CN102509475B - Air traffic control system and method for four-dimensional (4D)-trajectory-based operation - Google Patents

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

Air traffic control system and method based on the operation of 4D flight path

Technical field

The present invention relates to a kind of air traffic control system and method, relate in particular to a kind of air traffic control system and method based on the operation of 4D flight path.

Background technology

Along with becoming increasingly conspicuous of global air-transport industry fast development and spatial domain resource-constrained contradiction, the complicated spatial domain that traffic flow aloft is intensive, still adopt flight planning to demonstrate gradually its lag in conjunction with the air traffic control mode of interval allotment, be in particular in: (1) flight planning is not the aircraft accurate blank pipe of configuration interval, easily cause crowded in traffic flow tactics management, reduce the spatial domain security; (2) reckoning and the Trajectory Prediction low precision of the air traffic control automation system centered by flight planning to flight profile, mission profile causes conflict to dissolve ability; (3) job of air traffic control still lays particular emphasis on the personal distance that keeps between single aircraft, is difficult to rise to strategic Management is carried out in traffic flow.

The 4D flight path is with the room and time form, accurate description to the each point locus in a certain aircraft flight path (longitude, latitude and height) and time, operation based on flight path refers to use " controlling time of arrival " on the way point of 4D flight path, namely control aircraft by " time window " of specific way point.In the high density spatial domain based on the operation (Trajectory based Operation) of 4D flight path as one of basic operating mechanism, it is following a kind of effective means of spatial domain under large flow, high density, closely-spaced condition being implemented management, can reduce significantly the uncertainty of aircraft flight path, improve security and the utilization factor of spatial domain and Airport Resources.

The air traffic method of operation based on the flight path operation need to be calculated and optimize single aircraft flight track on strategic level, and the traffic flow that many aircrafts consist of is implemented collaborative and adjusted; Pass through the flight path of indivedual aircrafts in the correction traffic flow with the solution congestion problems on pre-tactical level, and guarantee the operational efficiency of all aircrafts in this traffic flow; And prediction conflicts and optimization solution off-square case on tactical level, change the aircraft headway management factors such as into considering aircraft performance, regulation rule and environment in interior variable Separation control mode from fixing manual type, therefore the operation towards the 4D flight path has proposed Secretary to air traffic control.

Summary of the invention

Technical matters to be solved by this invention is to overcome the deficiencies in the prior art, and a kind of air traffic control system and method based on the operation of 4D flight path is provided, and can effectively prevent flight collision, improves the security of air traffic.

Air traffic control system based on the operation of 4D flight path of the present invention, comprise data communication module, Airborne Terminal module, control terminal module, this air traffic control system also comprises the monitoring data Fusion Module, be used for realizing the fusion of air traffic control radar monitoring data and automatic dependent surveillance data, for the control terminal module provides real-time flight path information;

Described control terminal module comprises following submodule:

Nothing conflict 4D flight path generation module before flight, forecast data according to flight planning and world area forecast system, set up the aircraft kinetic model, then set up the flight path conflict according to the flight collision Coupling point and allocate in advance theoretical model, generate aircraft without conflict 4D flight path;

Short-term 4D flight path generation module, according to the real-time flight path information that the monitoring data Fusion Module provides, utilize the aircraft kinematics model in-flight, infers the aircraft 4D track in following certain hour window;

Real-time flight conflict monitoring and alarm module, be used for to set up from aircraft continuously dynamically to the observer of discrete conflict logic, be the conflict situation that the discrete observation value is expressed with the continuous dynamic mapping of Air Traffic System; When system might occur violating air traffic control rules, to the Hybrid dynamics behavior implementing monitoring of air traffic hybrid system, for the controller provides warning information timely;

Solving Flight Conflicts 4D flight path is optimized module, is guaranteeing to make system satisfy under aircraft performance and regulation rule constraint condition, by selecting the different objective functions of freeing, adopts theory of optimal control method, calculates aircraft conflict Resolution 4D flight path; And send to the Airborne Terminal module to carry out aircraft conflict Resolution 4D flight path by data communication module.

Air traffic control method based on the operation of 4D flight path of the present invention utilizes above-mentioned air traffic control system to carry out air traffic control, specifically comprises the following steps:

Before steps A, flight, nothing conflict 4D flight path generation module is according to the forecast data of flight planning and world area forecast system, set up the aircraft kinetic model, and set up the flight path conflict according to the flight collision Coupling point and allocate in advance theoretical model, generate aircraft without conflict 4D flight path;

Step B, monitoring data Fusion Module merge air traffic control radar monitoring data and automatic dependent surveillance (ADS-B) data, generate the real-time flight path information of aircraft and offer the control terminal module; The 4D of short-term in-flight flight path generation module in the control terminal module is according to the aircraft 4D track in the following certain hour window of the real-time flight path information supposition of aircraft;

