CN114429721B - Aircraft safety interval regulation and control method for autonomous operation airway - Google Patents

Aircraft safety interval regulation and control method for autonomous operation airway Download PDF

Info

Publication number
CN114429721B
CN114429721B CN202210057635.XA CN202210057635A CN114429721B CN 114429721 B CN114429721 B CN 114429721B CN 202210057635 A CN202210057635 A CN 202210057635A CN 114429721 B CN114429721 B CN 114429721B
Authority
CN
China
Prior art keywords
aircraft
cluster
designed
aircrafts
distributed control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202210057635.XA
Other languages
Chinese (zh)
Other versions
CN114429721A (en
Inventor
蔡开泉
杨杨
李炜
师可
陈润泽
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beihang University
Original Assignee
Beihang University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beihang University filed Critical Beihang University
Priority to CN202210057635.XA priority Critical patent/CN114429721B/en
Publication of CN114429721A publication Critical patent/CN114429721A/en
Application granted granted Critical
Publication of CN114429721B publication Critical patent/CN114429721B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0043—Traffic management of multiple aircrafts from the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/04—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G9/00—Traffic control systems for craft where the kind of craft is irrelevant or unspecified
    • G08G9/02—Anti-collision systems

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses an aircraft safety interval regulation and control method of an autonomous operation route, which is characterized in that an air traffic operation system is modeled into a multi-agent system, a system communication interaction relation is described as a time-varying directed graph, and a leader aircraft in the system is identified and a corresponding aircraft adjacency relation is determined based on a control idea of leading-following of a heterogeneous aircraft system of group intelligence; a group consistency control law under an asymmetric communication time-varying topology is designed, the consistency of aircraft safety interval maintenance and speed and direction angles in a system is realized while an inter-aircraft local information interaction mechanism is met, and the collision risk caused by interval loss in a group is reduced; and further considering an obstacle avoidance target outside the system, improving the designed distributed control algorithm, avoiding collision with other aerial operation targets, and ensuring the orderliness and safety of the cluster operation of the aircraft.

Description

Aircraft safety interval regulation and control method for autonomous operation airway
Technical Field
The invention belongs to the technical field of air traffic management, and particularly relates to an aircraft safety interval regulation and control method for an autonomous operation airway.
Background
In recent years, with the rapid development of global economy, the demand of air transportation market is increasing. The existing mode of carrying out centralized interval management and control by taking a ground controller as a center has the problems of large control workload, delayed maneuvering response, limited aircraft flight flexibility and the like, and cannot meet the requirement of safe and efficient operation in a complex airspace environment. In order to further improve the guarantee capability of the air traffic control system, 2019 strategic implementation plan issued by the American national aerospace agency and 2020 artificial intelligence route map issued by the European aviation safety agency successively propose the concept of autonomous operation of air traffic, and the core of the concept is that the interval management task of the ground control system is transferred to an aircraft and a crew member to complete, so that the airborne end bears more collision detection and release responsibility, the air-ground distributed interval maintenance and safety control are realized, the flexibility and autonomy of air navigation are further improved, the capacity of an airspace is improved, and the workload of a controller is reduced.
However, in the scenario of autonomous operation, the flight route of the aircraft is more flexible, the flight situation is more complex, the traditional interval management and control mode is no longer applicable, and it is difficult to maintain the efficient and safe operation requirement in the airspace. In addition, under the condition of high-density operation of the aircraft, the interval management and control cascading effect is obvious, and secondary conflicts are frequent. How to realize safe and efficient interval regulation and control of an aircraft running on an autonomous operation airway is one of key problems to be solved urgently in the field of air traffic management at present.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides an aircraft safety interval regulation and control method of an autonomous operation route, which reduces the collision risk caused by interval loss in an aircraft cluster, avoids obstacles outside the aircraft cluster and ensures the safety of the autonomous operation aircraft in an airspace through an aircraft system track control (leader-follower) method based on group intelligence. The specific technical scheme of the invention is as follows:
an aircraft safety interval regulation and control method for an autonomous operation airway comprises the following steps:
s1: modeling an air traffic system based on a multi-agent network, taking each aircraft as a point set, and taking the communication state of data interaction between the aircrafts as an edge set construction diagram
Figure BDA0003477016840000011
Constructing a communication relation network between aircrafts;
s2: the safety interval of the aircrafts in the cluster is kept in distributed control, and the consistency of the safety interval, the speed and the direction angle of the aircrafts is ensured;
s3: and the obstacle aircrafts outside the aircraft cluster are also regarded as intelligent bodies, an augmented multi-intelligent-body system is constructed and obstacle avoidance distributed control is carried out, the aircraft cluster is prevented from colliding with other obstacles in the air, and finally the safe interval regulation and control of the aircrafts on the autonomous operation route are realized.
Further, the specific process of step S1 is:
s1-1: taking each aircraft as an independent intelligent agent, and constructing an air traffic system into a multi-intelligent-agent system;
to represent the relevance of communication situations between aircrafts in a system, a diagram is introduced
Figure BDA0003477016840000021
Wherein the content of the first and second substances,
Figure BDA0003477016840000022
is a set of points, v 1 ,v 2 ,…v n Representing n aircrafts for n points in the communication topological graph;
Figure BDA0003477016840000023
is a set of edges, and is a set of edges,
Figure BDA0003477016840000024
is a contiguous matrix, a ij (t) time t aircraft v i With aircraft v j The communication state of (1);
drawing (A)
Figure BDA0003477016840000025
Each point in the system corresponds to an aircraft, each edge reflects the communication state between the aircrafts, and if the communication state meets the requirement of the aircrafts v i At time t the aircraft v can be received j Condition of the operating situation information of, then the aircraft v j Referred to as aircraft v i (vi) neighbor aircraft at time t, satisfy (v) j ,v i ) Epsilon (t) and a ij (t) ≠ 0, otherwise
Figure BDA0003477016840000026
And a ij (t) =0, aircraft v i Is a set of neighboring aircraft
Figure BDA0003477016840000027
S1-2: simplifying each aircraft model to obtain corresponding simplified dynamic and kinematic equations as follows:
Figure BDA0003477016840000028
wherein the content of the first and second substances,
Figure BDA0003477016840000029
and
Figure BDA00034770168400000210
respectively an aircraft v i A position variable, a speed variable and a control input variable;
s1-3: let the communication radius of each aircraft be r, then the aircraft v i The set of neighboring aircraft of (a) satisfies:
Figure BDA00034770168400000211
at the same time, the figures
Figure BDA00034770168400000212
The middle edge set satisfies:
Figure BDA00034770168400000213
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA00034770168400000214
for time t the aircraft v i Set of neighboring aircraft of x i (t)、x j (t) aircraft v at times t, respectively i And v j The position of (a).
Further, the specific process of step S2 is:
s2-1: designing an intra-cluster distributed control algorithm for an aircraft cluster system:
Figure BDA00034770168400000215
wherein，
Figure BDA00034770168400000216
In order to be a gradient term, the gradient term,
Figure BDA00034770168400000217
in order to be a term of the consistency of the speed,
Figure BDA00034770168400000218
to track the feedback term;
in an intra-cluster distributed control algorithm (4),
Figure BDA0003477016840000031
for ensuring that a safe interval is maintained from time to time between aircraft,
Figure BDA0003477016840000032
for ensuring that all aircraft achieve the consistency goals,
Figure BDA0003477016840000033
the method is used for ensuring that each aircraft finally tracks the leader aircraft preset target;
s2-2: the distributed control algorithm (4) in the cluster is realized in the following steps:
Figure BDA0003477016840000034
wherein phi is α (. To) as a function of behavior to be designed, n ij () for the adjustment of the parameters,
Figure BDA0003477016840000035
Figure BDA0003477016840000036
representing a vector x j (t)-x i (t) s norm, constant τ>0，
Figure BDA0003477016840000037
Wherein, a ij (t) is the adjacency weight coefficient to be designed, depending on the position variable x i (t) and x j (t)，
Figure BDA0003477016840000038
Wherein x is r (t) and q r (t) speed and position variables of the given leader aircraft respectively,
Figure BDA0003477016840000039
and
Figure BDA00034770168400000310
is the coefficient to be designed;
s2-3: by applying the behavior function to be designed and the corresponding parameters in the cluster distributed control algorithm (4), the safety interval of the aircraft in the cluster of the multi-agent system represented by the formula (1) is kept in distributed control, and the consistency of the safety interval, the speed and the direction angle of the aircraft is ensured.
Further, the specific process of step S3 is:
s3-1: designing an off-cluster distributed control algorithm for the multi-agent system represented by formula (1):
Figure BDA00034770168400000311
wherein the content of the first and second substances,
Figure BDA00034770168400000312
for the aircraft interaction items in the aircraft network,
Figure BDA00034770168400000313
for the interaction items of the aircraft in the aircraft network and the network external obstacle aircraft,
Figure BDA00034770168400000314
to track the feedback term;
Figure BDA00034770168400000315
for achieving safe interval maintenance and speed consistency among aircrafts,
Figure BDA00034770168400000316
for avoiding collisions of the aircraft with an obstacle aircraft in the network,
Figure BDA00034770168400000317
the method comprises the following steps that each aircraft in the network tracks a leader aircraft preset target;
s3-2: the distributed control algorithm (8) outside the cluster is realized in the following specific way:
Figure BDA00034770168400000318
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA00034770168400000319
and
Figure BDA00034770168400000320
is the coefficient to be designed;
Figure BDA00034770168400000321
wherein phi is b () as a function of the behavior to be designed,
Figure BDA0003477016840000041
in order to adjust the parameters of the device,
Figure BDA0003477016840000042
and
Figure BDA0003477016840000043
in order to design the coefficients to be designed,
Figure BDA0003477016840000044
indicating an obstacle aircraft v k Into an aircraft v i In the detection range, b ik (t) is the neighbor weight coefficient to be designed,
Figure BDA0003477016840000045
and
Figure BDA0003477016840000046
for the coefficient to be designed, x k (t) time t aircraft v k Position of (a), q k (t) time t aircraft v k The position of (a);
Figure BDA0003477016840000047
wherein the content of the first and second substances,
Figure BDA0003477016840000048
s3-3: by applying the behavior function to be designed and the corresponding parameters in the cluster external distributed control algorithm (8), the multi-agent system represented by the formula (1) is prevented from colliding with other obstacles in the air, and finally, the safe interval regulation and control of the aircraft of the autonomous operation route are realized.
The invention has the beneficial effects that:
