CN102509475A - Air traffic control system and method for four-dimensional (4D)-trajectory-based operation - Google Patents
Air traffic control system and method for four-dimensional (4D)-trajectory-based operation Download PDFInfo
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Abstract
The invention discloses an air traffic control system for four-dimensional (4D)-trajectory-based operation. The air traffic control system comprises a data communication module, a monitoring data fusion module, an airborne terminal module and a control terminal module, wherein the monitoring data fusion module is used for fusing the monitoring data of an air traffic control radar and automatic dependent monitoring data, and providing real-time trajectory information for the control terminal module; and the control terminal module comprises a preflight conflict-free 4D trajectory generation sub-module, an in-flight short-term 4D trajectory generation sub-module, a real-time flight conflict monitoring and alarming sub-module and a flight conflict resolution 4D trajectory optimization sub-module. The invention also discloses an air traffic control method for the system. The control terminal module processes flight plan data, generates 4D trajectories, analyzes potential traffic conflicts of air traffic conditions and provides an optimal resolution scheme. By the system and the method, flight conflicts can be effectively prevented, and the safety of air traffic can be improved.
Description
Technical Field
The invention relates to an air traffic control system and method, in particular to an air traffic control system and method based on 4D track operation.
Background
With the rapid development of the global air transportation industry and the increasingly prominent contradiction between limited airspace resources, the laggard nature of the air traffic management mode which still adopts the flight plan combined with interval allocation is gradually shown in a complex airspace with dense air traffic flow, and the laggard nature is particularly shown in the following steps: (1) the flight plan does not configure accurate empty pipe intervals for the aircraft, so that congestion in traffic flow tactical management is easily caused, and the safety of an airspace is reduced; (2) the air traffic control automatic system taking the flight plan as the center has poor calculation and track prediction precision on the flight profile, so that the conflict resolution capability is poor; (3) air traffic control efforts still focus on maintaining safe separation between individual aircraft and have difficulty moving up to strategic management of traffic flow.
A 4D track is a precise description of the spatial position (longitude, latitude, and altitude) and time of points in an aircraft track in both spatial and temporal form, and track-based operations refer to the use of "control arrival times" at waypoints in the 4D track, i.e., a "time window" that controls the aircraft through a particular waypoint. The 4D track-based Operation (target based Operation) is taken as one of basic Operation mechanisms in a high-density airspace, and the method is an effective means for managing the airspace under the condition of large flow, high density and small space, can obviously reduce the uncertainty of the aircraft track, and improves the safety and the utilization rate of airspace and airport resources.
The air traffic operation mode based on track operation needs to calculate and optimize flight tracks of single aircrafts on a strategic level, and implement collaboration and adjustment on traffic flows formed by multiple aircrafts; on the pre-tactic level, the congestion problem is solved by correcting the flight path of individual aircraft in the traffic flow, and the operation efficiency of all aircraft in the traffic flow is ensured; and a conflict prediction and optimization disengagement scheme on a tactical level is adopted, and the interval management of the aircraft is changed from a fixed manual mode to a variable interval control mode in consideration of factors such as aircraft performance, control rules, environment and the like, so that a new requirement for air traffic control is provided for the operation of a 4D track.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the prior art, and provide the air traffic control system and method based on 4D track operation, which can effectively prevent flight conflict and improve the safety of air traffic.
The air traffic control system based on 4D track operation comprises a data communication module, an airborne terminal module, a control terminal module and a monitoring data fusion module, wherein the monitoring data fusion module is used for realizing fusion of monitoring data of an air traffic control radar and automatic related monitoring data and providing real-time track information for the control terminal module;
the control terminal module comprises the following sub-modules:
the non-conflict 4D track generation module before flight establishes an aircraft dynamic model according to the flight plan and the forecast data of the world area forecast system, and then establishes a track conflict pre-debugging theoretical model according to the flight conflict coupling point to generate a non-conflict 4D track of the aircraft;
the in-flight and short-term 4D track generation module is used for conjecturing the 4D track of the aircraft in a certain time window in the future by utilizing the aircraft kinematics model according to the real-time track information provided by the monitoring data fusion module;
the real-time flight conflict monitoring and warning module is used for establishing an observer from the continuous dynamic state of the aircraft to the discrete conflict logic and mapping the continuous dynamic state of the air traffic system into a conflict state expressed by a discrete observation value; when the system possibly violates the air traffic control rule, monitoring the hybrid dynamic behavior of the air traffic hybrid system, and providing timely warning information for a controller;
the flight conflict resolution 4D track optimization module is used for calculating the conflict resolution 4D track of the aircraft by selecting different resolution objective functions and adopting an optimal control theory method under the condition that the system meets the constraint conditions of aircraft performance and control rules; and the data communication module is used for sending the aircraft conflict resolution 4D track to the airborne terminal module for execution.
