CN103413011A - Airspace sector dividing method based on computation geometry and simulated annealing - Google Patents
Airspace sector dividing method based on computation geometry and simulated annealing Download PDFInfo
- Publication number
- CN103413011A CN103413011A CN2013103881020A CN201310388102A CN103413011A CN 103413011 A CN103413011 A CN 103413011A CN 2013103881020 A CN2013103881020 A CN 2013103881020A CN 201310388102 A CN201310388102 A CN 201310388102A CN 103413011 A CN103413011 A CN 103413011A
- Authority
- CN
- China
- Prior art keywords
- sector
- spatial domain
- straight line
- flow
- cut apart
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000002922 simulated annealing Methods 0.000 title claims abstract description 18
- 238000009826 distribution Methods 0.000 claims abstract description 11
- 238000005457 optimization Methods 0.000 claims abstract description 7
- 238000005192 partition Methods 0.000 claims description 19
- 238000004088 simulation Methods 0.000 claims description 10
- 238000000638 solvent extraction Methods 0.000 claims description 10
- 230000002452 interceptive effect Effects 0.000 claims description 5
- 238000011156 evaluation Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000001816 cooling Methods 0.000 claims description 2
- 239000011159 matrix material Substances 0.000 claims description 2
- 238000004422 calculation algorithm Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
Images
Landscapes
- Traffic Control Systems (AREA)
Abstract
The invention discloses an airspace sector dividing method based on computation geometry and simulated annealing. The method is achieved under the assistance of a computer system which comprises a sector dividing subsystem, wherein the sector dividing subsystem serves as a realizing platform of an area control sector dividing method. According to the airspace sector dividing method based on the computation geometry and the simulated annealing, on the basis of the control airspace structure and traffic flow spatial distribution, a vague multiple-target function and a constraint condition function of control sector dividing are established, a binary strategy of airspace dividing is put forward, a sector optimization dividing problem is solved by means of the simulated annealing algorithm, global optimum is achieved by means of the simulated annealing method of the binary strategy, the overall satisfaction degree of section dividing multiple-target optimization is higher than the satisfaction degree when only balancing of the sector average flow rate is considered, minimum flight time constraint, minimum distance constraint and sector boundary and main traffic flow crossing angle constraint are achieved, airspace operation safety is guaranteed, and the occurrence rate of flight delay is reduced.
Description
Technical field
The present invention relates to the AIRSPACE PLANNING field, particularly a kind of spatial domain based on computational geometry and simulated annealing sector partitioning method, apply this method and realize control zone planning, ensure flight safety and reduce airliner delay.
Background technology
Sector is the elementary cell of spatial domain system, and the spatial domain system of China approximately is comprised of sector, 200 spatial domains.Each sector, spatial domain is responsible for schedule flight is implemented to commander by a controller.At present, drawing of spatial domain sector borders established the history of substantially following air traffic control and follows.Along with the development of air transportation, this sector is drawn and established the deficiency that shows gradually two aspects: 1) situation of its capacity limit often appears exceeding in the air traffic in some sector; 2) spatial and temporal distributions of the air traffic between sector is extremely unbalanced.Therefore, according to the actual demand of air traffic, the spatial domain sector borders is re-started to optimization, all significant to ensureing air traffic safety and reducing airliner delay.
Although also exist some for spatial domain, to carry out the method for sector division at present, main method is aircraft trajectory clustering, the evolution algorithm based on Voronoi figure, mixed integer programming, figure segmentation theory etc., counting yield is not high, and the sector borders of dividing often presents zigzag, lack practicality, the straight line dichotomy is taked progressively to cut and is got optimum strategy, can not guarantee that dividing result reaches global optimum.
Consider the present situation that existing area control sector is divided, still lack a kind of area control sector partitioning method that can be quick, effective, practical.
Summary of the invention
Deficiency in view of the prior art field, the object of the invention is to, a kind of new area control sector partitioning method is provided, the method comes the feasible region control sector to divide based on computational geometry and simulated annealing, in the hope of sectorization fast and effectively, thereby concordant flow and balanced sector average discharge between the reduction sector, ensure flight safety.
