CN104504941B - Flight conflict resolution method of air traffic control system - Google Patents
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/04—Anti-collision systems
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
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Abstract
The invention relates to a flight conflict resolution method of an air traffic control system, wherein the air traffic control system comprises a data communication module, an airborne terminal module and a control terminal module; the control terminal module comprises 2 submodules of real-time flight conflict monitoring and warning, and flight conflict resolution 4D track optimization; the flight conflict resolution method of the system directly obtains the 4D track of each aircraft in the future time period through the air traffic control center, realizes the analysis of the potential traffic conflict of the airspace traffic condition, and provides an optimal resolution scheme by adopting a model prediction control theory method. The invention can effectively prevent flight conflict and improve the safety of air traffic.
Description
Technical field
The present invention relates to a kind of air traffic control system and method, more particularly, to a kind of aerial based on the operation of 4D flight path
The Solving Flight Conflicts method of traffic control system.
Background technology
With fast-developing the becoming increasingly conspicuous with spatial domain resource-constrained contradiction of World Airways transport service, traffic flow is close in the air
The complicated spatial domain of collection, still gradually shows its backwardness using the air traffic control mode that flight plan combines interval allotment
Property, it is in particular in：(1) flight plan is not airborne vehicle configuration accurate blank pipe interval, easily causes traffic flow tactics pipe
Crowded in reason, reduce spatial domain safety；(2) reckoning to flight profile, mission profile for the air traffic control automation system centered on flight plan
With Trajectory Prediction low precision, cause conflict dissolution ability；(3) job of air traffic control still lays particular emphasis on the single aviation of holding
Personal distance between device, is difficult to rise to and carries out strategic Management to traffic flow.
4D flight path is with room and time form, in a certain airborne vehicle flight path each point locus (longitude, latitude and
Highly) and the time accurate description, refer to use " control the time of advent " on the way point of 4D flight path based on the operation of flight path,
Airborne vehicle is controlled to pass through " time window " of specific way point.In high density spatial domain the operation based on 4D flight path
(Trajectory based Operation) as one of basic operating mechanism, be following to big flow, high density, closely-spaced
Under the conditions of spatial domain implement a kind of effective means of management, can significantly decrease the uncertainty of airborne vehicle flight path, improve spatial domain
Safety with Airport Resources and utilization rate.
Need on strategic level, single aircraft flight path to be carried out based on the air traffic method of operation that flight path runs
Calculate and optimize, the traffic flow that many airborne vehicles are constituted is implemented collaborative and adjusts；Pre- tactical level passes through revise traffic flow
In indivedual airborne vehicles flight path to solve congestion problems, and ensure the operational efficiency of all airborne vehicles in this traffic flow；And in war
In art aspect, scheme is freed in prediction conflict and optimization, and airborne vehicle headway management is changed into consideration aviation from fixing manual type
The factors such as device performance, regulation rule and environment in interior variable Separation control mode, therefore towards 4D flight path operation to sky
Middle traffic control proposes new requirement.
Content of the invention
The technical problem to be solved in the present invention is to be to overcome the deficiencies in the prior art, provides a kind of 4D flight path that is based on to run
Air traffic control system Solving Flight Conflicts method, can effectively prevent flight collision, improve the safety of air traffic.
The technical scheme realizing the object of the invention is a kind of Solving Flight Conflicts method providing air traffic control system,
Described air traffic control system includes Airborne Terminal module, data communication module and control terminal module；
Described control terminal module includes following submodule：
Real-time flight conflict monitoring and alarm module, for set up from airborne vehicle continuously dynamically to discrete conflict logic
Observer, the conflict situation that the continuous dynamic mapping of Air Traffic System is expressed for discrete observation value；When system is possible to disobey
During anti-air traffic control rules, Hybrid dynamics behavior implementing monitoring to air traffic hybrid system, provide for controller and
When warning information；
Solving Flight Conflicts 4D track optimization module, is ensureing that system meets aircraft performance and regulation rule constraints
Under, by select different free object function, using Model Predictive Control Theory method, calculate airborne vehicle conflict Resolution 4D boat
Mark；And airborne vehicle conflict Resolution 4D flight path is sent to by the execution of Airborne Terminal module by data communication module；
The Solving Flight Conflicts method of described air traffic control system includes several steps as follows：
Step A, directly obtain each airborne vehicle that it speculates in each sampling instant by air traffic controllers not
Come the airborne vehicle 4D track in the period, air traffic controllers monitor data and automatic dependent surveillance data by air traffic control radar
Fusion speculate future time period in airborne vehicle 4D track；
Step B, real-time flight conflict monitoring and alarm module set up from airborne vehicle continuously dynamically to discrete conflict logic
Observer, the conflict situation that the continuous dynamic mapping of Air Traffic System is expressed for discrete observation value；When system is possible to
When violating air traffic control rules, the Hybrid dynamics behavior implementing monitoring to air traffic hybrid system, provide for controller
Timely warning information；
Step C, Solving Flight Conflicts 4D track optimization module meet aircraft performance and regulation rule about ensureing system
Under the conditions of bundle, by select different free object function, using Model Predictive Control Theory method, calculate airborne vehicle conflict
Free 4D flight path；And airborne vehicle conflict Resolution 4D flight path is sent to by the execution of Airborne Terminal module by data communication module；
Step D, Airborne Terminal module receive and execute the 4D track data of control terminal module issue.