The invention relates to an air traffic control method based on 4D track operation, which utilizes the air traffic control system to control air traffic, and concretely comprises the following steps:
step A, a non-conflict 4D track generation module before flight establishes an aircraft dynamic model according to a flight plan and forecast data of a world area forecast system, establishes a track conflict pre-debugging theoretical model according to a flight conflict coupling point and generates a non-conflict 4D track of the aircraft;
step B, the monitoring data fusion module fuses the monitoring data of the air traffic control radar and automatic dependent surveillance (ADS-B) data to generate real-time flight path information of the aircraft and provides the information to the control terminal module; a 4D track generation module in the control terminal module in the medium and short term of flight in the terminal module conjectures a 4D track of the aircraft in a certain future time window according to the real-time track information of the aircraft;
step C, the real-time flight conflict monitoring and warning module establishes an observer from the continuous dynamic state of the aircraft to the discrete conflict logic, and the continuous dynamic state of the air traffic system is mapped into a conflict state expressed by a discrete observation value; when the system possibly violates the air traffic control rule, monitoring the hybrid dynamic behavior of the air traffic hybrid system, and providing timely warning information for a controller;
d, calculating the aircraft conflict resolution 4D flight path by selecting different resolution target functions and adopting an optimal control theory method under the condition that the system meets the constraint conditions of aircraft performance and control rules by a flight conflict resolution 4D flight path optimization module; the aircraft conflict resolution 4D track is sent to an airborne terminal module to be executed through a data communication module;
and E, the airborne terminal module receives and executes the 4D track data issued by the control terminal module.
The aircraft collision-free 4D track is generated according to the following method:
step A1, carrying out aircraft state transition modeling, and establishing a Petri net model of a single aircraft transferring in different flight sections according to the flight height profile of the aircraft in the flight plan:
for transferring the model to an aircraft phase, wherein
A flight leg is shown that is,
representing the transition point of the flight state parameter in the vertical section,
andrespectively represents the forward and backward connection relation of the flight section and the waypoint,
indicating the flight phase in which the aircraft is;
step A2, establishing a hybrid system model of the full flight profile of the aircraft as follows,
wherein,
in order to be the height of the container,
in order to obtain the ground speed,
in order to correct the airspeed,is a Mach number of the component (A),
is the height of the air pressure,
is the included angle between the wind direction forecast and the air route,the wind speed forecast value is a value which is reported by the wind speed forecast,
is a temperature prediction value;
step A3, adopting a hybrid system simulation mode to speculate and solve the flight path: the method of subdividing time is adopted, and the characteristic of continuous change of state is utilized to recursively solve the range of the aircraft from a reference point in a certain flight stage at any moment
And height
WhereinFor the range of the aircraft from the reference point at the initial moment,is the value of the time window and,
is composed ofTime navigationThe range of the aircraft from the reference point,
the altitude of the aircraft from the reference point at the initial moment,
is composed of
The altitude of the aircraft from a reference point at that moment; then obtaining a 4D track of the single aircraft;
step A4, implementing conflict-free deployment to the multiple aircraft coupling model: and carrying out quadratic programming on the 4D flight path of the aircraft which does not meet the interval requirement near the intersection according to the time of two aircrafts for reaching the intersection and the air traffic control principle to obtain the conflict-free 4D flight path.
The monitoring data fusion module fuses the monitoring data of the air traffic control radar and the automatic related monitoring data to generate real-time flight path information of the aircraft, and the method specifically comprises the following steps:
step B1, unifying coordinate units and time;
b2, associating points belonging to the same target by adopting a nearest data association algorithm, and extracting a target track; step B3, extracting the flight path data from the automatic correlation monitoring system and the air traffic control radar respectively from different space-time parameters
Transforming and aligning the reference coordinate system to a unified space-time reference coordinate system of the control terminal;
step B4, calculating the correlation coefficient of the two tracks, and if the correlation coefficient is smaller than a certain preset threshold value, determining that the two tracks are not related; otherwise, the two tracks are related and can be fused;
and step B5, fusing related tracks.
