CN104537895A - Method and device for achieving 4D track flight - Google Patents
Method and device for achieving 4D track flight Download PDFInfo
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Abstract
The invention discloses a method for achieving 4D track flight. The method is achieved at an onboard terminal, and includes the following steps: (1) a flight plan is built; (2) the flight plan is optimized by a flight management computer according to parameter information provided by a navigation data base, a performance data base and a ground air traffic control system to generate an official 4D track, and an airplane takes off; (3) the official 4D track is optimized according to real-time parameter information, the 4D track is downloaded to the ground air traffic control system through a data link, and the airplane is guided to fly along the optimized official 4D track; (4) an air surveillance system conducts impact monitoring in real time, if impacts exist, an aviator is negotiated with the ground air traffic control system for modifying the 4D track, and the modified 4D track after negotiation forms the official 4D track so as to guide the airplane to fly. The invention further discloses a device for achieving 4D track flight. The method is simple and convenient to use; depending on an existing airplane avionics system structure, the functions are completed and updated, and then the 4D track flight can be achieved.
Description
Technical field
The present invention relates to air transport system of new generation, particularly relate to a kind of method and the servicing unit that realize the operation of 4D track.
Background technology
World Airways forwarding business increases fast to be several times as much as development of world economy speed every year, and current aerial management system is limited to conventional on-board equipment and ground auxiliary equipment, cannot realize the high efficiency utilization in spatial domain, even cause Airspace congestion.The fast development of air-transport industry and the contradiction of spatial domain resource-constrained, the contradiction that aerial management system is lower to spatial domain resource utilization.In order to adapt to fast-developing needs, all parts of the world is proposed various behave, formulate the development plan of aerial transport system of new generation, except ICAO aerial navigation is outside the plan, the Aviation Integration plan (SESAR) in the comparatively perfect aerial transport system of future generation (NextGen) mainly containing the U.S. and Europe.
The development experience of aerial management system to the progressively differentiation become more meticulous, generally can be divided into following three typical phases: procedural control, radar control and the operation based on track by extensiveization.Operation based on track is considered to the basis that NextGen and SESAR runs, and the operation based on track has following features:
Blank pipe: flight path is known, air traffic operation situation predictability strengthens, and is conducive to Optimum Regulation, reduces delay, reduces control load, reduces operation risk.
Flight: generate and be applicable to the most economical flight path of aircraft and section, be conducive to fuel-efficient, emissions reduction, especially termination environment RNP enters closely, declines into closely (CDA) etc. continuously; Airborne equipment window aerial time of arrival (RTA), blank pipe responsibility (interval keeps, and flow is synchronous) progressively born by aircraft, realizes four-dimensional track (4D) run with ground control systematic collaboration.
Four-dimensional track is a kind of mode that the temporal information utilizing the spatial information of 3 dimensions to add 1 dimension carries out aircraft flight overall process accurately describing.Run based on 4D track and refer to onboard flight management system (FMS) and ground ATC system carries out track negotiation, to obtain the flight optimization section that considers aircraft and ground restriction, flight management system carries out the track accurately controlling to implement to consult to air speed, and is subject to the monitoring on ground in whole flight course.By using 4D track, the aircraft state that ground air traffic control system (hereinafter referred to as ATC) is detected by current foundation sends " control based on license " and transits to " control based on track ".
Goal of the invention
For also there is no a set of perfect 4D track flying method at present, goal of the invention of the present invention is a kind of method providing 4D track to fly and the device realizing the flight of 4D track, when being intended to realize the operation of 4D track, how to carry out the amendment of aerial track, negotiation and interactive process, and constantly to running status automatic monitoring in flight course, realize the time controling of full track mark way point, improve the determinacy of track, improve security and the utilization factor in spatial domain.Air traffic control system does not discuss in detail for the supervision in spatial domain and the transmission of blank pipe instruction.
Goal of the invention of the present invention is achieved through the following technical solutions:
Realize a method for 4D track flight, realize at airborne end, comprise following steps:
Step 1), set up flight planning;
Step 2), the parameter information that provides according to navigational route database, performance database and ground air traffic control system of Flight Management Computer generates formal 4D track to flight planning optimization and takes off;
Step 3), Flight Management Computer is optimized according to real-time parameter information alignment type 4D track, by 4D track by reach ground air traffic control system under Data-Link and vector aircraft by the formal 4D track flight after optimizing;
Step 4), ASS(air surveillance system) carries out conflict monitoring in real time, if there is conflict, then held consultation by pilot and ground air traffic control system and revise 4D track, consulting amended 4D track becomes formal 4D locus guiding aircraft flight.
