Method for searching landing point of aircraft

Abstract

The invention relates to the technical field of aircraft landing point searching, and discloses an aircraft landing point searching method, which comprises the following steps: extracting an environmental influence coefficient from an aircraft flight database based on environmental data in a flight process through a landing point set searched by executing a landing point searching instruction; and extracting an aircraft influence coefficient from the aircraft flight database based on the aircraft basic data. According to the method, all water surfaces, flat ground, electric power towers and trees in an area with the center radius of 500m of an aircraft are obtained through a map obtained based on a GPS and a radar carried by the aircraft, a landing point set is obtained after corresponding elimination, then the comprehensive influence coefficient of each landing point is output, the landing point with the minimum comprehensive influence coefficient is selected for landing, and the landing point with the minimum comprehensive influence coefficient is obtained. According to the invention, the aircraft can timely select the optimal landing site to land in emergency, the landing safety of the aircraft is ensured, and the situation that the aircraft collides with the power transmission line in the landing process to cause falling is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of finding a landing point for an aircraft, and in particular to a method for finding a landing point for an aircraft. Background Art

[0002] In recent years, with the rapid development of unmanned aerial vehicle technology, the fixed-point landing guidance technology for aircraft, especially autonomous vertical take-off and landing aircraft, has also experienced corresponding development stages: using GNSS (Global Navigation Satellite System) to guide the landing point has the disadvantage of insufficient accuracy; RTKGNSS (Real Time Kinematic GNSS, carrier phase differential spherical satellite navigation system) to guide the landing point has the disadvantage of signal susceptibility to interference, the need to maintain continuous communication with the ground, high cost, and is not suitable for landing near woods and tall buildings. In the case of fewer outdoor marking points, when the aircraft fails, the take-off and landing process is often short. It is common for power towers to transmit electricity in mountainous areas. UAVs can usually identify power towers, but during the landing process, due to the narrow wires, it may be difficult to be accurately identified by visual sensors (such as cameras) when flying over long distances or at high speeds. Many wires also have similar background colors, resulting in low contrast between them and the background, making it difficult to distinguish them from other objects, which can easily lead to contact with the wires during emergency landings, causing damage. Summary of the invention

[0003] 1. Technical issues to be resolved

[0004] In view of the deficiencies in the prior art, the present invention provides a method for finding a landing point for an aircraft, which has the advantages of avoiding damage during landing and solves the above-mentioned technical problems.

[0005] (II) Technical solution

[0006] To achieve the above object, the present invention provides the following technical solution: a method for finding a landing point of an aircraft, comprising the following steps:

[0007] S1: Collect environmental data, flight fault data and basic data of the aircraft during flight and build an aircraft flight database;

[0008] S2: Read flight fault data from the aircraft flight database and determine whether to execute the landing point search instruction. If the landing point search instruction is executed, the landing point set JLD is obtained and S3 is executed. If the landing point search instruction is not executed, S2 is terminated and jumps to S1.

[0009] S3: by executing the landing point search instruction to find the landing point set JLD, extract the environmental impact coefficient HJYXXS from the aircraft flight database based on the environmental data during the flight, and extract the aircraft impact coefficient FXYXXS from the aircraft flight database based on the aircraft basic data;

[0010] S4: Based on the environmental impact coefficient HJYXXS and the aircraft impact coefficient FXYXXS, the comprehensive impact coefficient ZHYXXS of each landing point output by the landing point search instruction is calculated;

[0011] S5: Execute the aircraft landing point determination instruction based on the comprehensive influence coefficient ZHYXXS, and upload the landing point after the landing is completed.

[0012] As a preferred technical solution of the present invention, the specific steps of the landing point search instruction executed in S2 are as follows:

[0013] S2a.1: Read flight fault data from the aircraft flight database. The specific expression is as follows:

[0014] FXGZ=[FXGZ1,…,FXGZ a ,…,FXGZ A ]

[0015] Among them, FXGZ1,…,FXGZ a ,…,FXGZ A They represent the first error reporting instruction of the aircraft, …, the ath error reporting instruction, …, the Ath error reporting instruction, and FXGZ represents the flight fault data set;

[0016] S2a.2: When FXGZ1,…,FXGZ a ,…,FXGZ A When any of the values ​​is 1, it means that the aircraft has a fault that affects the flight progress and needs to land;

[0017] S2a.3: Obtain environmental data during the flight of the aircraft based on the aircraft flight database, and mark the minimum area on the map to obtain a landing point set.

[0018] As a preferred technical solution of the present invention, the specific steps of S2a.3 for obtaining environmental data of the aircraft during flight based on the aircraft flight database, marking the minimum area on the map, and obtaining the landing point set are as follows:

[0019] S2a.3.1: Based on the map obtained by GPS and the radar on board the aircraft, all water surfaces, flat land, power towers and trees within a radius of 500m from the aircraft are obtained;

[0020] S2a.3.2: Remove water surfaces and trees in the area, and use the minimum rectangular frame to select the flat land to obtain the flat land landing area, and all the flat land landing areas constitute the initial flat land landing area set. The initial flat land landing point set stores the center point coordinates, boundary point coordinates and flat land landing area of ​​each flat land landing area;

[0021] S2a.3.3: Determine whether there is an electric power tower. If there is no electric power tower, terminate S2a.3.3 and use the initial flat landing area set as the landing point set. If there is an electric power tower, execute step S2a.3.4;

[0022] S2a.3.4: Eliminate the intersection of all power tower areas and the flat landing area, obtain all power towers in the area with a radius of 800m with the aircraft as the center, and eliminate the area between any two adjacent power towers, and re-obtain the center point coordinates, boundary point coordinates and flat landing area of ​​the processed flat landing area as the landing point set.

[0023] As a preferred technical solution of the present invention, the specific expression of the landing point set is as follows:

[0024] JLD=[JLD1,…,JLD b ,…,JLD B ]

[0025] Among them, JLD represents the landing point set, JLD1,…,JLD b ,…,JLD B It represents the 1st landing point area, ..., the bth landing point area, ..., the Bth landing point area.

[0026] As a preferred technical solution of the present invention, the specific steps of extracting the environmental impact coefficient HJYXXS from the aircraft flight database based on the environmental data during the flight in S3 are as follows:

[0027] S3a.1: Read the environmental data of the bth landing point area in the landing point set;

[0028] S3a.2: Get the ground flatness coefficient. The specific expression is as follows:

[0029]

[0030] Among them, DMPTXS b represents the ground flatness coefficient of the bth landing point area, h b,i represents the ground height of the i-th point in the b-th landing point area, represents the average ground height of the b-th landing point area, and I represents that a total of I points are sampled in the b-th landing point area;

[0031] S3a.3: Obtain the ground type adaptability coefficient of the bth landing point area. The specific expression is as follows:

[0032]

[0033] Among them, SA b Represents the ground type adaptability coefficient of the bth landing point area, SA b =1 means the ground is rocky, SA b =0.8 means the ground is grass or soil, SA b =0.5 means the ground is sandy or wet;

[0034] S3a.4: Ground type adaptability coefficient SA based on the bth landing point area b and the ground flatness coefficient DMPTXS of the bth landing point area b Calculate the regional environmental impact coefficient HJYXXS of the bth landing point b .

[0035] As a preferred technical solution of the present invention, S3a.4 calculates the regional environmental impact coefficient HJYXXS of the bth landing point b The specific expression is as follows:

[0036]

[0037] Among them, SA b Indicates the ground type adaptability coefficient of the bth landing point area, DMPTXS b represents the ground flatness coefficient of the b-th landing point area, ω1 and ω2 represent weight coefficients whose sum is 1 respectively.

[0038] As a preferred technical solution of the present invention, the specific steps of extracting the aircraft influence coefficient FXYXXS from the aircraft flight database based on the aircraft basic data in S3 are as follows:

[0039] S3b.1: Get the coordinates of the four boundary points of the bth landing point area (x b,1 ,y b,1 )、(x b,2 ,y b,2 )、(x b,3 ,y b,3 )、(x b,4 ,y b,4 ), and select the minimum distance between the aircraft coordinates (x0, y0) and the four boundary points. The specific expression is as follows:

[0040]

[0041] Among them, l b,min Indicates the minimum distance between the aircraft coordinates (x0, y0) and the four boundary points. b,j and b,j They represent the coordinates of the jth boundary point in the bth landing point area, j = 1, 2, 3, 4,

[0042] S3b.2: Get the coordinates of the aircraft (x0, y0) and the center point coordinates of the bth landing point area (x b,0 ,y b,0 ), the specific expression is as follows:

[0043]

[0044] Among them, l b Represents the coordinates of the aircraft (x0, y0) and the center coordinates of the bth landing point area (x b,0 ,y b,0 ) distance;

[0045] S3b.3: Based on l b and l b,min Calculate the aircraft influence coefficient FXYXXS in the bth landing point area b .

[0046] As a preferred technical solution of the present invention, the S3b.3 is based on l b and l b,min Calculate the aircraft influence coefficient FXYXXS in the bth landing point area b The specific expression is as follows:

[0047]

[0048] Among them, l b,min Indicates the minimum distance between the aircraft coordinates (x0, y0) and the four boundary points, l b Represents the coordinates of the aircraft (x0, y0) and the center coordinates of the bth landing point area (x b,0 ,y b,0 ) distance.

[0049] As a preferred technical solution of the present invention, the specific expression of the comprehensive influence coefficient ZHYXXS of each landing point output by the landing point search instruction is calculated based on the environmental influence coefficient HJYXXS and the aircraft influence coefficient FXYXXS in S4 as follows:

[0050]

[0051] Among them, FXYXXS b Indicates the aircraft influence coefficient of the bth landing point area, HJYXXSb Represents the environmental impact coefficient of the bth landing point area.

[0052] As a preferred technical solution of the present invention, the specific steps of executing the aircraft landing point determination instruction based on the comprehensive influence coefficient ZHYXXS in S5 are: reading the values ​​of the comprehensive influence coefficients of all landing point areas, and selecting the smallest one for landing.

[0053] Compared with the prior art, the present invention provides a method for finding a landing point for an aircraft, which has the following beneficial effects:

[0054] The present invention obtains all water surfaces, flat lands, power towers and trees within a radius of 500m with the aircraft as the center through a map obtained based on GPS and a radar carried by the aircraft, and obtains a landing point set after eliminating the corresponding ones. Then, the comprehensive influence coefficient ZHYXXS of each landing point output by the landing point search instruction is calculated based on the environmental influence coefficient HJYXXS and the aircraft influence coefficient FXYXXS, and the one with the smallest comprehensive influence coefficient is selected for landing, thereby ensuring that the aircraft can timely select the optimal landing location for landing in an emergency, and ensuring the safety of the aircraft landing, avoiding the collision with the power transmission line during the landing process and causing the aircraft to fall. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a schematic diagram of the process of the present invention. DETAILED DESCRIPTION

[0056] 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 only 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.

[0057] See also Figure 1 , a method for finding a landing point of an aircraft, comprising the following steps:

[0058] S1: Collect environmental data, flight fault data and basic data of the aircraft during flight and build an aircraft flight database;

[0059] S2: Read flight fault data from the aircraft flight database and determine whether to execute the landing point search instruction. If the landing point search instruction is executed, the landing point set JLD is obtained and S3 is executed. If the landing point search instruction is not executed, S2 is terminated and jumps to S1.

[0060] The specific steps of the landing point search instruction executed in S2 are as follows:

[0061] S2a.1: Read flight fault data from the aircraft flight database. The specific expression is as follows:

[0062] FXGZ=[FXGZ1,…,FXGZ a ,…,FXGZ A ]

[0063] Among them, FXGZ1,…,FXGZ a ,…,FXGZ A They represent the first error reporting instruction of the aircraft, …, the ath error reporting instruction, …, the Ath error reporting instruction, and FXGZ represents the flight fault data set;

[0064] S2a.2: When FXGZ1,…,FXGZ a ,…,FXGZ A When any of the values ​​is 1, it means that the aircraft has a fault that affects the flight progress and needs to land;

[0065] S2a.3: Obtain environmental data during the flight of the aircraft based on the aircraft flight database, and mark the minimum area on the map to obtain a set of landing points. The specific steps are as follows:

[0066] S2a.3.1: Based on the map obtained by GPS and the radar on board the aircraft, all water surfaces, flat land, power towers and trees within a radius of 500m from the aircraft are obtained;

[0067] S2a.3.2: Remove water surfaces and trees in the area, and use the minimum rectangular frame to select the flat land to obtain the flat land landing area, and all the flat land landing areas constitute the initial flat land landing area set. The initial flat land landing point set stores the center point coordinates, boundary point coordinates and flat land landing area of ​​each flat land landing area;

[0068] S2a.3.3: Determine whether there is an electric power tower. If there is no electric power tower, terminate S2a.3.3 and use the initial flat landing area set as the landing point set. If there is an electric power tower, execute step S2a.3.4;

[0069] S2a.3.4: Eliminate the intersection of all power tower areas with the flat landing area, obtain all power towers in the area with a radius of 800m with the aircraft as the center, and eliminate the area between any two adjacent power towers. The elimination process here is: select each power tower area with the smallest circular frame, and generate a set of common tangents between the circular frames of any two adjacent power tower areas, and eliminate the intersection of the area between the circular frame area and the common tangent with the flat landing area, thereby avoiding interference with the landing of the aircraft, and re-obtain the center point coordinates, boundary point coordinates and flat landing area of ​​the processed flat landing area as the landing point set. The specific expression of the landing point set is as follows:

[0070] JLD=[JLD1,…,JLD b ,…,JLD B ]

[0071] Among them, JLD represents the landing point set, JLD1,…,JLD b ,…,JLD B represents the 1st landing point area, ..., the bth landing point area, ..., the Bth landing point area;

[0072] S3: By executing the landing point search instruction to find the landing point set JLD, extract the environmental impact coefficient HJYXXS from the aircraft flight database based on the environmental data during the flight, and extract the aircraft impact coefficient FXYXXS from the aircraft flight database based on the aircraft basic data. The specific steps of extracting the environmental impact coefficient HJYXXS from the aircraft flight database based on the environmental data during the flight in S3 are as follows:

[0073] S3a.1: Read the environmental data of the bth landing point area in the landing point set;

[0074] S3a.2: Get the ground flatness coefficient. The specific expression is as follows:

[0075]

[0076] Among them, DMPTXS b represents the ground flatness coefficient of the bth landing point area, h b,i represents the ground height of the i-th point in the b-th landing point area, represents the average ground height of the b-th landing point area, and I represents that a total of I points are sampled in the b-th landing point area;

[0077] S3a.3: Obtain the ground type adaptability coefficient of the bth landing point area. The specific expression is as follows:

[0078]

[0079] Among them, SA b Represents the ground type adaptability coefficient of the bth landing point area, SA b =1 means the ground is rocky, SA b =0.8 means the ground is grass or soil, SA b =0.5 means the ground is sandy or wet;

[0080] S3a.4: Ground type adaptability coefficient SA based on the bth landing point area b and the ground flatness coefficient DMPTXS of the bth landing point area b Calculate the regional environmental impact coefficient HJYXXS of the bth landing point b , S3a.4 Calculate the regional environmental impact coefficient of the bth landing point HJYXXS b The specific expression is as follows:

[0081]

[0082] Among them, SA b Indicates the ground type adaptability coefficient of the bth landing point area, DMPTXS b represents the ground flatness coefficient of the b-th landing point area, ω1 and ω2 represent weight coefficients whose sum is 1;

[0083] The specific steps of extracting the aircraft influence coefficient FXYXXS from the aircraft flight database based on the aircraft basic data in S3 are as follows:

[0084] S3b.1: Get the coordinates of the four boundary points of the bth landing point area (x b,1 ,y b,1 )、(x b,2 ,y b,2 )、(x b,3 ,y b,3 )、(x b,4 ,y b,4 ), and select the minimum distance between the aircraft coordinates (x0, y0) and the four boundary points. The specific expression is as follows:

[0085]

[0086] Among them, l b,min Indicates the minimum distance between the aircraft coordinates (x0, y0) and the four boundary points. b,j and b,j They represent the coordinates of the jth boundary point in the bth landing point area, j = 1, 2, 3, 4,

[0087] S3b.2: Get the coordinates of the aircraft (x0, y0) and the center point coordinates of the bth landing point area (x b,0 ,y b,0 ), the specific expression is as follows:

[0088]

[0089] Among them, l b Represents the coordinates of the aircraft (x0, y0) and the center coordinates of the bth landing point area (x b,0 ,y b,0 ) distance;

[0090] S3b.3: Based on l b and l b,min Calculate the aircraft influence coefficient FXYXXS in the bth landing point area b , S3b.3 based on l b and l b,min Calculate the aircraft influence coefficient FXYXXS in the bth landing point area b The specific expression is as follows:

[0091]

[0092] Among them, l b,min Indicates the minimum distance between the aircraft coordinates (x0, y0) and the four boundary points, l b Represents the coordinates of the aircraft (x0, y0) and the center coordinates of the bth landing point area (x b,0 ,y b,0 ), where the distance between the minimum value of the coordinates of the four boundary points and the coordinates of the aircraft (x0, y0) and the center point of the b-th landing point area (x b,0 ,y b,0 ) as the final distance, reducing the interference of regional shape;

[0093] S4: Based on the environmental impact coefficient HJYXXS and the aircraft impact coefficient FXYXXS, the comprehensive impact coefficient ZHYXXS of each landing point output by the landing point search instruction is calculated. The specific expression of the comprehensive impact coefficient ZHYXXS of each landing point output by the landing point search instruction is calculated based on the environmental impact coefficient HJYXXS and the aircraft impact coefficient FXYXXS in S4 is as follows:

[0094]

[0095] Among them, FXYXXS b Indicates the aircraft influence coefficient of the bth landing point area, HJYXXS b represents the regional environmental impact coefficient of the bth landing point;

[0096] S5: Based on the comprehensive influence coefficient ZHYXXS, the aircraft landing point determination instruction is executed, and after the landing is completed, the landing point is uploaded. The specific steps of executing the aircraft landing point determination instruction based on the comprehensive influence coefficient ZHYXXS in S5 are: reading the value of the comprehensive influence coefficient of all landing point areas, and selecting the smallest one for landing. By redividing the dangerous area and selecting the landing point, it is ensured that the aircraft can identify and avoid the dangerous area in real time during the landing process, and select a safe landing point, thereby ensuring that the aircraft can timely select the optimal landing location for landing in an emergency, and ensuring the safety of the aircraft landing, avoiding collision with the power transmission line during the landing process and causing the aircraft to fall. After the landing is completed, the landing point information is uploaded to the central database in a timely manner through a secure communication system, which not only helps subsequent maintenance and scheduling, but also provides important data support for analyzing the handling of emergency situations. The measures ensure that the aircraft can complete the landing in an efficient and safe manner in an emergency.

[0097] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for finding a landing point of an aircraft, characterized in that: The following steps are involved: S1: Collect environmental data, flight fault data and basic data of the aircraft during flight and build an aircraft flight database; S2: Read flight fault data from the aircraft flight database and determine whether to execute the landing point search instruction. If the landing point search instruction is executed, the landing point set JLD is obtained and S3 is executed. If the landing point search instruction is not executed, S2 is terminated and jumps to S1. S3: by executing the landing point search instruction to find the landing point set JLD, extract the environmental impact coefficient HJYXXS from the aircraft flight database based on the environmental data during the flight, and extract the aircraft impact coefficient FXYXXS from the aircraft flight database based on the aircraft basic data; S4: Based on the environmental impact coefficient HJYXXS and the aircraft impact coefficient FXYXXS, the comprehensive impact coefficient ZHYXXS of each landing point output by the landing point search instruction is calculated; S5: Execute the aircraft landing point determination instruction based on the comprehensive influence coefficient ZHYXXS, and upload the landing point after the landing is completed.

2. The method for finding a landing point of an aircraft according to claim 1, characterized in that: The specific steps of the landing point search instruction executed in S2 are as follows: S2a.1: Read flight fault data from the aircraft flight database. The specific expression is as follows: FXGZ=[FXGZ1,…,FXGZ a ,…,FXGZ A ] Among them, FXGZ1,…,FXGZ a ,…,FXGZ A They represent the first error reporting instruction of the aircraft, …, the ath error reporting instruction, …, the Ath error reporting instruction, and FXGZ represents the flight fault data set; S2a.2: When FXGZ1,…,FXGZ a ,…,FXGZ A When any of the values ​​is 1, it means that the aircraft has a fault that affects the flight progress and needs to land; S2a.3: Obtain environmental data during the flight of the aircraft based on the aircraft flight database, and mark the minimum area on the map to obtain a landing point set.

3. The method for finding a landing point of an aircraft according to claim 2, characterized in that: The specific steps of S2a.3 for obtaining the environmental data of the aircraft during flight based on the aircraft flight database, marking the minimum area on the map, and obtaining the landing point set are as follows: S2a.3.1: Based on the map obtained by GPS and the radar on board the aircraft, all water surfaces, flat land, power towers and trees within a radius of 500m from the aircraft are obtained; S2a.3.2: Remove water surfaces and trees in the area, and use the minimum rectangular frame to select the flat land to obtain the flat land landing area, and all the flat land landing areas constitute the initial flat land landing area set. The initial flat land landing point set stores the center point coordinates, boundary point coordinates and flat land landing area of ​​each flat land landing area; S2a.3.3: Determine whether there is an electric power tower. If there is no electric power tower, terminate S2a.3.3 and use the initial flat landing area set as the landing point set. If there is an electric power tower, execute step S2a.3.4; S2a.3.4: Eliminate the intersection of all power tower areas and the flat landing area, obtain all power towers in the area with a radius of 800m with the aircraft as the center, and eliminate the area between any two adjacent power towers, and re-obtain the center point coordinates, boundary point coordinates and flat landing area of ​​the processed flat landing area as the landing point set.

4. The method for finding a landing point of an aircraft according to claim 3, characterized in that: The specific expression of the landing point set is as follows: JLD=[JLD1,…,JLD b ,…,JLD B ] Among them, JLD represents the landing point set, JLD1,…,JLD b ,…,JLD B It represents the 1st landing point area, ..., the bth landing point area, ..., the Bth landing point area.

5. The method for finding a landing point of an aircraft according to claim 4, characterized in that: The specific steps of extracting the environmental impact coefficient HJYXXS from the aircraft flight database based on the environmental data during the flight in S3 are as follows: S3a.1: Read the environmental data of the bth landing point area in the landing point set; S3a.2: Get the ground flatness coefficient. The specific expression is as follows: Among them, DMPTXS b represents the ground flatness coefficient of the bth landing point area, h b,i represents the ground height of the i-th point in the b-th landing point area, represents the average ground height of the b-th landing point area, and I represents that a total of I points are sampled in the b-th landing point area; S3a.3: Obtain the ground type adaptability coefficient of the bth landing point area. The specific expression is as follows: Among them, SA b Represents the ground type adaptability coefficient of the bth landing point area, SA b =1 means the ground is rock, SA b =0.8 means the ground is grass or soil, SA b =0.5 means the ground is sandy or wet; S3a.4: Ground type adaptability coefficient SA based on the bth landing point area b and the ground flatness coefficient DMPTXS of the bth landing point area b Calculate the regional environmental impact coefficient HJYXXS of the bth landing point b .

6. The method for finding a landing point of an aircraft according to claim 5, characterized in that: S3a.4 calculates the regional environmental impact coefficient HJYXXS of the bth landing point b The specific expression is as follows: Among them, SA b Indicates the ground type adaptability coefficient of the bth landing point area, DMPTXS b represents the ground flatness coefficient of the b-th landing point area, ω1 and ω2 represent weight coefficients whose sum is 1 respectively.

7. The method for finding a landing point of an aircraft according to claim 6, characterized in that: The specific steps of extracting the aircraft influence coefficient FXYXXS from the aircraft flight database based on the aircraft basic data in S3 are as follows: S3b.1: Get the coordinates of the four boundary points of the bth landing point area (x b,1 ,y b,1 )、(x b,2 ,y b,2 )、(x b,3 ,y b,3 )、(x b,4 ,y b,4 ), and select the minimum distance between the aircraft coordinates (x0, y0) and the four boundary points. The specific expression is as follows: Among them, l b,min Indicates the minimum distance between the aircraft coordinates (x0, y0) and the four boundary points. b,j and b,j They represent the coordinates of the jth boundary point in the bth landing point area, j = 1, 2, 3, 4, S3b.2: Get the coordinates of the aircraft (x0, y0) and the center point coordinates of the bth landing point area (x b,0 ,y b,0 ), the specific expression is as follows: Among them, l b Represents the coordinates of the aircraft (x0, y0) and the center coordinates of the bth landing point area (x b,0 ,y b,0 ) distance; S3b.3: Based on l b and l b,min Calculate the aircraft influence coefficient FXYXXS in the bth landing point area b .

8. The method for finding a landing point of an aircraft according to claim 7, characterized in that: The S3b.3 is based on l b and l b,min Calculate the aircraft influence coefficient FXYXXS in the bth landing point area b The specific expression is as follows: Among them, l b,min Indicates the minimum distance between the aircraft coordinates (x0, y0) and the four boundary points, l b Represents the coordinates of the aircraft (x0, y0) and the center coordinates of the bth landing point area (x b,0 ,y b,0 ) distance.

9. The method for finding a landing point of an aircraft according to claim 8, characterized in that: The specific expression of the comprehensive influence coefficient ZHYXXS of each landing point output by the landing point search instruction is calculated based on the environmental influence coefficient HJYXXS and the aircraft influence coefficient FXYXXS in S4 as follows: Among them, FXYXXS b Indicates the aircraft influence coefficient of the bth landing point area, HJYXXS b Represents the environmental impact coefficient of the bth landing point area.

10. The method for finding a landing point of an aircraft according to claim 9, characterized in that: The specific steps of executing the aircraft landing point determination instruction based on the comprehensive influence coefficient ZHYXXS in S5 are: reading the values ​​of the comprehensive influence coefficients of all landing point areas, and selecting the smallest one for landing.

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