CN105185163A - Flight path selection method, flight path selection device, aircraft and air traffic management system - Google Patents

Abstract

The invention relates to a flight path selection method, a flight path selection device, an aircraft and an air traffic management system. The flight path selection method comprises the steps of calculating a cost function of each waypoint to be selected which are directly associated with a takeoff point, determining a waypoint to be selected with the minimum cost function value to act as a first airway section end point, screening each waypoint to be selected which are directly associated with the first airway section end point according to a maximum steering angle condition of the aircraft, determining a waypoint to be selected with the minimum cost function value in waypoints to be selected which meet the maximum steering angle condition to act as a second airway section end point, and so on until the next waypoint is a destination of the aircraft, and terminating the dynamic path selection. The method provided by the invention is small in calculation amount, and capable of determining the optimal flight path of the aircraft quickly and flexibly according to real-time information of each waypoint, thereby effectively improving the handling capacity of an air network, and improving the utilization ratio of airspace resources.

Description

Flight path system of selection and device, aircraft and air traffic control system (ATCS)

Technical field

The present invention relates to aviation Path Planning Technique field, particularly relate to a kind of flight path system of selection and device, aircraft and air traffic control system (ATCS).

Background technology

Along with growing continuously and fast of air-transport industry, severe challenge is faced with to the management of air traffic control order.

Carrying out path planning to aircraft is the important means ensureing aircraft flight safety and improve air traffic efficiency.Mostly current flight path system of selection is to plan path before aircraft flight, comparatively common method is before aircraft takeoff, from many flight paths between predetermined takeoff point and destination, according to the selected optimal path of specific criterion, but the method will obtain the information of overall network, operand is large, and lacks the dirigibility according to reality empty condition adjustment flight path.In order to meet day by day diversified flight demand, needing research and development one badly in aircraft flight way, can carry out the method for Dynamic Selection fast to flight path, to improve the handling capacity of air net, improve the utilization factor of spatial domain resource.

Summary of the invention

The invention provides a kind of flight path system of selection and device, aircraft and air traffic control system (ATCS), by utilizing the association air route segment information of aircraft current flight air route segment endpoint, in conjunction with the steering angle of aircraft self, the next air route section that Dynamic Selection is flown in advance.The method operand is little, can according to the real-time information of each way point, the determination aircraft optimal flight paths of fast and flexible, effectively improves the handling capacity of air net, improves the utilization factor of spatial domain resource.

The invention provides a kind of flight path system of selection, comprising:

The set V with the way point all to be selected of takeoff point direct correlation determined by steps A, selecting arrangement _s, for described set V _seach way point to be selected interior, calculates the cost function of each way point to be selected;

Step B, described selecting arrangement are at described set V _sinside determine that the way point to be selected with least cost function value is as the first air route segment endpoint;

The set V with the way point all to be selected of described first air route segment endpoint direct correlation determined by step C, described selecting arrangement _i, judge described set V _iinside whether there is the destination of described aircraft; If exist, perform step D; If do not exist, perform step e;

Step D, described selecting arrangement determine that the air route section between described first air route segment endpoint and described destination is most end air route section, terminate described flight path and select;

Step e, described selecting arrangement, according to the steering locking angle of described aircraft, delete described set V _iinside be greater than the way point to be selected of described steering locking angle, obtain gathering V _i', for described set V _i' each way point to be selected interior, calculates the cost function of each way point to be selected; At described set V _i' inside determine that the way point to be selected with least cost function value is as next air route segment endpoint;

It is described next air route segment endpoint that step F, described selecting arrangement upgrade described first air route segment endpoint, returns and performs described step C.

The present invention also provides a kind of flight path selecting arrangement, comprising:

Computing module, for determining the set V with the way point all to be selected of takeoff point direct correlation _s, for described set V _seach way point to be selected interior, calculates the cost function of each way point to be selected; At described set V _sinside determine that the way point to be selected with least cost function value is as the first air route segment endpoint;

Judge module, for determining the set V with the way point all to be selected of described first air route segment endpoint direct correlation _i, judge described set V _iinside whether there is the destination of described aircraft; If exist, determine that the air route section between described first air route segment endpoint and described destination is most end air route section, terminate described flight path and select;

Described computing module, also for judging described set V at described judge module _iwhen inside there is not the destination of described aircraft, according to the steering locking angle of described aircraft, delete described set V _iinside be greater than the way point to be selected of described steering locking angle, obtain gathering V _i', for described set V _i' each way point to be selected interior, calculates the cost function of each way point to be selected; At described set V _i' inside determine that the way point to be selected with least cost function value is as next air route segment endpoint;

Update module is described next air route segment endpoint for upgrading described first air route segment endpoint, and notifies that described judge module continues to perform.

The present invention also provides a kind of aircraft, comprises aircraft body, is provided with selecting arrangement as above, also comprises in described aircraft body:

First acquisition module, for obtaining the first cost parameter from described aircraft and/or air traffic control system (ATCS), described first cost function parameter comprises: aircraft average flight speed v, air objective ground n _h, way point n to be selected _j, current flight air route segment endpoint or takeoff point n _i;

Sending/receiving module, obtain request to described air traffic control system (ATCS) for sending the second cost function parameter, described acquisition request comprises: described aircraft mark; Receive described air traffic control system (ATCS) and identify the described second cost function parameter got according to described aircraft, described second cost function parameter comprises: n _iand n _jreal time aircraft quantity L in the section of air route _ij, n _iand n _jbetween aircraft maximum quantity C that air route section allows _ij, n _jthe number of vehicles D passed through is allowed within the unit interval _j, and n _jtowards n in all air routes section of direct correlation _jthe instant number Q of the aircraft of flight _j; The cost function of each way point to be selected is calculated according to described first cost function parameter and described second cost function parameter to make the described computing module of described selecting arrangement; Described cost function is:

$f_{ij}={\mathrm{\γ}}_1\frac{d_{jh}}{v}+{\mathrm{\γ}}_{2}max(1,\frac{L_{ij}}{{\mathrm{\βC}}_{ij}})\frac{d_{ij}}{v}+{\mathrm{\γ}}_{3}max(0,\frac{Q_j}{D_j}-1);$ Wherein,

F _ij: way point n to be selected _jcorresponding cost function, if in aircraft flight, subscript i identifies the terminal of aircraft current flight air route section, and subscript j identifies the way point to be selected of the next flight route section of aircraft; If aircraft does not take off, subscript i identifies aircraft takeoff point, and subscript j identifies the way point to be selected of aircraft first air route section;