Step C, real-time flight conflict monitoring and alarm module set up from aircraft continuously dynamically to the observer of discrete conflict logic, be the conflict situation that the discrete observation value is expressed with the continuous dynamic mapping of Air Traffic System; When system might occur violating air traffic control rules, to the Hybrid dynamics behavior implementing monitoring of air traffic hybrid system, for the controller provides warning information timely;

Step D, Solving Flight Conflicts 4D flight path are optimized module and are being guaranteed to make system satisfy under aircraft performance and regulation rule constraint condition, by selecting the different objective functions of freeing, adopt theory of optimal control method, calculate aircraft conflict Resolution 4D flight path; And send to the Airborne Terminal module to carry out aircraft conflict Resolution 4D flight path by data communication module;

Step e, Airborne Terminal module receive and carry out the 4D flight path data of control terminal module issue.

Described aircraft generates in accordance with the following methods without conflict 4D flight path:

Steps A 1, the aircraft states of carrying out shift modeling, flying height section according to aircraft in flight planning, set up the Petri pessimistic concurrency control that single aircraft shifts in different legs: N=(P, T, Pre, Post, m) be aircraft phase transition model, wherein P represents the leg of flying, and T represents the transfer point of flight status parameter in vertical section, Pre and Post represent that respectively the front and back of leg and way point are to annexation

The residing mission phase of expression aircraft;

Steps A 2, to set up the full flight profile, mission profile hybrid model of aircraft as follows,

v _H=κ(v _CAS,M,h _p,t _LOC)，

v _GS=λ(v _CAS,M,h _p,t _LOC,v _WS,α)，

Wherein, v _HBe altitude rate, v _GSBe ground velocity, v _CASBe calibrated airspeed, M is Mach number, h _pBe barometer altitude, α is the angle in wind direction forecast and air route, v _WSBe wind speed predicted value, t _LOCBe the temperature forecast value;

Steps A 3, adopt the mode of hybrid system emulation to infer to find the solution flight path: adopt the method with time subdivision, utilize state continually varying characteristic Recursive Solution any time aircraft in the voyage of a certain mission phase apart from reference point $d\left(\mathrm{\τ}\right)=d_0+{\∫}_0^{\mathrm{\Δ\τ}}{v}_{\mathrm{GS}}\left(\mathrm{\τ}\right)\mathrm{d\τ}$ And height $h\left(\mathrm{\τ}\right)=h_0+{\∫}_0^{\mathrm{\Δ\τ}}{v}_H\left(\mathrm{\τ}\right)\mathrm{d\τ},$ D wherein ₀Be the voyage of initial time aircraft apart from reference point, Δ τ is the numerical value of time window, and d (τ) is that τ moment aircraft is apart from the voyage of reference point, h ₀Be the height of initial time aircraft apart from reference point, h (τ) is that τ moment aircraft is apart from the height of reference point; Then obtain the 4D flight path of single aircraft;

Steps A 4, many aircrafts coupling model is implemented without the conflict allotment: the time that reaches in advance the point of crossing according to two aircrafts, according to the air traffic control principle, near the aircraft 4D flight path that does not satisfy space requirement the point of crossing is carried out quadratic programming, obtain the flight path without conflict 4D.

Described monitoring data Fusion Module merges air traffic control radar monitoring data and automatic dependent surveillance data, generates the real-time flight path information of aircraft, specifically in accordance with the following methods:

Step B1, with coordinate unit and time unification;

Step B2, the point that adopts proximity data association algorithm will belong to same target are associated, and extract targetpath;

Step B3, the flight path data will be respectively extracted from automatic dependent surveillance system and air traffic control radar from different space-time reference coordinate system conversion, be registered to the unified space-time reference coordinate system of control terminal;

The related coefficient of step B4, two flight paths of calculating is if related coefficient less than a certain predetermined threshold value, thinks that two flight paths are uncorrelated; Otherwise these two flight paths are relevant, can merge;

Step B5, relevant flight path is merged.

Preferably, described in step B5, relevant flight path is merged, adopt the Weighted Average Algorithm in sample-based cycle, its weighting coefficient is definite according to sampling period and precision of information, and the recycling Weighted Average Algorithm is system's flight path with relevant automatic dependent surveillance flight path and air traffic control radar Track Fusion.

