CN116679732A - Accurate landing method and device for aircraft - Google Patents

Abstract

The application discloses an aircraft accurate landing method and device, relates to the technical field of aircrafts, and aims to solve the problem of large error of currently used navigation technology, and provides an aircraft accurate landing method, wherein rough positioning of an aircraft on a landing point is realized by acquiring position information of an apron, and the requirement on positioning precision is low, so that the aircraft flies to a preset range; the aircraft projects a light beam onto the surface of the parking apron, so that the parking apron can receive the light beam projected by the aircraft; when the light beam projected by the aircraft is received by the parking apron, the distance and the relative direction between the aircraft and the parking apron are judged by acquiring the brightness and the angle information of the light beam, so that the accurate positioning between the aircraft and the parking apron is realized, and the influence of the problems of poor positioning precision, high implementation cost of high-precision positioning equipment and the like of the current civil navigation technology is avoided.

Description

Accurate landing method and device for aircraft

Technical Field

The application relates to the technical field of aircrafts, in particular to an aircraft accurate landing method and an aircraft accurate landing device.

Background

In recent years, the aircraft industry develops rapidly, and the aircraft often appears as auxiliary equipment in environmental monitoring, natural exploration, disaster relief, rescue and other application scenes. In the practical application of an aircraft, carriers for performing flight control and take-off and landing of the aircraft are usually in the form of movements, such as vehicles carrying aircraft operators. After the aircraft executes the task, the accident rate of the landing recovery link is far higher than that of other links. Therefore, in order to ensure the flying ability of the aircraft to the greatest extent, the implementation of accurate autonomous landing of the aircraft on the moving object has become a research hotspot in the technical field of aircrafts.

At present, the realization of the accurate autonomous landing function of the aircraft mainly depends on navigation technology, and the acquisition of the aircraft to the self position and the landing point position is realized by using a global positioning system (Global Positioning System, GPS), inertial navigation and other positioning technologies, so that the aircraft can land at the designated landing point position according to navigation guidance. However, the positioning precision of the civil navigation technology is poor at present, and the requirements of the precise landing of the aircraft in the application scene cannot be well met.

Therefore, a person skilled in the art needs an accurate landing method for an aircraft at present, so as to solve the problems that the navigation technology used at present has larger error and cannot realize accurate landing.

Disclosure of Invention

The application aims to provide an aircraft accurate landing method and device, which are used for solving the problems that the navigation technology used at present has larger error and cannot realize accurate landing.

In order to solve the technical problems, the application provides an aircraft accurate landing method, which is applied to an aircraft side and comprises the following steps:

acquiring parking apron position information;

determining a preset range according to the parking apron position information, and flying to the preset range;

after entering a preset range, projecting a light beam to the surface of the parking apron so that the parking apron receives the light beam;

Receiving location information sent by the tarmac; the position information is determined by acquiring brightness information and angle information of the light beam;

landing on the tarmac based on the location information.

Preferably, the method further comprises:

receiving flight attitude information sent by an air park, and adjusting the flight attitude of the aircraft according to the flight attitude information;

the flight attitude information is determined by acquiring brightness information and angle information of the light beam.

Preferably, the light beam includes a preset pattern;

the position information and the flight attitude information are determined by acquiring the integrity, the size and the deformation degree of the preset pattern of the parking apron.

Preferably, acquiring the apron location information includes:

if the parking apron is in a motion state, acquiring parking apron position information through a positioning module arranged in the parking apron;

if the apron is in a static state, the apron position information is determined by identifying a marked building on the periphery of the apron through images, or the apron position information pre-stored in the aircraft is acquired.

Preferably, projecting the light beam onto the surface of the apron such that the apron receives the light beam comprises:

and projecting the light beam onto the surface of the parking apron through a projection lamp, and adjusting the projection direction of the projection lamp so that the parking apron receives the light beam.

Preferably, the projection lamp is arranged at a cradle head of the aircraft;

by adjusting the projection direction of the projection lamp, so that the tarmac receives the light beam comprises:

and the projection direction of the projection lamp is adjusted by controlling the rotation of the cradle head so that the parking apron receives the light beam.

Preferably, the projection lamps are plural, and the projection directions of the projection lamps are different.

Preferably, the projected area of the light beam projected on the surface of the apron is smaller than or equal to the photosensitive area of the apron.

Preferably, the projection area of the light beam projected on the surface of the parking apron is smaller than or equal to the projection area of the preset range on the surface of the parking apron.

Preferably, the method further comprises:

and when the position information and the flight attitude information returned by the apron are received, determining a target projection lamp according to the position information and the flight attitude information, and turning off the projection lamp except the target projection lamp.

Preferably, before projecting the light beam onto the surface of the apron, the method further comprises:

and acquiring the ambient brightness, and projecting a light beam to the surface of the parking apron when the ambient brightness exceeds a preset first threshold value.

In order to solve the technical problems, the application also provides an aircraft accurate landing method, which is applied to an apron side and comprises the following steps:

Acquiring brightness information and angle information of a light beam projected by the aircraft, and determining position information of the aircraft according to the brightness information and the angle information; the light beam is projected to the surface of the parking apron after the aircraft enters a preset range; the preset range is determined by the aircraft according to the parking apron position information;

the position information is sent to the aircraft.

Preferably, the method further comprises:

determining flight attitude information of the aircraft according to the brightness information and the angle information;

the flight attitude information is sent to the aircraft.

Preferably, before determining the position information and the flight attitude information of the aircraft according to the brightness information and the angle information, the method further comprises:

and acquiring the ambient brightness, and determining the position information and the flight attitude information of the aircraft according to the brightness information and the angle information when the variation of the ambient brightness in unit time exceeds a second threshold value.

Preferably, the light beam includes a preset pattern;

the steps of obtaining the brightness information and the angle information of the light beam projected by the aircraft, and determining the position information and the flight attitude information of the aircraft according to the brightness information and the angle information include:

and acquiring the integrity, the size and the deformation degree of the preset pattern, and determining the position information and the flight attitude information of the aircraft according to the integrity, the size and the deformation degree of the preset pattern.

