Method and apparatus for conformance monitoring of uam

Abstract

A method for conformance monitoring of an urban air mobility (UAM), according to an embodiment, may comprise the steps of: obtaining track information and flight plan information of the UAM; generating at least one flight conformance region by using the flight plan information; and determining whether the UAM deviates from a route, by using the track information and the at least one flight conformance region.

Description

Method and device for monitoring UAM departure from route

[0001] The present invention relates to a method and device for monitoring route deviation of UAM.

[0002] For reference, this application claims priority to Korean Patent Application No. 10-2023-0141967, filed on October 23, 2023. The entire contents of that application, which serves as the basis for this priority claim, are incorporated herein by reference.

[0003] UAM stands for Urban Air Mobility, which utilizes the sky as a transportation route by combining personal air vehicles (PAVs) capable of vertical takeoff and landing (VTOL).

[0004] UAM is a next-generation mobility solution that maximizes urban mobility efficiency. It emerged to address issues such as reduced mobility due to congested urban traffic and the rising social costs associated with logistics and transportation costs. With long-distance travel times increasing and traffic congestion worsening, UAM is considered a future innovation while simultaneously addressing these issues.

[0005] Meanwhile, when a UAM flight plan is determined, the technology to monitor whether the UAM deviates from the route according to the flight plan is called UAM route deviation monitoring (conformance monitoring).

[0006] However, according to the Korean Urban Air Traffic Operation Concept 1.0 published by UAM team Korea (September 2021), in order to prevent intrusion into no-fly zones in commercial corridors, it is disclosed that route deviation is monitored in real time, and in the event of route deviation, a route deviation warning is transmitted to the captain and stakeholders through the network and communication between PSUs. However, there is insufficient discussion on specific criteria or methods for determining route deviation.

[0007] Accordingly, there is a need to establish specific criteria or methods for determining course deviation.

[0008] (Prior art literature)

[0009] (Patent Document 0001) Korean Patent Publication No. 10-2472650 (November 25, 2022)

[0010] The present invention provides a method for generating at least one flight compliance area using flight plan information of a UAM and determining whether a UAM deviates from a route based on whether the UAM is included in at least one flight compliance area based on the current location coordinates of the UAM included in the UAM's flight information.

[0011] In addition, the present invention provides a method for monitoring route deviation, wherein a UI object visualizing a UAM and a UI object visualizing at least one flight compliance area are provided to a user based on the current location coordinates of the UAM, and the color of the UI object visualizing the UAM changes based on whether the UAM is included in at least one flight compliance area.

[0012] However, the problems to be solved by the present invention are not limited to those mentioned above, and other problems to be solved that are not mentioned can be clearly understood by a person having ordinary skill in the art to which the present invention pertains from the description below.

[0013] A method for monitoring route deviation of UAM (Urban Air Mobility) according to one embodiment of the present invention may include the steps of: obtaining route information and flight plan information of the UAM; creating at least one flight conformance region using the flight plan information; and determining whether the UAM has deviated from its route using the route information and the at least one flight conformance region.

[0014] Here, the step of generating the at least one flight compliance area may include: determining a plurality of direction vectors for each of an altitude error, an along-track error, and a cross-track error; and determining equations of a plurality of planes using a plurality of threshold position coordinates and the plurality of direction vectors, the thresholds being determined by considering preset threshold values ​​for each of the altitude error, the along-track error, and the cross-track error based on the planned flight point of the UAM included in the flight plan information; and generating the at least one flight compliance area using an intersection of equations of the plurality of planes.

[0015] In addition, the step of determining the plurality of direction vectors may include the step of determining a direction vector corresponding to one direction perpendicular to the ground as a first direction vector for the altitude error; the step of determining a second direction vector for the path error using the position coordinates of the previous path point and the position coordinates of the next path point based on the flight plan position coordinates of the UAM; and the step of determining a third direction vector for the lateral error based on an outer product operation for the first direction vector and the second direction vector.

[0016] Meanwhile, the flight plan information of the UAM includes the position coordinates of the first to nth route points (n is a natural number), and the flight plan position coordinates are the mth route point (m is a natural number, m <n)의 위치 좌표와 동일한 경우, 상기 제2 방향 벡터를 결정하는 단계는, 상기 제m 경로점의 위치 좌표와 제m+1 경로점의 위치 좌표를 이용하여 상기 제2 방향 벡터를 결정하는 단계를 포함할 수 있다.

[0017] In addition, when the flight plan position coordinates are the same as the position coordinates of the n-th waypoint, the step of determining the second direction vector may include a step of determining the second direction vector using the position coordinates of the n-1-th waypoint and the position coordinates of the n-th waypoint.

[0018] In addition, in the third paragraph, the step of determining the plurality of direction vectors may further include the step of determining a fourth direction vector corresponding to the opposite direction of the first direction vector; the step of determining a fifth direction vector corresponding to the opposite direction of the second direction vector; and the step of determining a sixth direction vector corresponding to the opposite direction of the third direction vector.