Described according to the aircraft 4D track in the following certain hour window of the real-time flight path information supposition of aircraft, specifically in accordance with the following methods:

Step B6, the aircraft operation conditions that applies after different control orders is carried out modeling, comprise: (a) lifting model, if the aircraft gradient of climb is γ, horizontal ground velocity when climbing is v, the angle of course and X coordinate axis is ψ, state variation is: Δ x=[vcos ψ Δ τ, vsin ψ Δ τ, v γ Δ τ] ^T(b) increase and decrease fast model, suppose that the aircraft initial velocity is v, acceleration is a, and aircraft states is changed to: Δ x=[(v+a Δ τ/2) cos ψ Δ τ, (v+a Δ τ/2) sin ψ Δ τ, 0] ^T(c) the driftage model, suppose that aircraft is Δ α from former air route deviation angle, but speed remains unchanged, and aircraft states is changed to: Δ x=[vcos (ψ+Δ ψ) Δ τ, vsin (ψ+Δ ψ) Δ τ, 0] ^TD) Holding Model supposes that the equivalence turning rate of choosing is ρ, and radius of turn is r, and aircraft states is changed to: Δ x=[r[cos (ψ+ρ Δ τ)-cos (ρ Δ τ)], r[sin (ψ+ρ Δ τ)-sin (ρ Δ τ)], 0] ^T

Step B7, according to sampling instant τ _k-1And τ _kAircraft position information x constantly _k-1And x _k, calculate τ _kThe velocity v of corresponding aircraft of the moment _kWith course ψ _kDetermine simultaneously the running status of aircraft according to the control order of issue before the controller, comprise at the uniform velocity straight line, linear acceleration and deceleration, follow the road lifting, the yawed flight that changes course, in the holding area waiting status of spiraling;

Step B8, according to current aircraft states x _k, and vector v _kWith course ψ _k, calculate the state x through Δ τ aircraft after the time _k+1=x _k+ Δ x, and then obtain through aircraft 4D flight path after the Δ τ time.

Preferably, described Δ τ is 3 minutes.

Described step C specifically comprises:

Step C1, structure are based on the conflict hypersurface collection of functions of regulation rule: set up the hypersurface collection of functions in order to reflect the contention situation of system, wherein, the continuous function relevant to single aircraft in the conflict hypersurface Be I type hypersurface, to two continuous functions that aircraft is relevant

It is II type hypersurface;

Step C2, foundation are by the observer of aircraft continuous state to discrete conflict situation;

Step C3, the discrete watch-dog of design from conflict to the conflict Resolution means, this discrete watch-dog can be described as function

Wherein S is the space of observer observation vector generate, and D is the space of all decision vector d generates; When the discrete observation vector of observer shows that a certain unexpected state occurs, send at once corresponding alarm, and take corresponding strategies to implement steering order to controlled device.

Described step D specifically comprises:

Step D1, to the Solving Flight Conflicts process model building: the conflict Resolution flight path is considered as three sections continuous smooth curves, given starting point and terminal point of freeing flight path, according to the flight path restrictive condition, set up and to comprise acceleration, climb or the optimum conflict Resolution model of multivariate of rate of descent, turning rate;

Step D2, to conflict Resolution variable bound modeling under different flying conditions: wherein constraint can be described as: a _i(t)≤a _M, ω _i(t)≤ω _M, γ _i(t)≤γ _M, a _M, ω _M, γ _MBe respectively maximum acceleration, turning rate and climb or rate of descent.

Step D3, single goal optimum are freed flight path and are found the solution: find the solution at single optimum of freeing under objective function and free flight path;

Step D4, multiobjective optimization are freed flight path and are found the solution: for different airspace operation backgrounds, select different conflict Resolution objective functions, find the solution the multiobjective optimization of freeing under objective function in difference according to single goal flight path conflict Resolution strategy and free the flight path curve.

The present invention is on the basis of satisfying the air traffic control interval, and the aircraft that flies in strict controlled air space is by the moment of some way point.Before flight, the control terminal is processed and world area forecast system according to flying quality, calculates the flight path of aircraft.The information such as the aircraft position that control terminal in-flight provides according to control radar or automatic dependent surveillance system (ADS-B), speed, course are inferred short-term 4D flight path, and according to the control relevant regulations, alarm are implemented in the conflict that may occur.Then, the control terminal will according to aircraft performance data, control regulation, be calculated aircraft conflict Resolution 4D flight path.All above-mentioned 4D flight path information that provide all pass to airborne computer by data communication module, are carried out by flight management system (FMS) or pilot.

Compared to existing technology, the present invention has following beneficial effect:

1, system is the aircraft accurate blank pipe of configuration interval, strictly controls aircraft by the time window of way point, has reduced the traffic flow randomness, has improved the spatial domain security.

2, control system is high to reckoning and the Trajectory Prediction precision of flight profile, mission profile, and then makes conflict dissolve ability and automatization level raising, has reduced controller's working load.

3, job of air traffic control no longer is confined to keep the personal distance between single aircraft, but the traffic flow in the spatial domain is implemented effectively to control on the macroscopic view, control work can more be transferred to the aircraft takeoff moment, the sequence of marching into the arena, inclement weather and change the aspects such as boat.

4, free based on the aircraft optimum of different performance index the economy that flight path can improve the aircraft operation significantly, and the utilization factor in spatial domain.

Description of drawings

Fig. 1 is the composition schematic diagram of the air traffic control system based on 4D flight path operation of the present invention;

Fig. 2 is that the Airborne Terminal module forms schematic diagram;

Fig. 3 is that data communication module forms schematic diagram;

Fig. 4 is that the monitoring data Fusion Module forms schematic diagram.

Fig. 5 generates the method flow schematic diagram for flight is front without conflict 4D flight path;

Fig. 6 is short-term 4D flight path estimation method schematic flow sheet in-flight;

Fig. 7 is the conflict monitoring of aircraft flight path and alarm method schematic flow sheet;

Fig. 8 is that aircraft is freed 4D route optimization method schematic flow sheet.

Embodiment

Below in conjunction with accompanying drawing, technical scheme of the present invention is elaborated:

Air traffic control system based on the operation of 4D flight path of the present invention as shown in Figure 1, comprises Airborne Terminal module 101, data communication module 102, monitoring data Fusion Module 103, control terminal module 104.Below the embodiment of each several part is described in detail respectively.

1. Airborne Terminal module

Airborne Terminal module 101 be the pilot obtain the ground control order, with reference to the 4D flight path, and the interface of input flight intention still gathers the interface of current aircraft position data simultaneously.

As shown in Figure 2, its specific embodiments is as follows:

Airborne Terminal module 101 receives following input information: aircraft position vector, velocity vector that (1) ADS-B information acquisition unit 201 gathers by Airborne GPS, and the catchword of this aircraft, pass to on-board data communication module 102 by information and data after coding; (2) the aircraft driver needs and will be intended to the inconsistent flight of ground control order, and by man-machine inputting interface, and the form that the ground controller of agreement can identify passes to on-board data communication module 102 by information and data.The information output that is achieved as follows of Airborne Terminal module 101 in addition: (1) by terminal display, receives and shows the air traffic control instruction that the pilot can identify; (2) receive and explicitly generate before facial canal terminal flight processed without conflict 4D flight path, and free the 4D flight path when ground line end-probing processed optimum of calculating after conflict.

2. data communication module

Data communication module 102 can be realized the vacant lot bidirectional data communication, realizes downlink transfer and the ground control command unit 203 of airborne real time position data and flight intention data cell 202, and with reference to the uplink of 4D flight path unit 204.

As shown in Figure 3, its specific embodiments is as follows:

Downlink data communication: Airborne Terminal 101 passes through the airborne secondary radar answering machine with aircraft identification sign and 4D positional information, and other additional datas, as the communication such as the intention of flying, flying speed, meteorology is to ground secondary radar (SSR), secondary radar is resolved the data message after receiving, and be transferred to 301 decodings of central data processing components, be transferred to control terminal 104 by instruction flight path data-interface; Upstream data communication: ground control terminal 104 is by instruction flight path data-interface, and after central data processing components 301 codings, the inquisitor of ground secondary radar is ground control order or with reference to the information transmission of 4D flight path and be presented at Airborne Terminal 101 just.

3. monitoring data Fusion Module

Monitoring data Fusion Module 103 realizes that air traffic control radar monitors and the fusion of automatic dependent surveillance ADS-B data, provides real-time flight path information for the 4D of the short-term in-flight flight path in control terminal module 104 generates submodule and real-time flight conflict monitoring and alarm submodule.

As shown in Figure 4, its specific embodiments is as follows:

(1) at pretreatment stage with coordinate unit and time unification, suppose that the data of extracting respectively are corresponding acquisition times of coordinate (as longitude, latitude, sea level elevation), each point of series of discrete point from ADS-B and air traffic control radar; (2) point that adopts proximity data association algorithm will belong to same target is associated, and extracts targetpath; (3) the flight path data that will extract from ADS-B and air traffic control radar respectively from different space-time reference coordinate system conversion, be registered to the unified space-time reference coordinate system of control terminal; (4) calculate the related coefficient of two flight paths, if related coefficient less than a certain predetermined threshold value, thinks that two flight paths are uncorrelated, otherwise these two flight paths are relevant, can merge; (5) relevant flight path is merged.Because the precision of ADS-B and air traffic control radar is different with the sampling period, native system adopts the Weighted Average Algorithm in sample-based cycle, its weighting coefficient is definite according to sampling period and precision of information, and the recycling Weighted Average Algorithm is system's flight path with associated ADS-B flight path and air traffic control radar Track Fusion.

4. control terminal module

Control terminal module 104 comprise before flight without conflict 4D flight path generate, short-term 4D flight path generates in-flight, real-time flight conflict monitoring and alarm, Solving Flight Conflicts 4D flight path optimize this four submodules.

(1) generate without conflict 4D flight path before flight

The wind of the flight planning that obtains according to Flight Data Processing System (FDP) and world area forecast system (WAFS) issue, the GRIB lattice point forecast data of temperature, Air Traffic System is set up the hybrid model of stratification, by the evolution of system at safe condition, describe the time locus of state evolution, generate the aircraft flight path.