The present invention realizes like this, a kind of division methods of control sector based on computational geometry and simulated annealing, by computer system, assist realization, described computer system mainly consists of client/server (C/S) pattern, computer system comprises the spatial domain navigational route database, the Simulation drive subsystem, the airspace modeling subsystem, flight planning subsystem and demonstration and interactive subsystem, it is characterized in that, in computer system, also comprise the sector partition sub-system that operates in a client, described sector partition sub-system is as the implementation platform of area control sector partitioning method,
The sector partition sub-system comprises that the sector, spatial domain is drawn and establishes model module and sector and divide module;
The sector, spatial domain is drawn and established model module is to set up the spatial domain graph model according to guidance station and way point information, according to air traffic, set up concordant flow model between sector average discharge and sector, according to control zone structure and magnitude of traffic flow space distribution, set up Fuzzy Multiobjective function and the constraint conditional function cut apart the sector, spatial domain;
It is that two minutes strategies of application are cut apart area control that module is divided in sector, calculates the concordant flow between each sector average discharge and sector, and assesses, and is optimized and cuts apart in conjunction with simulated annealing;
The sector partition sub-system comprises sets up the step that spatial domain graph model, flow rate calculation and optimization are divided;
Described control sector division methods, comprise the steps:
Step 1: input area control structured data, air route course data in the airspace modeling subsystem, establishment flight planning data in the flight planning subsystem, simulation time is set, call the Simulation drive subsystem, add up two internodal average aircraft quantity in certain time period, using this numerical value as the two internodal amounts of relation, build the transport air flow moment matrix
F , wherein node and the flow value of self are " 0 ";
Step 2: draw in establishing model module and set up respectively three kinds of models in the sector, spatial domain of sector partition sub-system:
A, using guidance station, reporting point nature way point as space nodes, the area control graph model, as the limit collection of figure, is set up in air route, course line;
B, by air traffic, set up the sector average discharge (at the appointed time in the section, appear at simultaneously the average of the aircraft in sector) and sector between concordant flow (pocket of navigating enters and while leaving sector, the controller carries out the number of times of control transfer) model;
C, according to control zone structure and magnitude of traffic flow space distribution, set up the Fuzzy Multiobjective function cut apart the sector, spatial domain and constraint conditional function, namely take balanced sector average discharge and reduce concordant flow between sector as target, take the angle of the crossing that minimum flight time, minor increment and sector borders and main traffic the flow sector partitioning model as constraint condition;
Step 3: in the sector of sector partition sub-system, divide in module, take the airport reference point position in area control district to set up plane right-angle coordinate as true origin, area control border vertices coordinate is arranged in order in the order of connection, is designated as
G, in conjunction with simulated annealing, control zone is divided into
nIndividual sector, its concrete steps are as follows:
A, initial temperature are set to
T 0, order
, temperature with
Lapse rate successively decrease, final temperature is
T e
B, random given one group of straight line
Wherein
l i Mean the
iBar is cut apart straight line,
k i ,
b i Mean the
iBar is cut apart slope and the intercept of straight line, the
iBar is cut apart straight line and is expressed as
C, appointment straight line
l 1Area control is cut apart, obtained respectively the coordinate on two subregion summits, and each regional summit is arranged in order in the order of connection, subregion is designated as successively
G 1With
G 2Specify straight line
l 2To zone
G 1Cut apart, specify straight line
l 3To zone
G 2Cut apart, obtain respectively the apex coordinate of subregion, and each regional summit is arranged in order in the order of connection, new subregion is designated as successively
G 11,
G 12,
G 21With
G 22Continue to specify straight line successively every sub regions to be cut apart, obtain each regional apex coordinate, each regional summit is arranged in order respectively in the order of connection, obtain new subregion, until draw
nSub regions, this time-space domain is divided into
nIndividual sector,
nSub regions represents respectively
nIndividual sector;
D, calculating
nConcordant flow between the average discharge of individual sector and sector, calculate the total evaluation value that sector is divided
, now, note
E,
X 0Middle arbitrary line
l i Slope
k i And intercept
b i Be continuous variable, its neighborhood is defined as
, wherein
That mean value is 0, variance is
Gaussian distribution,
That mean value is 0, variance is
Gaussian distribution, produce new straight line group
X＇, carry out the division of sector, spatial domain according to step c, calculates
nConcordant flow between the average discharge of individual sector and sector, calculate the total evaluation value that sector is divided
f(
X＇);
F, judgement
△ f=
f(
X*)-
f(
X＇), if
△ f≤ 0, order
X＇ replaces
X*,
f(
X*)=
f(
X＇), otherwise, according to the Metropolis criterion, press probability
e 10000 △
f/ T
>=
Rand(0,1) is accepted
X＇;
G, press certain way cooling, namely
T=
KTIf,
T>T e , return to step e and continue
X* the new straight line group of search in neighborhood scope, otherwise stop,
X* be globally optimal solution,
f(
X*) be global optimum's assessed value;
Step 4: optimize the sector borders of dividing and show in demonstration and interactive subsystem.