Preferably, determining the position information and the flight attitude information of the aircraft according to the integrity, the size and the deformation degree of the preset pattern includes:

if the obtained preset pattern is incomplete, sending a control instruction to the aircraft according to the position of the vacant part of the preset pattern to adjust the position of the aircraft until the preset pattern is complete;

if the obtained preset pattern is complete, determining the position information and the flight attitude information of the aircraft according to the size and the deformation degree of the preset pattern.

Preferably, the method further comprises:

and acquiring the ambient brightness information, judging whether the ambient brightness information exceeds a preset first threshold value, and if so, sending a light beam projection instruction to the aircraft so as to enable the aircraft to project a light beam on the surface of the parking apron.

In order to solve the technical problem, the application also provides an aircraft accurate landing device, which is applied to an aircraft side and comprises:

the rough positioning module is used for acquiring the parking apron position information;

the first landing module is used for determining a preset range according to the parking apron position information and flying to the preset range;

the light beam projection module is used for projecting light beams to the surface of the parking apron after entering a preset range so that the parking apron receives the light beams;

The first accurate positioning module is used for receiving the position information sent by the parking apron; the position information is determined by acquiring brightness information and angle information of the light beam;

and the second landing module is used for landing on the parking apron according to the position information.

In order to solve the technical problem, the application also provides an aircraft accurate landing device, which is applied to an apron side and comprises:

the second accurate positioning module is used for acquiring brightness information and angle information of the light beam projected by the aircraft and determining position information of the aircraft according to the brightness information and the angle information; the light beam is projected to the surface of the parking apron after the aircraft enters a preset range; the preset range is determined by the aircraft according to the parking apron position information;

and the information sending module is used for sending the position information to the aircraft.

According to the accurate landing method of the aircraft, the position information of the parking apron is acquired, so that the aircraft can grasp the approximate direction of the position of the parking apron designated as a landing point by a user, a preset range is determined according to the position information of the parking apron, and the aircraft is controlled to fly into the preset range; after the aircraft flies into the preset range, the air pad can receive the light beam projected by the aircraft by projecting the light beam onto the surface of the air pad; when the parking apron receives the light beam projected by the aircraft, the parking apron can determine the position of the aircraft more accurately by acquiring the brightness information and the angle information of the light beam, the relative distance between the aircraft and the parking apron can be determined according to the attenuation of the brightness of the light beam, the relative position of the aircraft and the parking apron can be determined according to the angle of the light beam projected on the parking apron, and the relative position of the parking apron and the aircraft can be determined comprehensively by the parking apron and the parking apron; and sending the determined position information to the aircraft, wherein the aircraft can accurately position the apron until the aircraft accurately lands on the apron. The method realizes accurate positioning of the relative position between the aircraft and the parking apron in a beam projection mode, so that the aircraft is guided to accurately land on the parking apron, and the method is not influenced by the problems of poor positioning precision, high implementation cost of high-precision positioning equipment and the like of the current civil navigation technology.

The accurate landing device of the aircraft provided by the application corresponds to the method and has the same effect.

Drawings

For a clearer description of embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described, it being apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.

FIG. 1 is a flow chart of an aircraft precision landing method for an aircraft side according to the present application;

FIG. 2 is a flow chart of an aircraft precision landing method applied to an apron side;

FIG. 3 is a schematic view of an aircraft according to the present application;

fig. 4 is a schematic structural diagram of an apron according to the present application;

FIG. 5 is a block diagram of an aircraft precision landing gear for use on the aircraft side according to the present application;

fig. 6 is a block diagram of an aircraft accurate landing device applied to an apron side.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without making any inventive effort are within the scope of the present application.

The application aims at providing an aircraft accurate landing method and device.

In order to better understand the aspects of the present application, the present application will be described in further detail with reference to the accompanying drawings and detailed description.

At present, autonomous accurate landing of an aircraft is seriously dependent on navigation technology, and the aircraft obtains position information of a designated landing point through a GPS (global positioning system) and other positioning modules arranged in an apron, so that a controller in the aircraft realizes a flying and landing process to the designated landing point according to a preset program.

It is easy to know that the positioning accuracy of the current navigation technology in the civil domain is relatively poor, the positioning requirement of the fine occasion such as the accurate landing of the aircraft cannot be well met, meanwhile, the aircraft sometimes enters the area with poor satellite signals due to the fact that the common application scene of the aircraft comprises occasions such as field detection, and the like, and the positioning error is further caused for the navigation positioning method such as GPS and the like which generally relies on satellites to realize positioning.

In order to solve the above problems, the present application provides a precise landing method of an aircraft, as shown in fig. 1, including:

S11: and acquiring the parking apron position information.

The information of the parking apron position is information representing the specific position of the parking apron, and can comprise longitude and latitude, altitude and the like.

The method of acquiring the apron position information is not limited, and the apron position information may be acquired in real time when the aircraft lands, or may be acquired in advance and stored, and when the accurate landing of the aircraft is triggered, the apron position information is retrieved from a storage medium stored with the apron position information, and the storage medium may be a storage medium provided in the aircraft, a storage medium provided in the apron, or a storage medium provided in other devices such as a remote control device, which is not limited in this embodiment.

In addition, the present implementation is not limited to the specific method used as to how to determine the tarmac location information, which may be known in advance when deploying the tarmac if the tarmac set position is not constantly moving. Or may be implemented using a positioning module disposed in the tarmac as is currently common.

It should be noted that, as known from the subsequent steps, the acquiring of the apron position information in the step S11 is only used for initially positioning the apron position to determine the preset range in the step S12, so that the accuracy requirement on the apron position information is lower, and thus the positioning accuracy requirement on the positioning module is lower.

In the embodiment where the parking apron position information is obtained by the positioning module in the parking apron, the positioning module can adopt a GPS module, an inertial navigation module, a Beidou satellite navigation system (Beidou Navigation Satellite System, BDS) and the like, the application is not limited to this, and the positioning module can be freely selected according to factors such as actual positioning requirements, parking apron design cost requirements and the like. In this step, the positioning module is only required to provide the aircraft with the approximate location information of an apron, so that the accuracy requirement is low, and the requirement on the positioning accuracy is mainly influenced by the size of the preset range set in the following steps, and the smaller the range set of the preset range on the plane is, the higher the requirement on the positioning accuracy is.

