eVTOL.

[0133] (2) The display position of the background display elements in the VSD area moves in real time according to the flight of the eVTOL, while the display position of the aircraft's current position icon in the VSD area remains unchanged.

[0134] The background display elements include, but are not limited to, preselected altitude, altitude scale, distance scale, VSD mode virtual button, distance range scale, altitude pointer, track line, terrain elements, obstacle icons, etc. Of course, the third flight boundary indication image provided in this embodiment is also used as a background display element.

[0135] See also Figures 4 to 8 In this embodiment, an icon of the current position of the aircraft is displayed in the VSD area. Taking the current position icon of the aircraft A05 as the starting position, a track line extends from its right side, and the track line is the reference track line element A06. The reference track line element A06 is superimposed with a strip element, and the strip element extends along the extension direction of the reference track line element A06. The strip element is the tilt transition flight corridor element A07. The brown area indicates the terrain below, which is the highest terrain within the fixed projection range along the route. The red line indicates the altitude limit, that is, the altitude that the eVTOL cannot exceed.

[0136] It can be seen that the points on the upper boundary of the altitude scale band in the VSD area are used to reflect the upper limit of the allowable altitude of the corresponding track point in the reference track line, and the points on the lower boundary of the flight boundary indicator element in the vertical situation display area are used to reflect the lower limit of the allowable altitude of the corresponding track point in the reference track line. In this way, the pilot can determine whether the eVTOL is in the tilt transition flight corridor by observing whether the aircraft's current position icon A05 exceeds the upper boundary and / or lower boundary of the third flight boundary indicator image in the VSD area.

[0137] In addition, for the vertical landing phase in the landing procedure, the flight control module further performs the following steps S30b to S40b:

[0138] Step S30b: When it is detected that the aircraft meets the tilt guidance conditions, a vertical landing corridor element of the aircraft is generated.

[0139] The vertical landing corridor element is used to reflect the vertical landing corridor for the aircraft to land safely from the reference hovering point to the landing destination in the vertical situation display area.

[0140] Step S40b: display a vertical landing corridor element at the landing destination icon in the vertical situation display area.

[0141] Specifically, while generating the reference track line element A06 and the tilt-transition flight corridor element A07, the VSD area can also selectively generate a vertical landing corridor element A08. The bottom end of the vertical landing corridor element A08 is connected to the landing destination icon A09, and the top end is connected to the tilt-transition flight corridor element A07 directly below the aforementioned reference hovering point. The outline of the vertical landing corridor element A08 is roughly funnel-shaped, that is, at any moment, the distance between the left and right boundaries of the vertical landing corridor element A08 decreases from top to bottom. In addition, the overall size of the vertical landing corridor element A08 can be changed according to the adjustment of the distance range ratio of the VSD area.

[0142] See also Figure 4 and Figure 6, vertical landing corridor element A08 is a funnel-shaped gray corridor at "BOD". Figure 8 , vertical landing corridor element A08 is a funnel-shaped gray corridor with white text "FTF".

[0143] It is easy to understand that the vertical landing corridor element A08 in the VSD area can assist the pilot to accurately monitor the status of the aircraft during the vertical landing phase and perform correct operations under the prompt of the display system.

[0144] In addition, in the actual flight process, for the three stages of the landing procedure, it is difficult for the pilot to determine when to switch stages in a complex flight environment, that is, when to switch from the cruise flight stage to the tilt transition stage, and when to switch from the tilt transition stage to the vertical landing stage. Therefore, in this embodiment, the flight control module also adds a prompt function for determining the switching position and timing.

[0145] Specifically, the flight control module further performs the following steps S60 to S70:

[0146] Step S60: Obtain the flight transition prediction point and / or the go-around prediction point corresponding to the current air position.

[0147] The transition flight prediction points include the cruise flight to bank transition prediction points and / or reference hovering points.

[0148] Step S70: displaying the preset transition flight element and / or the preset go-around element on the display system.

[0149] The preset transition flight element is used to reflect the predicted point of transition flight, and the preset missed approach element is used to reflect the predicted point of missed approach.

[0150] Specifically, the flight control module can continuously analyze the status of the eVTOL, environmental conditions and other related information in real time to determine the best transition flight prediction point, that is, the decision transition position (such as the key position from cruise flight to tilt turn, from tilt turn to vertical landing) and the best time to make a decision.

[0151] The transition flight prediction point is the key position for the eVTOL to switch from one flight phase to another. In this embodiment, the landing procedure of the eVTOL includes three phases, so the transition flight prediction points include the cruise flight turn-tilt transition prediction point and the reference hovering point. The go-around prediction point is the key position for the eVTOL to judge whether it is safe to continue landing or choose to go around during the approach process. The flight control module provides clear prompts to the pilot at this position to help him make a decision whether to continue landing. If the eVTOL does not meet the appropriate conditions at the go-around prediction point (such as speed, attitude, descent rate, etc. do not meet the requirements), the flight control module will advise the pilot to go around to ensure safety. The go-around prediction point prompt helps the pilot evaluate whether it is safe to continue landing during the landing process, especially in complex weather conditions or restricted site conditions. The flight control module reduces the pilot's decision-making pressure through prompts to ensure the safe operation of the aircraft.

[0152] After calculating the transition flight prediction point and the go-around prediction point, the flight control module controls the display system to provide clear and intuitive visual prompts, reducing the pilot's workload and ensuring the safe transition of the aircraft at each critical flight phase.

[0153] Specifically, the transition flight prediction point is displayed through MFD, PFD and HUD.

[0154] For the MFD, step S70 specifically includes: superimposing and displaying a vertical situation interface preset transition phase flight element and / or a vertical situation interface preset go-around element on a reference track line in the vertical situation display area of ​​the multi-function display.

[0155] Specifically, in the MFD, the preset transition flight elements in the VSD area include corresponding transition icons and corresponding transition texts. Similarly, the preset missed approach elements in the VSD area include prompt lines at a certain angle to the reference track line elements and corresponding missed approach texts.

[0156] In emergency flight mode / planned flight mode, refer to Figure 4 , the reference track line is displayed as a yellow / amber line in the VSD area. The yellow / amber diamond icon indicates the emergency waypoint and displays the name and target flight altitude of this waypoint. The diamond transition phase icon and transition phase text ("TOD"-Top of Descent and "BOD"-Bottom of Descent) indicate the transition phase flight prediction point, that is, the cruise flight to bank transition prediction point and the reference hover point. The yellow / amber vertical line and text ("GA"-Go-around Point) indicate the missed approach prediction point. Refer to Figure 5 and Figure 6 , at this time, the eVTOL is in the tilt transition stage. And Figure 5 and Figure 6 The display ratio is different.

[0157] In track mode, see Figure 7 The VSD area always displays information including the absolute or relative terrain (including the urban building profile) along the extension line of the track angle, obstacles, the pre-selected altitude set by the user, the current altitude of the aircraft, etc. After executing step S10, refer to Figure 8 , the VSD area adds the real-time calculated bank transition corridor A07, reference track line element A06, preset transition phase flight elements corresponding to the cruise flight to bank transition prediction point, reference hover point and preset go-around elements. Specifically, the displayed information includes the terrain along the extension line of the track angle (brown area), the urban building model (gray rectangle), the landing destination icon A09, the real-time calculated bank transition corridor (gray area), the reference track line element A06 (green line), the preset go-around element corresponding to the go-around prediction point (amber text "GA" and vertical line) and the preset transition phase flight element corresponding to the cruise flight to bank transition prediction point (white text "FTF"-bank end point and diamond).

[0158] It is worth mentioning that the display range of the VSD area can be determined according to the flight phase. For example, in one example, after the flight phase changes from the tilt transition phase to the vertical landing phase, the VSD area changes to display information within a preset distance from the aircraft. In one example, the preset distance is 500m.

[0159] For the PFD, step S70 specifically includes: superimposing and displaying the primary flight interface transition flight element and / or the primary flight interface go-around element on the heading indicator area of ​​the primary flight display.

[0160] Specifically, on the PFD, the cruise flight bank-to-bank transition prediction point, reference hover point and go-around prediction point are displayed on the track line of the heading indicator with corresponding symbols, ensuring that the pilot is aware of the positions of the current transition flight prediction point and the go-around prediction point at any time.

[0161] Through the position prompts of decision points such as the transition flight prediction point and / or the missed approach prediction point, the pilot can clearly know when the eVTOL needs to switch flight modes, such as when to start tilting or when to enter vertical landing. This prompt reduces the pilot's judgment pressure and ensures that the aircraft can perform operational conversions at the correct position.

