CN-121979275-A - Guiding method and system for landing of aerocar

CN121979275ACN 121979275 ACN121979275 ACN 121979275ACN-121979275-A

Abstract

The invention provides a guiding method and a guiding system for landing of a flying car, which establish a complete landing guiding flow of the flying car and systematically solve the problems of the landing accuracy and safety of the flying car through four-stage closed-loop control. The method has the advantages that resources are intelligently scheduled through the signal towers, the specific parking space guiding units are activated only when needed, the energy consumption efficiency and the multi-parking space cooperative operation capability are remarkably improved, signal interference is avoided, an optimal landing track planning based on multiple parameters is introduced, a smooth and continuous ideal path is generated for the aerocar, dynamic and continuous correction guidance is provided for a driver or an automatic driving system by imaging the track and measuring the deviation of the aerocar relative to the ideal path in real time, high-precision closed-loop guidance is realized, finally, the landing completion state is automatically detected, the resources are recovered, the automation and the high efficiency of the whole process are ensured, and the safe and reliable landing of the aerocar is ensured.

Inventors

JIA YANSHUN
Liang Baichuan
Si Chundai
LAN MINGYANG
ZHANG YUNHE
ZHANG HUILI
ZHANG JIUPENG
ZHAO XIAOKANG
WU ZEYU

Assignees

石家庄铁道大学

Dates

Publication Date: 20260505
Application Date: 20251231

Claims (10)

1. A guiding method for landing of a flying car, comprising: S1, preparing landing, namely after a flying car enters a signal coverage area of a signal tower (1), sending a landing request to the signal tower (1), responding to the request by the signal tower (1), selecting an idle landing parking space (2), activating a guiding unit (3) of the landing parking space (2), and enabling the guiding unit (3) to establish communication with the flying car; S2, track planning, namely acquiring initial state parameters of the flying automobile, final state parameters corresponding to the landing parking spaces (2) when the flying automobile lands to be idle and ideal landing time, and acquiring an optimal landing track based on the initial state parameters, the final state parameters and the ideal landing time; S3, executing landing, namely sending the optimal landing track to the aerocar, measuring the deviation between the optimal landing track and the corresponding ideal position in the ideal track coordinate library in real time in the landing process of the aerocar, generating a landing adjustment parameter, and sending the landing adjustment parameter to the aerocar so as to guide the aerocar to correct the flying track; And S4, in the post-falling processing stage, when the fact that the flying car falls on the idle falling parking space (2) is detected, closing the guiding unit (3) of the falling parking space (2), and marking the falling parking space (2) as occupied.
2. The guiding method for landing of a flying car according to claim 1, wherein said step S2 comprises: S2.1, respectively establishing independent polynomial track models aiming at an X axis, a Y axis and a Z axis of the movement of the aerocar; s2.2, acquiring initial state parameters of the flying automobile and final state parameters corresponding to the landing parking space (2) which is idle, and acquiring the ideal landing time length; S2.3, constructing constraint equation sets of all axes according to the initial state parameters and the final state parameters, and respectively solving by combining the ideal landing time length to obtain coefficients of the polynomial track model corresponding to all axes; S2.4, performing track synthesis under a unified time scale based on the polynomial track model corresponding to each axis after solving, and generating the optimal landing track; S2.5, controlling the guiding unit (3) to scan along the optimal landing track, and recording coordinates of each point on the track in a fixed time step to form the ideal track coordinate library.
3. Guiding method for the landing of a flying car according to claim 2, characterized in that said initial state parameters comprise an initial position, an initial velocity and an initial acceleration of the flying car after entering the signal coverage of the signal tower (1); The final state parameters comprise a final position, a final speed and a final acceleration of the aerocar after the aerocar falls to the landing parking space (2); The ideal landing duration is a time value selected in combination with the initial state parameters of the flying car and the hardware characteristics thereof.
4. A guiding method for a landing of a flying car according to claim 3, characterized in that the polynomial trajectory models are all quintic polynomial trajectory models expressed as: Wherein, the Is the position, t is the time, Are polynomial coefficients.
5. The guiding method for landing of a flying car according to claim 2, wherein said step S2.5 specifically comprises: S2.5.1 controlling a laser emitting device (321) in the guiding unit (3) to emit a scanning laser beam; S2.5.2, driving the laser emission device (321) by a direction control motor (322) to scan the scanning laser beam along the optimal landing track in a fixed time step; s2.5.3, in the scanning process, recording the three-dimensional coordinates corresponding to the current scanning laser beam irradiation point at each time step point, and storing the three-dimensional coordinates into the ideal track coordinate library.
6. The guiding method for landing of a flying car according to claim 1, wherein the step S3 of measuring the deviation from the corresponding ideal position in the ideal trajectory coordinate base in real time, and the step of generating the landing adjustment parameter includes: Transmitting a guiding laser beam to the flying car in real time through a laser transmitting device (321) in the guiding unit (3) during the landing of the flying car; calculating a deflection angle theta between the direction of a guide laser beam irradiating the flying automobile in real time and a scanning laser beam corresponding to an ideal position in an ideal track coordinate base at the same height; calculating a horizontal offset according to the formula s=l·tan θ, wherein S is the horizontal offset and L is the guided laser beam length between the flying car and the laser emitting device (321); and generating the landing adjustment parameter in real time based on the horizontal offset.
7. The method for guiding a landing of a car according to claim 6, wherein said step S3 further comprises displaying said landing adjustment parameter to a driver through an electronic screen in said car; The display mode comprises the steps of indicating the direction and the size of the horizontal offset by numerical values and arrows and/or displaying the relative relation between the real-time position of the flying car and the optimal landing track by dynamic simulation animation.
8. The guiding method for the landing of the flying car according to claim 1, wherein the step S4 includes detecting the pressure value in real time by a plurality of parking space state monitoring units (4) laid under the surface of the landing parking space (2) and feeding back to the processing control unit, judging that the landing of the flying car is completed when the processing control unit judges that the pressure value detected by the parking space state monitoring units (4) exceeding the preset number exceeds the set threshold value and reaches the preset time, closing the guiding unit (3) of the landing parking space (2), and marking the landing parking space (2) as occupied.
9. A guiding system for landing of a flying car for realizing the guiding method for landing of a flying car according to any one of claims 1 to 8, characterized by comprising a signal tower (1), a processing control unit, a plurality of landing spots (2), a plurality of guiding units (3) and a plurality of spot status monitoring units (4); the signal tower (1) is arranged in the middle of the landing area; the landing parking spaces (2) are distributed and arranged around the signal tower (1); The processing control unit is arranged in the signal tower (1), is in communication connection with the guiding unit (3) and the parking space state monitoring unit (4), and is used for calculating the optimal landing track and landing adjustment parameters and controlling the work of the guiding unit (3); A plurality of parking space state monitoring units (4) are arranged below the surface of each landing parking space (2), and the parking space state monitoring units (4) are in communication connection with the processing control unit and are used for monitoring the occupation state of the corresponding parking space and feeding back to the processing control unit; the guiding unit (3) is correspondingly arranged at one landing parking space (2) and is used for guiding the flying automobile under the control of the processing control unit.
10. Guide system for the landing of a flying car according to claim 9, characterized in that said guide unit (3) comprises a light assembly (31) and a laser assembly (32); The light assembly (31) is arranged at the boundary of the landing parking space (2) and is used for providing visual outline indication of the parking space when activated; the laser assembly (32) is arranged at the landing parking space (2) and comprises a laser emitting device (321), a direction control motor (322) for driving the laser emitting device (321) to change the irradiation angle and a laser communication machine (323) for carrying out signal modulation, wherein the laser assembly (32) is used for emitting laser beams and executing track scanning and information sending under the control of the processing control unit.

Description

Guiding method and system for landing of aerocar Technical Field The invention belongs to the technical field of aerocars, and particularly relates to a guiding method and system for aerocar landing. Background Along with the increasing emphasis of the problems of the acceleration of the urban process and the ground traffic jam, the value of a low airspace as a novel traffic space is gradually released, and the extension of intelligent traffic to low-altitude three-dimensional travel becomes the core trend of industry development. By virtue of the characteristic of 'air-ground dual-purpose', the aerocar can effectively open an 'air channel' of urban short-distance travel, and is regarded as a key carrier for solving urban traffic jam and improving travel efficiency. The accuracy, safety and environmental adaptability of the landing stage directly determine whether the aerocar can go from technical verification to actual scene application, and the aerocar is a core bottleneck which needs to be broken through in the current industry. At present, guiding technology for aircraft landing mainly develops in the unmanned aerial vehicle field, and common schemes include RTK (real-time dynamic differential positioning), visual recognition, infrared guiding and the like. These solutions have fundamental drawbacks when applied to the flight of vehicles. Unmanned aerial vehicle guidance schemes are generally based on a core assumption that the aircraft is small in size, light in weight and rapid in control response, and the guidance core is to provide a static and high-precision target point coordinate (such as centimeter-level positioning of RTK), so that the control system of the aircraft can quickly correct the track and accurately hover and drop. However, the aerocar has the inherent characteristics of large mass, large inertia and relatively slow posture adjustment, when the aerocar starts to land from the height of tens of meters or even hundreds of meters, if only one static target point coordinate is provided, the landing redundancy of the aerocar due to the large inertia is also larger, and the agile correction of the last moment is difficult to be carried out like an unmanned plane. The guiding mode based on the static target point is difficult to meet the fundamental requirement of the flying automobile on a continuous, smooth and real-time comparison and correction dynamic track, and particularly in a complex urban environment, how to provide an intuitive and reliable virtual landing guide rail for a driver or an automatic driving system is a key for realizing safe landing. In the prior art, an effective means for providing dynamic trajectory guidance for large, high inertia aircrafts such as aerocars is lacking, which has become a key technical obstacle to restrict the development of such large, high inertia aircrafts. Disclosure of Invention In order to solve the technical problems that in the background technology, the existing guiding technology of aircraft landing is mainly developed in the field of unmanned aerial vehicles, and an effective means for providing dynamic track guiding for large-sized high-inertia aircrafts such as aerocars is lacking, and resistance is brought to the development of the aerocars, the invention provides a guiding method and a guiding system for the aerocars landing. In order to achieve the above purpose, the present invention adopts the following technical scheme: in a first aspect, the present invention provides a guiding method for landing a flying car, comprising: S1, preparing landing, namely sending a landing request to a signal tower after a flying car enters a signal coverage area of the signal tower, responding to the request by the signal tower, selecting an idle landing parking space, activating a guiding unit of the landing parking space, and enabling the guiding unit to establish communication with the flying car; S2, track planning, namely acquiring initial state parameters of the aerocar, final state parameters corresponding to the landing positions of the aerocar which is dropped to be idle and ideal landing time, and acquiring an optimal landing track based on the initial state parameters, the final state parameters and the ideal landing time; S3, executing landing, namely sending the optimal landing track to the aerocar, measuring the deviation between the optimal landing track and the corresponding ideal position in the ideal track coordinate library in real time in the landing process of the aerocar, generating a landing adjustment parameter, and sending the landing adjustment parameter to the aerocar so as to guide the aerocar to correct the flying track; And S4, in the post-landing treatment stage, when the fact that the aerocar lands in the idle landing parking space is detected, closing the guiding unit of the landing parking space, and marking the landing parking space as occupied. Optionally, the step S2 includes: S2.1, respectively establishing in