KR-20260062668-A - METHOD AND DEVICE FOR MONITORING ROUTE DEVIATION FOR SPIRAL CURVE FLIGHT PLAN PATH SEGMENT OF AIRCRAFT

KR20260062668AKR 20260062668 AKR20260062668 AKR 20260062668AKR-20260062668-A

Abstract

A method for monitoring deviation from a flight path for a spiral curve flight plan path segment of an aircraft according to one embodiment may include: obtaining flight plan information including track information including the current position of the aircraft and straight flight plan path segments connecting each waypoint on the flight plan path of the aircraft with neighboring waypoints in the direction of travel of the aircraft; converting at least a portion of the straight flight plan path segments into a spiral curve flight plan path segment; determining at least one error for the spiral curve flight plan path segments based on the track information of the aircraft; and determining whether the aircraft has deviated from the flight path based on the at least one error.

Inventors

유연걸
강동훈

Assignees

에스케이텔레콤 주식회사

Dates

Publication Date: 20260507
Application Date: 20241029

Claims (9)

In a method for monitoring flight path deviation for a spiral curve flight plan section of an aircraft, A step of obtaining flight plan information including track information including the current position of the aircraft and flight plan information including a straight flight plan path segment connecting each waypoint on the flight plan path of the aircraft with an adjacent waypoint in the direction of travel of the aircraft; A step of converting at least a portion of the straight flight paths on both sides of at least some waypoints of the above straight flight plan path segments into spiral curve flight plan path segments; A step of determining at least one error for the spiral curve flight plan path segment based on the trajectory information of the above-mentioned aircraft; and Based on the above at least one error, the method includes a step of determining whether the aircraft deviates from its flight path, and The slope of the above spiral curve flight plan path section is characterized by being constant. Method for monitoring deviation from the route.
In Article 1, The step of converting to the above spiral curve flight plan path segment is, A step of determining a turning radius based on the flight plan speed and standard turning rate of the aircraft included in the flight plan information; A step of determining a turning center point, a first spiral path point, and a second spiral path point by referring to the turning radius, the slope, and each path point; and Based on the turning radius, the turning center point, the inclination, the first spiral path point, and the second spiral path point, the step of converting at least a portion of the straight flight paths on both sides of at least some path points of the straight flight plan path section into the spiral curve flight plan path section. Method for monitoring deviation from the route.
In Article 2, Each waypoint on the flight plan path of the above-mentioned aircraft includes a first waypoint, a second waypoint, and a third waypoint that sequentially correspond to the flight plan of the above-mentioned aircraft, and The step of determining the above-mentioned pivot center point, first spiral path point, and second spiral path point is, A step of determining a first direction vector based on the coordinates of the first path point and the coordinates of the second path point; A step of determining a second direction vector based on the coordinates of the second path point and the coordinates of the third path point; A step of determining the turning center point, the (x,y) coordinates of the first spiral path point, and the (x,y) coordinates of the second spiral path point based on the turning radius, the first direction vector, the second direction vector, and the second path point; and A step comprising determining the z-coordinate of the first spiral path point and the z-coordinate of the second spiral path point based on the above slope. Method for monitoring deviation from the route.
In Paragraph 3, The step of determining the z-coordinate of the first spiral path point and the z-coordinate of the second spiral path point is, A step of determining a spiral center point for the spiral curve flight plan path segment based on the above-mentioned turning center point, turning radius, first direction vector, and second direction vector; A step of determining the z-coordinate of the first spiral path point based on the ratio relationship between the length of the line segment between the (x,y) coordinate of the first path point and the (x,y) coordinate of the first spiral path point, and the length of the arc between the (x,y) coordinate of the first spiral path point and the (x,y) coordinate of the spiral center point; and The method includes the step of determining the z-coordinate of the second spiral path point based on the ratio relationship between the arc length between the (x,y) coordinates of the spiral center point and the (x,y) coordinates of the second spiral path point, and the length of the line segment between the (x,y) coordinates of the second spiral path point and the (x,y) coordinates of the second path point. Method for monitoring deviation from the route.
In Paragraph 3, The step of determining at least one error for the above-mentioned spiral curve flight plan path segment is, A step of determining a first coordinate for the current position of the aircraft and a second coordinate at the shortest distance in the spiral curve flight plan path section; and The method includes the step of determining at least one of a lateral error, an altitude error, and a path error for the curved flight plan path segment based on the first coordinate and the second coordinate. Method for monitoring deviation from the route.
In Article 5, The step of determining the second coordinate that is at the shortest distance from the first coordinate is, The method includes the step of determining the second coordinate using an iterative binary search algorithm that reduces the section to be searched in the spiral curve flight plan path section by half each time, and The interval searched through the above iterative binary search is, Characterized by determining the segment with the shorter distance from the first coordinate among the segments of the spiral curve flight plan path divided in half. Method for monitoring deviation from the route.
In Article 1, The step of determining whether the above-mentioned aircraft deviates from its flight path is, A step of determining whether the aircraft deviates from its flight path by referring to a preset threshold value for at least one of lateral error, altitude error, and path error. Method for monitoring deviation from the route.
As a flight path deviation monitoring device for a spiral curve flight plan section of an aircraft, Memory where the route deviation monitoring program is stored; and It includes a processor that controls the above memory, and The above processor is, Obtain flight plan information including track information including the current position of the aircraft and straight flight plan path segments connecting each waypoint on the aircraft's flight plan path with neighboring waypoints in the aircraft's direction of travel, and At least a portion of the straight flight paths on both sides of at least some waypoints of the above straight flight plan path segments are converted into spiral curve flight plan path segments, and Based on the trajectory information of the above aircraft, at least one error is determined for the spiral curve flight plan path segment, and Based on the above at least one error, determine whether the aircraft deviates from its flight path, The slope of the above spiral curve flight plan path section is characterized by being constant. Route deviation monitoring device.
As a computer program stored on a computer-readable recording medium, The above computer program is, Instructions for causing a processor to perform a method according to any one of claims 1 to 7 A computer program stored on a computer-readable recording medium.

Description

Method and device for monitoring route deviation for spiral curve flight plan path segment of an aircraft This invention relates to a method and device for monitoring flight path deviation for a curved flight plan section of an aircraft. UAM is Urban Air Mobility that utilizes the sky as a transportation route by combining with Personal Air Vehicles (PAVs) capable of Vertical Take Off and Landing (VTOL). UAM is a next-generation mobility solution designed to maximize transportation efficiency in urban areas. It emerged to address issues such as reduced mobility caused by congested city traffic and the surge in social costs, including logistics expenses. With long-distance travel times increasing and traffic congestion worsening, UAM is considered a future innovation business that solves these problems. Meanwhile, when a UAM flight plan is determined, the technology used to monitor whether the UAM deviates from the flight path according to the plan is called UAM conformance monitoring. At this time, in order to monitor UAM deviation from the flight path, it is essential to determine where the UAM's current trajectory is located on the path included in the flight plan; however, according to conventional technology, if the distance between the UAM's current location and the waypoint is below a threshold value, the UAM is identified as being located on the path segment containing the waypoint. However, considering that the current flight plan includes a straight flight plan path connecting waypoints, that the spacing between waypoints in the actual flight plan of the UAM may be narrow or complex, and that the actual UAM flies along a smooth trajectory, if the UAM flies at a distance from the waypoints and outside the threshold, a problem may arise in which the path the UAM is flying cannot be determined. As such, if the operational status of the aircraft is not adequately reflected, deviation from the flight path can become a significant issue. FIG. 1 is a block diagram showing a route deviation monitoring device according to one embodiment of the present invention. FIG. 2 is a block diagram conceptually illustrating the functions of a route deviation monitoring program according to one embodiment of the present invention. FIG. 3 is a flowchart illustrating a method for monitoring flight path deviation for a spiral curve flight plan section according to one embodiment of the present invention. FIG. 4 is a diagram exemplarily illustrating the conversion of at least a portion of a straight flight plan path segment into a spiral curve flight plan path segment according to one embodiment of the present invention. FIG. 5 is a diagram exemplarily illustrating the definition of a spiral curve flight plan path segment according to one embodiment of the present invention. FIGS. 6 to 10 are drawings exemplarily illustrating the determination of a first coordinate of the current position of an aircraft and a second coordinate at the shortest distance in a spiral curve flight plan path segment using an iterative binary search algorithm according to an embodiment of the present invention. The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below but can be implemented in various different forms. These embodiments are provided merely 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 only by the scope of the claims. In describing the embodiments of the present invention, specific descriptions of known functions or configurations will be omitted if it is determined that such detailed descriptions could unnecessarily obscure the essence of the invention. Furthermore, the terms described below are defined considering their functions in the embodiments of the present invention, and these definitions may vary depending on the intentions or practices of the user or operator. Therefore, such definitions should be based on the content throughout this specification. FIG. 1 is a block diagram showing a route deviation monitoring device according to one embodiment. Referring to FIG. 1, the route deviation monitoring device (100) may include a processor (110), a transceiver (120), and a memory (130). The processor (110) can control the overall operation of the route deviation monitoring device (100). The processor (110) can receive at least one of track information and flight plan information using a transceiver (120). For convenience of explanation in this specification, it is described that the transceiver (120) receives at least one of track information and flight plan information, but is not limited thereto. That is, according to the embodiment, at least one of the track information