D _jh: way point n to be selected _jwith air objective ground n _hbetween actual range, subscript h identifies aircraft destination;

V: aircraft average flight speed;

D _ij: way point n _iwith way point n to be selected _jbetween actual range;

L _ij: way point n _iwith way point n to be selected _jbetween air route section on real-time number of vehicles;

C _ij: way point n _iwith way point n to be selected _jbetween air route section on the aircraft maximum quantity that allows;

β: the first parameter preset, for regulating way point n _iwith way point n to be selected _jbetween the aircraft maximum quantity that allows, 0 < β≤1;

D _j: way point n to be selected _jthe number of vehicles passed through is allowed within the unit interval;

Q _j: with way point n to be selected _jtowards way point n to be selected in all air routes section of direct correlation _jthe instant number of the aircraft of flight;

γ ₁: the second parameter preset, for regulating n _jand n _hthe weight of actual range in cost function, span is γ ₁>=0;

γ ₂: the 3rd parameter preset, for regulating n _iand n _jbetween actual range and the weight of real-time number of vehicles in cost function, span is γ ₂>=0;

γ ₃: the 4th parameter preset, for regulating towards way point n to be selected _jthe weight of aircraft instant number in cost function of flight, span is γ ₃>=0.

The present invention also provides a kind of air traffic control system (ATCS), and described system comprises selecting arrangement as above, also comprises:

Receiver module, the flight path sent for receiving described aircraft selects request, and described selection request comprises: described aircraft mark;

Second acquisition module, directly obtains the second cost function parameter of described aircraft from described air traffic control system (ATCS) according to described aircraft mark; Described second cost function parameter comprises: n _iand n _jreal time aircraft quantity L in the section of air route _ij, n _iand n _jbetween aircraft maximum quantity C that air route section allows _ij, n _jthe number of vehicles D passed through is allowed within the unit interval _j, and n _jtowards n in all air routes section of direct correlation _jthe instant number Q of the aircraft of flight _j; Described second acquisition module, also for obtaining the first cost parameter from described aircraft and/or described air traffic control system (ATCS), described first cost function parameter comprises: aircraft average flight speed v, air objective ground n _h, way point n to be selected _j, current flight air route segment endpoint or takeoff point n _i; The cost function of each way point to be selected is calculated according to described first cost function parameter and described second cost function parameter to make the described computing module of described selecting arrangement;

Sending module, for determine to have least cost function value when described computing module way point to be selected after, there is the way point result to be selected of least cost function value to described aircraft described in transmission; Wherein, described cost function is: $f_{ij}={\mathrm{\&gamma;}}_1\frac{d_{jh}}{v}+{\mathrm{\&gamma;}}_{2}max(1,\frac{L_{ij}}{{\mathrm{\&beta;C}}_{ij}})\frac{d_{ij}}{v}+{\mathrm{\&gamma;}}_{3}max(0,\frac{Q_j}{D_j}-1);$ Wherein,

F _ij: way point n to be selected _jcorresponding cost function, if in aircraft flight, subscript i identifies the terminal of aircraft current flight air route section, and subscript j identifies the way point to be selected of the next flight route section of aircraft; If aircraft does not take off, subscript i identifies aircraft takeoff point, and subscript j identifies the way point to be selected of aircraft first air route section;

D _jh: way point n to be selected _jwith air objective ground n _hbetween actual range, subscript h identifies aircraft destination;

V: aircraft average flight speed;

D _ij: way point n _iwith way point n to be selected _jbetween actual range;

L _ij: way point n _iwith way point n to be selected _jbetween air route section on real-time number of vehicles;

C _ij: way point n _iwith way point n to be selected _jbetween air route section on the aircraft maximum quantity that allows;

β: the first parameter preset, for regulating way point n _iwith way point n to be selected _jbetween the aircraft maximum quantity that allows, 0 < β≤1;

D _j: way point n to be selected _jthe number of vehicles passed through is allowed within the unit interval;

Q _j: with way point n to be selected _jtowards way point n to be selected in all air routes section of direct correlation _jthe instant number of the aircraft of flight;

γ ₁: the second parameter preset, for regulating n _jand n _hthe weight of actual range in cost function, span is γ ₁>=0;

γ ₂: the 3rd parameter preset, for regulating n _iand n _jbetween actual range and the weight of real-time number of vehicles in cost function, span is γ ₂>=0;

γ ₃: the 4th parameter preset, for regulating towards way point n to be selected _jthe weight of aircraft instant number in cost function of flight, span is γ ₃>=0.

Flight path system of selection of the present invention and device, aircraft and air traffic control system (ATCS), by calculating the cost function with each way point to be selected of takeoff point direct correlation, determine that the way point to be selected with least cost function value is as the first air route segment endpoint, again according to the steering locking angle conditional filtering of aircraft and each way point to be selected of the first air route segment endpoint direct correlation, in the way point to be selected meeting steering locking angle condition, determine that the way point to be selected with least cost function value is as the second air route segment endpoint, and the like, until next way point is the destination of aircraft, terminate this Dynamic User-Optimal Route Choice.The method operand is little, can according to the real-time information of each way point, the determination aircraft optimal flight paths of fast and flexible, effectively improves the handling capacity of air net, improves the utilization factor of spatial domain resource.

Accompanying drawing explanation

Fig. 1 is route grid structural representation of the present invention;

Fig. 2 is the schematic flow sheet of the embodiment one of flight path system of selection of the present invention;

Fig. 3 is the flight-path seeking schematic diagram of flight path system of selection of the present invention;

Fig. 4 is the structural representation of the embodiment one of flight path selecting arrangement of the present invention;

Fig. 5 is the structural representation of the embodiment one of aircraft of the present invention;

Fig. 6 is the structural representation of the embodiment one of air traffic control system (ATCS) of the present invention.

Embodiment

Fig. 1 is route grid structural representation of the present invention, and Fig. 2 is the schematic flow sheet of the embodiment one of flight path system of selection of the present invention, and as shown in Figure 1-2, the method described in the present embodiment one, comprising:

The set V with the way point all to be selected of takeoff point direct correlation determined by step 201 (steps A), selecting arrangement _s, for set V _seach way point to be selected interior, calculates the cost function of each way point to be selected.

Step 202 (step B), selecting arrangement are at set V _sinside determine that the way point to be selected with least cost function value is as the first air route segment endpoint.