Preferably, in the step B5, the relevant tracks are fused, a weighted average algorithm based on a sampling period is adopted, a weighting coefficient of the weighted average algorithm is determined according to the sampling period and the information precision, and then the relevant auto-correlation monitoring tracks and the air traffic control radar tracks are fused into the system tracks by using the weighted average algorithm.
The 4D track of the aircraft in a certain future time window is presumed according to the real-time track information of the aircraft, and the method comprises the following steps:
step B6, modeling the aircraft operating conditions after applying different control instructions, including: (a) the lifting model is set as the climbing gradient of the aircraft
The horizontal ground speed during climbing is
Course and
angle of coordinate axes of
Then the state change is:
(ii) a (b) An increase and decrease speed model, assuming an initial speed of the aircraft of
Acceleration of
Then the aircraft state change is:
(ii) a (c) Yaw model, hypothetical aviationThe deviation angle of the device from the original route is
But the speed remains unchanged, the aircraft state changes to:(ii) a d) Waiting for the model, assuming a selected equivalent turn rate ofThe turning radius isThen the aircraft state change is: ；
step B7, according to the sampling time
Andtemporal aircraft position information
And
calculating
The time corresponding to the speed vector of the aircraft
And course
(ii) a At the same time according to the controllerThe control instruction issued before determines the running state of the aircraft, including uniform linear speed, linear acceleration and deceleration, ascending and descending along a road, changing course yaw flight, and hovering in a waiting airspace to wait for the state;
step B8, according to the current aircraft state
And a vector
And course
Calculating throughAircraft state after time
And then get through
After time the aircraft 4D track.
Preferably, the
Was 3 minutes.
The step C specifically comprises the following steps:
step C1, constructing a conflict hypersurface function set based on the control rule: establishing a set of hypersurface functions to reflect a conflict condition of the system, wherein continuous functions related to a single aircraft in the conflict hypersurface
Continuous function associated with two aircraft for type I hypersurface
Is a type II hypersurface;
step C2, establishing an observer from the continuous state of the aircraft to the discrete conflict state;
step C3, designing a discrete monitor of conflict-to-conflict resolution means, which can be described as a function
WhereinIs the space generated by the observation vector of the observer,is all decision vectors
A generated space; when the discrete observation vector of the observer shows that an unexpected state appears, corresponding alarm is immediately sent out, and a related strategy is adopted to implement a control instruction on a controlled object.
The step D specifically comprises the following steps:
step D1, modeling the flight conflict resolution process: considering the conflict resolution track as a continuous three-section smooth curve, setting a starting point and an end point of the resolution track, and establishing a multivariable optimal conflict resolution model containing acceleration, climbing or descending rate and turning rate according to track limiting conditions;
step D2, carrying out constraint modeling on conflict resolution variables under different flight conditions: where constraints can be described as:
、
、
，
maximum acceleration, turn rate and climb or descent rate, respectively;
d3, solving the optimal path of the single target: solving the optimal release flight path under a single release objective function;
d4, solving the multi-target optimal solution flight path: and selecting different conflict resolution target functions aiming at different airspace operation backgrounds, and solving the multi-target optimal resolution track curve under the different resolution target functions according to a single-target track conflict resolution strategy.
The invention strictly controls the time when the aircraft flying in the air domain passes through certain waypoints on the basis of meeting the air traffic control interval. And the control terminal calculates the flight path of the aircraft according to the flight data processing and world area forecasting system. The in-flight control terminal conjectures the short-term 4D flight path according to the information such as the position, the speed, the course and the like of the aircraft given by the control radar or an automatic dependent surveillance system (ADS-B), and carries out warning on possible conflicts according to the relevant regulation of the control. Then, the control terminal calculates the aircraft conflict resolution 4D track according to the aircraft performance data and the control regulation. All the 4D track information given above is transmitted to the on-board computer through the data communication module, and is executed by the Flight Management System (FMS) or the pilot.
Compared with the prior art, the invention has the following beneficial effects:
1. the system configures accurate air traffic control intervals for the aircraft, strictly controls the time window of the aircraft passing through the waypoint, reduces the traffic flow disorder and improves the airspace safety.
2. The control system has high calculation and track prediction precision on the flight profile, so that the conflict resolution capability and the automation level are improved, and the workload of a controller is reduced.
3. The air traffic control work is no longer limited to maintaining the safe interval between single aircrafts, but macroscopically implements effective control on the traffic flow in the airspace, and the control work can be more shifted to the aspects of aircraft takeoff time, approach sequencing, severe weather diversion and the like.
4. The optimal flight path release of the aircraft based on different performance indexes can obviously improve the economy of the aircraft operation and the utilization rate of an airspace.
Drawings
FIG. 1 is a schematic diagram of the components of a 4D track based air traffic control system of the present invention;
FIG. 2 is a schematic diagram of the components of an on-board terminal module;
FIG. 3 is a schematic diagram of a data communication module;
fig. 4 is a schematic diagram of a monitoring data fusion module.
FIG. 5 is a schematic flow chart of a method for generating a conflict-free 4D flight path before flight;
FIG. 6 is a schematic flow chart of a method for estimating a 4D flight path in a short and medium flight;
FIG. 7 is a schematic flow chart of a method for aircraft track conflict monitoring and warning;
FIG. 8 is a schematic flow chart of a method for aircraft release 4D trajectory optimization.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings:
the air traffic control system based on 4D track operation, as shown in fig. 1, includes an onboard terminal module 101, a data communication module 102, a monitoring data fusion module 103, and a control terminal module 104. The following describes each of the respective embodiments in detail.
1. Airborne terminal module
The on-board terminal module 101 is the interface where the pilot obtains ground control commands, references to 4D flight paths, and inputs flight intent, while also collecting current aircraft position data.
As shown in fig. 2, the specific embodiment is as follows:
the on-board terminal module 101 receives the following information inputs: (1) the ADS-B information acquisition unit 201 encodes aircraft position vectors, speed vectors and call signs of the aircraft acquired by an airborne GPS and transmits the encoded aircraft position vectors, speed vectors and call signs to the airborne data communication module 102 through information and data; (2) the aircraft pilot needs to transmit the flight intent inconsistent with the ground control command to the airborne data communication module 102 through the human-machine input interface and the agreed form that the ground controller can recognize through information and data. In addition, the onboard terminal module 101 realizes the following information output: (1) receiving and displaying a flight control instruction which can be identified by a pilot through a terminal display screen; (2) receiving and displaying the conflict-free 4D flight path generated before the ground control terminal flies, and calculating the optimal release 4D flight path after the ground control terminal detects the conflict.
2. Data communication module
The data communication module 102 can implement air-ground bidirectional data communication, and implement downlink transmission of the airborne real-time position data and flight intention data unit 202 and uplink transmission of the ground control instruction unit 203 and the reference 4D track unit 204.
As shown in fig. 3, the specific embodiment thereof is as follows:
downlink data communication: the airborne terminal 101 transmits the aircraft identification mark, the 4D position information and other additional data such as flight intention, flight speed, weather and other information to a ground secondary radar (SSR) through an airborne secondary radar transponder, the secondary radar analyzes the data message after receiving the data message, transmits the data message to the central data processing component 301 for decoding, and transmits the data message to the control terminal 104 through an instruction track data interface; uplink data communication: after the ground control terminal 104 is coded by the central data processing component 301 through the command track data interface, the ground secondary radar interrogator transmits and displays the ground control command or the reference 4D track information to the onboard terminal 101.
3. Monitoring data fusion module
The monitoring data fusion module 103 realizes the fusion of air traffic control radar monitoring and automatic related monitoring ADS-B data, and provides real-time flight path information for the flight medium-short term 4D flight path generation sub-module and the real-time flight conflict monitoring and warning sub-module in the control terminal module 104.