It should be further noted that if the above schemes for acquiring the apron position information are selected, and the apron position information is not acquired from the aircraft itself, the aircraft needs to have a communication connection with an external device, for example, a communication connection with the apron or a communication connection with a remote control device. Therefore, the aircraft should further include a control module and a communication module that play a role in master control, and considering that the two modules are conventional arrangements in the existing aircraft, and that there is a communication connection between the aircraft and the apron and the remote control device is also a common arrangement in the present aircraft application, the embodiment will not be described herein.

S12: and determining a preset range according to the parking apron position information, and flying to the preset range.

It should be noted that the preset range is a three-dimensional space range, including limitation of longitude and latitude and altitude, and the preset range on the plane determined by the longitude and latitude may be determined based on the apron position information obtained in the step S11. Further, the preset range further includes a limit on the altitude, and for setting the preset altitude range, setting the upper limit value of the preset altitude range needs to ensure that the light beam projected by the aircraft through the projection lamp can be collected by the apron disposed on the ground (or other plane). The setting of the lower limit value needs to ensure that the aircraft can scan through a certain range of ground (or other planes) by projecting light beams through projection lamps so as to find the parking apron. In general, under the condition that the projection angle of the projection lamp controlled by the aircraft is unchanged, the higher the flying altitude of the aircraft is, the larger the range scanned by the projected light beam is, the more likely the tarmac is searched (i.e. the tarmac receives the light beam projected by the aircraft), but the searching efficiency is correspondingly reduced to a certain extent. In summary, the setting of the preset height range should be determined according to the actual situation and the requirement.

From the above, the setting of the preset range is related to the positioning accuracy of the positioning module in the apron, and the higher the positioning accuracy is, the more accurate the landing point of the aircraft determined according to the apron position information is, so that the searching of the apron can be realized by the light beam scanning of a smaller range.

S13: after entering the preset range, a light beam is projected onto the surface of the tarmac so that the tarmac receives the light beam.

It will be readily appreciated that the method is applicable to the aircraft side, and that therefore the aircraft should be provided with projection means for projecting the light beam, such as a projection lamp or the like, by which the light beam is projected onto the surface of the apron, and by adjusting the projection direction of the projection lamp, so that the light beam is received by the apron.

However, the present application is not limited to the type, model and number of the projection devices used, and may be freely selected according to actual needs. The application is also not limited with respect to the parameters of the projected beam, including the size, brightness, color, whether parallel/diffuse, and whether a particular pattern is projected.

Correspondingly, for the air park side, namely, equipment for receiving light beams, namely, a light sense acquisition module is needed, the light sensor can be used for acquiring light information, a light sensing plane arranged on the air park is built, when the light beams projected by the aircraft are beaten on the light sensing plane, the air park is considered to receive the light beams projected by the aircraft, and the light sense acquisition module is used for acquiring brightness, angle information and the like of the light beams.

Although the present embodiment does not limit the hardware device on which the aircraft is based to achieve the projection of the light beam, it provides a general embodiment in which the projection of the light beam is achieved by a projection lamp provided on the aircraft.

The number of projection lamps may be one or more, but in general, a plurality of projection lamps are generally provided to improve the efficiency of searching for the tarmac by the aircraft, and further, the angles of the projection lamps (for the plane on which the tarmac is disposed) are different.

In addition, as to how to enable the light beam projected by the projection lamp to be received by the parking apron, the projection lamp with fixed setting position and angle relative to the aircraft can be implemented to project the light beam in a free direction by adjusting the flight attitude of the aircraft; the projection lamp can be adjusted in projection angle relative to the aircraft through hardware such as a rotating base and a driving motor, so that scanning of a preset range is realized; or other existing direction conversion schemes are used to realize the free control of the projection direction of the projection lamp.

S14: location information sent by the tarmac is received.

The position information is determined by acquiring brightness information and angle information of the light beam.

S15: landing on the tarmac based on the location information.

From the above, for the light beam projected by the aircraft, the simplest implementation manner is to project only monochromatic light, the parking apron can determine the distance according to the brightness of the received light beam, determine the relative direction of the aircraft and the parking apron according to the incident angle of the light beam, and the accurate position of the aircraft can be determined by combining the two.

It is easy to understand that the accurate landing method of the aircraft provided by the present application needs to be implemented through interaction between the aircraft and the apron, so that the step flow of the whole scheme can be divided into two sides of the aircraft side and the apron side based on different execution bodies, the method shown in fig. 1 is the scheme of the aircraft side, and similarly, the embodiment also provides the scheme of the apron side, as shown in fig. 2, including:

s21: and acquiring brightness information and angle information of the light beam projected by the aircraft, and determining the position information of the aircraft according to the brightness information and the angle information.

The light beam is projected to the surface of the parking apron after the aircraft enters a preset range; the preset range is determined by the aircraft according to the parking apron position information, and is a three-dimensional space range comprising longitude and latitude and altitude limitation requirements as described above.

Further, how to determine the position information of the aircraft according to the brightness information and the angle information of the light beam projected by the aircraft is also described in detail in the embodiment section of the aircraft-side method, so that the description of this embodiment is omitted.

S22: the position information is sent to the aircraft.

It is easy to understand that this step involves communication between the apron and the aircraft, so the communication module for performing communication should also be included in the apron, and considering that the communication module is a conventional configuration in the current apron product (the scheme of realizing accurate landing of the aircraft on the apron by using the navigation technology at present necessarily requires communication between the apron and the aircraft), so the embodiment is not repeated again.

It should be further noted that, when the light beam projected by the aircraft is scanned onto the parking apron (specifically, scanned on the light sensing acquisition module) by the method, the parking apron can acquire the relative position of the aircraft relative to the parking apron, so that the aircraft is guided to realize accurate landing, and the landing process is a continuous process, so that the light beam projection of the aircraft, the parking apron sensing the light beam and determining the position information and the flight attitude information are all continuous processes.

