Takeoff and Landing Control System

Abstract

To provide a taking-off / landing control device capable of performing stable control of a vertical taking-off / landing machine based on a highly precise prediction value of a wind speed and wind direction in the periphery of an object point in real-time.SOLUTION: A taking-off / landing control device 200 includes: previous weather feature quantity extraction sections 203, 204 for extracting a weather feature quantity from past weather and topographic data of a taking-off / landing place; a weather analysis section 206 for outputting a weather analysis value in taking-off / landing from weather forecasting data and the topographic data; a weather sensor data acquisition section 207 for acquiring observation values such as a wind speed and a wind direction from weather sensors in the periphery of the taking-off / landing place; a data assimilation section 208 for assimilating the weather analysis value of the taking-off / landing place with the wind speed, the wind direction or the like; and guidance control information generation sections 209-212 for acquiring machine body information of the vertical taking-off / landing machine and flight plan data, simulating a taking-off / landing place peripheral environment, generating posture control data of the vertical taking-off / landing machine based on the taking-off / landing place peripheral environment, and then outputting the posture control data to the vertical taking-off / landing machine.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a takeoff and landing control system that controls the takeoff and landing of vertical takeoff and landing aircraft such as rotorcraft and drones based on predictions. [Background technology]

[0002] For stable gas control during takeoff and landing of flying objects such as airplanes and rotorcraft, it is necessary to know meteorological conditions such as wind speed and direction. Currently, meteorological agencies and private meteorological companies in each country make various predictions of meteorological conditions based on simulations and observation data, and this data is used for aircraft operation and takeoff and landing.

[0003] In addition, detailed weather information is observed near airports using dedicated radar and other observation equipment, and decisions on whether or not to allow takeoff and landing and control of aircraft are made based on this information.

[0004] On the other hand, vertical take-off and landing aircraft such as rotorcraft and drones for passenger transportation and logistics have been attracting attention in recent years, and there is a demand for stable control of these aircraft when they take off and land at locations other than airports that do not have advanced facilities.

[0005] For this reason, it is necessary to grasp meteorological conditions such as local wind speed and direction using methods different from those used in the past.

[0006] However, weather conditions such as wind speed and direction are difficult to predict using simple sensors alone, and depending on the conditions, the observation accuracy of observation equipment may decrease or the observation range may be limited.

[0007] On the other hand, the observation data released by the Japan Meteorological Agency and other organizations has a spatial resolution of several tens of kilometers, making it difficult to obtain detailed information about weather conditions around takeoff and landing sites.

[0008] To address such issues, the techniques described in Patent Documents 1 and 2 have been disclosed in the field of wind speed and direction prediction.

[0009] Patent Document 1 proposes a technology for predicting wind direction and speed by installing multiple pressure sensors around points such as airports that are subject to weather forecasts and grasping the gradient of pressure. In particular, the aim is to grasp fluctuations in wind speed and direction, such as downbursts, that affect the safety of aircraft takeoff and landing by grasping meteorological disturbances from the gradient of pressure.

[0010] Patent Document 2 proposes a technology that performs simulations using numerical calculations based on observed values ​​of wind speed and direction above the landing site and image data of structures photographed by the landing aircraft, to grasp the wind speed and direction near the landing site at the time of landing. This technology makes it possible to predict wind speed and direction not only at the observation point but also around the landing site. [Prior art documents] [Patent documents]

[0011] [Patent Document 1] JP 2013-50417 A [Patent Document 2] JP 2020-45049 A Summary of the Invention [Problem to be solved by the invention]

[0012] The technology described in Patent Document 1 makes it possible to predict approximate wind speed and direction in an area encompassed by multiple observation points, for example, several kilometers apart, based on the results of atmospheric pressure observations. However, it is difficult to predict wind speed and direction taking into account the effects of terrain and structures when observing only atmospheric pressure.

[0013] For example, in cases where the wind is not affected by the surrounding terrain or structures, such as at airports located on flat ground, it is sufficient to be able to predict global wind speed and direction. However, when vertical take-off and landing aircraft such as rotorcraft or drones take off and land in mountainous regions or areas with a certain degree of density of structures, it is necessary to predict changes in wind speed and direction, such as vortices and separation caused by the terrain. If these changes could be grasped using only some kind of observation device, there is a challenge in that it would be necessary to install many more types of sensors and expand the observation network.

[0014] The technology described in Patent Document 2 sets the boundary and initial conditions of the simulation based on the observation points in the sky and the location of structures extracted from image data, and makes it possible to predict wind speed and direction close to actual conditions through calculations using numerical analysis and simple models.

[0015] However, in order to simulate wind speed and direction in real time for several minutes during takeoff and landing, measures such as reducing the number of computational grids and using simplified models are necessary. In such cases, the accuracy of predictions decreases and it becomes difficult to predict the wind speed and direction necessary for stable control of the aircraft.

[0016] The present invention has been made in consideration of this background, and the object of the present invention is to realize a takeoff and landing control system and method that are capable of combining observational values ​​and simulations in the vicinity of a takeoff and landing site to highly accurately predict wind speed and direction around a target location in real time, and capable of stably controlling a vertical take-off and landing aircraft based on the predicted values. [Means for solving the problem]

[0017] In order to achieve the above object, the present invention is configured as follows.