As shown in fig. 4, the specific embodiment thereof is as follows:
(1) in the preprocessing stage, coordinate units and time are unified, and data extracted from ADS-B and the air traffic control radar are assumed to be coordinates (such as longitude, latitude and altitude) of a series of discrete points and corresponding acquisition time of each point; (2) adopting a nearest data association algorithm to associate points belonging to the same target, and extracting a target track; (3) converting and aligning track data respectively extracted from ADS-B and air traffic control radar from different space-time reference coordinate systems to a space-time reference coordinate system unified by a control terminal; (4) calculating correlation coefficients of the two tracks, if the correlation coefficients are smaller than a certain preset threshold value, considering that the two tracks are not related, otherwise, the two tracks are related and can be fused; (5) and fusing related tracks. Because the precision and the sampling period of the ADS-B and the air traffic control radar are different, the system adopts a weighted average algorithm based on the sampling period, the weighting coefficient of the weighted average algorithm is determined according to the sampling period and the information precision, and the ADS-B flight path and the air traffic control radar flight path related to the weighted average algorithm are fused into a system flight path.
4. Control terminal module
The control terminal module 104 comprises four sub-modules of conflict-free 4D track generation before flight, short-term and medium-term 4D track generation in flight, real-time flight conflict monitoring and warning, and flight conflict resolution 4D track optimization.
(1) Pre-flight collision-free 4D track generation
According to a flight plan obtained by a flight data processing system (FDP) and GRIB grid point forecast data of wind and temperature issued by a World Area Forecast System (WAFS), a hierarchical hybrid system model is established for an air traffic system, and a time track of state evolution is described through the evolution of the system in a safe state to generate an aircraft track.
As shown in fig. 5, the specific implementation process is as follows:
first, aircraft state transition modeling is performed. The process of flying the aircraft along the track is represented as a dynamic switching process between the flight segments, and a Petri net model of the single aircraft transferred in different flight segments is established according to the flight height profile of the aircraft in the flight plan:for transferring the model to an aircraft phase, wherein
A flight leg is shown that is,
represents the transition point of flight state parameters (including airspeed, altitude and configuration) in a vertical section,
and
respectively represents the forward and backward connection relation of the flight section and the waypoint,
indicating the flight phase in which the aircraft is.
And secondly, establishing a full flight profile hybrid system model of the aircraft. The flight of the aircraft in a single flight section is regarded as a continuous process, and the aircraft dynamic equation under the same meteorological conditions of the aircraft in different operation stages is deduced according to a particle energy model,
，
wherein
In order to correct the airspeed,
is a Mach number of the component (A),
is the height of the air pressure,is the included angle between the wind direction forecast and the air route,
the wind speed forecast value is a value which is reported by the wind speed forecast,
is a temperature prediction value.
And then, speculating and solving the flight path by adopting a hybrid system simulation mode. The method of subdividing time is adopted, and the characteristic of continuous change of state is utilized to recursively solve the range of the aircraft from a reference point in a certain flight stage at any moment
And height
Wherein
For the range of the aircraft from the reference point at the initial moment,
is the value of the time window and,
is composed of
The range of the aircraft from the reference point at the moment,
the altitude of the aircraft from the reference point at the initial moment,
is composed of
The height of the aircraft from the reference point at the moment can be used for deducing the 4D track of the single aircraft.
And finally, implementing conflict-free deployment on the multi-aircraft coupling model. And carrying out quadratic programming on the 4D flight path of the aircraft which does not meet the interval requirement near the intersection according to the time of two aircrafts for reaching the intersection and the air traffic control principle to obtain the conflict-free 4D flight path.
(2) In-flight short-and-medium-term 4D track generation
And (3) acquiring real-time track data of the aircraft after fusion is carried out according to the controlled radar and an automatic dependent surveillance system ADS-B, and presuming the 4D track of the aircraft within a future 3-minute time window by utilizing an aircraft kinematics model.