Advantage of the present invention is, on the basis of statistics air traffic, formation zone control sector border fast and effectively, reach the target of concordant flow between balanced sector average discharge and reduction sector, meet the constraint of the angle of the crossing of minimum flight time, minor increment and sector borders and main traffic stream, thereby the regional control sector of the scientific and rational planning of additional related personnel, safe, the efficient operation of support area control.
The accompanying drawing explanation:
Fig. 1 is two minutes results of area control;
Fig. 2 is four minutes results of area control;
Fig. 3 is area control graph model in embodiment;
Fig. 4 is spatial domain safety indexes constraint schematic diagram;
Fig. 5 is that in embodiment, the area control sector optimum partition is divided figure as a result;
Fig. 6 is overall system topology diagram of the present invention.
In Fig. 6: 1, server; 2, Simulation drive server; 3, the first client; 4, the second client; 5, the 3rd client; 6, the 4th client.
Embodiment:
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated, be to be understood that, specific embodiment described herein only, in order to explain the present invention, is not intended to limit the present invention.
Now provide the example that the feasible region control sector is divided:
Order
T=[
t 0,
t 1] be the time period of considering, for any sector
s,
, order
n t (
s) be
tMoment sector
sInterior aircraft quantity, between sector average discharge and sector, concordant flow is expressed as:
Sector average discharge: at the appointed time, in the section, appear at simultaneously sector
sThe average of interior aircraft.
In formula,
w s Mean sector
sAverage discharge.
Concordant flow between sector: aircraft enters sector
sWith leave sector
sThe time, the controller carries out the number of times of control transfer.
The following mathematical model of setting up:
Objective function:
By meaning spatial domain
GNeed to be divided into
nIndividual sector, definition
w avgFor the average magnitude of traffic flow,
, in formula,
w i Be
iThe average discharge of individual sector.Definition
D aMean deviation for the sector average discharge:
Suppose
w A maxFor the maximal value of the sector average discharge mean deviation estimated, optimizing the incipient stage, each sector average discharge mean deviation may be larger, and the slope of its extent function is less.In order to accelerate to optimize the speed of convergence in later stage, build stage by stage the satisfaction subordinate function of each sector average discharge mean deviation:
Spatial domain
GChief coordinator's flow equal concordant flow sum between each sector, namely
In formula
w c
i Mean the
iThe concordant flow of individual sector.Suppose
w C max,
w C minBe respectively the spatial domain of estimation
GMaximum, minimum concordant flow, spatial domain
GThe satisfaction subordinate function of chief coordinator's flow be:
Constraint condition:
(1) security boundary constraint
The safe distance of supposing air route intersection sector borders is
d 0, sector
s i Vertex sequence
o 1,
o 2...,
o J,By arranged clockwise, sector
s i jThe bar border is
O j It is the summit, sector
o j To the summit, sector
o j+ 1
Direction vector, namely
, suppose sector
s i The point of crossing, air route is inside arranged
v k , the point of crossing, air route
v k With
O j Or the vertical intersection point of its extended line is
o p
ijk ,
q i It is the summit, sector
o jTo intersection point
o p
ijk Direction vector,
d p
Ik It is the point of crossing, air route
v k To intersection point
o p
ijk Direction vector:
Point of crossing
v k With sector
s i jIndividual border
O j Distance
d ijk For:
In formula:
For being greater than safe distance
d 0Numerical value,
In spatial domain, the point of crossing, air route is to the distance of sector borders
dGet the minimum value to the sector borders distance of all point of crossing in each sector, namely
In formula:
n oIt is sector
s i Number of vertex;
n cFor sector
s i Point of crossing, middle air route number,
Therefore, the distance of point of crossing, air route and sector borders
dNeed to meet following condition:
(2) angle of the crossing constraint of sector borders and main traffic stream
The minimum angle of the crossing of supposing sector borders and main traffic stream is
, in formula
Being one is less than
Acute angle.Leg
S q It is way point
p 1
q To way point
p 2
q Direction vector, namely
S q =(
p 1
q,
p 2
q ),
p 1
q With
O j Or the vertical intersection point of its extended line is
o 1
iqj ,
p 2
q With
O j Or the vertical intersection point of its extended line is
o 2
iqj ,
q 1
i It is the summit, sector
o j To intersection point
o 1
iqj Direction vector,
q 2
i It is the summit, sector
o j To intersection point
o 2
iqj Direction vector, namely
Leg
S q With sector
s i jIndividual border
O j Angle be
θ ijq :
The angle of the crossing of spatial domain sector borders and main traffic stream
Get the minimum value of the angle of the crossing of all sector borders and all legs, namely
In formula:
n sThe number of leg,
Therefore, the angle of the crossing of sector borders and main traffic stream
Need to meet following condition:
(3) the shortest traverse distance constraint
Suppose that the shortest range ability of aircraft in sector is
d ' 0.Suppose leg
S m Directly pass through sector
s i , leg
S m With sector
s i Intersection point be
c 1
m With
c 2
m ,
d ' Im It is intersection point
c 1
m To intersection point
c 2
m Direction vector, namely
d ' Im =(
c 1
m ,
c 2
m ), the minimum range ability of aircraft in this spatial domain
d ' Get all minimum range abilities of leg in sector that directly pass through sector:
In formula,
n zDirectly to pass through sector
s i The leg number,
In sector, the aircraft range ability need to meet following condition:
For above-mentioned sector partitioning model, the present invention adopts computational geometry to carry out solving model in conjunction with the method for simulated annealing, divides result thereby obtain sector optimum partition.
In the area control sector is divided, establish corresponding target its satisfaction membership function value is all arranged for each stroke, according to drawing the difference that stresses establish middle target, adopt the method optimisation strategy of weighted sum, realize to greatest extent each target optimization meeting under constraint condition:
In formula:
Be
iThe weights of individual optimization aim, adopt tactful cut zone control in two minutes, and in conjunction with simulated annealing, sector optimum partition is drawn to rhetoric question topic and solve, in order to realize global optimum, and in simulated annealing, straight line
l i Slope
k i And intercept
b i The neighborhood search rule as follows:
(17)
In formula:
k r+ 1
,
b r+ 1
Mean new produce the
rBar is cut apart slope and the intercept of straight line.
Suppose that spatial domain need to be divided into 4 sectors, namely
n=4; Random given one group of solution
X 0=[0.0685,184.8859;-3.9954,184.8859;-2.2952 ,-109230.8272]; In simulated annealing, choose initial temperature
T 0=1000, temperature lapse rate
k=0.99, final temperature
T e=0.1, in neighborhood search
σ 1=0.1,
σ 1=1000; Safe distance between point of crossing, air route and sector borders
d 0=10
4M, the shortest traverse distance of aircraft
d ' 0=20000m, the minimum angle of the crossing of sector borders and main traffic stream
θ 0=π/6.
Fig. 5 is that dotted line divides is to take balanced sector average discharge to carry out the result of sector optimum partition as target, thick line divide be take balanced sector average discharge, reduce chief coordinator's flow and carry out the result of sector optimum partition as target, table 1 has provided concordant flow between each sector average discharge and sector, and table 2 is drawn target and the satisfaction of establishing for sector.
Concordant flow between table 1 sector average discharge and sector
Target and the satisfaction of establishing drawn in table 2 sector
Fig. 6 is overall system topology diagram of the present invention: described computer system mainly consists of client/server (C/S) pattern, and computer system comprises:
A server 1, install the spatial domain navigational route database, for airspace structure, course line, flight road, restricted area, explosive area, forbidden zone, barrier, navigation data service are provided to client in the hard disk of server 1.
A Simulation drive server 2, installing simulation driving data (storehouse) in the hard disk of Simulation drive server 2, for providing flying power model and the service of sporting flying model data to client.
The airspace modeling subsystem is installed in the hard disk of the first client 3, the first clients 3, be used to setting up the airspace structure model, is comprised guidance station, way point, barrier, course line, air route, sector, regulatory area, restricted area, explosive area, forbidden zone.
The flight planning subsystem is installed, for generation of the flight planning that meets certain regularity of distribution in the hard disk of the second client 4, the second clients 4.
The control sector partition sub-system is installed, for the division of control sector in the hard disk of the 3rd client 5, the three clients 5.
In the hard disk of the 3rd client 6, the three clients 6, install to show and interactive subsystem, the spatial domain environment generated for the airspace modeling subsystem, and the demonstration of the sector borders that generates of sector partition sub-system is with mutual.
According to the above description, in conjunction with art technology, can realize the solution of the present invention.
Claims (1)
1. sector partitioning method of the spatial domain based on computational geometry and simulated annealing, by computer system, assist realization, described computer system mainly consists of client/server (C/S) pattern, computer system comprises spatial domain navigational route database, Simulation drive subsystem, airspace modeling subsystem, flight planning subsystem and demonstration and interactive subsystem, it is characterized in that, in computer system, also comprise the sector partition sub-system that operates in a client, described sector partition sub-system is as the implementation platform of area control sector partitioning method;
The sector partition sub-system comprises that the sector, spatial domain is drawn and establishes model module and sector and divide module;
The sector, spatial domain is drawn and established model module is to set up the spatial domain graph model according to guidance station and way point information, according to air traffic, set up concordant flow model between sector average discharge and sector, according to control zone structure and magnitude of traffic flow space distribution, set up Fuzzy Multiobjective function and the constraint conditional function cut apart the sector, spatial domain;
It is that two minutes strategies of application are cut apart area control that module is divided in sector, calculates the concordant flow between each sector average discharge and sector, and assesses, and is optimized and cuts apart in conjunction with simulated annealing;
The sector partition sub-system comprises sets up the step that spatial domain graph model, flow rate calculation and optimization are divided;
Described control sector division methods, comprise the steps:
Step 1: input area control structured data, air route course data in the airspace modeling subsystem, establishment flight planning data in the flight planning subsystem, simulation time is set, call the Simulation drive subsystem, add up two internodal average aircraft quantity in certain time period, using this numerical value as the two internodal amounts of relation, build the transport air flow moment matrix
F , wherein node and the flow value of self are " 0 ";
Step 2: draw in establishing model module and set up respectively three kinds of models in the sector, spatial domain of sector partition sub-system:
Using guidance station, reporting point nature way point as space nodes, the area control graph model, as the limit collection of figure, is set up in air route, course line;
By air traffic, set up the sector average discharge (at the appointed time in the section, appear at simultaneously the average of the aircraft in sector) and sector between concordant flow (pocket of navigating enters and while leaving sector, the controller carries out the number of times of control transfer) model;
According to control zone structure and magnitude of traffic flow space distribution, set up the Fuzzy Multiobjective function cut apart the sector, spatial domain and constraint conditional function, namely take balanced sector average discharge and reduce concordant flow between sector as target, take the angle of the crossing that minimum flight time, minor increment and sector borders and main traffic the flow sector partitioning model as constraint condition;
Step 3: in the sector of sector partition sub-system, divide in module, take the airport reference point position in area control district to set up plane right-angle coordinate as true origin, area control border vertices coordinate is arranged in order in the order of connection, is designated as
G, in conjunction with simulated annealing, control zone is divided into
nIndividual sector, its concrete steps are as follows:
Initial temperature is set to
