CN114399925A

CN114399925A - Design method of flight management system based on eVOTL airplane

Info

Publication number: CN114399925A
Application number: CN202210118741.4A
Authority: CN
Inventors: 宋斌斌; 亓希龙; 刘丽丽; 刘胜南; 丁元沅
Original assignee: Accel Tianjin Flight Simulation Co Ltd
Current assignee: Accel Tianjin Flight Simulation Co Ltd
Priority date: 2022-02-08
Filing date: 2022-02-08
Publication date: 2022-04-26
Anticipated expiration: 2042-02-08
Also published as: CN114399925B

Abstract

The invention discloses a design method of a flight management system based on an eVOTL airplane, which comprises the following steps: s1, selecting a take-off and landing position through a flight condition comprehensive analysis module, wherein the take-off and landing position mainly comprises the analysis of weather, terrain and airspace and the analysis of airplane performance; s2, planning a route with optimal time and energy cost for the position of taking off and landing selected by the flight condition comprehensive analysis module in the S1 through a flight plan generation module; and S3, dynamically updating the route planned by the flight plan generating module in the S2 through the flight plan dynamic updating module so as to deal with the complex and changeable urban air traffic conditions. The invention can fully consider the external conditions such as terrain, buildings, weather, control and the like and the internal conditions such as airplane weight, electric quantity and the like in a complex urban environment, plan a safe and efficient flight route after comprehensive analysis, and has the functions of real-time monitoring and management of the flight route and automatic processing under emergency conditions.

Description

Design method of flight management system based on eVOTL airplane

Technical Field

The invention relates to the technical field of flight management, in particular to a design method of a flight management system based on an eVOTL airplane.

Background

With the high-speed development of the urbanization process, the problems of traffic jam and environmental pollution of cities, particularly medium and large-sized cities, gradually become one of the important problems restricting the development of the cities. According to the statistics of Ministry of public Security, in 2020, the quantity of motor vehicles in China reaches 3.72 hundred million, and the quantity of automobiles in 70 cities in the whole country exceeds one million. The '2020 main urban traffic analysis report' published by the ministry of big data development of national information center in the third quarter jointly by multiple organizations shows that nearly 60% of urban commuting peaks are in a congested or slow-going state in 360 cities monitored by the big data of traffic. The high motor vehicle reserves and the serious traffic jam condition also cause serious environmental pollution, according to the data published by the department of ecological environment, the total amount of four pollutants discharged by motor vehicles nationwide in 2020 exceeds 1593.0 ten thousand tons. Traffic and environmental problems all put higher and faster requirements on the development of green energy traffic industry in China.

Urban air traffic (UAM), also known as advanced air traffic (AAM), has emerged as an emerging field of aviation and solution in response to such environments and requirements, and is primarily directed to urban transportation systems that transport people and cargo in the air via unmanned/manned personnel. The system generally adopts new energy as aircraft power, realizes logistics transportation and passenger transport flight among different nodes from end to end by setting different short-distance/vertical take-off and landing fields, can effectively solve the problem of ground traffic congestion, and meets the requirements of environmental protection. The eVTOL (electric vertical take-off and landing) aircraft is called as an electric vertical take-off and landing aircraft, can effectively solve the problems that the traditional commercial aviation is far away from the urban core area, cannot cover urban traffic, has high space requirement and high driver level requirement, and simultaneously gets rid of the problems of congestion and long-distance detour of ground traffic, and is a main carrier of urban air traffic.

Urban air traffic has the characteristics of compact space, dense personnel and facilities, high safety requirement and the like, and the characteristics determine that an urban air traffic carrier mainly based on the eVTOL needs a set of flight management system which is simple to operate, high in precision, intelligent, safe and efficient besides the functions of short-distance/vertical take-off and landing, a simplified flight control mode, a visual human-computer interaction interface and the like. The flight management system plans a safe and efficient flight route for assisting a driver or serving as an automatic driving input source to carry out safe driving of the airplane according to the current urban terrain environment, and is an important link for realizing air traffic management and guaranteeing and improving flight safety.