The set V with the way point all to be selected of the first air route segment endpoint direct correlation determined by step 203 (step C), selecting arrangement _i, judge set V _iinside whether there is the destination of aircraft; If exist, perform step 204 (step D); If do not exist, perform step 205 (step e).

Step 204 (step D), selecting arrangement determine that the air route section between the first air route segment endpoint and destination is most end air route section, terminate flight path and select.

Step 205 (step e), selecting arrangement, according to the steering locking angle of aircraft, delete set V _iinside be greater than the way point to be selected of steering locking angle, obtain gathering V _i', for set V _i' each way point to be selected interior, calculates the cost function of each way point to be selected; At set V _i' inside determine that the way point to be selected with least cost function value is as next air route segment endpoint.

It is next air route segment endpoint that step 206 (step F), selecting arrangement upgrade the first air route segment endpoint, returns and performs step 203 (step C).

Concrete, in route grid, way point is the gauge point in flight path, and its longitude and latitude is determined by factors such as ground navigation aid equipment, geographical environment, communication distances.Air route Duan Ze is the aerial channels with one fixed width and altitude range connecting different way point or airport, delimit for aircraft flight.Generally, can by abstract for way point be network node, air route section is abstract is straight line between two nodes, such as, shown in Fig. 1, to the air route Duan Eryan being labeled as a, when aircraft is from way point fly to way point time, its starting point is terminal is based on route grid structure, the flight path of aircraft is made up of a series of way point and corresponding air route section, such as, in Fig. 1, and n _s→ n ₁→ n ₂→ n ₃→ n _i→ n _j*→ n _hbetween just constitute a flight path, takeoff point is n _s, destination is n _h.When aircraft flies in an xth air route section, from the terminal n with an xth air route section _ithe all air route section n be connected _i→ n _i1, n _i→ n _i2, n _i→ n _j*, n _i→ n _i3, n _i→ n _i4, n _i→ n ₃the way point to be selected being greater than steering locking angle is deleted by the middle steering locking angle according to aircraft, such as: for way point n _iair route point set all to be selected be combined into V _i{ n ₃, n _i1, n _i2, n _j*, n _i3, n _i4, delete way point n according to steering locking angle ₃, n _i3, n _i4, obtain gathering V _i' { n _i1, n _i2, n _j*, then set of computations V _ithe cost function of ' each way point interior, selects the terminal n as an aircraft (x+1)th air route section and this air route section correspondence of the way point with least cost function value _j*.Wherein, cost function reflects the aircraft possible flight time, it is relevant to the real time aircraft quantity of flying distance, air route section and way point, and the way point of least cost function represents the flight path selection result making the aircraft flight time little as far as possible can determined according to network local message.This cost function is not construed as limiting in this embodiment, and those skilled in the art can be optimized calculating according to prior art.

Flight path system of selection of the present invention and device, aircraft and air traffic control system (ATCS), by calculating the cost function with each way point to be selected of takeoff point direct correlation, determine that the way point to be selected with least cost function value is as the first air route segment endpoint, again according to the steering locking angle conditional filtering of aircraft and each way point to be selected of the first air route segment endpoint direct correlation, in the way point to be selected meeting steering locking angle condition, determine that the way point to be selected with least cost function value is as the second air route segment endpoint, and the like, until next way point is the destination of aircraft, terminate this Dynamic User-Optimal Route Choice.The method operand is little, can according to the real-time information of each way point, the determination aircraft optimal flight paths of fast and flexible, effectively improves the handling capacity of air net, improves the utilization factor of spatial domain resource.

On the basis of above-described embodiment one, further, determine that the opportunity of the first air route segment endpoint is for before taking off, the set V with the way point all to be selected of takeoff point direct correlation determined by selecting arrangement _s, for set V _seach way point to be selected interior, calculates the cost function of each way point to be selected; At set V _sinside determine that the way point to be selected with least cost function value is as the first air route segment endpoint.In addition, determine that the opportunity of next air route segment endpoint or each air route segment endpoint follow-up can arrive any moment before the terminal of air route, current place section for aircraft, but preferably opportunity be: at set V _i' inside determine that the way point to be selected with least cost function value is as next air route segment endpoint, specifically comprises:

At any instant of aircraft flight in the section of previous air route, at set V _i' inside determine that the way point to be selected with least cost function value is as next air route segment endpoint, previous air route section is the adjacent air route section before the section of next air route.Like this, next flight path preferred can be determined according to the most real-time air traffic information, make this routing have good real-time, dirigibility, effectively improve the handling capacity of air net, improve the utilization factor of spatial domain resource.

In order to ensure the effect of routing, reducing calculated amount, accelerating routing efficiency, cost function calculation mode below can be adopted:

Cost function is: $f_{ij}={\mathrm{\&gamma;}}_1\frac{d_{jh}}{v}+{\mathrm{\&gamma;}}_{2}max(1,\frac{L_{ij}}{{\mathrm{\&beta;C}}_{ij}})\frac{d_{ij}}{v}+{\mathrm{\&gamma;}}_{3}max(0,\frac{Q_j}{D_j}-1);$ Wherein,

F _ij: way point n to be selected _jcorresponding cost function, if in aircraft flight, subscript i identifies the terminal of aircraft current flight air route section, and subscript j identifies the way point to be selected of the next flight route section of aircraft; If aircraft does not take off, subscript i identifies aircraft takeoff point, and subscript j identifies the way point to be selected of aircraft first air route section;

D _jh: way point n to be selected _jwith air objective ground n _hbetween actual range, subscript h identifies aircraft destination; This actual range can according to n _jwith n _hlatitude and longitude coordinates calculate;

V: aircraft average flight speed;

D _ij: way point n _iwith way point n to be selected _jbetween actual range;

L _ij: way point n _iwith way point n to be selected _jbetween air route section on real-time number of vehicles;

C _ij: way point n _iwith way point n to be selected _jbetween air route section on the aircraft maximum quantity that allows; This maximum quantity is determined according to the requirement of aircraft security flight interval;

β: the first parameter preset, for regulating way point n _iwith way point n to be selected _jbetween the aircraft maximum quantity that allows, 0 < β≤1; When number of vehicles real-time in the section of air route equals C _ijtime, air route section is in the state of operating at full capacity, and considers flight safety in practical flight, and parameter beta can be utilized as required to set certain surplus, to ensure flight safety;

D _j: way point n to be selected _jthe number of vehicles passed through is allowed within the unit interval;

Q _j: with way point n to be selected _jtowards way point n to be selected in all air routes section of direct correlation _jthe instant number of the aircraft of flight;

γ ₁: the second parameter preset, for regulating n _jand n _hthe weight of actual range in cost function, span is γ ₁>=0;

γ ₂: the 3rd parameter preset, for regulating n _iand n _jbetween actual range and the weight of real-time number of vehicles in cost function, span is γ ₂>=0;

γ ₃: the 4th parameter preset, for regulating towards way point n to be selected _jthe weight of aircraft instant number in cost function of flight, span is γ ₃>=0.

