58 results about "Automatic landing" patented technology

The invention provides a safety device based on mine ventilation network simulation regulation and control and a use method thereof, and belongs to the technical field of underground safety equipments.The side portion of a frame body is provided with two regulation and control air channels, two transmission modules are arranged between the two regulation and control air channels, and a data acquisition and communication module capable of sliding and ascending and descending is clamped between the two transmission modules; fixing modules are installed on the frame body and the regulation and control air channel, the regulation and control air channel is divided into three sections, a dust removal module is installed in each section, and an air speed detector is arranged on the rear portion of each dust removal module. Comprehensive perception, intelligent regulation and control and convenient maintenance of the mine ventilation system are achieved, a digital twinborn model is accurately constructed through the mobile acquisition module, a data basis is provided for intelligent analysis, the controller can automatically optimize and adjust a fan, the response is fast, an original automatic landing maintenance mechanism is adopted, and the maintenance efficiency is improved. When the air duct is blocked, an alarm can be given and the air duct falls to the ground, so that the maintenance work does not need climbing operation, safety and high efficiency are realized, and the reliability and safety of the system are remarkably improved.

The invention relates to an image recognition and target tracking method and system based on an unmanned aerial vehicle, and aims to provide a technical scheme capable of realizing efficient and accurate target recognition and tracking. According to the invention, the high-resolution camera is installed on the unmanned aerial vehicle, and the recognition and tracking of targets such as the ground, buildings, vehicles and the like are realized by using an advanced image recognition algorithm. According to the image recognition algorithm, the deep learning technology is adopted, image features can be automatically extracted, feature points do not need to be manually selected, and the recognition accuracy and real-time performance are improved. Meanwhile, a multi-target tracking technology is adopted in the target tracking algorithm, multiple targets can be tracked at the same time, and the target tracking effect is better than that of a traditional technology. The system also has a series of advantages. Firstly, the system can achieve the functions of automatic take-off, autonomous flight, automatic landing and the like, and the autonomy of the unmanned aerial vehicle is improved. And secondly, the system can automatically plan the optimal flight path by analyzing the target position and the environment information, so that the efficiency of the unmanned aerial vehicle is improved. And finally, the system can automatically alarm the user, measures are taken in time, and accidents are avoided.

In order to help pilots relying on manual visual inspection to realize autonomous landing more safely, the invention provides a method for assisting autonomous landing by using an airborne Doppler navigation radar and an airborne radar altimeter. Firstly, the glide speed can be obtained by directly utilizing the existing speed detection data of the airborne Doppler navigation radar. And secondly, calculating an inclination angle in a vertical plane by using detection data of Doppler frequency shift by a Doppler navigation radar, thereby obtaining a glide angle. Or the glide angle is calculated according to the trigonometric function relation by using the three-dimensional velocity component measured by the airborne Doppler navigation radar. And then on the basis of acquiring height measurement data by using an airborne radar altimeter, calculating a glide distance by using the acquired glide angle and a trigonometric function relationship. Furthermore, if the aircraft is further provided with a flight management system, an automatic driving system and the like, technical support can be provided for semi-automatic landing by using landing data provided by an airborne Doppler navigation radar and a radar altimeter.

The invention relates to an aircraft landing automatic braking system and method, and the aircraft landing automatic braking system comprises an automatic braking switch, an aircraft management computer and an aircraft wheel braking system; after the automatic brake switch is turned on, the airplane enters an airplane automatic brake mode; in the automatic braking mode of the airplane, the airplane management computer judges whether the airplane is grounded or not according to the received airplane speed, the main landing gear airplane wheel bearing state and the main airplane wheel rotating speed; after the airplane is grounded, the airplane management computer judges whether a braking condition is met or not according to the position of a throttle lever and the state of a spoiler; when the braking condition is met, the airplane management computer calculates the braking distance and the braking deceleration rate; the airplane management computer issues a braking instruction to an airplane wheel braking system according to the braking deceleration rate; after receiving the braking instruction, the airplane wheel braking system automatically applies braking pressure according to the braking deceleration rate, so that the airplane decelerates at the braking deceleration rate, braking is completed, and then the airplane exits from the automatic braking mode.

