CN104882029B - Real-time supervision alarm method based on the estimation of 4D track - Google Patents
Real-time supervision alarm method based on the estimation of 4D track Download PDFInfo
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Abstract
The invention discloses a kind of real-time supervision alarm method based on the estimation of 4D track, comprise the following steps：To modeling of aircraft, using aircraft as a particle, mushing, cruise, the decline stage is all thought of as flying at a constant speed；Using 4D track appraising model, predict the flight plan 4D track of aircraft；According to the 4D track of prediction, conflict calculating is carried out to the flight plan of following a period of time, conflict calculates using the calculation simplifying in the present invention, and receives the real-time supervision alarm parameter based on 4D track；According to conflict result of calculation, obtain warning information.The inventive method model is simple, and computer is easily realized, and Time ＆ Space Complexity is all very low.
Description
Technical field
The present invention relates to Computer Applied Technology and blank pipe automatization control field, estimated based on 4D track particularly to one kind
The real-time supervision alarm method calculated.
Background technology
Since the sixties in last century, civil aviation cause achieves larger progress, in whole composite communications transport body
In system, shared proportion is also increasing.After especially reforming and opening up to the outside world, China's aviation transport is constantly in the shape of high speed development
State, increases every year close to 20%.The total turnover volume that Chinese regular liner completes comes in third in contracting party of International Civil Aviation Organization
Position, China has become genuine aviation big country.
On the other hand, the enhancing of the fast development with Chinese national economy and national antiaircraft defense capability, the execution of civil aviaton of army
Aerial mission amount dramatically increases, and airflight flow increases rapidly.The increase of civil aviaton of army airborne vehicle quantity and the increasing of flight flow
Long, lead to spatial domain increasingly busy and crowded so that the risk of collision between aircraft greatly increases, flight safety is caused seriously
Threaten.Monitor that alarm will be an important decision support tool in the control of blank pipe automatization in real time, should in army's civil aviation control
Monitor that alarm contributes to solving resource limit, improves spatial domain utilization rate, alleviates flight contradiction with real-time.
At present, existing various Control Centre at different levels of civil aviaton of army of China system monitors alarm imperfection, such as still not in real time
Possesses mid-term conflict computing function etc., reason is mainly：1st, existing method calculates complexity, realizes institute with active computer technology
The Time ＆ Space Complexity needing is higher, is unsatisfactory for blank pipe and monitors real-time demand；2nd, China's blank pipe has the characteristic of oneself, with
Some differences of the developed countries such as west, abroad existing system or method are not suitable for directly using.
Content of the invention
The technical problem to be solved is to provide a kind of real-time supervision alarm method based on the estimation of 4D track,
Meet in the case of monitoring precision, simplify conflict calculating process, computer is easily realized, and Time ＆ Space Complexity is all very low.
For solving above-mentioned technical problem, the technical solution adopted in the present invention is：
Based on the real-time supervision 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 at the uniform velocity flying
OK；
Using 4D track appraising model, predict the flight plan 4D track of aircraft；
According to the 4D track of prediction, conflict calculating is carried out to the flight plan of following a period of time, and allows to change base
Real-time supervision alarm parameter in 4D track；Described conflict calculating process be：
S1, give any two course line line1 and line2, take the line1 of course line in control zone any leg AB with
The upper any leg CD in control zone of line2, judges that two leg AB, CD times had or not intersection, if no intersecting, two legs
Lothrus apterus, if there being intersection, represent the coordinate of any destination E between synchronization first leg with the 4D information of leg two-end-point
And the second any coordinate of destination F between leg；
S2, take the height z1, z2 of E, F two destination；
S3, pass through limitation in height | z1 z2 | ＜ vsp_h (limitation in height threshold values), calculate the time meeting limitation in height
Scope (t11, t12), if (t11, t12) is meaningless, i.e. t11 ＞ t12, then two leg Lothrus apterus, if (t11, t12) is meaningful,
I.e. t11≤t12, then pass through distance limit | EF | ＜ vsp_d (distance limit threshold values), calculate the time model meeting distance limit
Enclose (t13, t14)；
If S4 (t13, t14) is meaningless, i.e. t13 ＞ t14, then two leg Lothrus apterus, if (t13, t14) is meaningful, that is,
T13≤t14, then take (t11, t12), the common factor of (t13, t14), be denoted as (t15, t16)；
If S5 occurs simultaneously, (t15, t16) is sky, then two leg Lothrus apterus, if occuring simultaneously (t15, t16) for non-NULL, then when passing through
Between end points and leg AB, CD end points 4D information, calculate the information of the corresponding conflict section in the eyes front time period；
According to conflict result of calculation, obtain warning information.