1. aiming at the problem that the safety interval regulation and control complexity of the aircrafts is increased due to the difference of the speeds, the communication performances and the like of the aircrafts in the future autonomous operation route flight scene, each aircraft is regarded as an independent intelligent agent, and the system communication operation scene is constructed into a time-varying directed graph by utilizing the knowledge of a multi-intelligent agent system to accurately describe an information interaction mechanism between the aircrafts.
2. Aiming at the problems of obvious cascade effect of distributed interval management and control and frequent secondary collision of an aircraft on an autonomous operation route in a high-density operation scene, the invention adopts a distributed consistency control idea based on inter-aircraft information interaction, researches an aircraft system leader-following track control method based on group intelligence, designs a consistency control law under asymmetric communication time-varying topology, and reduces collision risk caused by interval loss in an aircraft cluster.
3. Aiming at the problems of conflict resolution and safe and efficient operation of the autonomous operation aircraft, the designed distributed control algorithm is improved, the safety interval maintenance and the consistency of speed and direction angle of the aircraft are realized, meanwhile, the collision of obstacles in the air is avoided, and the safety of flight is ensured.
Drawings
In order to illustrate embodiments of the present invention or technical solutions in the prior art more clearly, the drawings which are needed in the embodiments will be briefly described below, so that the features and advantages of the present invention can be understood more clearly by referring to the drawings, which are schematic and should not be construed as limiting the present invention in any way, and for a person skilled in the art, other drawings can be obtained on the basis of these drawings without any inventive effort. Wherein:
FIG. 1 is a step diagram of an aircraft safety interval control method for an autonomous operation airway of the present invention;
fig. 2 is a flowchart of an aircraft safety interval control method of the autonomous operation airway of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
The method adopts a distributed consistency control idea based on the inter-aircraft information interaction, designs a distributed control algorithm according to the aircraft neighbor information, realizes the consistency of the aircraft safety interval maintenance and the speed and direction angles while meeting the inter-aircraft local information interaction mechanism, and reduces the collision risk caused by interval loss in the cluster. On the basis, an obstacle avoidance target is further considered, a designed distributed control algorithm is improved, the safety interval of the aircraft is kept, the speed and direction angle consistency is guaranteed, meanwhile, collision with other obstacles in the air is avoided, and the safety of flight is guaranteed.
The method for regulating and controlling the safety interval of the aircraft of the autonomous operation route comprises the steps of firstly modeling an air traffic operation system into a multi-agent system, describing a system communication operation scene into a time-varying directed graph, and determining a leader aircraft and neighbor aircraft of each aircraft in the air traffic operation system based on the time-varying directed graph constructed by communication network information; secondly, each aircraft in the cluster applies a distributed consistent control algorithm according to the acquired state information of the neighbor aircraft, so that the safety interval of the aircraft is kept, and the speed and direction angle are consistent; on the basis, obstacle aircrafts outside the cluster are further considered, the designed distributed control algorithm is improved, safety interval maintenance and speed and direction angle consistency of the aircrafts are achieved, meanwhile, collision with other obstacles in the air is avoided, and flight safety is guaranteed. Specifically, the following aspects are included:
the method comprises the steps of modeling an air traffic system based on a multi-agent network, representing the communication relation between heterogeneous aircrafts, and representing operation situation information such as longitude, latitude, altitude, flying speed and the like;
designing an aircraft safety interval maintaining distributed control algorithm to achieve the goals of aircraft safety interval maintaining and speed and direction angle consistency;
an aircraft obstacle avoidance distributed control algorithm is designed, and when all aircraft in a network do not conflict, the aircraft in the network and other aircraft outside the network do not conflict.
As shown in fig. 1-2, a method for regulating and controlling safety intervals of an aircraft on an autonomous operation route includes the following steps:
s1: modeling an air traffic system based on a multi-agent network, and enabling each frameThe aircraft is used as a point set, and the communication state of data interaction between the aircraft is used as an edge set construction diagram
Figure BDA0003477016840000051
Constructing a communication relation network between aircrafts;
in the air traffic operation system, each aircraft has independence and autonomy, can sense situation information of an operation environment, receive operation information of other aircrafts and make corresponding decisions based on the received situation information. The invention utilizes the related knowledge of the multi-agent system to describe the communication operation scene of the system from a time-varying directed graph.
The specific process of the step S1 is as follows:
s1-1: taking each aircraft as an independent intelligent agent, and constructing an air traffic system into a multi-intelligent-agent system;
to represent the relevance of communication situations between aircrafts in a system, a diagram is introduced
Figure BDA0003477016840000061
Wherein the content of the first and second substances,
Figure BDA0003477016840000062
is a set of points, v 1 ,v 2 ,…v n Representing n aircrafts for n points in the communication topological graph;
Figure BDA0003477016840000063
the data is a set of edges,
Figure BDA0003477016840000064
is a contiguous matrix, a ij (t) time t aircraft v i With aircraft v j The communication state of (1);
drawing (A)
Figure BDA0003477016840000065
Each point in the system corresponds to an aircraft, each edge reflects the communication state between the aircrafts, and if the communication state meets the requirement of the aircrafts v i At time t the aircraft v can be received j Fortune ofCondition of the information of the situation, the aircraft v j Referred to as aircraft v i (vi) neighbor aircraft at time t, satisfy (v) j ,v i ) Epsilon (t) and a ij (t) ≠ 0, otherwise
Figure BDA0003477016840000066
And a ij (t) =0, aircraft v i Set of neighboring aircraft of
Figure BDA0003477016840000067
S1-2: simplifying each aircraft model to obtain corresponding simplified dynamic and kinematic equations as follows:
Figure BDA0003477016840000068
wherein the content of the first and second substances,
Figure BDA0003477016840000069
and
Figure BDA00034770168400000610
respectively an aircraft v i Position variable, speed variable and control input variable;
in the multi-agent system, each agent needs to pay attention to multi-dimensional operation situation information such as longitude, latitude, altitude, flight speed and the like, so that each aircraft model needs to be simplified;
s1-3: let the communication radius of each aircraft be r, then the aircraft v i The set of neighboring aircraft of (a) satisfies:
Figure BDA00034770168400000611
at the same time, the figures
Figure BDA00034770168400000612
The middle edge set satisfies:
Figure BDA00034770168400000613
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA00034770168400000614
for time t the aircraft v i Set of neighboring aircraft of x i (t)、x j (t) aircraft v at times t, respectively i And v j The position of (a);
because the communication devices onboard the aircraft are power limited, the inter-aircraft communication coverage is a limited circular area, i.e., each aircraft can only receive other aircraft information within its communication radius. Thus, the multi-agent system corresponding communication topology depends on the position information of each aircraft in the system and dynamically changes over time, such that the adjacency matrix is made
Figure BDA0003477016840000071
And the neighbor aircraft to which each aircraft corresponds also changes over time.
S2: the safety interval of the aircrafts in the cluster is kept in distributed control, and the consistency of the safety interval, the speed and the direction angle of the aircrafts is ensured;
in order to maintain the safe flying state of the aircraft and achieve the goals of maintaining the safe interval of the aircraft and keeping the consistency of the speed and the direction angle, a distributed control algorithm is designed for a multi-agent system. In order to achieve the consistency target, a common control algorithm is a laplacian algorithm, but since the space maintenance and collision avoidance safety operation requirements of the aircraft need to be considered in the air traffic system operation scene, the basic laplacian algorithm needs to be improved. The specific process of the step S2 is as follows:
s2-1: designing an intra-cluster distributed control algorithm for an aircraft cluster system:
Figure BDA0003477016840000072
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003477016840000073
in order to be a gradient term, the gradient term,
Figure BDA0003477016840000074
in order to be a term of the consistency of the speed,
Figure BDA0003477016840000075
to track the feedback term;
in the intra-cluster distributed control algorithm (4),
Figure BDA0003477016840000076
for ensuring that a safe interval is maintained from time to time between aircraft,
Figure BDA0003477016840000077
for ensuring that all aircraft achieve the consistency goals,
Figure BDA0003477016840000078
