A method for finding the landing point of an aircraft

Abstract

This invention relates to the field of aircraft landing point search technology, and discloses an aircraft landing point search method. This method involves finding a set of landing points by executing a landing point search command, extracting environmental impact coefficients from the aircraft's flight database based on environmental data during flight, and extracting aircraft impact coefficients from the aircraft's flight database based on basic aircraft data. The method uses GPS-based maps and the aircraft's onboard radar to identify all water surfaces, flat ground, power towers, and trees within a 500m radius centered on the aircraft. After removing these, a set of landing points is obtained. The method then outputs the comprehensive impact coefficient of each landing point and selects the one with the smallest comprehensive impact coefficient for landing. This ensures that the aircraft can promptly select the optimal landing location in emergency situations and guarantees the safety of the landing, avoiding collisions with power lines and subsequent crashes during descent.

Description

Technical Field

[0001] This invention relates to the field of aircraft landing point search technology, specifically to a method for aircraft landing point search. Background Technology

[0002] In recent years, with the rapid development of unmanned aerial vehicle (UAV) technology, the landing guidance technology for aircraft, especially autonomous vertical take-off and landing (VTOL) aircraft, has also undergone corresponding development stages: GNSS (Global Navigation Satellite System) is used to guide the landing point, but its disadvantage is insufficient accuracy; RTKGNSS (Real-Time Kinematic GNSS) guides the landing point, but its disadvantages are that the signal is easily interfered with, it requires continuous communication with the ground, it is expensive, and it is not suitable for landing near forests or tall buildings. When there are few outdoor landmarks, the take-off and landing process is often short when the aircraft malfunctions. In mountainous areas, power transmission towers are common. UAVs can usually identify power towers, but during landing, due to the narrowness of the power lines, they may be difficult to be accurately identified by visual sensors (such as cameras) at long distances or high speeds. Many power lines also have a similar background color, resulting in low contrast with the background and making them difficult to distinguish from other objects. Therefore, during emergency landings, they are prone to contact with the power lines, causing damage. Summary of the Invention

[0003] (a) Technical problems to be solved

[0004] To address the shortcomings of existing technologies, this invention provides a method for finding the landing point of an aircraft, which has advantages such as avoiding landing damage and solves the aforementioned technical problems.

[0005] (II) Technical Solution

[0006] To achieve the above objectives, the present invention provides the following technical solution: a method for finding the 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 command. If the landing point search command is executed, obtain the landing point set JLD and execute S3. If the landing point search command is not executed, terminate S2 and jump to S1.

[0009] S3: The set of landing points JLD found by executing the landing point search command is used to extract the environmental impact coefficient HJYXXS from the aircraft flight database based on the environmental data during the flight process, and the aircraft impact coefficient FXYXXS is extracted from the aircraft flight database based on the aircraft basic data.

[0010] S4: The comprehensive impact coefficient ZHYXXS of each landing point output by the landing point search command is calculated based on the environmental impact coefficient HJYXXS and the aircraft impact coefficient FXYXXS.

[0011] S5: Executes the aircraft landing point determination command based on the comprehensive influence coefficient ZHYXXS, and uploads the landing point location after landing is completed.

[0012] As a preferred embodiment 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 These represent the first type of error message command, ..., the a-th type of error message command, ..., the A-th type of error message command, respectively, and FXGZ represents the flight fault dataset;

[0016] S2a.2: When FXGZ1,…,FXGZ a ,…,FXGZ A If any one of these values ​​is 1, it indicates that the aircraft has experienced a malfunction that affects its 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 the set of landing points.

[0018] As a preferred embodiment of the present invention, the specific steps of S2a.3, which involves obtaining environmental data during the flight of the aircraft based on the aircraft flight database and performing minimum area marking on a map to obtain the set of landing points, are as follows:

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

[0020] S2a.3.2: Remove water surfaces and trees within the area, and select flat land using the smallest rectangle to obtain flat land landing areas. All flat land landing areas are combined to form an initial set of flat land landing areas. The initial set of flat land landing points stores the center point coordinates, boundary point coordinates, and flat land landing area of ​​each flat land landing area.

[0021] S2a.3.3: Determine if there is a power tower. If there is no power tower, terminate S2a.3.3 and use the initial set of flat landing areas as the set of landing points. If there is a power tower, proceed to step S2a.3.4.

[0022] S2a.3.4: Remove the parts where all power tower areas intersect with the flat landing area, obtain all power towers in an area with a radius of 800m centered on the aircraft, remove 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, and use them as the landing point set.

[0023] As a preferred embodiment of the present invention, the specific expression of the set of landing points is as follows:

[0024] JLD = [JLD1, ..., JLD] b ,…,JLD B ]

[0025] Where JLD represents the set of landing points, JLD1,…,JLD b ,…,JLD B This represents the 1st landing point region, ..., the bth landing point region, ..., the Bth landing point region.

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

[0027] S3a.1: Read the environmental data of the b-th landing point region in the landing point set;

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

[0029]

[0030] Among them, DMPTXS b h represents the flatness coefficient of the area at the b-th landing point. b,i This represents the ground elevation of the i-th point in the region of the b-th landing point. Let I represent the average ground elevation of the b-th landing point region, and let I represent that a total of I points were sampled in the b-th landing point region.

[0031] S3a.3: Obtain the ground type adaptability coefficient for the b-th landing point region. The specific expression is as follows:

[0032]

[0033] Among them, SA b SA represents the ground type adaptability coefficient for the b-th landing point region. b =1 indicates that the ground is rock, SA b =0.8 indicates that the ground is grass or soil, SA b =0.5 indicates that the ground is sandy soil or wetland;

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

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

[0036]

[0037] Among them, SA b DMPTXS represents the ground type adaptability coefficient for the b-th landing point region. b ω1 and ω2 represent the ground flatness coefficient of the region of the b-th landing point, respectively, and the weight coefficients that sum to 1.

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

[0039] S3b.1: Obtain the coordinates (x, y) of the four boundary points of the b-th landing point region. b,1 ,y b,1 ), (x b,2 ,y b,2 ), (x b,3 ,y b,3 ), (x b,4 ,y b,4 The algorithm selects the minimum distance from the aircraft coordinates (x0, y0) to the coordinates of the four boundary points, as shown in the following expression:

[0040]

[0041] Among them, l b,min This represents the minimum distance from the spacecraft's coordinates (x0, y0) to the coordinates of its four boundary points, where x b,j and y b,j Let represent the coordinates of the j-th boundary point in the region of the b-th landing point, where j = 1, 2, 3, 4.

[0042] S3b.2: Obtain the coordinates of the aircraft (x0, y0) and the coordinates of the center point (x0, y0) of the b-th landing point region. b,0 ,y b,0 The distance to ) is expressed as follows:

[0043]

[0044] Among them, l b This represents the coordinates of the aircraft (x0, y0) and the center point (x, y0) of the b-th landing point region. b,0 ,y b,0 The distance;

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

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

[0047]

[0048] Among them, l b,min This represents the minimum distance from the spacecraft's coordinates (x0, y0) to the coordinates of its four boundary points. b This represents the coordinates of the aircraft (x0, y0) and the center point (x, y0) of the b-th landing point region. b,0 ,y b,0 The distance.

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

[0050]

[0051] Among them, FXYXXS b HJYXXS represents the aircraft influence coefficient in the b-th landing point area.b This represents the environmental impact coefficient of the b-th landing point area.

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

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

[0054] This invention uses GPS-based maps and radar onboard the aircraft to identify all water surfaces, flat land, power towers, and trees within a 500m radius centered on the aircraft. After removing these, a set of landing points is obtained. Then, based on the environmental impact coefficient HJYXXS and the aircraft impact coefficient FXYXXS, the comprehensive impact coefficient ZHYXXS of each landing point output in the landing point search command is calculated. The landing point with the smallest comprehensive impact coefficient is selected, ensuring that the aircraft can promptly select the optimal landing location in emergency situations and guaranteeing the safety of the aircraft landing by avoiding collisions with power transmission lines during landing. Attached Figure Description

[0055] Figure 1 This is a schematic diagram of the process of the present invention. Detailed Implementation

[0056] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0057] Please see Figure 1 A method for finding the landing point of an aircraft includes 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 command. If the landing point search command is executed, obtain the landing point set JLD and execute S3. If the landing point search command is not executed, terminate S2 and jump to S1.

[0060] The specific steps of the landing point search command 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 These represent the first type of error message command, ..., the a-th type of error message command, ..., the A-th type of error message command, respectively, and FXGZ represents the flight fault dataset;

[0064] S2a.2: When FXGZ1,…,FXGZ a ,…,FXGZ A If any one of these values ​​is 1, it indicates that the aircraft has experienced a malfunction that affects its flight progress and needs to land.

[0065] S2a.3: Obtain environmental data during the aircraft's flight process based on the aircraft flight database, and mark the minimum area on the map to obtain the 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 the aircraft, all water surfaces, flat land, power towers and trees within a 500m radius centered on the aircraft;

[0067] S2a.3.2: Remove water surfaces and trees within the area, and select flat land using the smallest rectangle to obtain flat land landing areas. All flat land landing areas are combined to form an initial set of flat land landing areas. The initial set of flat land landing points stores the center point coordinates, boundary point coordinates, and flat land landing area of ​​each flat land landing area.

[0068] S2a.3.3: Determine if there is a power tower. If there is no power tower, terminate S2a.3.3 and use the initial set of flat landing areas as the set of landing points. If there is a power tower, proceed to step S2a.3.4.

[0069] S2a.3.4: Remove the intersection of all power tower areas with the flat landing area, and obtain all power towers within an 800m radius centered on the aircraft. Remove the area between any two adjacent power towers. The removal process is as follows: Select each power tower area with a minimum circular bounding box, generate a common tangent between the circular bounding boxes of any two adjacent power tower areas, and remove the intersection of the circular bounding box area and the common tangent with the flat landing area. This avoids interference with the aircraft landing. The center point coordinates, boundary point coordinates, and flat landing area of ​​the processed flat landing area are then obtained again and used as the landing point set. The specific expression for the landing point set is as follows:

[0070] JLD = [JLD1, ..., JLD] b ,…,JLD B ]

[0071] Where JLD represents the set of landing points, JLD1,…,JLD b ,…,JLD B This represents the 1st landing point region, ..., the bth landing point region, ..., the Bth landing point region;

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

[0073] S3a.1: Read the environmental data of the b-th landing point region in the landing point set;

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

[0075]

[0076] Among them, DMPTXS b h represents the flatness coefficient of the area at the b-th landing point. b,i This represents the ground elevation of the i-th point in the region of the b-th landing point. Let I represent the average ground elevation of the b-th landing point region, and let I represent that a total of I points were sampled in the b-th landing point region.

[0077] S3a.3: Obtain the ground type adaptability coefficient for the b-th landing point region. The specific expression is as follows:

[0078]

[0079] Among them, SA b SA represents the ground type adaptability coefficient for the b-th landing point region. b =1 indicates that the ground is rock, SA b =0.8 indicates that the ground is grass or soil, SA b =0.5 indicates that the ground is sandy soil or wetland;

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

[0081]

[0082] Among them, SA b DMPTXS represents the ground type adaptability coefficient for the b-th landing point region. b ω1 and ω2 represent the ground flatness coefficient of the region of the b-th landing point, respectively, and the weight coefficients that sum to 1.

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

[0084] S3b.1: Obtain the coordinates (x, y) of the four boundary points of the b-th landing point region. b,1 ,y b,1 ), (x b,2 ,y b,2 ), (x b,3 ,y b,3 ), (x b,4 ,y b,4 The algorithm selects the minimum distance from the aircraft coordinates (x0, y0) to the coordinates of the four boundary points, as shown in the following expression:

[0085]

[0086] Among them, l b,min This represents the minimum distance from the spacecraft's coordinates (x0, y0) to the coordinates of its four boundary points, where x b,j and y b,j Let represent the coordinates of the j-th boundary point in the region of the b-th landing point, where j = 1, 2, 3, 4.

[0087] S3b.2: Obtain the coordinates of the aircraft (x0, y0) and the coordinates of the center point (x0, y0) of the b-th landing point region. b,0 ,y b,0 The distance to ) is expressed as follows:

[0088]

[0089] Among them, l b This represents the coordinates of the aircraft (x0, y0) and the center point (x, y0) of the b-th landing point region. b,0 ,y b,0 The distance;

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

[0091]

[0092] Among them, l b,min This represents the minimum distance from the spacecraft's coordinates (x0, y0) to the coordinates of its four boundary points. b This represents the coordinates of the aircraft (x0, y0) and the center point (x, y0) of the b-th landing point region. b,0 ,y b,0 The distance is calculated by taking the minimum distance between the four boundary points and the distance between the aircraft coordinates (x0, y0) and the center point coordinates (x0, y0) of the b-th landing point region. b,0 ,y b,0 Using the distance as the final distance reduces interference from the region's shape;

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

[0094]

[0095] Among them, FXYXXS b HJYXXS represents the aircraft influence coefficient in the b-th landing point area. b This represents the environmental impact coefficient of the b-th landing point area;

[0096] S5: Executes the aircraft landing point determination command based on the comprehensive influence coefficient ZHYXXS, and uploads the landing point location after landing. The specific steps of S5 in executing the aircraft landing point determination command based on the comprehensive influence coefficient ZHYXXS are as follows: read the values ​​of the comprehensive influence coefficients of all landing point areas, and select the one with the smallest for landing. By redividing the danger zone and selecting the landing point, it ensures that the aircraft can identify and avoid danger zones in real time during landing and select a safe landing point. This ensures that the aircraft can select the optimal landing location in time in emergency situations and ensures the safety of the aircraft landing, avoiding collisions with power transmission lines and crashes during landing. After landing, the landing point information is uploaded to the central database in a timely manner through a secure communication system. This not only helps with subsequent maintenance and scheduling, but also provides important data support for analyzing emergency handling. These measures ensure that the aircraft can complete the landing in an efficient and safe manner in emergency situations.

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

Claims

1. A method for finding the landing point of an aircraft, characterized in that: Includes the following steps: 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 a landing point search command. If the landing point search command is executed, obtain the landing point set. If the landing point search command is not executed, then S2 is terminated and jump to S1. S3: The set of landing points found by executing the landing point search command. Environmental impact coefficients are extracted from the aircraft flight database based on environmental data during flight. Furthermore, the aircraft impact coefficient is extracted from the aircraft flight database based on the aircraft's basic data. ; Among them, environmental impact coefficients are extracted from the aircraft flight database based on environmental data during flight. Includes: S3a.1: Reading the first number in the set of landing points Environmental data for each landing point area; S3a.2: Obtain the ground flatness coefficient, the specific expression of which is as follows: in, Indicates the first Ground flatness coefficient of the landing point area Indicates the first The landing point area The ground elevation at each point Indicates the first Average ground elevation in the landing zone Indicates the first A total of samples were taken from the landing point area. The first point; S3a.3: Get the first point The ground type adaptability coefficient for each landing point area is expressed as follows: in, Indicates the first The ground type adaptability coefficient for each landing point area. This indicates that the ground is rock. This indicates that the ground is either grass or soil. Indicates that the ground is sandy soil or wetland; S3a.4: Based on the first Ground type adaptability coefficient for each landing point area and the Ground flatness coefficient of the landing point area Calculate the first Environmental impact coefficient of each landing point area ; No. Environmental impact coefficient of each landing point area The specific expression is as follows: in, Indicates the first The ground type adaptability coefficient for each landing point area. Indicates the first The ground flatness coefficient of the landing point area and These represent the weight coefficients that sum to 1; Among them, the aircraft impact coefficient is extracted from the aircraft flight database based on the aircraft's basic data. The specific steps are as follows: S3b.1: Obtain the first Coordinates of the four boundary points of the landing point area , , , and select the aircraft coordinates The minimum distance to the coordinates of the four boundary points is expressed as follows: in, Represents the coordinates of the aircraft Minimum distance to the coordinates of the four boundary points and They represent the first The first landing point area The coordinates of the boundary points S3b.2: Obtain the coordinates of the aircraft With the The center point coordinates of the landing point area The distance is expressed as follows: in, Represents the coordinates of the aircraft With the The center point coordinates of the landing point area Distance; S3b.3: Based on and Calculate the first The impact coefficient of aircraft in the landing point area ;based on and Calculate the first The impact coefficient of aircraft in the landing point area The specific expression is as follows: in, Represents the coordinates of the aircraft Minimum distance to the coordinates of the four boundary points Represents the coordinates of the aircraft With the The center point coordinates of the landing point area The distance; S4: Based on environmental impact coefficient And aircraft influence coefficient The comprehensive influence coefficient of each landing point output by the landing point search command is calculated. ; Among them, based on the environmental impact coefficient And aircraft influence coefficient The comprehensive influence coefficient of each landing point output by the landing point search command is calculated. The specific expression is as follows: in, Indicates the first The impact coefficient of aircraft in the landing point area Indicates the first Environmental impact coefficient of each landing point area; S5: Based on the comprehensive impact coefficient Execute the command to determine the aircraft's landing point, and upload the landing point location after landing; among which, based on the comprehensive influence coefficient The specific steps for executing the aircraft landing point determination command are as follows: read the values ​​of the comprehensive influence coefficients of all landing point areas, and select the one with the smallest value for landing.

2. The method for finding the landing point of an aircraft according to claim 1, characterized in that: The specific steps of the landing point search command executed in S2 are as follows: S2a.1: Read flight fault data from the aircraft flight database. The specific expression is as follows: in, These represent the first type of error message from the aircraft. , No. Error reporting instructions , No. Error message command, This represents a flight failure dataset; S2a.2: When If any one of these values ​​is 1, it indicates that the aircraft has experienced a malfunction that affects its 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 the set of landing points.

3. The method for finding the landing point of an aircraft according to claim 2, characterized in that: The specific steps of S2a.3, which involves obtaining environmental data during the flight of the aircraft based on the aircraft flight database and marking the smallest area on the map to obtain the set of landing points, are as follows: S2a.3.1: Based on the map obtained by GPS and the radar on the aircraft, all water surfaces, flat land, power towers and trees within a 500m radius centered on the aircraft; S2a.3.2: Remove water surfaces and trees within the area, and select flat land using the smallest rectangle to obtain flat land landing areas. All flat land landing areas are combined to form an initial set of flat land landing areas. The initial set of flat land landing points stores the center point coordinates, boundary point coordinates, and flat land landing area of ​​each flat land landing area. S2a.3.3: Determine if there is a power tower. If there is no power tower, terminate S2a.3.3 and use the initial set of flat landing areas as the set of landing points. If there is a power tower, proceed to step S2a.3.

4. S2a.3.4: Remove the parts where all power tower areas intersect with the flat landing area, obtain all power towers in an area with a radius of 800m centered on the aircraft, remove 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, and use them as the landing point set.

4. The method for finding the landing point of an aircraft according to claim 3, characterized in that: The specific expression for the set of landing points is as follows: in, Represents the set of landing points. Indicates the area of ​​the first landing point. , No. Landing point area, , No. A landing point area.

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