[0019] Meanwhile, the step of determining equations of the plurality of planes includes: a step of determining an equation of a first plane passing through a first critical position coordinate determined by taking the first direction vector as a normal vector and considering a first threshold value preset for the first direction vector and the altitude error; a step of determining an equation of a second plane passing through a second critical position coordinate determined by taking the second direction vector as a normal vector and considering a second threshold value preset for the second direction vector and the path error; a step of determining an equation of a third plane passing through a third critical position coordinate determined by taking the third direction vector as a normal vector and considering a third threshold value preset for the third direction vector and the lateral error;

[0020] The method may include: determining an equation of a fourth plane passing through a fourth critical position coordinate determined by taking the fourth direction vector as a normal vector and considering the fourth direction vector and the first threshold value; determining an equation of a fifth plane passing through a fifth critical position coordinate determined by taking the fifth direction vector as a normal vector and considering the fifth direction vector and the second threshold value; and determining an equation of a sixth plane passing through a sixth critical position coordinate determined by taking the sixth direction vector as a normal vector and considering the sixth direction vector and the third threshold value.

[0021] In addition, the preset threshold values ​​for each of the altitude error, the path error, and the lateral error include a threshold value for course deviation caution and a threshold value for course deviation, and the step of generating the at least one flight compliance area using the intersection of equations of the plurality of planes may include a step of generating a first flight compliance area using the intersection of equations of the plurality of planes determined based on the threshold value for course deviation caution; and a step of generating a second flight compliance area using the intersection of equations of the plurality of planes determined based on the threshold value for course deviation.

[0022] Meanwhile, the step of determining whether the UAM deviates from its route may include the step of determining whether the UAM is included in the at least one flight compliance area based on the current location coordinates of the UAM included in the flight information; and the step of determining the flight status of the UAM as at least one of normal, route deviation caution, and route deviation based on whether the UAM is included in the at least one flight compliance area.

[0023] Here, the step of determining whether the UAM is included in the at least one flight compliance area may include a step of determining that the UAM is included in the flight compliance area when all signs determined by substituting the current position coordinates of the UAM into each of the equations of the plurality of planes are negative.

[0024] Meanwhile, the method may further include a step of providing a UI object visualizing the UAM and a UI object visualizing the at least one flight compliance area through a user interface based on the current location coordinates of the UAM included in the flight information.

[0025] Here, the color of the UI object visualizing the UAM may vary based on whether the UAM is included in at least one flight compliance area.

[0026] A method for generating a flight compliance area of ​​UAM (Urban Air Mobility) according to another embodiment of the present invention may include: determining a plurality of direction vectors for each of an altitude error, a path error, and a lateral error included in flight plan information of the UAM; determining equations of a plurality of planes using a plurality of threshold position coordinates and the plurality of direction vectors, the threshold positions being determined by considering preset threshold values ​​for each of the altitude error, the path error, and the lateral error based on the flight plan position coordinates (planned flight point) of the UAM included in the flight plan information; and generating the at least one flight compliance area using a space formed by a plurality of planes defined by the equations of the plurality of planes.

[0027] A route deviation monitoring device according to another embodiment of the present invention comprises: a memory storing a route deviation monitoring program; and a processor controlling the memory, wherein the processor is configured to obtain UAM track information and flight plan information, create at least one flight conformance region using the flight plan information, and determine whether the UAM deviates from its route using the track information and the at least one flight conformance region.

[0028] A computer-readable recording medium storing a computer program according to another embodiment of the present invention may include instructions for causing a processor to perform a route deviation monitoring method, including the steps of: obtaining route information and flight plan information of the UAM; creating at least one flight conformance region using the flight plan information; and determining whether the UAM deviates from its route using the route information and the at least one flight conformance region.

[0029] According to one embodiment, by determining whether or not a route is deviated based on a sign determined by substituting the current position coordinates of the UAM into each of the equations of a plurality of planes constituting at least one flight compliance area, it is possible to determine whether or not a route is deviated with a small amount of calculation without using a separate device or program in the route deviation monitoring technology.

[0030] In one embodiment, by providing a UI object visualizing UAM and a UI object visualizing at least one flight compliance area through a user interface, a controller can intuitively determine whether there is a deviation from the route.

[0031] FIG. 1 is a block diagram showing a route deviation monitoring device according to one embodiment of the present invention.

[0032] FIG. 2 is a block diagram conceptually illustrating the function of a route deviation monitoring program according to one embodiment of the present invention.

[0033] Figure 3 is a flowchart showing a method for determining whether a route has deviated by a route deviation monitoring program according to one embodiment of the present invention.

[0034] FIGS. 4 to 7 are drawings exemplarily showing determining equations of a plurality of direction vectors and a plurality of planes according to one embodiment of the present invention.