Concrete, the first step, before aircraft takeoff, determines all with takeoff point n _sbetween there is the set V of the way point of air route section _s; Second step, calculates way point cost function value f _sj, wherein, n _jfor set V _sinterior arbitrary way point.According to formula

$f_{sj}={\mathrm{\&gamma;}}_1\frac{d_{jh}}{v}+{\mathrm{\&gamma;}}_{2}max(1,\frac{L_{sj}}{{\mathrm{\&beta;C}}_{sj}})\frac{d_{sj}}{v}+{\mathrm{\&gamma;}}_{3}max(0,\frac{Q_j}{D_j}-1),$ To set V _seach way point interior calculates its cost function value, selects the way point n with least cost function value _j*, namely select satisfy condition and n _j≠ n _j*, f _sj*< f _sj.N _swith n _j*between air route section be first air route section of flight path, n _j*it is the terminal of first air route section.3rd step, after aircraft takeoff, before arriving current air route segment endpoint, or aircraft is after a way point, before arriving current air route segment endpoint.Current air route segment endpoint is designated as n _i, determine and n _ibetween there is the way point set V of air route section _i.Such as Fig. 3 is the flight-path seeking schematic diagram of flight path system of selection of the present invention, and as shown in Figure 3, aircraft is current just at way point n _xand n _ibetween air route section on fly, n _ibe the terminal of current air route section.Way point in figure with constitute set V _i.4th step, judges aircraft destination n _hwhether belong to the way point set V of the 3rd step _i.If then by n _iwith n _hbetween air route section be defined as next air route section, i.e. n _j*=n _h, terminate to calculate; Otherwise enter the 5th step.5th step, limits according to aircraft steering locking angle θ *, selected satisfactory way point set if and meet aircraft and enter way point n from current air route section _iwith way point n _jbetween air route section time steering angle be less than θ *, then set V _iin all way points meeting above-mentioned condition form set V _i'.Fig. 3 is the flight-path seeking schematic diagram of flight path system of selection of the present invention, as shown in Figure 3, and way point with n _ibetween air route section and current flight device place air route section x between steering angle be respectively θ ₁, θ ₂, θ ₃, θ ₄and θ ₅.Owing to requiring that steering angle is less than θ *, way point in Fig. 3 with meet the demands, namely gather as shown in dotted line circle in Fig. 3.6th step, calculates way point corresponding cost function value f _ij, and $f_{ij}={\mathrm{\&gamma;}}_1\frac{d_{jh}}{v}+{\mathrm{\&gamma;}}_{2}max(1,\frac{L_{ij}}{{\mathrm{\&beta;C}}_{ij}})\frac{d_{ij}}{v}+{\mathrm{\&gamma;}}_{3}max(0,\frac{Q_j}{D_j}-1).$ Wherein, before the explanation of parameters refers to.Select the way point n with least cost function value _j*, namely select satisfy condition and n _j≠ n _j*, f _ij*< f _ij.N _iwith n _j*between air route section be the next air route section of flight path, n _j*for the terminal of next air route section, return the 3rd step and continue to calculate.

Further, on the basis of above-described embodiment, selecting arrangement can be arranged on board the aircraft, then, before " calculating the cost function of each way point to be selected " of steps A and step e, also comprise:

Selecting arrangement obtains the first cost parameter from aircraft and/or air traffic control system (ATCS), and the first cost function parameter comprises: aircraft average flight speed v, air objective ground n _h, way point n to be selected _j, current flight air route segment endpoint or takeoff point n _i; Selecting arrangement sends the second cost function parameter and obtains request to air traffic control system (ATCS), and acquisition request comprises: aircraft identifies; Receive air traffic control system (ATCS) and identify the second cost function parameter got according to aircraft, the second cost function parameter comprises: n _iand n _jreal time aircraft quantity L in the section of air route _ij, n _iand n _jbetween aircraft maximum quantity C that air route section allows _ij, n _jthe number of vehicles D passed through is allowed within the unit interval _j, and n _jtowards n in all air routes section of direct correlation _jthe instant number Q of the aircraft of flight _j; The cost function of each way point to be selected is calculated according to the first cost function parameter and the second cost function parameter to make selecting arrangement.Wherein, air traffic control system (ATCS) identifies the second cost function parameter got process according to aircraft can obtain according to the related procedure of existing air traffic control system (ATCS), and the application is not restricted this.Such as: air traffic control system (ATCS) obtains the current location of aircraft by aircraft mark, then obtains the terminal n of its air route, current place section according to current location _i, relocate and n _ieach way point n to be selected of direct correlation _j, and then obtain following parameter L _ij, C _ij, D _j, Q _jdeng.

Or selecting arrangement is arranged on air traffic control system (ATCS), before calculating the cost function of each way point to be selected, also comprise:

Selecting arrangement receives the flight path selection request that aircraft sends, and selection request comprises: aircraft identifies; Selecting arrangement directly obtains the second cost function parameter of aircraft according to aircraft mark from air traffic control system (ATCS); Second cost function parameter comprises: n _iand n _jreal time aircraft quantity L in the section of air route _ij, n _iand n _jbetween aircraft maximum quantity C that air route section allows _ij, n _jthe number of vehicles D passed through is allowed within the unit interval _j, and n _jtowards n in all air routes section of direct correlation _jthe instant number Q of the aircraft of flight _j; Selecting arrangement obtains the first cost parameter from aircraft and/or air traffic control system (ATCS), and the first cost function parameter comprises: aircraft average flight speed v, air objective ground n _h, way point n to be selected _j, current flight air route segment endpoint or takeoff point n _i; The cost function of each way point to be selected is calculated according to the first cost function parameter and the second cost function parameter to make selecting arrangement; Accordingly, in step B and step e, " determine the way point to be selected with least cost function value " after also comprise: selecting arrangement send there is least cost function value way point result to be selected to aircraft.