The flight management system of the traditional navigation aircraft generally finishes the planning of a flight route according to information such as airports, waypoints and the like provided in a navigation database, but the waypoints in the navigation database are fixed, so the planned flight route is also fixed, the waypoints are scattered and are far away from each other, and the requirements of short urban air traffic distance and high flexibility cannot be met. In addition, the conventional flight management system of the navigation aircraft is generally controlled and operated by a driver through a control display unit, and the control display unit can be used for inputting and modifying a flight plan, displaying navigation information and the like, but the control display unit generally has the defects of man-machine interaction engineering, complex operation, need of massive training and the like, so that function misunderstanding and wrong input are easily caused, the design concept of UAM simplified flight operation (SVO for short) is not met, and the requirements of flexibility, convenience and simplicity in operation of urban air traffic cannot be met. Moreover, the flight management system of the traditional navigation aircraft has high manufacturing cost, can not be reused by multiple aircraft, and has poor economic benefit when being applied to urban air traffic.

The conventional UAM flight management system is still in a starting stage, effective verification of a complex environment is not performed, mature market application is lacked, and the problems of simple environmental conditions, single machine type, inflexible planned route, lack of emergency handling and the like exist mostly. The invention provides a design method of a flight management system based on an eVOTL airplane, aiming at the incompatibility of the conventional navigation airplane flight management system to urban air traffic and the defects of the conventional UAM flight management system, and according to the technical characteristics of a UAM/AAM operation environment and an eVTOL airplane.

Therefore, a design method of a flight management system based on an eVOTL airplane is designed to solve the problems.

Disclosure of Invention

The invention aims to solve the defects in the prior art, and provides a design method of a flight management system based on an eVOTL airplane, which can fully consider external conditions such as terrain, buildings, weather, control and the like and internal conditions such as airplane weight, electric quantity and the like in a complex urban environment, plan a safe and efficient flight route after comprehensive analysis, and has the functions of real-time monitoring and management of the flight route and automatic processing under emergency conditions.

In order to achieve the purpose, the invention adopts the following technical scheme:

a design method of a flight management system based on an eVOTL airplane comprises the following steps:

s1, selecting a take-off and landing position through a flight condition comprehensive analysis module, wherein the take-off and landing position mainly comprises the analysis of weather, terrain and airspace and the analysis of airplane performance;

s2, planning a route with optimal time and energy cost for the position of taking off and landing selected by the flight condition comprehensive analysis module in the S1 through a flight plan generation module;

s3, dynamically updating the route planned by the flight plan generating module in the S2 through a flight plan dynamic updating module so as to deal with the complex and changeable urban air traffic conditions;

s4, generating flight plan auxiliary information for assisting the driver in driving by the flight plan information output module for the route planned by the flight plan generating module in the S2;

and S5, emergency processing is carried out on the route planned by the flight plan generating module in S2 and the possible emergency is carried out by the dynamic updating information in the dynamic updating module of the flight plan in S3 through the emergency processing module.

Preferably, the analysis function of the flight condition comprehensive analysis module comprises the following points:

a1, simplified take-off and landing position selection, a flight condition comprehensive analysis module simplifies an input program of a traditional navigation airplane flight plan take-off and landing airport, a flight management system firstly automatically screens a usable take-off field of the airplane type according to the currently used eVTOL airplane type, after a user selects the take-off field, the system automatically screens a reachable destination field list for the user to select according to mileage limitation of the currently used airplane type, and the user only needs to simply select the take-off and landing position and does not need to set a complicated take-off and landing program;

a2, analyzing terrain and airspace, detecting terrain information between two places in a terrain database by a flight condition comprehensive analysis module according to the takeoff and landing position information input by a user, wherein the terrain information comprises the height information of buildings on the ground and currently issued airspace limit information, and making a preliminary judgment on whether the current aircraft can reach the target or not by combining the performance limit of the currently used aircraft, and if the current aircraft cannot reach the target, reminding the user to change the landing site; if the route can arrive, generating a temporary navigation database of the route for a flight plan generating module to use;

a3, weather analysis and flight condition comprehensive analysis module retrieves weather conditions between two places according to the rising and landing position information input by the user, and if severe weather affecting flight safety exists, the information is provided for the user;

a4, analyzing airplane performance, comprehensively analyzing flight conditions according to the takeoff and landing position information input by a user, comprehensively calculating and analyzing the performance limit and the current state of the airplane of the currently used airplane type, such as the current electric quantity, the current total weight, the ambient temperature, the flight height and the like, judging whether the current airplane can reach the selected destination, and reminding the user to change the landing site if the current airplane cannot reach the selected destination; and if the data can reach the target, all the data acquired by the flight condition comprehensive analysis module are provided to a flight plan generation module for generating a flight plan.