Further, the specific implementation process of described step C is as follows：
Step C1, to Solving Flight Conflicts process model building：Conflict Resolution flight path is considered as continuous three sections of smooth curves, gives
Surely free the beginning and end of flight path, according to flight path restrictive condition, set up and comprise acceleration, climb or rate of descent, turning rate
Multivariate optimum conflict Resolution model；
Step C2, conflict Resolution variable bound under different flying conditions is modeled：Wherein t need to implement conflict Resolution boat
The variable bound of pocket k can be described as：ak(t)≤aM、ωk(t)≤ωM、γk(t)≤γM, aM、ωM、γMIt is respectively maximum
Acceleration, turning rate and climb or rate of descent；
Step C3, termination reference point locations P setting airborne vehicle collision avoidance planning, collision avoidance planning control time domain Θ, track are pre-
Survey time domain Υ；
Step C4, in each sampling instant, based on the current running status of airborne vehicle and historical position observation sequence, obtain
The numerical value of spatial domain wind field variable；
Step C5, be set in given optimizing index function on the premise of, based on cooperative collision avoidance trajectory planning thought, pass through
Give different weights to each airborne vehicle and incorporate real-time wind field variable filtering numerical value, obtain the collision avoidance rail of each airborne vehicle
Mark and collision avoidance control strategy and each airborne vehicle only implements its first Optimal Control Strategy in Rolling Planning is spaced；
Step C6, in next sampling instant, repeat step C4 to C5 is until each airborne vehicle all reaches it and frees terminal.
Further, in step C3：Terminate the next way point that reference point locations P are airborne vehicle, collision avoidance is planned
Time domain Θ is controlled to be 300 seconds, trajectory predictions time domain Υ is 300 seconds；
The detailed process of step C4 is as follows：
C4.1 the stop position) setting airborne vehicle is as track reference coordinate initial point；
C4.2) when airborne vehicle is in straight running condition and at the uniform velocity turning running status, build spatial domain wind field and linearly filter
(t+ Δ t)=F (t) x (t)+w (t) and z (t)=H (t) x (t)+v (t) obtains wind field variable value, wherein Δ t table to wave pattern x
Show the sampling interval, x (t) represents the state vector of t, z (t) represents that the observation vector of t, F (t) and H (t) represent respectively
State-transition matrix and output calculation matrix, w (t) and v (t) represents system noise vector sum measurement noise vector respectively；In boat
When pocket is in speed change turning running status, build spatial domain wind field nonlinear filtering wave pattern
X (t+ Δ t)=Ψ (t, x (t), u (t))+w (t), z (t)=Ω (t, x (t))+v (t) and u (t)=[ω a (t)
γa(t)]T,
Wherein Ψ () and Ω () represents state-transition matrix and output calculation matrix, ω respectivelya(t) and γa(t) point
Biao Shi not turning rate and rate of acceleration；
C4.3 the numerical value of wind field variable) is obtained according to constructed Filtering Model；
The detailed process of step C5 is as follows：Order
WhereinRepresent t airborne vehicle i present position Pi(t) and next way point Pi fBetween distance square, Pi
(t)=(xit, yit),The priority index of so t airborne vehicle i may be set to：
Wherein niRepresent the airborne vehicle number that there is conflict in t spatial domain, from the implication of priority index, aviation
Device is nearer apart from its terminal, and its priority is higher；
Set optimizing index
, wherein i ∈ I (t) represents airborne vehicle code and I (t)={ 1,2 ..., nt, Pi(t+s Δ t) represents that airborne vehicle exists
Moment (position vector of t+s Δ t), Pi fRepresent next way point of airborne vehicle i, uiRepresent the optimum of airborne vehicle i to be optimized
Control sequence, QitFor positive definite diagonal matrix, its diagonal element is priority index L in t for the airborne vehicle iit, and
Further, the specific implementation process of described step B is as follows：
Step B1, the conflict hypersurface collection of functions based on regulation rule for the construction：Set up hypersurface collection of functions in order to reflect system
The contention situation of system, wherein, the continuous function related to single airborne vehicle in conflict hypersurfaceSuper bent for I type