[0162] In addition, during the busy landing phase, the pilot relies more on the prompts of the flight control module. Therefore, in addition to the aforementioned decision point position prompt, in one embodiment, the method further includes after step S40: when it is detected that the real-time air position of the aircraft and the predicted point of the transition phase flight meet the preset prompt condition, outputting the preset transition phase prompt information; and / or, when it is detected that the real-time air position of the aircraft and the predicted point of the missed approach meet the preset prompt condition, outputting the preset missed approach prompt information.

[0163] Specifically, the preset transition prompt information and the preset go-around prompt information are timing prompt elements to provide prompts for decision timing. It can be that when the eVTOL flies to the corresponding position, the flight control module controls the HUD and PFD to remind the pilot to perform the corresponding operation. The prompt of the decision timing is mainly displayed through the HUD. For the preset transition prompt information, it includes visual and sound warnings to ensure that the pilot can receive key information without diverting his eyes. For example, a prompt symbol will appear on the HUD, and the pilot will be prompted with information such as "about to tilt" or "about to land vertically" to guide his operation. Of course, the preset go-around prompt information may also include visual and sound warnings, which will not be repeated here.

[0164] It is not difficult to see that during the busy landing phase, the timing prompt element prompt helps the pilot maintain a high degree of concentration during the operation. At the same time, with the assistance of the flight control module, it ensures that the eVTOL performs mode conversion at the most appropriate time to avoid aircraft attitude instability or operational errors caused by inappropriate timing. This prompt greatly reduces the pilot's workload and reduces the operating pressure under complex flight conditions.

[0165] In this embodiment, for an aircraft that has a tilt transition phase during the landing process, a flight boundary indication image that reflects the tilt transition flight corridor for the aircraft to safely fly from the current air position to the reference hovering point is displayed on the aircraft's display system, thereby providing the pilot with a visual safety operation guide. The visual safety operation guide provides the pilot with effective operation reminders, allowing the pilot to operate the aircraft in real time according to the flight boundary indication image, ensuring that the aircraft can safely transition from the cruise flight phase to the vertical landing phase.

[0166] The pilot begins to operate the eVTOL's tilt-rotor assembly to rotate, thus entering the tilt transition phase. During this phase, the flight control module also performs the following steps:

[0167] Step S80: During the tilting process of the tilt-rotor assembly, determine a normal flight envelope of the tilt angle corresponding to the real-time forward flight speed of the tilt-rotor assembly and / or a normal flight envelope of the forward flight speed corresponding to the real-time rotor tilt angle of the aircraft.

[0168] Step S91: changing display parameters of the area other than the first angle envelope area in the tilt angle indicator bar in the display interface of the display system.

[0169] Step S92: modifying display parameters of the airspeed indicator area in the display interface of the display system except for the first speed envelope area.

[0170] The first angle envelope area A11 is an area in the tilt angle indicator bar corresponding to the normal flight envelope of the tilt angle, and the first speed envelope area A11 is an area in the airspeed indicator area corresponding to the normal flight envelope of the forward flight speed.

[0171] One of the key features of the tilt-rotor eVTOL is that the aircraft can transition from cruise flight mode to vertical flight mode, a process controlled by the tilt angle of the tilt-rotor assembly. Therefore, the display interface of the PFD or MFD of the eVTOL has a tilt angle indicator bar. During the tilt transition phase, the tilt angle indicator bar displays the tilt angle to help the pilot monitor the transition state of the tilt-rotor assembly from cruise flight to vertical flight, ensuring that the eVTOL enters the vertical landing phase smoothly.

[0172] See also Fig. 9 , taking PFD as an example, the tilt angle indicator bar includes a 1 / 4 arc indicator bar and a real-time tilt angle pointer swinging around the center of the 1 / 4 arc indicator bar. The 1 / 4 arc indicator bar has a corresponding parameter scale. After entering the tilt rotor stage, the flight control module will obtain the data of each sensor in real time, and calculate and display the normal flight envelope of the eVTOL in the current state in real time. In this embodiment, the normal flight envelope includes the normal flight envelope of the forward flight speed corresponding to the real-time rotor tilt angle of the tilt rotor assembly and / or the normal flight envelope of the tilt angle corresponding to the real-time forward flight speed of the aircraft. It is easy to understand that if the tilt angle is too large or the airspeed is too fast, the eVTOL may lose balance or exceed the tilt capability range and lose control. That is, the flight control module will calculate in real time the normal flight envelope of the tilt angle of the tilt rotor assembly to ensure the safe flight of the eVTOL at the current forward flight speed. And the normal flight envelope of the forward flight speed to ensure the safe flight of the eVTOL at the current real-time rotor tilt angle.

[0173] Then, the display parameters of the area in the tilt angle indicator bar other than the area corresponding to the normal flight envelope of the tilt angle (the first angle envelope area A11) are changed, so as to visually remind the pilot to ensure that the real-time rotor tilt angle of the tilt rotor assembly does not exceed this range. Similarly, the display parameters of the area other than the second envelope area in the airspeed indicator area of ​​the PFD are changed, so as to visually remind the pilot to ensure that the forward flight speed of the eVTOL does not exceed the normal flight envelope of the forward flight speed.

[0174] Changing the display parameter may be a highlight display or a flashing display, which is not limited in this embodiment. For example, in one embodiment, step S91 specifically includes: changing the display color of the second angle envelope area in the tilt angle indicator bar to the first preset color, and changing the display color of the third angle envelope area to the second preset color. Step S92 specifically includes: changing the display color of the second speed envelope area in the airspeed indicator area to the first preset color, and changing the display color of the third speed envelope area to the second preset color.

[0175] The second angle envelope area A12 includes the area in the tilt angle indicator bar from the boundary value of the normal flight envelope of the tilt angle to the boundary value of the corresponding tilt angle operating flight envelope; the third angle envelope area A13 includes the area in the tilt angle indicator bar from the boundary value of the tilt angle operating flight envelope to the boundary value of the corresponding tilt angle limiting flight envelope.

[0176] The second speed envelope area includes the area between the boundary value of the forward flight speed normal flight envelope and the boundary value of the forward flight speed operating flight envelope in the airspeed indicator area; the third speed envelope area includes the area between the boundary value of the forward flight speed operating flight envelope and the boundary value of the forward flight speed limit flight envelope in the airspeed indicator area.

[0177] Specifically, the flight control module calculates the normal forward flight speed envelope (the envelope can be understood as the upper and lower boundaries), the operational forward flight speed envelope and the restricted forward flight speed envelope of the forward flight speed under the real-time rotor tilt angle. Then, according to the forward flight speed normal flight envelope, the forward flight speed operational flight envelope and the forward flight speed restricted flight envelope, the airspeed indicator area is divided into three parts: the innermost first speed envelope area, the two third speed envelope areas at both ends (one of which is the area corresponding to the upper boundary of the forward flight speed operational flight envelope to the upper boundary of the forward flight speed restricted flight envelope, and the other is the area corresponding to the lower boundary of the forward flight speed normal operating envelope to the lower boundary of the forward flight speed restricted flight envelope), and the two second speed envelope areas between the first speed envelope area and the two third speed envelope areas (one of which is the area corresponding to the upper boundary of the forward flight speed normal flight envelope to the upper boundary of the forward flight speed operational flight envelope, and the other is the area corresponding to the lower boundary of the forward flight speed normal flight envelope to the lower boundary of the forward flight speed operational flight envelope); and the display colors thereof are changed to green, yellow (the first preset color) and red "the second preset color" respectively.

[0178] Similarly, see Fig. 9The flight control module will calculate the normal flight envelope, operating flight envelope and limited flight envelope of the rotor tilt angle component at the real-time forward flight speed. Then, the tilt angle indicator bar is divided into three parts according to the tilt angle normal flight envelope, the tilt angle operating flight envelope and the tilt angle limit flight envelope: the innermost first angle envelope area A11, two third angle envelope areas A13 at both ends (one of which is the area corresponding to the upper boundary of the tilt angle operating flight envelope to the upper boundary of the tilt angle limit flight envelope, and the other is the area corresponding to the lower boundary of the tilt angle normal operating envelope to the lower boundary of the tilt angle limit flight envelope), and two second angle envelope areas A12 between the first angle envelope area A11 and the two third angle envelope areas A13 (one of which is the area corresponding to the upper boundary of the tilt angle normal flight envelope to the upper boundary of the tilt angle operating flight envelope, and the other is the area corresponding to the lower boundary of the tilt angle normal flight envelope to the lower boundary of the tilt angle operating flight envelope), and the display colors thereof are changed to green, yellow (first preset color) and red (second preset color) respectively.

[0179] It can be seen that by updating the display parameters such as the display color of the tilt angle indicator bar and the airspeed indicator area, the allowable tilt angle range and forward flight speed range of the aircraft at each moment during the tilt process are displayed, providing the pilot with a visual operation reminder to avoid exceeding the safety limit during the tilt transition. That is, to avoid the aircraft from losing control due to excessive or insufficient tilt angle or forward flight speed during the transition.

[0180] It is worth mentioning that the flight control module will continuously update the tilt angle indicator bar and airspeed indicator area according to the real-time flight status, allowing the pilot to control the safety of the tilt process in real time.

[0181] In addition, not only limited to PFD, the continuously updated tilt angle indicator bar and airspeed indicator area can also be the corresponding indicator area on displays such as HUD or MFD to ensure that the pilot can clearly understand the current status and safety margin during the tilt phase.

[0182] It is not difficult to see that through this method, the pilot can clearly understand the safe operating range of the aircraft during the tilt and landing process, and make timely adjustments to ensure that the aircraft can smoothly transition to the vertical landing stage and ultimately achieve a safe landing.

[0183] In addition, with respect to the various visual reminders mentioned above, in one embodiment, the method further includes: when the occurrence of a first warning event is detected, performing a first warning operation.

[0184] The first warning event includes any of the following events:

[0185] (1) The aircraft at least partially flies out of the tilt-transition flight corridor.

[0186] (2) The aircraft at least partially flies out of the vertical landing corridor;

[0187] (3) The predicted landing point is outside the landing destination.

[0188] Specifically, during the landing procedure, the flight control module not only provides visual guidance and reminders through the display system, but also performs corresponding warning operations when the flight control module detects through sensors that the eVTOL body exceeds the tilt transition flight corridor, or when the eVTOL body exceeds the vertical landing corridor, that is, when the flight control module detects that the eVTOL body exceeds the safe flight boundary range, to prompt the pilot to make corresponding adjustments to ensure a safe landing.

[0189] When the predicted landing point is outside the vertical landing corridor, it reflects that the eVTOL cannot correctly land within the safety boundary of the landing destination, and corresponding warning operations will be performed to prompt the pilot to make corresponding adjustments to ensure a safe landing.

[0190] It should be noted that the first warning operation can be a visual reminder on each display of the display system, such as a flashing display interface, a display interface displaying preset warning elements, etc., or the flight control module can control the speaker to issue a corresponding voice warning.

[0191] It is not difficult to see that, based on the aforementioned visual guidance, this embodiment further prompts the pilot to make reasonable operations through corresponding warning operations, thereby ensuring that the aircraft can smoothly transition to the vertical landing stage in a complex urban environment and ultimately achieve a safe landing.

[0192] In addition, during the flight of the eVTOL, the flight control module performs the following steps S100~S200:

[0193] Step S100: continuously obtain the predicted track within a preset time period after the current moment.

[0194] Step S200: displaying the preset track elements on the display system.

[0195] Among them, the preset track element is used to reflect the predicted track.

[0196] Specifically, the flight control module also continuously calculates and displays the predicted trajectory of the eVTOL in the next few seconds by combining the current state of the aircraft and the flight dynamics model. The predicted trajectory reflects the position and altitude that the eVTOL will reach while maintaining the current flight state. After calculating the predicted trajectory, the flight control module controls the display system to display the predicted trajectory, thereby ensuring that the pilot can clearly see the future flight trend and make corrections in advance.

[0197] Specifically, during the cruise flight phase and the bank transition phase, the predicted track can be displayed via the MFD and HUD. For the HUD, the preset track is displayed via FPV. Fig.10 , while in the two-dimensional environment map of the MFD, the preset track element A14 is a vector line segment starting from the aircraft's current position icon A05. It is worth mentioning that the two-dimensional environment map of the MFD also displays a planned trajectory element A15, which is used to reflect the planned trajectory. The planned trajectory is an ideal flight path pre-set according to the flight plan of the aircraft, which usually includes the altitude, heading, tilt angle and speed requirements of the aircraft at different stages. The two-dimensional environment map of the MFD intuitively displays the predetermined flight trajectory of the aircraft, ensuring that the pilot can clearly understand whether the eVTOL is currently moving along the planned path. Understandably, the planned trajectory is a reference benchmark for the pilot to compare the current actual flight path of the eVTOL, helping the pilot to ensure that the eVTOL flies within the planned routes and corridors. If the eVTOL deviates from the planned trajectory, the flight control module can immediately issue a warning message, prompting the pilot to take necessary measures to correct it.

[0198] In addition, for MFD, the preset track elements displayed in its VSD area are also vector segments starting from the aircraft's current position icon. The difference is that the preset track elements displayed in the VSD area are used to reflect the predicted track of the eVTOL in the vertical section. Figure 7 The cyan line segment is the vertical preset track element A10 in the VSD area, that is, the predicted position of the aircraft in the vertical section after 6 seconds.

[0199] It is not difficult to see that the flight control module can compare the predicted trajectory of the eVTOL with the pre-planned planned trajectory in real time, helping the pilot to promptly identify whether the eVTOL deviates from the planned path, and make adjustments when necessary to ensure that the aircraft reaches the landing destination along a safe route. Specifically, the flight control module generates a comparative display by calculating the deviation between the predicted trajectory and the planned trajectory of the aircraft in real time. This comparative display can help pilots quickly identify whether the aircraft has deviated from the predetermined flight path during flight, and display the size and direction of the deviation. The flight control module will warn the pilot with different colors or visual cues according to the severity of the deviation, reminding the pilot that adjustments are needed. That is, the comparison display of the predicted trajectory and the planned trajectory can significantly improve the pilot's situational awareness, help them to promptly detect and correct deviations during flight, and prevent the aircraft from deviating from the safe path. Especially in complex urban environments or low visibility conditions, pilots can use this display module to accurately control the aircraft's route correction to ensure a safe landing.

[0200] In addition, during the vertical landing phase, when the flight control module executes step S200, specifically: when it is detected that the aircraft is in the vertical landing phase, the predicted landing track element is superimposed on the bottom image of the bottom view image display.

[0201] The predicted landing track element A16 includes at least two left and right landing track lines approaching each other in a direction away from the current air position of the eVTOL. In addition, in order to enable the pilot to better grasp the current air position of the eVTOL through the BVD, the predicted landing track element A16 also includes a broken line segment located before the two left and right landing track lines, and the sharp corner of the broken line segment faces the current air position of the eVTOL.

[0202] Please refer to Fig.11 During the vertical landing phase, the flight control module can also provide auxiliary prompts through BVD. Specifically, the predicted landing track element A16 is added to the bottom view image display interface. The predicted landing track element A16 reflects in real time the possible position of the eVTOL within the preset time after the current moment. This not only provides the pilot with real-time environmental images below the eVTOL, but also integrates key landing assistance information to help the pilot perceive the direction of the aircraft and its distance and angle relative to the ground landing point in advance during the landing process, ensuring more accurate landing operations. Especially in small or complex urban landing sites, the dynamic adjustment of the predicted landing track element A16 helps pilots more intuitively understand the movement trend during the landing process.

[0203] Of course, the predicted landing trajectory can also be displayed in the HUD to ensure that the pilot can understand the eVTOL's descent trend and relative ground position from multiple perspectives.

[0204] In addition to the superposition with real-time images, the predicted landing track element A16 can also combine the terrain information displayed by the synthetic vision system to provide a more detailed prediction of the environment below. When the aircraft is in low visibility or complex terrain, the synthetic vision system will display a three-dimensional model of the ground, and the predicted landing track line will display the aircraft's expected landing point on the three-dimensional model. This combination allows pilots to ensure that the aircraft can land accurately through the virtual environment and predicted landing track elements even if they cannot see the real terrain.

[0205] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the aircraft landing guidance method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0206] In addition, to achieve the above purpose, the present application also proposes a display system, the display system comprising:

[0207] Primary flight display, multi-function display;

[0208] Head-up display and / or bottom-view image display;

[0209] A flight control module, the flight control module is connected to a primary flight display and a multi-function display respectively, and the flight control module is also connected to a head-up display and / or a bottom view image display. The flight control module includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the aircraft landing guidance method as described above.

[0210] The flight control module includes: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions that can be executed 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 guidance method in the above-mentioned embodiment one.

[0211] like Fig.12 As shown, the flight control module 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 flight control module 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 touchpad, 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. The communication device 1009 can allow the flight control module to communicate with other devices wirelessly or wired to exchange data. Although the figure shows a flight control module 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 provided instead.

[0212] 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.

[0213] 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.

[0214] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the 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.

[0215] In addition, to achieve the above-mentioned purpose, the present application also proposes an aircraft, the aircraft comprising:

[0216] Body;

[0217] A tilt-rotor assembly, the tilt-rotor assembly being disposed on the fuselage and configured to be rotatable between a cruise position and a vertical take-off and landing position; and

[0218] As described above, the display system is disposed in the machine body.

[0219] The above are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. An aircraft landing guidance method, characterized in that: The method comprises: In the case where it is detected that the aircraft meets the tilt guidance conditions, a flight boundary indication image of the aircraft is generated, the flight boundary indication image is used to reflect the tilt transition flight corridor for the aircraft to safely fly from the current aerial position to the reference hovering point; the aircraft comprises a fuselage and a tilt rotor assembly, the tilt rotor assembly is arranged on the fuselage and is configured to be rotatable between a cruise position and a vertical take-off and landing position, and the reference hovering point is located above the landing destination; the tilt transition flight corridor is a corridor-shaped space constructed according to the safe flight distance of the aircraft in all directions with the tilt transition section of the reference track line as the central axis; the reference track line is a track line obtained according to the aircraft parameter information and the environmental scene information for the aircraft to safely fly from the current aerial position to the reference hovering point; The flight boundary indication image is displayed on a display system of the aircraft.

2. The aircraft landing guidance method according to claim 1, characterized in that: The flight boundary indication image includes a first flight boundary indication image corresponding to a primary flight display and / or a second flight boundary indication image corresponding to a head-up display; The display system for displaying the flight boundary indication image on the aircraft comprises: superimposing and displaying the first flight boundary indication image on the attitude indicator area of ​​the primary flight display; and / or, The original image of the attitude indicator of the head-up display is superimposed on the second flight boundary indication image to obtain a first projection image, and the first projection image is projected onto a preset projection surface through the head-up display.

3. The aircraft landing guidance method according to claim 2, characterized in that: The first flight boundary indication image and the second flight boundary indication image are both at least partially transparent, and the first flight boundary indication image and the second flight boundary indication image both include multiple boundary indication elements respectively located in multiple virtual vertical sections, each of the boundary indication elements includes at least a left boundary indication sub-element, a right boundary indication sub-element, an upper boundary indication sub-element and a lower boundary indication sub-element located in the same virtual vertical section, and the multiple virtual vertical sections are arranged in sequence according to the chronological order of the reference arrival time of the aircraft.

4. The aircraft landing guidance method according to claim 1, characterized in that: The method further comprises: In the case where it is detected that the aircraft meets the tilt guidance condition, a landing point safety boundary image and / or a predicted landing point element of the aircraft is generated; the landing point safety boundary image is used to reflect the vertical landing corridor of the aircraft from the reference hovering point to the landing destination for safe landing, and the predicted landing point element is used to reflect the predicted landing point of the aircraft when it is in the current air position; wherein the landing point safety boundary image includes a first landing point safety boundary image corresponding to a primary flight display and / or a second landing point safety boundary image corresponding to a head-up display; The first landing point safety boundary image is superimposed with the predicted landing point element and displayed in the attitude indicator area of ​​the primary flight display, and the first landing point safety boundary image is at least partially transparent; and / or, the attitude indicator original image of the head-up display and the second landing point safety boundary image are superimposed to obtain a second projection image, and the second projection image is projected onto a preset projection surface through the head-up display.

5. The aircraft landing guidance method according to claim 1, characterized in that: The flight boundary indication image includes a third flight boundary indication image corresponding to the multi-function display; The step of displaying the flight boundary indication image on a display system of the aircraft comprises: The third flight boundary indication image is displayed in the vertical situation display area of ​​the multi-function display; wherein the third flight boundary indication image includes a reference track line element and a tilt transition flight corridor element; the reference track line element is connected to the aircraft current position icon in the vertical situation display area, the tilt transition flight corridor element is superimposed on the reference track line element, and each point of the tilt transition flight corridor element at the upper boundary of the vertical situation display area is used to reflect the upper limit of the allowable height of the corresponding track point in the reference track line element, and each point of the tilt transition flight corridor element at the lower boundary of the vertical situation display area is used to reflect the lower limit of the allowable height of the corresponding point in the reference track line element; the reference track line element at least includes a tilt transition section from the current air position to the reference hovering point.

6. The aircraft landing guidance method according to claim 5, characterized in that: The method further comprises: In the case where it is detected that the aircraft meets the tilt guidance condition, a vertical landing corridor element of the aircraft is generated, wherein the vertical landing corridor element is used to reflect the vertical landing corridor of the aircraft for safely landing from the reference hovering point to the landing destination in the vertical situation display area; The vertical landing corridor element is displayed at the landing destination icon in the vertical situation display area.

7. The aircraft landing guidance method according to claim 1, characterized in that: After generating a flight boundary indication image of the aircraft when it is detected that the aircraft meets the tilt guidance condition, the method further includes: Obtaining a flight transition prediction point and / or a missed approach prediction point corresponding to the current aerial position; the flight transition prediction point includes a cruise flight tilt transition prediction point and / or the reference hovering point; The preset phase transition flight element and / or the preset missed approach element are displayed on the display system; the preset phase transition flight element is used to reflect the phase transition flight prediction point, and the preset missed approach element is used to reflect the missed approach prediction point.

8. The aircraft landing guidance method according to claim 7, characterized in that: After displaying the preset transition flight element and / or the preset go-around element on the display system, the method further includes: When it is detected that the real-time aerial position of the aircraft and the predicted point of the flight transition phase meet the preset prompt condition, outputting preset phase transition prompt information; and / or When it is detected that the real-time air position of the aircraft and the missed approach prediction point satisfy the preset prompt condition, preset missed approach prompt information is output.

9. The aircraft landing guidance method according to claim 1, characterized in that: The method further comprises: Continuously obtain the predicted track within a preset time after the current moment; The preset track elements are displayed on the display system, and the preset track elements are used to reflect the predicted track.

10. The aircraft landing guidance method according to claim 9, characterized in that: The preset track element includes a predicted landing track element; The step of displaying the preset track element on the display system includes: When it is detected that the aircraft is in the vertical landing phase, the predicted landing track element is superimposed and displayed on the bottom image of the bottom view image display.

11. The aircraft landing guidance method according to any one of claims 1 to 10, characterized in that: After generating a flight boundary indication image of the aircraft when it is detected that the aircraft meets the tilt guidance condition, the method further includes: During the tilting process of the tilt-rotor assembly, determining a normal flight envelope of a tilt angle corresponding to a real-time forward flight speed of the tilt-rotor assembly and / or a normal flight envelope of a forward flight speed corresponding to a real-time rotor tilt angle of the aircraft; Change the display parameters of the area except the first angle envelope area in the tilt angle indicator bar in the display interface of the display system, wherein the first angle envelope area is the area in the tilt angle indicator bar corresponding to the normal flight envelope of the tilt angle; and / or, change the display parameters of the area except the first speed envelope area in the airspeed indicator area in the display interface of the display system, wherein the first speed envelope area is the area in the airspeed indicator area corresponding to the normal flight envelope of the forward flight speed.

12. The aircraft landing guidance method according to claim 11, characterized in that: The changing of display parameters of an area other than the first angle envelope area in the tilt angle indicator bar in the display interface of the display system comprises: The display color of the second angle envelope area in the tilt angle indicator bar is changed to a first preset color, and the display color of the third angle envelope area is changed to a second preset color; wherein the second angle envelope area includes the area between the boundary value of the normal flight envelope of the tilt angle and the corresponding boundary value of the operating flight envelope of the tilt angle in the tilt angle indicator bar; the third angle envelope area includes the area between the boundary value of the operating flight envelope of the tilt angle and the corresponding boundary value of the corresponding tilt angle limiting flight envelope in the tilt angle indicator bar; and / or, The step of changing the display parameters of the area other than the first speed envelope area in the airspeed indicator area in the display interface of the display system includes: The display color of the second speed envelope area in the airspeed indicator area is changed to a first preset color, and the display color of the third speed envelope area is changed to a second preset color; wherein the second speed envelope area includes an area in the airspeed indicator area from a boundary value of the forward flight speed normal flight envelope to a corresponding boundary value of the forward flight speed operating flight envelope; and the third speed envelope area includes an area in the airspeed indicator area from a boundary value of the forward flight speed operating flight envelope to a corresponding boundary value of the forward flight speed limiting flight envelope.

13. A display system, characterized in that: The display system comprises: Primary flight display and multi-function display; Head-up display and / or bottom-view image display; and A flight control module, wherein the flight control module is connected to the primary flight display and the multi-function display respectively, and the flight control module is also connected to the head-up display and / or the bottom view image display, and the flight control module 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 guidance method as described in any one of claims 1 to 12.

14. An aircraft, characterized in that: The aircraft comprises: Body; a tilt-rotor assembly, the tilt-rotor assembly being disposed on the fuselage and configured to be rotatable between a cruise position and a vertical take-off and landing position; and The display system as claimed in claim 13, wherein the display system is disposed in the body.

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