Preferably, the functions of the flight plan generating module include the following:

b1, generation of an initial flight path;

b2, smoothing flight path points, and acquiring performance parameters and environmental parameters of the airplane of the corresponding model of the eVTOL airplane;

b3, resampling of flight path points.

Preferably, the flight plan dynamic update module includes the following functions: a flight plan update function for a deviation of a flight path, a flight plan update function for a temporary change of a destination, and a flight plan update function for a dynamic addition or removal of a restricted airspace.

Preferably, the flight plan information output module mainly includes the following functions: distance to destination, estimated time of arrival ETA, checkpoint information is obtained.

Preferably, the emergency processing module automatically processes when the following emergency situations exist: emergency handling of battery failures, emergency handling of handling system failures, handling of other emergency situations.

Preferably, the handling of said other emergencies comprises the encounter of sudden thunderstorms, bad weather of a sandstorm and discomfort to passengers during flight of the aircraft.

Preferably, the resampling of the flight path points has a problem that the path points are too dense after generating smooth path points, and the resampling of the flight path points performs the following processing on the above path points:

c1, designing and adopting a multi-dimensional characteristic value uniform algorithm, and uniformly distributing the non-uniform three-dimensional point set to obtain a uniform three-dimensional curve point set;

c2, resampling points of the physical path according to the airplane performance parameters, deleting irrelevant points of the path with similar characteristics, and reserving and finally generating all characteristic points to transmit to a flight control system as control points of airplane automatic flight management;

and C3, calculating the next point to be reached by the airplane according to the current position of the airplane as a control point for the automatic flight of the flight control system.

The invention has the beneficial effects that:

the invention breaks through the constraint of the traditional navigation fixed waypoints, takes all aerial areas meeting the requirements as available waypoints based on the comprehensive analysis of various terrain airspaces, combines the entrance and exit design aiming at different types of vehicles, can realize the high-efficiency, high-flexibility and low-cost flight route planning and management aiming at different machine types, the design method also fully considers the complex environment of urban air traffic, adds the functions of dynamic flight path planning, autonomous obstacle avoidance, automatic emergency treatment and the like so as to meet the running requirements of the urban air traffic on complexity, variability and high flexibility, simultaneously, the design method follows the flight control design concept of 'simplified flight control', simplifies the operation of the flight management system, lightens the burden of a driver, reduces the possibility of misunderstanding and wrong input caused by the complexity of the system, and meets the system safety level of future UAM airworthiness flight conditions.

Drawings

FIG. 1 is a schematic view of a work flow of a design method for an eVOTL-based aircraft flight management system according to the present invention;

fig. 2 is a schematic view of a flight phase definition in a design method of a flight management system based on an evtl aircraft according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-2, a method for designing a flight management system for an evoltl-based aircraft includes the steps of:

The flight condition comprehensive analysis module is specifically explained as follows: the analysis function of the flight condition comprehensive analysis module comprises the following points:

The flight plan generating module plans a route with optimal time and energy cost according to the departure position and the destination of the airplane;

the flight plan generating module comprises the following functions:

b1, generation of an initial flight path, specifically, defining the flight phase of the eVTOL aircraft according to the flight characteristics of the eVTOL aircraft as follows, and referring to fig. 2:

stage 0; takeoff position (defined generally as the departure position of the aircraft)

Stage 1; vertical climbing phase

Stage 2; climbing phase

Stage 3; cruise phase

Stage 4; descending stage

Stage 5; vertical descent phase

Stage 6; landing (generally defined as reaching a destination);

the flight path contains the following elements which serve to indicate the rules to be followed and the flight limits for the aircraft to fly with reference to the flight path:

1. departure location (typically, longitude, latitude, altitude, heading of the current location of the aircraft);

2. destination VTOL airports (i.e., aircraft landing sites);

3. a flight checkpoint;

4. a navigation database (including terrain elevation data, building height, airport location information, and airspace restrictions);

5. vertical climbing height, cruising height and vertical descending height;

6. altitude limitations of waypoints;

7. horizontal and vertical direction speed limits of the waypoints;

the concept and definition of "minimum safe altitude" is used in the initial path planning to determine the cruising altitude of any eVTOL aircraft flight profile to ensure safe operation in the cruising phase. The cruising height is selected to be higher than the minimum safety height so as to ensure that enough safety margin is reserved;

1) overhead urban/congested areas: "minimum safe altitude" is defined as an altitude that is less than 1000 feet above the highest obstacle within 2000 feet of horizontal distance;

2) the unmanned area is overhead: "minimum safe altitude" is defined as an altitude 500 feet above ground level;

3) all regions: "minimum safe altitude" is defined as an altitude that allows safe emergency landing without undue risk to personnel and property on the ground.

The initial flight path requires planning a route with optimal time and energy costs according to the departure location and the destination of the aircraft. A route searching algorithm based on a navigation database is designed, topographic data, building height and airspace limitation of each point in the navigation database are searched in the route searching process, and a flight path from a starting position to a target is generated according to performance parameters (maximum cruising height, maximum flight speed and flight time) of the current eVTOL airplane. Each point of the flight path contains longitude, latitude, altitude, flight phase, flight horizontal velocity, flight vertical velocity information.

The algorithm can ensure that barriers can be avoided in each flight stage (take-off, vertical climbing, cruising, descending, vertical descending and landing), a no-fly zone is met, the airspace limit is met, and the flight route has no risk factors which are not beneficial to safe flight; in the initial flight path planning process, a path-finding algorithm plans a path strictly according to the minimum safe height, and ensures the flight safety in climbing, cruising and landing stages;

b2, smoothing the flight path point, and acquiring performance parameters and environmental parameters of the corresponding model airplane of the eVTOL airplane, specifically, in this step, by acquiring performance parameters (mainly including maximum climbing rate, maximum cruising altitude, maximum cruising speed, maximum descent rate, maximum turning rate, etc.) and environmental parameters (terrain, weather, etc.) of the corresponding model airplane of the eVTOL airplane, the following processing is performed:

d1, dividing the whole flight path into flight phases based on the flight phases of the initial flight plan, wherein each flight phase is as shown in fig. 2;

d2, for the vertical climbing (stage 0 to stage 1)/descending (stage 5 to stage 6) stage, adopting a fixed altitude suspension point method, and according to the vertical climbing/descending performance of the airplane, adopting a fixed altitude interval method to perform linear interpolation on the flight path point of the stage to obtain a control point meeting the airplane performance parameters;

d3, in the climbing (stage 2), cruising (stage 3) and descending (stage 4), according to the Bezier curve interpolation algorithm of the N order, and comprehensively considering the cruising altitude, cruising speed, maximum turning speed and the like of the airplane, carrying out Bezier interpolation smoothing calculation of the N order on the three-dimensional data (longitude, latitude and altitude), and finally generating a smooth physical flight path (three-dimensional curve point set) according with the airplane performance parameters.

And D4, completing the characteristic values of all the new interpolation points.

B3, resampling of flight path points, specifically explaining, the resampling of flight path points has a problem that after generating smooth path points, the path points are too dense, and the resampling of flight path points performs the following processing on the above path points:

The flight plan dynamic updating module has a dynamic updating function of a flight plan so as to deal with complex and changeable urban air traffic conditions, and comprises the following functions: a flight plan update function for flight path deviation, a flight plan update function for temporary destination change, and a flight plan update function for dynamic addition and release of restricted airspace; the specific explanation is as follows:

flight plan update function for flight path deviation: in the actual flight process of the eVTOL airplane, aiming at the situation that the eVTOL airplane deviates from a planned route possibly due to weather, emergency, manual operation and the like, a flight management system can monitor the deviation situation of the current flight path and the planned route in real time, and when the deviation is greater than a set threshold value (50 meters), a flight plan dynamic updating module can regenerate a new flight plan according to the current state of the airplane;

flight plan update function for temporary destination change: in the actual flight process of the eVTOL airplane, aiming at the situation that the destination is possibly changed temporarily due to weather, emergency and the like, the flight management system gives an available destination airport list according to the selected airplane type and the current airplane state, and after a user selects a new landing airport, the flight plan dynamic updating module regenerates a new flight plan;

aiming at the dynamic addition and removal of the flight plan updating function of the restricted airspace: in the actual flight process of the eVTOL airplane, aiming at the condition that the limited airspace is dynamically updated, the flight management system provides a simple interface for dynamically adding and deleting the limited airspace, a user inputs the latest airspace state into the flight management system according to the issued latest airspace state, and the flight plan dynamic updating module regenerates a new flight plan according to the updated airspace.

The flight plan information output module generates flight plan auxiliary information according to a current flight plan and is used for assisting a driver to drive, and the flight plan information output module mainly comprises the following functions: the distance to the destination, the estimated arrival time ETA, and the checkpoint information are obtained, as explained below:

distance from destination: and the flight plan information output module calculates the remaining distance from the airplane to the destination in real time according to the current position of the airplane and the remaining part of the current flight plan, and visually outputs and displays the distance for the reference of a pilot.

Estimated time of arrival ETA: and the flight plan information output module comprehensively considers the flight speeds of the airplanes in different flight stages according to the current positions of the airplanes and the rest parts of the current flight plans, calculates the predicted time of the airplanes to the destination in real time, and visually outputs and displays the predicted time for the drivers to refer.

Checkpoint information: the flight plan information output module automatically generates a group of flight check points according to the current flight plan, the check points generally select points with changed flight states (such as height, course and the like), and relevant information of the check points is visually output and displayed for reminding and assisting a driver to keep a flight path.

The emergency processing module is used for guaranteeing safe flight of the eVTOL airplane, a flight management system needs to provide an emergency processing function aiming at possible emergency, and the emergency processing module automatically processes the following emergency situations: emergency handling of battery faults, emergency handling of operating system faults, handling of other emergency situations, wherein the handling of other emergency situations comprises sudden thunderstorms encountered during flight of the aircraft, severe weather of sand storms, discomfort of passengers and the like;

as will be further explained below, the present invention,

emergency handling of battery failure: when the airplane encounters battery failure and insufficient battery power in the flying process and cannot reach a preset destination, the emergency processing module can automatically search a reachable nearest landing airport according to the current residual power and plan a flying plan to the airport. If the residual electric quantity is not enough to support the airplane to arrive at any airport, the emergency processing module can conduct terrain retrieval of the current area, automatically select a nearby flat area as a standby landing point, plan a route and automatically guide the airplane to land. The selection of the stand-by point also provides a manual selection, modification interface for driver verification.

Handling emergency situations of handling system failures: when the airplane is subjected to a control system fault in the flying process and cannot be effectively controlled, the emergency processing module can search the terrain of the current area, automatically select a nearby flat area as a standby landing point, plan a route and automatically guide the airplane to land. The selection of the stand-by point also provides a manual selection, modification interface for driver verification.

Handling of other emergency situations: when the aircraft encounters other emergency conditions (such as severe weather of sudden thunderstorm, sand storm and the like, discomfort of passengers and the like) in the flight process, a driver can manually trigger the switch of the emergency processing module, the emergency processing module can search the terrain of the current area, automatically select a nearby flat area as a standby landing point, plan a route and automatically guide the aircraft to land; the selection of the stand-by point also provides a manual selection, modification interface for driver verification.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. A design method of a flight management system based on an eVOTL airplane is characterized by comprising the following steps:

2. The design method of an eVOTL-based aircraft flight management system according to claim 1, wherein the analysis function of the flight condition integrated analysis module comprises the following points:

3. The method as claimed in claim 1, wherein the functions of the flight plan generating module include the following:

b1, generation of an initial flight path;

b3, resampling of flight path points.

4. The method as claimed in claim 1, wherein the flight plan dynamic update module comprises the following functions: a flight plan update function for a deviation of a flight path, a flight plan update function for a temporary change of a destination, and a flight plan update function for a dynamic addition or removal of a restricted airspace.

5. The method as claimed in claim 1, wherein the flight plan information output module mainly comprises the following functions: distance to destination, estimated time of arrival ETA, checkpoint information is obtained.

6. The method as claimed in claim 1, wherein the emergency handling module automatically handles the following emergency situations: emergency handling of battery failures, emergency handling of handling system failures, handling of other emergency situations.

7. The method as claimed in claim 6, wherein the handling of other emergencies includes sudden thunderstorms, bad weather of sand storms and passenger discomfort encountered during the flight of the aircraft.

8. The method as claimed in claim 3, wherein the resampling of flight path points has a problem that the path points are too dense after generating smooth path points, and the resampling of flight path points processes the above path points as follows: