Urban air transportation hub entry and departure management system and method based on aircraft performance

Abstract

The embodiment of the invention discloses an aircraft performance-based urban air transportation hub entry and departure management system and method. The system comprises a take-off and landing field, a communication module, a navigation module, a take-off and landing guiding module, a monitoring module and an intelligent processing module. Compared with the prior art, aiming at the problems that the take-off and landing points in the take-off and landing field are few, the resource competition is intense, and the requirement of the aircraft for taking off and landing at any time cannot be met, the method not only can perform maximum utilization management on limited resources of the take-off and landing field, but also can command air traffic entering and leaving the field; and particularly, orderly traffic passing in the airspace of the take-off and landing field is realized under the condition of congestion. In addition, hard capacity expansion, soft capacity expansion and take-off and landing cooperation can be carried out on the take-off and landing field in a limited physical space, the throughput capacity can be improved, and the overall traffic convenience is improved. In addition, the invention is also suitable for various manned and unmanned aircrafts.

Description

Technical Field

[0001] The present invention relates to the technical field of urban low-altitude air traffic management, and in particular to an urban air traffic hub approach and departure management system and method based on aircraft performance. Background Art

[0002] In the urban low-altitude air traffic scenario, the place where aircraft take off and land (hereinafter referred to as the take-off and landing field) is an important hub of the transportation network. Good management of the approach and departure of aircraft at the take-off and landing field (hereinafter referred to as approach and departure management) is of great significance to urban air traffic in many aspects, mainly including:

[0003] (1) Safety: Safety is the primary issue faced during aircraft takeoff and landing. The area near the take-off and landing field is densely populated with aircraft and is the area with the highest probability of aircraft conflicts (aircraft colliding with each other or being too close to each other, affecting flight safety).

[0004] (2) In terms of efficiency, take-off and landing fields are key resources as transportation hubs. With the development of urban air traffic, there is bound to be a problem of limited take-off and landing field resources. Good traffic management can significantly improve traffic efficiency and avoid congestion.

[0005] (3) In terms of energy conservation and environmental protection, suitable entry and departure procedures for aircraft can help aircraft fly along the optimal path, reduce detours, avoid waste of vertical take-off and landing resources, and save time and energy.

[0006] The above problems are interrelated and mutually influential. Currently, there is still a lack of effective solutions that comprehensively consider the above problems.

[0007] In addition, in the common mode of general aviation, the take-off and landing field only provides basic equipment for take-off and landing points and the most basic information notification. Moreover, take-off and landing navigation mainly relies on the pilot's visual observation. In the case of heavy traffic, it is difficult to achieve mutual coordination of multiple aircraft. Summary of the invention

[0008] The purpose of the embodiments of the present invention is to provide an urban air traffic hub arrival and departure management system and method based on aircraft performance. In view of the problems that there are few take-off and landing points in the take-off and landing field, the competition for resources is fierce, and the demand for aircraft to take off and land at any time cannot be met, the embodiments of the present invention can not only manage the limited resources of the take-off and landing field to the maximum extent, but also direct the air traffic arriving and departing, especially to achieve orderly traffic in the take-off and landing field airspace under congestion.

[0009] To achieve the above-mentioned purpose, in a first aspect, an embodiment of the present invention provides an urban air traffic hub approach and departure management system based on aircraft performance, comprising a take-off and landing field, a communication module, a navigation module, a take-off and landing guidance module, a monitoring module and an intelligent processing module, wherein the take-off and landing field comprises a plurality of take-off and landing points, the communication module supports the communication between the approach and departure management system and the aircraft, and the aircraft comprises a manned aircraft and an unmanned aircraft in an urban low-altitude air traffic scene; the navigation module is used to provide the aircraft with the location of the take-off and landing point and improve the positioning accuracy of the aircraft;

[0010] The take-off and landing guidance module is used to guide the take-off and landing of the aircraft;

[0011] The monitoring module is used to obtain aircraft information in and around the take-off and landing field through active monitoring and controlled monitoring, and to conduct real-time monitoring of deviations from entry and departure procedures and illegal flight activities;

[0012] The intelligent processing module is used to execute air channel planning, take-off and landing rule formulation, entry and departure management, entry and departure control, aircraft deviation channel monitoring, real-time conflict detection and timely adjustment of entry and departure procedures.

