CN107169677B - Centralized dispatching command system for civil airport apron security vehicles - Google Patents
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Abstract
The invention relates to the technical field of operation management in a flight area of a civil airport, in particular to a centralized dispatching command system for guaranteeing vehicles on a civil airport apron; the system comprises an information support module, a scheduling decision module, a vehicle guarantee module and a airport apron dispatcher; the information support module mainly comprises an airline operation control system, an airport operation management system and an air traffic control automation system; the scheduling decision module comprises a communication processor, a scheduling command decision server and a scheduling command monitoring terminal; the guarantee vehicle module comprises a vehicle-mounted terminal and a vehicle driver; the system comprises an airline company operation control system, an airport operation management system and an air traffic control automation system, wherein the airline company operation control system, the airport operation management system and the air traffic control automation system are respectively in communication connection with a communication processing server, the dispatching command monitoring terminal is connected with a guarantee vehicle module through an airport dispatcher, and the guarantee vehicle module is also in communication connection with the communication processing server.
Description
Technical Field
The invention relates to the technical field of operation management of a flight area of a civil airport, in particular to a centralized dispatching and commanding system for guaranteeing vehicles on the airport apron.
Background
The rapid development of the air transport industry has made airports increasingly important as air transport network nodes. In recent years, the bottleneck that restricts the increase of air traffic flow is shifted from air routes to airports, and the urgency for the improvement of the operation management capability of airport flight areas is also attracting attention. The airport apron guarantee refers to ground operation performed by an operation guarantee unit around airplanes, goods, luggage and the like, such as aviation fuel filling, luggage unloading and the like, and relates to three types of flights of starting, station passing and after aviation. The airport apron guarantees that the operation needs to be carried out by dispatching corresponding special vehicles, is important work for ensuring the normal development of flight plans, and is one of the core contents of the operation management of airport flight areas. The large airport parking apron has large area and heavy duty of the parking apron, and the types and the quantity of the vehicles are limited and generally belong to different departments. Therefore, the apron guarantees that the vehicle dispatching and commanding are very complicated work. In addition, because of the operation space and time constraint required by the safety operation regulations, command errors are easy to occur by only depending on manual scheduling among all the operation vehicles in the same machine position.
At present, in the actual apron guarantee work, the guarantee work is mostly finished in a 'responsibility division' mode, and the guarantee vehicle is developed by a dispatcher based on a field work report or an operation manual, so that the efficiency is low, the fine management degree is insufficient, and the guarantee vehicle becomes one of important reasons for flight delay. Therefore, it is necessary to provide an advanced centralized dispatching and commanding system and method for civil airport apron safeguard vehicles, which realize centralized control of the airport operation command center or the ground uniform organization over the safeguard vehicles belonging to different departments based on an advanced informatization means, and assist the dispatcher to complete efficient dispatching and commanding for the apron safeguard vehicles, so as to reduce flight delay caused by the low efficiency of the apron safeguard.
Disclosure of Invention
Aiming at the prior technical problems, the invention provides a centralized dispatching command system for civil airport apron support vehicles, which can assign specific support vehicles for airplane apron support and arrange corresponding airplane space operation task implementation time periods, realize the high-efficiency utilization of apron support vehicle resources, and simultaneously reduce the flight delay caused by the apron support, thereby solving the problems of low efficiency and insufficient fine management degree existing in the process that an apron support unit only depends on the manual decision of a dispatcher to carry out dispatching.
The technical scheme of the invention is as follows: the invention provides a centralized dispatching command system for civil airport apron security vehicles, which comprises an information support module, a dispatching decision module, a vehicle security module and an apron dispatcher, wherein the information support module is used for supporting the information of the civil airport apron security vehicles; the information support module mainly comprises an airline operation control system, an airport operation management system and an air traffic control automation system; the scheduling decision module comprises a communication processor, a scheduling command decision server and a scheduling command monitoring terminal; the guarantee vehicle module comprises a vehicle-mounted terminal and a vehicle driver; the system comprises an airline company operation control system, an airport operation management system and an air traffic control automation system, wherein the airline company operation control system, the airport operation management system and the air traffic control automation system are respectively in communication connection with a communication processing server, a scheduling command monitoring terminal is connected with a guarantee vehicle module through an airport dispatcher, the guarantee vehicle module is also in communication connection with the communication processing server, and a scheduling decision module is used for assisting the airport dispatcher to make a guarantee vehicle airport guarantee scheduling plan by utilizing acquired flight operation and airport guarantee real-time data, is in charge of setting operation parameters of a scheduling decision system and issues the flight taxi scheduling plan after confirming the flight taxi scheduling plan.
The invention has the beneficial effects that:
1. the method for developing the airport apron guarantee vehicle dispatching command by only depending on the manual decision of the airport apron dispatcher is converted into the method for developing the guarantee vehicle dispatching command by depending on the automatic decision-making means under the supervision of the airport apron dispatcher, so that the workload of the airport apron dispatcher is reduced, the airport apron guarantee vehicle dispatching under the condition of large flow is facilitated, and the situation congestion and flight delay are relieved.
2. The three aspects of the airport, the airline company and the air traffic control are related to flight real-time operation, machine position operation and vehicle operation information, and an automatic decision-making module is designed to ensure the centralized scheduling decision of the vehicle, so that the real-time performance of the scheduling decision and the effectiveness of a decision result are ensured.
3. The communication server is used for acquiring the real-time operation information of the information support module and the guarantee vehicle, and the guarantee vehicle scheduling decision module is decomposed into two core modules, namely a 'guarantee vehicle initial scheduling decision maker' and a 'guarantee vehicle dynamic scheduling decision maker', so that the complexity of scheduling decision solving is reduced, a real-time human-computer interaction function is provided for a flight level dispatcher through a 'scheduling command monitoring terminal', the human-in-loop guarantee vehicle operation scheduling command is realized, and the highest decision right and the final decision right of the dispatcher on the operation control of the guarantee vehicle are ensured.
Drawings
The invention is further described below, in which the figures respectively show:
FIG. 1 is a logic block diagram of a centralized dispatching and commanding system for civil airport apron support vehicles according to the present invention;
FIG. 2 is a flow chart of the scheduling command decider of the present invention;
fig. 3 is a flowchart of a dynamic scheduling method for apron support vehicles.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings:
as shown in fig. 1, the centralized scheduling command system for an airport terminal guarantee vehicle provided by the invention comprehensively utilizes flight information, airport allocation and occupation information, guarantee vehicle operation progress and other information of an airport, an airline company and an air traffic control, and realizes centralized scheduling of the airport terminal guarantee vehicle, thereby assisting an airport terminal dispatcher to scientifically and efficiently complete guarantee vehicle scheduling decisions. The system needs to realize an information support module 001, a scheduling decision module 002 and a security vehicle module 004.
1. Information support module 001
In order to ensure the comprehensive utilization of airport, airline companies and air traffic control information by a vehicle scheduling system, the information system and the acquired data which need to be led from the three parties are determined according to the goal realized by a vehicle scheduling decision making module. Specifically, in the aspect of an airline, an airline operation control system 011 needs to be connected, and a flight plan and flight position guarantee schedules of various flights are mainly obtained from the airline; in the airport, an airport operation management system 012 is required to be connected, and an airport allocation plan and an occupancy schedule are mainly obtained from the airport operation management system 012; in terms of air traffic management, an air traffic management automation system 013 (including a scene integrated monitoring system, a control command automation system and a traffic management system) is required to be connected, and the actual landing time and the predicted arrival time of the inbound flight, the allocation of the flight level and the predicted departure time of the outbound flight are mainly obtained from the air traffic management automation system.
2. Scheduling decision module 002
The scheduling decision module 002 provides the scheduling command monitoring terminal 025 to the airport dispatcher 003, under the supervision and intervention of the airport dispatcher 003, the communication processing server 023 is used for acquiring flight operation and real-time vehicle scheduling guaranteeing information uploaded by the information support module 001, the WIFI ground station and the VDL4 ground station, and finally the scheduling command decision server 024 is used for completing the vehicle centralized scheduling decision. Wherein,
watch communication processor 023
The communication processor 023 performs external data access based on a virtual private network using a switch device, is responsible for accessing information (such as flight arrival and departure time, airport delay status information, and the like) accessed from each external system (an airline operation control system 011, an airport operation management system 012, and an air traffic control automation system 013), and processes guaranteed vehicle operation status information (such as airplane space operation progress, real-time location, and the like) transmitted from the guaranteed vehicle onboard terminal 041 through the WIFI network 005 or the VDL-4 network 006.
024 scheduling and commanding decision maker
The scheduling and commanding decision maker 024 completes centralized scheduling decision based on an airplane position guarantee operation model 031, a guarantee vehicle initial scheduling decision maker 032 and a dynamic scheduling decision maker 033.
Aircraft position assurance operation model 031
The airplane position guarantee relates to three types of flights of an original flight, a station passing flight and a post-flight. For the aircraft passing the station, after the wheel chock is arranged on the aircraft entering position, the guarantee equipment is dispatched to the aircraft position to carry out the entering port guarantee operation and the leaving port guarantee operation, and finally the wheel chock is removed and the station passing guarantee is completed. Originating flights involve only the departure assurance process and may include originating towing jobs; post-airline flights involve only the inbound provisioning process and may include post-airline towing operations. In the process of ensuring the airport apron, each operation task occurs in a set airport working space and starts or ends at discrete time, and certain operation time sequence constraint exists among the operation tasks. The invention respectively establishes a static information model and a dynamic information model of the airplane position guarantee operation of the airplane.
Firstly, a static model of a road system special for a guarantee vehicle is established. And a geographic information system is adopted to divide the topology of the road system special for the guarantee vehicle into discrete graphic elements according to the special road, the airport level distribution and the taxiway system information of the apron guarantee vehicle, so as to obtain a set of accessible areas of the guarantee vehicle.
Then, establishing a dynamic model for the airplane position guarantee operation of the airplaneAnd (4) molding. In view of the advantages of the Petri network in the modeling of the discrete event dynamic system, the invention adopts the Petri network to model the apron position guarantee operation process model N ═ { N }iI is 1,2, …, k, and k is the guarantee operation process N of the airplane currently receiving the guarantee operation, specifically, a certain airplaneiP, T, Pre, Post, M. Wherein, P represents a specific machine position guarantee operation link (such as oil filling, sewage operation, luggage loading and the like); t represents the beginning or the end of each operation link; pre and Post represent the forward and backward incidence relation of P and T respectively; m represents the specific state of the aircraft guarantee operation.
And then, establishing airplane position guarantee operation constraint specifications of the airplane. The method is based on the apron station-crossing guarantee operation Petri net model, and corresponding operation Petri net constraint specifications are established by combining airplane position guarantee operation constraints. Specifically, the invention divides the machine position guarantee operation constraint into: the method comprises the steps of operating time sequence relation constraint. Due to the requirement of safe operation regulations, some operation tasks are not allowed to be expanded simultaneously, and the constraint of a tandem relation is required to be met, for example, the filling of aviation fuel is carried out after the passengers leave, and is finished before the passengers leave. While some work tasks allow for simultaneous deployment, such as crew support and cabin cleaning. And the standing time is restrained. The operation task is completed within the scheduled station-passing time interval of the airplane as far as possible so as not to influence the flying of the airplane in the next flight segment. The above constraints can be expressed using linear inequality constraints: L.TtB is not more than b, wherein T istFor transition firing time, L is the weighted matrix of transition firing times, while vector b is the threshold vector determined from job constraints, and t is the number of transitions.
② decision maker 032 for ensuring vehicle initial scheduling
The guarantee vehicle is located the parking area when not distributing the operation task, once distribute the operation task and go to appointed aircraft position immediately and carry out the operation, and the guarantee vehicle of different models has different operation ability (like the tank service truck of different volumes). In the initial scheduling decision stage, assuming that the vehicle leaves the parking area once and does not return to the parking area until the assigned task is completed, the vehicle driving time mainly comprises the driving time between the stands and the driving time between the refueling area or the passenger and cargo area and the stand.
Firstly, establishing an initial scheduling model of the guarantee vehicle. Suppose there are n airplanes S ═ S in a certain period1,S2,…,SnThe guarantee is needed, and the guarantee period of the ith airplane is
Guarantee operation r of ith aircrafti＝{r1,r2,…,rk}，JijIndicating the jth guaranteed work task, work task J, of the ith aircraftijQ (J) for ensuring required vehicle quantityij) Represents, job task JijThe time consumption is the time interval [ a, b](0<a<b) A certain value (which may be set based on airport field data collection statistics). Safeguard vehicle type R ═ { R ═ R1,R2,…,RmTherein a certain type of vehicle RjIs expressed as N (R)j)。
Introduction of variable bj,r，cj,r，xj,r，ui,j,h。bj,rFor an aircraft SjThe scheduled start time of job task r; c. Cj,rAnd xj,rAre respectively SjThe actual start time and completion time of job task r. If vehicle h completes S firstiIs followed by completion of SjTask of (1), ui,j,h1, otherwise ui,j,h0. The purpose of guaranteeing the vehicle dispatching by the airplane is to consider the guarantee operation constraint relation, so that the sum of punishment cost generated when n airplanes do not finish guaranteeing before the planned station-crossing time period is finished and cost generated by vehicle running time is minimum. Therefore, an initial scheduling model of the airport apron guarantee vehicle can be established, and the formula (1) is an objective function of the airplane guarantee vehicle scheduling.
wi＝max{di,r}，i＝1,2,...,n，r＝1,2,...,k； (2)
cj,r-ti,j,h+M(1-ui,j,h)≥xi,r； (3)
dj,r-θj,r≥bj,r，j＝1,2,...,n， (4)
Alpha, beta and gamma are conversion coefficients, and time is expressed by cost; w is aiFor an aircraft SiThe position of the aircraft ensures the actual end time;
for an aircraft SiEnsuring the end time of the plan; t is ti,j,hFor vehicles h from aircraft SiAt the station to the aircraft SjThe time consumed by the machine position; t is thThe time required for the vehicle to travel to the airplane space from a parking area, a passenger and cargo area or a refueling area; m is a sufficiently large number. Thetaj,rFor an aircraft SjThe r-th job task of (2) is time consuming.
And then, solving the model by adopting a genetic algorithm or a mixed integer programming algorithm to obtain a guarantee operation time matrix of each vehicle at each machine position, and realizing the initial arrangement of vehicle scheduling.
And finally, presenting the vehicle initial scheduling scheme obtained by decision to the airport apron dispatcher 003 through the scheduling command terminal 025.
Uncertainty event interference may be encountered in the process of guaranteeing vehicle operation, so that a guarantee operation scheduling scheme needs to be dynamically adjusted. The invention designs a decision maker 033 for guaranteeing the dynamic scheduling of vehicles. The specific implementation method comprises the following steps:
first, the vehicle operation monitor 041 monitors the position real-time guaranteed progress of the vehicle in real time, and compares the position real-time guaranteed progress with the vehicle scheduling initial scheme to obtain a candidate vehicle set U ═ ensuring that the candidate vehicle set is not developed according to the vehicle scheduling initial scheme1,u2,u3,…,unAnd the fluctuation accumulation Deltat of the corresponding operation time window1,△t2,...,△tn}。
Then, according to the requirement of on-site guarantee scheduling, the airport dispatcher sets a time window fluctuation accumulated tolerance value gamma1And Γ2Wherein r is1≤Γ2. To pair
If it is Δ ti≥Γ1Then its position assurance schedule needs to be updated. A dynamic decision algorithm 042 for scheduling the vehicle for guaranteeing the parking space is designed, and two ways are adopted to realize updating: cumulative gamma for time window fluctuations1≤△ti≤Γ2The guaranteed vehicle scheduling scheme adopts partial scheduling scheme updating, namely the next guaranteed machine positions of the vehicle are kept unchanged, and the machine position guarantee time period of the vehicle is adjusted only by adjusting the guarantee sequence of the vehicle at each machine position; accumulated delta t for time window fluctuationsi>Γ2The guaranteed vehicle scheduling scheme adopts the overall scheduling scheme to update, namely, changes the next guaranteed scheme (including reassigning the guaranteed machine positions and the working period) of the vehicle at all machine positions.
And finally, presenting the ensured vehicle dynamic scheduling scheme obtained by decision to an airport apron dispatcher 003 through a scheduling command terminal 025.
The dispatching and commanding monitor terminal 025
The terminal is designed for an airport operation command center or an airport apron dispatcher of an apron company, assists the airport operation command center or the apron dispatcher to carry out guaranteed vehicle dispatching intervention (such as setting guaranteed vehicle dispatching rules, key algorithm decision parameters and the like), provides a guaranteed vehicle dispatching plan simulation interface, and can assist the airport apron dispatcher to carry out dispatching scheme evaluation and analysis.