As shown in fig. 6, the specific implementation process is as follows:
firstly, to applyAnd modeling the aircraft running condition after adding different control instructions. The method comprises the following steps: (a) the lifting model is set as the climbing gradient of the aircraft
(if
Indicating a descent), the horizontal ground speed at the time of ascent is
Course and
angle of coordinate axes of
Then the state change is:
(ii) a (b) An increase and decrease speed model, assuming an initial speed of the aircraft of
Acceleration of
(if
Representing deceleration), the aircraft state change is:(ii) a (c) Yaw model, assuming that the aircraft deviates from the original course by an angle ofBut the speed remains unchangedThen the aircraft state change is:
(ii) a (d) Waiting model, in order to simplify the calculation, the waiting program is equivalent to a circular track, and the selected equivalent turning rate is assumed to beThe turning radius is
Then the aircraft state change is:
。
then, according to the sampling time
And
temporal aircraft position information
And
calculating
The time corresponding to the speed vector of the aircraft
And course. And simultaneously, determining the running state of the aircraft according to a control instruction issued by a controller before, wherein the running state comprises a uniform-speed straight line, linear acceleration and deceleration, ascending and descending along a road, changing course yaw flight and hovering in a waiting airspace to wait for the state.
Finally, according to the current aircraft stateAnd a vector
And courseCalculating through
Aircraft state after time
And then get throughAfter time the aircraft 4D track.
(3) Real-time flight conflict monitoring and warning
When the system possibly has a state violating the safety state set, the state monitoring is implemented through the controller, effective control measures are implemented on the aircraft, and the occurrence of flight conflicts is avoided.
As shown in fig. 7, the specific implementation process is as follows:
first, a set of conflicting hypersurface functions based on the governing rules is constructed. The violation of the air traffic control constraint can be regarded as an event generated when a system is formed by controlled objects (a plurality of aircrafts flying in a controlled airspace) to pass through a hypersurface, and a hypersurface function set is established to reflect the conflict condition of the system. Wherein the continuous function associated with a single aircraft in the conflicting hypersurface
Continuous function for type I hypersurface and for two aircraft
Is a type II hypersurface.
Then, an observer of the aircraft from a continuous state to a discrete collision state is established. An observer is required to be established according to the control specification, and a conflict event generated when the system of the system passes through the hypersurface is observed, so that the controller can make a corresponding control decision instruction. Observer
For observing the successive changes in the position of an aircraft in a system producing conflicting events, called
Is a type I observer and is used as a visual observer,
is a type II observer.
Finally, a discrete monitor of the conflict-to-conflict resolution approach is designed. When the discrete observation vector of the observer shows that an unexpected state appears, corresponding alarm is immediately sent out, and a related strategy is adopted to implement a control instruction on a controlled object. The discrete monitor can be described as a function
Wherein
Is the space generated by the observation vector of the observer,
is all decision vectorsThe space generated.
(4) Flight conflict resolution 4D track optimization
Under the condition that the system meets the control specification, the control input given by the controller can be optimized by selecting different release target functions and adopting an optimal control theory method.
As shown in fig. 8, the specific implementation process is as follows:
firstly, modeling a flight conflict resolution process: considering the conflict resolution track as a continuous three-section smooth curve, setting the starting point and the end point of the resolution track, and establishing the acceleration
Climbing or descending rate
Turning rate
The multivariate optimal conflict resolution model of (1).
Then, the constraint of the conflict resolution variables under different flight conditions is modeled. Since the conflict resolution variables are constrained by aircraft performance and airspace, the constraints can be described as:
、
、
，maximum acceleration, turn rate and climb or descent rate, respectively.
Secondly, solving the optimal path of the single target. The problems are singular optimal control problems, singular solutions are composed of normal arcs and singular arcs, and optimal solution tracks under a single solution objective function are solved according to the singular optimal control problems.
And finally, solving the multi-target optimal solution flight path. Selecting different conflict resolution target functions aiming at different airspace operation backgrounds, and solving a multi-target optimal resolution track curve under the different resolution target functions according to a single-target track conflict resolution strategy
Wherein
the key position points on the disengaging flight path curve.
Claims (9)
1. An air traffic control system based on 4D track operation comprises a data communication module, an airborne terminal module and a control terminal module, and is characterized in that,
the air traffic control system also comprises a monitoring data fusion module which is used for realizing the fusion of the monitoring data of the air traffic control radar and the automatic related monitoring data and providing real-time track information for the control terminal module;
the control terminal module comprises the following sub-modules:
the non-conflict 4D track generation module before flight establishes an aircraft dynamic model according to the flight plan and the forecast data of the world area forecast system, and then establishes a track conflict pre-debugging theoretical model according to the flight conflict coupling point to generate a non-conflict 4D track of the aircraft;
the in-flight and short-term 4D track generation module is used for conjecturing the 4D track of the aircraft in a certain time window in the future by utilizing the aircraft kinematics model according to the real-time track information provided by the monitoring data fusion module;
the real-time flight conflict monitoring and warning module is used for establishing an observer from the continuous dynamic state of the aircraft to the discrete conflict logic and mapping the continuous dynamic state of the air traffic system into a conflict state expressed by a discrete observation value; when the system possibly violates the air traffic control rule, monitoring the hybrid dynamic behavior of the air traffic hybrid system, and providing timely warning information for a controller;
the flight conflict resolution 4D track optimization module is used for calculating the conflict resolution 4D track of the aircraft by selecting different resolution objective functions and adopting an optimal control theory method under the condition that the system meets the constraint conditions of aircraft performance and control rules; and the data communication module is used for sending the aircraft conflict resolution 4D track to the airborne terminal module for execution.
2. An air traffic control method based on 4D track operation, characterized in that, the air traffic control system of claim 1 is used for air traffic control, comprising the following steps:
step A, a non-conflict 4D track generation module before flight establishes an aircraft dynamic model according to a flight plan and forecast data of a world area forecast system, establishes a track conflict pre-debugging theoretical model according to a flight conflict coupling point and generates a non-conflict 4D track of the aircraft;
step B, the monitoring data fusion module fuses the monitoring data of the air traffic control radar and the automatic related monitoring data to generate real-time flight path information of the aircraft and provide the information to the control terminal module; a 4D track generation module in the control terminal module in the medium and short term of flight in the terminal module conjectures a 4D track of the aircraft in a certain future time window according to the real-time track information of the aircraft;
step C, the real-time flight conflict monitoring and warning module establishes an observer from the continuous dynamic state of the aircraft to the discrete conflict logic, and the continuous dynamic state of the air traffic system is mapped into a conflict state expressed by a discrete observation value; when the system possibly violates the air traffic control rule, monitoring the hybrid dynamic behavior of the air traffic hybrid system, and providing timely warning information for a controller;
d, calculating the aircraft conflict resolution 4D flight path by selecting different resolution target functions and adopting an optimal control theory method under the condition that the system meets the constraint conditions of aircraft performance and control rules by a flight conflict resolution 4D flight path optimization module; the aircraft conflict resolution 4D track is sent to an airborne terminal module to be executed through a data communication module;
and E, the airborne terminal module receives and executes the 4D track data issued by the control terminal module.
3. The method for air traffic control based on 4D track operation according to claim 2, wherein the aircraft collision-free 4D track is generated according to the following method:
step A1, carrying out aircraft state transition modeling, and establishing a Petri net model of a single aircraft transferring in different flight sections according to the flight height profile of the aircraft in the flight plan:
for transferring the model to an aircraft phase, wherein
A flight leg is shown that is,representing the transition point of the flight state parameter in the vertical section,
and
respectively represents the forward and backward connection relation of the flight section and the waypoint,indicating the flight phase in which the aircraft is;
step A2, establishing a hybrid system model of the full flight profile of the aircraft as follows,
，
，
wherein,in order to be the height of the container,
in order to obtain the ground speed,
in order to correct the airspeed,is a Mach number of the component (A),
is the height of the air pressure,
is the included angle between the wind direction forecast and the air route,the wind speed forecast value is a value which is reported by the wind speed forecast,
is a temperature prediction value;
step A3, adopting a hybrid system simulation mode to speculate and solve the flight path: the method of subdividing time is adopted, and the characteristic of continuous change of state is utilized to recursively solve the range of the aircraft from a reference point in a certain flight stage at any moment
And height
WhereinFor the range of the aircraft from the reference point at the initial moment,
is the value of the time window and,is composed ofThe range of the aircraft from the reference point at the moment,the altitude of the aircraft from the reference point at the initial moment,
is composed of
The altitude of the aircraft from a reference point at that moment; then obtaining a 4D track of the single aircraft;
step A4, implementing conflict-free deployment to the multiple aircraft coupling model: and carrying out quadratic programming on the 4D flight path of the aircraft which does not meet the interval requirement near the intersection according to the time of two aircrafts for reaching the intersection and the air traffic control principle to obtain the conflict-free 4D flight path.