Additionally, using the wake flow of aircraft in BADA storehouse, max vacuum speed, ceiling, cruising speed, cruising altitude, climbing,
Rate of descent, ascent stage horizontal velocity, decline stage horizontal velocity, radius of turn and enter the information such as departure procedure to described fly
Row plan 4D track is predicted.
When receiving flight plan information, monitoring data, meteorological data, once conflict calculates for triggering automatically.
When described based on 4D track estimation real-time supervision alarm method be deployed on multiple servers when, have principal and subordinate's state it
Point, wherein only one is in main state, can carry out conflict and calculate only in main state.
When flight plan information updates for flight plan, described based on 4D track estimation real-time supervision alarm method open
Moving the process calculating of conflicting is：Receive flight plan, judge it whether based on state, if from state, update local flight plan, if
Based on state, judge whether flight plan deletes；If deleting, then remove the letter that conflicts of this flight plan and other flight plans
Breath, and delete local flight plan, if not deleting, then judge whether flight plan changes；If flight plan becomes
Change, then update local flight plan, and recalculate conflicting of this flight plan and other flight plans.
When flight plan information updates for flight path, described startup based on the real-time supervision alarm method of 4D track estimation is rushed
The prominent process that calculates is：Receive radar data, and then update local flight path, judge it whether based on state, if main state, then judge
Whether flight path is deviateed with the flight path of last computation, if deviateing, then recalculates rushing of this flight plan and other flight plans
Prominent.
Compared with prior art, the invention has the beneficial effects as follows：1st, the inventive method model is simple, and computer is easily realized,
Time ＆ Space Complexity is all very low；2nd, the method is to revise flight plan in real time using radar track information and weather information,
Ensure that calculating effect real-time and accuracy；3rd, the method is applied widely, civil aviaton of the army of being applicable not only to flight plan, and
Apply also for the Flight plan with planned course；4th, the method applicable cycle is long, is applicable not only to flight plan is entered
Row mid-term conflict set recognition, also applies to long-term conflict identification.
Brief description
Fig. 1 is the real-time supervision alarm method conflict calculating process schematic diagram that the present invention is estimated based on 4D track.
Fig. 2 is the real-time supervision alarm method initialization schematic flow sheet that the present invention is estimated based on 4D track.
Fig. 3 is that the present invention updates handling process signal based on the real-time supervision alarm method flight plan that 4D track is estimated
Figure.
Fig. 4 is that the present invention updates handling process schematic diagram based on the real-time supervision alarm method flight path that 4D track is estimated.
Specific embodiment
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
The real-time supervision alarm method that the present invention is estimated based on 4D track mainly for China's blank pipe characteristic, according to reality pipe
Demand processed and propose, be that one kind meets China's air traffic control requirement, is suitable for area navigation feature, accurately simple and real
Supervision method.In the present invention, B4DFPCD is referred to as based on the real-time supervision alarm of 4D track.
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 at the uniform velocity flying
OK.When the flight plan to following leg carries out estimation prediction, in available BADA (Base of Aircraft Data) storehouse
The wake flow of aircraft, max vacuum speed, ceiling, cruising speed, cruising altitude, climbing, rate of descent, ascent stage horizontal velocity,
Decline stage horizontal velocity, radius of turn and enter the information such as departure procedure described flight plan 4D track is predicted.
Table 1 B4DFPCD region defines literary name section list
Using 4D track appraising model, predict the flight plan 4D track of aircraft, including initialization flow process, as shown in Fig. 2
Need to read Adaptive Data and VSP parameter (Variable system parameters) during B4DFPCD initialization, load institute
There is flight plan, if being main state when starting, and calculating switch open (acquiescence be close) that conflicts, being also performed to once to own
The conflict of plan calculates.
In initialization, the Adaptive Data that B4DFPCD process is used has B4DFPCD region definition table, as shown in table 1,
With 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 here to the eyes front time |
| 2 | Value | Eyes front time value, unit (minute) |
Definition table in B4DFPCD region is used for configuring the conflict restrictive condition in spatial information (si) and each spatial domain.Conflict meter
During calculation, leg in configuration spatial domain for the flight path just participates in calculating, if not configuring this table, even if flight path has the spy that conflicts and conflict
Slowdown monitoring switch is opened, and the result that conflict calculates is also empty, the result that cannot envision.B4DFPCD parameter list allocating default is forward
See the time.When conflict calculates, only calculate the consequences of hostilities of current leg Dao the eyes front time within every time.