Concrete, under different flying scenes, the selection of dynamic flight path by the decision-making of aircraft Autonomic Computing, also can calculate decision-making by air traffic control system (ATCS).During by the decision-making of aircraft Autonomic Computing, aircraft needs to carry out information interaction with air traffic control system (ATCS), obtains number of vehicles real-time in air route section, the aircraft maximum quantity allowed in the number of vehicles, air route section of way point flight, allows the information such as the number of vehicles passed through in the way point unit interval.During system-computed decision-making by air traffic control, system needs the state of flight information of each aircraft of monitoring in real time, as aircraft current location, destination, route grid structural drawing etc., thus can according to the mark of aircraft, find the state of flight information of this aircraft, thus calculate each way point to be selected of this aircraft, and the way point result real-time informing aircraft that will determine.Wherein, according to required in cost function calculation formula, aircraft average flight speed v, air objective ground n _h, way point n to be selected _j, current flight air route segment endpoint or takeoff point n _i; Etc. information, namely can be obtained by aircraft and also can be obtained by air traffic control system (ATCS), or above-mentioned information is present in aircraft and air traffic control system (ATCS) simultaneously, concrete obtain manner can be determined according to actual interaction demand by those skilled in the art, and the application is not construed as limiting this.By the n got _h, n _j, n _ietc. information, selecting arrangement calculates d according to the latitude coordinates of each way point _jh, d _ij; In addition, β, γ ₁, γ ₂, γ ₃determination can by those skilled in the art according to practical flight device flight progress value, the application does not do concrete restriction to this.But preferred, γ ₁, γ ₂, γ ₃span be: γ ₁>=1, γ ₂=γ ₃=1.

Further, generally, the airway net of such as existing civil aviaton flight, C _ijand D _jbe intrinsic system property, but work as according to different flight demands, when the interim airway net built carries out flight path selection, C _ijand D _junder type according to this can be followed to obtain;

Way point n _iwith way point n to be selected _jbetween boat road link speed wherein, symbol it is flow in upper plenum; D: the flight interval required distance between aircraft; ε: the five parameter preset, for regulating air route section capacity C _ijwith air route segment length d _ijbetween relation.

Way point n to be selected _jhandling capacity D _j=α k _j; Wherein, k _j: way point n to be selected _jdegree, spend for n _jthe quantity of the air route section of direct correlation; α: the six parameter preset, for regulating way point n to be selected _jhandling capacity D _jwith way point n to be selected _jdegree k _jbetween relation.Wherein, the application does not do concrete restriction to the 5th parameter preset ε, the 6th parameter preset α, can by those skilled in the art according to actual airway net situation value.

The real-time selection aircraft flight path of the present embodiment, can make full use of spatial domain resource, can meet the demand to flight dirigibility under different flying scene; And in the process of calculation cost functional value, do not need the information of route grid entirety, only need to utilize the relevant information of air route section near the current position of aircraft and way point, little for calculating the information interaction amount that dynamic flight path occurs between aircraft and air traffic control system (ATCS); Only calculate an air route section in flight path each time, do not need the calculating carrying out whole flight path, computation complexity is low, and computing velocity is fast; And consider the restriction of steering angle in practical flight, meet the Practical Project demand that flight path is selected.

Fig. 4 is the structural representation of the embodiment one of flight path selecting arrangement of the present invention, and as shown in Figure 4, flight path selecting arrangement, comprising: computing module 11, for determining the set V with the way point all to be selected of takeoff point direct correlation _s, for set V _seach way point to be selected interior, calculates the cost function of each way point to be selected; At set V _sinside determine that the way point to be selected with least cost function value is as the first air route segment endpoint; Judge module 12, for determining the set V with the way point all to be selected of the first air route segment endpoint direct correlation _i, judge set V _iinside whether there is the destination of aircraft; If exist, determine that the air route section between the first air route segment endpoint and described destination is most end air route section, terminate flight path and select; Computing module 11, also gathers V for judging at judge module 12 _iwhen inside there is not the destination of aircraft, according to the steering locking angle of aircraft, delete set V _iinside be greater than the way point to be selected of steering locking angle, obtain gathering V _i', for set V _i' each way point to be selected interior, calculates the cost function of each way point to be selected; At set V _i' inside determine that the way point to be selected with least cost function value is as next air route segment endpoint; Update module 13 is next air route segment endpoint for upgrading the first air route segment endpoint, and notifies that judge module 12 continues to perform.

The device of the present embodiment, can be used for the technical scheme performing flight path system of selection embodiment one shown in Fig. 2, it realizes principle and technique effect is similar, repeats no more herein.

Fig. 5 is the structural representation of the embodiment one of aircraft of the present invention, and as shown in Figure 5, aircraft, comprises aircraft body, is provided with selecting arrangement described above, also comprises in aircraft body:

First acquisition module 14, for obtaining the first cost parameter from aircraft and/or air traffic control system (ATCS), the first cost function parameter comprises: aircraft average flight speed v, air objective ground n _h, way point n to be selected _j, current flight air route segment endpoint or takeoff point n _i;

Sending/receiving module 15, obtain request to air traffic control system (ATCS) for sending the second cost function parameter, acquisition request comprises: aircraft identifies; Receive air traffic control system (ATCS) and identify the second cost function parameter got according to aircraft, the second cost function parameter comprises: n _iand n _jreal time aircraft quantity L in the section of air route _ij, n _iand n _jbetween aircraft maximum quantity C that air route section allows _ij, n _jthe number of vehicles D passed through is allowed within the unit interval _j, and n _jtowards n in all air routes section of direct correlation _jthe instant number Q of the aircraft of flight _j; The cost function of each way point to be selected is calculated according to the first cost function parameter and the second cost function parameter to make the computing module 11 of selecting arrangement; Cost function is: $f_{ij}={\mathrm{\&gamma;}}_1\frac{d_{jh}}{v}+{\mathrm{\&gamma;}}_{2}max(1,\frac{L_{ij}}{{\mathrm{\&beta;C}}_{ij}})\frac{d_{ij}}{v}+{\mathrm{\&gamma;}}_{3}max(0,\frac{Q_j}{D_j}-1);$ Wherein,

F _ij: way point n to be selected _jcorresponding cost function, if in aircraft flight, subscript i identifies the terminal of aircraft current flight air route section, and subscript j identifies the way point to be selected of the next flight route section of aircraft; If aircraft does not take off, subscript i identifies aircraft takeoff point, and subscript j identifies the way point to be selected of aircraft first air route section;

D _jh: way point n to be selected _jwith air objective ground n _hbetween actual range, subscript h identifies aircraft destination;

V: aircraft average flight speed;

D _ij: way point n _iwith way point n to be selected _jbetween actual range;

L _ij: way point n _iwith way point n to be selected _jbetween air route section on real-time number of vehicles;

C _ij: way point n _iwith way point n to be selected _jbetween air route section on the aircraft maximum quantity that allows;

β: the first parameter preset, for regulating way point n _iwith way point n to be selected _jbetween the aircraft maximum quantity that allows, 0 < β≤1;

D _j: way point n to be selected _jthe number of vehicles passed through is allowed within the unit interval;

Q _j: with way point n to be selected _jtowards way point n to be selected in all air routes section of direct correlation _jthe instant number of the aircraft of flight;

γ ₁: the second parameter preset, for regulating n _jand n _hthe weight of actual range in cost function, span is γ ₁>=0;

γ ₂: the 3rd parameter preset, for regulating n _iand n _jbetween actual range and the weight of real-time number of vehicles in cost function, span is γ ₂>=0;

γ ₃: the 4th parameter preset, for regulating towards way point n to be selected _jthe weight of aircraft instant number in cost function of flight, span is γ ₃>=0.

The device of the present embodiment, can be used for performing the technical scheme that aforementioned selecting arrangement is arranged on each embodiment of carry-on flight path system of selection, it realizes principle and technique effect is similar, repeats no more herein.

Fig. 6 is the structural representation of the embodiment one of air traffic control system (ATCS) of the present invention, and as shown in Figure 6, air traffic control system (ATCS), comprises the selecting arrangement shown in Fig. 4, also comprise:

Receiver module 16, the flight path sent for receiving aircraft selects request, and selection request comprises: aircraft identifies;

Second acquisition module 17, directly obtains the second cost function parameter of aircraft from air traffic control system (ATCS) according to aircraft mark; Second cost function parameter comprises: n _iand n _jreal time aircraft quantity L in the section of air route _ij, n _iand n _jbetween aircraft maximum quantity C that air route section allows _ij, n _jthe number of vehicles D passed through is allowed within the unit interval _j, and n _jtowards n in all air routes section of direct correlation _jthe instant number Q of the aircraft of flight _j; Second acquisition module 17, also for obtaining the first cost parameter from aircraft and/or air traffic control system (ATCS), the first cost function parameter comprises: aircraft average flight speed v, air objective ground n _h, way point n to be selected _j, current flight air route segment endpoint or takeoff point n _i;

The cost function of each way point to be selected is calculated according to the first cost function parameter and the second cost function parameter to make the computing module of selecting arrangement;

Sending module 18, for determine to have least cost function value when computing module 11 way point to be selected after, send there is least cost function value way point result to be selected to described aircraft; Wherein, cost function is: $f_{ij}={\mathrm{\&gamma;}}_1\frac{d_{jh}}{v}+{\mathrm{\&gamma;}}_{2}max(1,\frac{L_{ij}}{{\mathrm{\&beta;C}}_{ij}})\frac{d_{ij}}{v}+{\mathrm{\&gamma;}}_{3}max(0,\frac{Q_j}{D_j}-1);$ Wherein,

F _ij: way point n to be selected _jcorresponding cost function, if in aircraft flight, subscript i identifies the terminal of aircraft current flight air route section, and subscript j identifies the way point to be selected of the next flight route section of aircraft; If aircraft does not take off, subscript i identifies aircraft takeoff point, and subscript j identifies the way point to be selected of aircraft first air route section;

D _jh: way point n to be selected _jwith air objective ground n _hbetween actual range, subscript h identifies aircraft destination;

V: aircraft average flight speed;

D _ij: way point n _iwith way point n to be selected _jbetween actual range;

L _ij: way point n _iwith way point n to be selected _jbetween air route section on real-time number of vehicles;

C _ij: way point n _iwith way point n to be selected _jbetween air route section on the aircraft maximum quantity that allows;

β: the first parameter preset, for regulating way point n _iwith way point n to be selected _jbetween the aircraft maximum quantity that allows, 0 < β≤1;

D _j: way point n to be selected _jthe number of vehicles passed through is allowed within the unit interval;

Q _j: with way point n to be selected _jtowards way point n to be selected in all air routes section of direct correlation _jthe instant number of the aircraft of flight;

γ ₁: the second parameter preset, for regulating n _jand n _hthe weight of actual range in cost function, span is γ ₁>=0;

γ ₂: the 3rd parameter preset, for regulating n _iand n _jbetween actual range and the weight of real-time number of vehicles in cost function, span is γ ₂>=0;

γ ₃: the 4th parameter preset, for regulating towards way point n to be selected _jthe weight of aircraft instant number in cost function of flight, span is γ ₃>=0.

The device of the present embodiment, can be used for performing the technical scheme that aforementioned selecting arrangement is arranged on each embodiment of the flight path system of selection on air traffic control system (ATCS), it realizes principle and technique effect is similar, repeats no more herein.

One of ordinary skill in the art will appreciate that: all or part of step realizing above-mentioned each embodiment of the method can have been come by the hardware that programmed instruction is relevant.Aforesaid program can be stored in a computer read/write memory medium.This program, when performing, performs the step comprising above-mentioned each embodiment of the method; And aforesaid storage medium comprises: ROM, RAM, magnetic disc or CD etc. various can be program code stored medium.

Last it is noted that above each embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.

Claims (8)

1. a flight path system of selection, is characterized in that, comprising:

The set V with the way point all to be selected of takeoff point direct correlation determined by steps A, selecting arrangement _s, for described set V _seach way point to be selected interior, calculates the cost function of each way point to be selected;

Step B, described selecting arrangement are at described set V _sinside determine that the way point to be selected with least cost function value is as the first air route segment endpoint;

The set V with the way point all to be selected of described first air route segment endpoint direct correlation determined by step C, described selecting arrangement _i, judge described set V _iinside whether there is the destination of described aircraft; If exist, perform step D; If do not exist, perform step e;

Step D, described selecting arrangement determine that the air route section between described first air route segment endpoint and described destination is most end air route section, terminate described flight path and select;

Step e, described selecting arrangement, according to the steering locking angle of described aircraft, delete described set V _iinside be greater than the way point to be selected of described steering locking angle, obtain gathering V _i', for described set V _i' each way point to be selected interior, calculate the cost function of each way point to be selected; At described set V _i' in determine that the way point to be selected with least cost function value is as next air route segment endpoint;

It is described next air route segment endpoint that step F, described selecting arrangement upgrade described first air route segment endpoint, returns and performs described step C.