[0013] In a second aspect, the embodiment of the present application further provides an urban air traffic hub approach and departure management method based on aircraft performance, which is applicable to the aforementioned system and includes the following steps:

[0014] According to the performance differences of aircraft, various take-off and landing channels and waiting channels are designed for aircraft to use to avoid congestion and collision;

[0015] During the aircraft's arrival and departure process, the optimal arrival and departure procedure is formulated for the aircraft based on the take-off and landing channel and the waiting channel, and the take-off and landing guidance of the aircraft is achieved based on the navigation module and the take-off and landing guidance module;

[0016] During the aircraft's arrival and departure, the monitoring module monitors flight activities in real time and adjusts the relevant aircraft's arrival and departure procedures in real time to avoid conflicts if the aircraft deviates seriously from the plan;

[0017] During the aircraft's approach and departure process, the intelligent processing module is used to realize air channel planning, take-off and landing rule formulation, approach and departure management, approach and departure control, aircraft deviation channel monitoring, real-time conflict detection and timely adjustment of approach and departure procedures.

[0018] The implementation of the embodiment of the present invention has the following advantages:

[0019] (1) In order to address the problems of a small number of take-off and landing points, fierce competition for resources, and the inability to meet the demand for aircraft to take off and land at any time, the system can not only manage the limited resources of the take-off and landing field to maximize utilization, but also direct the air traffic entering and leaving the field, especially to ensure orderly traffic flow in the take-off and landing field airspace under congestion.

[0020] (2) The system designs the optimal approach and departure procedures for the aircraft based on its performance, and provides a variety of technical means (such as lighting guidance and digital guidance) to assist navigation, thereby improving safety performance.

[0021] (3) The system can serve not only various types of aircraft, but also unmanned and manned aircraft at the same time.

[0022] (4) In general, the capacity of a take-off and landing field is limited by physical space. The embodiments of the present invention can perform hard expansion, soft expansion, and take-off and landing coordination on the take-off and landing field in a preferred physical space, thereby increasing throughput capacity and improving overall traffic convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific implementation of the present invention or the technical solution in the prior art, the drawings required for use in the specific implementation or the description of the prior art are briefly introduced below.

[0024] Figure 1 It is a structural diagram of an urban air traffic hub arrival and departure management system based on aircraft performance provided by an embodiment of the present invention;

[0025] Figure 2 It is a schematic diagram of the planning of the vertical take-off and landing channel and the inclined take-off and landing channel;

[0026] Figure 3 It is a schematic diagram of the planning of vertical waiting channel and inclined waiting channel;

[0027] Figure 4 and Figure 5 It is a schematic diagram of installing guide lights around the take-off and landing points;

[0028] Figure 6 It is a flow chart of an urban air traffic hub arrival and departure management method based on aircraft performance provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0031] It should be noted that, in order to address the problem that there are few take-off and landing points in the take-off and landing field, the competition for resources is fierce, and the demand for aircraft to take off and land at any time cannot be met, the embodiments of the present invention propose entry and departure procedures based on aircraft performance, as well as an orderly management method for multiple aircraft competing for resources. While achieving efficient utilization of take-off and landing field resources, it also meets the needs of smooth and low-energy take-off and landing of aircraft.

[0032] Please refer to Figure 1 , is an urban air traffic hub arrival and departure management system based on aircraft performance provided by an embodiment of the present invention, including a take-off and landing field, a communication module, a navigation module, a take-off and landing guidance module, a monitoring module and an intelligent processing module.

[0033] The take-off and landing field provides a place for aircraft to take off and land, including multiple take-off and landing points; each take-off and landing point can park an aircraft. The take-off and landing points have various sizes and can support various types of aircraft, large, medium and small. In this embodiment, the aircraft include various types such as manned and unmanned.

[0034] The communication module supports communication between the airport entry and exit management system and the aircraft, with two modes: direct communication and indirect communication via the urban air traffic system. The communication information mainly includes reservation information, real-time status information of the aircraft, real-time status information of the take-off and landing field, and entry and exit procedure information. The entry and departure procedure information is used to guide the aircraft to perform landing and take-off actions, including multiple key path points passed successively, as well as the time window and recommended speed for passing the path points.

