CN104882029A - 4D trajectory estimation-based real-time monitoring alarm method - Google Patents
4D trajectory estimation-based real-time monitoring alarm method Download PDFInfo
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Abstract
The invention discloses a 4D trajectory estimation-based real-time monitoring alarm method. The method includes the steps of: modeling a plane, using the plane as a mass point, and considering climbing, cruising and declining stages of the plane to be flying at uniform speed; using a 4D trajectory estimation model to predict a flying plan 4D trajectory of the plane; according to the predicted 4D trajectory, performing conflict calculation of flying plans of a period of time in the further, the conflict calculation adopting a simplified calculation mode provided by the invention, and receiving real-time monitoring alarm parameters based on the 4D trajectory; and obtaining alarm information according to a conflict calculation result. The method provided by the invention has a simple module, is easy to realize by a computer, and is very low in complexity of time and space.
Description
Technical field
The present invention relates to Computer Applied Technology and blank pipe robotization control field, particularly a kind of real time monitoring alarm method based on the estimation of 4D track.
Background technology
Since the sixties in last century, civil aviation cause achieves larger progress, and proportion shared in whole overall transportation system is also increasing.Especially, after reform and opening-up, China's aviation transport is in the state of high speed development always, increases close to 20% every year.The total turnover volume that China's regular liner completes is at the third place in contracting party of International Civil Aviation Organization, and China has become genuine aviation big country.
On the other hand, along with the fast development of Chinese national economy and the enhancing of national antiaircraft defense capability, the aerial mission amount that civil aviaton of army performs significantly increases, and airflight flow increases rapidly.The increase of civil aviaton of army aircraft quantity and the growth of flight flow, cause spatial domain day by day busy and crowded, the risk of collision between aircraft increased greatly, causes serious threat to flight safety.Real time monitoring alarm will be an important decision support tool in blank pipe robotization control, applies real time monitoring alarm and contribute to solving resource restriction, improve spatial domain utilization rate, alleviate flight contradiction in army's civil aviation control.
At present, existing various Control Centre at different levels of civil aviaton of army of China system real time monitoring alarm imperfection, such as still do not possess computing function etc. of conflicting mid-term, reason is mainly: 1, existing method calculation of complex, to realize with active computer technology needed for Time & Space Complexity higher, do not meet blank pipe and monitor real-time demand; 2, China's blank pipe has the characteristic of oneself, and some is distinguished with developed countries such as wests, and external existing system or method are not suitable for direct use.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of real time monitoring alarm method based on the estimation of 4D track, and when satisfied supervision precision, simplify conflict computation process, computing machine easily realizes, and Time & Space Complexity is all very low.
For solving the problems of the technologies described above, the technical solution adopted in the present invention is:
Based on the real time monitoring alarm method of 4D track estimation, comprise the following steps:
To modeling of aircraft, using aircraft as a particle, mushing, cruise, the decline stage is all thought of as and flies at a constant speed;
Utilize 4D track appraising model, the flight planning 4D track of prediction aircraft;
According to the 4D track of prediction, conflict is carried out to the flight planning of following a period of time and calculates, and allow amendment based on the real time monitoring alarm parameter of 4D track; Described conflict computation process is:
S1, given any two course line line1 and line2, get any leg CD in control zone on any leg AB and line2 in control zone on the line1 of course line, two leg AB, CD times that judged are with or without intersection, if without intersection, then two leg Lothrus apterus, if there is intersection, then the coordinate of any destination F between the coordinate of any destination E between synchronization first leg and the second leg is shown with the 4D information table of leg two-end-point;
S2, get E, F two height z1 of destination, z2;
S3, pass through height limitation | z1 – z2| < vsp_h (height limitation threshold values), calculate the time range (t11 meeting height limitation, t12), if (t11, t12) meaningless, i.e. t11 > t12, then two leg Lothrus apterus, if (t11, t12) meaningful, i.e. t11≤t12, then pass through distance limit | EF| < vsp_d (distance limit threshold values), calculate the time range (t13, t14) meeting distance limit;
If S4 is (t13, t14) meaningless, i.e. t13 > t14, then two leg Lothrus apterus, if (t13, t14) meaningful, i.e. t13≤t14, then get (t11, t12), (t13, t14) common factor, is denoted as (t15, t16);
If S5 occurs simultaneously, (t15, t16) is empty, then two leg Lothrus apterus, if occur simultaneously (t15, t16) is non-NULL, then passes through the 4D information of time end points and leg AB, CD end points, calculates the information of the correspondence conflict section in the eyes front time period;
According to conflict result of calculation, obtain warning information.
In addition, utilize the wake flow of aircraft in BADA storehouse, max vacuum speed, ceiling, cruise speed, cruising altitude, escalating rate, rate of descent, ascent stage horizontal velocity, decline stage horizontal velocity, radius of turn and enter the information such as departure procedure and described flight planning 4D track is predicted.
When receiving flight planning information, monitoring data, weather data, automatic triggering once conflicts calculating.
When the described real time monitoring alarm method based on the estimation of 4D track is deployed on multiple servers, there is dividing of principal and subordinate's state, wherein only have one to be in main state, only can carry out conflict and calculate in main state.
When flight planning information is flight planning renewal, the process that the described real time monitoring alarm method based on the estimation of 4D track starts conflict calculating is: reception flight planning, judges whether it is main state, if from state, upgrade local flight plan, if main state, judge whether flight planning deletes; If delete, then remove the conflicting information of this flight planning and other flight plannings, and delete local flight plan, if not delete, then judge whether flight planning changes; If flight planning changes, then upgrade local flight plan, and recalculate conflicting of this flight planning and other flight plannings.
When flight planning information is flight path renewal, the process that the described real time monitoring alarm method based on the estimation of 4D track starts conflict calculating is: receiving radar data, and then upgrade local flight path, judge whether it is main state, if main state, then judge whether flight path departs from the flight path of last computation, if depart from, then recalculate conflicting of this flight planning and other flight plannings.
Compared with prior art, the invention has the beneficial effects as follows: 1, the inventive method model is simple, and computing machine easily realizes, and Time & Space Complexity is all very low; 2, the method utilizes radar track information and weather information to revise flight planning in real time, ensure that and calculate effect real-time and accuracy; 3, the method is applied widely, is not only applicable to the army and the people and navigates flight planning, but also be applicable to the Flight plan with planned course; 4, to be suitable for the cycle long for the method, is not only applicable to carry out conflict set recognition in mid-term to flight planning, is still applicable to long-term conflict identification.
Accompanying drawing explanation
Fig. 1 is the real time monitoring alarm method conflict computation process schematic diagram that the present invention is based on the estimation of 4D track.
Fig. 2 is the real time monitoring alarm method initialize flow schematic diagram that the present invention is based on the estimation of 4D track.
Fig. 3 is the real time monitoring alarm method flight planning update process schematic flow sheet that the present invention is based on the estimation of 4D track.
Fig. 4 is the real time monitoring alarm method flight path update process schematic flow sheet that the present invention is based on the estimation of 4D track.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
The present invention is based on the real time monitoring alarm method of 4D track estimation mainly for China's blank pipe characteristic, propose according to real control demand, be a kind of meet China's air traffic control requirement, be applicable to ground navigation feature, accurately simple and easy and practical supervision method.In the present invention, based on the real time monitoring alarm of 4D track referred to as B4DFPCD.
The inventive method comprises the following steps:
To modeling of aircraft, using aircraft as a particle, mushing, cruise, the decline stage is all thought of as and flies at a constant speed.When carrying out estimation prediction to the flight planning of following leg, the wake flow of aircraft in BADA (Base of Aircraft Data) storehouse, max vacuum speed, ceiling, cruise speed, cruising altitude, escalating rate, rate of descent, ascent stage horizontal velocity, decline stage horizontal velocity, radius of turn can be utilized and enter the information such as departure procedure and described flight planning 4D track is predicted.
Table 1 B4DFPCD region definition list list of fields
Utilize 4D track appraising model, the flight planning 4D track of prediction aircraft, comprise initialize flow, as shown in Figure 2, need during B4DFPCD initialization to read Adaptive Data and VSP parameter (Variable system parameters), load all flight plannings, if be main state when starting, and the compute switch that conflicts is opened (acquiescence is closed), also to carry out the once planned conflict of institute and calculate.
When initialization, the Adaptive Data that B4DFPCD process is used has B4DFPCD region definition list, as shown in table 1, and B4DFPCD parameter list, as shown in table 2.
