Take-off and landing guiding method and device for manned vertical take-off and landing aircraft

Abstract

The invention discloses a take-off and landing guiding method and device for a manned vertical take-off and landing aircraft, and the method comprises the steps: carrying out the automatic division of a flight guiding stage through the entering and exiting logic based on the flight height, the vertical speed and the horizontal speed; automatically activating a first guide mode in a vertical takeoff stage and a vertical landing stage according to a short-distance target point alignment principle, and automatically activating a second guide mode in an acceleration climbing stage, a cruise stage and a deceleration descending stage based on a track deviation and speed guide cooperation principle; respectively configuring special guidance symbols and general flight information of the first guidance mode or the second guidance mode; the guidance available state is combined, a corresponding guidance state notice is generated according to the flight guidance stage, and the guidance available state judgment basis comprises sensor data validity, GPS positioning accuracy not larger than a first preset value and inertial navigation system error smaller than a second preset value; according to the invention, visual and accurate flight guidance information meeting the requirements of different flight stages can be provided for pilots.

Description

Technical Field

[0001] This application relates to the field of vertical take-off and landing (VTOL) aircraft control and guidance technology, and in particular to a take-off and landing guidance method and device for manned VTOL aircraft. Background Technology

[0002] With increasing urban traffic congestion and environmental pollution, vertical takeoff and landing (VTOL) aircraft have become an important direction for future integrated transportation. VTOL aircraft exhibit significant differences in aerodynamic characteristics and flight control methods at different flight phases, particularly during takeoff and landing and the transition phase. While pilot-led navigation is a necessary stage in the current development of VTOL aircraft, relying solely on pilot skills to handle the complexity of the entire flight process would place excessive demands on pilots and potentially slow down the development of VTOL aircraft. To ensure flight safety, specialized guidance systems are needed to provide pilots with flight status information, navigation information, and control commands to help them better understand the aircraft's status and make correct decisions.

[0003] Currently, similar vertical takeoff and landing guidance methods exist on the market, but they suffer from drawbacks such as poor human-computer interaction, unintuitive guidance information, and limited permitted usage methods in terms of the dynamic characteristics of symbol displays, adaptation methods for different stages, and mode switching methods. Therefore, it is necessary to design a more intuitive guidance method and a more intuitive representation of guidance symbols, and to rationally design mode switching and corresponding human-computer interaction to ensure that the guidance method used is based on the availability and activation of relevant guidance capabilities. Summary of the Invention

[0004] The main purpose of this application is to provide a take-off and landing guidance method and device for manned vertical take-off and landing aircraft, which aims to provide pilots with intuitive, accurate flight guidance information that meets the needs of different flight stages, so as to improve flight safety and ease of operation.

[0005] To achieve the above objectives, this application provides a takeoff and landing guidance method for a manned vertical takeoff and landing aircraft, comprising: automatically dividing the flight guidance phase based on the entry and exit logic of flight altitude, vertical speed, and horizontal speed; the divided flight guidance phase includes a vertical takeoff phase, an acceleration climb phase, a cruise phase, a deceleration descent phase, and a vertical landing phase; automatically activating a first guidance mode in the vertical takeoff and vertical landing phases according to the principle of close target point alignment; and automatically activating a second guidance mode in the acceleration climb, cruise, and deceleration descent phases according to the principle of track deviation and speed guidance coordination; wherein both the first and second guidance modes support natural switching based on the flight phase and manual switching based on the human-machine interaction lock mode; configuring dedicated guidance symbols and general flight information for the first or second guidance mode respectively; and generating corresponding guidance status announcements according to the flight guidance phase based on the guidance availability status determination criteria, wherein the guidance availability status determination criteria include valid sensor data, GPS positioning accuracy not exceeding a first preset value, and inertial navigation system error less than a second preset value.

[0006] Optionally, the dedicated guidance symbols for the vertical takeoff and landing guidance mode include: a first takeoff and landing field symbol, an aircraft reference symbol, a horizontal velocity vector symbol, and a horizontal velocity guide symbol; wherein, the first takeoff and landing field symbol is used to indicate the first horizontal orientation of the takeoff and landing field relative to the aircraft, and the display position of the takeoff and landing field symbol is dynamically adjusted according to the horizontal distance between the takeoff and landing field and the aircraft; the aircraft reference symbol is displayed fixedly and is used as a reference for judging the attitude and horizontal deviation of the aircraft; the horizontal velocity vector symbol dynamically adjusts its indication position according to the current ground speed and is used to indicate the actual flight trend of the aircraft; the horizontal velocity guide symbol dynamically adjusts its indication position based on the distance deviation and the change of horizontal velocity and serves as the target for aircraft maneuvering and tracking.

[0007] Optionally, the direction and magnitude of the horizontal velocity vector symbol are used to map the components of the aircraft's ground speed in the nose direction and perpendicular to the nose direction, respectively; the horizontal velocity guide symbol is calculated using a proportional-differential control law and combined with maximum / minimum speed limits to generate a recommended velocity vector.

[0008] Optionally, the dedicated guidance symbols for the transition guidance mode include: a flight track symbol, a flight guide symbol, a horizontal speed indicator, a recommended horizontal speed indicator, and a second takeoff and landing field symbol; wherein, the flight track symbol is used to indicate the real-time motion trajectory, and the lateral position of the flight track symbol is dynamically adjusted according to the lateral movement of the aircraft, and the longitudinal position is dynamically adjusted according to the vertical movement of the aircraft; the flight guide symbol is used to indicate the expected trajectory, and the lateral / longitudinal positions of the flight guide symbol are dynamically adjusted according to the horizontal / vertical track deviation, respectively; the horizontal speed indicator is fixed on the left side of the speed band, and the value of the horizontal speed is dynamically adjusted according to the horizontal speed; the recommended horizontal speed indicator is located on the right side of the speed band, and the recommended horizontal speed moves up and down according to the recommended speed value; the second landing field symbol is used to indicate the second horizontal orientation of the takeoff and landing field relative to the aircraft; the second aircraft reference symbol is fixed in the display screen and is used to indicate the aircraft reference.

[0009] Optionally, a recommended speed value is calculated based on segmented acceleration, wherein the segmented acceleration includes acceleration guidance based on vertical takeoff-accelerated climb-cruise, and deceleration guidance based on cruise-decelerated descent-vertical landing.

[0010] Optionally, the segmented acceleration algorithm includes: for acceleration speed guidance, the acceleration value of the aircraft is less than a first preset acceleration value during the low-speed transition phase; during the aerodynamic transition phase, the acceleration value of the aircraft increases linearly from the first preset acceleration value to a second preset acceleration value; during the high-speed climb phase, the acceleration value of the aircraft adopts an adjusted acceleration strategy; for deceleration speed guidance, during the high-speed deceleration phase, the aircraft uses a deceleration acceleration exceeding a preset value to decelerate while maintaining a second ratio value where the aircraft's descent rate is not less than the cruise speed; during the tilt transition phase, the aircraft's deceleration acceleration is adjusted based on altitude, and during the low-speed rotor speed control phase, an acceleration strategy calculated based on distance and speed is adopted.

[0011] Optionally, the automatic division of the flight guidance phase based on the entry and exit logic of flight altitude, vertical speed, and horizontal speed includes: if the aircraft's flight altitude is greater than zero, it enters the vertical takeoff phase; if the aircraft's flight altitude is greater than a first preset constant, its vertical speed is greater than zero, and its horizontal speed is not greater than a second preset constant, it exits the vertical takeoff phase; if the aircraft exits the vertical takeoff phase, it enters the acceleration climb phase; if the aircraft's flight altitude is greater than a first percentage of the cruise altitude, its vertical speed is not greater than a third preset constant, and its horizontal speed is not less than a first percentage of the cruise speed, it exit ... If the aircraft exits the acceleration and climb phase, it enters the cruise phase; if the aircraft's vertical speed is less than zero, and its flight altitude is less than the second percentage of the cruise altitude, and its horizontal acceleration is less than zero and its horizontal speed is not less than the second percentage of the cruise speed, it exits the cruise phase; if the aircraft exits the cruise phase, it enters the deceleration and descent phase; if the aircraft's flight altitude is not greater than the fourth preset constant and its cruise speed is not greater than the fifth preset constant, it exits the deceleration and descent phase; if the aircraft exits the deceleration and descent phase, it enters the vertical landing phase; if the aircraft's flight altitude is zero, its vertical speed is zero, and its horizontal speed is zero, it exits the vertical landing phase.

[0012] Optionally, the guidance status notification includes: available, vertical takeoff, accelerated climb, cruise, decelerated descent, vertical landing, and guidance lost; wherein, available or not displayed before the guidance status notification is enabled; After the guidance status notice is enabled, the corresponding notice is displayed according to the flight phase. The corresponding notices include vertical takeoff, accelerated climb, cruise, deceleration descent, and vertical landing. When guidance is unavailable, guidance loss is displayed. If guidance loss is recovered within 3 seconds, the original guidance status notice is continued. Otherwise, the notice is cleared and the guidance status is reset. The guidance status can be manually re-enabled.

[0013] Optionally, it also includes: when the guidance mode is switched, the dedicated guidance symbol is synchronously switched between display and hiding; the general flight information is continuously displayed regardless of whether guidance is enabled; the first / second aircraft reference symbol is continuously displayed according to the division of flight phases regardless of whether guidance is enabled; wherein, the flight information is acquired and displayed in real time through sensor data, and the flight information includes radio altitude, barometric altitude, vertical speed, ground speed, attitude angle, heading angle, wind speed, and power system status data.

[0014] Furthermore, to achieve the above objectives, this application also provides a takeoff and landing guidance device for a manned vertical takeoff and landing aircraft, comprising: a guidance mode activation module, used to automatically divide the flight guidance phase based on the entry and exit logic of flight altitude, vertical speed, and horizontal speed, wherein the divided flight guidance phase includes a vertical takeoff phase, an acceleration climb phase, a cruise phase, a deceleration descent phase, and a vertical landing phase, and to automatically activate a first guidance mode in the vertical takeoff and vertical landing phases according to the principle of close target point alignment, and to automatically activate a guidance mode in the acceleration climb and cruise phases according to the principle of track deviation and speed guidance coordination. The system automatically activates a second guidance mode during the deceleration and descent phase. Both the first and second guidance modes support natural switching based on flight phases and manual switching based on human-machine interaction lock mode. The symbol configuration module is used to configure the dedicated guidance symbols and general flight information for the first or second guidance modes respectively. The guidance status generation module is used to generate corresponding guidance status announcements based on the available guidance status and the flight guidance phase. The criteria for determining the available guidance status include valid sensor data, GPS positioning accuracy not exceeding a first preset value, and inertial navigation system error less than a second preset value.

[0015] This application proposes a takeoff and landing guidance method and apparatus for a manned vertical takeoff and landing (VTOL) aircraft. The method automatically divides the flight guidance phase based on entry and exit logic using flight altitude, vertical speed, and horizontal speed. The divided flight guidance phases include a vertical takeoff phase, an acceleration climb phase, a cruise phase, a deceleration descent phase, and a vertical landing phase. A first guidance mode is automatically activated during the vertical takeoff and vertical landing phases based on a close target point alignment principle. A second guidance mode is automatically activated during the acceleration climb, cruise, and deceleration descent phases based on a principle of coordinated track deviation and speed guidance. Both the first and second guidance modes support natural switching based on flight phases and human-machine interaction-based locking. Manual switching of modes; configuration of dedicated guidance symbols and general flight information for the first or second guidance mode respectively; generation of corresponding guidance status announcements based on the guidance availability determination criteria according to the flight guidance phase. The guidance availability determination criteria include valid sensor data, GPS positioning accuracy not exceeding a first preset value, and inertial navigation system error less than a second preset value. Based on a reasonable guidance control display method, the safety and correctness of guidance use can be ensured. Based on the aircraft's vertical speed and altitude information, the aircraft's takeoff status can be captured in a timely manner, enabling the aircraft to take off or land vertically at a reasonable altitude, avoiding the degradation of the aircraft's takeoff or landing performance due to a long vertical takeoff and landing process. Attached Figure Description

[0016] Figure 1 A flowchart of the method provided by the present invention; Figure 2 A schematic diagram of the operational phases of a vertical takeoff and landing aircraft provided by the present invention; Figure 3 A schematic diagram of the vertical takeoff and landing guidance mode interface of the vertical takeoff and landing aircraft provided by the present invention; Figure 4 This is a schematic diagram of the transition flight guidance mode interface for the vertical takeoff and landing aircraft provided by the present invention.

[0017] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0018] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application.

[0019] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] In the description of the embodiments of the present invention, for ease of understanding, the motion of the aircraft is divided into lateral, longitudinal, and vertical directions. The lateral direction indicates the left-right offset motion information of the aircraft, the longitudinal direction indicates the forward-backward motion information of the aircraft, and the vertical direction indicates the flight altitude and vertical speed information of the aircraft.

[0021] Reference Figure 1 The takeoff and landing guidance method for a manned vertical takeoff and landing aircraft provided in the first embodiment of this application may include: S101. The flight guidance phase is automatically divided based on the entry and exit logic of flight altitude, vertical speed, and horizontal speed. The divided flight guidance phase includes vertical takeoff phase, acceleration climb phase, cruise phase, deceleration descent phase, and vertical landing phase. The first guidance mode is automatically activated in the vertical takeoff and vertical landing phases based on the principle of close target point alignment. The second guidance mode is automatically activated in the acceleration climb phase, cruise phase, and deceleration descent phase based on the principle of track deviation and speed guidance coordination. Both the first guidance mode and the second guidance mode support natural switching based on flight phase and manual switching based on human-machine interaction lock mode. In one embodiment of this application, the execution process of automatically dividing the flight guidance phase based on the entry and exit logic of flight altitude, vertical speed, and horizontal speed may include the following: If the aircraft's altitude is greater than zero, it enters the vertical takeoff phase; if the aircraft's altitude is greater than the first preset constant, its vertical speed is greater than zero, and its horizontal speed is not greater than the second preset constant, it exits the vertical takeoff phase. If the aircraft exits the vertical takeoff phase, it enters the acceleration climb phase. If the aircraft's flight altitude is greater than the first percentage value of the cruise altitude, the vertical speed is not greater than the third preset constant, and the horizontal speed is not less than the first percentage value of the cruise speed, it exits the acceleration climb phase. If the aircraft exits the acceleration and climb phase, it enters the cruise phase; if the aircraft's vertical speed is less than zero and its flight altitude is less than the second percentage of the cruise altitude, and its horizontal acceleration is less than zero and its horizontal speed is not less than the second percentage of the cruise speed, it exits the cruise phase. If the aircraft exits the cruise phase, it enters the deceleration and descent phase; if the aircraft's flight altitude is not greater than the fourth preset constant and its cruise speed is not greater than the fifth preset constant, it exits the deceleration and descent phase. If the aircraft exits the deceleration and descent phase, it enters the vertical landing phase; if the aircraft's altitude, vertical velocity, and horizontal velocity are all zero, it exits the vertical landing phase.

[0022] refer to Figure 2 For example, the logic for dividing the five flight guidance phases is based on the entry and exit logic defined by flight altitude, vertical speed, and horizontal speed.

[0023] The entry and exit logic for the vertical takeoff phase is as follows: a) Entry condition: Begins to leave the ground , This refers to the altitude of the aircraft above the ground.

[0024] b) Exit conditions (entering accelerated climb): ,and ,and .in For vertical velocity, For horizontal velocity, The first preset constant is generally 10m. The second preset constant is generally 1 m / s. and All are constants.

[0025] The entry and exit logic for the accelerated ascent phase is as follows: a) Entry conditions: Automatically enters after exiting the vertical takeoff phase; b) Exit conditions: ,and ,and .in Cruise altitude For cruising speed, The first percentage of cruising altitude is typically 95%. The first percentage of cruising altitude is typically 90%. Typically 1 m / s and Percentage that is a constant This is the third preset constant.

[0026] The entry and exit logic for the cruise phase is as follows: a) Entry condition: Automatically enters after exiting the accelerated climb phase; b) Exit conditions: ,and and ,and .in, For horizontal acceleration, The second percentage of cruising altitude is typically 95%. The second percentage of cruising speed, typically 90%. and Percentage that is a constant.

[0027] The logic for entering and exiting the deceleration and descent phase is as follows: a) Entry condition: Automatically enters after exiting the cruise phase; b) Exit conditions: ,and .in, The fourth preset constant is generally 30m. The fifth preset constant is generally 10 m / s.

[0028] The entry and exit logic for the vertical landing phase is as follows: a) Entry condition: Automatically enters after exiting the deceleration and descent phase; b) Exit conditions: ,and ,and .

[0029] In another embodiment, the values ​​of each threshold in the entry and exit logic can also be: , , , , , , , , .

[0030] In one embodiment of this application, the dedicated guidance symbols for the vertical takeoff and landing guidance mode include: First landing field symbol, aircraft reference symbol, horizontal velocity vector symbol, and horizontal velocity guide symbol; The first take-off and landing field symbol is used to indicate the first horizontal orientation of the take-off and landing field relative to the aircraft. The position of the take-off and landing field symbol is dynamically adjusted according to the horizontal distance between the take-off and landing field and the aircraft. The first aircraft reference symbol is displayed in a fixed manner and is used as a reference for judging the attitude and horizontal deviation of the aircraft. The horizontal velocity vector symbol dynamically adjusts its position according to the current ground speed, indicating the actual flight trend of the aircraft; The horizontal velocity guide dynamically adjusts its position based on changes in distance deviation and horizontal velocity, serving as a target for aircraft maneuvering and tracking.

[0031] In one embodiment of this application, the direction and magnitude of the horizontal velocity vector symbol are used to map the components of the aircraft's ground speed in the nose direction and perpendicular to the nose direction, respectively. The horizontal velocity guide is calculated using a proportional-differential control law and combined with maximum / minimum velocity limits to generate a recommended velocity vector.

[0032] For example, refer to Figure 3 , Figure 3 This is a schematic diagram of the vertical takeoff and landing (VTOL) guidance mode interface, specifically the guidance interface during the vertical landing phase. The purpose of this type of guidance is to ensure the aircraft is precisely aligned with the center of the takeoff and landing field. The key guidance information referenced is referred to as the first guidance mode in this embodiment, which includes: 1) First aircraft reference symbol (located in a fixed position on the screen); 2) First takeoff and landing field symbol (indicates the horizontal position relative to the aircraft reference symbol); 3) Horizontal velocity vector symbol (displays the actual velocity vector of the aircraft relative to the ground); 4) Horizontal speed indicator (instructs the aircraft to fly toward the center of the takeoff and landing field at the recommended speed).

[0033] Vertical monitoring is achieved through vertical speed, altitude, and ground markers. In this embodiment, to quickly acquire vertical motion information during the landing phase while the aircraft is aligned with the takeoff and landing field, the vertical speed information in the display screen is shown as a speed bar with a numerical value on the left wing of the first aircraft reference symbol, and guided by a recommended vertical speed slider.

[0034] In the guidance interface, the lateral information of key guidance information corresponds to the lateral motion information of the aircraft, but the longitudinal information corresponds differently in different guidance methods. During vertical takeoff and landing, it can be regarded as the longitudinal motion of the aircraft, and during flight transition, it can be regarded as the vertical motion of the aircraft.

[0035] The calculation of the first type of guidance information includes the first descent field symbol, the horizontal velocity vector symbol, and the horizontal velocity guidance symbol. The specific calculations are as follows: 1) The first landing field symbol includes the calculation of the lateral and longitudinal position commands of the landing field center. The calculation steps include: a) Real-time calculation of the Earth system coordinates of the takeoff and landing field center and the aircraft using high-precision latitude and longitude coordinates (geographic latitude and longitude converted to geocentric geofixed coordinates (ECEF), ECEF converted to local section coordinates (ENU), local section coordinates converted to Earth system coordinates; b) Calculate the deviation vector of the position of the takeoff and landing field center relative to the aircraft in the Earth coordinate system; c) Calculate the coordinate transformation matrix from the Earth coordinate system to the aircraft body coordinate system; d) Transform the deviation vector calculated in b) into the body coordinate system; e) Further convert it onto the display screen to generate relative position instructions.

[0036] 2) The horizontal velocity vector symbol includes the calculation of lateral and longitudinal position commands. The calculation steps include: a) The direction the machine head points is taken as the positive y-axis; the x-axis is perpendicular to the y-axis and points to the right; b) Calculate the velocity component of the nose direction and the velocity component perpendicular to the nose direction using ground speed, heading angle, and track angle. c) Further convert it onto the display screen to generate relative position instructions.

[0037] 3) The horizontal velocity guidance symbols include the calculation of lateral and longitudinal position commands. The calculation steps include: a) Considering distance deviation and horizontal velocity, calculate the recommended velocity vector based on the proportional-derivative control law of distance deviation; b) Limits should be applied considering the maximum and minimum speed limits of the aircraft; c) Further convert it onto the display screen to generate relative position instructions.

[0038] In one embodiment of this application, the dedicated guidance symbols for the transition guidance mode include: Flight track symbol, flight guide symbol, horizontal speed indicator, recommended horizontal speed indicator, second aircraft reference symbol, and second takeoff and landing field symbol; Among them, the flight track symbol is used to indicate the real-time motion trajectory. The lateral position of the flight track symbol is dynamically adjusted according to the lateral movement of the aircraft, and the longitudinal position is dynamically adjusted according to the vertical movement of the aircraft. The flight guide is used to indicate the expected trajectory, and the lateral / longitudinal position of the flight guide is dynamically adjusted according to the horizontal / vertical track deviation, respectively. The horizontal speed indicator is fixed to the left side of the speed strip, and the value of the horizontal speed is dynamically adjusted according to the horizontal speed. The recommended horizontal speed indicator is located to the right of the speed strip, and the recommended horizontal speed moves up and down according to the recommended speed value; The second landing field symbol is used to indicate the second horizontal orientation of the takeoff and landing field relative to the aircraft; The second aircraft reference symbol is fixed in the display screen and is used to indicate the aircraft's reference point.

[0039] For example, such as Figure 4 The diagram shows the interface of the flight transition guidance mode, specifically the guidance interface during the deceleration and descent phase.

[0040] The key guidance information to refer to is the second guidance mode, which includes: 1) Flight track symbols indicate the real-time movement trajectory of the aircraft in the lateral and vertical directions; 2) The flight path indicator indicates the trajectory that the aircraft should maintain. By maneuvering the aircraft to keep the flight path indicator overlaid on the flight path indicator, the aircraft can be kept flying along the specified approach and departure procedures.

[0041] 3) Horizontal speed guidance reference, including horizontal speed indicator and recommended horizontal speed indicator, displays the current airspeed and reference guidance speed information on the speed band, and adjusts the speed for acceleration / deceleration accordingly.

[0042] 4) The second takeoff and landing field symbol is only displayed during the deceleration and descent phase of the flight transition guidance mode.

[0043] 5) The second aircraft reference symbol is fixed in the display screen and is used to indicate the aircraft's reference reference.

[0044] The calculations for the second guidance mode include the flight track symbol, flight guide symbol, Type II takeoff and landing field symbol, and recommended horizontal speed indicator. The specific calculations are as follows: 1) Calculation of the lateral and longitudinal position commands of the flight track symbol. The calculation steps include: The lateral position command of the flight track symbol is calculated based on the heading and track parameters received from the sensors; The longitudinal position command of the flight track symbol is calculated based on altitude and vertical velocity.

[0045] 2) The calculation steps for the lateral and longitudinal position commands of the flight guide include: The lateral position command of the flight guide is calculated based on the lateral deviation distance and lateral deviation speed of the aircraft relative to the departure / approach baseline. The longitudinal position command of the flight guide is calculated based on the vertical track deviation relative to the expected track.

[0046] 3) The calculation of the second type of takeoff and landing field symbol mainly involves the calculation of the characteristic points of the takeoff and landing field. The calculation steps include: Calculate the position of the takeoff and landing field feature points relative to the spacecraft within the Earth system; Transform to the body coordinate system; Projected onto the coordinate system of the display screen.

[0047] In some embodiments, the guidance interface may be designed with, but is not limited to, the following, as needed: 1) Reference information for the vertical profile: vertical velocity, radio altitude, ground markings; 2) Reference information for flight attitude: pitch ladder, horizon, roll indicator, sideslip indicator; 3) Horizontal status reference information for the aircraft: ground speed, and current wind speed and direction; 4) Heading information: Current heading of the aircraft, heading of the takeoff and landing site; 5) Battery level: For electric vertical takeoff and landing aircraft, displays the current battery level.

[0048] In one embodiment of this application, a recommended speed value is calculated based on segmented acceleration, wherein the segmented acceleration includes acceleration speed guidance based on vertical takeoff-accelerated climb-cruise, and deceleration speed guidance based on cruise-decelerated descent-vertical landing.

[0049] The recommended speed calculation formula is as follows: In the formula The current recommended speed level, The target horizontal speed for the stage, This represents the horizontal distance between the current aircraft and the takeoff and landing site.

[0050] Among them, the acceleration speed guidance based on vertical takeoff-accelerated climb-cruise includes: During the low-speed transition phase (horizontal speed < 20% of cruise speed, rotor tilt angle < 30°), acceleration ≤ 1 m / s² is used; during the aerodynamic transition phase (20% of cruise speed ≤ horizontal speed < 60% of cruise speed, rotor tilt angle 30°~60°), acceleration is linearly increased to 2 m / s², and then maintained at that acceleration; during the high-speed climb phase (horizontal speed ≥ 60% of cruise speed, rotor tilt angle ≥ 60°), acceleration is based on… The acceleration speed is dynamically adjusted to achieve the final acceleration and approach the cruising speed. For the target height, Vertical velocity, This is the current flight altitude.

[0051] Deceleration speed guidance based on cruise-deceleration descent-vertical landing includes: During the high-speed deceleration phase (horizontal speed ≥ 60% of cruise speed, rotor tilt angle ≥ 60°), deceleration is achieved with an acceleration range of -0.6g to -0.3g, while maintaining a descent rate ≤ 3m / s². During the tilt transition phase (20% of cruise speed ≤ horizontal speed < 60% of cruise speed, rotor tilt angle 30° to 60°), the deceleration rhythm is dynamically adjusted based on real-time altitude. , To escape the ground effect and be above the height of obstacles around the takeoff and landing field, a value of 30m can be used in some embodiments to adjust the deceleration acceleration; during the low-speed rotor speed control phase (horizontal speed < 20% of cruise speed, rotor tilt angle < 30°), the deceleration acceleration used is calculated from the distance of the aircraft to the takeoff and landing field and the current horizontal speed.

[0052] S102. Configure dedicated guidance symbols and general flight information for the first guidance mode or the second guidance mode respectively; S103. Based on the guidance availability status, generate corresponding guidance status announcements according to the flight guidance phase. The guidance availability status includes valid sensor data, GPS positioning accuracy not greater than a first preset value, and inertial navigation system error less than a second preset value.

[0053] In one embodiment of this application, the guidance status notification includes: Available, vertical takeoff, accelerated climb, cruise, decelerated descent, vertical landing, and guidance loss; Before guidance is enabled, it will be displayed as available or not, depending on the guidance availability status. After guidance is activated, corresponding announcements are displayed according to the flight phase. These announcements include vertical takeoff, accelerated climb, cruise, deceleration descent, and vertical landing. During guidance activation, if guidance becomes unavailable at any phase, a guidance loss announcement is displayed. If guidance becomes available again within 3 seconds, the original guidance status announcement is continued. Otherwise, the announcement is cleared and the system resets to the guidance-disabled state. When guidance becomes available again, it can be manually reactivated.

[0054] It should be noted that activating guidance at different stages of flight will be announced on the guidance screen; among them: 1. Vertical takeoff and landing guidance mode during the vertical takeoff phase: Announcement (VT); 2. Flight transition guidance mode during the accelerated climb phase: Announcement of Flight (CA); 3. Transitional flight guidance mode during the cruise phase: Announcement of Pilot Notice (PRI); 4. Flight transition guidance mode during deceleration and descent: Announcement Directive (DD); 5. Vertical takeoff and landing guidance mode during the vertical landing phase: Announcement via Virtual Landing (VL); 6. When guidance is available but not manually enabled: Announce AVAIL; 7. If guidance suddenly becomes unavailable during the notification process of notifications 1-5, a LOSS notification is first issued, and it is determined whether the original notification is restored within 3 seconds. If it is not restored, no notification is displayed until guidance becomes available again, at which point an AVAIL notification is issued, and guidance can be manually triggered again. In some embodiments, when the guidance status notification is AVAIL or there is no notification, the first type of guidance information and the second guidance mode (except for the aircraft reference symbol) will not be displayed.

[0055] It should be noted that the method for determining whether guidance is available before enabling it is as follows: Determine that the sensor data required for guidance calculations is correct and valid, including the spatial position of the aircraft and takeoff and landing site, radio altitude, barometric altitude, airspeed, ground speed, vertical speed, power system status, attitude angles, three-axis acceleration, and three-axis angular velocity. GPS positioning accuracy ≤ 1 meter; The inertial navigation system error is less than 5%.

[0056] Furthermore, the guidance mode has two switching methods: natural switching and manual switching. The guidance mode automatically switches according to the flight guidance phase. However, when manual switching is initiated through human-machine interaction, the guidance mode will change from one mode to another and will not change according to the flight phase until the manual switching is canceled through the human-machine interaction device.

[0057] The second embodiment of this application provides a takeoff and landing guidance device for a manned vertical takeoff and landing aircraft. The device includes: a guidance mode activation module, used to automatically divide the flight guidance phase based on the entry and exit logic of flight altitude, vertical speed, and horizontal speed. The divided flight guidance phases include a vertical takeoff phase, an acceleration climb phase, a cruise phase, a deceleration descent phase, and a vertical landing phase. A first guidance mode is automatically activated in the vertical takeoff and vertical landing phases based on the principle of close target point alignment. A second guidance mode is automatically activated in the acceleration climb, cruise, and deceleration descent phases based on the principle of track deviation and speed guidance coordination. Both the first and second guidance modes support natural switching based on the flight phase and manual switching based on the human-machine interaction lock mode. A symbol configuration module is used to configure dedicated guidance symbols and general flight information for the first or second guidance mode respectively. A guidance status generation module is used to determine the guidance availability status and generate corresponding guidance status announcements based on the flight guidance phase. The guidance availability status determination criteria include valid sensor data, GPS positioning accuracy not exceeding a first preset value, and inertial navigation system error less than a second preset value.

[0058] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A take-off and landing guidance method for a manned vertical take-off and landing aircraft, characterized in that, The application relates to a flight guidance system and method. The flight guidance system comprises: An entering and exiting logic based on flight altitude, vertical speed and horizontal speed is used to automatically divide a flight guidance stage, the divided flight guidance stage comprises a vertical take-off stage, an accelerated climbing stage, a cruising stage, a decelerated descending stage and a vertical landing stage, a first guiding mode is automatically activated in the vertical take-off stage and the vertical landing stage according to a near-distance target point alignment principle, and a second guiding mode is automatically activated in the accelerated climbing stage, the cruising stage and the decelerated descending stage according to a guiding principle based on a flight path deviation and a speed; The first guiding mode and the second guiding mode both support natural switching based on a flight stage and manual switching based on a man-machine interaction locking mode; 2. The takeoff and landing guidance method for a manned VTOL aircraft according to claim 1, characterized in that, Special guiding symbols and general flight information of the first guiding mode or the second guiding mode are respectively configured; According to the flight guidance stage, a corresponding guiding state announcement is generated in combination with guiding available state judgment basis, wherein the guiding available state judgment basis comprises sensor data validity, GPS positioning accuracy not greater than a first preset value and inertial navigation system error less than a second preset value. The first guiding mode is a vertical take-off and landing guiding mode; The special guiding symbols of the vertical take-off and landing guiding mode comprise: A first take-off and landing field symbol, an aircraft reference symbol, a horizontal speed vector symbol and a horizontal speed guiding symbol; The first take-off and landing field symbol is used to indicate a first horizontal position of a take-off and landing field relative to an aircraft, and the display position of the take-off and landing field symbol is dynamically adjusted according to the distance between the take-off and landing field and the aircraft; The first aircraft reference symbol is fixed in a display picture and is used as a judgment reference for the attitude deviation of the aircraft from the horizontal; 3. The takeoff and landing guidance method for a manned VTOL aircraft according to claim 2, characterized in that, The horizontal speed vector symbol dynamically adjusts the indication position according to the current ground speed and is used to indicate the actual flight trend of the aircraft; The horizontal speed guiding symbol dynamically adjusts the indication position based on the distance deviation and the change of the horizontal speed, and the horizontal speed guiding symbol is based on the target tracked by the aircraft manipulation.

4. The takeoff and landing guidance method for a manned VTOL aircraft according to claim 1, characterized by, The direction and size of the horizontal speed vector symbol are used to map the components of the ground speed of the aircraft in the head direction and the direction perpendicular to the head direction, respectively. The horizontal speed guiding symbol is calculated through a proportional-differential control law and combined with the maximum / minimum speed limit to generate a recommended speed vector. The second guiding mode is a transition guiding mode; The special guiding symbols of the transition guiding mode comprise: A flight path symbol, a flight guidance symbol, a horizontal speed indicator, a second aircraft reference symbol, a recommended horizontal speed indicator and a second take-off and landing field symbol; The flight path symbol is used to indicate a real-time motion track, the lateral position of the flight path symbol is dynamically adjusted to indicate the position according to the lateral motion of the aircraft, and the longitudinal position of the flight path symbol is dynamically adjusted to indicate the position according to the vertical motion of the aircraft; The flight guidance symbol is used to indicate an expected track, and the lateral / longitudinal position of the flight guidance symbol is dynamically adjusted to indicate the position according to the horizontal / vertical track deviation; The horizontal speed indicator is fixed on the left side of the speed band, and the value of the horizontal speed is dynamically adjusted; The recommended horizontal speed indicator is located on the right side of the speed band, and the recommended horizontal speed moves up and down according to the recommended speed value; The second take-off and landing field symbol is used to indicate a second horizontal position of a take-off and landing field relative to the aircraft; The second aircraft reference symbol is fixed in the display picture and is used to indicate the reference of the aircraft.

5. The takeoff and landing guidance method for a manned VTOL aircraft according to claim 4, characterized in that, The recommended speed value is calculated based on segmented acceleration, wherein the segmented acceleration comprises acceleration speed guidance based on vertical take-off-accelerating climb-cruise, and deceleration speed guidance based on cruise-decelerating descent-vertical landing.

6. The takeoff and landing guidance method for a manned VTOL aircraft according to claim 1, characterized by, The segmented acceleration algorithm comprises: For the acceleration speed guidance, the acceleration value of the aircraft in the low-speed transition phase is less than a first preset acceleration value; In the aerodynamic transition phase, the acceleration value of the aircraft linearly increases from the first preset acceleration value to a second preset acceleration value; and in the high-speed climb state phase, the acceleration value of the aircraft adopts an adjusted acceleration strategy; For the deceleration speed guidance, the aircraft adopts a deceleration acceleration greater than a preset value to decelerate in the high-speed deceleration phase, and keeps the descent rate of the aircraft not less than a second ratio value of the cruise speed; In the tilt transition phase, the deceleration acceleration of the aircraft is adjusted based on the height, and in the low-speed rotor speed control phase, an acceleration strategy calculated based on the distance and the speed is adopted.

7. The takeoff and landing guidance method for a manned VTOL aircraft according to claim 1, characterized in that, The entering and exiting logic based on the flight height, the vertical speed and the horizontal speed automatically divides the flight guidance phase, comprising: If the flight height of the aircraft is greater than zero, the vertical take-off phase is entered; if the flight height of the aircraft is greater than a first preset constant, the vertical speed is greater than zero, and the horizontal speed is not greater than a second preset constant, the vertical take-off phase is exited; If the aircraft exits the vertical take-off phase, the accelerating climb phase is entered; if the flight height of the aircraft is greater than a first percentage value of the cruise height, the vertical speed is not greater than a third preset constant, and the horizontal speed is not less than a first percentage value of the cruise speed, the accelerating climb phase is exited; If the aircraft exits the accelerating climb phase, the cruise phase is entered; if the vertical speed of the aircraft is less than zero, the flight height is less than a second percentage value of the cruise height, the horizontal acceleration is less than zero, and the horizontal speed is not less than a second percentage value of the cruise speed, the cruise phase is exited; If the aircraft exits the cruise phase, the decelerating descent phase is entered; if the flight height of the aircraft is not greater than a fourth preset constant, and the cruise speed is not greater than a fifth preset constant, the decelerating descent phase is exited; If the aircraft exits the decelerating descent phase, the vertical landing phase is entered; if the flight height of the aircraft is equal to zero, the vertical speed is equal to zero, and the horizontal speed is equal to zero, the vertical landing phase is exited.

8. The takeoff and landing guidance method for a manned VTOL aircraft according to claim 1, characterized in that, The guidance state announcement comprises: available, vertical take-off, accelerating climb, cruise, decelerating descent, vertical landing and guidance loss; Before the guidance is enabled, the available or unavailable is displayed according to the guidance available state; After the guidance is enabled, the corresponding announcement is displayed according to the flight phase, wherein the corresponding announcement comprises the vertical take-off, the accelerating climb, the cruise, the decelerating descent and the vertical landing; during the guidance is enabled, when the guidance is unavailable in any phase, the guidance loss is displayed; if the guidance loss is available again within 3 seconds, the original guidance state announcement is continued; otherwise, the announcement is cleared and reset to the guidance unenabled state; when the guidance is available again, the guidance is manually re-enabled.

9. The takeoff and landing guidance method for a manned VTOL aircraft according to claim 4, characterized in that, Further comprising: The dedicated guidance symbol synchronously switches display / blanking when the guidance mode switches, the general flight information is continuously displayed regardless of whether the guidance mode is enabled, and the first / second aircraft reference symbol is continuously displayed regardless of whether the guidance is enabled according to the division of the flight phase, wherein the flight information is acquired and displayed in real time through sensor data, and the flight information includes radio altitude, barometric altitude, vertical speed, ground speed, attitude angle, heading angle, wind speed, and power system state data.

10. A take-off and landing guidance device for a manned vertical take-off and landing aircraft, characterised in that, The method comprises: a guidance mode activation module configured to automatically divide the flight guidance phase based on the entering / leaving logic of the flight altitude, vertical speed, and horizontal speed, wherein the divided flight guidance phase comprises a vertical take-off phase, an accelerating climb phase, a cruising phase, a decelerating descent phase, and a vertical landing phase, and the first guidance mode is automatically activated in the vertical take-off phase and the vertical landing phase according to the near-distance target point alignment principle, and the second guidance mode is automatically activated in the accelerating climb phase, the cruising phase, and the decelerating descent phase according to the flight path deviation and speed guidance coordination principle, wherein the first guidance mode and the second guidance mode both support natural switching based on the flight phase and manual switching based on the human-computer interaction locking mode; a symbol configuration module configured to configure the dedicated guidance symbol and the general flight information of the first guidance mode or the second guidance mode, respectively; a guidance state generation module configured to generate a corresponding guidance state notification according to the flight guidance phase in combination with guidance available state determination criteria, wherein the guidance available state determination criteria comprise that the sensor data is valid, the GPS positioning accuracy is not greater than a first preset value, and the inertial navigation system error is less than a second preset value.

Images