[0035] The navigation module includes radio navigation and visual navigation. Radio navigation improves the positioning accuracy of the aircraft through differential positioning base stations and provides the aircraft with precise positioning coordinates of the take-off and landing points. Visual navigation identifies the location of the take-off and landing points through ground marking lines, symbols and numbers.

[0036] The take-off and landing guidance module includes two modes: digital guidance and light guidance. Digital guidance provides reminders and operational suggestions in the event of deviation from the entry and departure procedures. Light guidance achieves guidance by installing guidance lights around the take-off and landing points and controlling the lights to change color and light emission mode, displaying the use status of the take-off and landing points and the deviation status of the aircraft.

[0037] The monitoring module obtains information about aircraft in and around the take-off and landing field through active and passive monitoring, and conducts real-time detection of illegal flight activities.

[0038] The intelligent processing module includes functions such as air channel planning, take-off and landing rule formulation, approach and departure management, approach and departure control, aircraft deviation channel monitoring, real-time conflict detection, and real-time adjustment of approach and departure procedures.

[0039] Based on the architecture of the above entry and departure system, the following is a detailed description of the functions that can be achieved by the system:

[0040] 1. Air channel planning

[0041] The take-off and landing channels and waiting channels are planned in the airspace of the take-off and landing field. The take-off and landing channels are used for aircraft to take off and land. The waiting channels are used for aircraft that cannot land temporarily to stay in the air and wait.

[0042] Please refer to Figure 2 , the take-off and landing channel is further divided into a vertical take-off and landing channel and an inclined take-off and landing channel. The vertical take-off and landing channel extends vertically upward from the take-off and landing point to the top of the take-off and landing field airspace. The inclined take-off and landing channel starts at a height H directly above the take-off and landing point and extends straight in any direction at a variety of different inclination angles until the boundary of the take-off and landing field airspace. The setting of H depends on the surrounding environment.

[0043] Please refer to Figure 3 The waiting channel is further divided into a vertical waiting channel and an inclined waiting channel. The vertical waiting channel is adjacent to the vertical take-off and landing channel space, and the space outside the safety interval and around the take-off and landing channel is the waiting channel. The inclined waiting channel is a concentric circle with different radii set at multiple altitude levels. Each circle is connected to a corresponding inclined take-off and landing channel, and the slopes of all inclined take-off and landing channels connected to the same circle are the same.

[0044] II. Formulation of take-off and landing rules

[0045] In the embodiment of the present invention, the established take-off and landing rules are: the vertical take-off and landing channel is preferentially used by rotary-wing aircraft, and the inclined take-off and landing channel is preferentially used by fixed-wing aircraft.

[0046] 3. Site Management

[0047] (3.1) The airport entry and departure management system publicly publishes and updates the take-off and landing point reservation and actual occupancy information in real time. The aircraft selects available resources and sends reservation information to the take-off and landing site in advance. The reservation information includes the aircraft's identity, model, estimated arrival time, altitude, direction, optimal take-off and landing tilt angle, parking time, etc. The airport entry and departure management system confirms the reservation.

[0048] (3.2) When an aircraft in flight is about to arrive at the take-off and landing field, it confirms the approach procedure with the approach and departure management system. The intelligent processing module of the approach and departure management system queries the reservation record. Priority is given to aircraft with reservations, and approach procedure information is provided according to the reservation information, actual flight conditions, and the aforementioned planned take-off and landing channels and waiting channels. For aircraft without reservations, if there are available resources, resources are temporarily planned and approach procedure information is provided. The approach procedure information mainly contains the 4D track of the landing aircraft, including multiple 3D key path points and the time to pass the path points.

[0049] (3.3) During the aircraft approach process, the arrival and departure management system monitors the entire aircraft approach process. If the time window given by the approach procedure is missed, the reservation and the original approach procedure will be cancelled, and the aircraft will be required to re-execute step (3.2). If there is an aircraft that violates the approach procedure and affects the safety of other aircraft, the system will adjust the approach and departure procedures of the relevant aircraft, collect evidence and notify the air traffic management department.

[0050] (3.4) During the aircraft approach, the approach and departure management system assists the aircraft in precise landing and collision avoidance. The intelligent processing module provides real-time status information of surrounding aircraft, including the aircraft's identity, model, three-dimensional geographic coordinates, flight speed, approach and departure procedures, etc., to assist the aircraft in autonomous collision avoidance. At the same time, it provides digital guidance information, reminds the aircraft if it deviates from the approach procedure, and gives operational suggestions. At the same time, it provides light guidance to achieve more intuitive visual guidance.

[0051] Specifically, intelligent lighting guidance can refer to Figure 4 and Figure 5 , guide lights (blue dots) are installed around the take-off and landing points (black circles or square parts in the figure below). The lights are distributed in a circular shape with equal spacing, embedded in the ground and flush with the surface, and emit light into the air. Each light has two colors, red and green. By adjusting the color and flashing of the light, the status of the take-off and landing point is displayed, and visual guidance of the take-off and landing flight area is achieved.

[0052] Among them, the take-off and landing point status and the corresponding lighting mode are as follows:

[0053] Landing point not in use: all lights off

[0054] There is an aircraft parked at the take-off and landing point: All lights are solid red

[0055] The take-off and landing point is free and not planned to be used: All lights are on green

[0056] The aircraft at the take-off and landing point is about to take off: all lights are flashing red

[0057] The aircraft at the take-off and landing point is taking off: the heading direction is flashing green, and other lights are flashing red

[0058] The aircraft at the take-off and landing point is landing normally: the light in the direction of the aircraft is on green, and the other lights are on red

[0059] The aircraft at the take-off and landing point is landing, but deviates from the planned landing route: the light in the direction of the route is solid green, the light in the direction of the aircraft is flashing green, and the other lights are solid red.

[0060] 4. Departure Management

[0061] (4.1) Before taking off, the aircraft makes an appointment with the airport entry and departure management system. The appointment information includes the aircraft's identity, model, estimated take-off time, altitude, position, optimal take-off and landing tilt angle, parking time, etc. The airport entry and departure management system confirms the appointment.

[0062] (4.2) When the aircraft is about to take off, it confirms the departure procedure with the entry and departure management system. The entry and departure management system queries the reservation records. Priority is given to aircraft with reservations, and departure procedure information is provided according to the reservation information, actual flight conditions, and the aforementioned planned take-off and landing channels and waiting channels. For aircraft without reservations, if there are available resources, resources are temporarily planned and departure procedure information is provided. The departure procedure information mainly contains the 4D track of the take-off aircraft, including multiple 3D key path points and the time of passing the path points.

[0063] (4.3) During the departure process, the arrival and departure management system monitors the entire arrival process of the aircraft. If the time window given by the departure procedure is missed, the reservation and the original departure procedure will be cancelled, and the aircraft will be required to re-execute step (4.2). If there is an aircraft that violates the departure procedure and affects the safety of other aircraft, the system will adjust the arrival and departure procedures of the relevant aircraft, collect evidence and notify the air traffic management department.

[0064] (4.4) During the departure process, the departure and approach management system assists the aircraft in taking off accurately and avoiding collisions. The intelligent processing module provides real-time status information of surrounding aircraft, including the aircraft's identity, model, three-dimensional geographic coordinates, flight speed, flight intention (short-term planned flight trajectory), etc., to assist the aircraft in autonomously avoiding collisions. At the same time, it provides digital guidance information and reminds the aircraft if it deviates from the departure procedure.

[0065] 5. Entry and Exit Control

[0066] If the approach and departure procedures are executable, the approach and departure management system plans the take-off and landing path for the aircraft based on the planned take-off and landing channels and waiting channels. The landing path is that the aircraft flies level to the nearest take-off and landing channel according to the current flight altitude, and then lands at the take-off and landing point along the take-off and landing channel. The take-off path is that the aircraft climbs from the take-off and landing point along the take-off and landing channel to the planned flight altitude layer, and then leaves the take-off and landing channel and flies level to the destination. For fixed-wing aircraft, the slope of the take-off and landing channel is the slope that best suits the take-off and landing performance.

[0067] If the take-off and landing point or airspace resources are occupied, the aircraft cannot take off or land temporarily. The taking-off aircraft waits at the original location, and the landing aircraft enters the waiting channel allocated by the arrival and departure management system.

[0068] 6. Aircraft deviation channel monitoring

[0069] Install multiple surveillance cameras around the take-off and landing points to monitor whether the aircraft deviates from the take-off and landing channel, such as Figure 2 As shown. One of the vertical surveillance cameras is located directly below the vertical take-off and landing channel, looking vertically upward, and multiple inclined surveillance cameras are distributed in a circle at the intersection of the reverse extension of the inclined channel and the ground, looking obliquely upward.

[0070] In such an installation layout, the vertical take-off and landing channel is in the center area of ​​the vertical direction monitoring camera. In the inclined monitoring camera, the inclination angle can be calculated according to the image row position where the aircraft is located, and the direction angle can be calculated according to the image column position where the aircraft is located.

[0071] The approach and departure management system makes a real-time judgment on whether the aircraft deviates from the take-off and landing channel based on the aircraft approach and departure channel planning and the image information captured by the surveillance camera. It issues a real-time alarm to the aircraft that deviates from the take-off and landing channel and gives trajectory correction suggestions.

[0072] 7. Real-time detection of conflict risks and conflict alarms

[0073] The approach and departure management system performs conflict detection on aircraft on the same landing and takeoff channel. If two aircraft are flying in opposite directions, a collision alarm will be issued immediately and the two aircraft will be required to hover immediately. If two aircraft are flying in the same direction but too close, a conflict risk alarm will be issued immediately and speed adjustment suggestions will be made for the two aircraft. Personalized interval management is performed based on the positioning error and aerodynamic performance of the two aircraft. The probability of the two aircraft being in the same location does not exceed the system safety threshold, which is generally 10 -7 to 10 -9 . And the aircraft behind is outside the influence of the wake of the aircraft in front.

[0074] 8. Expansion of take-off and landing points

[0075] In order to accommodate more aircraft in a limited space, the take-off and landing point floor in this embodiment is designed to be movable. The floor uses tracks or elevators laid on the ground to transport aircraft to the hangar, or transport aircraft from the hangar to the take-off and landing point.

[0076] 9. Short Stay Mode

[0077] In order to facilitate the transportation of passengers and cargo when there is no room for more aircraft, the airport entry and exit management system provides a short-stay mode. In the short-stay mode, the airport entry and exit management system plans the aircraft's entry and departure routes and the short-stay time at the take-off and landing point. After the short-stay completes the transportation of passengers and cargo, the aircraft leaves the take-off and landing field and heads to the next destination, or parks at a nearby take-off and landing field that can accommodate the aircraft.

[0078] The advantages of implementing the arrival and departure management system provided by the embodiment of the present invention are as follows:

[0079] (1) In order to address the problems of a small number of take-off and landing points, fierce competition for resources, and the inability to meet the demand for aircraft to take off and land at any time, the system can not only manage the limited resources of the take-off and landing field to maximize utilization, but also direct the air traffic entering and leaving the field, especially to ensure orderly traffic flow in the take-off and landing field airspace under congestion.

[0080] (2) The system designs the optimal approach and departure procedures for the aircraft based on its performance, and provides a variety of technical means (such as lighting guidance and digital guidance) to assist navigation, thereby improving safety performance.

[0081] (3) The system can serve not only various types of aircraft, but also unmanned and manned aircraft at the same time.

[0082] (4) In general, the capacity of a take-off and landing field is limited by physical space. The embodiments of the present invention can perform hard expansion, soft expansion, and take-off and landing coordination on the take-off and landing field in a preferred physical space, thereby increasing throughput capacity and improving overall traffic convenience.

[0083] That is, the approach and departure management system provided by the embodiment of the present invention can accurately guide aircraft and improve the safety of flight operations; can implement a stable descent procedure and reduce the risk of controlled ground collision; can achieve a flexible and optimized flight path, increase aircraft payload, reduce flight time, and save fuel.

[0084] Based on the same inventive concept, the embodiment of the present invention also provides an urban air traffic hub arrival and departure management method based on aircraft performance, which is applicable to the aforementioned system, such as Figure 6 As shown, the method comprises the following steps:

[0085] S1, design a variety of take-off and landing channels and waiting channels for aircraft to use according to the performance differences of aircraft to avoid congestion and collision;

[0086] S2, during the aircraft's approach and departure process, formulate the optimal approach and departure procedure for the aircraft based on the take-off and landing channel and the waiting channel, and implement the take-off and landing guidance of the aircraft based on the navigation module and the take-off and landing guidance module;

[0087] S3, during the aircraft's arrival and departure process, the flight activities are monitored in real time based on the monitoring module, and the relevant aircraft arrival and departure procedures are adjusted in real time to avoid conflicts if the aircraft deviates seriously from the plan;

[0088] S4, during the aircraft's approach and departure process, realizes air channel planning, take-off and landing rule formulation, approach and departure management, approach and departure control, aircraft deviation channel monitoring, real-time conflict detection and timely adjustment of approach and departure procedures based on the intelligent processing module.

[0089] The take-off and landing rule is that the vertical take-off and landing channel is used by rotary-wing aircraft first, and the inclined take-off and landing channel is used by fixed-wing aircraft first; the intelligent processing module performs air channel planning, specifically:

[0090] Plan take-off and landing channels and waiting channels in the airspace of the take-off and landing field;

[0091] The take-off and landing channel is divided into a vertical take-off and landing channel and a plurality of inclined take-off and landing channels; the vertical take-off and landing channel extends vertically upward from the take-off and landing point to the top of the take-off and landing field airspace; the inclined take-off and landing channel starts at a height H just above the take-off and landing point and extends straightly in any direction at a plurality of different inclination angles until the boundary of the take-off and landing field airspace;

[0092] The waiting channel is divided into a vertical waiting channel and an inclined waiting channel; the vertical waiting channel is the space surrounding the vertical take-off and landing channel outside the outer safety separation distance, and the vertical waiting channel is adjacent to the vertical take-off and landing channel space; the inclined waiting channel is concentric circles of different radii drawn on multiple altitude layers, each circle is connected to the corresponding inclined take-off and landing channel, and all inclined take-off and landing channels connected to the same circle have the same slope.

[0093] Specifically, entry and exit management includes:

[0094] Receiving the entry and departure reservation information sent by the aircraft to the take-off and landing field; the entry and departure reservation information includes the aircraft's identity, model, estimated arrival time, altitude, direction, optimal take-off and landing tilt angle, and parking time;

[0095] Providing approach and departure procedure information based on the approach and departure reservation information, the planned take-off and landing channels, and the waiting channels; the approach and departure procedure information is used to guide the aircraft to perform landing and take-off actions, and the approach and departure procedure information is a 4D track of the landing / taking-off aircraft, and the 4D track includes multiple 3D key path points and the time of passing the key path points;

[0096] Provide real-time status information of surrounding aircraft;

[0097] During the aircraft approach, the real-time status information includes the aircraft's identity, model, three-dimensional geographic coordinates, and flight speed;

[0098] During the departure process of the aircraft, the real-time status information includes the identity, model, three-dimensional geographic coordinates, flight speed and flight intention of the aircraft.

[0099] Specifically, the intelligent processing module performs entry and departure control, specifically:

[0100] If the approach and departure procedures are executable, a landing path and a take-off path are planned for the aircraft; the landing path is that the aircraft flies levelly to the nearest take-off and landing channel at the current flight altitude, and then lands at the take-off and landing point along the take-off and landing channel; the take-off path is that the aircraft climbs from the take-off and landing point along the take-off and landing channel to the planned flight altitude layer, and then leaves the take-off and landing channel and flies levelly to the destination;

[0101] If the take-off and landing point or airspace resources are occupied, the aircraft waiting to take off will wait in place, and the aircraft waiting to land will enter the waiting channel allocated by the system.

[0102] Specifically, the aircraft deviation channel monitoring is as follows:

[0103] Install multiple surveillance cameras around the take-off and landing point; one surveillance camera is located directly below the vertical take-off and landing channel, and multiple surveillance cameras are distributed in a circular shape at the intersection of the reverse extension of the inclined take-off and landing channel and the ground;

[0104] Acquire image information through multiple surveillance cameras;

[0105] Based on the aircraft approach and departure channel planning information and the image information, a real-time determination is made as to whether the aircraft deviates from the take-off and landing channel;

[0106] If the aircraft deviates from the take-off and landing channel, a real-time alarm will be issued and trajectory correction suggestions will be given.

[0107] Specifically, real-time conflict detection is as follows:

[0108] For aircraft on the same takeoff and landing channel, if the two aircraft are flying in opposite directions, a collision alarm will be issued immediately and the two aircraft will be required to hover immediately; if the two aircraft are flying in the same direction but too close, a conflict risk warning will be issued immediately and speed adjustment suggestions will be made for the two aircraft.

[0109] It should be noted that the specific workflow of the embodiment of this method can be found in the aforementioned system embodiment section, which will not be repeated here.

[0110] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An urban air traffic hub approach and departure management system based on aircraft performance, comprising a take-off and landing field, a communication module, a navigation module, a take-off and landing guidance module, a monitoring module and an intelligent processing module, wherein the take-off and landing field comprises a plurality of take-off and landing points, and the communication module supports the communication between the approach and departure management system and the aircraft, characterized in that: The aircraft includes manned aircraft and unmanned aircraft in the urban low-altitude air traffic scene; the navigation module is used to provide the aircraft with the location of the take-off and landing points and improve the positioning accuracy of the aircraft; The take-off and landing guidance module is used to guide the take-off and landing of the aircraft; The monitoring module is used to obtain aircraft information in and around the take-off and landing field through active monitoring and controlled monitoring, and to conduct real-time monitoring of deviations from entry and departure procedures and illegal flight activities; The intelligent processing module is used to execute air channel planning, take-off and landing rule formulation, approach and departure management, approach and departure control, aircraft deviation channel monitoring, real-time conflict detection and timely adjustment of approach and departure procedures.

2. The system according to claim 1, characterized in that The take-off and landing rule is that the vertical take-off and landing channel is used by rotary-wing aircraft first, and the inclined take-off and landing channel is used by fixed-wing aircraft first; the intelligent processing module performs air channel planning, specifically: Plan take-off and landing channels and waiting channels in the airspace of the take-off and landing field; The take-off and landing channel is divided into a vertical take-off and landing channel and a plurality of inclined take-off and landing channels; the vertical take-off and landing channel extends vertically upward from the take-off and landing point to the top of the take-off and landing field airspace; the inclined take-off and landing channel starts at a height H just above the take-off and landing point and extends straightly in any direction at a plurality of different inclination angles until the boundary of the take-off and landing field airspace; The waiting channel is divided into a vertical waiting channel and an inclined waiting channel; the vertical waiting channel is the space surrounding the vertical take-off and landing channel outside the outer safety separation distance, and the vertical waiting channel is adjacent to the vertical take-off and landing channel space; the inclined waiting channel is concentric circles of different radii drawn on multiple altitude layers, each circle is connected to the corresponding inclined take-off and landing channel, and all inclined take-off and landing channels connected to the same circle have the same slope.

3. The system according to claim 2, characterized in that The intelligent processing module performs entry and departure management, specifically: Receiving the entry and departure reservation information sent by the aircraft to the take-off and landing field; the entry and departure reservation information includes the aircraft's identity, model, estimated arrival time, altitude, direction, optimal take-off and landing tilt angle, and parking time; Providing approach and departure procedure information based on the approach and departure reservation information, the planned take-off and landing channels, and the waiting channels; the approach and departure procedure information is used to guide the aircraft to perform landing and take-off actions, and the approach and departure procedure information is a 4D track of the landing / taking-off aircraft, and the 4D track includes multiple 3D key path points and the time of passing the key path points; Provide real-time status information of surrounding aircraft; During the aircraft approach, the real-time status information includes the aircraft's identity, model, three-dimensional geographic coordinates, and flight speed; During the departure process of the aircraft, the real-time status information includes the identity, model, three-dimensional geographic coordinates, flight speed and flight intention of the aircraft.

