EVTOL aircraft radio equipment optimization method, system, equipment and medium

Abstract

The invention relates to an eVTOL aircraft radio equipment optimization method, system and device and a medium. The method comprises the following steps: acquiring flight attitude data and positioning data of an eVTOL aircraft; performing data fusion on the flight attitude data and the positioning data to obtain optimal state estimation; optimizing the mounting positions of an antenna and a sensor on the eVTOL aircraft based on the optimal state estimation; constructing a ground station database; obtaining a link quality index and a candidate ground station set based on the ground station database and the positioning data; acquiring real-time communication parameters of the eVTOL aircraft and each candidate ground station; screening an optimal ground station from the plurality of candidate ground stations; judging whether a link switching condition is met or not; and if yes, establishing a temporary communication link between the eVTOL aircraft and the optimal ground station in advance. According to the method, the overall performance and cruising ability of the eVTOL aircraft can be improved, and safer and more efficient communication guarantee is provided for urban air traffic.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of low-altitude aircraft radio, in particular to an eVTOL aircraft radio device optimization method, system, device and medium. BACKGROUND

[0002] Modern eVTOL low-altitude aircraft faces severe challenges in the integration of radio device systems. With the sharp increase in the number of avionics, the electromagnetic compatibility problem between multiple radio devices becomes particularly prominent. In the current system design, the antenna beam pointing accuracy is insufficient, the transmission power control is not accurate, and the coordination of each transceiver in the frequency domain, spatial domain and time domain has obvious defects. These problems directly lead to the difficulty of achieving the optimal size, weight and power (SWaP) indicators of the aircraft radio system, which seriously affects the overall performance and endurance of the aircraft. Especially in the urban low-altitude flight environment, dense ground communication facilities and complex electromagnetic environment make these problems more prominent, and an innovative solution is urgently needed to effectively solve these problems. SUMMARY

[0003] Therefore, it is necessary to provide an eVTOL aircraft radio device optimization method, system, device and medium to solve the above technical problems.

[0004] In a first aspect, the present application provides an eVTOL aircraft radio device optimization method, which comprises: acquiring flight attitude data and positioning data of an eVTOL aircraft; data fusion of the flight attitude data and the positioning data to obtain optimal state estimation; optimizing the installation position of the antenna and sensor on the eVTOL aircraft based on the optimal state estimation; constructing a ground station database; real-time link quality assessment based on the ground station database and the positioning data to obtain a link quality indicator and a candidate ground station set, the candidate ground station set including a plurality of candidate ground stations; acquiring real-time communication parameters of the eVTOL aircraft and each candidate ground station; based on the real-time communication parameters, the link quality indicator and the ground station database of each candidate ground station, using a handover decision optimization algorithm to select the optimal ground station from the plurality of candidate ground stations; determining whether the link handover condition is reached; if so, establishing a temporary communication link between the eVTOL aircraft and the optimal ground station in advance.

[0005] Optionally, the flight attitude data and the positioning data are data fused to obtain an optimal state estimation, including: establishing a state vector based on the flight attitude data and the positioning data; predicting a next-time state vector based on the state vector and the flight attitude data through a kinematics equation; obtaining an observation residual based on the positioning data and the predicted next-time state vector, and updating the predicted next-time state vector based on the observation residual to obtain the optimal state estimation.

[0006] Optionally, installation positions of antennas and sensors on the eVTOL aircraft are optimized based on the optimal state estimation, including: establishing an antenna-sensor layout optimization model; solving the antenna-sensor layout optimization model based on the optimal state estimation by using a genetic algorithm to obtain optimal installation positions of the antennas and sensors on the eVTOL aircraft; and optimizing the installation positions of the antennas and sensors on the eVTOL aircraft based on the optimal installation positions.

[0007] Optionally, real-time link quality is evaluated based on the ground station database and the positioning data to obtain a link quality index and a candidate ground station set, including: obtaining basic data based on the ground station database; obtaining a three-dimensional straight-line distance between the eVTOL aircraft and a ground station based on the basic data and the positioning data; obtaining a total path loss based on the three-dimensional straight-line distance; obtaining a link quality index based on the total path loss; judging the feasibility of a real-time link based on the link quality index, and summarizing ground stations with feasible links to obtain the candidate ground station set.

[0008] Optionally, an optimal ground station is selected from a plurality of candidate ground stations based on the real-time communication parameters, the link quality index, and the ground station database of each candidate ground station by using a handover decision optimization algorithm, including: obtaining a comprehensive evaluation index of each candidate ground station through a multi-objective cost function based on the real-time communication parameters, the link quality index, and the ground station database of each candidate ground station; and selecting the optimal ground station from the plurality of candidate ground stations based on the comprehensive evaluation index by using an NSGA-III algorithm.

[0009] Optionally, a formula of the multi-objective cost function is:

[0010]

[0011] wherein, C i is a comprehensive evaluation index; P tx is an actual transmission power of a candidate ground station; P budget is a maximum allowed transmission power of the candidate ground station; RTT is a round-trip time delay between the eVTOL aircraft and the candidate ground station; RTT maxis a maximum latency threshold; SNR is a link signal-to-noise ratio; t handover is a switching time from a current ground station to a candidate station; t max is a maximum switching interruption time; w1 is a power consumption priority weight; w2 is a real-time priority weight; w3 is a reliability priority weight; w4 is a switching smoothness priority weight; w1+w2+w3+w4=1.

[0012] Optionally, the link switching condition comprises that a ground station in a current link has performance degradation or an optimal ground station has performance superior to that of a ground station in the current link.

[0013] In a second aspect, the present application also provides an eVTOL aircraft radio equipment optimization system for optimizing radio communication between an eVTOL aircraft and a ground station; the eVTOL aircraft radio equipment optimization system comprises: a data acquisition module configured to acquire flight attitude data and positioning data of the eVTOL aircraft; a data fusion module configured to perform data fusion on the flight attitude data and the positioning data to obtain optimal state estimation; an installation position optimization module configured to optimize installation positions of antennas and sensors on the eVTOL aircraft based on the optimal state estimation; a ground station database construction module configured to construct a ground station database; a real-time link quality assessment module configured to perform real-time link quality assessment based on the ground station database and the positioning data to obtain a link quality indicator and a candidate ground station set, the candidate ground station set comprising a plurality of candidate ground stations; a real-time communication parameter acquisition module configured to acquire real-time communication parameters between the eVTOL aircraft and each candidate ground station; an optimal ground station screening module configured to screen an optimal ground station from the plurality of candidate ground stations based on the real-time communication parameters, the link quality indicator, and the ground station database of each candidate ground station using a switching decision optimization algorithm; and a link switching module configured to determine whether a link switching condition is met; if so, to establish a temporary communication link between the eVTOL aircraft and the optimal ground station in advance.

[0014] In a third aspect, the present application also provides a computer device comprising a memory and a processor, the memory storing a computer program, and the processor implementing steps of any of the above eVTOL aircraft radio equipment optimization methods when executing the computer program.

[0015] In a fourth aspect, the present application also provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement steps of any of the above eVTOL aircraft radio equipment optimization methods.

[0016] The eVTOL aircraft radio equipment optimization method, system, device and medium described above, by obtaining flight attitude data and positioning data of an eVTOL aircraft, fusing the flight attitude data and the positioning data to obtain optimal state estimation, optimizing the installation positions of antennas and sensors on the eVTOL aircraft based on the optimal state estimation, constructing a ground station database, performing real-time link quality assessment based on the ground station database and the positioning data to obtain a link quality index and a candidate ground station set including multiple candidate ground stations, obtaining real-time communication parameters of the eVTOL aircraft and each candidate ground station, and selecting an optimal ground station from the multiple candidate ground stations based on the real-time communication parameters, the link quality index and the ground station database of each candidate ground station by using a handover decision optimization algorithm, determining whether a link handover condition is reached, and if so, establishing a temporary communication link between the eVTOL aircraft and the optimal ground station in advance. The overall performance and endurance of the eVTOL aircraft can be improved under the premise of ensuring the reliability and continuity of communication, and safer and more efficient communication support for urban air traffic can be provided. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 A flowchart of an eVTOL aircraft radio equipment optimization method provided in an embodiment is shown.