[0018] a weather analysis unit that analyzes weather at the time of takeoff and landing of a vertical takeoff and landing aircraft from weather forecast data and the terrain data and outputs an analysis value of the weather; a weather sensor data acquisition unit that acquires observation values ​​such as wind speed and wind direction from weather sensors arranged around the takeoff and landing aircraft; a data assimilation unit that assimilates the analysis value of the weather at the takeoff and landing aircraft and the observation values ​​such as the wind speed and the wind direction based on the extracted weather feature values; and a guidance control information generation unit that acquires aircraft information and flight plan data of the vertical takeoff and landing aircraft around the takeoff and landing field, simulates the environment around the takeoff and landing field based on the analysis value of the weather, the aircraft information, and the flight plan data assimilated by the data assimilation unit, generates control data required for attitude control of the vertical takeoff and landing aircraft based on the simulated environment around the takeoff and landing field, and outputs the control data to the vertical takeoff and landing aircraft. the preliminary weather feature extraction unit includes a preliminary weather analysis unit that performs preliminary weather analysis from past weather data and the topographical data regarding the takeoff and landing of the vertical take-off and landing aircraft at the airfield, and a feature extraction unit that extracts the weather feature from a result of the weather analysis by the preliminary weather analysis unit; and the guidance and control information generation unit includes an aircraft sensor data acquisition unit that acquires aircraft information of the vertical take-off and landing aircraft around the airfield, a flight plan data acquisition unit that acquires the flight plan data of the vertical take-off and landing aircraft, an environment simulation unit that simulates the environment around the airfield based on the assimilated weather analysis values, the aircraft information, and the flight plan data; and a guidance and control information output unit that outputs the control data required for the attitude control of the vertical take-off and landing aircraft, based on the environment around the airfield simulated by the environment simulation unit. , the preliminary weather analysis unit creates a computational grid based on the topographical data, creates initial conditions and boundary conditions for analysis based on the past weather data, and calculates past weather conditions around the airfield with high resolution by numerical analysis. .

[0019] In addition, in a takeoff and landing control method, a preliminary weather analysis is performed from past weather data and topographical data of a takeoff and landing field, weather characteristics are extracted, weather at the time of takeoff and landing of a vertical takeoff and landing aircraft is analyzed from weather forecast data and the topographical data, observed values ​​such as wind speed and wind direction are obtained from weather sensors arranged around the takeoff and landing field, and based on the extracted weather characteristics, an analysis value of the weather at the takeoff and landing field of the vertical takeoff and landing aircraft and the observed values ​​such as the wind speed and wind direction are assimilated, aircraft information of the vertical takeoff and landing aircraft around the takeoff and landing field and flight plan data of the vertical takeoff and landing aircraft are obtained, an environment around the takeoff and landing field is simulated based on the assimilated weather analysis value, aircraft information and flight plan data, control data required for attitude control of the vertical takeoff and landing aircraft is generated based on the simulated environment around the takeoff and landing field, and output to the vertical takeoff and landing aircraft. A takeoff and landing control method, comprising removing and correcting errors contained in the observed values, and assimilating the weather analysis values ​​and the observed values ​​with the errors corrected. . Effect of the Invention

[0020] According to the present invention, it is possible to realize a takeoff and landing control device and a takeoff and landing control method capable of highly accurate prediction of wind speed and direction around a target point in real time, and stable control of a vertical take-off and landing aircraft based on the predicted values. [Brief description of the drawings]

[0021] [Figure 1] FIG. 1 shows an example of an airfield surrounded by structures. [Diagram 2] 1 is a diagram illustrating an example of the configuration of a takeoff and landing control device according to a first embodiment of the present invention. [Diagram 3] FIG. 1 is a diagram showing an example of weather forecast values ​​and local wind condition analysis. [Figure 4] FIG. 1 is a diagram illustrating an example of a relationship between a flow field and a feature amount in a fluid analysis. [Diagram 5] FIG. 2 is a functional block diagram of a data assimilation unit in the first embodiment of the present invention. [Figure 6] FIG. 11 is a diagram illustrating an example of the configuration of a takeoff and landing control device according to a second embodiment of the present invention. [Figure 7] FIG. 11 is a diagram illustrating an example of the configuration of a takeoff and landing control device according to a third embodiment of the present invention. [Figure 8] FIG. 11 is a diagram illustrating an example of the configuration of a takeoff and landing control device according to a fourth embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] Next, an embodiment of the present invention will be described in detail with reference to the drawings as appropriate.

[0023] In addition, in each drawing, the same components are given the same reference numerals and the description thereof is omitted. EXAMPLES

[0024] Example 1 FIG. 1 is a diagram showing an example of a landing site 103 for a vertical take-off and landing aircraft 101 surrounded by structures 102.

[0025] 1, a vertical take-off and landing aircraft 101 takes off and lands at an airfield 103 surrounded by structures 102. The structures 102 are buildings such as buildings, residences, stations, bridges, etc., as well as mountains and trees, which affect the wind speed and direction around the airfield 103.

[0026] Weather sensors 104 capable of observing meteorological parameters such as wind speed and direction are installed around the airfield 103. The weather sensors 104 may be sensors that measure wind speed and direction at the installation point, such as a three-cup anemometer, or sensors that can measure wind speed distribution in the altitude direction, such as a Doppler lidar.

[0027] The airfield 103 has a size of several meters to several tens of meters, and the surrounding weather sensors 104 are installed within a range of several meters to several kilometers around the airfield 103 .

[0028] FIG. 2 is a diagram showing an example of the configuration of a takeoff and landing control system 200 according to the first embodiment of the present invention.

[0029] As a pre-operational preparation, the takeoff and landing control system 200 inputs the topographical data stored in the topographical data memory unit 201 and the past weather data stored in the past weather data memory unit 202, and analyzes the past weather conditions around the takeoff and landing field 103 through numerical simulation in the pre-weather analysis unit 203.