Face, the continuous function related to two frame airborne vehiclesFor Type-II hypersurface；
Step B2, set up by airborne vehicle continuous state to discrete conflict situation observer：Need to be built according to control specification
Vertical observer, the collision event that observation system system is passed through hypersurface and produced, so that corresponding control decision made by controller
Instruction；Observer ξ is used for the consecutive variations of aircraft position in observation system and produces collision event, claimsFor I
Type observer,For Type-II observer；
, from the discrete watch-dog to conflict Resolution means that conflicts, this discrete watch-dog can be described as function for step B3, designWherein S is the space that observer observation vector transforms into, and D is the space that all decision vector d transform into；Work as observer
Discrete observation vector when showing that a certain unexpected state occurs, send corresponding alarm at once.
The present invention has positive effect：(1) the Solving Flight Conflicts side of a kind of air traffic control system of the present invention
Method, during airborne vehicle conflict Resolution, has incorporated the impact of high-altitude wind field, and trajectory planning scheme energy is freed in the rolling being adopted
Track is freed in adjustment in time for enough changes according to wind field in high-altitude, improves the robustness of airborne vehicle conflict Resolution.
(2) a kind of Solving Flight Conflicts method of air traffic control system of the present invention is accurately empty for airborne vehicle configuration
Pipe is spaced, the strict control time window by way point for the airborne vehicle, reduces traffic flow randomness, improves spatial domain safety.
(3) a kind of Solving Flight Conflicts method of air traffic control system of the present invention is no longer limited to keep single boat
Personal distance between pocket, but from macroscopically the traffic flow in spatial domain being implemented with effective control, control work can be more
Transfer to departure time of aircraft, sequence of marching into the arena, vile weather change the aspects such as boat.
(4) boat based on different performance index for the Solving Flight Conflicts method of a kind of air traffic control system of the present invention
Pocket optimum frees the economy that flight path can significantly increase airborne vehicle operation, and the utilization rate in spatial domain.
Brief description
Fig. 1 frees 4D route optimization method schematic flow sheet for airborne vehicle.
Specific embodiment
(embodiment 1)
The air traffic control system run based on 4D flight path of the present embodiment, is led to including Airborne Terminal module 101, data
Letter module 102 and control terminal module 104.Hereinafter the specific embodiment of each several part is described in detail respectively.
1. Airborne Terminal module
Airborne Terminal module 101 is that pilot obtains ground control order, reference 4D flight path, and input flight intent
Interface, still gathers the interface of current aerospace device position data simultaneously.
Its specific embodiments is as follows：
Airborne Terminal module 101 receives following information input：(1) ADS-B information acquisition unit 201 passes through Airborne GPS
The aircraft position vector of collection, velocity vector, and the catchword of this airborne vehicle, pass through information and data transfer to machine after coding
Carry data communication module 102；(2) airborne vehicle driver needs the flight intent inconsistent with ground control order, by people
Machine inputting interface, and the ground controller of agreement can in the form of identifying by information and data transfer to airborne data communication
Module 102.In addition Airborne Terminal module 101 realizes following information output：(1) pass through terminal display, receive and show
The air traffic control instruction that pilot can identify；(2) receive and show the front Lothrus apterus 4D boat generating of ground line terminal flight
Mark, and the optimum of calculating frees 4D flight path after ground line end-probing is to conflict.
2. data communication module
Data communication module 102 can achieve vacant lot bidirectional data communication, realizes airborne real time position data and flight intent
The downlink transfer of data cell 202 and ground control command unit 203, and the uplink with reference to 4D flight path unit 204.
Its specific embodiments is as follows：
Downlink data communication：Airborne Terminal 101 passes through airborne secondary radar answering machine by aircraft identification mark and 4D position
Confidence ceases, and other additional datas, and the such as information transfer such as flight intent, flight speed, meteorology is to ground secondary radar
(SSR), after secondary radar reception, data message is parsed, and be transferred to central data process assembly 301 and decode, by referring to
Track data interface is made to be transferred to control terminal 104；Upstream data communication：Ground control terminal 104 is passed through to instruct track data
Interface, after central data process assembly 301 coding, the inquisitor just ground control order of ground secondary radar or with reference to 4D
Flight path information transmission is simultaneously shown in Airborne Terminal 101.
3. control terminal module
Control terminal module 104 includes real-time flight conflict monitoring and alarm, Solving Flight Conflicts 4D track optimization this 2
Submodule.
(2) real-time flight conflict monitoring and alarm
First pass through air traffic controllers and directly obtain it when each airborne vehicle that each sampling instant speculates will be in future
Airborne vehicle 4D track in section, air traffic controllers pass through melting of air traffic control radar supervision data and automatic dependent surveillance data
Close the 4D track speculating airborne vehicle in future time period.
When system is possible to the state occurring violating safe condition collection, condition monitoring is implemented by controller, to aviation
Effective measure of control implemented by device, it is to avoid the generation of flight collision.
Its specific implementation process is as follows：
First, the airborne vehicle 4D track in future time period according to each airborne vehicle obtaining from air traffic controllers,
The conflict hypersurface collection of functions based on regulation rule for the construction.The violation of air traffic control constraint can be seen as controlled device
The event that the multi rack airborne vehicle of flight (control zone) composition system is passed through hypersurface and produced, set up hypersurface collection of functions in order to
The contention situation of reflection system.Wherein, related to single airborne vehicle continuous function in conflict hypersurfaceFor I
Type hypersurface, and by the continuous function related to two frame airborne vehiclesFor Type-II hypersurface.
Then, set up by the observer of airborne vehicle continuous state to discrete conflict situation.Need to be set up according to control specification
Observer, the collision event that observation system system is passed through hypersurface and produced, so that controller is made corresponding control decision and is referred to
Order.Observer ξ is used for the consecutive variations of aircraft position in observation system and produces collision event, claimsFor I type
Observer,For Type-II observer.
Finally, design is from the discrete watch-dog of conflict to conflict Resolution means.When the discrete observation vector of observer shows
When a certain unexpected state occurs, send corresponding alarm at once.This discrete watch-dog can be described as functionIts
Middle S is the space that observer observation vector transforms into, and D is the space that all decision vector d transform into.
(2) Solving Flight Conflicts 4D track optimization
Under conditions of ensureing to make system meet control specification, by selecting different object functions of freeing, using
Excellent control theory method is so that the control input that controller is given can reach optimum.
As shown in figure 1, its specific implementation process is as follows：
Step C1, to Solving Flight Conflicts process model building：Conflict Resolution flight path is considered as continuous three sections of smooth curves, gives
Surely free the beginning and end of flight path, according to flight path restrictive condition, set up and comprise acceleration ai(t), climb or rate of descent γi
(t), turning rate ωiThe multivariate optimum conflict Resolution model of (t).
Step C2, conflict Resolution variable bound under different flying conditions is modeled：Wherein t need to implement conflict Resolution boat
The variable bound of pocket k can be described as：ak(t)≤aM、ωk(t)≤ωM、γk(t)≤γM, aM、ωM、γMIt is respectively maximum
Acceleration, turning rate and climb or rate of descent.
Step C3, termination reference point locations P setting airborne vehicle collision avoidance planning, collision avoidance planning control time domain Θ, track are pre-
Survey time domain Υ, terminate the next way point that reference point locations P are airborne vehicle, collision avoidance planning control time domain Θ is 300 seconds, rail
Mark prediction time domain Υ is 300 seconds.
Step C4, in each sampling instant t, based on the current running status of airborne vehicle and historical position observation sequence, obtain
Take the numerical value of spatial domain wind field variable, its detailed process is as follows：
C4.1 the stop position) setting airborne vehicle is as track reference coordinate initial point；
C4.2) when airborne vehicle is in straight running condition and at the uniform velocity turning running status, build spatial domain wind field and linearly filter
(t+ Δ t)=F (t) x (t)+w (t) and z (t)=H (t) x (t)+v (t) obtains wind field variable value, wherein Δ t table to wave pattern x
Show the sampling interval, x (t) represents the state vector of t, z (t) represents that the observation vector of t, F (t) and H (t) represent respectively
State-transition matrix and output calculation matrix, w (t) and v (t) represents system noise vector sum measurement noise vector respectively；In boat
When pocket is in speed change turning running status, build spatial domain wind field nonlinear filtering wave pattern
X (t+ Δ t)=Ψ (t, x (t), u (t))+w (t), z (t)=Ω (t, x (t))+v (t) and u (t)=[ω a (t)
γa(t)]T, wherein Ψ () and Ω () represent respectively state-transition matrix and output calculation matrix, ωa(t) and γa(t) point
Biao Shi not turning rate and rate of acceleration；
C4.3 the numerical value of wind field variable) is obtained according to constructed Filtering Model.
Step C5, be set in given optimizing index function on the premise of, based on cooperative collision avoidance trajectory planning thought, pass through
Give different weights to each airborne vehicle and incorporate real-time wind field variable filtering numerical value, obtain the collision avoidance of each airborne vehicle
Track and collision avoidance control strategy and each airborne vehicle only implements its first Optimal Control Strategy, concrete mistake in Rolling Planning is spaced
Journey is as follows：Order
WhereinRepresent t airborne vehicle i present position Pi(t) and next way point Pi fBetween distance square, Pi
(t)=(xit, yit),The priority index of so t airborne vehicle i may be set to：
Wherein ntRepresent the airborne vehicle number that there is conflict in t spatial domain, from the implication of priority index, aviation
Device is nearer apart from its next way point, and its priority is higher.
Set optimizing index
, wherein i ∈ I (t) represents airborne vehicle code and I (t)={ 1,2 ..., nt, Pi(t+s Δ t) represents that airborne vehicle exists
Moment (position vector of t+s Δ t), Pi fRepresent next way point of airborne vehicle i, uiRepresent the optimum of airborne vehicle i to be optimized
Control sequence, QitFor positive definite diagonal matrix, its diagonal element is priority index L in t for the airborne vehicle iit, and
Step C6, in next sampling instant, repeat step C4 to C5 is until each airborne vehicle all reaches it and frees terminal.
Airborne Terminal module receives and executes the 4D track data of control terminal module issue.
Obviously, above-described embodiment is only intended to clearly illustrate example of the present invention, and is not to the present invention
The restriction of embodiment.For those of ordinary skill in the field, can also be made it on the basis of the above description
The change of its multi-form or variation.There is no need to be exhaustive to all of embodiment.And these belong to this
Obvious change that bright spirit is extended out or change among still in protection scope of the present invention.
Claims (1)
1. a kind of Solving Flight Conflicts method of air traffic control system, described air traffic control system includes Airborne Terminal
Module, data communication module and control terminal module；It is characterized in that：
Described control terminal module includes following submodule：
Real-time flight conflict monitoring and alarm module, for set up from airborne vehicle continuously dynamically to the observation of discrete conflict logic
Device, the conflict situation that the continuous dynamic mapping of Air Traffic System is expressed for discrete observation value；When system is possible to violate sky
During middle traffic control rule, the Hybrid dynamics behavior implementing monitoring to air traffic hybrid system, provide timely for controller
Warning information；
Solving Flight Conflicts 4D track optimization module, ensureing that system meets under aircraft performance and regulation rule constraints,
By select different free object function, using Model Predictive Control Theory method, calculate airborne vehicle conflict Resolution 4D flight path；
And airborne vehicle conflict Resolution 4D flight path is sent to by the execution of Airborne Terminal module by data communication module；
The Solving Flight Conflicts method of described air traffic control system includes several steps as follows：
Step A, directly obtained by air traffic controllers air traffic controllers each sampling instant speculate each
Airborne vehicle 4D track in future time period for the airborne vehicle；
Aviation in future time period for each airborne vehicle that step B, real-time flight conflict monitoring and alarm module obtain according to step A
Device 4D track set up from airborne vehicle continuously dynamically to the observer of discrete conflict logic, Air Traffic System is continuously dynamic
It is mapped as the conflict situation of discrete observation value expression；When system is possible to violate air traffic control rules, to air traffic
The Hybrid dynamics behavior implementing monitoring of hybrid system, provides timely warning information for controller；
Step C, Solving Flight Conflicts 4D track optimization module are ensureing that system meets aircraft performance and regulation rule constrains bar
Under part, by select different free object function, using Model Predictive Control Theory method, calculate airborne vehicle conflict Resolution 4D
Flight path；And airborne vehicle conflict Resolution 4D flight path is sent to by the execution of Airborne Terminal module by data communication module；It is specifically real
Apply process as follows：
Step C1, to Solving Flight Conflicts process model building：Conflict Resolution flight path is considered as continuous three sections of smooth curves, gives solution
The beginning and end of de- flight path, according to flight path restrictive condition, set up comprise acceleration, climb or rate of descent, turning rate changeable
The optimum conflict Resolution model of amount；
Step C2, conflict Resolution variable bound under different flying conditions is modeled：Wherein t need to implement conflict Resolution airborne vehicle
The variable bound of k is described as：ak(t)≤aM、ωk(t)≤ωM、γk(t)≤γM, aM、ωM、γMIt is respectively maximum acceleration
Degree, turning rate and climbing or rate of descent；
When step C3, termination reference point locations P setting airborne vehicle collision avoidance planning, collision avoidance planning control time domain Θ, trajectory predictions
Domain Υ；
Step C4, in each sampling instant t, based on the current running status of airborne vehicle and historical position observation sequence, obtain empty
The numerical value of domain wind field variable；
Step C5, be set in given optimizing index function on the premise of, based on cooperative collision avoidance trajectory planning thought, by each
Individual airborne vehicle gives different weights and incorporates real-time wind field variable filtering numerical value, obtain each airborne vehicle collision avoidance track and
Collision avoidance control strategy and each airborne vehicle only implement its first Optimal Control Strategy in Rolling Planning is spaced；
Step C6, in next sampling instant, repeat step C4 to C5 is until each airborne vehicle all reaches it and frees terminal；
Step D, Airborne Terminal module receive and execute the 4D track data of control terminal module issue.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710143408.8A CN106816045A (en) | 2015-01-07 | 2015-01-07 | Flight conflict resolution method based on 4D track operation |
| CN201710143407.3A CN106887162A (en) | 2015-01-07 | 2015-01-07 | Flight conflict resolution method |
| CN201710143411.XA CN106803363A (en) | 2015-01-07 | 2015-01-07 | Flight conflict resolution method based on 4D flight path |
| CN201510007755.9A CN104504941B (en) | 2015-01-07 | 2015-01-07 | Flight conflict resolution method of air traffic control system |
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| CN201710143408.8A Division CN106816045A (en) | 2015-01-07 | 2015-01-07 | Flight conflict resolution method based on 4D track operation |
| CN201710143407.3A Division CN106887162A (en) | 2015-01-07 | 2015-01-07 | Flight conflict resolution method |
| CN201710143411.XA Division CN106803363A (en) | 2015-01-07 | 2015-01-07 | Flight conflict resolution method based on 4D flight path |
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| CN201710143408.8A Pending CN106816045A (en) | 2015-01-07 | 2015-01-07 | Flight conflict resolution method based on 4D track operation |
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| CN104882029B (en) * | 2015-04-29 | 2017-03-01 | 四川川大智胜软件股份有限公司 | Real-time supervision alarm method based on the estimation of 4D track |
| WO2017013840A1 (en) * | 2015-07-17 | 2017-01-26 | パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカ | Unmanned flight vehicle, flight control method, flight basic program, and forced movement program |
| CN106777875A (en) * | 2016-11-18 | 2017-05-31 | 中国民航大学 | A kind of air traffic Complexity Measurement method based on double-deck multistage network model |
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| CN102509475B (en) * | 2011-10-26 | 2013-11-06 | 南京航空航天大学 | Air traffic control system and method for four-dimensional (4D)-trajectory-based operation |
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| CN104216416B (en) * | 2014-08-26 | 2017-10-10 | 北京航空航天大学 | Aircraft conflict Resolution method and apparatus |
| CN104240541B (en) * | 2014-09-09 | 2016-01-27 | 中国电子科技集团公司第二十八研究所 | A kind of 4D flight path generation method |
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