According to the 4D track of prediction, conflict calculating is carried out to the flight plan of following a period of time, and allows to change base
Real-time supervision alarm parameter in 4D track.4D track appraising model is utilized based on the real-time supervision alarm of 4D track, prediction flies
The 4D track of row plan, according to the 4D track of prediction, carries out conflict calculating to the flight plan of following a period of time, and receives
Setting to B4DFPCD parameter, carries out conflict in real time and calculates.When conflict calculates, the demand that foundation China blank pipe configures to spatial domain,
Setting adapts to data, can configure different spatial domains, and the height and distance restrictive condition in each spatial domain can arrange different, punching
If prominent when calculating two flight paths respectively in zones of different, restrictive condition now takes the most stringent of standard in two regions to carry out
Conflict calculates.
B4DFPCD is designed as the independent process run on the server, and it receives flight plan, monitors data, gas
Image data and various Adaptive Data and VSP parameter, carry out B4DFPCD calculating, finally result are shown on interface, for pipe
Member's decision references processed.During upon receipt of plan information, supervision data, meteorological data, B4DFPCD of triggering calculates automatically.
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 is in main state, and only has the B4DFPCD of main state can carry out the evaluation work that conflicts.The general deployment of air traffic control system two
Flight visual simulation server, is mutually redundant, and B4DFPCD process is typically deployed on flight visual simulation server 1,2, with master
Run from Hot Spare mode.
In B4DFPCD most important method be calculate primary election after in any two course lines distance and height be less than vsp parameter
Leg, simultaneously consider two factors of height and distance.Assume to give any two course line line1 and line2, take course line
The upper leg AB any in control zone of line1 carries out conflict ratio respectively with any leg CD in control zone on line2
Relatively, in the present invention, conflict calculating process is as shown in Figure 1：
S1, judge that two leg AB, CD times had or not intersection, if no intersecting, two leg Lothrus apterus, if there being intersection, use
The 4D information of leg two-end-point represents between synchronization first leg any destination between the coordinate of any destination E and the second leg
The coordinate of F；
S2, take the height z1, z2 of E, F two destination；
S3, pass through limitation in height | z1 z2 | ＜ vsp_h, solve the time range (t11, t12) meeting limitation in height,
If (t11, t12) is meaningless, i.e. t11 ＞ t12, then two leg Lothrus apterus, if (t11, t12) is meaningful, i.e. t11≤t12, then lead to
Cross distance limit | EF | ＜ vsp_d, solve the time range (t13, t14) meeting distance limit；
If S4 (t13, t14) is meaningless, i.e. t13 ＞ t14, then two leg Lothrus apterus, if (t13, t14) is meaningful, that is,
T13≤t14, then take (t11, t12), the common factor of (t13, t14), be denoted as (t15, t16)；
If S5 occurs simultaneously, (t15, t16) is sky, then two leg Lothrus apterus, if occuring simultaneously (t15, t16) for non-NULL, then when passing through
Between end points and leg AB, CD end points 4D information, solve the information of the corresponding conflict section in the eyes front time period；
According to conflict result of calculation, obtain warning information.
As shown in figure 3, when flight plan information updates for flight plan, the described real-time supervision based on the estimation of 4D track
Alarm method starts the process calculating of conflicting：Receive flight plan, judge it whether based on state, if from state, update local
Flight plan, if based on state, judge whether flight plan deletes；If deleting, then remove this flight plan and other flight meters
The conflicting information drawn, and delete local flight plan, if not deleting, then judge whether flight plan changes；If flight
Plan changes, then update local flight plan, and recalculate conflicting of this flight plan and other flight plans.
As shown in figure 4, when flight plan information updates for flight path, the described real-time supervision alarm based on the estimation of 4D track
Method starts the process calculating of conflicting：Receive radar data, and then update local flight path, judge it whether based on state, if
Main state, then judge that whether flight path is deviateed with the flight path of last computation, if deviateing, then recalculates this flight plan and flies with other
The conflict of row plan.
Claims (6)
1. a kind of real-time supervision alarm method based on the estimation of 4D track, comprises the following steps：
To modeling of aircraft, using aircraft as a particle, mushing, cruise, the decline stage is all thought of as flying at a constant speed；
Using 4D track appraising model, predict the flight plan 4D track of aircraft；
According to the 4D track of prediction, conflict calculating is carried out to the flight plan of following a period of time, and allows modification to be based on 4D
The real-time supervision alarm parameter of track；
According to conflict result of calculation, obtain warning information；It is characterized in that, described conflict calculating process is：
S1, give any two course line line1 and line2, take the line1 of course line in control zone any leg AB with
The upper any leg CD in control zone of line2, judges that two leg AB, CD times had or not intersection, if no intersecting, two legs
Lothrus apterus, if there being intersection, represent the coordinate of any destination E between synchronization first leg with the 4D information of leg two-end-point
And the second any coordinate of destination F between leg；
S2, take the height z1, z2 of E, F two destination；
S3, by limitation in height | z1 z2 | ＜ vsp_h, vsp_h be limitation in height threshold values, calculate meet limitation in height when
Between scope (t11, t12), if (t11, t12) is meaningless, i.e. t11 ＞ t12, then two leg Lothrus apterus, if (t11, t12) have a mind to
Justice, i.e. t11≤t12, then pass through distance limit | EF | ＜ vsp_d, vsp_d is distance limit threshold values, calculate satisfaction distance limit
The time range (t13, t14) of system；
If S4 (t13, t14) is meaningless, i.e. t13 ＞ t14, then two leg Lothrus apterus, if (t13, t14) is meaningful, that is, t13≤
T14, then take (t11, t12), the common factor of (t13, t14), be denoted as (t15, t16)；
If S5 occurs simultaneously, (t15, t16) is sky, then two leg Lothrus apterus, if occuring simultaneously (t15, t16) for non-NULL, then passes through time end
Point and the 4D information of leg AB, CD end points, calculate the information of the corresponding conflict section in the eyes front time period.
2. the real-time supervision alarm method based on the estimation of 4D track as claimed in claim 1 is it is characterised in that utilize BADA storehouse
The wake flow of interior aircraft, max vacuum speed, ceiling, cruising speed, cruising altitude, climbing, rate of descent, ascent stage level speed
Degree, decline stage horizontal velocity, radius of turn and enter departure procedure information described flight plan 4D track is predicted.
3. the real-time supervision alarm method based on the estimation of 4D track as claimed in claim 1 is it is characterised in that ought receive winged
When row plan information, supervision data, meteorological data, once conflict calculates for triggering automatically.
4. as described in any one of claims 1 to 3 based on 4D track estimation real-time supervision alarm method it is characterised in that
When described based on 4D track estimation real-time supervision alarm method be deployed on multiple servers when, have principal and subordinate's state point, wherein
Only one is in main state, can carry out conflict and calculate only in main state.
5. the real-time supervision alarm method based on the estimation of 4D track as claimed in claim 3 is it is characterised in that work as flight plan
When information updates for flight plan, the described process starting conflict calculating based on the real-time supervision alarm method of 4D track estimation
For：Receive flight plan, judge it whether based on state, if from state, update local flight plan, if based on state, judge flight
Whether plan deletes；If deleting, then remove the conflicting information of this flight plan and other flight plans, and delete local flight
Plan, if not deleting, then judges whether flight plan changes；If flight plan changes, update local flight
Plan, and recalculate conflicting of this flight plan and other flight plans.
6. the real-time supervision alarm method based on the estimation of 4D track as claimed in claim 3 is it is characterised in that work as flight plan
When information updates for flight path, the process of the described real-time supervision alarm method startup conflict calculating based on the estimation of 4D track is：Connect
Receive radar data, and then update local flight path, judge it whether based on state, if main state, then judge whether flight path is counted with last time
The flight path calculated deviates, if deviateing, then recalculates conflicting of this flight plan and other flight plans.
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105976645B (en) * | 2016-07-21 | 2018-09-11 | 青岛民航空管实业发展有限公司 | A kind of mid-term conflict probe alarm method and system based on control intention |
| CN107492266A (en) * | 2017-08-30 | 2017-12-19 | 中国民用航空飞行学院 | The conflict automatic distinguishing method and device of termination environment PBN instrument flight procedures |
| CN107578647B (en) * | 2017-09-18 | 2020-07-31 | 中国航空无线电电子研究所 | 4 DT-based airborne medium-and-long-term conflict detection and avoidance method |
| CN109003470B (en) * | 2018-06-29 | 2020-07-03 | 北京航空航天大学 | Method and device for monitoring and alarming track consistency |
| CN117198095A (en) * | 2023-07-28 | 2023-12-08 | 中国民航管理干部学院 | Wisdom air trip distributed traffic management system |
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