According to above-mentioned feature, described step 1) in flight planning load a flight planning by Data-Link to airborne Flight Management Computer by ground control centre, or by pilot by airborne man-machine interactive system according to blank pipe require manually input flight planning.
According to above-mentioned feature, described step 4) in conflict monitoring comprise to along the weather conflict of 4D track, landform conflict, traffic conflict, require the monitoring of the situation that realizes of time of arrival, the economy of aircraft flight.
According to above-mentioned feature, described step 4) in consult amendment 4D track method be:
Step 4.1) conflict occur after, Flight Management Computer points out pilot by navigation indicator;
Step 4.2) pilot is to Flight Management Computer input adjustment parameter information, and Flight Management Computer generates interim 4D track according to new parameter information, after pilot confirms, sends to ground air traffic control system;
Step 4.3), whether ground air traffic control system assesses interim 4D track feasible, if agreed to, then the direct interim 4D track that arrives of transmission and reception, otherwise send amended track;
Step 4.4), whether Aircraft Management Computer receives the track that track data judges to receive later identical with the interim 4D track of transmission, if identical, then after pilot confirms, interim 4D track become timing 4D track and is used for guiding of flying; If not identical, then judge whether the track that ground air traffic control system sends can run, if can not run, then pilot continues to consult with ground air traffic control system, if meet service condition, then confirm through pilot and notify ground air traffic control system, the 4D track that ground air traffic control system sends being become timing 4D track and is used for guiding of flying.
Another object of the present invention is achieved through the following technical solutions:
A kind of device realizing the flight of 4D track, comprise: Flight Management Computer 301, man-machine interactive system 302, multifunction display 303, navigation indicator 304, vertical display 305, ASS(air surveillance system) 306 and Data-Link 307, described Flight Management Computer 301, for completing the establishment of flight planning, completes the generation of 4D track, optimization, amendment and guiding according to parameter information;
Man-machine interactive system 302 is for creating the parameter information needed for flight planning, generation and amendment 4D track to Flight Management Computer 301 input;
Described multifunction display 303, navigation indicator 304, vertical display 305 are respectively used to each side information showing 4D track;
ASS(air surveillance system) 306 is for monitoring conflict and sending prompting by navigation indicator 304 to pilot when conflicting and occurring;
Data-Link 307 for transmitting data between Flight Management Computer 301 and ground air traffic control system.
According to above-mentioned feature, described Flight Management Computer 301 comprises ARINC424 standard navigation data storehouse, performance database, flight planning module, 4D Track Pick-up module and 4D bootstrap module;
Described navigational route database, for storing airfield runway information, enters departure procedure, way point information;
Described performance database is for storing the performance information of flight;
Described flight planning module to be loaded by Data-Link according to ground control centre or manually inputs generation flight planning by man-machine interactive system according to blank pipe requirement by pilot;
The parameter information that 4D Track Pick-up module provides according to ARINC424 standard navigation data storehouse, performance database and ground air traffic control system generates, optimizes 4D track;
4D track is sent to robot pilot and the flight of autothrottle system vector aircraft by 4D bootstrap module.
Tool of the present invention has the following advantages:
A) automatic monitoring of 4D running status, monitoring aircraft along track weather, air traffic situation and require time of arrival (be called for short: RTA) restriction realize situation, after monitoring amendment simultaneously, whether track is because of orographic factor generation dangerous obstacles, and alarm is provided, improve the security that 4D runs, alleviate the burden of pilot;
B) automatic Prediction and optimization 4D track, the Tangent Model of track is carried out in the restriction that can provide according to navigational route database restrictive condition, performance database restrictive condition, ATC and trade restriction (cost index).
C) realize negotiation that is aerial and ground after being convenient to revise track, guarantee that amended track meets the licensing requirement of pilot and ground control centre
The inventive method is easy, relies on existing Aircraft electric system framework, functionally carry out perfect, upgrade.This invention is a kind of method being easy to Project Realization, has important real world applications meaning for the practical engineering application advancing 4D track to run.
Accompanying drawing explanation
Fig. 1 describes the process flow diagram of being initiated the 4D track operation that track is consulted by cockpit crew.