As shown in Figure 5, its specific implementation process is as follows:

At first, carry out aircraft states and shift modeling.Aircraft shows as dynamic handoff procedure between the leg along the process of track flight, flying height section according to aircraft in flight planning, set up the Petri pessimistic concurrency control that single aircraft shifts in different legs: N=(P, T, Pre, Post, m) be aircraft phase transition model, wherein P represents the leg of flying, T represent flight status parameter in vertical section (comprise air speed, highly, configuration) transfer point, Pre and Post represent that respectively the front and back of leg and way point are to annexation

The residing mission phase of expression aircraft.

Secondly, set up the full flight profile, mission profile hybrid model of aircraft.The flight of aircraft in single leg is considered as continuous process, according to the particle energy model, the derivation aircraft in the different operation phase with the aircraft kinetics equation under meteorological condition, v _H=κ (v _CAS, M, h _p, t _LOC), v _GS=λ (v _CAS, M, h _p, t _LOC, v _WS, α), v wherein _CASBe calibrated airspeed, M is Mach number, h _pBe barometer altitude, α is the angle in wind direction forecast and air route, v _WSBe wind speed predicted value, t _LOCBe the temperature forecast value.

Then, adopt the mode of hybrid system emulation to infer and find the solution flight path.Employing utilizes state continually varying characteristic Recursive Solution any time aircraft in the voyage of a certain mission phase apart from reference point the method for time subdivision $d\left(\mathrm{\τ}\right)=d_0+{\∫}_0^{\mathrm{\Δ\τ}}{v}_{\mathrm{GS}}\left(\mathrm{\τ}\right)\mathrm{d\τ}$ And height $h\left(\mathrm{\τ}\right)=h_0+{\∫}_0^{\mathrm{\Δ\τ}}{v}_H\left(\mathrm{\τ}\right)\mathrm{d\τ}$ D wherein ₀Be the voyage of initial time aircraft apart from reference point, Δ τ is the numerical value of time window, and d (τ) is that τ moment aircraft is apart from the voyage of reference point, h ₀Be the height of initial time aircraft apart from reference point, h (τ) be τ constantly aircraft apart from the height of reference point, can infer thus the 4D flight path that obtains single aircraft.

At last, many aircrafts coupling model is implemented without the conflict allotment.Reach in advance the time of point of crossing according to two aircrafts, according to the air traffic control principle, near the aircraft 4D flight path that does not satisfy space requirement the point of crossing is carried out quadratic programming, obtain the flight path without conflict 4D.

(2) short-term 4D flight path generates in-flight

Obtain the real-time flight path data of aircraft after implementing to merge according to control radar and the automatic dependent surveillance ADS-B of system, utilize the aircraft kinematics model, infer the aircraft 4D track in following 3 minutes windows.

As shown in Figure 6, its specific implementation process is as follows:

At first, the aircraft operation conditions that applies after different control orders is carried out modeling.Comprise: (a) lifting model, establishing the aircraft gradient of climb is γ (if γ＜0, expression descends), and the horizontal ground velocity when climbing is v, and the angle of course and X coordinate axis is ψ, state variation is: Δ x=[vcos ψ Δ τ, vsin ψ Δ τ, v γ Δ τ] ^T(b) increase and decrease fast model, suppose that the aircraft initial velocity is v, if acceleration is a(a＜0, expression is slowed down), aircraft states is changed to: Δ x=[(v+a Δ τ/2) cos ψ Δ τ, (v+a Δ τ/2) sin ψ Δ τ, 0] ^T(c) the driftage model, suppose that aircraft is Δ α from former air route deviation angle, but speed remains unchanged, and aircraft states is changed to: Δ x=[vcos (ψ+Δ ψ) Δ τ, vsin (ψ+Δ ψ) Δ τ, 0] ^T(d) Holding Model, be circular flight path for simplifying calculating with the wait routine equivalence, suppose that the equivalence turning rate of choosing is ρ, radius of turn is r, aircraft states is changed to: Δ x=[r[cos (ψ+ρ Δ τ)-cos (ρ Δ τ)], r[sin (ψ+ρ Δ τ)-sin (ρ Δ τ)], 0] ^T

Then, according to sampling instant τ _k-1And τ _kAircraft position information x constantly _k-1And x _k, calculate τ _kThe velocity v of corresponding aircraft of the moment _kWith course ψ _kDetermine simultaneously the running status of aircraft according to the control order of issue before the controller, comprise at the uniform velocity straight line, linear acceleration and deceleration, follow the road lifting, the yawed flight that changes course, in the holding area waiting status of spiraling.

At last, according to current aircraft states x _k, and vector v _kWith course ψ _k, calculate the state x through Δ τ aircraft after the time _k+1=x _k+ Δ x, and then obtain through aircraft 4D flight path after the Δ τ time.