[0035] FIG. 8 is a drawing exemplarily showing a flight compliance area generated based on equations of multiple planes according to one embodiment of the present invention.

[0036] FIG. 9 is a drawing exemplarily showing providing a UI object visualizing a UAM and a UI object visualizing at least one flight compliance area through a user interface according to one embodiment of the present invention.

[0037] The advantages and features of the present invention, and the methods for achieving them, will become clearer with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. These embodiments are provided solely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined solely by the scope of the claims.

[0038] When describing embodiments of the present invention, detailed descriptions of known functions or configurations will be omitted if they are deemed to unnecessarily obscure the gist of the invention. Furthermore, the terms described below are defined in light of their functions in the embodiments of the present invention and may vary depending on the intent or custom of the user or operator. Therefore, their definitions should be based on the overall content of this specification.

[0039] FIG. 1 is a block diagram illustrating a route deviation monitoring device according to one embodiment.

[0040] Referring to FIG. 1, the route deviation monitoring device (100) may include a processor (110), a transceiver (120), and a memory (130).

[0041] The processor (110) can control the overall operation of the route deviation monitoring device (100).

[0042] The processor (110) can receive at least one of flight path information and flight plan information using the transceiver (120).

[0043] For convenience of explanation, the transceiver (120) is described herein as receiving at least one of track information and flight plan information, but this is not limited thereto. That is, depending on the embodiment, at least one of track information and flight plan information may be input via an input / output device (not shown) and may be collected or generated within the route deviation monitoring device (100). Therefore, hereinafter, the route deviation monitoring device (100) will be collectively referred to as acquiring track information and flight plan information.

[0044] The memory (130) can store the route deviation monitoring program (200) and information necessary for executing the route deviation monitoring program (200).

[0045] In this specification, the route deviation monitoring program (200) may mean software including commands programmed to obtain route information and flight plan information and determine whether a UAM deviates from its route based on the obtained route information and flight plan information.

[0046] Additionally, in this specification, the next waypoint may mean a planned transit point that the UAM must pass through or refer to within the route (or corridor) according to the flight direction of the UAM included in the UAM's flight plan, based on the current location of the UAM.

[0047] Referring to FIG. 1, the processor (110) can load the route deviation monitoring program (200) and information necessary for executing the route deviation monitoring program (200) from the memory (130) to execute the route deviation monitoring program (200).

[0048] The processor (110) executes a route deviation monitoring program (200) to obtain UAM route information and flight plan information, create at least one flight compliance area using the flight plan information, and determine whether the UAM has deviated from its route using the route information and at least one flight compliance area.

[0049] Additionally, the processor (110) may execute a route deviation monitoring program (200) to provide a user with a UI object visualizing the UAM based on the current location coordinates of the UAM and a UI object visualizing at least one flight compliance area.

[0050] The functions and / or operations of the route deviation monitoring program (200) will be examined in detail with reference to Fig. 2.

[0051] Figure 2 is a block diagram conceptually illustrating the function of a route deviation monitoring program according to one embodiment.

[0052] Referring to FIG. 2, the route deviation monitoring program (200) may include an information acquisition unit (210), a flight compliance area creation unit (220), and a route deviation determination unit (230).

[0053] The information acquisition unit (210), flight compliance area creation unit (220), and route deviation determination unit (230) illustrated in FIG. 2 conceptually divide the functions of the route deviation monitoring program (200) to easily explain the functions of the route deviation monitoring program (200), but are not limited thereto. According to embodiments, the functions of the information acquisition unit (210), flight compliance area creation unit (220), and route deviation determination unit (230) may be merged / separated, and implemented as a series of commands included in a single program.

[0054] First, the information acquisition unit (210) can acquire flight path information and flight plan information.

[0055] The above flight information is information for tracking the status of the UAM, and may include, for example, information about the current location, current speed, and current flight direction of the UAM.

[0056] According to an embodiment, the information acquisition unit (210) can acquire UAM flight information in real time according to the flow of time by utilizing 4DT (4-dimensional trajectory).

[0057] In addition, the above flight plan information is information about a flight plan that the UAM notifies the control agency for the flight, and may include, for example, information about the flight number, aircraft type, UAM registration symbol, flight altitude, route, flight time, consumed fuel, payload, allowable payload, and paid payload. Here, the information about the route may include information about the location of a corridor or waypoint, and the waypoint may mean a planned transit point determined to designate the route of the UAM (for example, the planned waypoint may include a starting point, an arrival point, and at least one waypoint between the starting point and the arrival point).

[0058] According to an embodiment, the information acquisition unit (210) can acquire flight plan information from an operation control device that manages and controls the operation of an aircraft.

[0059] Specifically, the information acquisition unit (210) can acquire flight plan information including flight path information including the current location coordinates of the UAM, location coordinates of a path point sequentially corresponding to the flight direction of the UAM, flight plan location coordinates according to the flow of time in the flight plan (planned flight point), and preset threshold values ​​for route deviation indicators (e.g., altitude error, along-track error, cross-track error).