the method is used for ensuring that each aircraft finally tracks the leader aircraft preset target;
s2-2: the distributed control algorithm (4) in the cluster is realized in the following steps:
Figure BDA0003477016840000079
wherein phi is α (. To) as a function of behavior to be designed, n ij () for the adjustment of the parameters,
Figure BDA00034770168400000710
Figure BDA00034770168400000711
representing a vector x j (t)-x i (t) s norm, constant τ>0，
Figure BDA00034770168400000712
Wherein, a ij (t) as a function of the position variable x, the adjacency weight coefficient to be designed i (t) and x j (t)，
Figure BDA00034770168400000713
Wherein x is r (t) and q r (t) speed and position variables of the given leader aircraft respectively,
Figure BDA00034770168400000714
and
Figure BDA00034770168400000715
is the coefficient to be designed;
s2-3: by applying the behavior function to be designed and the corresponding parameters in the cluster distributed control algorithm (4), the safety interval of the aircraft in the cluster of the multi-agent system represented by the formula (1) is kept in distributed control, and the consistency of the safety interval, the speed and the direction angle of the aircraft is ensured.
S3: and the obstacle aircrafts outside the aircraft cluster are also regarded as intelligent bodies, an augmented multi-intelligent-body system is constructed and obstacle avoidance distributed control is carried out, the aircraft cluster is prevented from colliding with other obstacles in the air, and finally the safe interval regulation and control of the aircrafts on the autonomous operation route are realized.
During autonomous operation of an aircraft, collisions with clusters of aircraft within the same route often occur, so that not only is it ensured that the separation of all aircraft within a cluster is maintained, but also it is ensured that there is no risk of collision between different clusters of aircraft. Therefore, the control algorithm is adjusted, and a distributed control algorithm capable of achieving the obstacle avoidance target is provided. During the flight of the aircraft, the obstacle aircraft outside the aircraft network is also regarded as an intelligent agent, so that an augmented multi-agent system is constructed. The specific process of step S3 is:
s3-1: designing an off-cluster distributed control algorithm for the multi-agent system represented by formula (1):
Figure BDA0003477016840000081
wherein the content of the first and second substances,
Figure BDA0003477016840000082
for the aircraft interaction items in the aircraft network,
Figure BDA0003477016840000083
for the interaction items of the aircraft in the aircraft network and the network external obstacle aircraft,
Figure BDA0003477016840000084
to track the feedback term;
Figure BDA0003477016840000085
for achieving safe interval maintenance and speed consistency among aircrafts,
Figure BDA0003477016840000086
for avoiding collisions of the aircraft with an obstacle aircraft in the network,
Figure BDA0003477016840000087
the method comprises the following steps that each aircraft in the network tracks a leader aircraft preset target;
s3-2: the distributed control algorithm (8) outside the cluster is realized in the following specific way:
Figure BDA0003477016840000088
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003477016840000089
and
Figure BDA00034770168400000810
is the coefficient to be designed;
Figure BDA00034770168400000811
wherein phi is b () as a function of the behavior to be designed,
Figure BDA00034770168400000812
in order to adjust the parameters of the device,
Figure BDA00034770168400000813
and
Figure BDA00034770168400000814
in order to design the coefficients to be designed,
Figure BDA00034770168400000815
aircraft v representing obstacles k Into an aircraft v i In the detection range, b ik (t) is the neighbor weight coefficient to be designed,
Figure BDA00034770168400000816
and
Figure BDA00034770168400000817
for the coefficient to be designed, x k (t) time t aircraft v k Position of (a), q k (t) time t aircraft v k The position of (a);
Figure BDA00034770168400000818
wherein the content of the first and second substances,
Figure BDA00034770168400000819
s3-3: by applying the behavior function to be designed and the corresponding parameters in the cluster external distributed control algorithm (8), the multi-agent system represented by the formula (1) is prevented from colliding with other obstacles in the air, and finally, the safe interval regulation and control of the aircraft of the autonomous operation route are realized.
In conclusion, the invention realizes that the network of the whole air traffic system is constructed into a multi-agent system to represent the communication interaction relation, and the distributed consistent control algorithm and the obstacle avoidance algorithm are designed to realize the safe interval maintenance in the cluster and the flight obstacle avoidance outside the cluster, thereby ensuring the safe, ordered and efficient operation of the aircraft cluster under the condition of a dense airspace.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (1)

1. An aircraft safety interval regulation and control method for an autonomous operation airway is characterized by comprising the following steps:
s1: modeling an air traffic system based on a multi-agent network, taking each aircraft as a point set, and taking the communication state of data interaction between the aircraft as an edge set construction diagram
Figure FDA0003844497800000011
Constructing a communication relation network between aircrafts;
s2: the safety interval of the aircrafts in the cluster is kept in distributed control, and the consistency of the safety interval, the speed and the direction angle of the aircrafts is ensured;
s3: the obstacle aircrafts outside the aircraft cluster are also regarded as intelligent bodies, an augmented multi-intelligent-body system is constructed and obstacle avoidance distributed control is carried out, collision between the aircraft cluster and other obstacles in the air is avoided, and finally safe interval regulation and control of the aircrafts on an autonomous operation route are realized;
the specific process of the step S1 is as follows:
s1-1: taking each aircraft as an independent intelligent agent, and constructing an air traffic system into a multi-intelligent-agent system;
to represent the relevance of communication situations between aircrafts in a system, a diagram is introduced
Figure FDA0003844497800000012
Wherein the content of the first and second substances,
Figure FDA0003844497800000013
is a set of points, v 1 ,v 2 ,…v n Representing n aircrafts for n points in the communication topological graph;
Figure FDA0003844497800000014
the data is a set of edges,
Figure FDA0003844497800000015
is a contiguous matrix, a ij (t) time t aircraft v i With aircraft v j The communication state of (1);
drawing (A)
Figure FDA0003844497800000016
Each point in the system corresponds to an aircraft, each edge reflects the communication state between the aircrafts, and if the communication state meets the requirement of the aircrafts v i At time t can receive aircraft v j Condition of the operating situation information of, then the aircraft v j Referred to as aircraft v i (vi) neighbor aircraft at time t, satisfy (v) j ,v i ) Epsilon (t) and a ij (t) ≠ 0, otherwise
Figure FDA0003844497800000017
And a is ij (t) =0, aircraft v i Is a set of neighboring aircraft
Figure FDA0003844497800000018
S1-2: simplifying each aircraft model to obtain corresponding simplified dynamic and kinematic equations as follows:
Figure FDA0003844497800000019
wherein the content of the first and second substances,
Figure FDA00038444978000000110
and
Figure FDA00038444978000000111
are aircraft v respectively i Position variable, speed variable and control input variable;
s1-3: let the communication radius of each aircraft be r, then the aircraft v i The set of neighbor aircraft satisfies:
Figure FDA00038444978000000112
at the same time, the figures
Figure FDA00038444978000000113
The middle edge set satisfies:
Figure FDA00038444978000000114
wherein the content of the first and second substances,
Figure FDA00038444978000000115
for time t the aircraft v i Set of neighboring aircraft of x i (t)、x j (t) aircraft v at times t, respectively i And v j The position of (a);
the specific process of the step S2 is as follows:
s2-1: designing an intra-cluster distributed control algorithm for an aircraft cluster system:
u i (t)＝f i g (t)+f i d (t)+f i γ (t) (4)
wherein f is i g (t) is a gradient term, f i d (t) is a velocity consistency term, f i γ (t) is a tracking feedback term;
in the intra-cluster distributed control algorithm (4), f i g (t) for ensuring a safety interval between aircraft at all times, f i d (t) for ensuring that all aircraft achieve a consistency goal, f i γ (t) for ensuring that each aircraft finally tracks the leader aircraft preset target;
s2-2: the distributed control algorithm (4) in the cluster is realized in the following steps:
Figure FDA0003844497800000021
wherein phi is α (. To) as a function of behavior to be designed, n ij () for the adjustment of the parameters,
Figure FDA0003844497800000022
representing a vector x j (t)-x i (t) a constant τ > 0,
Figure FDA0003844497800000023
wherein, a ij (t) is the adjacency weight coefficient to be designed, depending on the position variable x i (t) and x j (t)，
Figure FDA0003844497800000024
Wherein x is r (t) and q r (t) speed and position variables for the given leader aircraft respectively,
Figure FDA0003844497800000025
and
Figure FDA0003844497800000026
is the coefficient to be designed;
s2-3: by applying a behavior function to be designed in the cluster distributed control algorithm (4) and corresponding parameters, the safety interval of the aircraft in the cluster of the multi-agent system represented by the formula (1) is kept in distributed control, and the consistency of the safety interval, the speed and the direction angle of the aircraft is ensured;
the specific process of the step S3 is as follows:
s3-1: designing an off-cluster distributed control algorithm for the multi-agent system represented by formula (1):
Figure FDA0003844497800000027
wherein the content of the first and second substances,
Figure FDA0003844497800000028
for the aircraft interaction items in the aircraft network,
Figure FDA0003844497800000029
for the interaction items of the aircraft in the aircraft network and the network external obstacle aircraft,
Figure FDA00038444978000000210
to track the feedback term;
Figure FDA00038444978000000211
for achieving safe interval maintenance and speed consistency among aircrafts,
Figure FDA00038444978000000212
for avoiding collisions of the aircraft with the obstructing aircraft in the network,
Figure FDA00038444978000000213
the method comprises the following steps that each aircraft in the network tracks a leader aircraft preset target;
s3-2: the specific implementation of the cluster external distributed control algorithm (8) is as follows:
Figure FDA00038444978000000214
wherein the content of the first and second substances,
Figure FDA00038444978000000215
and
Figure FDA00038444978000000216
is the coefficient to be designed;
Figure FDA00038444978000000217
wherein phi b () as a function of the behavior to be designed,
Figure FDA0003844497800000031
in order to adjust the parameters of the device,
Figure FDA0003844497800000032
and
Figure FDA0003844497800000033
in order to design the coefficients to be designed,
Figure FDA0003844497800000039
indicating an obstacle aircraft v k Into an aircraft v i In the detection range, b ik (t) is the neighbor weight coefficient to be designed,
Figure FDA0003844497800000035
and
Figure FDA0003844497800000036
for the coefficient to be designed, x k (t) time t aircraft v k Position of (a), q k (t) time t aircraft v k The position of (a);
Figure FDA0003844497800000037
wherein the content of the first and second substances,
Figure FDA0003844497800000038
s3-3: by applying the behavior function to be designed and the corresponding parameters in the cluster external distributed control algorithm (8), the multi-agent system represented by the formula (1) is prevented from colliding with other obstacles in the air, and finally the safe interval regulation and control of the aircraft of the autonomous operation airway are realized.
CN202210057635.XA 2022-01-19 2022-01-19 Aircraft safety interval regulation and control method for autonomous operation airway Active CN114429721B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210057635.XA CN114429721B (en) 2022-01-19 2022-01-19 Aircraft safety interval regulation and control method for autonomous operation airway