[0030] The preliminary weather analysis unit 203 creates a computational grid based on the topographical data, creates initial conditions and boundary conditions for analysis based on past weather data, and calculates past weather conditions around the airfield with high resolution by numerical analysis.

[0031] The topographical data stored in the topographical data memory unit 201 may be a Geospatial Information Authority of Japan map in which elevation is expressed numerically, independently measured topographical information, or data issued by a private company that includes the coordinates and sizes of buildings and other structures.

[0032] The past weather data stored in the past weather data memory unit 202 may be past weather forecast values ​​issued by meteorological agencies such as the Japan Meteorological Agency or the National Oceanic and Atmospheric Administration, past weather observation data observed at the target location by some sensor such as AMeDAS, or past weather data independently released by private companies using weather analysis simulators, etc.

[0033] This simulation is performed using a model that can consider the effects of local topography and structures, with an analysis target of a range of several kilometers around the airfield 103. This model may be one used to analyze turbulent phenomena in the field of computational fluid analysis, or an analysis model that adds the effects of physical phenomena such as clouds and solar radiation to the model.

[0034] Preliminary weather analysis requires as accurate an understanding of past weather conditions as possible, so the computational grid used in the analysis needs to have sufficient resolution to grasp the effects of winds between buildings and mountains, and models of physical phenomena such as turbulence need to be able to reproduce fluid phenomena such as turbulence and separation that can occur within the range of the analysis.

[0035] The preliminary weather analysis unit 203 creates a computational grid based on the topographical data, creates initial and boundary conditions for analysis based on past weather data, and calculates past weather conditions around the airfield 103 with high resolution by numerical analysis.

[0036] The analysis results obtained by the preliminary weather analysis unit 203 are decomposed into characteristic state quantities of the weather conditions at the target point in the feature quantity extraction unit 204. This decomposition is performed using techniques such as principal component analysis, normal orthogonal decomposition, and singular value decomposition. The feature quantity extraction unit 204 calculates the main meteorological components around the airfield 103 as features by principal component analysis or the like from past weather conditions.

[0037] As an example, if the past wind direction and speed data obtained by the preliminary weather analysis unit 203 is expressed as a matrix called Z, the singular value decomposition is Z=UΣV TZ can be projected onto the feature space. In this case, the matrix U represents the conversion to the feature space, and this matrix U makes it possible to convert the wind speed and direction data at the target point into the feature space, even for conditions that are not included in the pre-analysis.

[0038] Next, when operating the takeoff and landing control system 200 , first, analysis by the weather analysis unit 206 is required based on the weather forecast data stored in the weather forecast data storage unit 205 .

[0039] As an example, early in the morning on the day of operation of the takeoff and landing control system 200, LFM (local field model), which is weather forecast data issued by the Japan Meteorological Agency, is received, and the data is used as the initial and boundary conditions, and the terrain data stored in the terrain data storage unit 201 is also input as in the preliminary weather analysis unit 203, and the weather conditions are simulated by computational fluid analysis. Since the weather forecast data includes future forecast values, the weather analysis values ​​at future times around the airfield 103 are obtained as the analysis results.

[0040] Then, during takeoff and landing of the vertical take-off and landing aircraft 101, the weather observation values ​​acquired by the weather sensor data acquisition unit 207 and the weather analysis values ​​predicted by the weather analysis unit 206 are assimilated by the data assimilation unit 208 using the transformation matrix U obtained from the feature extraction unit 204.

[0041] In other words, the data assimilation unit 208 converts the analytical values ​​output from the meteorological analysis unit 206 and the observation values ​​acquired from the meteorological sensor data acquisition unit 207 into the same space as the meteorological features, and after data assimilation, converts them again into the same space as the analytical values ​​to calculate meteorological prediction values ​​with improved accuracy compared to the meteorological forecast data.

[0042] The meteorological observation values ​​acquired by the meteorological sensor data acquisition unit 207 are values ​​at a specific point, such as the observed values ​​of wind speed and wind direction data observed by the meteorological sensor 104. However, by performing a transformation using the transformation matrix U, the distribution of the observed values ​​in the feature space can be estimated. By correcting the analysis values ​​obtained by the meteorological analysis unit 206 using the observed value distribution in the feature space, it is possible to obtain highly accurate weather forecast values ​​at the time when the observed values ​​are obtained.

[0043] A more detailed description will be given later with reference to FIG.

[0044] The aircraft sensor data acquisition unit 209 acquires aircraft information such as the position and attitude of the vertical take-off and landing aircraft 101. In addition, the flight plan data acquisition unit 210 acquires the future flight path of the vertical take-off and landing aircraft 101.

[0045] The weather forecast values ​​obtained by the data assimilation unit 208 are combined in the environmental simulation unit 211 with aircraft information such as the position and attitude of the vertical take-off and landing aircraft 101 obtained from the aircraft sensor data acquisition unit 209, and the future flight path of the vertical take-off and landing aircraft 101 obtained from the flight plan data acquisition unit 210, to simulate how the vertical take-off and landing aircraft 101 should be guided and controlled in the virtual space to ensure stable take-off and landing.

[0046] In other words, the environmental simulation unit 211 simulates the flight of the vertical take-off and landing aircraft 101 at take-off and landing in a digital space (virtual space) based on the aircraft information and flight plan data of the vertical take-off and landing aircraft 101 under weather conditions such as wind and rain included in the weather forecast values, and calculates the path and attitude that the aircraft should take at take-off and landing from the results of the flight simulation.

[0047] Based on the results of this simulation, information (control data) required for the vertical take-off and landing aircraft 101 is output from guidance and control information output unit 212, and the vertical take-off and landing aircraft 101 is guided and controlled.

[0048] In other words, the vertical take-off and landing aircraft 101 flies along a flight path that estimates changes in flight direction and speed of the vertical take-off and landing aircraft 101 due to the simulated wind speed and direction around the airfield 103 .

[0049] As an example, to enable stable landing for a predicted future wind speed, parameters such as the angle at which the vertical take-off and landing aircraft 101 should tilt and the landing path are output to the vertical take-off and landing aircraft 101. The vertical take-off and landing aircraft 101 receives this information and takes into account the surrounding weather conditions and the like to enable stable take-off and landing.

[0050] In other words, the guidance control information output unit 212 transmits information regarding the route and attitude that the vertical take-off and landing aircraft 101 should take during take-off and landing to other vertical take-off and landing aircraft 101 around the take-off and landing field 103 via communication means such as wireless communication.

[0051] Fig. 3 is a diagram showing an example of weather forecast values ​​and local wind analysis. For example, weather data 301 issued by the Japan Meteorological Agency is called Grid Point Value (GPV), and the values ​​of meteorological variables such as wind speed and wind direction corresponding to each grid in a space divided into a grid are stored. The weather data 301 shows wind speed vectors 302 on grid points, and the shading changes according to the magnitude.

[0052] When a portion 303 of the weather data 301 is enlarged, it becomes enlarged weather data 311. The direction and strength of the wind can be seen from wind speed vector 302 relative to a coastline 312. In the range of the enlarged weather data 311, the wind is blowing in a northeasterly direction on the west side of the coastline 312, while a stronger wind is blowing in a southeasterly direction on the east side.

[0053] The weather analysis included in the takeoff and landing control system 200 is performed based on the above GPV data. For example, if the takeoff and landing site 103 is included in the analysis target range 314 of the expanded weather data 311, the initial conditions and boundary conditions of the weather analysis are created from the information of the wind speed vector included in the analysis target range 314.

[0054] For example, in an analysis area 321 around the airfield 103, boundary conditions 322 are created based on the wind speed from the southeast indicated by the GPV of the analysis range 314, enabling a simulation of the analysis area 321 by computational fluid analysis. As a result of the simulation, for example, wind conditions 323 are obtained, and changes in wind direction and speed around the airfield 103 due to obstruction by the structure 102 can be understood.

[0055] FIG. 4 is a diagram showing an example of the relationship between a flow field in fluid analysis and its feature quantities extracted by the feature quantity extraction unit 204, using an example of a simple flow field around a cylinder.

[0056] In Figure 4, when a flow 402 flows into a cylinder 403, a flow velocity distribution 401 is formed around the cylinder. The flow velocity behind the cylinder 403 slows down and at the same time, a vortex is generated. When singular value decomposition is performed on the flow velocity change at this time as matrix Z and the transformation matrix U is plotted, principal component 410 is obtained. The principal components can be obtained by the magnitude of energy, and principal component 411 with large energy to principal component 412 with small energy can be obtained.

[0057] The principal component 411 with high energy represents a major change in the velocity distribution 401, and the change in the principal component 411 is related to the arrangement of vortices behind the cylinder 403. The principal component 412 with low energy also represents a change in the velocity distribution 401, but represents a small structural change included in the change in the vortex, and this change has a smaller influence on the velocity distribution 401 than the principal component 411 with high energy. The feature extraction unit 204 obtains such principal components 411 three-dimensionally in the analysis target area 321 around the airfield 103.

[0058] FIG. 5 is a functional block diagram of the data assimilation unit 208 in the first embodiment.

[0059] 5, the data assimilation unit 208 includes a reduced-dimensional state quantity calculation unit 501, an assimilation quantity analysis unit 502, and an assimilation calculation unit 503. The data assimilation unit 208 first receives a weather forecast value from the weather analysis unit 206. This weather forecast value is projected into the feature quantity space by the reduced-dimensional state quantity calculation unit 501 using the transformation matrix U derived by the feature quantity extraction unit 204 in the preliminary analysis, and reduced in dimension.

[0060] In other words, the data assimilation unit 208 converts the analysis values ​​output from the meteorological analysis unit 206 and the observation values ​​acquired from the meteorological sensor data acquisition unit 207 into the same space as the feature quantities, and after data assimilation, converts them again into the same space as the analysis values ​​to calculate weather forecast values ​​with improved accuracy compared to the weather forecast data.

[0061] Next, the observed values ​​acquired by the meteorological sensor data acquisition unit 207 are also projected into the feature space by the assimilation amount analysis unit 502 using the transformation matrix U derived by the feature amount extraction unit 204 in the pre-analysis.

[0062] In this case, since the observation values ​​are values ​​at discrete points, when multiplying by the transformation matrix U, it is also necessary to know which grid of the computational grid used by the meteorological analysis unit 206 the discrete points belong to.

[0063] The observed values ​​and analytical values ​​in the feature space are assimilated in the assimilation calculation unit 503. For data assimilation, a method such as the three-dimensional variation method or the Kalman filter may be used, or a simpler method such as an interpolation method may be used.

[0064] As an example, when the interpolation method is used, the difference between the weather forecast value and the observed value is calculated in the feature space. This difference is multiplied by the inverse matrix of the transformation matrix U to restore the original value in the physical space. This restored value is multiplied by an arbitrary weighting coefficient W and then added to the weather forecast value as a correction amount. As a result of this assimilation calculation, a high-precision weather forecast value 504 is obtained.