Table 2 B4DFPCD parameter list list of fields
| Sequence number | Field | Remarks |
| 1 | Parameter code name | The code name of parameter, refers to the eyes front time here |
| 2 | Value | Eyes front time value, unit (minute) |
B4DFPCD region definition list is for configuring the conflict restrictive condition in spatial information (si) and each spatial domain.When conflict calculates, the leg of flight path in configuration spatial domain just participates in calculating, if do not configure this table, even if flight path has conflict and conflict probe switch open, the result that conflict calculates also is empty, can not get the result envisioned.The B4DFPCD parameter list allocating default eyes front time.When conflict calculates, only calculate the consequences of hostilities of current leg within the eyes front time at every turn.
According to the 4D track of prediction, conflict is carried out to the flight planning of following a period of time and calculates, and allow amendment based on the real time monitoring alarm parameter of 4D track.Real time monitoring alarm based on 4D track utilizes 4D track appraising model, the 4D track of prediction flight planning, according to the 4D track of prediction, carries out conflict to the flight planning of following a period of time and calculates, and the setting received B4DFPCD parameter, carries out conflict in real time and calculates.When conflict calculates, according to the demand that China's blank pipe configures spatial domain, adaptation data are set, different spatial domains can be configured, the height and distance restrictive condition in each spatial domain can arrange different, if two flight paths are respectively in zones of different when conflict calculates, restrictive condition is now got two standards that region is the strictest and is carried out conflict calculating.
B4DFPCD is designed to the detached process run on the server, it receives flight planning, monitoring data, weather data and various Adaptive Data and VSP parameter, carry out B4DFPCD calculating, finally result is shown on interface, for controller's decision references.Once receive plan information, monitoring data, weather data, automatically triggering a B4DFPCD and calculating.
B4DFPCD is the process of a redundancy, may be deployed on multiple servers, has dividing of principal and subordinate's state, wherein only has one to be in main state, and only have the B4DFPCD of main state to carry out conflict evaluation work.Air traffic control system generally disposes two flight visual simulation servers, each other redundancies, and B4DFPCD process is deployed on flight visual simulation server 1,2 usually, runs in principal and subordinate's Hot Spare mode.
In B4DFPCD, most important method is the leg calculating any two course line middle distances after primary election and be highly less than vsp parameter, consideration height and distance two factors simultaneously.Suppose given any two course line line1 and line2, to get on the line1 of course line in control zone any leg AB and carry out conflict with any leg CD in control zone on line2 respectively and compare, conflict computation process in the present invention as shown in Figure 1:
S1, two leg AB, CD times that judged, if without intersection, then two leg Lothrus apterus, if there is intersection, then illustrated the coordinate of any destination F between the coordinate of any destination E between synchronization first leg and the second leg with the 4D information table of leg two-end-point with or without intersection;
S2, get E, F two height z1 of destination, z2;
S3, passing through height limitation | z1 – z2| < vsp_h, solves the time range (t11, t12) meeting height limitation, if (t11, t12) meaningless, i.e. t11 > t12, then two leg Lothrus apterus, if (t11, t12) meaningful, i.e. t11≤t12, then pass through distance limit | EF| < vsp_d, solve the time range (t13, t14) meeting distance limit;
If S4 is (t13, t14) meaningless, i.e. t13 > t14, then two leg Lothrus apterus, if (t13, t14) meaningful, i.e. t13≤t14, then get (t11, t12), (t13, t14) common factor, is denoted as (t15, t16);
If S5 occurs simultaneously, (t15, t16) is empty, then two leg Lothrus apterus, if occur simultaneously (t15, t16) is non-NULL, then passes through the 4D information of time end points and leg AB, CD end points, solves the information of the correspondence conflict section in the eyes front time period;
According to conflict result of calculation, obtain warning information.
As shown in Figure 3, when flight planning information is flight planning renewal, the process that the described real time monitoring alarm method based on the estimation of 4D track starts conflict calculating is: receive flight planning, judge whether it is main state, if from state, upgrade local flight plan, if main state, judge whether flight planning deletes; If delete, then remove the conflicting information of this flight planning and other flight plannings, and delete local flight plan, if not delete, then judge whether flight planning changes; If flight planning changes, then upgrade local flight plan, and recalculate conflicting of this flight planning and other flight plannings.
As shown in Figure 4, when flight planning information is flight path renewal, the process that the described real time monitoring alarm method based on the estimation of 4D track starts conflict calculating is: receiving radar data, and then upgrade local flight path, judge whether it is main state, if main state, then judge whether flight path departs from the flight path of last computation, if depart from, then recalculate conflicting of this flight planning and other flight plannings.
Claims (6)
1., based on a real time monitoring alarm method for 4D track estimation, comprise the following steps:
To modeling of aircraft, using aircraft as a particle, mushing, cruise, the decline stage is all thought of as and flies at a constant speed;
Utilize 4D track appraising model, the flight planning 4D track of prediction aircraft;
According to the 4D track of prediction, conflict is carried out to the flight planning of following a period of time and calculates, and allow amendment based on the real time monitoring alarm parameter of 4D track;
According to conflict result of calculation, obtain warning information; It is characterized in that, described conflict computation process is:
S1, given any two course line line1 and line2, get any leg CD in control zone on any leg AB and line2 in control zone on the line1 of course line, two leg AB, CD times that judged are with or without intersection, if without intersection, then two leg Lothrus apterus, if there is intersection, then the coordinate of any destination F between the coordinate of any destination E between synchronization first leg and the second leg is shown with the 4D information table of leg two-end-point;
S2, get E, F two height z1 of destination, z2;
S3, pass through height limitation | z1 – z2| < vsp_h, vsp_h is height limitation threshold values, calculate the time range (t11 meeting height limitation, t12), if (t11, t12) meaningless, i.e. t11 > t12, then two leg Lothrus apterus, if (t11, t12) meaningful, i.e. t11≤t12, then pass through distance limit | EF| < vsp_d, vsp_d are distance limit threshold values, calculate the time range (t13, t14) meeting distance limit;
If S4 is (t13, t14) meaningless, i.e. t13 > t14, then two leg Lothrus apterus, if (t13, t14) meaningful, i.e. t13≤t14, then get (t11, t12), (t13, t14) common factor, is denoted as (t15, t16);
If S5 occurs simultaneously, (t15, t16) is empty, then two leg Lothrus apterus, if occur simultaneously (t15, t16) is non-NULL, then passes through the 4D information of time end points and leg AB, CD end points, calculates the information of the correspondence conflict section in the eyes front time period.
2. as claimed in claim 1 based on the real time monitoring alarm method of 4D track estimation, it is characterized in that, utilize the wake flow of aircraft in BADA storehouse, max vacuum speed, ceiling, cruise speed, cruising altitude, escalating rate, rate of descent, ascent stage horizontal velocity, decline stage horizontal velocity, radius of turn and enter the information such as departure procedure and described flight planning 4D track is predicted.
3. as claimed in claim 1 based on the real time monitoring alarm method of 4D track estimation, it is characterized in that, when receiving flight planning information, monitoring data, weather data, automatic triggering once conflicts calculating.
4. the real time monitoring alarm method based on the estimation of 4D track as described in any one of claims 1 to 3, it is characterized in that, when the described real time monitoring alarm method based on the estimation of 4D track is deployed on multiple servers, there is dividing of principal and subordinate's state, wherein only have one to be in main state, only can carry out conflict and calculate in main state.
5. as claimed in claim 3 based on the real time monitoring alarm method of 4D track estimation, it is characterized in that, when flight planning information is flight planning renewal, the process that the described real time monitoring alarm method based on the estimation of 4D track starts conflict calculating is: receive flight planning, judge whether it is main state, if from state, upgrade local flight plan, if main state, judge whether flight planning deletes; If delete, then remove the conflicting information of this flight planning and other flight plannings, and delete local flight plan, if not delete, then judge whether flight planning changes; If flight planning changes, then upgrade local flight plan, and recalculate conflicting of this flight planning and other flight plannings.
6. as claimed in claim 3 based on the real time monitoring alarm method of 4D track estimation, it is characterized in that, when flight planning information is flight path renewal, the process that the described real time monitoring alarm method based on the estimation of 4D track starts conflict calculating is: receiving radar data, and then upgrades local flight path, judges whether it is main state, if main state, then judge whether flight path departs from the flight path of last computation, if depart from, then recalculate conflicting of this flight planning and other flight plannings.
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