The invention discloses an automatic landing system for a swimming pool robot. The automatic landing system comprises a fixing part, a lifting part, a tray, an inflation device and a signal device. The fixing part is fixed to the bank of the swimming pool, one end of the lifting part is connected with the fixing part, the other end of the lifting part extends below the water surface of the swimming pool, the tray is arranged at the extending end of the lifting part, the inflation device is internally or externally connected to the lifting part, and the signal device is arranged on the lifting part or the tray. The swimming pool robot is guided to be accurately parked on the tray through the signal device, buoyancy generated by the inflation device is used for driving the lifting part to be lifted, a smooth slope is formed for the robot to land, and the problems that an existing swimming pool robot is difficult to land, and a traditional landing device is complex in structure and high in energy consumption are solved. The device has the advantages of being simple in structure, low in energy consumption, stable in operation and high in safety, and can efficiently assist the swimming pool robot in completing automatic ashore operation.

The invention relates to the technical field of unmanned aerial vehicle cluster control and autonomous landing, in particular to an unmanned aerial vehicle cluster infrared guide automatic landing method and system.The infrared guide transmitting devices are arranged at the four corners of a ground rectangular landing area, and each device divides an airspace into a plurality of sub-airspaces; and infrared signals including the equipment code, the landing permission code and the check code are transmitted in turn in a time division multiplexing mode. And the unmanned aerial vehicle obtains three-dimensional coordinates and height information of the unmanned aerial vehicle in the airspace by receiving four-corner signals and decoding the four-corner signals, so that accurate positioning and guiding without satellite signals are realized. The system cooperatively controls the landing sequence, and guides the unmanned aerial vehicles to land in a staggered manner in batches according to the sequence of odd rows and odd numbers, odd rows and even numbers, even rows and odd numbers, and even rows and even numbers, so that the collision risk is effectively avoided. The method has the advantages of being high in anti-interference capability, high in positioning precision, good in collaboration and suitable for a complex electromagnetic environment.

The application provides a stability enhancement system for aircraft lateral layered control, belongs to the technical field of automatic flight control, and relates to the technical field of automatic flight control.The system meets the design standard of a civil aviation IIIa control system.The system adopts a layered control architecture combining outer loop PID track tracking control and inner loop lateral heading model predictive control (MPC).The outer loop PID control is responsible for basic track tracking, and the inner loop MPC finely adjusts the heading angle and the track to ensure that the aircraft accurately aligns with the runway and stably flies.The method not only improves the control precision and response speed, but also significantly reduces the calculation burden, enhances the robustness and anti-interference ability of the system by combining the simplicity of the PID control and the multivariable optimization capability of the MPC.The system can effectively improve the stability of the aircraft lateral control under complex flight environment, and ensures the safety and reliability of the aircraft during the automatic landing task.

The application provides a kind of safety device based on mine ventilation network simulation regulation and control and its use method, belongs to underground safety equipment technical field, two groups of regulation and control air duct are installed on the side of frame, two transmission modules are arranged in the middle of two groups of regulation and control air duct, the data acquisition and communication module that can slide and lift is clamped between two transmission modules, fixed module is installed on the frame and regulation and control air duct, regulation and control air duct is divided into three sections, and dust removal module is installed in each section, and wind speed detector is arranged at the rear of dust removal module.The application realizes the comprehensive perception, intelligent regulation and control and convenient maintenance of mine ventilation system, accurately constructs digital twin model through mobile acquisition module, provides data basis for intelligent analysis, and the controller can automatically optimize and adjust the fan, responds quickly, the unique automatic landing maintenance mechanism can alarm and land to the ground when the air duct is blocked, so that the maintenance work does not need to climb, is safe and efficient, significantly improves the system reliability and safety.

The invention discloses an aircraft landing method and system and a storage medium, and the method comprises the steps: receiving an aircraft landing instruction, and controlling a visual recognition module to determine an idle target parking apron within a preset range below an aircraft; controlling a visual identification module to identify a visual positioning identifier on the target parking apron so as to determine a first pose of the aircraft relative to the target parking apron; controlling a radar identification module to identify a radar positioning identifier on the target parking apron so as to determine a second pose of the aircraft relative to the target parking apron; and a fusion pose is determined according to the first pose and the second pose, and the aircraft is controlled to land on the target parking apron according to the fusion pose. According to the invention, the accuracy of positioning between the aircraft and the target parking apron is improved, and then the safety of the aircraft during automatic landing is improved.