(3) real-time flight conflict monitoring and alarm

When the state of breach of security state set might appear in system, implement condition monitoring by controller, aircraft is implemented effective measure of control, avoid the generation of flight collision.

As shown in Figure 7, its specific implementation process is as follows:

At first, structure is based on the conflict hypersurface collection of functions of regulation rule.The violation of air traffic control constraint can be considered as that controlled device (many aircrafts of control zone flight) construction system passes through hypersurface and the event that produces is set up the hypersurface collection of functions in order to reflect the contention situation of system.Wherein, the continuous function relevant to single aircraft in the conflict hypersurface

Be I type hypersurface, and will to two continuous functions that aircraft is relevant It is II type hypersurface.

Then, set up by the observer of aircraft continuous state to discrete conflict situation.Need to set up observer according to the control standard, hypersurface passes through and the collision event that produces in the recording geometry system, so that controller is made corresponding control decision instruction.Observer ξ is used for the continuous variation of recording geometry aircraft position and produces collision event, claims

Be I type observer,

It is II type observer.

At last, the discrete watch-dog of design from conflict to the conflict Resolution means.When the discrete observation vector of observer shows that a certain unexpected state occurs, send at once corresponding alarm, and take corresponding strategies to implement steering order to controlled device.This discrete watch-dog can be described as function

Wherein S is the space of observer observation vector generate, and D is the space of all decision vector d generates.

(4) Solving Flight Conflicts 4D flight path is optimized

Guaranteeing to make system satisfy under the condition of controlling standard, by selecting the different objective functions of freeing, adopt theory of optimal control method, make the control inputs that controller provides can reach optimum.

As shown in Figure 8, its specific implementation process is as follows:

At first, to the Solving Flight Conflicts process model building: the conflict Resolution flight path is considered as three sections continuous smooth curves, and given starting point and terminal point of freeing flight path according to the flight path restrictive condition, set up and comprised acceleration a _i(t), climb or rate of descent γ _i(t), turning rate ω _i(t) the optimum conflict Resolution model of multivariate.

Then, to conflict Resolution variable bound modeling under different flying conditions.Be subject to the constraint in aircraft performance and spatial domain due to the conflict Resolution variable, constraint can be described as: a _i(t)≤a _M, ω _i(t)≤ω _M, γ _i(t)≤γ _M, a _M, ω _M, γ _MBe respectively maximum acceleration, turning rate and climb or rate of descent.

Secondly, the single goal optimum is freed flight path and is found the solution.This class problem is a class Singular Optimal Control, and singular solution is comprised of normal arc and unusual arc, finds the solution at single optimum of freeing under objective function according to this and frees flight path.

At last, multiobjective optimization is freed flight path and is found the solution.For different airspace operation backgrounds, select different conflict Resolution objective functions, find the solution the multiobjective optimization of freeing under objective function in difference according to single goal flight path conflict Resolution strategy and free the flight path curve $C_i^{*}\left(\mathrm{\τ}\right)=\left\{(x_i^{*}\left(\mathrm{\τ}\right),y_i^{*}\left(\mathrm{\τ}\right),z_i^{*}\left(\mathrm{\τ}\right))\right|1\≤i\≤3\},$ Wherein, $(x_i^{*}\left(\mathrm{\τ}\right),y_i^{*}\left(\mathrm{\τ}\right),z_i^{*}\left(\mathrm{\τ}\right))$ For freeing key position point on the flight path curve.

Claims (7)

1. air traffic control method based on 4D flight path operation, it is characterized in that, utilize air traffic control system to carry out air traffic control, described air traffic control system comprises data communication module, Airborne Terminal module, control terminal module, this air traffic control system also comprises the monitoring data Fusion Module, be used for realizing the fusion of air traffic control radar monitoring data and automatic dependent surveillance data, for the control terminal module provides real-time flight path information; Described control terminal module comprises following submodule:

Nothing conflict 4D flight path generation module before flight, forecast data according to flight planning and world area forecast system, set up the aircraft kinetic model, then set up the flight path conflict according to the flight collision Coupling point and allocate in advance theoretical model, generate aircraft without conflict 4D flight path;

Short-term 4D flight path generation module, according to the real-time flight path information that the monitoring data Fusion Module provides, utilize the aircraft kinematics model in-flight, infers the aircraft 4D track in following certain hour window;

Real-time flight conflict monitoring and alarm module, be used for to set up from aircraft continuously dynamically to the observer of discrete conflict logic, be the conflict situation that the discrete observation value is expressed with the continuous dynamic mapping of Air Traffic System; When system might occur violating air traffic control rules, to the Hybrid dynamics behavior implementing monitoring of air traffic hybrid system, for the controller provides warning information timely;

Solving Flight Conflicts 4D flight path is optimized module, is guaranteeing to make system satisfy under aircraft performance and regulation rule constraint condition, by selecting the different objective functions of freeing, adopts theory of optimal control method, calculates aircraft conflict Resolution 4D flight path; And send to the Airborne Terminal module to carry out aircraft conflict Resolution 4D flight path by data communication module; Described air traffic control method specifically comprises the following steps:

Before steps A, flight, nothing conflict 4D flight path generation module is according to the forecast data of flight planning and world area forecast system, set up the aircraft kinetic model, and set up the flight path conflict according to the flight collision Coupling point and allocate in advance theoretical model, generate aircraft without conflict 4D flight path; Described aircraft generates in accordance with the following methods without conflict 4D flight path:

Steps A 1, the aircraft states of carrying out shift modeling, flying height section according to aircraft in flight planning, set up the Petri pessimistic concurrency control that single aircraft shifts in different legs: N=(P, T, Pre, Post, m) be aircraft phase transition model, wherein P represents the leg of flying, and T represents the transfer point of flight status parameter in vertical section, Pre and Post represent that respectively the front and back of leg and way point are to annexation

The residing mission phase of expression aircraft;

Steps A 2, to set up the full flight profile, mission profile hybrid model of aircraft as follows,

v _H=κ(v _CAS,M,h _p,t _LOC)，

v _GS=λ(v _CAS,M,h _p,t _LOC,v _WS,α)，

Wherein, v _HBe altitude rate, v _GSBe ground velocity, v _CASBe calibrated airspeed, M is Mach number, h _pBe barometer altitude, α is the angle in wind direction forecast and air route, v _WSBe wind speed predicted value, t _LOCBe the temperature forecast value;

Steps A 3, adopt the mode of hybrid system emulation to infer to find the solution flight path: adopt the method with time subdivision, utilize state continually varying characteristic Recursive Solution any time aircraft in the voyage of a certain mission phase apart from reference point $d\left(\mathrm{\τ}\right)=d_0+{\∫}_0^{\mathrm{\Δ\τ}}{v}_{\mathrm{GS}}\left(\mathrm{\τ}\right)\mathrm{d\τ}$ And height $h\left(\mathrm{\τ}\right)=h_0+{\∫}_0^{\mathrm{\Δ\τ}}{v}_H\left(\mathrm{\τ}\right)\mathrm{d\τ},$ D wherein ₀Be the voyage of initial time aircraft apart from reference point, Δ τ is the numerical value of time window, and d (τ) is that τ moment aircraft is apart from the voyage of reference point, h ₀Be the height of initial time aircraft apart from reference point, h (τ) is that τ moment aircraft is apart from the height of reference point; Then obtain the 4D flight path of single aircraft;

Steps A 4, many aircrafts coupling model is implemented without the conflict allotment: the time that reaches in advance the point of crossing according to two aircrafts, according to the air traffic control principle, near the aircraft 4D flight path that does not satisfy space requirement the point of crossing is carried out quadratic programming, obtain the flight path without conflict 4D;

Step B, monitoring data Fusion Module merge air traffic control radar monitoring data and automatic dependent surveillance data, generate the real-time flight path information of aircraft and offer the control terminal module; The 4D of short-term in-flight flight path generation module in the control terminal module is according to the aircraft 4D track in the following certain hour window of the real-time flight path information supposition of aircraft;

Step C, real-time flight conflict monitoring and alarm module set up from aircraft continuously dynamically to the observer of discrete conflict logic, be the conflict situation that the discrete observation value is expressed with the continuous dynamic mapping of Air Traffic System; When system might occur violating air traffic control rules, to the Hybrid dynamics behavior implementing monitoring of air traffic hybrid system, for the controller provides warning information timely;

Step D, Solving Flight Conflicts 4D flight path are optimized module and are being guaranteed to make system satisfy under aircraft performance and regulation rule constraint condition, by selecting the different objective functions of freeing, adopt theory of optimal control method, calculate aircraft conflict Resolution 4D flight path; And send to the Airborne Terminal module to carry out aircraft conflict Resolution 4D flight path by data communication module;

Step e, Airborne Terminal module receive and carry out the 4D flight path data of control terminal module issue.

2. the air traffic control method of moving based on the 4D flight path as claimed in claim 1, it is characterized in that, described monitoring data Fusion Module merges air traffic control radar monitoring data and automatic dependent surveillance data, generates the real-time flight path information of aircraft, specifically in accordance with the following methods:

Step B1, with coordinate unit and time unification;

Step B2, the point that adopts proximity data association algorithm will belong to same target are associated, and extract targetpath;

Step B3, the flight path data will be respectively extracted from automatic dependent surveillance system and air traffic control radar from different space-time reference coordinate system conversion, be registered to the unified space-time reference coordinate system of control terminal;

The related coefficient of step B4, two flight paths of calculating is if related coefficient less than a certain predetermined threshold value, thinks that two flight paths are uncorrelated; Otherwise these two flight paths are relevant, can merge;

Step B5, relevant flight path is merged.