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210057635.XA CN114429721B (en) 2022-01-19 2022-01-19 Aircraft safety interval regulation and control method for autonomous operation airway

Publications (2)

Publication Number Publication Date
CN114429721A CN114429721A (en) 2022-05-03
CN114429721B true CN114429721B (en) 2022-12-09

Family

ID=81313945

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210057635.XA Active CN114429721B (en) 2022-01-19 2022-01-19 Aircraft safety interval regulation and control method for autonomous operation airway

Country Status (1)

Country Link
CN (1) CN114429721B (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109215397A (en) * 2018-10-12 2019-01-15 南京航空航天大学 A kind of cast air route variable interval management-control method based on aircraft autonomous operation
CN110488845A (en) * 2019-09-18 2019-11-22 中国人民解放军火箭军工程大学 A kind of barrier, which blocks lower multiple agent active disturbance rejection time-varying, forms into columns tracking and collision avoidance control method
CN110554709A (en) * 2019-09-06 2019-12-10 哈尔滨工业大学（深圳） Distributed bionic multi-agent autonomous cluster control method
CN113625747A (en) * 2021-07-23 2021-11-09 北京航空航天大学 Cluster system formation obstacle avoidance control method
CN114664120A (en) * 2022-03-15 2022-06-24 南京航空航天大学 Aircraft autonomous interval control method based on ADS-B

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109215397A (en) * 2018-10-12 2019-01-15 南京航空航天大学 A kind of cast air route variable interval management-control method based on aircraft autonomous operation
CN110554709A (en) * 2019-09-06 2019-12-10 哈尔滨工业大学（深圳） Distributed bionic multi-agent autonomous cluster control method
CN110488845A (en) * 2019-09-18 2019-11-22 中国人民解放军火箭军工程大学 A kind of barrier, which blocks lower multiple agent active disturbance rejection time-varying, forms into columns tracking and collision avoidance control method
CN113625747A (en) * 2021-07-23 2021-11-09 北京航空航天大学 Cluster system formation obstacle avoidance control method
CN114664120A (en) * 2022-03-15 2022-06-24 南京航空航天大学 Aircraft autonomous interval control method based on ADS-B

Also Published As

Publication number Publication date
CN114429721A (en) 2022-05-03

Similar Documents

Publication Publication Date Title
US20120158280A1 (en) Computing route plans for routing around obstacles having spatial and temporal dimensions
D’Amato et al. Distributed reactive model predictive control for collision avoidance of unmanned aerial vehicles in civil airspace
Pappas et al. A next generation architecture for air traffic management systems
WO2009091431A1 (en) Computing flight plans for uavs while routing around obstacles having spatial and temporal dimensions
CN114355967B (en) Aircraft, method for controlling an aircraft, and computer-aided system
Tomlin et al. Hybrid control models of next generation air traffic management
Zhang et al. Intelligent amphibious ground-aerial vehicles: State of the art technology for future transportation
US20230237917A1 (en) A Method and System for Controlling Flight Movements of Air Vehicles
Quan et al. How far two UAVs should be subject to communication uncertainties
Yang et al. Cooperative deconflicting heading maneuvers applied to unmanned aerial vehicles in non-segregated airspace
Tomlin et al. Advanced air traffic automation: A case study in distributed decentralized control
CN115981377B (en) Unmanned aerial vehicle dynamic obstacle avoidance method and system
CN114429721B (en) Aircraft safety interval regulation and control method for autonomous operation airway
Malaek et al. Optimal maneuvers for aircraft conflict resolution based on efficient genetic webs
Kim et al. Cooperative sUAV collision avoidance based on satisficing theory
Shen et al. A dynamic airspace planning framework with ads-b tracks for manned and unmanned aircraft at low-altitude sharing airspace
Huang et al. Strategic conflict management using recurrent multi-agent reinforcement learning for urban air mobility operations considering uncertainties
Chandar A Review on Longitudinal Control Law Design for a Small Fixed-Wing UAV
Ma et al. An operational safety evaluation method for manned transport aircraft and large UAV in mixed airspace
Nguyen et al. Air Traffic Management of Drones Integrated into the Smart Cities
Alturbeh Collision avoidance systems for UAS operating in civil airspace
TW202133062A (en) Logistics operation task planning and management system of unmanned aerial vehicle and method thereof including a digital terrain building subsystem, a task route planning subsystem, a flight route capacity planning and flow control subsystem, and an unmanned aerial vehicle operation navigation and monitoring subsystem
Geiger et al. Flight testing a real-time direct collocation path planner
Šišlák et al. Agentfly: NAS-wide simulation framework integrating algorithms for automated collision avoidance
Yang et al. Cooperative route planning for multiple aircraft in a semifree ATC system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant