CN-121979276-A - Landing control method and device for fixed wing flying device

CN121979276ACN 121979276 ACN121979276 ACN 121979276ACN-121979276-A

Abstract

The application discloses a landing control method and a landing control device for a fixed wing flying device, wherein the method comprises the steps of collecting geographic information of a runway to construct a data calibration difference table; the method comprises the steps of obtaining a first height difference of a flying device determined by each height sensor relative to a flying spot according to take-off data and a data calibration difference table, obtaining a second height difference of the flying device determined by each height sensor relative to the estimated landing spot based on the estimated height difference between the landing spot and the flying spot, and selecting the second height difference of a single height sensor as a height source according to the landing field difference to perform landing control until the flying device lands. The application solves the problem that the prior landing technology is difficult to realize safe and accurate landing control under the condition of complex runway, reduces the hardware cost, simultaneously avoids the problems of environmental interference and measurement error caused by additional equipment, and is an economic, efficient and safe scheme.

Inventors

HOU LIYANG
WANG WENLONG
LIAO XINTAO
ZHANG SHUAIHUA
WANG LINJIE

Assignees

西安羚控电子科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260408

Claims (10)

1. A method of controlling landing of a fixed wing aircraft, comprising: The method comprises the steps of acquiring geographic information of a runway at intervals, taking one acquisition point as a datum point, and differencing the geographic information of other acquisition points with the geographic information of the datum point to construct a data calibration difference value table; Acquiring take-off data of a take-off point of the flying device, and combining the data to calibrate a difference table to acquire a first height difference of the flying device relative to the take-off point, which is determined by each height sensor when the flying device starts landing; Determining an estimated landing point, and obtaining a second height difference of the flying device, which is determined by each height sensor, relative to the estimated landing point based on the height difference between the estimated landing point and the flying point; And selecting a second altitude difference of the single altitude sensor as an altitude source according to the landing field difference to perform landing control until the flying device successfully lands.
2. The method of claim 1, wherein the step of acquiring the geographic information of the runway at intervals, taking one of the acquisition points as a reference point, and differencing the geographic information of the other acquisition points with the geographic information of the reference point to construct the data calibration difference table comprises: collecting geographic information of the runway along the central axis of the runway at intervals of a set distance, wherein the geographic information comprises basic longitude and latitude and basic height; Taking the basic height of one of the acquisition points as a reference point, and taking the basic height of the other acquisition points as a difference from the basic height of the reference point to obtain a plurality of basic height differences; determining the relative distance between the rest acquisition points and the reference point according to the basic longitude and latitude; and constructing the data calibration difference table based on the basic height difference and the relative distance of each acquisition point relative to the datum point.
3. The method of claim 1, wherein the takeoff data includes GNSS altitude, radio altitude, and takeoff point longitude and latitude; after the take-off data of the take-off point of the flying device is obtained, the method further comprises the following steps: Calibrating initial values of different height sensors based on the takeoff data, comprising: taking the GNSS height as an initial value of the height of the GNSS sensor; The radio altitude is taken as an initial value of the altitude of the radio altimeter.
4. The method of claim 1, wherein said calibrating the difference table in combination with the data to obtain a first altitude difference of the flying device relative to the point of departure as determined by each altitude sensor at the start of landing of the flying device comprises: Determining the height difference of the flying spot relative to the datum point according to the data calibration difference value table to obtain a first calibration parameter; acquiring current heights acquired by sensors with different heights when the flying device starts landing, and differencing each current height with the take-off data to obtain a plurality of third height differences; And correcting each third height difference based on the first calibration parameters to calibrate the current height of the corresponding height sensor, and obtaining the first height difference of the flying device relative to the flying spot.
5. The method of claim 1, wherein the obtaining a second altitude difference for the flying device relative to the predicted landing site determined by each altitude sensor based on the altitude difference between the predicted landing site and the departure point comprises: determining the height difference of the estimated landing point relative to the datum point according to the data calibration difference table to obtain a second calibration parameter; and carrying out secondary correction on the corrected first height difference according to the second correction parameters to obtain a second height difference of the flying device relative to the estimated landing point, which is obtained based on each height sensor.
6. The method of claim 5, wherein determining the altitude difference of the predicted landing site relative to the reference point based on the data calibration difference table, to obtain a second calibration parameter, comprises: Determining a corresponding height difference in the data calibration difference table based on the distance between the estimated landing point and the flying spot to obtain a fourth height difference; and carrying out difference on the first height difference and the fourth height difference to obtain the second calibration parameter.
7. The method of claim 1, wherein selecting the second altitude difference of the single altitude sensor as the altitude source for landing control based on the landing field difference comprises: if the landing field is local, performing landing control by taking the second height difference calibrated by the GNSS sensor as a height source; And if the landing field is different, performing landing control by taking the second altitude difference calibrated by the radio altimeter as an altitude source.
8. The method as recited in claim 1, further comprising: And when the distance between the estimated landing point and the flying point and/or the distance between the flying point and the datum point are not recorded in the data calibration difference table, determining the corresponding height difference by adopting interpolation calculation.
9. A fixed wing aircraft landing control device for implementing the method of any one of claims 1-8, comprising: The reference construction module is used for acquiring the geographic information of the runway at intervals, taking one of the acquisition points as a reference point, and differencing the geographic information of the other acquisition points and the geographic information of the reference point to construct a data calibration difference value table; the first acquisition module is used for acquiring take-off data of a take-off point of the flying device, and combining the data to calibrate a difference table to acquire a first height difference, determined by each height sensor, of the flying device relative to the take-off point when the flying device starts landing; The second acquisition module is used for determining an estimated landing point, and acquiring a second height difference, determined by each height sensor, of the flying device relative to the estimated landing point based on the height difference between the estimated landing point and the flying spot; And the selection module is used for selecting the second altitude difference of the single altitude sensor as an altitude source according to the landing field difference to perform landing control until the flying device successfully lands.
10. An apparatus for performing a fixed wing aircraft landing control method, comprising: A processor; A memory for storing processor-executable instructions; the processor, when executing the executable instructions, implements the method of any one of claims 1 to 8.

Description

Landing control method and device for fixed wing flying device Technical Field The application relates to the technical field of landing control, in particular to a landing control method and device for a fixed wing flying device. Background The landing technology is one of key technologies for guaranteeing the flight safety of the flight device, and in the landing process, the grounding time is accurately judged, the descent rate and the gesture are controlled, and the safety of the body structure and the landing precision of the flight device are directly related. The current mainstream landing technology of the flying device mostly uses the nominal height of the airfield runway as a reference point for altitude lowering control. This approach treats the runway as an absolute level, thereby planning the glide curve and performing the landing maneuver. However, the actual airfield runway is affected by geological conditions, construction process and other factors, the surface is not an ideal horizontal plane, and the terrain elevation changes (namely local bulges or depressions) along the length direction (such as two ends and a middle section) are often present, the runway has the height of more than 1 meter, and some runway can be even up to tens of meters. When the flying device lands by taking the fixed runway height as a unique reference, the actual landing height of the flying device cannot be accurately determined, and the grounding judgment deviation is easy to cause. For example, when the grounding point is located at the protruding part of the runway, the actual landing height is smaller, the flying device can touch the ground in advance, heavy landing phenomenon is caused, and the body structure can be damaged seriously. In addition, in order to improve the perception capability of the runway height, a part of the flying device is additionally provided with distance measuring equipment such as ultrasonic waves or laser radars, and the height judgment and the grounding control are assisted by measuring the relative distance between the flying device and the runway surface. However, these ranging devices generally have the problem of high price, which increases the hardware cost of the flying device, and in the landing height judging process, because the measuring distance is far, the measuring device is easily influenced by environmental factors, and the landing accuracy is also influenced due to the existence of measuring errors, so that the landing safety of the flying device cannot be completely ensured. Disclosure of Invention The embodiment of the application solves the problem that the prior landing technology is difficult to realize safe and accurate landing control under the condition of a complex runway by providing the landing control method and the landing control device of the fixed wing flying device. According to the first aspect, the embodiment of the application provides a landing control method of a fixed wing flying device, which comprises the steps of collecting geographic information of a runway at intervals, taking one of the collecting points as a reference point, taking the geographic information of the other collecting points as a difference from the geographic information of the reference point to construct a data calibration difference table, obtaining take-off data of a flying point of the flying device, combining the data calibration difference table, obtaining a first height difference of the flying device relative to the flying point, determined by each height sensor, when the flying device starts landing, determining an estimated landing point, obtaining a second height difference of the flying device relative to the estimated landing point, determined by each height sensor, based on the height difference between the estimated landing point and the flying point, and selecting the second height difference of the single height sensor as a height source for landing control according to the difference of a landing field until the flying device successfully lands. In combination with the first aspect, in one possible implementation manner, the interval is used for collecting the geographic information of the runway, one of the collecting points is used as a datum point, the geographic information of the other collecting points is differentiated from the geographic information of the datum point to construct a data calibration difference table, the geographic information of the runway is collected along the central axis of the runway at set distance intervals, the geographic information comprises basic longitude and latitude and basic height, the basic height of the one of the collecting points is used as the datum point, the basic height of the other collecting points is differentiated from the basic height of the datum point to obtain a plurality of basic height differences, the relative distance between the rest collecting points and the datum point is determined accor