2. method according to claim 1, is characterized in that, described at described set V _i' in determine that the way point to be selected with least cost function value is as next air route segment endpoint, specifically comprises:

At any instant of described aircraft flight in the section of previous air route, at described set V _i' in determine that the way point to be selected with least cost function value is as next air route segment endpoint, described previous air route section is the adjacent air route section before the section of described next air route.

3. method according to claim 1 and 2, is characterized in that, described cost function is: $f_{\mathrm{ij}}={\mathrm{\&gamma;}}_1\frac{d_{\mathrm{jh}}}{v}+{\mathrm{\&gamma;}}_2\max (1,\frac{L_{\mathrm{ij}}}{\mathrm{\&beta;}{C}_{\mathrm{ij}}})\frac{d_{\mathrm{ij}}}{v}+{\mathrm{\&gamma;}}_3\max (0,\frac{Q_j}{D_j}-1);$ Wherein,

F _ij: way point n to be selected _jcorresponding cost function, if in aircraft flight, subscript i identifies the terminal of aircraft current flight air route section, and subscript j identifies the way point to be selected of the next flight route section of aircraft; If aircraft does not take off, subscript i identifies aircraft takeoff point, and subscript j identifies the way point to be selected of aircraft first air route section;

D _jh: way point n to be selected _jwith air objective ground n _hbetween actual range, subscript h identifies aircraft destination;

V: aircraft average flight speed;

D _ij: way point n _iwith way point n to be selected _jbetween actual range;

L _ij: way point n _iwith way point n to be selected _jbetween air route section on real-time number of vehicles;

C _ij: way point n _iwith way point n to be selected _jbetween air route section on the aircraft maximum quantity that allows;

β: the first parameter preset, for regulating way point n _iwith way point n to be selected _jbetween the aircraft maximum quantity that allows, 0< β≤1;

D _j: way point n to be selected _jthe number of vehicles passed through is allowed within the unit interval;

Q _j: with way point n to be selected _jtowards way point n to be selected in all air routes section of direct correlation _jthe instant number of the aircraft of flight;

γ ₁: the second parameter preset, for regulating n _jand n _hthe weight of actual range in cost function, span is γ ₁>=0;

γ ₂: the 3rd parameter preset, for regulating n _iand n _jbetween actual range and the weight of real-time number of vehicles in cost function, span is γ ₂>=0;

γ ₃: the 4th parameter preset, for regulating towards way point n to be selected _jthe weight of aircraft instant number in cost function of flight, span is γ ₃>=0.

4. method according to claim 3, is characterized in that,

Described selecting arrangement is arranged on board the aircraft, before the cost function of each way point to be selected of described calculating, also comprises:

Described selecting arrangement obtains the first cost parameter from described aircraft and/or air traffic control system (ATCS), and described first cost function parameter comprises: aircraft average flight speed v, air objective ground n _h, way point n to be selected _j, current flight air route segment endpoint or takeoff point n _i;

Described selecting arrangement sends the second cost function parameter and obtains request to described air traffic control system (ATCS), and described acquisition request comprises: described aircraft mark; Receive described air traffic control system (ATCS) and identify the described second cost function parameter got according to described aircraft, described second cost function parameter comprises: n _iand n _jreal time aircraft quantity L in the section of air route _ij, n _iand n _jbetween aircraft maximum quantity C that air route section allows _ij, n _jthe number of vehicles D passed through is allowed within the unit interval _j, and n _jtowards n in all air routes section of direct correlation _jthe instant number Q of the aircraft of flight _j; The cost function of each way point to be selected is calculated according to described first cost function parameter and described second cost function parameter to make described selecting arrangement;

Or described selecting arrangement is arranged on air traffic control system (ATCS), before the cost function of each way point to be selected of described calculating, also comprise:

Described selecting arrangement receives the flight path selection request that described aircraft sends, and described selection request comprises: described aircraft mark; Described selecting arrangement directly obtains the second cost function parameter of described aircraft according to described aircraft mark from described air traffic control system (ATCS); Described second cost function parameter comprises: n _iand n _jreal time aircraft quantity L in the section of air route _ij, n _iand n _jbetween aircraft maximum quantity C that air route section allows _ij, n _jthe number of vehicles D passed through is allowed within the unit interval _j, and n _jtowards n in all air routes section of direct correlation _jthe instant number Q of the aircraft of flight _j; Described selecting arrangement obtains the first cost parameter from described aircraft and/or described air traffic control system (ATCS), and described first cost function parameter comprises: aircraft average flight speed v, air objective ground n _h, way point n to be selected _j, current flight air route segment endpoint or takeoff point n _i;

The cost function of each way point to be selected is calculated according to described first cost function parameter and described second cost function parameter to make described selecting arrangement; Accordingly, described determine to have the way point to be selected of least cost function value after also comprise: there is the way point result to be selected of least cost function value to described aircraft described in described selecting arrangement sends.

5. method according to claim 4, is characterized in that, γ ₁, γ ₂, γ ₃span be: γ ₁>=1, γ ₂=γ ₃=1.

6. a flight path selecting arrangement, is characterized in that, comprising:

Computing module, for determining the set V with the way point all to be selected of takeoff point direct correlation _s, for described set V _seach way point to be selected interior, calculates the cost function of each way point to be selected; At described set V _sinside determine that the way point to be selected with least cost function value is as the first air route segment endpoint;

Judge module, for determining the set V with the way point all to be selected of described first air route segment endpoint direct correlation _i, judge described set V _iinside whether there is the destination of described aircraft; If exist, determine that the air route section between described first air route segment endpoint and described destination is most end air route section, terminate described flight path and select;

Described computing module, also for judging described set V at described judge module _iwhen inside there is not the destination of described aircraft, according to the steering locking angle of described aircraft, delete described set V _iinside be greater than the way point to be selected of described steering locking angle, obtain gathering V _i', for described set V _i' each way point to be selected interior, calculate the cost function of each way point to be selected; At described set V _i' in determine that the way point to be selected with least cost function value is as next air route segment endpoint;

Update module is described next air route segment endpoint for upgrading described first air route segment endpoint, and notifies that described judge module continues to perform.

7. an aircraft, comprises aircraft body, it is characterized in that, is provided with selecting arrangement as claimed in claim 6, also comprises in described aircraft body:

First acquisition module, for obtaining the first cost parameter from described aircraft and/or air traffic control system (ATCS), described first cost function parameter comprises: aircraft average flight speed v, air objective ground n _h, way point n to be selected _j, current flight air route segment endpoint or takeoff point n _i;

Sending/receiving module, obtain request to described air traffic control system (ATCS) for sending the second cost function parameter, described acquisition request comprises: described aircraft mark; Receive described air traffic control system (ATCS) and identify the described second cost function parameter got according to described aircraft, described second cost function parameter comprises: n _iand n _jreal time aircraft quantity L in the section of air route _ij, n _iand n _jbetween aircraft maximum quantity C that air route section allows _ij, n _jthe number of vehicles D passed through is allowed within the unit interval _j, and n _jtowards n in all air routes section of direct correlation _jthe instant number Q of the aircraft of flight _j; The cost function of each way point to be selected is calculated according to described first cost function parameter and described second cost function parameter to make the described computing module of described selecting arrangement; Described cost function is:

$f_{\mathrm{ij}}={\mathrm{\&gamma;}}_1\frac{d_{\mathrm{jh}}}{v}+{\mathrm{\&gamma;}}_2\max (1,\frac{L_{\mathrm{ij}}}{\mathrm{\&beta;}{C}_{\mathrm{ij}}})\frac{d_{\mathrm{ij}}}{v}+{\mathrm{\&gamma;}}_3\max (0,\frac{Q_j}{D_j}-1);$ Wherein,

F _ij: way point n to be selected _jcorresponding cost function, if in aircraft flight, subscript i identifies the terminal of aircraft current flight air route section, and subscript j identifies the way point to be selected of the next flight route section of aircraft; If aircraft does not take off, subscript i identifies aircraft takeoff point, and subscript j identifies the way point to be selected of aircraft first air route section;

D _jh: way point n to be selected _jwith air objective ground n _hbetween actual range, subscript h identifies aircraft destination;

V: aircraft average flight speed;

D _ij: way point n _iwith way point n to be selected _jbetween actual range;

L _ij: way point n _iwith way point n to be selected _jbetween air route section on real-time number of vehicles;

C _ij: way point n _iwith way point n to be selected _jbetween air route section on the aircraft maximum quantity that allows;

β: the first parameter preset, for regulating way point n _iwith way point n to be selected _jbetween the aircraft maximum quantity that allows, 0< β≤1;

D _j: way point n to be selected _jthe number of vehicles passed through is allowed within the unit interval;

Q _j: with way point n to be selected _jtowards way point n to be selected in all air routes section of direct correlation _jthe instant number of the aircraft of flight;

γ ₁: the second parameter preset, for regulating n _jand n _hthe weight of actual range in cost function, span is γ ₁>=0;

γ ₂: the 3rd parameter preset, for regulating n _iand n _jbetween actual range and the weight of real-time number of vehicles in cost function, span is γ ₂>=0;

γ ₃: the 4th parameter preset, for regulating towards way point n to be selected _jthe weight of aircraft instant number in cost function of flight, span is γ ₃>=0.

8. an air traffic control system (ATCS), is characterized in that, described system comprises selecting arrangement as claimed in claim 6, also comprises:

Receiver module, the flight path sent for receiving described aircraft selects request, and described selection request comprises: described aircraft mark;

Second acquisition module, directly obtains the second cost function parameter of described aircraft from described air traffic control system (ATCS) according to described aircraft mark; Described second cost function parameter comprises: n _iand n _jreal time aircraft quantity L in the section of air route _ij, n _iand n _jbetween aircraft maximum quantity C that air route section allows _ij, n _jthe number of vehicles D passed through is allowed within the unit interval _j, and n _jtowards n in all air routes section of direct correlation _jthe instant number Q of the aircraft of flight _j; Described second acquisition module, also for obtaining the first cost parameter from described aircraft and/or described air traffic control system (ATCS), described first cost function parameter comprises: aircraft average flight speed v, air objective ground n _h, way point n to be selected _j, current flight air route segment endpoint or takeoff point n _i; The cost function of each way point to be selected is calculated according to described first cost function parameter and described second cost function parameter to make the described computing module of described selecting arrangement;

Sending module, for determine to have least cost function value when described computing module way point to be selected after, there is the way point result to be selected of least cost function value to described aircraft described in transmission; Wherein, described cost function is: $f_{\mathrm{ij}}={\mathrm{\&gamma;}}_1\frac{d_{\mathrm{jh}}}{v}+{\mathrm{\&gamma;}}_2\max (1,\frac{L_{\mathrm{ij}}}{\mathrm{\&beta;}{C}_{\mathrm{ij}}})\frac{d_{\mathrm{ij}}}{v}+{\mathrm{\&gamma;}}_3\max (0,\frac{Q_j}{D_j}-1);$ Wherein,

F _ij: way point n to be selected _jcorresponding cost function, if in aircraft flight, subscript i identifies the terminal of aircraft current flight air route section, and subscript j identifies the way point to be selected of the next flight route section of aircraft; If aircraft does not take off, subscript i identifies aircraft takeoff point, and subscript j identifies the way point to be selected of aircraft first air route section;

D _jh: way point n to be selected _jwith air objective ground n _hbetween actual range, subscript h identifies aircraft destination;

V: aircraft average flight speed;

D _ij: way point n _iwith way point n to be selected _jbetween actual range;

L _ij: way point n _iwith way point n to be selected _jbetween air route section on real-time number of vehicles;

C _ij: way point n _iwith way point n to be selected _jbetween air route section on the aircraft maximum quantity that allows;

β: the first parameter preset, for regulating way point n _iwith way point n to be selected _jbetween the aircraft maximum quantity that allows, 0< β≤1;

D _j: way point n to be selected _jthe number of vehicles passed through is allowed within the unit interval;

Q _j: with way point n to be selected _jtowards way point n to be selected in all air routes section of direct correlation _jthe instant number of the aircraft of flight;

γ ₁: the second parameter preset, for regulating n _jand n _hthe weight of actual range in cost function, span is γ ₁>=0;

γ ₂: the 3rd parameter preset, for regulating n _iand n _jbetween actual range and the weight of real-time number of vehicles in cost function, span is γ ₂>=0;

γ ₃: the 4th parameter preset, for regulating towards way point n to be selected _jthe weight of aircraft instant number in cost function of flight, span is γ ₃>=0.