4. The air traffic control method based on 4D track operation according to claim 2, wherein the monitoring data fusion module fuses the monitoring data of the air traffic control radar and the automatic relevant monitoring data to generate the real-time track information of the aircraft, specifically according to the following method:
step B1, unifying coordinate units and time;
b2, associating points belonging to the same target by adopting a nearest data association algorithm, and extracting a target track; step B3, extracting the flight path data from the automatic correlation monitoring system and the air traffic control radar respectively from different space-time parameters
Transforming and aligning the reference coordinate system to a unified space-time reference coordinate system of the control terminal;
step B4, calculating the correlation coefficient of the two tracks, and if the correlation coefficient is smaller than a certain preset threshold value, determining that the two tracks are not related; otherwise, the two tracks are related and can be fused;
and step B5, fusing related tracks.
5. The air traffic control method according to claim 4, wherein the step B5 is implemented by fusing the related tracks, using a weighted average algorithm based on a sampling period, determining the weighting coefficients according to the sampling period and the information precision, and fusing the related auto-correlation monitoring tracks and the air traffic control radar tracks into the system tracks by using the weighted average algorithm.
6. The air traffic control method based on 4D track operation according to claim 2, wherein the 4D track of the aircraft within a certain time window in the future is estimated according to the real-time track information of the aircraft, specifically according to the following method:
step B6, modeling the aircraft operating conditions after applying different control instructions, including: (a) the lifting model is set as the climbing gradient of the aircraft
The horizontal ground speed during climbing is
Course and
angle of coordinate axes of
Then the state change is: 
(ii) a (b) An increase and decrease speed model, assuming an initial speed of the aircraft of
Acceleration of
Then the aircraft state change is:
(ii) a (c) Yaw model, assuming that the aircraft deviates from the original course by an angle of
But the speed remains unchanged, the aircraft state changes to:
(ii) a d) Waiting for the model, assuming a selected equivalent turn rate of
The turning radius is
Then the aircraft state change is:
；
step B7, according to the sampling time
And
temporal aircraft position informationAnd
calculating
The time corresponding to the speed vector of the aircraftAnd course
(ii) a Meanwhile, the running state of the aircraft is determined according to the control instruction issued by the controller before, and the running state comprises uniform-speed straight line and straight line plus-minusThe speed, the ascending and descending along the road, the changing course and the yawing flight, and the hovering and waiting state in a waiting airspace;
step B8, according to the current aircraft state
And a vector
And courseCalculating throughAircraft state after time
And then get through
After time the aircraft 4D track.
7. The method for air traffic control based on 4D track operation of claim 6, wherein the method is characterized in that
Was 3 minutes.
8. The air traffic control method based on 4D track operation according to claim 2, wherein the step C specifically includes:
step C1, constructing a conflict hypersurface function set based on the control rule: establishing a set of hypersurface functions to reflect a conflict condition of the system, wherein continuous functions related to a single aircraft in the conflict hypersurface
Continuous function associated with two aircraft for type I hypersurface
Is a type II hypersurface;
step C2, establishing an observer from the continuous state of the aircraft to the discrete conflict state;
step C3, designing a discrete monitor of conflict-to-conflict resolution means, which can be described as a function
Wherein
Is the space generated by the observation vector of the observer,
is all decision vectorsA generated space; when the discrete observation vector of the observer shows that an unexpected state appears, corresponding alarm is immediately sent out, and a related strategy is adopted to implement a control instruction on a controlled object.
9. The air traffic control method based on 4D track operation according to claim 2, wherein the step D specifically includes:
step D1, modeling the flight conflict resolution process: considering the conflict resolution track as a continuous three-section smooth curve, setting a starting point and an end point of the resolution track, and establishing a multivariable optimal conflict resolution model containing acceleration, climbing or descending rate and turning rate according to track limiting conditions;
step D2, carrying out constraint modeling on conflict resolution variables under different flight conditions: where constraints can be described as:
、、
，
maximum acceleration, turn rate and climb or descent rate, respectively;
d3, solving the optimal path of the single target: solving the optimal release flight path under a single release objective function;
d4, solving the multi-target optimal solution flight path: and selecting different conflict resolution target functions aiming at different airspace operation backgrounds, and solving the multi-target optimal resolution track curve under the different resolution target functions according to a single-target track conflict resolution strategy.
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