[0060] Here, the flight plan position coordinates may mean position coordinates indicating the planned point where the UAM should be located at a specific time in the flight plan.

[0061] In addition, the altitude error may be an indicator of how far away from the flight plan position coordinates in the direction perpendicular to the ground, the path error may be an indicator of how far away from the flight plan position coordinates in the direction of the flight plan, and the lateral error may be an indicator of how far away from the flight plan position coordinates in the lateral direction of the UAM described later.

[0062] Next, the flight compliance area generation unit (220) can generate at least one flight compliance area using flight plan information.

[0063] The flight compliance area generation unit (220) can determine multiple direction vectors for each of altitude error, path error, and lateral error.

[0064] Specifically, the flight compliance area generation unit (220) may determine a direction vector corresponding to a direction perpendicular to the ground as the first direction vector for the altitude error. For example, the flight compliance area generation unit (220) may determine [0, 0, 1] as the first direction vector based on the rectangular coordinate system.

[0065] In addition, the flight compliance area generation unit (220) can determine a second direction vector for the path error using the position coordinates of the previous path point and the position coordinates of the next path point based on the flight plan position coordinates of the UAM.

[0066] Additionally, the flight compliance area generation unit (220) can determine a third direction vector for the lateral error based on an outer product operation for the first direction vector and the second direction vector, and the third direction vector can correspond to the lateral direction of the UAM.

[0067] Additionally, the flight compliance area generation unit (220) can determine a fourth direction vector (e.g., [0, 0, -1]) corresponding to the opposite direction of the first direction vector, a fifth direction vector corresponding to the opposite direction of the second direction vector, and a sixth direction vector corresponding to the opposite direction of the third direction vector.

[0068] Meanwhile, the flight plan information of the UAM according to one embodiment of the present invention includes the position coordinates of the first to n-th route points (n is a natural number), and the flight plan position coordinates are the m-th route point (m is a natural number, m <n)의 위치 좌표와 동일한 경우, 비행 준수 영역 생성부(220)는 제m 경로점의 위치 좌표와 제m+1 경로점의 위치 좌표를 이용하여 제2 방향 벡터를 결정할 수 있다.

[0069] Here, if the flight plan position coordinates are the same as the position coordinates of the nth route point, the flight compliance area generation unit (220) can determine the second direction vector using the position coordinates of the n-1th route point and the position coordinates of the nth route point.

[0070] Meanwhile, the flight compliance area generation unit (220) can determine a plurality of critical position coordinates by considering preset threshold values ​​for each of altitude error, path error, and lateral error based on the flight plan position coordinates of the UAM included in the flight plan information.

[0071] Here, the preset threshold values ​​for each of the altitude error, path error, and lateral error according to one embodiment of the present invention are set in consideration of operational safety according to the surrounding environment of the route, and may vary according to the flight plan position coordinates.

[0072] Additionally, the preset thresholds for altitude error, path error and lateral error are the thresholds for course deviation warning ( ) and thresholds for deviation from the route ( ) may be included. Here, the threshold for route deviation ( ) is the threshold for course deviation warning ( ) can mean a value greater than .

[0073] According to one embodiment of the present invention, a plurality of critical position coordinates can be determined through operations on the flight plan position coordinates, the plurality of direction vectors, and the preset threshold value.

[0074] Additionally, the flight compliance area generation unit (220) can determine equations of multiple planes using multiple critical position coordinates and multiple direction vectors.

[0075] For example, the flight compliance area generation unit (220) may determine an equation of a first plane passing through a first critical position coordinate determined by taking a first direction vector as a normal vector and considering a first threshold value preset for an altitude error. In addition, the unit may determine an equation of a fourth plane passing through a fourth critical position coordinate determined by taking a fourth direction vector as a normal vector and considering the first threshold value.

[0076] For another example, the flight compliance area generation unit (220) may determine an equation of a second plane passing through a second critical position coordinate determined by taking the second direction vector as a normal vector and considering a second threshold value preset for the path error. In addition, the flight compliance area generation unit (220) may determine an equation of a fifth plane passing through a fifth critical position coordinate determined by taking the fifth direction vector as a normal vector and considering the second threshold value.

[0077] For another example, the flight compliance area generation unit (220) may determine the equation of a third plane passing through the third critical position coordinates determined by taking the third direction vector as the normal vector and considering the third threshold value preset for the lateral error. In addition, the flight compliance area generation unit (220) may determine the equation of a sixth plane passing through the sixth critical position coordinates determined by taking the sixth direction vector as the normal vector and considering the third threshold value.

[0078] Meanwhile, the flight compliance area generation unit (220) can generate at least one flight compliance area using the intersection of equations of multiple planes.

[0079] Specifically, the flight compliance area generation unit (220) can generate a first flight compliance area using the intersection of equations of a plurality of planes determined based on threshold values ​​for route deviation warning. In addition, the flight compliance area generation unit (220) can generate a second flight compliance area using the intersection of equations of a plurality of planes determined based on threshold values ​​for route deviation warning.

[0080] For example, the flight compliance area generation unit (220) can generate a first flight compliance area in the shape of a rectangular parallelepiped using the intersection of the equations of the first plane to the sixth plane, which are determined based on the threshold value for route deviation warning, and can generate a second flight compliance area in the shape of a rectangular parallelepiped using the intersection of the equations of the seventh plane to the twelfth plane, which are determined based on the threshold value for route deviation warning.

[0081] Here, the threshold for route deviation warning is set to be smaller than the threshold for route deviation, so the first flight compliance area can be created to be smaller than the second flight compliance area.

[0082] Next, the route deviation determination unit (230) can determine whether the UAM has deviated from its route using flight information and at least one flight compliance area.

[0083] Specifically, the route deviation determination unit (230) can determine whether the UAM is included in at least one flight compliance area based on the current location coordinates of the UAM included in the flight path information.

[0084] Additionally, the route deviation determination unit (230) can determine the status of the UAM as at least one of normal, route deviation caution, and route deviation based on whether the UAM is included in at least one flight compliance area.

[0085] For example, the route deviation determination unit (230) may determine the flight status of the UAM as normal if the current location coordinates of the UAM are included in the first flight compliance area generated based on the threshold value for route deviation caution. In addition, the route deviation determination unit (230) may determine the flight status of the UAM as route deviation caution if the current location coordinates of the UAM are included in the second flight compliance area generated based on the threshold value for route deviation and are not included in the first flight compliance area. In addition, the route deviation determination unit (230) may determine the flight status of the UAM as route deviation if the current location coordinates of the UAM are not included in the first flight compliance area and the second flight compliance area.

[0086] More specifically, the route deviation determination unit (230) may determine that the UAM is included in the flight compliance area if all signs determined by substituting the current location coordinates of the UAM into each of the equations of a plurality of planes constituting at least one flight compliance area are negative.

[0087] Meanwhile, the route deviation judgment unit (230) can provide the user with a UI object visualizing the UAM based on the current location coordinates of the UAM included in the flight path information and a UI object visualizing at least one flight compliance area.

[0088] Here, the color of the UI object visualizing the UAM may vary based on whether the UAM is included in at least one flight compliance area.

[0089] For example, if the current location coordinates of the UAM are included in the first flight compliance area, the color of the UI object visualizing the UAM may be green, meaning a normal state. In addition, if the current location coordinates of the UAM are not included in the first flight compliance area but are included in the second flight compliance area, the color of the UI object visualizing the UAM may be yellow, meaning a route deviation warning. In addition, if the current location coordinates of the UAM are not included in the first flight compliance area and the second flight compliance area, the color of the UI object visualizing the UAM may be red, meaning a route deviation warning.

[0090]

[0091] Figure 3 is a flowchart showing a method for determining whether a route has deviated by a route deviation monitoring program according to one embodiment of the present invention.

[0092] Referring to FIG. 3, the information acquisition unit (210) may acquire UAM track information and flight plan information (S310). Track information may include the current location coordinates of the UAM, and flight plan information may include the flight plan location coordinates of the UAM and the location coordinates of the waypoint. In addition, the flight plan information may include preset thresholds for each of altitude error, path error, and lateral error (e.g., thresholds for route deviation warning, thresholds for route deviation).

[0093] Next, the flight compliance area creation unit (220) can create at least one flight compliance area using flight plan information (S320).

[0094] Specifically, the flight compliance area generation unit (220) determines a plurality of direction vectors for each of an altitude error, a path error, and a lateral error, and determines equations of a plurality of planes using a plurality of threshold position coordinates and a plurality of direction vectors determined by considering preset threshold values ​​for each of the altitude error, the path error, and the lateral error based on the flight plan position coordinates of the UAM. In addition, the flight compliance area generation unit (220) can generate at least one flight compliance area using the intersection of the equations of the plurality of planes.

[0095] Here, the flight compliance area generation unit (220) can generate a first flight compliance area using the intersection of equations of a plurality of planes determined based on a threshold value for route deviation warning, and can generate a second flight compliance area using the intersection of equations of a plurality of planes determined based on a threshold value for route deviation warning.

[0096] Next, the route deviation determination unit (230) can determine whether the UAM has deviated from its route using the flight path information and at least one flight compliance area (S330).

[0097] Specifically, the route deviation determination unit (230) determines whether the UAM is included in at least one flight compliance area based on the current location coordinates of the UAM, and based on this, determines the flight status of the UAM as at least one of normal, route deviation caution, and route deviation.

[0098]

[0099] FIGS. 4 to 7 are drawings exemplarily showing determining equations of a plurality of direction vectors and a plurality of planes according to one embodiment of the present invention.

[0100] Referring to FIG. 4, the flight compliance area generation unit (220) determines a plurality of direction vectors (401, 402, 403, 404, 405, 406) for each of altitude error, path error, and lateral error, and determines equations of a plurality of planes using a plurality of critical position coordinates (411, 422, 433, 414, 425, 436) and a plurality of direction vectors (401, 402, 403, 404, 405, 406) determined by considering preset threshold values ​​for each of altitude error, path error, and lateral error based on the flight plan position coordinates (400) of the UAM.

[0101] Specifically, the flight compliance area generation unit (220) can determine a direction vector corresponding to a direction perpendicular to the ground as the first direction vector (401) for the altitude error. For example, the flight compliance area generation unit (220) can determine [0, 0, 1] as the first direction vector (401) based on the orthogonal coordinate system.

[0102] In addition, the flight compliance area generation unit (220) can determine a second direction vector for the path error using the position coordinates of the previous path point and the position coordinates of the next path point based on the flight plan position coordinates (400) of the UAM.

[0103] For example, if it is assumed that the flight plan position coordinates (400) are located between the first waypoint (410) and the second waypoint (420), the second direction vector corresponding to the flight plan direction can be expressed as in the following mathematical expression 1.

[0104]

[0105]

[0106]

[0107] Here, may mean the second direction vector (402), may mean the location coordinates of the second route point (420), may mean the location coordinates of the first route point (410).

[0108] Additionally, the flight compliance area generation unit (220) can determine a third direction vector (403) for the lateral error based on an outer product operation for the first direction vector (401) and the second direction vector (402), and the third direction vector can correspond to the lateral direction of the UAM.

[0109] Additionally, the flight compliance area generation unit (220) can determine a fourth direction vector (404) corresponding to the opposite direction of the first direction vector, a fifth direction vector (405) corresponding to the opposite direction of the second direction vector, and a sixth direction vector (406) corresponding to the opposite direction of the third direction vector.

[0110] Meanwhile, a plurality of critical position coordinates (411, 422, 433, 414, 425, 436) can be determined through operations on the flight plan position coordinates (400), the plurality of direction vectors (401, 402, 403, 404, 405, 406) and the preset threshold values, and can be expressed as in the following mathematical expression 2.

[0111]

[0112]

[0113]

[0114]

[0115]

[0116]

[0117]

[0118]

[0119] Here, may mean the flight plan position coordinates (400), may refer to the first threshold for course deviation caution among the preset thresholds for altitude error, may mean a second threshold for course deviation warning among the preset thresholds for path error, may refer to the third threshold for course deviation caution among the preset thresholds for lateral error, Inland may each mean the first direction vector (401) to the sixth direction vector (406), Inland may mean the first critical position coordinate (411) to the sixth critical position coordinate (436), respectively.

[0120] However, the first critical position coordinate (411) to the sixth critical position coordinate (436) being point-symmetrical with respect to the flight plan position coordinate (400) is merely an example, and within the range that can achieve the purpose of the present invention, the threshold values ​​for each of the altitude error, path error, and lateral error may be set differently for each direction vector.

[0121] Next, the flight compliance area generation unit (220) can determine equations of multiple planes using multiple critical position coordinates and multiple direction vectors.

[0122] Referring to FIG. 5, the flight compliance area generation unit (220) can determine an equation (510) of a first plane passing through a first critical position coordinate determined by taking a first direction vector as a normal vector and considering a first threshold value preset for an altitude error. In addition, it can determine an equation (520) of a fourth plane passing through a fourth critical position coordinate determined by taking a fourth direction vector as a normal vector and considering the first threshold value.

[0123] Referring to FIG. 6, the flight compliance area generation unit (220) can determine an equation (610) of a second plane passing through a second critical position coordinate determined by taking a second direction vector as a normal vector and considering a second threshold value preset for a path error. In addition, the flight compliance area generation unit (220) can determine an equation (620) of a fifth plane passing through a fifth critical position coordinate determined by taking a fifth direction vector as a normal vector and considering the second threshold value.

[0124] Referring to FIG. 7, the flight compliance area generation unit (220) can determine an equation (710) of a third plane passing through a third critical position coordinate determined by taking a third direction vector as a normal vector and considering a third threshold value preset for a lateral error. In addition, the flight compliance area generation unit (220) can determine an equation (720) of a sixth plane passing through a sixth critical position coordinate determined by taking a sixth direction vector as a normal vector and considering the third threshold value.

[0125] FIG. 8 is a drawing exemplarily showing a flight compliance area generated based on equations of multiple planes according to one embodiment of the present invention.

[0126] Referring to FIG. 8, the flight compliance area generation unit (220) can generate at least one flight compliance area (810) by using the intersection of equations of a plurality of planes determined by considering a preset threshold value.

[0127] Specifically, the flight compliance area generation unit (220) can generate a first flight compliance area by using the intersection of equations of a plurality of planes (e.g., equations of the first plane to the sixth plane) determined based on a threshold value for route deviation caution, and can generate a second flight compliance area by using the intersection of equations of a plurality of planes (e.g., equations of the seventh plane to the twelfth plane) determined based on a threshold value for route deviation that is greater than the threshold value for route deviation caution.

[0128]

[0129] FIG. 9 is a drawing exemplarily showing providing a UI object visualizing a UAM and a UI object visualizing at least one flight compliance area through a user interface according to one embodiment of the present invention.

[0130] Referring to FIG. 6, the route deviation determination unit (230) can provide a first UI object (901) visualizing the UAM based on the current location coordinates of the UAM included in the route information, a second UI object (910) visualizing the first flight compliance area, and a third UI object (920) visualizing the second flight compliance area through a user interface.

[0131] Here, the second UI object (910) visualizing the first flight compliance area and the third UI object (920) visualizing the second flight compliance area can be generated in real time based on the flight plan position coordinates (900) included in the flight plan information, and the second UI object (910) and the third UI object (920) can be smoothly connected based on each route point.

[0132] Meanwhile, the color of the first UI object (901) visualizing the UAM may vary based on whether the UAM is included in the first flight compliance area and the second flight compliance area, and since the first UI object (901) is not included in the second UI object (910) visualizing the first flight compliance area and the third UI object (920) visualizing the second flight compliance area, the first UI object (901) may be displayed in red, indicating a deviation from the route.

[0133]

[0134] The combination of each block of the block diagram and each step of the flowchart attached to the present invention may be performed by computer program instructions. These computer program instructions may be installed in an encoding processor of a general-purpose computer, a special-purpose computer, or other programmable data processing equipment, so that the instructions executed by the encoding processor of the computer or other programmable data processing equipment create a means for performing the functions described in each block of the block diagram or each step of the flowchart. These computer program instructions may also be stored in a computer-available or computer-readable memory that can direct a computer or other programmable data processing equipment to implement the functions in a specific manner, so that the instructions stored in the computer-available or computer-readable memory can also produce an article of manufacture that includes an instruction means for performing the functions described in each block of the block diagram or each step of the flowchart. Since the computer program instructions can also be installed on a computer or other programmable data processing device, a series of operational steps are performed on the computer or other programmable data processing device to create a computer-executable process, and the instructions that cause the computer or other programmable data processing device to perform the steps for executing the functions described in each block of the block diagram and each step of the flowchart can also provide steps for executing the functions described in each block of the block diagram and each step of the flowchart.

[0135] Additionally, each block or step may represent a module, segment, or portion of code that includes one or more executable instructions for performing a specific logical function(s). It should also be noted that in some alternative embodiments, the functions mentioned in the blocks or steps may occur out of order. For example, two blocks or steps depicted in succession may actually be performed substantially concurrently, or the blocks or steps may sometimes be performed in reverse order, depending on the corresponding functionality.

[0136] The above description is merely an illustrative illustration of the technical idea of ​​the present invention, and those skilled in the art will appreciate that various modifications and variations can be made without departing from the essential quality of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the technical idea of ​​the present invention, and the scope of the technical idea of ​​the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within a scope equivalent thereto should be interpreted as being included in the scope of the rights of the present invention.

Claims

1. In a method for monitoring route deviation of UAM (Urban Air Mobility), A step of acquiring the UAM's flight path information and flight plan information; A step of generating at least one flight conformance region using the above flight plan information; and A step of determining whether the UAM deviates from its route using the above flight information and the at least one flight compliance area. Method of monitoring course deviation.

2. In paragraph 1, The step of creating at least one flight compliance area comprises: A step of determining multiple direction vectors for each of altitude error, along-track error and cross-track error; A step of determining equations of a plurality of planes using a plurality of critical position coordinates and a plurality of direction vectors, which are determined by considering preset threshold values ​​for each of the altitude error, the path error, and the lateral error based on the flight plan position coordinates (planned flight point) of the UAM included in the flight plan information; and A step of generating at least one flight compliance region by using the intersection of equations of the plurality of planes. Method of monitoring course deviation.

3. In paragraph 2, The step of determining the above plurality of direction vectors is: A step of determining a direction vector corresponding to a direction perpendicular to the ground as a first direction vector for the altitude error; A step of determining a second direction vector for the path error using the position coordinates of the previous path point and the position coordinates of the next path point based on the flight plan position coordinates of the UAM; and A step of determining a third direction vector for the lateral error based on an outer product operation for the first direction vector and the second direction vector. Method of monitoring course deviation.

4. In paragraph 3, The above UAM flight plan information includes the position coordinates of the first to nth route points (n is a natural number), The above flight plan position coordinates are the m-th waypoint (m is a natural number, m <n)의 위치 좌표와 동일한 경우, The step of determining the second direction vector is: A step of determining the second direction vector using the position coordinates of the mth path point and the position coordinates of the m+1th path point. Method of monitoring course deviation.

5. In paragraph 4, If the above flight plan position coordinates are the same as the position coordinates of the nth waypoint, The step of determining the second direction vector is: A step of determining the second direction vector using the position coordinates of the n-1th path point and the position coordinates of the nth path point. Method of monitoring course deviation.

6. In paragraph 3, The step of determining the above plurality of direction vectors is: A step of determining a fourth direction vector corresponding to the opposite direction of the first direction vector; A step of determining a fifth direction vector corresponding to the opposite direction of the second direction vector; and A step of determining a sixth direction vector corresponding to the opposite direction of the third direction vector. Method of monitoring course deviation.

7. In paragraph 6, The step of determining the equations of the above multiple planes is: A step of determining an equation of a first plane passing through a first critical position coordinate determined by taking the first direction vector as a normal vector and considering a first threshold value preset for the first direction vector and the altitude error; A step of determining an equation of a second plane passing through a second critical position coordinate determined by taking the second direction vector as a normal vector and considering a second threshold value preset for the second direction vector and the path error; A step of determining an equation of a third plane passing through a third critical position coordinate determined by taking the third direction vector as a normal vector and considering a third threshold value preset for the third direction vector and the lateral error; A step of determining an equation of a fourth plane passing through a fourth critical position coordinate determined by taking the fourth direction vector as a normal vector and considering the fourth direction vector and the first threshold value; A step of determining an equation of a fifth plane passing through a fifth critical position coordinate determined by taking the fifth direction vector as a normal vector and considering the fifth direction vector and the second threshold value; and A step of determining an equation of a sixth plane passing through a sixth critical position coordinate determined by taking the sixth direction vector as a normal vector and considering the sixth direction vector and the third threshold value. Method of monitoring course deviation.

8. In paragraph 2, The preset threshold values ​​for each of the altitude error, the path error, and the lateral error include a threshold value for course deviation warning and a threshold value for course deviation, The step of generating at least one flight compliance area using the intersection of the equations of the plurality of planes is: A step of generating a first flight compliance area using the intersection of equations of a plurality of planes determined based on a threshold value for the above-mentioned route deviation warning; and A step of generating a second flight compliance area by using the intersection of equations of a plurality of planes determined based on the threshold value for the above-mentioned route deviation. Method of monitoring course deviation.

9. In paragraph 2, The step of determining whether the above UAM deviates from its route is as follows: A step of determining whether the UAM is included in the at least one flight compliance area based on the current location coordinates of the UAM included in the flight information; and A step of determining the flight status of the UAM as at least one of normal, route deviation warning, and route deviation based on whether the UAM is included in at least one flight compliance area. Method of monitoring course deviation.

10. In paragraph 9, The step of determining whether the UAM is included in at least one flight compliance area comprises: A step of determining that the UAM is included in the flight compliance area when all signs determined by substituting the current location coordinates of the UAM into each of the equations of the plurality of planes are negative. Method of monitoring course deviation.

11. In paragraph 1, Further comprising a step of providing a UI object visualizing the UAM based on the current location coordinates of the UAM included in the above flight information and a UI object visualizing the at least one flight compliance area through a user interface. Method of monitoring course deviation.

12. In paragraph 11, The color of the UI object visualizing the UAM changes based on whether the UAM is included in at least one flight compliance area. Method of monitoring course deviation.

13. In a method for creating a flight compliance area of ​​UAM (Urban Air Mobility), A step of determining a plurality of direction vectors for each of the altitude error, path error, and lateral error included in the flight plan information of the above UAM; A step of determining equations of a plurality of planes using a plurality of critical position coordinates and a plurality of direction vectors, which are determined by considering preset threshold values ​​for each of the altitude error, the path error, and the lateral error based on the flight plan position coordinates of the UAM included in the flight plan information; and A step of generating at least one flight compliance area by using a space formed by a plurality of planes defined by equations of the plurality of planes. How to create a flight compliance zone.

14. Memory where the route deviation monitoring program is stored; and including a processor that controls the above memory, The above processor, Obtain UAM's flight path information and flight plan information, Using the above flight plan information, create at least one flight conformance region, Using the above flight information and at least one flight compliance area, determining whether the UAM deviates from the flight path Route deviation monitoring device.

15. A non-transitory computer-readable recording medium storing a computer program, The above computer program, when executed by a processor, Step of acquiring UAM's flight path information and flight plan information; A step of creating at least one flight compliance area using the above flight plan information; and A step of determining whether the UAM deviates from its route using the above flight information and the at least one flight compliance area. A method for monitoring route deviation comprising instructions for causing the processor to perform the method. Non-transitory computer-readable recording medium.

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