T 0, order
, temperature with
Lapse rate successively decrease, final temperature is
T e
B, random given one group of straight line
, wherein
l i Mean the
iBar is cut apart straight line,
k i ,
b i Mean the
iBar is cut apart slope and the intercept of straight line, the
iBar is cut apart straight line and is expressed as
C, appointment straight line
l 1Area control is cut apart, obtained respectively the coordinate on two subregion summits, and each regional summit is arranged in order in the order of connection, subregion is designated as successively
G 1With
G 2Specify straight line
l 2To zone
G 1Cut apart, specify straight line
l 3To zone
G 2Cut apart, obtain respectively the apex coordinate of subregion, and each regional summit is arranged in order in the order of connection, new subregion is designated as successively
G 11,
G 12,
G 21With
G 22Continue to specify straight line successively every sub regions to be cut apart, obtain each regional apex coordinate, each regional summit is arranged in order respectively in the order of connection, obtain new subregion, until draw
nSub regions, this time-space domain is divided into
nIndividual sector,
nSub regions represents respectively
nIndividual sector;
D, calculating
nConcordant flow between the average discharge of individual sector and sector, calculate the total evaluation value that sector is divided
, now, note
E,
X 0Middle arbitrary line
l i Slope
k i And intercept
b i Be continuous variable, its neighborhood is defined as
Wherein
That mean value is 0, variance is
Gaussian distribution,
That mean value is 0, variance is
Gaussian distribution, produce new straight line group
, according to step c, carry out the division of sector, spatial domain, calculate
nConcordant flow between the average discharge of individual sector and sector, calculate the total evaluation value that sector is divided
f(
X＇);
F, judgement
△ f=
f(
X*)-
f(
X＇), if
△ f≤ 0, order
X＇ replaces
X*,
f(
X*)=
f(
X＇), otherwise, according to the Metropolis criterion, press probability
e 10000 △
f/ T>=
Rand (0,1) is accepted
X＇;
G, press certain way cooling, namely
T=
KTIf,
T>T e , return to step e and continue
X* the new straight line group of search in neighborhood scope, otherwise stop,
X* be globally optimal solution,
f(
X*) be global optimum's assessed value;
: optimize the sector borders of dividing and show in demonstration and interactive subsystem.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310388102.0A CN103413011B (en) | 2013-09-01 | 2013-09-01 | A kind of space domain sector division methods based on computational geometry and simulated annealing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310388102.0A CN103413011B (en) | 2013-09-01 | 2013-09-01 | A kind of space domain sector division methods based on computational geometry and simulated annealing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103413011A true CN103413011A (en) | 2013-11-27 |
| CN103413011B CN103413011B (en) | 2016-04-13 |
Family
ID=49606023
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310388102.0A Expired - Fee Related CN103413011B (en) | 2013-09-01 | 2013-09-01 | A kind of space domain sector division methods based on computational geometry and simulated annealing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103413011B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105488581A (en) * | 2015-11-13 | 2016-04-13 | 清华大学 | Simulated annealing algorithm based traffic demand estimation method |
| CN106297414A (en) * | 2015-06-05 | 2017-01-04 | 北京航空航天大学 | The regulation and control method and apparatus of flight flow |
| CN109858858A (en) * | 2019-01-21 | 2019-06-07 | 中国人民解放军陆军工程大学 | Underground logistics network node grading and addressing system and method |
| CN110310519A (en) * | 2019-08-06 | 2019-10-08 | 山东职业学院 | A kind of space domain sector boundary demarcation method based on protection band |
| CN111664847A (en) * | 2020-05-09 | 2020-09-15 | 南京航空航天大学 | Dividing method of three-region airspace FRA |
| CN112313476A (en) * | 2019-11-05 | 2021-02-02 | 深圳市大疆创新科技有限公司 | Air route planning method and device for unmanned aerial vehicle |
| CN115273564A (en) * | 2022-09-29 | 2022-11-01 | 北京航空航天大学 | Airspace complexity regulation and control method based on multi-objective optimization |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070100591A1 (en) * | 2005-10-18 | 2007-05-03 | Sharp Kabushiki Kaisha | Parameter extracting device and parameter extracting method in simulation, photomask created from parameter extracting method, and semiconductor device |
| CN101344995A (en) * | 2008-08-18 | 2009-01-14 | 中国民航大学 | Cooperated discharging system for air station departure flight |
| CN103096431A (en) * | 2012-12-20 | 2013-05-08 | 北京邮电大学 | Multi-mode terminal sector selecting method based on simulated annealing algorithm |
-
2013
- 2013-09-01 CN CN201310388102.0A patent/CN103413011B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070100591A1 (en) * | 2005-10-18 | 2007-05-03 | Sharp Kabushiki Kaisha | Parameter extracting device and parameter extracting method in simulation, photomask created from parameter extracting method, and semiconductor device |
| CN101344995A (en) * | 2008-08-18 | 2009-01-14 | 中国民航大学 | Cooperated discharging system for air station departure flight |
| CN103096431A (en) * | 2012-12-20 | 2013-05-08 | 北京邮电大学 | Multi-mode terminal sector selecting method based on simulated annealing algorithm |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106297414A (en) * | 2015-06-05 | 2017-01-04 | 北京航空航天大学 | The regulation and control method and apparatus of flight flow |
| CN105488581A (en) * | 2015-11-13 | 2016-04-13 | 清华大学 | Simulated annealing algorithm based traffic demand estimation method |
| CN105488581B (en) * | 2015-11-13 | 2019-09-27 | 清华大学 | A kind of transport need amount estimation method based on simulated annealing |
| CN109858858A (en) * | 2019-01-21 | 2019-06-07 | 中国人民解放军陆军工程大学 | Underground logistics network node grading and addressing system and method |
| CN110310519A (en) * | 2019-08-06 | 2019-10-08 | 山东职业学院 | A kind of space domain sector boundary demarcation method based on protection band |
| CN112313476A (en) * | 2019-11-05 | 2021-02-02 | 深圳市大疆创新科技有限公司 | Air route planning method and device for unmanned aerial vehicle |
| CN111664847A (en) * | 2020-05-09 | 2020-09-15 | 南京航空航天大学 | Dividing method of three-region airspace FRA |
| CN111664847B (en) * | 2020-05-09 | 2022-04-01 | 南京航空航天大学 | Dividing method of three-region airspace FRA |
| CN115273564A (en) * | 2022-09-29 | 2022-11-01 | 北京航空航天大学 | Airspace complexity regulation and control method based on multi-objective optimization |
| CN115273564B (en) * | 2022-09-29 | 2022-12-27 | 北京航空航天大学 | Airspace complexity regulation and control method based on multi-objective optimization |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103413011B (en) | 2016-04-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103413011B (en) | A kind of space domain sector division methods based on computational geometry and simulated annealing | |
| CN104008674B (en) | March into the arena flight time Forecasting Methodology in a kind of termination environment based on pattern match | |
| Chen et al. | Modified central force optimization (MCFO) algorithm for 3D UAV path planning | |
| Isaiah et al. | Motion planning algorithms for the Dubins travelling salesperson problem | |
| CN103267528A (en) | Multi-unmanned aerial vehicle cooperative area search method under non-flight zone limitation | |
| CN103473956A (en) | Three-dimensional arrival-departure airline network optimization method based on ant colony algorithm improvement for terminal area | |
| Dong et al. | A hybrid approach of virtual force and A∗ search algorithm for UAV path re-planning | |
| Yang et al. | Obstacle avoidance path planning for UAV based on improved RRT algorithm | |
| CN102759357A (en) | Cooperative real-time path planning method for multiple unmanned aerial vehicles (UAVs) in case of communication latency | |
| CN103942623A (en) | Airport congestion risk prediction method based on demand and capacity uncertainty | |
| CN108759841B (en) | Rapid route planning method under complex environment | |
| CN113682318A (en) | Vehicle running control method and device | |
| CN110045738A (en) | Robot path planning method based on ant group algorithm and Maklink figure | |
| CN107025806A (en) | A kind of single phase interim flight path robust Optimal methods | |
| CN110570694A (en) | Space-time correlation airway collision solution method based on airspace division | |
| CN103226900B (en) | A kind of space domain sector division methods based on weighted graph model | |
| CN103366605B (en) | Terminal section partition method based on graph theory and genetic algorithm | |
| Zhao et al. | 4D trajectory planning of aircraft taxiing considering time and fuel | |
| Wu et al. | Multi-phase trajectory optimization for an aerial-aquatic vehicle considering the influence of navigation error | |
| CN104606886A (en) | Distributed collision-free movement planning method | |
| Liu | Terminal airspace capacity evaluation model under weather condition from perspective of a controller | |
| Han et al. | Research on UAV indoor path planning algorithm based on global subdivision grids | |
| CN111928853A (en) | Method for rapidly planning air-based platform route under complex environment | |
| Sun et al. | A flight path planning method based on improved artificial potential field | |
| Cui et al. | Real‐time traffic signal control for optimization of traffic jam probability |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160413 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |