Vertical take-off and landing instrument take-off and landing route guiding system

Abstract

The present invention provides a take-off and landing route in which signals are transmitted from two signal sources to form a flat surface and a curved surface, and a curve generated by crossing the two surfaces is guided as a take-off and landing route of a vertical take-off and landing airport, even in weather conditions such as day and night, snow, rain, and foggy days in which the field of view cannot be ensured, and in a situation where GPS signal reception failure occurs, the take-off and landing route can be prevented from being damaged. And the landing direction and the flight height of the aircraft can be guided by indicating the approach / departure direction and the approach / departure height of the landing point, so that safe take-off and landing are realized.

Description

Technical Field

[0001] The present invention relates to a technology for guiding a vertical take-off and landing aircraft (VTOL) to a landing point (TLOF), and in particular, to an instrument take-off and landing guidance technology for indicating a take-off and landing point and an approach / departure route of a vertical take-off and landing through wireless signals. Background Art

[0002] As is known to all, if a signal is sent from two points at the same time, the two signals will arrive at the point at the same distance from the sending point at the same time, and arrive at the point at the sending time difference distance according to the time difference. Korean Publication Patent No. 1020190050309 discloses a line guidance signal sending method, which sends two time-delayed guidance signals from a signal source respectively and guides the line with a straight line or curve that receives the two signals at the same time. Korean Publication Patent No. 1020180137376 discloses a drone landing guidance system, which generates a direction reference line by sending guidance signals at the same time, so that the two direction reference lines are orthogonal to the landing point, and guides the drone to the position where all guidance signals are received at the same time.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Korean Patent Publication No. 1020180137376

[0006] Patent Document 2: Korean Patent Publication No. 1020190050309

[0007] Patent Document 3: Korean Patent Publication No. 1020190048665 Summary of the invention

[0008] Technical issues

[0009] The vertical take-off and landing airport is built in the city center. Due to the surrounding obstacles, noise pollution, isolated airspace, etc., the vertical take-off and landing aircraft entering and exiting the vertical take-off and landing airport need to fly in accordance with the specified approach / departure direction and flight altitude. Korean Publication Patent No. 1020180137376 is a technology for accurately guiding the landing point. It generates a direction reference line by sending a guidance signal at the same time, so that the two direction reference lines are orthogonal to the landing point. However, it is impossible to specify the approach / departure direction and flight altitude of the landing point. Therefore, there is a risk of collision between the aircraft and surrounding aircraft in the vertical direction.

[0010] In response to the above-mentioned problems, the purpose of the present invention is to obtain virtual planes and curved surfaces by sending signals simultaneously or with a delay, thereby guiding a vertical take-off and landing aircraft taking off and landing from a vertical take-off and landing airport toward the approach / departure direction and flight altitude of the take-off and landing area (TLOF) to eliminate the risk of collision in the upper and lower directions, and can provide landing field-related information such as landing field grade, allowable load, and take-off and landing-related information such as public distance, wind direction, and wind speed to achieve safe take-off and landing.

[0011] Technical Solution

[0012] In order to achieve the technical purpose as described above, the present invention forms a plane and a curved surface consisting of points where the two signals arrive at the same time by sending two time-delayed signals from a signal source along a vertical direction or a direction inclined at a specified angle to the vertical direction.

[0013] As the two planes and curved surfaces are intersected at the take-off and landing point, the take-off and landing point, approach / departure direction and flight altitude of the vertical take-off and landing airport can be guided by the curve generated by the intersection of the two surfaces. The transmitted signals provided include landing field related information and take-off and landing related information.

[0014] Effects of the Invention

[0015] The present invention has the following effect, namely, even in weather conditions such as fog, snow, rain, etc. where the pilot cannot ensure visibility and the GPS signal is unstable, it is possible to provide routes for guiding the approach / departure direction and flight altitude of the vertical take-off and landing airport, landing field-related information, and take-off and landing-related information. In a vertical take-off and landing airport with multiple take-off and landing fields, the approach / departure route (flight path) of each take-off and landing field can be specified, allowing multiple vertical take-off and landing aircraft to take off and land simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In this specification, the drawings illustrate preferred embodiments of the present invention. In all the attached drawings, the same structural elements are given the same figure marks. In order to emphasize and clarify the description, exaggerated expressions or situations that are difficult to express in the drawings are omitted in the drawings. The drawings are only used to further understand the technical ideas in detail in combination with the specific embodiments and should not be interpreted as being limited to the matters shown in the drawings.

[0017] Figure 1 This is an illustration of the vertical take-off and landing route of Korean Patent No. 1020180137376.

[0018] Figure 2 The figure is an illustration of a curved take-off and landing route according to an embodiment of the present invention.

[0019] Figure 3 FIG. 1 is a diagram illustrating straight / curved routes of three signals according to an embodiment of the present invention.

[0020] Figure 4 FIG. 4 is a structural diagram of a signal source and a receiver according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In this specification and the scope of protection of the invention, the terms or words used should not be limited to the common meaning or the meaning in the dictionary, unless different features are specifically mentioned, otherwise the different embodiments described can be combined with each other. In this specification, the terms used are appropriately defined only for the purpose of describing the present invention, and the terms are interpreted only based on the meaning and concept that conforms to the technical idea. When it is judged that the description of the known functions and structures may unnecessarily confuse the subject matter of the present invention, its detailed description will be omitted.

[0022] If signals are sent from two points at the same time, the two signals travel the same time and arrive at the center of the two points at the same time. The points that arrive at the same time form a straight line and form a plane. If signals are sent with a time difference, the two signals travel the same time and arrive at the points with a distance difference according to the time difference at the same time. The points that arrive at the same time form a curve and form a surface.

[0023] The present invention is a route guidance technology that uses a virtual curve generated in the sky by wireless signals to indicate the approach / departure direction and altitude of the flight route for guiding the take-off and landing point (TLOF). Even during the day or at night, in weather conditions such as snow, rain, fog, etc. where visibility cannot be ensured, or in the event of a GPS signal reception failure, the vertical take-off and landing aircraft (VTOL) can be guided to the take-off and landing point. It refers to a wireless communication aviation technology that can replace the take-off and landing guidance technology using GPS navigation.

[0024] Hereinafter, multiple embodiments of the present invention will be described in detail with reference to the accompanying drawings and the contents shown in the accompanying drawings. However, the embodiments of the present invention are not limited to or restricted thereto.

[0025] Figure 1This is an illustration of the landing guidance system of the prior art Korean Publication Patent No. 1020180137376. Specifically, Korean Publication Patent No. 1020180137376 indicates the directional reference lines 120 and 220 as straight lines by sending two signals at the same time, and guides the landing point to the drone by crossing the two directional reference lines 120 and 220 at the landing point. The landing point guided by crossing the two directional reference lines 120 and 220 cannot specify the direction and flight altitude of the approach / departure route of the drone, so an altimeter or GPS device for guiding the altitude is required. The two planes including the two directional reference lines 120 and 220 are planes in a direction perpendicular to the ground. If the two directional reference lines are crossed, a virtual straight line in a direction perpendicular to the ground is generated, but this cannot specify the flight altitude, so the risk of up and down collisions with surrounding drones flying in the same direction cannot be eliminated. In order to solve this problem, the system requires an additional structure for guiding the flight altitude.

[0026] Figure 2 The figure is an illustration of a curved take-off and landing route according to an embodiment of the present invention.

[0027] Reference Figure 2 The two antennas 110 and 111 of the first signal source send signals in a direction perpendicular to the ground according to the time difference, and form a curved surface 121 in a direction perpendicular to the ground indicating the flight altitude through the points where the two signals arrive at the same time. The two antennas 210 and 211 of the second signal source send signals in a direction perpendicular to the ground at the same time, and form a plane 221 in a direction perpendicular to the ground indicating the flight direction through the points where the two signals arrive at the same time. The first signal and the second signal source are set so that the curved surface 121 and the plane 221 intersect at the landing point 100 and generate a virtual curve. The generated curve will become the take-off and landing route 240 for guiding the approach / departure direction and flight altitude of the landing point 100. The take-off and landing route 240 refers to the accurate take-off and landing route that can be provided even without an altimeter or GPS in bad weather and limited vision.

[0028] The two signal sources send signals according to the time difference to form two curved surfaces. If the curvature of the two curved surfaces is changed by appropriately adjusting the time difference, the approach / departure direction and flight altitude of the take-off and landing routes can be changed without changing the antenna positions of the two signal sources.

[0029] For the take-off and landing route 240 generated by the intersection of the curved surface 121 and the plane 221 of the first signal source and the second signal source, by adding a signal source forming a curved surface in the opposite direction of the curved surface 121 of the first signal source, a curve can also be generated by intersecting the plane 221 of the second signal source at the landing point 100 to provide a take-off and landing route in the opposite direction of the take-off and landing route 240.

[0030] A plurality of curved take-off and landing routes may also be generated by utilizing a plurality of planes and curved surfaces formed by a plurality of signal sources to provide a plurality of take-off and landing routes with different approach / departure directions and flight altitudes for guiding vertical take-off and landing with a plurality of landing fields.

[0031] The case where two signals are sent from a signal source simultaneously or with a time difference is the same as the case where they are sent with a delay or with the same time difference and the case where two time synchronization signals are sent with a time delay.

[0032] Figure 3 The diagram is an explanatory diagram showing the straight and curved take-off and landing routes of three signals according to one embodiment of the present invention.

[0033] Reference Figure 3 , if the first antenna 241, the second antenna 242, and the third antenna 243 of the signal source located at the same distance from the landing point of the landing field simultaneously transmit the signal S1 and the signal S2, the signal S1 travels from the three antennas 241, 242, and 243 for the same time and arrives at the landing point 100, which is a point at the same distance, at the same time. Compared with the signal S1, since the signal S2 travels for a longer time, it arrives at the point 101 at the same distance from the three antennas 241, 242, and 243 at the same time. The multiple signals simultaneously transmitted from the signal source simultaneously arrive at the straight line connecting the landing point 100 and the point 101, and the points arrived at constitute the straight line route 244 in the upward direction.

[0034] If the first antenna 241 and the second antenna 242 of the signal source send signal C1 at the same time, and the third antenna 243 sends signal C2 and signal C1 according to the time difference, then the simultaneously sent signal C1 arrives at the center point of the straight line connecting the first antenna 241 and the second antenna 242, the landing point 100, point 101, and point 102 at the same time, and all the points arrived at at the same time constitute a plane including points 100, 101, and 102. Compared with signal C1, since signal C2 moves a smaller distance corresponding to the time difference, the two signals C1 and signal C2 arrive at point 102 on the plane formed by the two signals C1 at the same time. The two signals C1 sent at the same time and all the points arrived at at the same time by the signal C2 sent according to the time difference constitute a curve 245, which is the same as the curved take-off and landing route 240.

[0035] An additional antenna is added to the signal source and set in the opposite direction of the third antenna 243. If the signal is sent with a time delay according to the time difference with the signal C1, a curve in the opposite direction of the curve 245 can be obtained. Thus, curved take-off and landing routes in two directions can be provided through four antenna signals.

[0036] With respect to the sending delay time of the signal source, the three signals may be sent with delays according to the time difference or with the same time difference.

[0037] If the three signals are sent from the signal source with appropriate time differences, the direction and flight altitude of the curved take-off and landing route can be changed without changing the position of the antenna.

[0038] The vertical take-off and landing aircraft receives signals for guiding the curved take-off and landing routes 240, 245. If the aircraft is controlled by receiving all signals simultaneously, then during flight, the aircraft can realize approach / departure and take-off and landing according to the provided curved take-off and landing routes 240, 245, and can also guide the autonomous take-off and landing of unmanned aircraft.

[0039] For the two delayed signals, the delay time error may be caused by various factors such as the length error of the two transmission cables or the processing time deviation of the internal components. The position error caused by the time error of the two signals has the characteristic of increasing as the distance from the two antennas increases.

[0040] The delay time error between the two generated signals can be corrected by adding a correction circuit at the hardware level, or by calculation at the software level.

[0041] The detection of delay time error can be achieved by detecting the time difference between the signals sent from the signal source transmitter to the two antennas, or by receiving the two signals sent from the signal source through the antenna to detect the time difference, or by setting an error detector at the point where the two transmitted signals arrive at the same time and receiving two signals with a time difference, and judging it as an error.

[0042] In order to distinguish the signal sent from the signal source, the signal may include an identifier (ID), and one of the multiple signals sent from the signal source may include wind direction and wind speed information of the landing field, landing field information, and take-off and landing related information.

[0043] A specific altitude on the landing route can be indicated by adding an altitude signal source that is parallel to the ground or forms an inclined plane with the ground, or it can be intersected with the take-off and landing route to indicate the boundary altitude of the deceleration area and the acceleration area and the landing decision altitude, etc.

[0044] The distance from the landing point can be indicated by setting a marking signal source forming a plane in a direction perpendicular to the ground at a specific distance from the landing field.

[0045] Position calculation information can be periodically added to one of the multiple signals of the signal source for generating take-off and landing routes set up at the landing field. If a signal with the position calculation information added is received from the marking signal source, the position calculation information is added to one of the two signals sent to form a plane based on the marking signal source as a response. The closer the receiving positions of the two position calculation information signals are to the landing field, the slower the signals are received from the marking signal source, thereby causing the receiving time difference to become larger. The closer to the marking signal source, the smaller the receiving time difference. Therefore, as the aircraft obtains the receiving time difference between the two signals with the position calculation information added, the distance to the landing field can be calculated based on the distance between the landing field signal source and the marking signal source and the receiving time difference.

[0046] The position calculation information may be one or a combination of time, distance, etc. The time may be the time of the landing field or the transmission time of each of the two signal sources, or the transmission time of the signal source of the landing field.

[0047] Figure 4 FIG. 4 is a structural diagram of a signal source and a receiver according to an embodiment of the present invention.

[0048] Reference Figure 4 An embodiment of the structure of a signal source and a receiver is described. The signal source includes a signal transmitter 300 , two transmission lines 306 , and two antennas 307 . The receiver includes an antenna 401 , a transmission line 402 , and a receiving terminal 400 .

[0049] The signal transmitter 300 of the signal source includes: a signal generating unit 301 for generating a reference signal; a signal distributing unit 302 for adding an identifier (ID) to the two divided reference signals and performing modulation; a memory 303 for setting the identifier and the delay time and storing them; two signal delay units 304 for correcting the time delay and error of the two signals according to the set time of the memory 300; and two transmitting units 305 for amplifying the signal and outputting it. Even one signal delay unit 304 can achieve time delay and correction. The signal transmitter 300 of the signal source also includes: an antenna 310 for receiving the transmission signals of the two antennas 307; a receiving unit 311 for dividing the signal into two signals and performing demodulation; and an error detecting unit 312 for detecting the time error of the two demodulated signals and generating correction information to transmit it to the signal delay unit 304, so that the error can be corrected.

[0050] The processor can also be set to implement signal distribution, transmission time delay, identifier addition, and time delay error correction functions at the software level.

[0051] The two transmission lines 306 are of the same length and have the same characteristics in terms of signal delay and transmission speed. The time delay of the signal can also be achieved by the difference in length of the two transmission lines 306 and the difference in signal delay characteristics of the two transmission lines 306.

[0052] The receiving terminal 400 includes: a distributor that divides the signal into two; two receiving units 403 that demodulate the identifier added to the received signal; a signal correction unit 404 that corrects the processing time error of the receiver itself; a comparison operation unit 405 that manages the receiving unit 403 and the signal correction unit 404 and compares and calculates the receiving time difference or signal phase of the two signals; and control signal output units 406 and 407 that output the comparison operation results to the flight control device. If the processing time error of the comparison operation unit itself is corrected at the software level, the signal correction unit 404 can also be omitted.

[0053] In the receiving terminal 400, the correction of the processing time error itself is as follows, that is, one of the two identifier signals received from the antenna 401 is demodulated in the two receiving units 403, and the comparison operation unit 405 transmits the receiving time difference as a correction value to the signal correction unit 404 by comparing the same identifier signals demodulated by the two receiving units 403, thereby correcting the processing time error itself.

[0054] The signal source includes a signal transmitter 300, three to four transmission lines 306 and three to four antennas 307. The signal transmitter 300 may include: a signal generating unit 301; a memory 303; a signal distribution unit 302, which divides the signal into three to four and adds an identifier; three to four signal delay units 304; and a transmitting unit 305. The receiving terminal 400 may include: a distributor, which divides the signal into three to four; three to four receiving units 403; a signal correction unit 404; a comparison operation unit 405; and a control signal output unit 406.

[0055] The identifier of the transmitted signal is used to distinguish the signals transmitted from each antenna of the signal source and each signal source. The identifier is each inherent data. The modulated signal with the identifier can be modulated in a variety of ways, such as analog modulation, digital modulation, OFDM, etc. The frequency can also be different frequencies that have little impact on each other. The medium of the signal can be any medium, such as light, electromagnetic waves or sound waves.

[0056] Figure 4 This is only an example of a signal source that sends two signals and a receiver that receives two signals. The signal source and receiver of the present invention should not be limited to Figure 4 The structure shown.

[0057] In order to make the unmanned aerial vehicle fly beyond the maximum flight distance, it needs to be refueled. If a take-off and landing guidance system is installed at the charging station, the charging device of the charging station can be used to accurately guide the landing and charge.

[0058] As mentioned above, the embodiments of the present invention shown in the accompanying drawings do not limit the technical concept of the present invention. The protection scope of the present invention is limited to the matters recorded in the scope of protection claimed by the invention. It is obvious that ordinary technicians in the technical field to which the present invention belongs can modify and change the technical concept of the present invention through various implementation methods, and such contents also belong to the scope of protection claimed by the present invention.

Claims

1. A method for providing a take-off and landing route for a vertical take-off and landing aircraft, characterized in that: The steps include: At the take-off and landing field, two time synchronization signals of the first signal source are respectively delayed in time, and two time synchronization signals of the second signal source are respectively delayed in time; Sending two signals from the first signal source and the second signal source in a direction perpendicular to the ground and in a direction inclined at a predetermined angle to the direction perpendicular to the ground to form a plane and a curved surface formed by points where the two signals arrive at the same time; as well as The planes and curved surfaces of the first signal source and the second signal source are made to intersect each other at the take-off and landing point to obtain a curved take-off and landing route for guiding the flight direction and flight altitude from the take-off and landing point on the ground toward the sky.

2. A method for providing a take-off and landing route for a vertical take-off and landing aircraft, characterized in that: The steps include: Time delay is performed on three time synchronization signals of the signal source at the take-off and landing field respectively; Sending the three signals of the signal source in a direction perpendicular to the ground and in a direction inclined at a predetermined angle to the direction perpendicular to the ground to form a straight line and a curve consisting of points where the three signals arrive at the same time; and The straight lines and curves are directed from the landing point on the ground toward a specific direction in the sky to provide take-off and landing routes for guiding the flight direction and flight altitude.

3. The method for providing take-off and landing routes according to any one of claims 1 and 2, characterized in that: The method also includes the following steps: adding an additional signal source that simultaneously sends two signals in a direction parallel to the ground and in a direction inclined at a specified angle to the ground, and guiding to a specific height by forming a plane composed of points where the two signals arrive at the same time.

4. The method for providing take-off and landing routes according to claim 1, characterized in that: The method also includes the following step: correcting the time error of the two signals sent from the first signal source and the second signal source.

5. The method for providing take-off and landing routes according to any one of claims 1 to 3, characterized in that: The method further comprises the step of adding an identifier for distinguishing a plurality of signals of the signal source.

6. The method for providing take-off and landing routes according to any one of claims 1 to 3, characterized in that: It also includes the following step: additionally adding wind direction and speed information and landing field information to one of the multiple signals.

7. A vertical take-off and landing aircraft landing guidance system, characterized in that: include: A first signal source and a second signal source, respectively delaying two time synchronization signals of the first signal source at the take-off and landing field, and sending the two signals of the first signal source in a direction perpendicular to the ground and in a direction inclined at a specified angle to the direction perpendicular to the ground, so as to form a plane and a curved surface composed of points where the two signals arrive at the same time; respectively delaying two time synchronization signals of the second signal source, and sending the two signals of the second signal source in a direction perpendicular to the ground and in a direction inclined at a specified angle to the direction perpendicular to the ground, so as to form a plane and a curved surface composed of points where the two signals arrive at the same time, so that the plane and the curved surface of the first signal source intersect with the plane and the curved surface of the second signal source at the landing point to guide the curved take-off and landing route of the vertical take-off and landing aircraft; as well as When the receiving terminal receives the two signals from the first signal source and the second signal source in sequence, it outputs a flight route change control signal of the vertical take-off and landing aircraft in order to simultaneously receive the two signals from the first signal source and the second signal source.

8. A vertical take-off and landing aircraft landing guidance system, characterized in that: include: A signal source, at the take-off and landing field, respectively delays and sends three time synchronization signals through three antennas of the signal source, and provides a take-off and landing route through straight lines and curves formed by all points including the take-off and landing points where the three signals arrive at the same time; as well as The receiving terminal is installed on the vertical take-off and landing aircraft. If the three signals from the signal source are received in sequence, the receiving terminal outputs a control signal for changing the route in order to simultaneously receive the three signals from the signal source.

9. The vertical take-off and landing aircraft landing guidance system according to any one of claims 7 and 8, characterized in that: Also included is a signal source, which simultaneously sends two signals in a direction perpendicular to the ground from a specific distance from the landing site, and guides the specific distance from the landing site through a plane formed by points that arrive at the same time, The receiving terminal also includes a function of identifying the specific distance.

10. The vertical take-off and landing aircraft landing guidance system according to any one of claims 7 and 8, characterized in that: It also includes a signal source that simultaneously sends two signals from the landing field in a direction parallel to the ground and in a direction inclined at a specified angle to the ground to form a plane to guide to a specific height. The receiving terminal also includes a function of identifying the specific altitude.

11. The vertical take-off and landing aircraft landing guidance system according to any one of claims 7 and 8, characterized in that: The receiving terminal also includes a function of correcting a signal processing time error of the receiving terminal itself.

12. A position identification system for a vertical take-off and landing aircraft on a landing route, used to identify the position of a take-off and landing aircraft on a take-off and landing route, characterized in that: include: A signal source, which sends a transmission signal including position calculation information from one of a plurality of signal sources providing a take-off and landing route of the landing field; a signal source at a specific distance, located on the take-off and landing route, and transmitting a position calculation information signal in response thereto upon receiving a signal including position calculation information transmitted by the signal source from a signal source at a specific distance from the landing field; as well as The receiving terminal receives the position calculation information signals from the two signal sources, and calculates the position on the take-off and landing route by using a specific distance and a reception time difference between the two signals.

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