Fig. 2 describes the process flow diagram of being initiated the 4D track operation that track is consulted by ATC.
Fig. 3 describes the structural drawing of the device realizing the flight of 4D track.
Fig. 4 is the leg page schematic diagram of Man Machine Interface in device.
Fig. 5 is certain some restricted information schematic diagram of Man Machine Interface in device.
Fig. 6 is navigator display upper right corner information displaying schematic diagram in device.
Fig. 7 is multifunction display right half part display schematic diagram in device.
Fig. 8 is multifunction display Major program restricted information display schematic diagram in device.
Fig. 9 is that in device, multifunction display track compares time restriction schematic diagram.
Figure 10 is vertical screen display schematic diagram in device.
Figure 11 is restricted information display mode schematic diagram on vertical screen in device.
Embodiment
Be described in further detail we are bright below in conjunction with accompanying drawing.
The amendment of the 4D track of being initiated by cockpit crew as shown in Figure 1 specifically comprises following steps:
During system starts, manual loading flight planning 101 is required to airborne Flight Management Computer loading flight planning or crew according to blank pipe by ground air traffic control system, blank pipe requires to comprise takeoff runway, departure procedure, flight route, the departure time, the time of arrival of requirement etc., plan from runway of leaving the theatre, to destination airport runway (comprising go-around procedure).
Carry out after loading flight planning, the own restrictive condition (height limitation, speed limit) that Flight Management Computer (FMC) provides according to ARINC424 standard navigation data storehouse and performance database and the restrictive condition (departure time that ground air traffic control system (ATC) provides, speed restriction, trade restriction) the whole 4D track of prediction optimization, then by passing 4D track under Data-Link to ground ATC.
After taking off, key instruction is sent to robot pilot and the flight of autothrottle system vector aircraft according to the 4D track of prediction by Flight Management Computer.Flight Management Computer is according to navigation information, and real-time estimate optimization also passes 4D track down.
Simultaneously in order to aircraft safety stable operation, conflict probe be carried out, real-time update weather information, whether monitoring meteorological condition meets service condition, want real-time estimate time of arrival (ETA) simultaneously, and confirm RTA restriction and commercial restriction, judge whether to meet restrictive condition.The RTA time window that RTA restriction is wanted automatic decision whether to exceed ground ATC to provide, to the flight cost index limit information that will provide according to airline with commercialization and calculate aircraft, judges whether to meet as pilot the foundation that commercialization limits.There is landform and traffic conflict or meteorology do not meet service condition if detected, or RTA restriction can not be met, then to there be figure and auditory tone cues on navigator display (ND), then pilot manually adjusts 4D track by Man Machine Interface, comprise amendment plan, amendment constraint condition, now will show interim 4D track on ND, guides still according to carrying out in the original plan.Flight management system computing machine optimizes 4D track according to new restrictive condition, after pilot confirms, send to ground air traffic control system (ATC), whether the 4D track that ATC sends according to the operation conditions assessment pilot in whole spatial domain is feasible, if agreed to, the then direct track that arrives of transmission and reception, if do not agreed to, sends amended track.After Flight Management Computer receives 4D track data by data link, judge that whether the 4D track received is identical with the 4D track of transmission, if identical, then interim 4D track become formal 4D track after pilot confirms and be used for guiding etc. of flying.If not identical, then according to foregoing detection method, judge whether the interim 4D track that ATC sends can run, if do not meet service condition or restrictive condition can not realize, then pilot continues to consult according to negotiation rules and flow process and ATC.If meet service condition, and restrictive condition can meet, then confirm through pilot and notify ground air traffic control system, and the 4D track that ground air traffic control system sends becomes formal 4D track, for guiding of flying.In Fig. 1, the cyclic part in left side is called negotiation loop, and right part is called supervision circulation.
4D trajectory modification is initiated as shown in Figure 2 by ground air traffic control system (ATC).ATC is according to the operation conditions in whole spatial domain, determine RTA (requiring time of arrival), then RTA and the restrictive condition (departure time is sent, speed restriction, trade restriction) to aircraft, Flight Management Computer calculates the departure time according to RTA and restrictive condition, if the departure time does not satisfy condition (departure time such as calculated crosses), then points out pilot, pilot's manual modification RTA, is then sent to ATC for ATC with reference to redefining new RTA.If satisfied condition, then take off the prediction locus that rear ATC real-time reception aircraft passes down, for the assessment of ATC to whole airspace operation state and the monitoring of aircraft running orbit.
The 4D trace information that in the weather information that ATC monitors according to meteorological equipments such as weather radars, spatial domain, aircraft transmits, the terrain information of terrain data library storage; weather monitoring and conflict probe are carried out to whole service spatial domain; if find that the situation being unfavorable for that flight passes through appears in certain flight along operation 4D track; then ATC revises 4D track or plan way point, sends and expect that 4D track is to aircraft after confirming.After aircraft receives new 4D track, aircraft automatic detection is along the conflict of 4D track and meteorology, the time restriction that whether can provide according to ATC arrives, pilot judges whether satisfied commercial restrictive condition, if all service conditions all meet, pilot confirms and sends the 4D track identical with ATC to ground air traffic control system, the 4D track that now ground air traffic control system sends becomes formal 4D track, flight management system according to navigation information, according to new 4D track restrictive condition prediction optimization 4D track and under pass.If the 4D track that ATC sends does not meet service condition; the then 4D track of pilot's manual modification ground air traffic control system transmission; then 4D track is sent to ATC by flight management system; if ATC agrees to that then ATC confirms; the interim track of ground air traffic control system become the 4D track of aircraft transmission and send identical 4D track to aircraft; if do not agreed to, then return ATC and revise track or plan, proceed track and consult.
Figure 3 shows that a kind of structure drawing of device realizing the flight of 4D track, comprising: Flight Management Computer 301, man-machine interactive system 302, multifunction display 303, navigation indicator 304, vertical display 305, ASS(air surveillance system) 306 and Data-Link 307.
Flight Management Computer 301: in order to meet the needs that 4D track runs, flight management system must possess ARINC424 standard navigation data storehouse, performance data database, navigation feature, flight plan management function etc., also should have 4D Track Pick-up function 308,4D guiding function 309 in addition.As the core processing equipment realizing 4D track operation servicing unit, flight management system will complete the establishment of flight planning, the functions such as the generation of track, optimization, amendment and guiding are completed according to restrictive condition, flight management system also will complete according to trade restriction the functions such as index that assess the cost, judge whether to meet restrictive condition for pilot.
Man-machine interactive system (is called for short: MCDU) 302:MCDU is as the Man Machine Interface of 4D track running gear, comprise display and keyboard, for pilot shows the essential information needed for flight in display, pilot is checked and the information in edit display by keyboard and Line Select Key.Except there is function that traditional MCDU possesses, also need to possess input and the Presentation Function of restrictive condition.The leg page of what Fig. 4 represented is MCDU.Transmission button 404 in figure is only just effective when generating interim 4D track, when being in negotiation state, press corresponding Line Select Key and then whole interim 4D track is sent to ATC, for formal 4D track, Flight Management Computer then sends at regular intervals automatically optimizes 4D track to ground air traffic control system.Except this exception, the leg page comprises the way point title 401 that whole flight planning comprises, the distance 402 of each leg and way point turning mode 403, presses the left Line Select Key of corresponding leg, can enter the restricted information page of corresponding way point.Such as press Line Select Key corresponding to D192N way point and can enter the restricted information page shown in Fig. 5, in figure 501,502,506 represents way point title, the current location distance to way point, the Estimated Time of Arrival of foundation current state calculating respectively, represents can not manually change (such as green) with a certain color; 502 and 507 what represent is time of arrival of requiring of blank pipe and time window, can manually change; 503 and 508 what represent is way point height and height limitation, can not change, if other color contrary then can manually be changed if the height that database is specified then shows green; 504 and 508 what represent is that display mode is identical with height limitation by the speed of way point and speed restriction.If height limitation and speed restriction can not satisfy condition, shown in red, time restriction is if there is no or only have one to limit then to show--:--:--,--:--:--/12:26:00,12:25:00/--:--:--, height limitation does not exist and then shows--/--,--/FL300, FL250/--; Speed restriction does not exist and is shown as--/--,--/300, FL250/--; In figure, 510 expressions is current time.
(be called for short: MFD): main display track details, Fig. 8 (note: in figure, numeral is only for illustration of not representing actual value) is shown in concrete display to multifunction display 303.After entering the MFD page, main flight planning button 801 represents display Major program, can chosen position information and restricted information from button drop-down menu, positional information comprises calculated way point and coordinate figure, and restricted information mainly comprises time restriction, height limitation, speed restriction, Estimated Time of Arrival, requires time of arrival.If a certain restriction can not realize, be then shown as yellow, what button 804 represented is page-turning function.What MOD button 802 mainly showed is temporary flight plan, and display mode is identical with main flight planning.COMPARE button 803 is mainly used in two tracks selected in comparison diagram, selection according to 705 is different, the COMPARE page of MFD shows different information, such as when 705 select TIME then the MFD page display as shown in Figure 9, the PLAN4 of 701 selections that what MFD left side represented is, the display of MFD right-hand part be the PLAN3 of 710 selections.What yellow represented is irrealizable restriction.What red solid line annotate portions represented is the part that PLAN3 is different from PLAN4.
The display of MFD right half part as shown in Figure 7, is mainly used in consulting the comparison between the preview of 4D track and different 4D track.Essential information, as shown in figure 707, if select the PLAN4 in 707, is presented at 702, comprises track name by the negotiation 4D track pressing plan 701, the button different reception of display or transmission, and pilot sends or ATC sends, and receives or transmitting time.After selecting a certain negotiation 4D track, the graphical information of track can be presented on ND and VD as Contingency plans, on details display MFD.703 as delete button, presses the relevant display that this button can delete this track, but does not delete the track of storage.Activator button 703 acts on identical with the ACK button of MCDU, and pilot presses this button can become formal 4D track by interim 4D track.Send button 709, the 4D track being mainly used to send current display, to ground air traffic control system, acts on identical with the send key of the leg restricted information page of MCDU.Because pilot needs the difference comparing the track sending and receive, so select different tracks to compare for the ease of pilot, add and compare track selection function 704, using method is identical with 702.705 the different information of selection and comparison can comprise way point information, temporal information, elevation information and velocity information, details are presented on MFD, illustrate and see that MFD introduces, display cost index 706, the first row represents the input cost exponential sum real cost index of PLAN4, second row represents the corresponding cost index of PLAN3, and the increment of PLAN3 relative to the real cost index of PLAN4 is shown in the 3rd list, is expressed as a percentage.
Navigator display (is called for short: ND) 304: for reveal competence profile footprint.Navigator display will have touch function, Overlapping display weather information and terrain information is also wanted except the essential information that display is traditional, in addition also to show other information shown in Fig. 6, cover height limitation 603 a little, time restriction 604, speed restriction 605.
Vertical screen (be called for short: VD) 305, as shown in Figure 10, main display be the vertical section information of track.In figure 1001 represents the horizontal range calculated from takeoff runway.1002 represent radio altitude, and 1003 represent cloud layer vertical section, and 1004 represent Terrain Elevation.1005 represent Estimated Time of Arrival, if overtime restriction, are shown as yellow.1006 represent whether meet time restriction condition, and 1007 represent whether meet height limitation, and the figured meaning of every class is shown in Figure 11, in Figure 11, every class figure represents " in restriction; close to lower limit 1101 " respectively, " in restriction, close to higher limit 1102 ", " in restriction; just in time equal the value 1103 of requirement " " exceeding higher limit 1104 " " exceed lower limit 1105 ", " only have the upper limit, estimated value in limits value 1106 ", " only have lower limit, estimated value restriction in 1107 ".Highly represent and time restriction similar
ASS(air surveillance system) 306: be mainly used in Real-Time Monitoring along the weather of 4D track, landform conflict, traffic conflict.ASS(air surveillance system) comprises air traffic collision avoidance system (TCAS), enhancement mode ground proximity warning system (EGPWS), weather radar (WXR) and S mode answering machine.TCAS is by other aircrafts of transponder detection local ambient, and by the traffic information display in local ambient spatial domain on ND, the information according to detection calculates potential threat, and sends figure and sound alarm to unit.EGPWS can compare the global topographic database of real-time positional information and database in flight course, the landform in local ambient spatial domain is presented on ND and VD in real time, if detect the machine to have with surrounding terrain and conflict, so aircraft will send figure and sound alarm to unit.WXR provides the function of prediction wind shear and turbulence detection.It can the whole spatial domain of continuous sweep aircraft vicinity and by weather information store in a database, be then presented on navigation indicator ND and vertical display VD.Crew carries out trajectory modification according to the prompting of surveillance.
