CN106816045A - Flight conflict resolution method based on 4D track operation - Google Patents
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Abstract
The invention relates to a flight conflict resolution method based on 4D track operation, wherein an air traffic control system comprises a data communication module, an airborne terminal module and a control terminal module; the control terminal module comprises 2 submodules of real-time flight conflict monitoring and warning, and flight conflict resolution 4D track optimization; the flight conflict resolution method of the system directly obtains the 4D track of each aircraft in the future time period through the air traffic control center, realizes the analysis of the potential traffic conflict of the airspace traffic condition, and provides an optimal resolution scheme by adopting a model prediction control theory method. The invention can effectively prevent flight conflict and improve the safety of air traffic.
Description
The application is Application No.：201510007755.9, invention and created name is《A kind of air traffic control system
Solving Flight Conflicts method》, the applying date is：The divisional application of the application for a patent for invention of on 01 07th, 2015.
Technical field
The present invention relates to a kind of air traffic control system and method, more particularly to a kind of flight based on the operation of 4D flight paths
Conflict Resolution method.
Background technology
With fast-developing the becoming increasingly conspicuous with spatial domain resource-constrained contradiction of World Airways transport service, traffic flow is close in the air
The complicated spatial domain of collection, the air traffic control mode for still combining interval allotment using flight plan gradually shows that it falls behind
Property, it is in particular in：(1) flight plan easily causes traffic flow tactics pipe not for airborne vehicle configures accurate blank pipe interval
It is crowded in reason, reduce spatial domain security；(2) reckoning of the air traffic control automation system centered on flight plan to flight profile, mission profile
With Trajectory Prediction low precision, conflict dissolution ability is caused；(3) job of air traffic control still lays particular emphasis on the single aviation of holding
Personal distance between device, it is difficult to rise to carry out strategic Management to traffic flow.
4D flight paths be in room and time form, in a certain airborne vehicle flight path each point locus (longitude, latitude and
Highly) and the time accurate description, the operation based on flight path refers to use " control arrival time " on the way point of 4D flight paths,
" time window " that i.e. control airborne vehicle passes through specific way point.In high density spatial domain the operation based on 4D flight paths
(Trajectory based Operation) as one of basic operating mechanism, be it is following to big flow, it is high density, closely-spaced
Under the conditions of spatial domain implement a kind of effective means of management, can significantly decrease the uncertainty of airborne vehicle flight path, improve spatial domain
With the security and utilization rate of Airport Resources.
The air traffic method of operation based on flight path operation needs to carry out single aircraft flight path on strategic level
Calculate and optimize, collaboration is implemented to the traffic flow that many airborne vehicles are constituted and is adjusted；By correcting traffic flow on pre- tactical level
In indivedual airborne vehicles flight path to solve congestion problems, and ensure the operational efficiency of all airborne vehicles in the traffic flow；And in war
Predict that scheme is freed in conflict and optimization, and consideration aviation is changed into by airborne vehicle headway management from fixed manual type in art aspect
The factors such as device performance, regulation rule and environment in interior variable Separation control mode, therefore towards 4D flight paths operation to sky
Middle traffic control proposes new requirement.
The content of the invention
It is to overcome the deficiencies in the prior art that the technical problem to be solved in the present invention is, there is provided a kind of based on the operation of 4D flight paths
Solving Flight Conflicts method, can effectively prevent flight collision, improve the security of air traffic.
Realize that the technical scheme of the object of the invention is to provide a kind of Solving Flight Conflicts method based on the operation of 4D flight paths, by
Air traffic control system is implemented, and the air traffic control system includes Airborne Terminal module, data communication module and pipe
Terminal module processed；
The control terminal module includes following submodule：
Real-time flight conflict monitoring and alarm module, for setting up from the continuous dynamic of airborne vehicle to discrete conflict logic
Observer, by the conflict situation that the continuous dynamic mapping of Air Traffic System is the expression of discrete observation value；When system is possible to separated
During anti-air traffic control rules, to the Hybrid dynamics behavior implementing monitoring of air traffic hybrid system, provide for controller and
When warning information；
Solving Flight Conflicts 4D track optimization modules, are ensureing that system meets aircraft performance and regulation rule constraints
Under, by select it is different free object function, using Model Predictive Control Theory method, calculate airborne vehicle conflict Resolution 4D boats
Mark；And airborne vehicle conflict Resolution 4D flight paths are sent to by the execution of Airborne Terminal module by data communication module；
The Solving Flight Conflicts method based on the operation of 4D flight paths includes following several steps：
Step A, each airborne vehicle that it is speculated in each sampling instant is directly obtained by air traffic controllers not
The airborne vehicle 4D tracks come in the period, air traffic controllers monitor data and automatic dependent surveillance data by air traffic control radar
Fusion speculate future time period in airborne vehicle 4D tracks；
Step B, real-time flight conflict monitoring and alarm module are set up from the continuous dynamic of airborne vehicle to discrete conflict logic
Observer, by the continuous dynamic mapping of Air Traffic System be discrete observation value expression conflict situation；When system is possible to
When violating air traffic control rules, to the Hybrid dynamics behavior implementing monitoring of air traffic hybrid system, for controller provides
Timely warning information；
Step C, Solving Flight Conflicts 4D track optimizations module meet aircraft performance and regulation rule about ensureing system
Under the conditions of beam, by select it is different free object function, using Model Predictive Control Theory method, calculate airborne vehicle conflict solution
De- 4D flight paths；And airborne vehicle conflict Resolution 4D flight paths are sent to by the execution of Airborne Terminal module by data communication module；
Step D, Airborne Terminal module are received and perform the 4D track datas of control terminal module issue.
Further, the specific implementation process of the step C is as follows：
Step C1, to Solving Flight Conflicts process model building：Conflict Resolution flight path is considered as continuous three sections of smooth curves, is given
Surely free the beginning and end of flight path, according to flight path restrictive condition, set up comprising acceleration, climb or rate of descent, turning rate
The optimal conflict Resolution model of multivariable；
Step C2, conflict Resolution variable bound under different flying conditions is modeled：Wherein t need to implement conflict Resolution boat
The variable bound of pocket k can be described as：ak(t)≤aM、ωk(t)≤ωM、γk(t)≤γM, aM、ωM、γMRespectively maximum
Acceleration, turning rate and climb or rate of descent；
Step C3, the termination reference point locations P of setting airborne vehicle collision avoidance planning, collision avoidance planning control time domain Θ, track are pre-
Survey time domain；
Step C4, in each sampling instant, based on the current running status of airborne vehicle and historical position observation sequence, obtain
The numerical value of spatial domain wind field variable；
Step C5, be set in given optimizing index function on the premise of, based on cooperative collision avoidance trajectory planning thought, pass through
Different weight is assigned to each airborne vehicle and incorporate real-time wind field variable filtering numerical value, obtain the collision avoidance rail of each airborne vehicle
Mark and collision avoidance control strategy and each airborne vehicle only implements its first Optimal Control Strategy in Rolling Planning interval；
Step C6, in next sampling instant, repeat step C4 to C5 is until each airborne vehicle reaches it and frees terminal.
The detailed process of step C5 is as follows：Order
WhereinRepresent t airborne vehicle i present positions Pi(t) and next way point Pi fBetween distance square,
Pi(t)=(xit,yit),The priority index of so t airborne vehicle i may be set to：
Wherein ntRepresent there is the airborne vehicle number of conflict in t spatial domain, from the implication of priority index, aviation
Device is nearer apart from its terminal, and its priority is higher；
Setting optimizing index
,
Wherein i ∈ I (t) represent airborne vehicle code and I (t)=1,2 ..., nt, Pi(t+s △ t) represent airborne vehicle when
Carve the position vector of (t+s △ t), Pi fRepresent next way point of airborne vehicle i, uiRepresent the optimal control of airborne vehicle i to be optimized
Sequence processed, QitIt is positive definite diagonal matrix, its diagonal element is priority index Ls of the airborne vehicle i in tit, and
Further, in step C3：Terminate next way point that reference point locations P is airborne vehicle, collision avoidance planning control
Time domain Θ processed is 300 seconds, trajectory predictions time domainIt is 300 seconds；
The detailed process of step C4 is as follows：
C4.1 the stop position for) setting airborne vehicle is track reference coordinate origin；
C4.2) when airborne vehicle is in straight running condition and at the uniform velocity turning running status, build spatial domain wind field and linearly filter
Wave pattern x (t+ △ t)=F (t) x (t)+w (t) and z (t)=H (t) x (t)+v (t) obtains wind field variable value, wherein △ t tables
Show the sampling interval, x (t) represents the state vector of t, and z (t) represents the observation vector of t, and F (t) and H (t) are represented respectively
State-transition matrix and output calculation matrix, w (t) and v (t) represent system noise vector sum measurement noise vector respectively；In boat
When pocket is in speed change turning running status, spatial domain wind field nonlinear filtering wave pattern is built
X (t+ △ t)=Ψ (t, x (t), u (t))+w (t), z (t)=Ω (t, x (t))+v (t) and u (t)=[ωa(t),
γa(t)]T, wherein Ψ () and Ω () represent respectively state-transition matrix and output calculation matrix, ωa(t) and γa(t) point
Biao Shi not turning rate and rate of acceleration；
C4.3) Filtering Model according to constructed by obtains the numerical value of wind field variable；
Further, the specific implementation process of the step B is as follows：
The conflict hypersurface collection of functions of step B1, construction based on regulation rule：Set up hypersurface collection of functions and be used to reflect and be
The contention situation of system, wherein, the continuous function related to single airborne vehicle in conflict hypersurfaceFor I types are super bent
Face, the continuous function related to two frame airborne vehiclesIt is Type-II hypersurface；
Step B2, set up by airborne vehicle continuous state to discrete conflict situation observer：Needs are built according to control specification
Vertical observer, the collision event that observation system system is passed through hypersurface and produced, so that controller makes corresponding control decision
Instruction；Observer ξ is used for the consecutive variations of aircraft position in observation system and produces collision event, claimsIt is I
Type observer,It is Type-II observer；
The discrete watch-dog of step B3, design from conflict to conflict Resolution means, the discrete watch-dog can be described as functionWherein S is the space that observer observation vector is transformed into, and D is the space that all decision vector d are transformed into；Work as observer
Discrete observation vector when showing that a certain unexpected state occurs, corresponding alarm is sent at once.
The present invention has positive effect：(1) a kind of Solving Flight Conflicts method based on the operation of 4D flight paths of the invention
During airborne vehicle conflict Resolution, the influence of high-altitude wind field is incorporated, trajectory planning scheme is freed in the rolling for being used can
Track is freed in adjustment in time for change according to wind field in high-altitude, improves the robustness of airborne vehicle conflict Resolution.
(2) a kind of Solving Flight Conflicts method based on the operation of 4D flight paths of the invention is the airborne vehicle accurate blank pipe of configuration
Interval, strict control time window of the airborne vehicle by way point, reduces traffic flow randomness, improves spatial domain security.
(3) a kind of Solving Flight Conflicts method based on the operation of 4D flight paths of the invention is no longer limited to keep single aviation
Personal distance between device, but from effectively control is macroscopically implemented to the traffic flow in spatial domain, control work can be more
It is transferred to departure time of aircraft, sequence of marching into the arena, bad weather and changes the aspects such as boat.
(4) a kind of Solving Flight Conflicts method based on the operation of 4D flight paths of the invention is based on the aviation of different performance index
Device is optimal to free flight path can significantly increase the economy of airborne vehicle operation, and spatial domain utilization rate.
Brief description of the drawings
Fig. 1 frees 4D route optimization method schematic flow sheets for airborne vehicle.
Specific embodiment
(embodiment 1)
The air traffic control system based on the operation of 4D flight paths of the present embodiment, including Airborne Terminal module 101, data is logical
Letter module 102 and control terminal module 104.The specific embodiment to each several part is described in detail respectively below.
1. Airborne Terminal module
Airborne Terminal module 101 be pilot obtain ground control order, with reference to 4D flight paths, and input flight intent
Interface, while still gathering the interface of current aerospace device position data.
Its specific embodiment is as follows：
Airborne Terminal module 101 receives following information input：(1) ADS-B information acquisition units 201 pass through Airborne GPS
The aircraft position vector of collection, velocity vector, and this airborne vehicle catchword, by information and data transfer to machine after coding
Carry data communication module 102；(2) airborne vehicle driver is needed the flight intent inconsistent with ground control order, by people
Machine inputting interface, and the form that the ground controller for arranging can recognize passes through information and data transfer to airborne data communication
Module 102.Other Airborne Terminal module 101 realizes following information output：(1) by terminal display, receive and show
The air traffic control instruction that pilot can recognize；(2) receive and show ground line terminal flight previous existence into Lothrus apterus 4D boat
Mark, and the optimal of calculating frees 4D flight paths after ground line end-probing is to conflict.
2. data communication module
Data communication module 102 can realize vacant lot bidirectional data communication, realize airborne real time position data and flight intent
The downlink transfer and ground control command unit 203 of data cell 202, and with reference to the uplink of 4D flight paths unit 204.
Its specific embodiment is as follows：
Downlink data communication：Airborne Terminal 101 passes through airborne secondary radar answering machine by aircraft identification mark and 4D
Confidence ceases, and other additional datas, and such as flight intent, flying speed, meteorology information transfer gives ground secondary radar
(SSR) data message is parsed after secondary radar reception, and is transferred to central data processing assembly 301 and decoded, by referring to
Track data interface is made to be transferred to control terminal 104；Upstream data communication：Control terminal 104 in ground is by instructing track data
Interface, after being encoded through central data processing assembly 301, the inquisitor just ground control order of ground secondary radar or refers to 4D
Flight path information transmission is simultaneously displayed in Airborne Terminal 101.
3. control terminal module
Control terminal module 104 includes that real-time flight conflict is monitored and alarm, Solving Flight Conflicts 4D track optimizations this 2
Submodule.
(1) real-time flight conflict monitoring and alarm
First pass through air traffic controllers and directly obtain it when each airborne vehicle that each sampling instant speculates will be in future
Airborne vehicle 4D tracks in section, air traffic controllers are melted by air traffic control radar monitoring data and automatic dependent surveillance data
Close the 4D tracks for speculating airborne vehicle in future time period.
When system is possible to occur violating the state of safe condition collection, condition monitoring is implemented by controller, to aviation
Device implements effective measure of control, it is to avoid the generation of flight collision.
Its specific implementation process is as follows：
First, the airborne vehicle 4D tracks according to each airborne vehicle obtained from air traffic controllers in future time period,
Conflict hypersurface collection of functions of the construction based on regulation rule.The violation of air traffic control constraint can be seen as controlled device
(the multi rack airborne vehicle of control zone flight) event that composition system is passed through hypersurface and produced, sets up hypersurface collection of functions and is used to
The contention situation of reflection system.Wherein, continuous function related to single airborne vehicle in conflict hypersurfaceIt is I
Type hypersurface, and by the continuous function related to two frame airborne vehiclesIt is Type-II hypersurface.
Then, set up by the observer of airborne vehicle continuous state to discrete conflict situation.Need to be set up according to control specification
Observer, the collision event that observation system system is passed through hypersurface and produced is made corresponding control decision and is referred to so as to controller
Order.Observer ξ is used for the consecutive variations of aircraft position in observation system and produces collision event, claimsIt is I types
Observer,It is Type-II observer.
Finally, discrete watch-dog of the design from conflict to conflict Resolution means.When the discrete observation vector of observer shows
When a certain unexpected state occurs, corresponding alarm is sent at once.The discrete watch-dog can be described as functionIts
Middle S is the space that observer observation vector is transformed into, and D is the space that all decision vector d are transformed into.
(2) Solving Flight Conflicts 4D track optimizations
Under conditions of ensureing system is met control specification, by select it is different free object function, using most
Excellent control theory method so that the control input that controller is given can be optimal.
As shown in figure 1, its specific implementation process is as follows：
Step C1, to Solving Flight Conflicts process model building：Conflict Resolution flight path is considered as continuous three sections of smooth curves, is given
Surely the beginning and end of flight path is freed, according to flight path restrictive condition, is set up and is included acceleration ai(t), climb or rate of descent γi
(t), turning rate ωiThe optimal conflict Resolution model of multivariable of (t).
Step C2, conflict Resolution variable bound under different flying conditions is modeled：Wherein t need to implement conflict Resolution boat
The variable bound of pocket k can be described as：ak(t)≤aM、ωk(t)≤ωM、γk(t)≤γM, aM、ωM、γMRespectively maximum
Acceleration, turning rate and climb or rate of descent.
Step C3, the termination reference point locations P of setting airborne vehicle collision avoidance planning, collision avoidance planning control time domain Θ, track are pre-
Survey time domain, terminating next way point that reference point locations P is airborne vehicle, collision avoidance planning control time domain Θ is 300 seconds, rail
Mark predicts time domainIt is 300 seconds.
Step C4, in each sampling instant t, based on the current running status of airborne vehicle and historical position observation sequence, obtain
The numerical value of spatial domain wind field variable is taken, its detailed process is as follows：
C4.1 the stop position for) setting airborne vehicle is track reference coordinate origin；
C4.2) when airborne vehicle is in straight running condition and at the uniform velocity turning running status, build spatial domain wind field and linearly filter
Wave pattern x (t+ △ t)=F (t) x (t)+w (t) and z (t)=H (t) x (t)+v (t) obtains wind field variable value, wherein △ t tables
Show the sampling interval, x (t) represents the state vector of t, and z (t) represents the observation vector of t, and F (t) and H (t) are represented respectively
State-transition matrix and output calculation matrix, w (t) and v (t) represent system noise vector sum measurement noise vector respectively；In boat
When pocket is in speed change turning running status, spatial domain wind field nonlinear filtering wave pattern is built
X (t+ △ t)=Ψ (t, x (t), u (t))+w (t), z (t)=Ω (t, x (t))+v (t) and u (t)=[ωa(t),
γa(t)]T, wherein Ψ () and Ω () represent respectively state-transition matrix and output calculation matrix, ωa(t) and γa(t) point
Biao Shi not turning rate and rate of acceleration；
C4.3) Filtering Model according to constructed by obtains the numerical value of wind field variable.
Step C5, be set in given optimizing index function on the premise of, based on cooperative collision avoidance trajectory planning thought, pass through
Different weight is assigned to each airborne vehicle and incorporate real-time wind field variable filtering numerical value, obtain the collision avoidance rail of each airborne vehicle
Mark and collision avoidance control strategy and each airborne vehicle only implements its first Optimal Control Strategy, detailed process in Rolling Planning interval
It is as follows：Order
WhereinRepresent t airborne vehicle i present positions Pi(t) and next way point Pi fBetween distance square,
Pi(t)=(xit,yit),The priority index of so t airborne vehicle i may be set to：
Wherein ntRepresent there is the airborne vehicle number of conflict in t spatial domain, from the implication of priority index, aviation
Device is nearer apart from its next way point, and its priority is higher.
Setting optimizing index
,
Wherein i ∈ I (t) represent airborne vehicle code and I (t)=1,2 ..., nt, Pi(t+s △ t) represent airborne vehicle when
Carve the position vector of (t+s △ t), Pi fRepresent next way point of airborne vehicle i, uiRepresent the optimal control of airborne vehicle i to be optimized
Sequence processed, QitIt is positive definite diagonal matrix, its diagonal element is priority index Ls of the airborne vehicle i in tit, and
Step C6, in next sampling instant, repeat step C4 to C5 is until each airborne vehicle reaches it and frees terminal.
Airborne Terminal module is received and performs the 4D track datas of control terminal module issue.
Obviously, above-described embodiment is only intended to clearly illustrate example of the present invention, and is not to of the invention
The restriction of implementation method.For those of ordinary skill in the field, it can also be made on the basis of the above description
The change or variation of its multi-form.There is no need and unable to be exhaustive to all of implementation method.And these belong to this hair
Obvious change that bright spirit is extended out or among changing still in protection scope of the present invention.
Claims (1)
1. a kind of Solving Flight Conflicts method based on the operation of 4D flight paths, is implemented, the aerial friendship by air traffic control system
Logical control system includes Airborne Terminal module, data communication module and control terminal module；It is characterized in that：
The control terminal module includes following submodule：
Real-time flight conflict monitoring and alarm module, for setting up from the continuous dynamic of airborne vehicle to the observation of discrete conflict logic
Device, by the conflict situation that the continuous dynamic mapping of Air Traffic System is the expression of discrete observation value；When system is possible to violate empty
During middle traffic control rule, to the Hybrid dynamics behavior implementing monitoring of air traffic hybrid system, for controller provides timely
Warning information；
Solving Flight Conflicts 4D track optimization modules, ensureing that system met under aircraft performance and regulation rule constraints,
By select it is different free object function, using Model Predictive Control Theory method, calculate airborne vehicle conflict Resolution 4D flight paths；
And airborne vehicle conflict Resolution 4D flight paths are sent to by the execution of Airborne Terminal module by data communication module；
The Solving Flight Conflicts method based on the operation of 4D flight paths includes following several steps：
Step A, directly obtained by air traffic controllers air traffic controllers each sampling instant speculate it is each
Airborne vehicle 4D track of the airborne vehicle in future time period；
Aviation of each airborne vehicle that step B, real-time flight conflict monitoring and alarm module are obtained according to step A in future time period
Device 4D tracks are set up from the continuous dynamic of airborne vehicle to the observer of discrete conflict logic, by the continuous dynamic of Air Traffic System
It is mapped as the conflict situation of discrete observation value expression；When system is possible to violate air traffic control rules, to air traffic
The Hybrid dynamics behavior implementing monitoring of hybrid system, for controller provides timely warning information；
Step C, Solving Flight Conflicts 4D track optimizations module are ensureing that system meets aircraft performance and regulation rule constrains bar
Under part, by select it is different free object function, using Model Predictive Control Theory method, calculate airborne vehicle conflict Resolution 4D
Flight path；And airborne vehicle conflict Resolution 4D flight paths are sent to by the execution of Airborne Terminal module by data communication module；Its specific reality
Apply process as follows：
Step C1, to Solving Flight Conflicts process model building：Conflict Resolution flight path is considered as continuous three sections of smooth curves, solution is given
The beginning and end of de- flight path, according to flight path restrictive condition, set up comprising acceleration, climb or rate of descent, turning rate it is changeable
Measure optimal conflict Resolution model；
Step C2, conflict Resolution variable bound under different flying conditions is modeled：Wherein t need to implement conflict Resolution airborne vehicle
The variable bound of k can be described as：ak(t)≤aM、ωk(t)≤ωM、γk(t)≤γM, aM、ωM、γMRespectively maximum acceleration
Degree, turning rate and climb or rate of descent；
When step C3, termination reference point locations P, collision avoidance planning control time domain Θ, the trajectory predictions of the collision avoidance planning of setting airborne vehicle
Domain γ；
Step C4, in each sampling instant t, based on the current running status of airborne vehicle and historical position observation sequence, obtain empty
The numerical value of domain wind field variable；
Step C5, be set in given optimizing index function on the premise of, based on cooperative collision avoidance trajectory planning thought, by each
Individual airborne vehicle assigns different weight and incorporates real-time wind field variable filtering numerical value, obtain each airborne vehicle collision avoidance track and
Collision avoidance control strategy and each airborne vehicle only implement its first Optimal Control Strategy in Rolling Planning interval；Detailed process is such as
Under：Order
WhereinRepresent t airborne vehicle i present positions Pi(t) and next way point Pi fBetween distance square, Pi(t)
=(xit,yit),The priority index of so t airborne vehicle i may be set to：
Wherein ntRepresent the airborne vehicle number for existing in t spatial domain and conflicting, from the implication of priority index, airborne vehicle away from
From its next way point more close to, its priority is higher；
Setting optimizing index
,
Wherein i ∈ I (t) represent airborne vehicle code and I (t)=1,2 ..., nt, Pi(t+s △ t) represents airborne vehicle in moment (t
+ s △ t) position vector, Pi fRepresent next way point of airborne vehicle i, uiRepresent the optimum control sequence of airborne vehicle i to be optimized
Row, QitIt is positive definite diagonal matrix, its diagonal element is priority index Ls of the airborne vehicle i in tit, and
Step C6, in next sampling instant, repeat step C4 to C5 is until each airborne vehicle reaches it and frees terminal；
Step D, Airborne Terminal module are received and perform the 4D track datas of control terminal module issue.
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|---|---|---|---|---|
| CN114373337A (en) * | 2022-01-17 | 2022-04-19 | 北京航空航天大学 | Flight conflict autonomous releasing method under flight path uncertainty condition |
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| CN113470439B (en) * | 2021-06-30 | 2022-05-24 | 中国民用航空飞行学院 | Method and system for solving control conflict of medium and small airport based on artificial intelligence |
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| CN106887162A (en) | 2017-06-23 |
| CN106803363A (en) | 2017-06-06 |
| CN104504941B (en) | 2017-03-08 |
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