[0065] As described above, according to the first embodiment of the present invention, the preliminary weather analysis unit 203 grasps the characteristics of the expected weather conditions based on the topographical data of the prediction target point stored in the topographical data storage unit 201 and the past weather data stored in the past weather data storage unit 202.

[0066] Then, the weather conditions around the target point are analyzed by the weather analysis unit 206 based on the weather forecast data issued by meteorological organizations such as the Japan Meteorological Agency, which is stored in the weather data memory unit 205. When the vertical take-off and landing aircraft 101 takes off or lands, observation values ​​are acquired from the weather sensors 104 around the target take-off and landing point by the weather sensor data acquisition unit 207. The weather analysis values ​​and observation values ​​are converted into a feature space based on the features grasped in advance, and are combined by data assimilation.

[0067] The environmental simulation unit 211 can predict weather conditions such as wind speed and direction with high accuracy, and stably control the vertical take-off and landing aircraft 101 based on the prediction results, thereby realizing a take-off and landing control device 200 and a take-off and landing control method that can predict wind speed and direction around a target point with high accuracy in real time, and stably control the vertical take-off and landing aircraft 101 based on the predicted values.

[0068] Example 2 Next, a second embodiment of the present invention will be described.

[0069] 6 is a diagram showing a configuration example of a takeoff and landing control system 200 according to embodiment 2. Description of the same parts as those in embodiment 1 will be omitted.

[0070] In the takeoff and landing control system 200 of the second embodiment, the observation value acquired by the meteorological sensor data acquisition unit 207 is input to the observation value correction unit 601. The observation value correction unit 601 removes errors contained in the observation value acquired by the meteorological sensor data acquisition unit 207, and outputs the corrected observation value after the errors are removed to the data assimilation unit 208. The errors at this time are errors such as noise generated by the meteorological sensor 104 during observation, errors caused by improper installation, and errors caused when the sensor is unable to provide appropriate output due to deterioration over time.

[0071] In order to identify these errors from the observation values ​​acquired by the weather sensor data acquisition unit 207, the assimilation result learning unit 602 learns the meteorological forecast value made highly accurate by the data assimilation unit 208 and the amount of correction based on the observation value before assimilation by the observation value correction unit 601.

[0072] Based on this learning result, if the amount of correction by the observation value correction unit 601 changes significantly (changes by more than a certain amount) compared to normal data assimilation (average data assimilation from the past), this is output as an error to the observation value correction unit 601, and after the observation value correction unit 601 corrects the observation value, the data assimilation unit 208 performs data assimilation again using the corrected observation value.

[0073] The assimilation result learning unit 602, for example, discriminates errors using an error threshold. A predetermined error threshold is held in the assimilation result learning unit 602, and when the correction amount in the data assimilation unit 208 exceeds the error threshold, the difference from the threshold is output to the observation value correction unit 601. The observation value is corrected by the observation value correction unit 601 according to the difference from the threshold, and is assimilated again in the data assimilation unit 208.

[0074] The data assimilated by the data assimilation unit 208 is then output to the environment simulation unit 211 via the assimilation result learning unit 602 .

[0075] However, the assimilation result learning unit 602 only needs to learn the assimilation result from the output from the data assimilation unit 208 and output the difference from the threshold value to the observation value correction unit 601. It is also possible for the data assimilated by the data assimilation unit 208 to be output to the environmental simulation unit 211 without going through the assimilation result learning unit 602.

[0076] The other configurations and operations are the same as those in the first embodiment.

[0077] According to the second embodiment of the present invention, in addition to being able to obtain the same effects as those of the first embodiment, it is possible to properly correct errors contained in the meteorological data acquisition unit 207, thereby realizing a takeoff and landing control system 200 and a takeoff and landing control method that can guide the vertical takeoff and landing aircraft 101 to the takeoff and landing field 103 with higher accuracy.

[0078] Example 3 Next, a third embodiment of the present invention will be described.

[0079] 7 is a diagram showing a configuration example of a takeoff and landing control system 200 according to embodiment 3. Description of the same parts as those in embodiment 1 will be omitted.

[0080] In the takeoff and landing control system 200 of the third embodiment, sensor data of a plurality of aircraft is input to the environment simulation unit 211 by a plurality of aircraft sensor data acquisition unit 701. In addition, flight plan data for each aircraft is acquired from a plurality of flight plan data acquisition unit 702.

[0081] The environment simulation unit 211 executes a simulation similar to that of the first embodiment, but obtains simulation results in a situation where multiple vertical take-off and landing aircraft 101 simultaneously take off and land at the take-off and landing field 103. Based on these results, the multiple-aircraft route optimization unit 703 calculates optimal route information for take-off and landing for each vertical take-off and landing aircraft 101.

[0082] For example, when one vertical take-off and landing aircraft 101 has priority for landing, another vertical take-off and landing aircraft 101 needs to wait in the air above the take-off and landing field 103. Alternatively, when strong winds are expected around the take-off and landing field 103, a take-off and landing route that increases the distance between the vertical take-off and landing aircraft 101 is required, and the route for this is calculated by the multiple aircraft route optimization unit 703.

[0083] Based on the calculated route, the guidance control information output unit 212 outputs parameters (data) such as the angle at which the vertical take-off and landing aircraft 101 should be tilted and the landing route for each of the multiple vertical take-off and landing aircraft 101, so that a stable landing is possible, as in the first embodiment.

[0084] The other configurations and operations are the same as those in the first embodiment.

[0085] According to the third embodiment of the present invention, in addition to being able to obtain the same effects as those of the first embodiment, it is possible to calculate optimal route information for takeoff and landing for each vertical take-off and landing aircraft 101 even in a situation where multiple vertical take-off and landing aircraft 101 take off and land at the take-off and landing field 103 at the same time, thereby realizing a take-off and landing control system 200 and a take-off and landing control method that enable more stable control of the vertical take-off and landing aircraft 101.

[0086] Incidentally, a combination of the above-mentioned third and second embodiments is also included in the embodiments of the present invention.

[0087] Example 4 Next, a fourth embodiment of the present invention will be described.

[0088] 8 is a diagram illustrating a configuration example of a takeoff and landing control system 200 according to the fourth embodiment. Description of the same parts as those in the first embodiment will be omitted.

[0089] In the takeoff and landing control system 200 of the fourth embodiment, the sudden weather change information estimation unit 801 estimates (predicts) a sudden change in weather from data of observed values ​​such as wind speed and wind direction acquired by the weather sensor data acquisition unit 207, and outputs the sudden weather change estimation result to the guidance control information output unit 212. The guidance control information output unit 212 changes the control information (control data) to be output (transmitted) to the vertical take-off and landing aircraft 101 based on the sudden weather change estimation result.

[0090] For example, when a gust of wind occurs that causes the wind speed to change by several meters per second or more within a few minutes, the simulation by the data assimilation unit 208 and the environment simulation unit 211 may not be able to keep up.

[0091] Therefore, such a sudden change is estimated using a different method, and depending on the result, processing such as aborting takeoff and landing of the vertical takeoff and landing aircraft 101 at the takeoff and landing field 103 is performed.

[0092] The different methods described above use learning methods such as machine learning. For example, by learning conditions that cause gusts of wind around the airfield 103 from past weather forecast results and meteorological observation values, it becomes possible to predict sudden changes in wind speed such as gusts of wind in real time based on data from the weather sensor data acquisition unit 207.

[0093] The other configurations and operations are the same as those in the first embodiment.

[0094] According to the fourth embodiment of the present invention, in addition to being able to obtain the same effects as the first embodiment, it is also possible to realize a takeoff and landing control system 200 and a takeoff and landing control method that are capable of stable control of the vertical takeoff and landing aircraft 101 even in the event of a sudden change in weather.

[0095] In addition, the embodiments of the present invention also include an example in which the above-mentioned Example 4 is combined with Example 2 or Example 3. Furthermore, the embodiments of the present invention also include an example in which Example 2, Example 3, and Example 4 are combined.

[0096] The above-mentioned preliminary weather analysis unit 203 and feature amount extraction unit 204 can be integrated into a preliminary weather feature amount extraction unit.

[0097] In addition, the aircraft sensor data acquisition unit 209, the flight plan data acquisition unit 210, the environment simulation unit 211 and the guidance control information output unit 212 can be integrated into one as a guidance control information generation unit.

[0098] Therefore, the present invention includes a prior meteorological feature extraction unit (203, 204) that performs prior meteorological analysis from past meteorological data and topographical data of the takeoff and landing field 103 and extracts meteorological feature values, a meteorological analysis unit 206 that analyzes the weather at the time of takeoff and landing of the vertical takeoff and landing aircraft 101 from weather forecast data and topographical data and outputs meteorological analysis values, a meteorological sensor data acquisition unit 207 that acquires observation values ​​such as wind speed and wind direction from meteorological sensors 104 arranged around the takeoff and landing field 103, and a meteorological analysis unit 208 that acquires observation values ​​such as wind speed and wind direction from meteorological sensors 104 arranged around the takeoff and landing field 103 based on the extracted meteorological feature values. Examples include a takeoff and landing control device comprising: a data assimilation unit 208 that assimilates observed values; and a guidance control information generation unit (209, 210, 211, 212) that acquires aircraft information of the vertical take-off and landing aircraft 101 around the takeoff and landing field 103 and flight plan data of the vertical take-off and landing aircraft 101, simulates the environment around the takeoff and landing field 103 based on the weather analysis values, aircraft information and flight plan data assimilated by the data assimilation unit 208, and generates and outputs data necessary for attitude control of the vertical take-off and landing aircraft 101 based on the simulated environment around the takeoff and landing field 103. [Explanation of symbols]

[0099] 101...vertical take-off and landing aircraft, 102...structure, 103...take-off and landing site, 104...weather sensor, 200...take-off and landing control system, 201...terrain data memory, 202...past weather data memory, 203...preliminary weather analysis unit, 204...feature extraction unit, 205...weather forecast data, 206...weather analysis unit, 207...weather sensor data acquisition unit, 208...data assimilation unit, 209...aircraft sensor data acquisition unit, 210...flight plan data acquisition unit, 211...environment simulation unit, 212...guidance and control information acquisition unit, 3 01...weather data, 302...wind speed vector, 303...part of the weather data 301, 311...analysis target area, 312...coastline, 314...analysis target range, 321...analysis target area, 501...reduced-dimensional state quantity calculation unit, 502...assimilation quantity analysis unit, 503...assimilation calculation unit, 504...high-precision weather forecast value, 601...observation value correction unit, 602...assimilation result learning unit, 701...multiple aircraft sensor data acquisition unit, 702...multiple flight plan data acquisition unit, 703...multiple aircraft route optimization unit, 801...weather sudden change information estimation unit

Claims

1. a preliminary weather feature extraction unit that performs preliminary weather analysis based on past weather data and topographical data of the airfield and extracts weather feature values; a weather analysis unit that analyzes weather at the time of takeoff and landing of a vertical takeoff and landing aircraft from weather forecast data and the terrain data, and outputs an analysis value of the weather; a meteorological sensor data acquisition unit that acquires observation values ​​such as wind speed and wind direction from meteorological sensors disposed around the airfield; a data assimilation unit that assimilates the analysis values ​​of the weather at the takeoff and landing site of the vertical take-off and landing aircraft and the observed values ​​such as the wind speed and the wind direction based on the extracted meteorological feature amount; a guidance and control information generation unit that acquires aircraft information of the vertical take-off and landing aircraft in the vicinity of the take-off and landing field and flight plan data of the vertical take-off and landing aircraft, simulates an environment in the vicinity of the take-off and landing field based on the weather analysis values, the aircraft information, and the flight plan data assimilated by the data assimilation unit, generates control data necessary for attitude control of the vertical take-off and landing aircraft based on the simulated environment in the vicinity of the take-off and landing field, and outputs the control data to the vertical take-off and landing aircraft; Equipped with The preliminary meteorological feature extraction unit is a preliminary weather analysis unit that performs a preliminary weather analysis based on past weather data and the topographical data with respect to takeoff and landing of the vertical take-off and landing aircraft at the airfield; a feature extraction unit that extracts the meteorological feature from a meteorological analysis result of the preliminary meteorological analysis unit; Equipped with The guidance control information generation unit an aircraft sensor data acquisition unit that acquires aircraft information of the vertical take-off and landing aircraft in the vicinity of the take-off and landing field; a flight plan data acquisition unit that acquires the flight plan data of the vertical take-off and landing aircraft; an environmental simulation unit that simulates an environment around the airfield based on the assimilated weather analysis values, the aircraft information, and the flight plan data; a guidance control information output unit that outputs the control data required for the attitude control of the vertical take-off and landing aircraft based on the environment around the take-off and landing field simulated by the environmental simulation unit; and Equipped with The takeoff and landing control device is characterized in that the preliminary weather analysis unit creates a computational grid based on the topographical data, creates initial conditions and boundary conditions for analysis based on the past weather data, and calculates past weather conditions around the takeoff and landing field with high resolution through numerical analysis.

2. 2. The takeoff and landing control system according to claim 1, The takeoff and landing control device is characterized in that the feature extraction unit calculates the main meteorological components around the takeoff and landing site as the meteorological features by principal component analysis or the like from past weather conditions.

3. 2. The takeoff and landing control system according to claim 1, The takeoff and landing control device is characterized in that the environmental simulation unit simulates the flight of the vertical take-off and landing aircraft at take-off and landing in a digital space based on the aircraft information and the flight plan data of the vertical take-off and landing aircraft under weather conditions such as wind and rain included in the weather analysis values, and calculates the path and attitude that the vertical take-off and landing aircraft should take at take-off and landing from the results of the flight simulation.

4. 2. The takeoff and landing control system according to claim 1, A takeoff and landing control device characterized in that the guidance control information output unit outputs information on the route and attitude that the vertical take-off and landing aircraft should take during take-off and landing to other vertical take-off and landing aircraft in the vicinity of the take-off and landing field.

5. 2. The takeoff and landing control system according to claim 1, A plurality of aircraft sensor data acquisition units for acquiring the aircraft information of the plurality of vertical take-off and landing aircraft; A plurality of flight plan data acquisition units that acquire the flight plan data of a plurality of the vertical take-off and landing aircraft; a multiple aircraft route optimization unit that optimizes flight routes of the multiple vertical take-off and landing aircraft based on the environment around the take-off and landing field simulated by the environment simulation unit; wherein the guidance control information output unit outputs the control data necessary for the attitude control, etc. of the multiple vertical take-off and landing aircraft based on the flight paths optimized by a multiple-aircraft path optimization unit for the multiple vertical take-off and landing aircraft.

6. 2. The takeoff and landing control system according to claim 1, Further provided is a weather sudden change information estimation unit that estimates a sudden change in the weather from the observation value acquired by the weather sensor data acquisition unit and outputs a weather sudden change estimation result to the guidance control information output unit, A takeoff and landing control device characterized in that the guidance control information output unit changes the control data to be output to the vertical take-off and landing aircraft based on the result of the estimated sudden weather change.

7. A preliminary meteorological feature extraction unit that performs preliminary meteorological analysis based on past meteorological data and topographical data of the takeoff and landing site and extracts meteorological feature values; a weather analysis unit that analyzes weather at the time of takeoff and landing of a vertical takeoff and landing aircraft from weather forecast data and the terrain data, and outputs an analysis value of the weather; a meteorological sensor data acquisition unit that acquires observation values ​​such as wind speed and wind direction from meteorological sensors disposed around the airfield; a data assimilation unit that assimilates the analysis values ​​of the weather at the takeoff and landing site of the vertical take-off and landing aircraft and the observed values ​​such as the wind speed and the wind direction based on the extracted meteorological feature amount; a guidance and control information generation unit that acquires aircraft information of the vertical take-off and landing aircraft in the vicinity of the take-off and landing field and flight plan data of the vertical take-off and landing aircraft, simulates an environment in the vicinity of the take-off and landing field based on the weather analysis values, the aircraft information, and the flight plan data assimilated by the data assimilation unit, generates control data necessary for attitude control of the vertical take-off and landing aircraft based on the simulated environment in the vicinity of the take-off and landing field, and outputs the control data to the vertical take-off and landing aircraft; Equipped with The preliminary meteorological feature extraction unit is a preliminary weather analysis unit that performs a preliminary weather analysis based on past weather data and the topographical data with respect to takeoff and landing of the vertical take-off and landing aircraft at the airfield; a feature extraction unit that extracts the meteorological feature from a meteorological analysis result of the preliminary meteorological analysis unit; Equipped with The guidance control information generation unit an aircraft sensor data acquisition unit that acquires aircraft information of the vertical take-off and landing aircraft in the vicinity of the take-off and landing field; a flight plan data acquisition unit that acquires the flight plan data of the vertical take-off and landing aircraft; an environmental simulation unit that simulates an environment around the airfield based on the assimilated weather analysis values, the aircraft information, and the flight plan data; a guidance control information output unit that outputs the control data required for the attitude control of the vertical take-off and landing aircraft based on the environment around the take-off and landing field simulated by the environmental simulation unit; and Equipped with The data assimilation unit converts the analytical value output from the meteorological analysis unit and the observation value acquired from the meteorological sensor data acquisition unit into the same space as the meteorological features, and after data assimilation, converts them again into the same space as the analytical value, thereby calculating the analytical value of the weather with improved accuracy compared to the weather forecast data.