The embodiment of the invention provides an unmanned aerial vehicle automatic propeller returning method and an unmanned aerial vehicle hangar, the unmanned aerial vehicle automatic propeller returning method is applied to the unmanned aerial vehicle hangar and the unmanned aerial vehicle, the unmanned aerial vehicle hangar comprises a side wall, a hangar door and a landing platform, and the hangar door comprises a lifting part capable of lifting in the vertical direction; the method comprises the steps that an unmanned aerial vehicle hangar responds to a received first signal representing that an unmanned aerial vehicle lands on a landing platform, and a lifting part is controlled to ascend, so that part of paddles of the unmanned aerial vehicle interfere with the lifting part to return; and the unmanned aerial vehicle hangar controls the landing platform to move to a first position in the unmanned aerial vehicle hangar in response to a received second signal representing that part of the paddles are returned, so that the remaining paddles of the unmanned aerial vehicle interfere with the side wall to return.

An automatic landing control method for a large-scale fixed-wing unmanned aerial vehicle. The method comprises: dividing a landing phase of an unmanned aerial vehicle into an approach level flight phase, a final approach glide slope phase, a first landing flare phase, a second landing flare phase and a landing rollout phase; in the approach level flight phase, controlling the unmanned aerial vehicle to maintain a target level flight speed and a target approach level flight altitude, and to align a lateral offset and a track angle with a runway extended centerline and track the runway extended centerline; in the final approach glide slope phase, controlling the unmanned aerial vehicle to maintain a target glide speed and a target glide angle; in the first landing flare phase, controlling the unmanned aerial vehicle to maintain a target vertical speed and an airspeed; in the second landing flare phase, controlling the unmanned aerial vehicle to maintain the target vertical speed and the airspeed; and in the landing rollout phase, controlling the unmanned aerial vehicle to decelerate to 0, and at the same time, controlling the unmanned aerial vehicle to maintain a target lateral offset and a target heading angle and keep same on a runway centerline. The control method enables precise control over the automatic landing of an unmanned aerial vehicle, thereby greatly improving the robustness and safety of the automatic landing of the unmanned aerial vehicle.

The application discloses an automatic landing control method and system, relates to the field of flight control technology, and comprises the following steps: constructing a longitudinal dynamics model of an airplane, and discretizing the model to obtain a discrete state space equation; acquiring the longitudinal motion state quantity of the airplane, the steady-state target quantity of the deck of an aircraft carrier and the steady-state disturbance quantity of the wake flow of the aircraft carrier at the current moment; solving the discrete state space equation based on the equation by using a whale optimization algorithm to obtain an optimal prediction control input sequence; filtering and correcting the longitudinal motion state of the airplane after control by using a Kalman filter; and landing if the corrected state meets preset landing conditions, or returning to acquire data again. The application combines model prediction control dynamic constraints and Kalman filter noise reduction, and quickly solves by using a whale optimization algorithm, so that the landing precision and anti-interference ability in a complex environment are significantly improved.

The application provides an automatic landing method for a power inspection unmanned aerial vehicle in a landing stage, and the main design includes or is based on: 1, a landing gear structure design based on multiple sensors; 2, a judgment logic considering multiple ground contact conditions; 3, an automatic landing method for the power inspection unmanned aerial vehicle in the landing stage, which comprises landing area judgment and landing process sensing, that is, a complete landing detection scheme is provided in the landing-ground contact stage of the power inspection unmanned aerial vehicle, the ground sensor and the unmanned aerial vehicle antenna are integrated on the landing gear, the load of the machine body is reduced, the design complexity is reduced, the design cost and time of the machine body of the unmanned aerial vehicle are reduced, the safety of the unmanned aerial vehicle in the landing-ground contact stage is improved, the cost of the machine body of the unmanned aerial vehicle is reduced, and the inspection efficiency of the unmanned aerial vehicle is improved.

The present application relates to the technical field of unmanned aerial vehicle cluster control and autonomous landing, in particular to an unmanned aerial vehicle cluster infrared guidance automatic landing method and system, the present application arranges infrared guidance emitting devices at four corners of a ground rectangular landing area, each device divides the airspace into multiple sub-airspaces and emits infrared signals containing device codes, landing permission codes and check codes in turn through time division multiplexing. The unmanned aerial vehicle decodes the four-corner signals to obtain its three-dimensional coordinates and height information in the airspace, realizing accurate positioning and guidance without satellite signals. The system controls the landing sequence in cooperation, guides the unmanned aerial vehicles to land in batches in the order of odd-numbered rows of odd numbers, odd-numbered rows of even numbers, even-numbered rows of odd numbers and even-numbered rows of even numbers, effectively avoiding collision risks. The present application has the advantages of strong anti-interference ability, high positioning accuracy, good cooperativeness and suitability for complex electromagnetic environments.

This invention discloses a dynamic obstacle avoidance and automatic landing optimization system for unmanned aerial vehicles (UAVs) in multiple scenarios and across the entire domain, relating to the fields of UAV defense and environmental perception technology. The method includes: controlling a scanning UAV equipped with a camera array to collect spatial and ground images, simultaneously acquiring attitude and positioning data; a processing center preprocessing and seamlessly stitching the images to generate a panoramic image of the entire environment; fusing multi-source monitoring data to form a complete dataset covering both indoor and outdoor environments; constructing a multi-index evaluation model to identify safe, landable areas through semantic segmentation and target detection; transmitting environmental data to a receiving device, guiding it to automatically aim and send appropriate landing commands. This invention achieves 360-degree, all-around environmental detection without blind spots, expands the coverage of landable areas, and improves the accuracy of safe area identification and the coordination between scanning and landing.

The application discloses an automatic landing auxiliary decision system performance evaluation method and medium, relates to the automatic landing field, and comprises the following steps: acquiring physiological data and flight data of a pilot when the pilot performs an airplane landing task; the pilot performs the airplane landing task by relying on an automatic landing auxiliary decision system; the physiological data and the flight data are preprocessed respectively; based on the preprocessed physiological data, a load level value of the pilot is calculated by using a plurality of time scales of a sliding window and a dynamic entropy weight method; principal component analysis is used to extract features of the preprocessed flight data, and Euclidean distances between the corresponding features and expert flight data are calculated to obtain a landing operation performance level value of the pilot; the load level value and the landing operation performance level value are normalized and added to obtain a performance evaluation score; when the performance evaluation score is greater than or equal to a first threshold value, the performance of the automatic landing auxiliary decision system is excellent. The application effectively evaluates the performance of the automatic landing auxiliary decision system.

The unmanned aerial vehicle emergency safe landing method comprises the steps that when it is detected that an unmanned aerial vehicle enters a forced landing mode, a storage module is retrieved, whether safe landing point information exists nearby or not is checked, if yes, the safe landing point information exists, and if not, the unmanned aerial vehicle enters the forced landing mode; the unmanned aerial vehicle performs automatic landing according to the stored path and landing point information; if the landing point information does not exist, acquiring landing area information; the data processing module is used for processing the data acquired by the sensor to generate required result information; different scoring strategies are adopted for information acquired by different sensors, and safety evaluation is carried out on the selected landing area; weight distribution is dynamically adjusted according to the actual environment, the safety scores of the multiple sensors are comprehensively weighted, and an area with the highest safety score is selected as a final landing point; along with height descending of the unmanned aerial vehicle, precise landing is achieved. The method has the characteristics of high adaptability, high precision and the like, and is suitable for various complex terrains and application scenes.

A system and method of transmitting an aircraft report (AIREP) from a first aircraft having an enabled aircraft autoland system includes retrieving, via a first processing system, standard AIREP data from one or more avionic systems within the first aircraft, the standard AIREP data including standard AIREP reporting information. The first processing system retrieves autoland enablement data that indicates whether the autoland system was manually or automatically enabled, and also retrieves autoland information data from the one or more avionics systems, where the autoland information data includes current aircraft state data and current flight plan data and is different from the standard AIREP data. The autoland information data is appended to the standard AIREP data to generate an AIREP-autoland message and the AIREP-autoland message is transmitted.

This invention discloses an automatic landing control method for large fixed-wing unmanned aerial vehicles (UAVs). The method divides the UAV landing phase into four stages: approach level flight, approach glide, first landing leveling stage, second landing leveling stage, and landing rollout stage. During the approach level flight stage, the UAV is controlled to maintain the target level flight speed, target approach level flight altitude, lateral offset, and track angle, aligning with and tracking the runway extension. During the approach glide, the UAV is controlled to maintain the target glide speed and target glide angle. During the first landing leveling stage, the UAV is controlled to maintain the target vertical speed and airspeed. During the second landing leveling stage, the UAV is controlled to maintain the target vertical speed and airspeed. During the landing rollout stage, the UAV's speed is reduced to zero, while simultaneously maintaining the target lateral offset and heading angle on the runway centerline. This method enables precise control of the UAV's automatic landing, significantly improving the robustness and safety of automatic UAV landing.

This invention relates to the field of automatic landing control for unmanned aerial vehicles (UAVs), and discloses a wind-resistant landing control system for UAVs. The wind-resistant landing control system includes an external windproof structure module, located around the UAV landing area. The external windproof structure module adopts a fixed conical dome design, guiding external airflow into the landing area. The top opening of the conical dome has a size of [value missing] and a height of [value missing]. By creating a localized low-wind-speed environment through the external windproof structure module, the wind speed in the landing area is effectively reduced. Combined with the real-time estimation and precise control of external wind speed by the environmental perception and decision control module, and the terminal attitude correction capability of the attitude correction and re-landing strategy module, the accuracy of the UAV's landing point alignment under crosswinds, gusts, or sudden wind changes is significantly improved, effectively avoiding horizontal drift and landing failure caused by wind disturbance.

The application provides a tethered lift wing multi-rotor recovery method without relying on position or speed sensors, and comprises the following steps: step one, establishing a complete dynamics model of the tethered lift wing multi-rotor and a winding device; step two, designing a controller for the tethered lift wing multi-rotor; the controller output control quantity is a three-dimensional vector of rotor thrust, which is finally changed into a rotor total thrust control quantity and an expected control quantity of attitude through bottom layer control distribution; step three, designing a cable recovery controller. The tethered lift wing multi-rotor does not need any position or speed sensors in the process of automatic landing on a mobile platform, and only needs an internal gyroscope to maintain attitude balance. In a harsh recovery and landing environment, such as a global positioning navigation system rejection environment, a strong wind environment and a smoke environment, the control method designed by the application can be used to realize automatic landing of the tethered lift wing multi-rotor under the dragging of the tethered cable.

The present disclosure relates to a method of operating an SPM system including a landing procedure. The landing procedure comprises a first landing stage including a first translation over a first actuation distance by a coarse translation means to bring a probe tip held by an SPM head from an initial separation from a substrate to be probed to a second, more proximal, separation as defined by a characteristic transitional response of the probe tip in proximity to the substrate. Following the first stage a second translation is applied, over a second actuation distance by a fine translation means under feedback control to bring the probe tip to a working separation. Prior to applying the first (coarse) actuation distance an initial optical distance is determined which is indicative of the initial separation, using a detector, preferably a mark sensor. The measured initial optical distance is related to a reference distance so as to determine a deviation. The first actuation distance corresponds the reference distance and the deviation. The disclosure also relates to an SPM system and software product arranged to implement the landing method.

The application discloses a kind of shipborne rotary wing unmanned aerial vehicle designated deck area automatic landing control method and system, belong to rotary wing unmanned aerial vehicle automatic control technical field.Method includes following steps: step one, based on the position of rotary wing unmanned aerial vehicle and ship deck position planning rotary wing unmanned aerial vehicle ideal landing route;Step two, based on the ideal landing route, obtain the position error of rotary wing unmanned aerial vehicle;Step three, the running posture of ship is predicted, and the posture prediction result of ship is obtained;Step four, based on the posture prediction result of ship, the predicted ideal landing route of rotary wing unmanned aerial vehicle is generated, and the position error of rotary wing unmanned aerial vehicle is based on trajectory tracking flight control of rotary wing unmanned aerial vehicle, and the automatic landing of rotary wing unmanned aerial vehicle designated deck area is completed.The application can realize the automatic landing task of shipborne rotary wing unmanned aerial vehicle in specified area on ship.

The invention relates to the technical field of slope deformation monitoring, and discloses a slope deformation monitoring system and method based on an unmanned aerial vehicle airborne synthetic aperture radar, and the system comprises an unmanned aerial vehicle automatic docking synthetic aperture radar module which is used for recognizing the three-dimensional position and attitude information of a docking platform relative to an unmanned aerial vehicle through an airborne visual device, the flight path of the unmanned aerial vehicle is adjusted based on the three-dimensional position and attitude information; the synthetic aperture radar automatic placement leveling module is used for measuring the relative distance and attitude deviation between the synthetic aperture radar and the connection platform and calculating the real vertical distance of the synthetic aperture radar relative to the connection platform so as to realize locking of the connection platform and the synthetic aperture radar; a solar power supply module; a working state judgment module; and an unmanned aerial vehicle automatic landing module. According to the method, the problems of poor timeliness of InSAR observation, insufficient coverage capability of foundation SAR observation and limited precision of airborne SAR observation in a slope group deformation observation scene are solved.

This application discloses an automatic flight control method, apparatus, electronic device, and storage medium. The method and apparatus are applied to the electronic device of an unmanned helicopter. Specifically, in response to a user's takeoff command, the method controls the unmanned helicopter to perform takeoff maneuvers by executing an automatic takeoff control algorithm based on a cascaded PID algorithm. In response to a user's route flight command, the method controls the unmanned helicopter to perform route flight maneuvers by executing a route flight control algorithm based on the type of waypoints on the route. In response to a user's landing command, the method controls the unmanned helicopter to perform landing maneuvers by executing an automatic landing control algorithm based on a cascaded PID algorithm. Through this scheme, the entire process of takeoff, mission flight, and landing of a cross-rotor unmanned helicopter can be automatically controlled with minimal human intervention, thereby improving flight efficiency.

The invention discloses a control method for safe landing of an unmanned aerial vehicle in a barometer data abnormal state, and relates to an unmanned aerial vehicle barometer fixed-height control algorithm based on a double-ring cascade PID (Proportion Integration Differentiation) with an outer ring as a height ring and an inner ring as a speed ring. The height measurement value of the height ring and the speed measurement value of the speed ring are fusion height H fusion and fusion speed V fusion which are obtained by taking the relative height H, measured by a barometer, of the unmanned aerial vehicle as an observation value and fusing IMU data of the unmanned aerial vehicle through a Kalman filtering algorithm respectively; the control method is not easily influenced by fluctuation of the barometer, the accelerator of the unmanned aerial vehicle can be more stably and linearly controlled, the possibility of full-amplitude fluctuation of the accelerator is reduced, then the stability and robustness of landing of the unmanned aerial vehicle are improved, the problem that the target speed cannot be reached due to large-amplitude up and down lifting of the unmanned aerial vehicle and light load of the unmanned aerial vehicle is solved, and the unmanned aerial vehicle landing speed is improved. The control method can be unified in the automatic landing mode to simplify the control logic and improve the control robustness.

The application discloses a kind of aircraft landing stage fault reconfiguration and fault-tolerant control combined implementation method, symmetric positive definite matrix P1, P2, X and matrix K, K f , L, Y1, Y2 that meet linear matrix inequality are solved, and the known quantity in the linear matrix inequality is obtained according to aircraft landing mathematical model, extended system equation, state observation equation and closed-loop control equation;The obtained matrix L, K, K f It is substituted into the state observation equation and the closed-loop control equation respectively, while achieving aircraft landing process fault reconfiguration and fault-tolerant control.The application simultaneously solves fault reconfiguration algorithm parameters and fault-tolerant control algorithm unknown parameters in a short time, reduces the amount of calculation compared with other methods, and realizes automatic landing task of aircraft.

This invention discloses an intelligent monitoring system and method for low-altitude unmanned service stations, relating to the field of low-altitude intelligent logistics and transportation monitoring. The system includes: an intelligent control center for global task scheduling, resource coordination, status monitoring, and remote management; multiple service stations, each including a takeoff and landing platform, a door control device, a charging / battery swapping interface, and an identification module; and an intelligent aircraft docking module for enabling automatic landing, identification, charging, and task data interaction for UAVs. This intelligent monitoring system and method for low-altitude unmanned service stations achieves "unmanned operation, remote monitoring, and self-recovery from anomalies" through the establishment of unmanned service stations. Furthermore, by establishing a dynamic adaptation model between flight tasks and ground resources, it supports high-frequency and diverse task operations. Based on the collaboration of edge intelligence and central intelligence, it ensures stable station operation and high task completion rates.

The application relates to the technical field of eVTOL, and provides an autonomous take-off and landing guiding method based on an end-to-end large model, which synchronizes hardware and space calibration of an aircraft, generates a unified time sequence, collects landing environment images through multiple cameras, obtains enhanced pure vision images through deblurring, inputs the large model, completes Transform feature coding, semantic segmentation and depth estimation, outputs landing environment analysis data containing a three-dimensional BEV space graph, a landing area and an obstacle segmentation graph and depth estimation, inputs the analysis data into a space RNN model in combination with fluid mechanics prior and a time sequence, dynamically predicts a landing point and generates a landing stage guiding suitable for different heights, and controls the aircraft to land in stages. The application can solve the problems of eVTOL automatic landing, such as difficulty in space-time alignment, insufficient environment modeling, unmodeled near-ground aerodynamic disturbance, missing cross-height guiding strategy and limited airborne real-time performance, and comprehensively improves safety, stability and engineering usability.