3. the air traffic control method of moving based on the 4D flight path as claimed in claim 2, it is characterized in that, described in step B5, relevant flight path is merged, adopt the Weighted Average Algorithm in sample-based cycle, its weighting coefficient is definite according to sampling period and precision of information, and the recycling Weighted Average Algorithm is system's flight path with relevant automatic dependent surveillance flight path and air traffic control radar Track Fusion.

4. as claimed in claim 1 based on the air traffic control method of 4D flight path operation, it is characterized in that, described according to the aircraft 4D track in the following certain hour window of the real-time flight path information supposition of aircraft, specifically in accordance with the following methods:

Step B6, the aircraft operation conditions that applies after different control orders is carried out modeling, comprise: (a) lifting model, if the aircraft gradient of climb is γ, horizontal ground velocity when climbing is v, the angle of course and X coordinate axis is ψ, state variation is: Δ x=[vcos ψ Δ τ, vsin ψ Δ τ, v γ Δ τ] ^T(b) increase and decrease fast model, suppose that the aircraft initial velocity is v, acceleration is a, and aircraft states is changed to: Δ x=[(v+a Δ τ/2) cos ψ Δ τ, (v+a Δ τ/2) sin ψ Δ τ, 0] ^T(c) the driftage model, suppose that aircraft is Δ α from former air route deviation angle, but speed remains unchanged, and aircraft states is changed to: Δ x=[vcos (ψ+Δ ψ) Δ τ, vsin (ψ+Δ ψ) Δ τ, 0] ^TD) Holding Model supposes that the equivalence turning rate of choosing is ρ, and radius of turn is r, and aircraft states is changed to: Δ x=[r[cos (ψ+ρ Δ τ)-cos (ρ Δ τ)], r[sin (ψ+ρ Δ τ)-sin (ρ Δ τ)], 0] ^T

Step B7, according to sampling instant τ _k-1And τ _kAircraft position information x constantly _k-1And x _k, calculate τ _kThe velocity v of corresponding aircraft of the moment _kWith course ψ _kDetermine simultaneously the running status of aircraft according to the control order of issue before the controller, comprise at the uniform velocity straight line, linear acceleration and deceleration, follow the road lifting, the yawed flight that changes course, in the holding area waiting status of spiraling;

Step B8, according to current aircraft states x _k, and vector v _kWith course ψ _k, calculate the state x through Δ τ aircraft after the time _k+1=x _k+ Δ x, and then obtain through aircraft 4D flight path after the Δ τ time.

5. as claimed in claim 4 based on the air traffic control method of 4D flight path operation, it is characterized in that, described Δ τ is 3 minutes.

6. as claimed in claim 1 based on the air traffic control method of 4D flight path operation, it is characterized in that, described step C specifically comprises:

Step C1, structure are based on the conflict hypersurface collection of functions of regulation rule: set up the hypersurface collection of functions in order to reflect the contention situation of system, wherein, the continuous function relevant to single aircraft in the conflict hypersurface Be I type hypersurface, to two continuous functions that aircraft is relevant

It is II type hypersurface;

Step C2, foundation are by the observer of aircraft continuous state to discrete conflict situation;

Step C3, the discrete watch-dog of design from conflict to the conflict Resolution means, this discrete watch-dog can be described as function

Wherein S is the space of observer observation vector generate, and D is the space of all decision vector d generates; When the discrete observation vector of observer shows that a certain unexpected state occurs, send at once corresponding alarm, and take corresponding strategies to implement steering order to controlled device.

7. as claimed in claim 1 based on the air traffic control method of 4D flight path operation, it is characterized in that, described step D specifically comprises:

Step D1, to the Solving Flight Conflicts process model building: the conflict Resolution flight path is considered as three sections continuous smooth curves, given starting point and terminal point of freeing flight path, according to the flight path restrictive condition, set up and to comprise acceleration, climb or the optimum conflict Resolution model of multivariate of rate of descent, turning rate;

Step D2, to conflict Resolution variable bound modeling under different flying conditions: wherein constraint can be described as: a _i(t)≤a _M, ω _i(t)≤ω _M, γ _i(t)≤γ _M, a _M, ω _M, γ _MBe respectively maximum acceleration, turning rate and climb or rate of descent;

Step D3, single goal optimum are freed flight path and are found the solution: find the solution at single optimum of freeing under objective function and free flight path;

Step D4, multiobjective optimization are freed flight path and are found the solution: for different airspace operation backgrounds, select different conflict Resolution objective functions, find the solution the multiobjective optimization of freeing under objective function in difference according to single goal flight path conflict Resolution strategy and free the flight path curve.

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