[0018] Figure 2 A structural block diagram of an eVTOL aircraft radio equipment optimization system provided in another embodiment is shown.

[0019] Figure 3 An internal structure diagram of a computer device provided in yet another embodiment is shown. DETAILED DESCRIPTION

[0020] In order to make the purposes, technical solutions and advantages of the present application clearer, further detailed description of the present application will be given below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0021] In one embodiment, as shown in Figure 1 The present application provides an eVTOL aircraft radio equipment optimization method, which can include the following steps: S10-S80.

[0022] S10: Obtain flight attitude data and positioning data of an eVTOL aircraft.

[0023] S20: Fuse the flight attitude data and the positioning data to obtain optimal state estimation.

[0024] S30: optimizing the installation positions of the antennas and sensors on the eVTOL aircraft based on the optimal state estimation.

[0025] S40: constructing a ground station database.

[0026] S50: performing real-time link quality evaluation based on the ground station database and the positioning data to obtain a link quality index and a candidate ground station set including multiple candidate ground stations.

[0027] S60: obtaining real-time communication parameters of the eVTOL aircraft and each candidate ground station.

[0028] S70: selecting an optimal ground station from the multiple candidate ground stations based on the real-time communication parameters, the link quality index, and the ground station database of each candidate ground station by using a handover decision optimization algorithm.

[0029] S80: determining whether a link handover condition is reached; if yes, establishing a temporary communication link between the eVTOL aircraft and the optimal ground station in advance.

[0030] In the eVTOL aircraft radio equipment optimization method, flight attitude data and positioning data of the eVTOL aircraft are obtained; the flight attitude data and the positioning data are fused to obtain optimal state estimation; the installation positions of the antennas and sensors on the eVTOL aircraft are optimized based on the optimal state estimation; a ground station database is constructed; real-time link quality evaluation is performed based on the ground station database and the positioning data to obtain a link quality index and a candidate ground station set including multiple candidate ground stations; real-time communication parameters of the eVTOL aircraft and each candidate ground station are obtained; an optimal ground station is selected from the multiple candidate ground stations based on the real-time communication parameters, the link quality index, and the ground station database of each candidate ground station by using a handover decision optimization algorithm; and it is determined whether a link handover condition is reached; if yes, a temporary communication link between the eVTOL aircraft and the optimal ground station is established in advance. The overall performance and endurance of the eVTOL aircraft can be improved under the premise of ensuring the reliability and continuity of communication, and safer and more efficient communication support for urban air traffic is provided.

[0031] In step S10, please refer to the S10 step in Figure 1 to obtain flight attitude data and positioning data of the eVTOL aircraft.

[0032] As an example, in the process of acquiring flight attitude data of the eVTOL aircraft, three-dimensional IMU (Inertial Measurement Unit) sensors can be used to collect three-axis acceleration and angular velocity at a frequency of 100 Hz, and the attitude angles (pitch, roll or yaw) of the eVTOL aircraft can be calculated in real time through a quaternion algorithm.

[0033] As an example, in the process of acquiring positioning data of the eVTOL aircraft, a GNSS (Global Navigation Satellite System) receiver can be used to output positioning data such as latitude, longitude, altitude and speed at a certain frequency (for example, 10 Hz), while recording satellite signal strength and multipath effect index.

[0034] As an example, whether the flight attitude data acquired by the three-dimensional IMU sensor or the positioning data acquired by the GNSS receiver, both are attached with accurate time stamps (UTC time, with an accuracy of 1 ms).

[0035] In step S20, please refer to S20 in the Figure 1 , the flight attitude data and the positioning data are fused to obtain optimal state estimation.

[0036] As an example, in step S20, the flight attitude data and the positioning data are fused to obtain optimal state estimation, which can include the following steps: S201-S203.

[0037] S201: Establish a state vector based on the flight attitude data and the positioning data.

[0038] S202: Predict the next time state vector based on the state vector and the flight attitude data through kinematic equations.

[0039] S203: Obtain observation residuals based on the positioning data and the predicted next time state vector, and update the predicted next time state vector based on the observation residuals to obtain optimal state estimation.

[0040] As an example, in step S201, the formula of the established state vector X can be:

[0041]

[0042] The above formula expresses the structure of the 9-dimensional state vector, which includes attitude angles (φ, θ, ψ), linear velocities (V x , V y , V z ) and position coordinates (P x , P y , P zthree parts; the above formula is a standard mathematical representation describing the motion state of a rigid body.

[0043] As an example, in step S202, based on the state vector and the flight attitude data (IMU data), the next time state vector is predicted through the kinematic equation.

[0044] Specifically, based on the current estimated value of the state vector X and the real-time measurement data of the IMU (for example, three-axis acceleration and angular velocity), the next time state vector is predicted through the kinematic equation (for example, attitude angle differential equation, velocity integral equation, or position integral equation, etc.).

[0045] As an example, in step S203, when the GNNS data arrives, the GNNS data is converted into the observation value corresponding to the state vector X, and the observation residual of the observation value and the predicted next time state vector is calculated; the observation residual is fed back into the state vector through the Kalman gain, and the prediction error is corrected to obtain the optimal state estimation.

[0046] As an example, in step S202, after obtaining the optimal state estimation, the step of performing data consistency check based on the time differential integral algorithm can also be included, which can specifically include the following contents: double integrating the acceleration data in the IMU data to obtain the displacement amount; performing time domain correlation analysis on the displacement amount and the displacement change amount in the GNNS data to evaluate whether the displacement amount and the displacement change amount are consistent; when the difference between the displacement amount and the displacement change amount exceeds a preset threshold, an abnormal data warning is triggered.

[0047] In step S30, please refer to Figure 1 S30 step, based on the optimal state estimation, the installation position of the antenna and the sensor on the eVTOL aircraft is optimized.

[0048] As an example, in step S30, based on the optimal state estimation, the installation position of the antenna and the sensor on the eVTOL aircraft can include the following steps: S301~S303.

[0049] S301: Establish an antenna-sensor layout optimization model.

[0050] S302: Based on the optimal state estimation, a genetic algorithm is used to solve the antenna-sensor layout optimization model to obtain the optimal installation position of the antenna and the sensor on the eVTOL aircraft.

[0051] S303: Based on the optimal installation position, the installation position of the antenna and the sensor on the eVTOL aircraft is optimized.

[0052] As an example, the formula of the antenna-sensor layout optimization model established in step S301 can be as follows:

[0053]

[0054] wherein, is to minimize the electromagnetic coupling between the sensor and the antenna; r i is the distance vector from the sensor to the antenna; F j is the radiation pattern vector of the antenna; is to minimize the signal transmission loss of the key components; d k is the spacing of the key components; λ is the wavelength of the electromagnetic wave; is the constraint condition, indicating the electromagnetic coupling degree C m of all positions should not exceed the maximum allowed value C max ; s.t. means “satisfy”.

[0055] As an example, in step S302, the genetic algorithm is used to solve the antenna-sensor layout optimization model based on the optimal state estimation to obtain the optimal installation position of the antenna and the sensor on the eVTOL aircraft, which can include the following contents: encoding, evaluation, selection and iteration.

[0056] Specifically, in the encoding process, the installation position of each device (for example, a three-dimensional IMU sensor, a GNSS receiver or an antenna) is parameterized as a three-dimensional coordinate, and the coordinates of multiple devices form a “chromosome”.

[0057] Specifically, in the evaluation process, the electromagnetic compatibility index is calculated based on the formula of the antenna-sensor layout optimization model, and it is judged whether the constraint condition is met; the measurement error is calculated based on the actual measurement value of the sensor (for example, the actual IMU data and the actual GNSS data) and the optimal state estimation; the electromagnetic compatibility index and the measurement error are evaluated to screen out the antenna-sensor candidate layout that meets the requirements.

[0058] Specifically, in the selection process, the top 20% of individuals (i.e., antenna-sensor candidate layouts) can be selected from the antenna-sensor candidate layouts to enter the next generation.

[0059] Specifically, in the iteration process, the optimal layout scheme can be output after repeating the iteration for several generations (for example, 100 generations), and the optimal installation position of the antenna and the sensor on the eVTOL aircraft can be obtained based on the optimal layout scheme.

[0060] In step S40, please refer to the S40 step in Figure 1 to build a ground station database.

[0061] As an example, a three-dimensional space database including N ground stations can be established, each ground station recording the following parameters:

[0062]

[0063] wherein S i is the parameter set of the i-th ground station; (x i , y i , z i ) is the three-dimensional coordinate of the i-th ground station; G max is the maximum gain of the ground station antenna; f op is the working frequency band of the ground station; B w is the available bandwidth of the ground station; and P is the maximum transmission power of the ground station.

[0064] As an example, the validity of the ground station database can be maintained through a periodic (for example, every 24 hours) remote update mechanism.

[0065] In step S50, please refer to the S50 step in Figure 1 , based on the ground station database and the positioning data, real-time link quality evaluation is performed to obtain a link quality indicator and a candidate ground station set, which includes a plurality of candidate ground stations.

[0066] As an example, in step S50, based on the ground station database and the positioning data, real-time link quality evaluation is performed to obtain a link quality indicator and a candidate ground station set, which can include the following steps: S501-S505.

[0067] S501: Obtain basic data based on the ground station database.

[0068] S502: Obtain the three-dimensional straight-line distance between the eVTOL aircraft and the ground station based on the basic data and the positioning data.

[0069] S503: Obtain the total path loss based on the three-dimensional straight-line distance.

[0070] S506: Obtain a link quality indicator based on the total path loss.

[0071] S507: Judge the feasibility of the real-time link based on the link quality indicator, and summarize the ground stations with feasible links to obtain a candidate ground station set.

[0072] As an example, in step S501, the three-dimensional coordinates, working frequency band, etc. of the ground station can be obtained from the ground station database.

[0073] As an example, in step S502, real-time positioning data such as three-dimensional coordinates of the eVTOL aircraft can be obtained, and the three-dimensional straight-line distance d between the eVTOL aircraft and the ground station can be obtained based on the following formula:

[0074]

[0075] where (x i ,y i ,z i ) is the three-dimensional coordinates of the ground station; (x uav ,y uav ,z uav ) is the real-time three-dimensional coordinates of the eVTOL aircraft.

[0076] As an example, in step S503, the total path loss L path is obtained based on the three-dimensional straight-line distance d using an improved 3D propagation model.

[0077]

[0078] where, is the urban environment attenuation factor (a typical value can be 2.3 dB / km); is the building penetration loss; λ is the wavelength of the electromagnetic wave.

[0079] As an example, in step S504, based on the total path loss, the RSSI (received signal strength), SNR (signal-to-noise ratio), and link bandwidth, etc. link quality indicators can be derived in combination with hardware parameters such as transmit power and antenna gain.

[0080] As an example, in step S505, based on the link quality indicators, the feasibility of the real-time link is determined, and the ground stations with feasible links are summarized to obtain a candidate ground station set. Specifically, it can include the following contents: filtering the ground stations with a signal-to-noise ratio not less than a preset minimum signal-to-noise ratio, an RSSI not less than a preset signal strength, and an available bandwidth not less than a preset bandwidth as ground stations with feasible links. The filtered ground stations are summarized to obtain the candidate ground station set.

[0081] In step S60, please refer to step S60 in Figure 1 , the real-time communication parameters between the eVTOL aircraft and each candidate ground station are obtained.

[0082] As an example, the real-time communication parameters can include the round-trip time RTT between the eVTOL aircraft and the candidate ground station and the switching time t handover from the current ground station to the candidate station.

[0083] In step S70, please refer toFigure 1 S70, based on the real-time communication parameters, the link quality indicators, and a ground station database of each candidate ground station, selects an optimal ground station from the plurality of candidate ground stations using a handover decision optimization algorithm.

[0084] As an example, in step S70, based on the real-time communication parameters, the link quality indicators, and a ground station database of each candidate ground station, selecting an optimal ground station from the plurality of candidate ground stations using a handover decision optimization algorithm can include the following steps: S701-S702.

[0085] S701: Based on the real-time communication parameters, the link quality indicators, and a ground station database of each candidate ground station, obtain a comprehensive evaluation index of each candidate ground station through a multi-objective cost function.

[0086] S702: Based on the comprehensive evaluation index, select an optimal ground station from the plurality of candidate ground stations using an NSGA-III algorithm.

[0087] As an example, the formula of the multi-objective cost function in step S701 can be:

[0088]

[0089] wherein C is the comprehensive evaluation index; P is the actual transmit power of the candidate ground station; P is the maximum allowed transmit power of the candidate ground station; RTT is the round-trip time delay between the eVTOL aircraft and the candidate ground station; RTT is the maximum time delay threshold; SNR is the link signal-to-noise ratio; t is the handover time from the current ground station to the candidate station; t is the maximum handover interruption time; w1 is the power consumption priority weight; w2 is the real-time priority weight; w3 is the reliability priority weight; w4 is the handover smoothness priority weight; and w1+w2+w3+w4=1. i tx budget max handover max

[0090] As an example, in step S702, based on the comprehensive evaluation index, selecting an optimal ground station from the plurality of candidate ground stations using an NSGA-III algorithm can include the following: chromosome encoding, non-dominated sorting, reference point selection, elite retention strategy, and dynamic weight adjustment.

[0091] Specifically, the core of chromosome encoding is to convert the actual decision problem of "ground station selection and transmit power setting" into a "gene sequence" that can be calculated by the NSGA-III algorithm (non-dominated sorting genetic algorithm III), providing a specific object for cost function evaluation. ​​​​​​

[0092] Specifically, the chromosome coding rule can be: each chromosome is composed of two parts: a ground station ID (which can be the ID of the i-th ground station selected from the ground station database) and a transmission power (which can be a specific value within the maximum transmission power range of the ground station). Each chromosome can obtain a corresponding comprehensive evaluation index through a multi-objective cost function.

[0093] Specifically, the basis for non-dominated sorting is the cost function value of the candidate solution (based on the comprehensive evaluation index), and the high-quality solution that is not dominated by other solutions in multiple objectives is screened out.

[0094] Specifically, the logic of non-dominated sorting can be: comparing all chromosomes (candidate solutions) according to their comprehensive evaluation indexes, thereby screening out non-dominated solutions.

[0095] Specifically, the role of reference point selection is to ensure that the NSGA-III algorithm is not limited to the optimization of a certain target during the optimization process, but covers more "trade-off scenarios" in the 4-dimensional target space of the multi-objective cost function, providing diversified choices for subsequent decision-making. The reference point setting can be: setting uniformly distributed reference points in the 4-dimensional target space (such as taking 5 equal points in each dimension to form multiple reference points), and each reference point represents a target trade-off preference.

[0096] Specifically, the elite reservation strategy is to screen the optimal solution evaluated by the multi-objective cost function to ensure that high-quality genes (i.e., ground stations + transmission power combinations with better performance) enter the next generation iteration, improving the efficiency of the algorithm.

[0097] Specifically, from the non-dominated solutions, the top 30% solutions are selected as elites according to the comprehensive evaluation index and directly enter the next generation population; the remaining 70% are generated into new solutions through crossover and mutation, thereby obtaining the optimal solution set.

[0098] Specifically, dynamic weight adjustment changes the values of w1, w2, w3, and w4 in the multi-objective cost function, allowing the NSGA-III algorithm to prioritize optimizing specific targets in different scenarios, and ultimately selecting a unique optimal solution (i.e., the optimal ground station) that adapts to the current scenario from the Pareto optimal solution set.

[0099] In step S80, please refer to the S80 step in Figure 1 to determine whether the link switching condition is met; if so, the temporary communication link between the eVTOL aircraft and the optimal ground station is established in advance.

[0100] As an example, the link switching condition includes: the performance of the ground station in the current link deteriorates or the performance of the optimal ground station is better than that of the ground station in the current link.

[0101] As an example, the pre-establishing the temporary communication link between the eVTOL aircraft and the optimal ground station can further include: establishing the temporary communication link between the eVTOL aircraft and the optimal ground station in advance of a time window T pre The formula can be:

[0102]

[0103] Wherein, t latency is the one-way delay time of the communication link.

[0104] As an example, the pre-establishing the temporary communication link between the eVTOL aircraft and the optimal ground station can further include: adopting a double buffer mechanism to buffer the data packets to be transmitted on the “current service link” and the “pre-established temporary communication link” at the same time, to ensure that the data packets are not lost.

[0105] It should be understood that, although Figure 1 the steps in the flowchart of the formula are shown in sequence according to the arrows, these steps are not necessarily executed in sequence according to the arrows. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, Figure 1 At least part of the steps in the formula can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these sub-steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or sub-steps or stages of other steps.

[0106] In one embodiment, as Figure 2As shown, an eVTOL aircraft radio equipment optimization system is provided for optimizing radio communication between an eVTOL aircraft and a ground station; the eVTOL aircraft radio equipment optimization system comprises: a data acquisition module 10 configured to acquire flight attitude data and positioning data of the eVTOL aircraft; a data fusion module 20 configured to perform data fusion on the flight attitude data and the positioning data to obtain optimal state estimation; an installation position optimization module 30 configured to optimize installation positions of antennas and sensors on the eVTOL aircraft based on the optimal state estimation; a ground station database construction module 40 configured to construct a ground station database; a real-time link quality assessment module 50 configured to perform real-time link quality assessment based on the ground station database and the positioning data to obtain a link quality index and a candidate ground station set, the candidate ground station set comprising a plurality of candidate ground stations; a real-time communication parameter acquisition module 60 configured to acquire real-time communication parameters between the eVTOL aircraft and each candidate ground station; an optimal ground station screening module 70 configured to screen an optimal ground station from the plurality of candidate ground stations based on the real-time communication parameters, the link quality index, and the ground station database of each candidate ground station, using a handover decision optimization algorithm; and a link switching module 80 configured to determine whether a link switching condition is met; if yes, to establish a temporary communication link between the eVTOL aircraft and the optimal ground station in advance.

[0107] Specific limitations of the eVTOL aircraft radio equipment optimization system can refer to the limitations of the eVTOL aircraft radio equipment optimization method described above, which will not be repeated here. Each module in the above eVTOL aircraft radio equipment optimization system can be realized by software, hardware, and combinations thereof, in whole or in part. The above modules can be embedded in or independent of the processor in the computer device in hardware form, or stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to each module.

[0108] In one embodiment, a computer device is provided, which can be a server, and its internal structure diagram can be as shown in Figure 3As shown in the figure. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capability. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store flight attitude data and positioning data of the eVTOL aircraft, ground station database, real-time communication parameters and other data. The network interface of the computer device is used to communicate with the external terminal through the network connection. The computer program is executed by the processor to implement an eVTOL aircraft radio equipment optimization method.

[0109] In one embodiment, a computer device is provided, which can be a terminal, and its internal structure diagram can be as Figure 3 As shown in the figure. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capability. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with the external terminal through the network connection. The computer program is executed by the processor to implement an eVTOL aircraft radio equipment optimization method. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a key, trackball or touchpad arranged on the shell of the computer device, or an external keyboard, touchpad or mouse, etc.

[0110] Those skilled in the art can understand that Figure 3 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0111] In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the eVTOL aircraft radio equipment optimization method in Figure 1 and corresponding embodiments thereof.

[0112] In one embodiment, a computer readable storage medium is provided, having stored thereon a computer program, which, when executed by a processor, implements the method of any of the above embodiments. Figure 1 and the steps of the method of optimizing eVTOL aircraft radio equipment in the corresponding embodiments thereof.

[0113] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, storage, database or other medium used in the embodiments provided by the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0114] Any combination of the technical features of the above embodiments can be made, and in order to make the description concise, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0115] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of protection of the patent of the present application should be subject to the appended claims.

Claims

1. An eVTOL aircraft radio optimization method, characterized in that, include: Acquire flight attitude and positioning data of the eVTOL aircraft; The flight attitude data and the positioning data are fused to obtain the optimal state estimate; The optimal state estimation is used to optimize the installation positions of the antennas and sensors on the eVTOL aircraft; Build a ground station database; Real-time link quality assessment is performed based on the ground station database and the positioning data to obtain link quality indicators and a candidate ground station set, which includes multiple candidate ground stations. Obtain the real-time communication parameters between the eVTOL aircraft and each candidate ground station; Based on the real-time communication parameters, the link quality indicators, and the ground station database of each candidate ground station, a handover decision optimization algorithm is used to select the optimal ground station from multiple candidate ground stations; Determine whether the link switching conditions have been met; If so, a temporary communication link between the eVTOL aircraft and the optimal ground station shall be established in advance.

2. The method of claim 1, wherein, The flight attitude data and the positioning data are fused to obtain the optimal state estimate, including: A state vector is established based on the flight attitude data and the positioning data; Based on the state vector and the flight attitude data, the state vector at the next moment is predicted using kinematic equations. The observation residual is obtained based on the positioning data and the predicted state vector at the next moment, and the predicted state vector at the next moment is updated based on the observation residual to obtain the optimal state estimate.

3. The method of claim 1, wherein, Optimizing the installation positions of the antennas and sensors on the eVTOL aircraft based on the optimal state estimation includes: Establish an antenna-sensor layout optimization model; Based on the optimal state estimation, a genetic algorithm is used to solve the antenna-sensor layout optimization model to obtain the optimal installation positions of the antenna and sensors on the eVTOL aircraft. The installation positions of the antennas and sensors on the eVTOL aircraft are optimized based on the optimal installation positions.

4. The method of claim 1, wherein, Real-time link quality assessment is performed based on the ground station database and the positioning data to obtain link quality indicators and a candidate ground station set, including: Basic data is obtained based on the aforementioned ground station database; Based on the basic data and the positioning data, the three-dimensional straight-line distance between the eVTOL aircraft and the ground station is obtained; The total path loss is obtained based on the three-dimensional straight-line distance; The link quality index is obtained based on the total path loss. The feasibility of a real-time link is determined based on the link quality indicators, and ground stations with feasible links are aggregated into a candidate ground station set.

5. The method of claim 1, wherein, Based on the real-time communication parameters, the link quality indicators, and the ground station database of each candidate ground station, a handover decision optimization algorithm is used to select the optimal ground station from multiple candidate ground stations, including: Based on the real-time communication parameters, the link quality indicators, and the ground station database of each candidate ground station, a comprehensive evaluation index for each candidate ground station is obtained through a multi-objective cost function. Based on the comprehensive evaluation indicators, the NSGA-III algorithm is used to select the optimal ground station from multiple candidate ground stations.

6. The method of claim 1, wherein, The formula for the multi-objective cost function is: wherein C i is a comprehensive evaluation index; P tx is the actual transmit power of the candidate ground station; P budget is the maximum allowable transmit power of the candidate ground station; RTT is the round-trip time delay between the eVTOL aircraft and the candidate ground station; RTT max is the maximum time delay threshold; SNR is the link signal-to-noise ratio; t handover is the handover time from the current ground station to the candidate station; t max is the maximum handover interruption time; w1 is the power consumption priority weight; w2 is the real-time priority weight; w3 is the reliability priority weight; w4 is the handover smoothness priority weight; w1+w2+w3+w4=1.

7. The method of claim 1, wherein, The link switching condition comprises that a ground station in a current link has performance degradation or the performance of an optimal ground station is better than that of the ground station in the current link.

8. An eVTOL aircraft radio optimization system, characterized in that, The eVTOL aircraft radio equipment optimization system comprises: a data acquisition module configured to acquire flight attitude data and positioning data of the eVTOL aircraft; a data fusion module configured to perform data fusion on the flight attitude data and the positioning data to obtain optimal state estimation; an installation position optimization module configured to optimize installation positions of antennas and sensors on the eVTOL aircraft based on the optimal state estimation; a ground station database construction module configured to construct a ground station database; a real-time link quality assessment module configured to perform real-time link quality assessment based on the ground station database and the positioning data to obtain a link quality index and a candidate ground station set comprising a plurality of candidate ground stations; a real-time communication parameter acquisition module configured to acquire real-time communication parameters of the eVTOL aircraft and each candidate ground station; an optimal ground station screening module configured to screen an optimal ground station from the plurality of candidate ground stations based on the real-time communication parameters, the link quality index, and the ground station database of each candidate ground station by using a switching decision optimization algorithm; a link switching module configured to determine whether a link switching condition is met; if yes, to establish a temporary communication link between the eVTOL aircraft and the optimal ground station in advance. 9.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-8 when the computer program is executed by the processor. The processor executes the computer program to implement the steps of the method of any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 7.

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