Claims (5)
1. A centralized dispatching command system for civil airport apron safeguard vehicles is characterized by comprising an information support module, a dispatching decision module, a vehicle safeguard module and an apron dispatcher; the information support module mainly comprises an airline operation control system, an airport operation management system and an air traffic control automation system; the scheduling decision module comprises a communication processor, a scheduling command decision device and a scheduling command monitoring terminal; the guarantee vehicle module comprises a vehicle-mounted terminal and a vehicle driver; the airline operation control system, the airport operation management system and the air traffic control automation system are respectively in communication connection with the communication processing server, and the dispatching commandThe system comprises a monitoring terminal, a guarantee vehicle module, a communication processing server, a scheduling decision module and a scheduling decision system, wherein the monitoring terminal is connected with the guarantee vehicle module through an apron dispatcher, the guarantee vehicle module is also in communication connection with the communication processing server, and the scheduling decision module is used for assisting the apron dispatcher to make a guarantee vehicle apron guarantee scheduling plan by utilizing the acquired flight operation and apron guarantee real-time data, and is also responsible for setting operation parameters of the scheduling decision system and issuing after confirming the decided flight sliding scheduling plan; the scheduling command decision-making device completes centralized scheduling decision-making based on the airplane position guarantee operation model, the guarantee vehicle initial scheduling decision-making device and the guarantee vehicle dynamic scheduling decision-making device; the information support module collects information such as flight plans, flight real-time dynamics, flight position guarantee progress and the like in an airline operation control system, an airport operation management system and an air traffic control automation system, and provides required original data for guaranteeing the decision of a vehicle scheduling module, wherein the required original data comprises the flight position distribution plan and the occupancy dynamics of the airport operation management system; flight schedule and flight position guarantee progress information of an airline operation and control system; actual landing time of each flight and estimated arrival time of each plane in the air traffic control automation system; the method comprises the steps that a dispatching command monitoring terminal obtains parameter settings of an apron dispatcher, wherein the parameter settings comprise a guarantee vehicle dispatching rule and a key algorithm decision parameter setting, the dispatching command monitoring terminal automatically decides an apron guarantee vehicle dispatching plan through a dispatching decision algorithm, a guarantee vehicle module presents the dispatching plan to the apron dispatcher through the dispatching command monitoring terminal, and after the apron dispatcher permission is obtained, the apron dispatcher sends the dispatching plan to a guarantee vehicle driver through very high frequency communication or trunking communication or sends the dispatching plan to a vehicle-mounted terminal of a guarantee vehicle through a data link mode; the scheduling decision module further comprises a WIFI ground station and a VDL4 ground station, and the vehicle-mounted terminal can communicate with the scheduling decision module through a WIFI network or a VDL4 network; the airplane position guarantee operation model is characterized in that three types of flight operation tasks of starting, passing and after-flying in the airplane position guarantee occur in a set airplane position operation space and all start or end at discrete time, and certain operation time sequence constraint exists among the operation tasks; the airplane position guarantee operation model is divided into airplane position guaranteesThe dynamic model of the airplane position guarantee operation adopts a Petri network to model a model N of the airplane position guarantee operation process of the aproniI is 1,2, …, k, where i is the guarantee operation process N of the aircraft currently receiving the guarantee operation, specifically, a certain aircraftiThe method comprises the following steps of (1) setting { P, T, Pre, Post, M }, wherein P represents a specific machine position guarantee operation link; t represents the beginning or the end of each operation link; pre and Post represent the forward and backward incidence relation of P and T respectively; m represents the specific state of the aircraft guarantee operation.
2. The centralized civil airport apron-security vehicle dispatching command system of claim 1, wherein: the system comprises a support vehicle initial scheduling decision maker, a support vehicle initial scheduling decision maker and a support vehicle initial scheduling decision maker, wherein the support vehicle initial scheduling decision maker ensures that a support vehicle is positioned in a parking area when an operation task is not distributed, and immediately goes to a designated machine position to carry out operation when the operation task is distributed, and support vehicles of different types have different operation capacities; in the initial scheduling decision stage, assuming that once the vehicle leaves a parking area, the vehicle does not return to the parking area until the assigned task is completed, and the vehicle running time mainly comprises the running time between the stands and the running time between a refueling area or a passenger-cargo area and the stand; the guarantee vehicle initial scheduling decision maker can firstly establish a guarantee vehicle initial scheduling model.
3. The centralized civil airport apron-security vehicle dispatching command system of claim 2, wherein: the method for establishing the guarantee vehicle initial scheduling model comprises the step of setting S as { S ] if n airplanes exist in a certain period1,S2,…,SnThe guarantee is needed, and the guarantee period of the ith airplane is
Guarantee operation r of ith aircrafti＝{r1,r2,…,rk}，JijIndicating the jth guaranteed work task, work task J, of the ith aircraftijQ (J) for ensuring required vehicle quantityij) Represents, job task JijTakes time toTime interval [ a, b](0<a<b) Of the secured vehicle type is R ═ { R ═ R1,R2,…,RmTherein a certain type of vehicle RjIs expressed as N (R)j) (ii) a Introduction of variable bj,r，cj,r，xj,r，ui,j,h，bj,rFor an aircraft SjThe scheduled start time of job task r; c. Cj,rAnd xj,rAre respectively SjActual start time and completion time of job task r; if vehicle h completes S firstiIs followed by completion of SjTask of (1), ui,j,h1, otherwise ui,j,h＝0。
4. The centralized civil airport apron-security vehicle dispatching command system of claim 3, wherein: the objective function of the guarantee vehicle initial scheduling model is
wi＝max{di,r}，i＝1,2,...,n，r＝1,2,...,k； (2)
cj,r-ti,j,h+M(1-ui,j,h)≥xi,r； (3)
dj,r-θj,r≥bj,r，j＝1,2,...,n， (4)
Wherein alpha, beta and gamma in the formula (1) are conversion coefficients, and time is expressed by cost; formula (2) wiFor an aircraft SiThe position of the aircraft ensures the actual end time; formula (1)
For an aircraft SiEnsuring the end time of the plan; t in the formulae (1) and (3)i,j,hFor vehicles h from aircraft SiAt the station to the aircraft SjThe time consumed by the machine position; t in formula (1)hFor filling vehicles from parking, passenger-cargo, or fillingThe time required for driving to the machine position is obtained; m is a sufficiently large number; thetaj,rFor an aircraft SjThe r-th job task of (2) is time consuming.
5. The centralized civil airport apron-security vehicle dispatching command system of claim 4, wherein: the dynamic scheduling decision maker for the guarantee vehicle possibly faces uncertain event interference in the process of guaranteeing vehicle operation, so that a guarantee operation scheduling scheme needs to be dynamically adjusted;
the implementation method of the decision maker for guaranteeing the dynamic scheduling of the vehicle comprises the following steps:
firstly, a vehicle operation monitor is adopted to monitor the position real-time guarantee progress of a vehicle in real time, and the position real-time guarantee progress is compared with a vehicle scheduling initial scheme to obtain a candidate vehicle set U ═ U which guarantees that the vehicle is not developed according to the initial scheduling scheme1,u2,u3,…,unAnd its corresponding operation time window fluctuation accumulation delta t ═ delta t1,Δt2,...,Δtn}；
Then, according to the requirement of on-site guarantee scheduling, a scheduler sets a time window fluctuation accumulated tolerance value gamma1And Γ2Wherein r is1≤Γ2To, for
If it is Δ ti≥Γ1If so, updating the machine position guarantee scheduling of the mobile terminal; designing a dynamic decision algorithm for dispatching the vehicle for guaranteeing the position of the aircraft, and adopting two ways to realize updating: cumulative gamma for time window fluctuations1≤Δti≤Γ2The guaranteed vehicle scheduling scheme adopts partial scheduling scheme updating, namely the next guaranteed machine positions of the vehicle are kept unchanged, and the machine position guarantee time period of the vehicle is adjusted only by adjusting the guarantee sequence of the vehicle at each machine position; accumulated Δ t over time window fluctuationi＞Γ2The guarantee vehicle scheduling scheme adopts the overall scheduling scheme to update, namely changes the guarantee schemes of the vehicle at all the next machine positions.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710457677.1A CN107169677B (en) | 2017-06-16 | 2017-06-16 | Centralized dispatching command system for civil airport apron security vehicles |
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| CN114360299B (en) * | 2022-01-11 | 2023-05-12 | 青岛民航凯亚系统集成有限公司 | Automatic planning method for towing of airport aircraft |
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