EVTOL navigation management device and method

Abstract

The invention provides an eVTOL navigation management device. The eVTOL navigation management device comprises an eVTOL, a flight controller, a radar monitoring module, a positioning and height detection module, a height layer division and operation module, a flight path planning module and an adjustment module. The flight controller receives real-time height data, position data, obstacle data and height layer division results transmitted by all the modules and generates a control instruction according to the data, and the adjusting module receives the control instruction issued by the flight controller and adjusts the speed and attitude of the eVTOL. The invention also provides an eVTOL navigation management method, which comprises the following steps of: setting a running track of an airplane, dividing the flight height layer into 1000m-3000m, 100m-1000m and less than 100m, judging the height layer where the eVTOL is located at present, and setting different flight modes according to different height layers. EVTOL navigation is managed through the eVTOL, the flight controller, the millimeter wave radar, the positioning and height detection module, the flight route planning module and the like, the eVTOL flight management method is determined, and the flight safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of eVTOL navigation, and more specifically, to an eVTOL navigation management device and method. Background Art

[0002] Content, disadvantages, and deficiencies of the background art or conventional technology: Existing eVTOL (Electric Vertical Takeoff and Landing) aircraft are designed to fly in an airspace of 300m. With the progress of technology and the innovation of airspace management standards, eVTOL will be able to fly in a wider airspace.

[0003] Chinese Patent CN116166041A discloses an eVTOL aircraft avionics control system, including a UMC flight management computer, a navigation system, a communication system, a supervision system, a display system, a flight control system, and a flight mission system. The supervision system is used to monitor system status data, operating environment data, and third-party mission data to obtain a flight path; the flight control system is used to monitor the status and performance of the eVTOL aircraft, calculate a control law that can adapt to the status and performance of the eVTOL aircraft itself according to the flight path planned by the supervision system, and control the eVTOL aircraft according to the control law.

[0004] However, the existing eVTOL flight management mechanism has not been established, and there are no relevant regulations within 300 - 3000m. The present invention provides an eVTOL navigation management device and method for operation below 3000m to further improve flight safety. Summary of the Invention

[0005] The present invention provides an eVTOL navigation management device and method, aiming to solve the problems that the existing eVTOL flight management mechanism has not been established and there are no relevant regulations within 300 - 3000m, and to improve the flight safety of eVTOL.

[0006] To achieve the above object, the present invention provides an eVTOL navigation management device, including: A flight controller, which receives real-time altitude data, position data, obstacle data, and altitude layer division results transmitted by each module, and generates a control instruction based on these data; A radar monitoring module, which scans the surrounding environment in real time, collects obstacle data, and transmits the obstacle data to the flight controller and the adjustment module; A positioning and altitude detection module, which obtains real-time altitude data through a radio altimeter, determines the position data in combination with multi-base station positioning, and synchronizes the real-time altitude data and the position data to the flight controller; A sensor module that collects current wind speed, airspace flow, and real-time meteorological data and synchronizes the data to the flight controller and the adjustment module; An altitude layer division and operation module that receives the position data and real-time altitude data transmitted by the positioning and altitude detection module, divides the current altitude layer, and feeds back the altitude layer division result to the flight controller; A flight route planning module that generates a flight route based on the destination and transmits the flight route to the flight controller; An adjustment module that receives the control instructions issued by the flight controller, adjusts the speed and attitude of the eVTOL, and the adjustment module can also dynamically calculate the safety layer interval according to the data monitored by the sensor module and the radar monitoring module and dynamically adjust the safety layer interval of the eVTOL.

[0007] In one embodiment, the positioning and altitude detection module determines the position data through a position receiver in cooperation with multi-base station positioning.

[0008] In one embodiment, the positioning and altitude detection module determines the position data through GNSS and inertial navigation combined positioning, or through UWB base station positioning.

[0009] An eVTOL navigation management method implemented by the eVTOL navigation management device, including: Setting the flight trajectory of the aircraft, dividing the flight altitude layer into 1000m - 3000m, 100m - 1000m, and below 100m, and determining the current altitude layer where the eVTOL is located; When it is determined that the eVTOL is in the altitude layer of 1000 - 3000m, when switching layers, based on the sensor fusion data, determine whether the current eVTOL is safe, and after confirming safety, enter the next layer. When switching layers, start the radar monitoring module for panoramic scanning; When it is determined that the eVTOL is in the altitude layer of 100 - 1000m, light eVTOLs fly at low altitudes and large eVTOLs fly at high altitudes; When it is determined that the eVTOL is approaching the destination and is in the 100m altitude layer, it is in the landing phase, and the eVTOL executes the landing procedure; Among them, the sensor fusion data is associated by combining a deep learning model and a safety level assessment is generated to determine whether the current eVTOL is safe.

[0010] In one embodiment, the sensor fusion data includes obstacle data, wind speed, real-time meteorological data, and airspace flow; Dynamically calculate the safety layer interval according to the environment-altitude layer comparison setting and the current sensor fusion data, and determine whether the current eVTOL is safe; Among them, the environment-altitude layer comparison setting includes static stratification planning and dynamic rules.

[0011] In one embodiment, the flight controller sets the destination before takeoff, and the flight route planning module automatically plans the flight route, and the flight route is within the range of the aircraft's operating trajectory.

[0012] In one embodiment, the range of the aircraft's operating trajectory includes a first motion trajectory and a second motion trajectory, and the eVTOL moves in opposite directions on the first motion trajectory and the second motion trajectory and does not overlap.

[0013] In one embodiment, the flight route includes an intersection unit and a bend unit. The intersection unit sets a first intersection distance and a second intersection distance, and the bend unit sets a first bend distance; When the distance from the intersection during flight is the first intersection distance, the flight controller issues a deceleration command and maintains the altitude within a stable range; When the distance from the intersection during flight is the second intersection distance, the flight controller issues a start hovering command to wait for route confirmation; When the distance from the bend during flight is the first bend distance, the flight controller issues an attitude adjustment command and a deceleration command.

[0014] In one embodiment, the adjustment module sets the eVTOL flight speed limit according to different road types and the surrounding environment; In urban areas, the eVTOL flight speed is set to not more than 150 km / h; In non-urban areas, the eVTOL flight speed is set to not more than 250 km / h.

[0015] In one embodiment, when in the altitude range of 100 - 1000, the flight controller continuously maintains a stable altitude within a range with an error of ±5 m.

[0016] The present invention has the following beneficial effects: The present invention manages the eVTOL navigation through the eVTOL body, flight controller, millimeter-wave radar, positioning and altitude detection, altitude layer division and operation, and flight route planning module, determines the eVTOL flight management method, and improves the flight safety. Description of the Drawings

[0017] Figure 1 It is a schematic structural diagram of the eVTOL navigation management device according to an embodiment of the present invention; Figure 2 Schematic diagram of the eVTOL and the positioning and altitude detection module of the eVTOL navigation management device according to an embodiment of the present invention; Figure 3 Schematic diagram of the flight altitude layer stratification of the eVTOL navigation management method according to an embodiment of the present invention.

[0018] Among them, 100 is the sensor module; 200 is the flight controller; 300 is the radar monitoring module; 400 is the positioning and altitude detection module; 500 is the altitude layer division and operation module; 600 is the flight route planning module; 700 is the adjustment module. Detailed implementation manners

[0019] To make the purpose, technical solutions and advantages of the implementation of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings in the embodiments of this application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions. The described embodiments are some but not all of the embodiments of this application. The embodiments described below by referring to the drawings are exemplary and are intended to explain this application and should not be construed as a limitation to this application. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0020] Figure 1 Schematic diagram of the structure of the eVTOL navigation management device according to an embodiment of the present invention, the eVTOL navigation management device includes:

[0021] A flight controller 200, which receives real-time altitude data, position data, obstacle data, and altitude layer division results transmitted by each module, and generates control instructions based on these data;

[0022] A radar monitoring module 300, which scans the surrounding environment in real time, collects obstacle data and transmits the obstacle data to the flight controller 200 and the adjustment module 700;

[0023] A positioning and altitude detection module 400, as Figure 2 shown, the positioning and altitude detection module 400 obtains real-time altitude data through a radio altimeter, determines position data in combination with multi-base station positioning, and synchronizes the real-time altitude data and position data to the flight controller 200;

[0024] A sensor module 100, which collects the current wind speed, airspace flow, and real-time meteorological data, and synchronizes the data to the flight controller and the adjustment module;

[0025] Altitude layer division and operation module 500, the altitude layer division and operation module 500 receives the position data and real-time altitude data transmitted by the positioning and altitude detection module 400, divides the current altitude layer, and feeds back the altitude layer division result to the flight controller 200;

[0026] Flight route planning module 600, the flight route planning module 600 generates a flight route according to the destination and transmits the flight route to the flight controller 200;

[0027] Adjustment module 700, the adjustment module 700 receives the control instructions issued by the flight controller 200, adjusts the speed and attitude of the eVTOL, and the adjustment module 700 can also dynamically calculate the safety layer interval according to the data monitored by the sensor module 100 and the radar monitoring module 300, and dynamically adjust the safety layer interval of the eVTOL.

[0028] The radar monitoring module 300 includes a millimeter-wave radar.

[0029] In one embodiment, the positioning and altitude detection module 400 determines the position data through a position receiver.

[0030] Further, the position receiver can select a sim card or an esim card to cooperate with multi-base station positioning to determine the position data.

[0031] In one embodiment, the positioning and altitude detection module 400 determines the position data through GNSS and inertial navigation combined positioning, or through UWB base station positioning.

[0032] An eVTOL navigation management method, implemented by the eVTOL navigation management device described above, includes: Set the flight trajectory of the aircraft, divide the flight altitude layer into 1000m - 3000m, 100m - 1000m, and below 100m, and judge the current altitude layer where the eVTOL is located; Figure 3 This is a schematic structural diagram of the flight altitude layer stratification of the eVTOL navigation management method according to an embodiment of the present invention. When it is judged that the eVTOL is in the altitude layer of 1000 - 3000m, when the layer switches, according to the sensor fusion data, judge whether the current eVTOL is safe, and after confirming safety, enter the next layer. When the layer switches, start the panoramic scan of the radar monitoring module 300; When it is judged that the eVTOL is in the altitude layer of 100 - 1000m, the light eVTOL flies at a low altitude and the large eVTOL flies at a high altitude; When it is judged that the eVTOL is approaching the destination and is in the 100m altitude layer, it is the landing stage, and the eVTOL executes the landing procedure.

[0033] Among them, the sensor fusion data is associated by combining with a deep learning model, and a safety level assessment is generated to determine whether the current eVTOL is safe.

[0034] Among them, to determine the safety of the current eVTOL, it is necessary to calculate the dynamic collision avoidance time with the nearest obstacle, and whether the wind speed is not greater than the flight wind speed threshold. The flight wind speed threshold can be set for the light eVTOL flight wind speed threshold and the heavy eVTOL100 flight wind speed threshold. Preferably, the light eVTOL flight wind speed threshold can be not less than 15 m / s, and the heavy eVTOL flight wind speed threshold can be not less than 20 m / s. Here, a deep learning model can be used for data association and a safety level assessment is generated. When all parameters are within the set thresholds, the hierarchical level is automatically switched uniformly, otherwise it is not allowed.

[0035] Specifically, the lower layer is 100 - 500 m, and the upper layer is 500 - 1000 m. The light eVTOL has an empty weight not greater than 400 kg and a load not greater than 200 kg, and the large eVTOL has an air weight greater than 400 kg and a load greater than 200 kg.

[0036] When the eVTOL starts the landing process when approaching the destination, it is necessary to determine whether the eVTOL is at the 100 m altitude layer. When it is determined that the eVTOL is at the 100 m altitude layer, then "when it is determined that the eVTOL is at the 100 m altitude layer, it is the landing stage, and the eVTOL executes the landing procedure" is valid.

[0037] When the eVTOL is at the altitude layer of 1000 - 3000 m, multiple variable spacings are set, including the first variable spacing, the second variable spacing, and the third variable spacing, and it is increased according to different variable spacings.

[0038] In one embodiment, the sensor fusion data includes obstacle data, wind speed, real-time meteorological data, and airspace traffic; According to the environment-altitude layer comparison setting and the current sensor fusion data, the safety hierarchical interval is dynamically calculated to determine whether the current eVTOL is safe; Among them, the environment-altitude layer comparison setting includes static stratification planning and dynamic rules.

[0039] Furthermore, the static stratification planning and dynamic rules specifically include: Set the static stratification planning, predefined altitude layer rules, the altitude layer interval in the urban area is set to 300 meters, and the altitude layer interval in the open area is set to 100 meters; Set the dynamic rules. When the sensor module 100 and the radar monitoring module detect obstacles, wind speed or precipitation, the altitude layer interval setting is automatically expanded; Calculate the lateral drift based on the wind speed (W), wind direction (θ), and aircraft aerodynamic parameters, and reserve this lateral drift in the interval. When encountering precipitation, automatically increase the vertical interval by 20% to expand the interval.

[0040] In one embodiment, the flight controller 200 sets the destination before takeoff, and the flight route planning module 600 automatically plans the flight route, which is within the range of the aircraft's operating trajectory.

[0041] Specifically, for the route planning from the airport in City A to the business district in City B: After takeoff, enter the 100 - 500m layer (lightweight) and fly along the urban expressway. When passing through the suburbs, switch to the 500 - 1000m layer (to reduce noise). When approaching City B, descend to the 100 - 500m layer and reach the landing point along the designated waypoints.

[0042] Adjustment strategy: The speed limit in the urban area is 150 km / h, and the speed limit in the suburbs is 250 km / h.

[0043] In one embodiment, the range of the aircraft's operating trajectory includes a first motion trajectory and a second motion trajectory. The eVTOL moves in opposite directions on the first motion trajectory and the second motion trajectory and does not overlap.

[0044] In one embodiment, the flight route includes an intersection unit and a curve unit. The intersection unit sets a first intersection distance and a second intersection distance, and the curve unit sets a first curve distance. When the distance from the intersection during flight is the first intersection distance, the flight controller 200 issues a deceleration command and maintains the altitude within a stable range. When the distance from the intersection during flight is the second intersection distance, the flight controller 200 issues a start hover command to wait for route confirmation. When the distance from the curve during flight is the first curve distance, the flight controller 200 issues an attitude adjustment command and a deceleration command.

[0045] Specifically, the first intersection distance can be set to 200m, and the second intersection distance can be set to 100m. When the distance from the intersection during flight is the first intersection distance, the flight controller 200 issues a deceleration command to reduce the eVTOL speed to 120 km / h and maintain the altitude within a range with an error of ±5m.

[0046] When approaching the curve, adjust the eVTOL attitude 500m in advance. The eVTOL tilt angle is not greater than 15°, and the speed is reduced to 180 km / h. After successfully passing the curve, resume the normal speed.

[0047] Furthermore, waiting for route confirmation is a crucial step to ensure the safety verification of the aircraft before switching routes or altitude levels. The conditions for triggering waiting for route confirmation include airspace conflict warnings, dynamic route changes, sudden changes in meteorological conditions, abnormal sensor data, low battery / system failures. Among them, the airspace conflict warning can set to detect other aircraft or obstacles entering the safety radius, and the safety radius can be set to no more than 5 km; the dynamic route change can temporarily adjust the route or altitude level according to the control instructions of the flight controller 200; when there is a sudden change in meteorological conditions, it is predicted that the wind speed will be greater than the set flight wind speed threshold or there will be heavy precipitation weather in the future 2 minutes of the predicted route; abnormal sensor data includes the failure or inconsistent data of key sensors (such as radar, IMU); low battery / system failure includes insufficient remaining battery power or motor / rotor health status warning. When the above situations occur, it is necessary to enter the waiting time and continuously wait for route confirmation until there is no safety hazard.

[0048] In one embodiment, the adjustment module 700 sets the eVTOL flight speed limit according to different road types and surrounding environments; In urban areas, the eVTOL flight speed is set to no more than 150 km / h; In non-urban areas, the eVTOL flight speed is set to no more than 250 km / h.

[0049] In one embodiment, when in the altitude range of 100 - 1000, the flight controller 200 continuously maintains a stable altitude within a range of ±5 m error.

[0050] The present invention manages the eVTOL navigation through the eVTOL body, flight controller 200, millimeter-wave radar, positioning and altitude detection, altitude level division and operation, and flight route planning module 600, determines the eVTOL flight management method, and improves the flight safety.

[0051] In the description of the present application, it should be noted that the terms used here are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. For the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the said technologies, methods, and devices should be regarded as part of the authorization specification. In all the examples shown and discussed here, any specific value should be interpreted as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that: similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0052] It should be noted that in this application, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. It should also be pointed out that the scope of the methods and devices in the embodiments of this application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0053] In addition, it should be noted that unless otherwise clearly specified and limited, the terms "connected" and "driven" used in the description of this application should be understood in a broad sense, which can be direct, through an intermediate medium, or the relationship inside two elements. Those skilled in the art can understand their specific meanings in this application according to specific circumstances. In this article, similar terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0054] The above embodiments are provided for those skilled in the art to implement or use this application. Those skilled in the art can make various modifications or changes to the above embodiments without departing from the application idea of this application. Therefore, the protection scope of this application is not limited by the above embodiments, but should be the maximum scope that conforms to the innovative features mentioned in the claims.

Claims

1. An eVTOL flight management device, characterized in that, The eVTOL flight management device includes: A flight controller that receives real-time altitude data, position data, obstacle data, and altitude layer division results transmitted by each module, and generates control instructions based on this data; A radar monitoring module that scans the surrounding environment in real time, collects obstacle data, and transmits the obstacle data to the flight controller and the adjustment module; A positioning and altitude detection module that obtains real-time altitude data through a radio altimeter, determines position data in combination with multi-base station positioning, and synchronizes the real-time altitude data and position data to the flight controller; A sensor module that collects current wind speed, airspace flow, and real-time meteorological data, and synchronizes the data to the flight controller and the adjustment module; An altitude layer division and operation module that receives the position data and real-time altitude data transmitted by the positioning and altitude detection module, divides the current altitude layer, and feeds back the altitude layer division result to the flight controller; A flight route planning module that generates a flight route based on the destination and transmits the flight route to the flight controller; An adjustment module that receives the control instructions issued by the flight controller, adjusts the speed and attitude of the eVTOL. The adjustment module can also dynamically calculate the safety layer interval based on the data monitored by the sensor module and the radar monitoring module, and dynamically adjust the safety layer interval of the eVTOL.

2. The eVTOL flight management device according to claim 1, characterized in that, The positioning and altitude detection module determines position data through a position receiver in cooperation with multi-base station positioning.

3. The eVTOL flight management device according to claim 1, wherein The positioning and altitude detection module determines position data through GNSS and inertial navigation combined positioning, or through UWB base station positioning.

4. An eVTOL flight management method implemented by the eVTOL flight management device according to any one of claims 1-3, including: Setting the flight trajectory of the aircraft, dividing the flight altitude layer into 1000m - 3000m, 100m - 1000m, and below 100m, and determining the current altitude layer where the eVTOL is located; When it is determined that the eVTOL is in the altitude layer of 1000 - 3000m, when switching layers, based on the sensor fusion data, determine whether the current eVTOL is safe. After confirming safety, enter the next layer, and start the radar monitoring module to scan around when switching layers; When it is determined that the eVTOL is in the altitude layer of 100 - 1000m, light eVTOLs fly at low altitudes and large eVTOLs fly at high altitudes; When it is determined that the eVTOL is approaching the destination and is in the 100m altitude layer, it is the landing stage, and the eVTOL executes the landing procedure; Among them, the sensor fusion data is associated by combining a deep learning model, and a safety level assessment is generated to determine whether the current eVTOL is safe.

5. The eVTOL flight management method according to claim 4, characterized in that, The sensor fusion data includes obstacle data, wind speed, real-time meteorological data, and airspace flow; Dynamically calculate the safety layer interval according to the environment-altitude layer comparison setting and the current sensor fusion data, and determine whether the current eVTOL is safe; Among them, the environment - altitude layer comparison setting includes static stratification planning and dynamic rules.

6. The eVTOL flight management method according to claim 4, wherein The flight controller sets the destination before takeoff, and the flight route planning module automatically plans the flight route, which is within the range of the aircraft's operating trajectory.

7. The eVTOL flight management method according to claim 6, wherein The range of the aircraft's operating trajectory includes a first motion trajectory and a second motion trajectory. The eVTOL moves in opposite directions on the first motion trajectory and the second motion trajectory and does not overlap.

8. The eVTOL flight management method according to claim 6, wherein The flight route includes intersection units and bend units. The intersection units set a first intersection distance and a second intersection distance, and the bend units set a first bend distance; When the distance from the intersection during flight is the first intersection distance, the flight controller issues a deceleration command and maintains the altitude within a stable range; When the distance from the intersection during flight is the second intersection distance, the flight controller issues a start hovering command to wait for route confirmation; When the distance from the bend during flight is the first bend distance, the flight controller issues an attitude adjustment command and a deceleration command.

9. The eVTOL flight management method according to claim 4, wherein The adjustment module sets the eVTOL flight speed limit according to different road types and the surrounding environment; In urban areas, the eVTOL flight speed is set to not more than 150 km / h; In non - urban areas, the eVTOL flight speed is set to not more than 250 km / h.

10. The eVTOL flight management method according to claim 4, wherein When in the altitude range of 100 - 1000, the flight controller continuously maintains a stable altitude, keeping the altitude within a range with an error of ±5 m.

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