4. The system according to claim 2, characterized in that The intelligent processing module performs entry and departure control, specifically: If the approach and departure procedures are executable, a landing path and a take-off path are planned for the aircraft; the landing path is that the aircraft flies levelly to the nearest take-off and landing channel at the current flight altitude, and then lands at the take-off and landing point along the take-off and landing channel; the take-off path is that the aircraft climbs from the take-off and landing point along the take-off and landing channel to the planned flight altitude layer, and then leaves the take-off and landing channel and flies levelly to the destination; If the take-off and landing point or airspace resources are occupied, the aircraft waiting to take off will wait in place, and the aircraft waiting to land will enter the waiting channel allocated by the system.

5. The system according to claim 2, characterized in that The intelligent processing module performs aircraft deviation channel monitoring, specifically: Install multiple surveillance cameras around the take-off and landing point; one surveillance camera is located directly below the vertical take-off and landing channel, and multiple surveillance cameras are distributed in a circular shape at the intersection of the reverse extension of the inclined take-off and landing channel and the ground; Acquire image information through multiple surveillance cameras; Based on the aircraft approach and departure channel planning information and the image information, a real-time determination is made as to whether the aircraft deviates from the take-off and landing channel; If the aircraft deviates from the take-off and landing channel, a real-time alarm will be issued and trajectory correction suggestions will be given.

6. The system according to claim 2, characterized in that The intelligent processing module performs real-time conflict detection, specifically: For aircraft on the same takeoff and landing channel, if the two aircraft are flying in opposite directions, a collision alarm will be issued immediately and the two aircraft will be required to hover immediately; if the two aircraft are flying in the same direction but too close, a conflict risk warning will be issued immediately and speed adjustment suggestions will be made for the two aircraft.

7. The system according to claim 1, characterized in that The floor of the take-off and landing point is designed to be movable.

8. The system of claim 1, wherein: The system also provides a short-stay mode; in the short-stay mode, the system plans the arrival and departure routes for the aircraft and the short-stay time at the take-off and landing points.

9. A method for managing the arrival and departure of an urban air traffic hub based on aircraft performance, characterized in that: The method is applicable to the system according to any one of claims 1 to 8, comprising the following steps: According to the performance differences of aircraft, various take-off and landing channels and waiting channels are designed for aircraft to use to avoid congestion and collision; During the aircraft's arrival and departure process, the optimal arrival and departure procedure is formulated for the aircraft based on the take-off and landing channel and the waiting channel, and the take-off and landing guidance of the aircraft is achieved based on the navigation module and the take-off and landing guidance module; During the aircraft's arrival and departure, the monitoring module monitors flight activities in real time and adjusts the relevant aircraft's arrival and departure procedures in real time to avoid conflicts if the aircraft deviates seriously from the plan; During the aircraft's approach and departure process, the intelligent processing module is used to realize air channel planning, take-off and landing rule formulation, approach and departure management, approach and departure control, aircraft deviation channel monitoring, real-time conflict detection and timely adjustment of approach and departure procedures.

10. The method according to claim 9, characterized in that Air channel planning is realized based on the intelligent processing module, specifically: Plan take-off and landing channels and waiting channels in the airspace of the take-off and landing field; The take-off and landing channel is divided into a vertical take-off and landing channel and a plurality of inclined take-off and landing channels; the vertical take-off and landing channel extends vertically upward from the take-off and landing point to the top of the take-off and landing field airspace; the inclined take-off and landing channel starts at a height H just above the take-off and landing point and extends straightly in any direction at a plurality of different inclination angles until the boundary of the take-off and landing field airspace; The waiting channel is divided into a vertical waiting channel and an inclined waiting channel; the vertical waiting channel is the space surrounding the vertical take-off and landing channel outside the outer safety separation distance, and the vertical waiting channel is adjacent to the vertical take-off and landing channel space; the inclined waiting channel is concentric circles of different radii drawn on multiple altitude layers, each circle is connected to the corresponding inclined take-off and landing channel, and all inclined take-off and landing channels connected to the same circle have the same slope.

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