Data-Link 307: mainly complete the mutual of the data of aircraft and ground air traffic control system, mainly contain aircraft the 4D track of amendment to be sent to the 4D track that ground revises by ATC, ATC to be sent to aircraft for pilot's reference by reaching ground air traffic control system (ATC), crew under the 4D track of real-time estimate, Data-Link also needs the information such as the meteorology of aerial monitoring, landform to send to ATC in addition.
Claims (6)
1. realize a method for 4D track flight, realize at airborne end, it is characterized in that comprising following steps:
Step 1), set up flight planning;
Step 2), the parameter information that provides according to ARINC424 standard navigation data storehouse, performance database and ground air traffic control system of Flight Management Computer generates formal 4D track to flight planning optimization and takes off;
Step 3), Flight Management Computer is optimized according to real-time parameter information alignment type 4D track, by 4D track by reach ground air traffic control system under Data-Link and vector aircraft by the formal 4D track flight after optimizing;
Step 4), ASS(air surveillance system) carries out conflict monitoring in real time, if there is conflict, then held consultation by pilot and ground air traffic control system and revise 4D track, consulting amended 4D track becomes formal 4D locus guiding aircraft flight.
2. the method realizing the flight of 4D track according to claim 1, it is characterized in that described step 1) in flight planning load a flight planning by Data-Link to airborne Flight Management Computer by ground control centre, or by pilot by airborne man-machine interactive system according to blank pipe require manually input flight planning.
3. the method realizing the flight of 4D track according to claim 1, is characterized in that described step 4) in conflict monitoring comprise to along the weather conflict of 4D track, landform conflict, traffic conflict, require the monitoring of the situation that realizes of time of arrival, the economy of aircraft flight.
4. the method realizing the flight of 4D track according to claim 1, is characterized in that described step 4) in consult amendment 4D track method be:
Step 4.1) conflict occur after, Flight Management Computer points out pilot by navigation indicator;
Step 4.2) pilot is to Flight Management Computer input adjustment parameter information, and Flight Management Computer generates interim 4D track according to new parameter information, after pilot confirms, sends to ground air traffic control system;
Step 4.3), whether ground air traffic control system assesses interim 4D track feasible, if agreed to, then the direct interim 4D track that arrives of transmission and reception, otherwise send amended track;
Step 4.4), whether Aircraft Management Computer receives the track that track data judges to receive later identical with the interim 4D track of transmission, if identical, then after pilot confirms, interim 4D track become timing 4D track and is used for guiding of flying; If not identical, then judge whether the track that ground air traffic control system sends can run, if can not run, then pilot continues to consult with ground air traffic control system, if meet service condition, then confirm through pilot and notify ground air traffic control system, the 4D track that ground air traffic control system sends being become timing 4D track and is used for guiding of flying.
5. one kind realizes the device of the arbitrary described method of Claims 1-4, comprise: Flight Management Computer (301), man-machine interactive system (302), multifunction display (303), navigation indicator (304), vertical display (305), ASS(air surveillance system) (306) and Data-Link (307), it is characterized in that described Flight Management Computer (301) is for completing the establishment of flight planning, completing the generation of 4D track, optimization, amendment and guiding according to parameter information;
Man-machine interactive system (302) is for creating the parameter information needed for flight planning, generation and amendment 4D track to Flight Management Computer (301) input;
Described multifunction display (303), navigation indicator (304), vertical display (305) are respectively used to each side information showing 4D track;
ASS(air surveillance system) (306) is for monitoring conflict and sending prompting by navigation indicator (304) to pilot when conflicting and occurring;
Data-Link (307) for transmitting data between Flight Management Computer (301) and ground air traffic control system.
6. device according to claim 5, is characterized in that described Flight Management Computer (301) comprises ARINC424 standard navigation data storehouse, performance database, flight planning module, 4D Track Pick-up module and 4D bootstrap module;
Described navigational route database, for storing airfield runway information, enters departure procedure, way point information;
Described performance database is for storing the performance information of flight;
Described flight planning module to be loaded by Data-Link according to ground control centre or manually inputs generation flight planning by man-machine interactive system according to blank pipe requirement by pilot;
The parameter information that described 4D Track Pick-up module provides according to navigational route database, performance database and ground air traffic control system generates, optimizes 4D track;
4D track is sent to robot pilot and the flight of autothrottle system vector aircraft by described 4D bootstrap module.
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