The application provides an aircraft accurate landing method, which is realized based on the two sides of an aircraft and an air park, and the approximate flow of realizing the accurate landing function comprises the following steps: firstly, acquiring position information of an apron by an aircraft side; the aircraft positions the landing points (namely the positions of the parking apron) according to the received parking apron position information and flies towards the landing points; when flying to the vicinity of the landing point (i.e. flying into a preset range), projecting a light beam onto the surface of the tarmac so that the tarmac receives the light beam; when the light beam is projected onto the parking apron, the aircraft and the parking apron are connected through the projected light beam, and at the moment, the parking apron can position the aircraft according to the collected information such as the angle and the brightness of the light beam, so that the position information (relative to the parking apron) of the aircraft is obtained, and the aircraft is sent to guide the aircraft to accurately land on the parking apron, so that accurate landing is realized. The method has the advantages that the positioning between the aircraft and the parking apron is realized by utilizing the light beam projection, the precision of the positioning mode is ensured, and the positioning method can replace high-precision GPS positioning, so that the problems that the positioning precision of the current civil navigation technology is slightly insufficient for realizing the accurate landing of the aircraft, the implementation cost of high-precision positioning equipment is higher and the like are solved.

Further, when the projection of the light beam is implemented by a device such as a projection lamp, since the setting position and angle of the projection lamp on the aircraft are known at the beginning of the design of the aircraft (or the projection angle of the projection lamp is adjustable, but the projection angle is controlled by the aircraft or an external device, so that the projection angle is also known), the above angle information such as the incident angle degree is integrated (the brightness information can be used for assisting in judging whether the determined incident angle is the incident angle of the light beam directly projected on the parking apron, and the parking apron can also determine the current flight attitude of the aircraft according to the received light beam information, so as to obtain flight attitude information.

Based on this, the present example provides a preferred embodiment, applied to the tarmac side, the above method further comprising:

s23: determining flight attitude information of the aircraft according to the brightness information and the angle information;

s24: the flight attitude information is sent to the aircraft.

It is easy to know that since the information types according to the step S23 and the step S21 are the same, and there is no dependency or order limitation between the two steps, the step S21 and the step S24 can be performed in parallel. Similarly, both the step S22 and the step S24 are to transmit information from the apron side to the aircraft side, and the transmitted information has no restriction relation of acquisition sequence, so that the step S22 and the step S24 may be performed in parallel. That is, step S21 and step S23 may be performed in combination, and step S22 and step S24 may be performed in combination.

Accordingly, there is also a corresponding embodiment on the aircraft side, the above method further comprising:

s16: and receiving the flight attitude information sent by the air pad, and adjusting the flight attitude of the aircraft according to the flight attitude information.

The flight attitude information is determined by acquiring brightness information and angle information of the light beam.

It is easy to understand that the purpose of step S15 is to adjust the self-flying attitude during the landing of the aircraft on the apron to achieve a smooth landing, so the procedure corresponding to step S15 is the same as step S14, and step S14 and step S15 may be combined together.

According to the preferred scheme provided by the embodiment, the relative relation of the position between the aircraft and the air park is established aiming at the light beam projected, so that on one hand, the accurate landing of the aircraft can be realized, on the other hand, the information of the current flight attitude of the aircraft can be acquired based on the information such as the angle of the light beam, and then the information is sent to the aircraft so that the main control module in the aircraft can adjust the own flight action, the flight attitude of the aircraft is more beneficial to stable landing, and the safety and reliability in the landing process of the aircraft are improved.

On the other hand, considering that natural light or other artificial light beams similar to the projected light beams may exist in the environment where the tarmac is located, the recognition of the tarmac is easily disturbed, so this embodiment also provides a preferred embodiment, that is, the light beams projected by the projection lamp include a preset pattern. At this time, the parking apron can realize the unique determination of the light beam projected by the aircraft through the identification of the pattern, and the interference of other light beams outside is avoided.

That is, this example also provides a preferred embodiment for avoiding interference of landing of the aircraft by other extraneous light beams from the outside:

the beam projected by the aircraft comprises a preset pattern.

It should be noted that, the predetermined pattern is a specific pattern projected by the aircraft after the light beam projected on a certain surface, and the pattern style is preset, so the predetermined pattern is called a predetermined pattern, and the embodiment does not limit the style, the size, and the like of the predetermined pattern, and can be freely determined according to actual needs.

For how to position the position information of the aircraft according to the light beam that can project the preset pattern, on one hand, the above-mentioned manner may still be adopted, that is, the positioning of the aircraft is realized through the brightness and angle information of the light beam, and the preset pattern is only used for distinguishing other natural light and artificial light beams. But this example also provides an implementation based on beam characteristics projected with a preset pattern, namely:

The position information and the flight attitude information are determined by the integrity, the size and the deformation degree of the preset pattern projected by the projection lamp, which are acquired by the parking apron through the light sensation acquisition module.

It will be readily appreciated that although the above-described preferred parallel beam is used as the beam projected by the projection lamp, it is difficult to achieve that the beam does not diverge at all in practical applications, so that the longer the distance the beam passes, the more severe the beam diverges, and the larger the projected beam becomes, so that the same effect as the above-described brightness, i.e. determining the relative distance of the aircraft from the apron, can be achieved by the size of the preset pattern received by the apron.

For the deformation degree, it is easy to know that when a pattern formed by parallel light is projected onto a plane or a curved surface at a non-vertical angle, a certain degree of deformation occurs, the deformation condition is related to the incident angle or the bending degree of the curved surface, and the mathematical correspondence between the incident angle and the curved surface has been ascertained at present, so that the apron can achieve the same effect of the incident angle of the light beam by obtaining the deformation degree of the projected pattern, namely, the direction of the aircraft relative to the apron is determined.

For the integrity of the pattern, it is a further complement to determining the distance and orientation of the aircraft to the tarmac. It is easy to know that when the whole pattern is obtained, the light beam projected by the aircraft can be considered to be opposite to the parking apron, and the determined relative distance and the determined relative direction are the most accurate; when the pattern acquired by the parking apron is incomplete, the relative direction determined by the deformation degree can be further calibrated according to the position of the missing pattern in the whole pattern, so that more accurate position determination is obtained.

The flight attitude information is also the same as the above, and can be comprehensively determined by the deformation degree and the integrity of the pattern, so that the incidence angle and other information of the light beam can be determined, and the flight attitude of the aircraft can be determined.

Further, according to the integrity of the pattern, more accurate positioning of the accurate landing of the aircraft can be achieved, and in one possible implementation, determining the position information and the flight attitude information of the aircraft according to the integrity, the size and the deformation degree of the preset pattern in the step of the apron side specifically further includes:

if the obtained preset pattern is incomplete, sending a control instruction to the aircraft according to the position of the vacant part of the preset pattern to adjust the position of the aircraft until the preset pattern is complete;

if the obtained preset pattern is complete, determining the position information and the flight attitude information of the aircraft according to the size and the deformation degree of the preset pattern.

It is easy to understand that the method of the application utilizes the light beam projection to establish the determination and identification of the relative position between the aircraft and the apron, so that the effect of the light beam projection directly influences the effect of landing the aircraft according to the method. Therefore, the embodiment provides a scheme, when the aircraft realizes that the preset pattern is completely received by the tarmac by adjusting the projection angle, the position of the aircraft and the like, the positioning precision is ensured, and the aircraft can be positioned by the tarmac more accurately.

In the above embodiments, it has been described that there are a plurality of different acquisition schemes for the apron position information, and based on whether the apron will move in the method flow, two modes of acquiring in advance or acquiring in real time may be selected.

The present example also provides a possible implementation for the above problem, and the above step S11 is specifically:

s111: and if the apron is in a motion state, acquiring apron position information through a positioning module arranged in the apron.

S112: if the apron is in a static state, the apron position information is determined by identifying a marked building on the periphery of the apron through images, or the apron position information pre-stored in the aircraft is acquired.

It is easy to know that in the practical application process of the aircraft, on one hand, the parking apron is directly deployed on the ground, namely, the parking apron is in a static landing condition, and on the other hand, the parking apron of the vehicle-mounted aircraft is deployed on a moving vehicle carrier, and at the moment, the different schemes can be adopted for acquiring the position information of the parking apron.

The step S111 is easy to understand in terms of acquiring the position information of the apron under the motion state, namely the existing scheme for realizing positioning of the apron and guiding landing of the aircraft by using the positioning module is different in that the accurate landing method of the aircraft realized by the application has lower requirements on the precision of the positioning module, on one hand, the precision is guaranteed, and on the other hand, the high cost caused by using the high-precision positioning module is also saved.

For the acquisition of the position information of the parking apron in the static state provided in the step S112, the position of the parking apron is unchanged, so that the parking apron can be obtained in advance and then stored in an aircraft or other equipment, and when the aircraft realized by the method is triggered to accurately land, the storage part is flushed again to acquire corresponding information; positioning of the tarmac can also be achieved by identifying the identified buildings on the perimeter of the tarmac.

It is easy to know that although accurate information is difficult to obtain from the location information of the tarmac, for a relatively large building such as a landmark building, the location information is usually accurate enough and known in advance, so that the landmark owner near the tarmac can be identified by the image, and the approximate range of the location where the tarmac is located can be determined approximately, so as to determine the preset range.

Aiming at the possible existence of two states of a static state and a moving state of the parking apron in practical application, the embodiment provides a feasible position information acquisition method under the corresponding state, so that the accurate landing method of the aircraft is not limited to a specific occasion, and the application range of the method is widened.

Furthermore, in the above embodiment, the installation positions and the number of the projection lamps on the aircraft are not limited, and the projection direction of the projection lamps can be adjusted by adjusting the flight attitude of the aircraft or setting the rotating base and the driving motor for scanning the projection beam to a preset range.

However, since adjusting the flight attitude of the aircraft may affect the accurate landing of the aircraft, and additional deployment costs are brought by the rotating base and the driving motor, based on this, this embodiment also provides a preferred embodiment, that is, the projection lamp is set on the cradle head by using the cradle head commonly set in the current flight, and the angle and direction of the light beam projected by the projection lamp are changed by the cradle head.

That is, the preferred scheme is: the projection lamp is arranged at a cradle head of the aircraft.

Correspondingly, by adjusting the projection direction of the projection lamp, so that the tarmac receives the light beam comprises:

and the projection direction of the projection lamp is adjusted by controlling the rotation of the cradle head so that the parking apron receives the light beam.

The cradle head is used as a common configuration in the aircraft, and the cradle head has the function of rotating by controlling the cradle head to rotate, which is equivalent to a rotating base, so that a camera arranged on the cradle head can change the shooting angle, thereby realizing more flexible shooting of the aircraft, and the cradle head has the rotating function, can be used for realizing the change of the direction of the light beam projected by a projection lamp, does not need additional equipment, and is easier to apply.

In addition, the present embodiment also proposes a preferable scheme for the number of projection lamps: the projection lamps are multiple, and the projection directions of the projection lamps are different;

Correspondingly, the method further comprises the steps of:

s17: and when the position information and the flight attitude information returned by the apron are received, determining a target projection lamp according to the position information and the flight attitude information, and turning off all projection lamps except the target projection lamp.

It should be noted that, the target projection lamp is a projection lamp in which the light beam emitted from all the projection lamps is received by the parking apron. The target projection lamps may not be unique at the same time, but in general, the projection lamps are often arranged at different projection angles, so that the target projection lamps are often one (unless the projection lamps are arranged too densely and the projection directions are very close, or the aircraft is very close to the parking apron).

When a plurality of projection lamps are arranged and the projection directions are different, in order to improve the searching efficiency of the tarmac when the tarmac is not searched, a scheme of simultaneously projecting a plurality of projection lamps is generally adopted, so that the total area of light beam projection is improved, and the tarmac is searched as soon as possible.

When any light beam is hit on the light sensing plane of the parking apron, the parking apron can determine the flight attitude of the aircraft according to the perceived light beam, and the installation position and the projection angle of the projection lamp are known at the beginning of the installation of the aircraft, so that the light beam which is currently projected on the parking apron, in particular to which projection lamp is projected, can be comprehensively judged, namely, the target projection lamp is determined. When the parking apron is found, the requirement of improving the searching efficiency disappears, and in order to reduce the power consumption, all the projection lamps except the target projection lamp are selected to be closed, and the next time the accurate landing function is started again, the target projection lamp continues to provide the guidance.

In addition, the process of guiding the aircraft to realize accurate landing according to the information such as brightness and angle of the light beam when the parking apron senses the light beam projected by the projection lamp of the aircraft has been described, and this step is a control scheme for the continuous process.

The present example provides several possible embodiments for an aircraft-side projection lamp arrangement, firstly, by mounting the projection lamp at the cradle head of the aircraft, the projection direction of the projection lamp is freely adjustable without additional deployment cost; secondly, through setting up a plurality of projection lamps that the projection direction is different each other to improve the searching efficiency to the apron, and when just only having the light beam that one projection lamp projected to sweep on the apron, close other projection lamps, further practice thrift the energy consumption under the prerequisite of guaranteeing accurate landing and carry out further improvement to the aircraft side to improve the experience sense that the user used the accurate landing function of aircraft.

On the other hand, for the light beam projected by the projection lamp, the above description generally selects to project a parallel light beam, so that on one hand, the aim of avoiding that the brightness of the divergent light beam decays too fast when the projection distance is far, and the identification of the parking apron is affected, and on the other hand, the projection range is more controllable, and when the light beam scans the parking apron, the accurate position information of the aircraft is more easily determined by the parking apron.

Similarly, the present example also provides a preferred embodiment for the size (typically in diameter) of the beam projected by the projection lamp:

the projection area of the light beam projected on the surface of the parking apron is smaller than or equal to the photosensitive area of the parking apron.

The photosensitive area is the area of a photosensitive plane arranged on the parking apron. The purpose of the implementation proposal provided by the embodiment is that the light beam projected by the aircraft can be completely beaten on the apron, and the light beam can be completely received and identified by the apron based on the same principle as the scheme that the light beam is projected with the preset pattern and the position information of the aircraft is calibrated through the integrity of the preset pattern, thereby being beneficial to improving landing positioning precision and realizing better accurate landing effect.

However, the above is only a preferred embodiment for achieving higher positioning accuracy, and in an application scenario where the requirement of partial positioning accuracy is relatively not so high, the size of the beam is not severely set as described above.

However, since the landing method provided by the application is essentially to position the aircraft within a preset range, that is, by projecting the light beam instead of the conventional navigation technology, the accurate positioning is realized by projecting the light beam on the apron. The preset range is determined by the position information of the parking apron, in general, the parking apron is in a projection range determined by projecting the parking apron on the surface where the parking apron is located in the preset range, so that when the aircraft projects a light beam on the surface where the parking apron is located, the aircraft does not need to project outside the projection range, and in order to ensure the most basic positioning requirement, the area of the light beam projected on the surface where the parking apron is located is also smaller than the downward projection area of the preset range, and the implementation of 'searching' the parking apron in the preset range by the aircraft is ensured, thereby ensuring the positioning accuracy higher than that represented by the position information of the parking apron.

That is, the present example also provides an embodiment of the size of the projected beam for a projection lamp:

the projection area of the light beam projected on the surface of the parking apron is smaller than or equal to the projection area of the preset range on the surface of the parking apron.

The several embodiments provided in this example are limited to the size of the projected area of the light beam projected by the aircraft on the surface of the apron, so as to ensure the accuracy of the position information determined by the light beam projection between the aircraft and the apron, thereby meeting the accurate landing requirement of the aircraft.

As can be seen from the above embodiments, the accurate landing method of an aircraft provided by the present application determines the relative position between the aircraft and the apron through the projection of the light beam, and the positioning implementation depends on the projected light beam, so that the present embodiment has better performance in scenes with poor natural illumination conditions, such as evening, night, etc., and may be interfered by natural light and other artificial light beams in scenes with strong illumination, such as daytime.

Based on this, to solve the problem of interference of natural light and other artificial light beams, the present example provides possible embodiments for the aircraft side and the apron side, respectively:

For the aircraft side, before projecting the beam onto the surface on which the apron is located, it further comprises:

s18: and acquiring the ambient brightness, and projecting a light beam to the surface of the parking apron when the ambient brightness exceeds a preset first threshold value.

For how to acquire the ambient brightness information, it is easy to know that in the current aircraft product, the camera is a common configuration as the image acquisition device, and the camera can acquire the ambient brightness information without additional hardware devices, so that the method is easier to implement.

That is, before the accurate landing based on the projected beam is started, the environmental condition is detected and judged, whether the beam positioning requirement is satisfied is judged, and if so, the subsequent flow is continued. Accordingly, for the unsatisfied case, the present embodiment also provides several possible follow-up schemes:

first, the corresponding error information is returned to the manipulator, and the manipulator is informed of the situation, so that the manipulator can realize the landing of the aircraft by manual control or other modes.

And secondly, the brightness of the projection light beam is adjustable, so that the brightness of the projection light beam of the projection lamp is judged according to the comparison between the ambient brightness and the brightness threshold.

It is easy to understand that the brightness threshold value corresponds to the brightness adjustable gear of the projection lamp. For example, there are three brightness levels of the projection lamp, corresponding to the first level, the second level and the third level, respectively, where the brightness levels are sequentially increased, and accordingly, the brightness threshold may include three sequentially increased thresholds, corresponding to the brightness levels of the projection lamp one by one, where when the ambient brightness is higher than the corresponding brightness threshold, the projection lamp projects a light beam with the corresponding brightness level (when the brightness is lower than the threshold of the lowest level, the projection lamp is not turned on, and an error message is returned as described in the above-mentioned scheme one).

Similarly, since the apron side has an existing light sensing acquisition module, the light sensing acquisition module can be used for acquiring the ambient brightness information from the aircraft side, and therefore, the embodiment also provides a possible implementation of the scheme on the apron side:

s25: and acquiring the ambient brightness information through the light sensation acquisition module, judging whether the ambient brightness information exceeds a preset brightness threshold value, and if so, informing the aircraft to turn on the projection lamp.

In another possible implementation manner, after the apron acquires the ambient brightness information through the light sensing acquisition module, the ambient brightness information may also be directly sent to the aircraft side, so that the aircraft side can perform subsequent comparison with the brightness threshold value and judgment on whether to turn on the projection lamp.

On the other hand, for the apron side, the present embodiment also provides a possible implementation, before determining the position information and the flight attitude information of the aircraft according to the brightness information and the angle information, further including:

s26: and acquiring the ambient brightness, and determining the position information and the flight attitude information of the aircraft according to the brightness information and the angle information when the variation of the ambient brightness in unit time exceeds a second threshold value.

That is, when the aircraft enters the preset range to start projecting the light beam to the surface of the parking apron, the parking apron should keep the light beam collecting state in real time so as to receive the light beam in time to realize positioning. However, how to distinguish natural light from a light beam projected by an aircraft is a problem to be solved by this embodiment, by utilizing the characteristic that the brightness of the projected light beam is higher than that of natural light, when the light beam is projected onto the apron, the apron should sense brightness variation, and considering that natural light is not constant with the passage of time, the brightness variation should be compared with a preset brightness threshold value, so as to distinguish whether the brightness variation is caused by the light beam projected by the aircraft or by the natural light natural variation, that is, the second threshold value. Only when it is determined that the brightness change detected by the apron is brought about by the light beam projected by the aircraft according to the comparison of step S25, a subsequent calculation step is performed, that is, the position information and the flight attitude information of the aircraft are determined according to the collected light beam information.

Therefore, on one hand, the situation that the apron is in a state of calculating the position information and the flight attitude information of the aircraft at the moment is avoided, and the power consumption is reduced. On the other hand, the parking apron is prevented from returning wrong position information and flight attitude information to the aircraft, the aircraft is prevented from carrying out wrong flight actions according to the wrong information, and the landing reliability of the aircraft is ensured.

Finally, for the hardware requirements of the implementation of the above-mentioned precise landing method of the aircraft, the present embodiment provides a possible implementation manner, which is applied between the aircraft and the apron as follows:

1. an aircraft;

as shown in fig. 3, the aircraft includes: the system comprises a GPS module, a wireless communication module, a projection lamp, a main control module and an environment detection module; the main control module is electrically connected with the wireless communication module, the GPS module, the projection lamp and the environment detection module respectively.

The GPS module is used for realizing the positioning of the aircraft; the wireless communication module is used for realizing communication with the parking apron; the number of projection lamps can be multiple, and the projection lamps can be arranged on the cradle head and are used for projecting light beams so as to realize accurate positioning different from GPS; the main control module is a main controller used for realizing flight control and interacting with other hardware modules in the aircraft, the specific model and the type of the main controller are not limited in the embodiment, and the main controller is determined according to the design requirement of the aircraft; the environment detection module, that is, the hardware module for acquiring the environmental brightness information in the above embodiment, may specifically be a device such as a camera configured on the aircraft itself.

It is easy to understand that the hardware modules included in the aircraft are only the hardware modules required for implementing the accurate landing method of the aircraft provided by the application, and the hardware modules included in the actual aircraft are not limited, and the actual aircraft may include more hardware modules and external devices than those described above.

For example, the aircraft may further include: the inertial sensor, the acceleration sensor, the barometer and the geomagnetic meter are respectively connected with the main control module and used for ensuring the normal operation of the aircraft.

2. A tarmac;

as shown in fig. 4, the tarmac includes at least: the system comprises a display screen (namely hardware equipment which simultaneously plays a role of a light sense acquisition module, a parking plane and a display function) for receiving the projection of the aircraft and for parking the aircraft, a wireless communication module, a controller and a GPS module; the controller is respectively connected with the display screen, the wireless communication module and the GPS module.

In the above embodiment, it has been explained that the apron can replace the function of realizing the light sensing acquisition module by means of the display screen with light sensors distributed under the screen, and the display screen can also realize the effect of serving as a parking plane by selecting the surface material, so that the utilization of the apron space is realized to the greatest extent.

The wireless communication module is a hardware module for realizing data transmission with the aircraft.

The controller is not limited to a specific model, and can be realized by adopting a controller model with certain data processing capability and control capability, and the controller is used for calculating the relative position between the aircraft and the apron and the flight attitude of the aircraft according to the angle and the brightness of the light signals received by the display screen.

Compared with the scheme of realizing accurate landing of the aircraft by using the GPS, the GPS module has lower requirement on the positioning precision of the used GPS module.

In the above embodiments, a detailed description is given of an aircraft accurate landing method, and the application also provides a corresponding embodiment of an aircraft accurate landing device. It should be noted that the application describes embodiments of the device part from both sides, one based on the aircraft side and the other based on the apron side.

Based on the aircraft side, as shown in fig. 5, the embodiment provides an aircraft accurate landing device, which is applied to an aircraft including a projection lamp, and includes:

the rough positioning module 11 is used for acquiring the parking apron position information;

a first landing module 12, configured to determine a preset range according to the parking apron position information, and fly into the preset range;

A beam projection module 13, configured to project a beam onto a surface of the tarmac after entering a preset range, so that the tarmac receives the beam;

a first accurate positioning module 14 for receiving location information sent by the tarmac; the position information is determined by acquiring brightness information and angle information of the light beam;

a second landing module 15 for landing on the tarmac according to the position information.

Based on the apron side, as shown in fig. 6, this embodiment provides an accurate landing gear of aircraft, is applied to the apron including positioning module and light sense collection module, includes:

the second accurate positioning module 21 is configured to obtain brightness information and angle information of a beam projected by the aircraft, and determine position information of the aircraft according to the brightness information and the angle information; the light beam is projected to the surface of the parking apron after the aircraft enters a preset range; the preset range is determined by the aircraft according to the parking apron position information;

the information sending module 22 is configured to send the position information to the aircraft.

Since the embodiments of the apparatus portion and the embodiments of the method portion correspond to each other, the embodiments of the apparatus portion are referred to the description of the embodiments of the method portion, and are not repeated herein.

The precise landing method and the precise landing device for the aircraft provided by the application are described in detail. In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the application can be made without departing from the principles of the application and these modifications and adaptations are intended to be within the scope of the application as defined in the following claims.

It should also be noted that in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Claims (19)

1. An aircraft precision landing method, characterized by being applied to an aircraft side, comprising:

acquiring parking apron position information;

determining a preset range according to the parking apron position information, and flying to the preset range;

after entering the preset range, projecting a light beam onto the surface of the tarmac so that the tarmac receives the light beam;

receiving location information sent by the tarmac; the position information is determined by the parking apron through acquiring brightness information and angle information of the light beam;

and landing on the parking apron according to the position information.

2. The aircraft precision landing method of claim 1, further comprising:

receiving flight attitude information sent by the apron, and adjusting the flight attitude of the aircraft according to the flight attitude information;

the flight attitude information is determined by acquiring brightness information and angle information of the light beam.

3. The method of claim 2, wherein the light beam comprises a predetermined pattern;

the position information and the flight attitude information are determined by the tarmac through obtaining the integrity, the size and the deformation degree of the preset pattern.

4. The method of claim 1, wherein the acquiring apron position information comprises:

if the parking apron is in a motion state, acquiring the position information of the parking apron through a positioning module arranged in the parking apron;

and if the apron is in a static state, determining the apron position information through image recognition of a marked building on the periphery side of the apron, or acquiring the apron position information pre-stored in an aircraft.

5. The method of aircraft precision landing of claim 2, wherein the projecting a beam onto a surface on which the tarmac is located such that the tarmac receives the beam comprises:

and projecting a light beam onto the surface of the tarmac through a projection lamp, and adjusting the projection direction of the projection lamp so that the tarmac receives the light beam.

6. The method of claim 5, wherein the projection lamp is disposed at a cradle head of the aircraft;

the adjusting the projection direction of the projection lamp to enable the tarmac to receive the light beam comprises:

and adjusting the projection direction of the projection lamp by controlling the rotation of the cradle head so that the light beam is received by the parking apron.

7. The method of claim 5, wherein the plurality of projection lamps are provided, and the projection directions of the projection lamps are different.

8. The method of claim 7, wherein the projected area of the beam of light projected onto the surface of the apron is less than or equal to the photosensitive area of the apron.

9. The method of claim 7, wherein the projected area of the light beam projected onto the surface of the apron is less than or equal to the projected area of the preset range on the surface of the apron.

10. The method of aircraft precision landing of claim 7, further comprising:

and when the position information and the flight attitude information returned by the apron are received, determining a target projection lamp according to the position information and the flight attitude information, and turning off the projection lamp except the target projection lamp.

11. The aircraft precision landing method of any one of claims 1 to 10, further comprising, prior to projecting the beam onto the surface of the tarmac:

And acquiring the ambient brightness, and projecting the light beam to the surface of the parking apron when the ambient brightness exceeds a preset first threshold value.

12. The utility model provides an aircraft accurate landing method which is characterized in that is applied to the apron side, includes:

acquiring brightness information and angle information of a light beam projected by an aircraft, and determining position information of the aircraft according to the brightness information and the angle information; the light beam is projected to the surface of the parking apron after the aircraft enters a preset range; the preset range is determined by the aircraft according to the parking apron position information;

and sending the position information to the aircraft.

13. The method of aircraft precision landing of claim 12, further comprising:

determining flight attitude information of the aircraft according to the brightness information and the angle information;

and sending the flight attitude information to the aircraft.

14. The aircraft precision landing method of claim 13, further comprising, prior to determining the position information and the attitude information of the aircraft from the brightness information and the angle information:

And acquiring the ambient brightness, and determining the position information and the flight attitude information of the aircraft according to the brightness information and the angle information when the variation of the ambient brightness exceeds a second threshold value in unit time.

15. The method of claim 13, wherein the light beam comprises a predetermined pattern;

acquiring brightness information and angle information of a light beam projected by an aircraft, and determining position information and flight attitude information of the aircraft according to the brightness information and the angle information comprises:

and acquiring the integrity, the size and the deformation degree of the preset pattern, and determining the position information and the flight attitude information of the aircraft according to the integrity, the size and the deformation degree of the preset pattern.

16. The method of claim 15, wherein the determining the position information and the attitude information of the aircraft according to the integrity, the size, and the degree of deformation of the predetermined pattern comprises:

if the obtained preset pattern is incomplete, sending a control instruction to the aircraft according to the position of the vacant part of the preset pattern in the preset pattern to adjust the position of the aircraft until the preset pattern is complete;

If the obtained preset pattern is complete, determining the position information and the flight attitude information of the aircraft according to the size and the deformation degree of the preset pattern.

17. The aircraft precision landing method of any one of claims 11 to 16, further comprising:

and acquiring the ambient brightness information, judging whether the ambient brightness information exceeds a preset first threshold value, and if so, sending a light beam projection instruction to the aircraft so as to enable the aircraft to project the light beam on the surface of the apron.

18. An aircraft accurate landing gear, characterized in that is applied to the aircraft side, includes:

the rough positioning module is used for acquiring the parking apron position information;

the first landing module is used for determining a preset range according to the parking apron position information and flying to the preset range;

the light beam projection module is used for projecting a light beam to the surface of the parking apron after entering the preset range so that the parking apron receives the light beam;

the first accurate positioning module is used for receiving the position information sent by the parking apron; the position information is determined by the parking apron through acquiring brightness information and angle information of the light beam;

And the second landing module is used for landing on the parking apron according to the position information.

19. An accurate landing gear of aircraft, its characterized in that is applied to the apron side, includes:

the second accurate positioning module is used for acquiring brightness information and angle information of a light beam projected by the aircraft and determining position information of the aircraft according to the brightness information and the angle information; the light beam is projected to the surface of the parking apron after the aircraft enters a preset range; the preset range is determined by the aircraft according to the parking apron position information;

and the information sending module is used for sending the position information to the aircraft.