8. A preliminary meteorological feature extraction unit that performs preliminary meteorological analysis based on past meteorological data and topographical data of the takeoff and landing site and extracts meteorological feature values; a weather analysis unit that analyzes weather at the time of takeoff and landing of a vertical takeoff and landing aircraft from weather forecast data and the terrain data, and outputs an analysis value of the weather; a meteorological sensor data acquisition unit that acquires observation values ​​such as wind speed and wind direction from meteorological sensors disposed around the airfield; a data assimilation unit that assimilates the analysis values ​​of the weather at the takeoff and landing site of the vertical take-off and landing aircraft and the observed values ​​such as the wind speed and the wind direction based on the extracted meteorological feature amount; a guidance and control information generation unit that acquires aircraft information of the vertical take-off and landing aircraft in the vicinity of the take-off and landing field and flight plan data of the vertical take-off and landing aircraft, simulates an environment in the vicinity of the take-off and landing field based on the weather analysis values, the aircraft information, and the flight plan data assimilated by the data assimilation unit, generates control data necessary for attitude control of the vertical take-off and landing aircraft based on the simulated environment in the vicinity of the take-off and landing field, and outputs the control data to the vertical take-off and landing aircraft; Equipped with The preliminary meteorological feature extraction unit is a preliminary weather analysis unit that performs a preliminary weather analysis based on past weather data and the topographical data with respect to takeoff and landing of the vertical take-off and landing aircraft at the airfield; a feature extraction unit that extracts the meteorological feature from a meteorological analysis result of the preliminary meteorological analysis unit; Equipped with The guidance control information generation unit an aircraft sensor data acquisition unit that acquires aircraft information of the vertical take-off and landing aircraft in the vicinity of the take-off and landing field; a flight plan data acquisition unit that acquires the flight plan data of the vertical take-off and landing aircraft; an environmental simulation unit that simulates an environment around the airfield based on the assimilated weather analysis values, the aircraft information, and the flight plan data; a guidance control information output unit that outputs the control data required for the attitude control of the vertical take-off and landing aircraft based on the environment around the take-off and landing field simulated by the environmental simulation unit; and Equipped with an observation value correction unit that removes and corrects errors contained in the observation values ​​acquired by the meteorological sensor data acquisition unit and outputs the corrected values ​​to the data assimilation unit; an assimilation result learning unit that learns the weather forecast value assimilated by the data assimilation unit and a correction amount by the observation value correction unit before assimilation, and outputs a correction amount to the observation value correction unit when the correction amount by the observation value exceeds a predetermined error threshold based on a learning result; A takeoff and landing control device comprising:

9. Conducting a preliminary weather analysis based on past weather data and topographical data of the takeoff and landing site, and extracting weather characteristics; Analyzing weather conditions at the time of takeoff and landing of a vertical takeoff and landing aircraft from the weather forecast data and the terrain data; Obtaining observation values ​​such as wind speed and wind direction from weather sensors installed around the airfield; assimilating the analytical values ​​of the weather at the takeoff and landing site of the vertical take-off and landing aircraft and the observed values ​​such as the wind speed and the wind direction based on the extracted meteorological feature amount; a takeoff and landing control method for acquiring aircraft information of the vertical takeoff and landing aircraft in the vicinity of the takeoff and landing field and flight plan data of the vertical takeoff and landing aircraft, simulating an environment in the vicinity of the takeoff and landing field based on the assimilated weather analysis values, the aircraft information and the flight plan data, generating control data required for attitude control of the vertical takeoff and landing aircraft based on the simulated environment in the vicinity of the takeoff and landing field, and outputting the control data to the vertical takeoff and landing aircraft, Correcting the observed values ​​by removing errors contained therein; A takeoff and landing control method comprising assimilation of the weather analysis values ​​and the observed values ​​having the errors corrected.

10. 10. The takeoff and landing control method according to claim 9, Acquire the aircraft information of the plurality of vertical take-off and landing aircraft; acquiring the flight plan data for a plurality of the vertical take-off and landing aircraft; optimizing flight paths of the plurality of vertical take-off and landing aircraft based on a simulated environment surrounding the airfield; A takeoff and landing control method, characterized by outputting the control data necessary for the attitude control, etc. of a plurality of the vertical take-off and landing aircraft based on the optimized flight path.

11. The takeoff and landing control method according to claim 9, Estimating a sudden change in the weather from the acquired observation values; A takeoff and landing control method, comprising changing the control data to be output to the vertical take-off and landing aircraft based on the estimated sudden change in weather.

12. 10. The takeoff and landing control method according to claim 9, A takeoff and landing control method, characterized in that the vertical take-off and landing aircraft flies along a flight path in which changes in flight direction and speed of the vertical take-off and landing aircraft due to the simulated wind speed and wind direction around the take-off and landing site are estimated.

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