CN108803656A - A kind of flight control method and system based on complicated low latitude - Google Patents
A kind of flight control method and system based on complicated low latitude Download PDFInfo
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- CN108803656A CN108803656A CN201810601647.8A CN201810601647A CN108803656A CN 108803656 A CN108803656 A CN 108803656A CN 201810601647 A CN201810601647 A CN 201810601647A CN 108803656 A CN108803656 A CN 108803656A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
Abstract
The present invention discloses a kind of flight control method and system based on complicated low latitude.This method includes：The environmental information within the scope of given threshold around aircraft to be controlled is obtained, the environmental information includes information, Weather information and the terrain information of other aircrafts；The flight plan of the aircraft to be controlled is obtained, the flight plan includes the corresponding flight line in multiple segments, flying height and flying speed；Judge that the environmental information whether there is with the flight plan of the aircraft to be controlled to conflict, if not, the aircraft to be controlled flies according to the flight plan；If so, obtaining the conflicting information of the environmental information and the flight plan；The flight plan is adjusted according to the conflicting information, the flight plan after being adjusted, the aircraft to be controlled flies according to the flight plan after the adjustment.Method and analogue system using the present invention, may be implemented the control to complicated low-latitude flying and simulation analysis.
Description
Technical field
The present invention relates to air traffic fields, more particularly to a kind of flight control method based on complicated low latitude and are
System.
Background technology
Low altitude airspace is the important component of China spatial domain system, contains great economic value and social value.
It is increasingly vigorous with low latitude demand, make full use of low latitude resource, science management and control low-latitude flying to be faced as World Airways big country
Important topic.Complicated low latitude refer to control couple operation with No-Controlled Airspace, influenced by complicated landform, all types of General Aviations
The busy low altitude airspace of device mixed running.Complicated low-latitude flying situation refer in certain space-time by intensive flight group, respectively influence behavior
And the factor interactions such as spatial domain environment formed whole state of flight and development trend, can reflect aircraft dense degree,
The space-time characteristics such as operational efficiency and contention situation.General Aviation active organization mode is various, flying activity wide variety, and usually
Low latitude or it is extreme low-altitude carry out flight operation, high degree of dispersion, point is more, line is more, wide, easily by bad weather, ground obstacle, army
The influence of the various enchancement factors such as thing flying activity, flying bird and unmanned plane.The characteristics of this mixing flight, Random Effect, determines
The difficulty of low-latitude flying and the complexity of science management and control.
Compared with public aviation, the current country there is no more complete low latitude Flight measured data.To complicated low latitude
Flight control research it is less.
Invention content
The object of the present invention is to provide a kind of flight control method and system based on complicated low latitude, to realize complicated low latitude
Flight control and the emulation of flight posture.
To achieve the above object, the present invention provides following schemes：
A kind of flight control method based on complicated low latitude, the method includes：
The environmental information within the scope of given threshold around aircraft to be controlled is obtained, the environmental information includes other aviations
Information, Weather information and the terrain information of device；The information of other aircrafts includes the position of other aircrafts, is waited for described
Control the distance between aircraft；The Weather information includes boisterous coverage and influence degree；The landform letter
Breath includes the height and influence degree of terrain obstacle；
The flight plan of the aircraft to be controlled is obtained, the flight plan includes the corresponding flight line in multiple segments
Road, flying height and flying speed；
Judge that the environmental information, with the presence or absence of conflicting, obtains the first judgement with the flight plan of the aircraft to be controlled
As a result；
When first judging result indicates that the environmental information and the flight plan of the aircraft to be controlled are not present
When conflict, the aircraft to be controlled flies according to the flight plan；
When first judging result indicates that the environmental information and the flight plan of the aircraft to be controlled have punching
When prominent, the conflicting information of the environmental information and the flight plan is obtained；
The flight plan is adjusted according to the conflicting information, the flight plan after being adjusted is described to be controlled
Aircraft processed flies according to the flight plan after the adjustment.
Optionally, the judgement environmental information whether there is with the flight plan of the aircraft to be controlled conflicts,
It specifically includes：
Judge when the aircraft to be controlled is according to current flight plan flight, the protection of the aircraft to be controlled
Whether area can be overlapped with the protection zone of other aircrafts；The protection zone is the cylindrical region centered on aircraft, described
The radius of cylindrical region is the minimum level spacing distance of aircraft safe flight, and the height of the cylindrical region is aviation
Two times of distances at the minimum vertical interval of device safe flight；
When the protection zone of the aircraft to be controlled will not be overlapped with the protection zone of other aircrafts, other described aviations
There is no conflict the information of device with the flight plan of the aircraft to be controlled；When the protection zone of the aircraft to be controlled and its
When the protection zone of his aircraft can be overlapped, the information of other aircrafts and the flight plan of the aircraft to be controlled exist
Conflict；
Judge when the aircraft to be controlled is according to current flight plan flight, the protection of the aircraft to be controlled
Whether area can be overlapped with the boisterous coverage；
When the protection zone of the aircraft to be controlled will not be overlapped with the boisterous coverage, the weather
There is no conflict information with the flight plan of the aircraft to be controlled；When the protection zone of the aircraft to be controlled and the evil
When the coverage of bad weather can be overlapped, the Weather information exists with the flight plan of the aircraft to be controlled to conflict；
Judge when the aircraft to be controlled is according to current flight plan flight, the protection of the aircraft to be controlled
Whether area can be overlapped with the height of the terrain information and influence degree；
When the protection zone of the aircraft to be controlled will not be overlapped with the height of the terrain information and influence degree, institute
Stating terrain information, there is no conflict with the flight plan of the aircraft to be controlled；When the protection zone of the aircraft to be controlled with
When the height and influence degree of the terrain information can be overlapped, the flight plan of the terrain information and the aircraft to be controlled
There are conflicts.
Optionally, the conflicting information for obtaining the environmental information and the flight plan, specifically includes：
It obtains in the information of other aircrafts and there is first to conflict with the flight plan of the aircraft to be controlled
Conflict the information of individual, and the first conflict individual is other aircrafts, and the information of the first conflict individual includes described the
The distance between number, position and described aircraft to be controlled of one conflict individual, flying speed, heading and flight are high
Degree；
Obtain the second conflict individual for existing with the flight plan of the aircraft to be controlled in the Weather information and conflicting
Information, the second conflict individual is the region that bad weather occurs, and the information of the second conflict individual includes described the
Number, position, coverage and the influence degree of two conflict individuals；
Obtain the third conflict individual for existing with the flight plan of the aircraft to be controlled in the terrain information and conflicting
Information, third conflict individual is barrier, and the information of the third conflict individual includes that the third conflict is individual
Number, position, height and influence degree.
Optionally, described that the flight plan is adjusted according to the conflicting information, the flight meter after being adjusted
It draws, specifically includes：
Judge whether the number of the first conflict individual is more than 2, obtains the second judging result；
When second judging result indicates that the number of the first conflict individual is not more than 2, rushed according to described first
Relative displacement between prominent individual, the second conflict individual and third conflict individual and the aircraft to be controlled is sweared
Amount adjusts the flight parameter of the aircraft to be controlled, the flight plan after being adjusted；The flight parameter includes flight side
To, flying speed and flying height；
When second judging result indicates that the number of the first conflict individual is more than 2, conflict according to described first
Relative displacement vector between individual, the second conflict individual and third conflict individual and the aircraft to be controlled,
It obtains to itself optimal control plan；When adjusting the flight parameter of the aircraft to be controlled according to the control plan, institute
The adjustment cost for stating aircraft to be controlled is minimum；
The control plan is transmitted to other aircrafts in the first conflict individual；
The reply opinion of other aircrafts in the first conflict individual is obtained, the reply opinion includes receiving the tune
Section plan and the refusal control plan；
When the reply opinion of other aircrafts in the first conflict individual is to receive the control plan, according to institute
State the flight parameter that control plan adjusts the aircraft to be controlled, the flight plan after being adjusted；
When the reply opinion of other aircrafts in the first conflict individual includes refusing the control plan, obtain
The priority level that the aircraft to be controlled conflicts other aircrafts in individual with described first；Different priority levels corresponds to not
Same concession amount；
The control plan is changed according to the concession amount of the priority level, obtains modified control plan；
The flight parameter that the aircraft to be controlled is adjusted according to the modified control plan flies after being adjusted
Row plan.
Optionally, the priority scheduling for obtaining the aircraft to be controlled and conflicting other aircrafts in individual with described first
Grade, further include before：
Obtain the control plan of other aircrafts in the first conflict individual；According to the control plan tune of other aircrafts
When saving the flight parameter of the aircraft to be controlled, the adjustment cost of other aircrafts is minimum；
Judge whether the control plan of other aircrafts meets the flight restriction of the aircraft to be controlled, obtains the
Three judging results；
When the third judging result indicates that the control plan of other aircrafts meets the aircraft to be controlled
When flight restriction, the reply opinion for receiving the control plan is transmitted to other aircrafts, and according to other described aircrafts
Control plan adjust the flight parameter of the aircraft to be controlled, the flight plan after being adjusted；
When the third judging result indicates that the control plan of other aircrafts is unsatisfactory for the aircraft to be controlled
Flight restriction when, the flight restriction of the reply opinion for refusing the control plan and the aircraft to be controlled is transmitted to it
His aircraft.
The present invention also provides a kind of flight control system based on complicated low latitude, the system comprises：
Environment information acquisition module, for obtaining the environmental information around aircraft to be controlled within the scope of given threshold, institute
State the information, Weather information and terrain information that environmental information includes other aircrafts；The information of other aircrafts includes it
The distance between the position of his aircraft and the aircraft to be controlled；The Weather information includes boisterous influence model
It encloses and influence degree；The terrain information includes the height and influence degree of terrain obstacle；
Flight plan acquisition module, the flight plan for obtaining the aircraft to be controlled, the flight plan include
The corresponding flight line in multiple segments, flying height and flying speed；
First judgment module, for judging that the environmental information and the flight plan of the aircraft to be controlled whether there is
Conflict, obtains the first judging result；When first judging result indicates the environmental information and the aircraft to be controlled
There is no when conflict, the aircraft to be controlled flies flight plan according to the flight plan；
Conflicting information acquisition module, for indicating the environmental information and the boat to be controlled when first judging result
When the flight plan of pocket has conflict, the conflicting information of the environmental information and the flight plan is obtained；
Flight plan adjustment module is adjusted for being adjusted to the flight plan according to the conflicting information
Flight plan afterwards, the aircraft to be controlled fly according to the flight plan after the adjustment.
Optionally, the conflicting information acquisition module specifically includes：
First conflict individual information acquiring unit, in the information for obtaining other aircrafts with the boat to be controlled
There is the information of the first conflict individual of conflict in the flight plan of pocket, the first conflict individual is other aircrafts, described
The information of first conflict individual include the number of the first conflict individual, between position and the aircraft to be controlled away from
From, flying speed, heading and flying height；
Second conflict individual information acquiring unit, it is winged with the aircraft to be controlled in the Weather information for obtaining
There is the information of the second conflict individual of conflict in row plan, the second conflict individual is the region that bad weather occurs, described
The information of second conflict individual includes number, position, coverage and the influence degree of the second conflict individual；
Third conflict individual information acquiring unit, it is winged with the aircraft to be controlled in the terrain information for obtaining
There is the information of the third conflict individual of conflict in row plan, the third conflict individual is barrier, the third conflict individual
Information include third conflict individual number, position, height and influence degree.
Optionally, the flight plan adjustment module specifically includes：
Second judgment unit obtains the second judgement knot for judging whether the number of the first conflict individual is more than 2
Fruit；
Flight plan adjustment unit, for indicating that the number of the first conflict individual is little when second judging result
When 2, according to the first conflict individual, the second conflict individual and third conflict individual and the aviation to be controlled
Relative displacement vector between device adjusts the flight parameter of the aircraft to be controlled, the flight plan after being adjusted；It is described
Flight parameter includes heading, flying speed and flying height；
Control plan acquiring unit, for indicating that the number of the first conflict individual is more than when second judging result
When 2, according to the first conflict individual, the second conflict individual and third conflict individual and the aircraft to be controlled
Between relative displacement vector, obtain to itself optimal control plan；The boat to be controlled is adjusted according to the control plan
When the flight parameter of pocket, the adjustment cost of the aircraft to be controlled is minimum；
Transmission unit, for the control plan to be transmitted to other aircrafts in the first conflict individual；
Opinion acquiring unit is replied, the reply opinion for obtaining other aircrafts in the first conflict individual is described
It includes receiving the control plan and refusing the control plan to reply opinion；
Flight plan adjustment unit is additionally operable to when the reply opinion of other aircrafts in the first conflict individual be to connect
When receiving the control plan, the flight parameter of the aircraft to be controlled is adjusted according to the control plan, after being adjusted
Flight plan；
Priority level acquiring unit, for including refusing when the reply opinion of other aircrafts in the first conflict individual
When the exhausted control plan, the priority scheduling that the aircraft to be controlled conflicts other aircrafts in individual with described first is obtained
Grade；Different priority levels corresponds to different concession amounts；
Plan for adjustment changes unit, for changing the control plan according to the concession amount of the priority level, obtains
Modified control plan；
Flight plan adjustment unit is additionally operable to adjust the aircraft to be controlled according to the modified control plan
Flight parameter, the flight plan after being adjusted.
Optionally, the flight plan adjustment module further includes
Other aircraft plan for adjustment acquiring units conflict individual for obtaining the aircraft to be controlled with described first
In other aircrafts priority level before, obtain it is described first conflict individual in other aircrafts control plan；According to it
When the control plan of his aircraft adjusts the flight parameter of the aircraft to be controlled, the adjustment cost of other aircrafts is minimum；
Third judging unit, for judging whether the control plan of other aircrafts meets the aircraft to be controlled
Flight restriction, obtain third judging result；
The flight plan adjustment unit is additionally operable to indicate the adjusting of other aircrafts when the third judging result
When plan meets the flight restriction of the aircraft to be controlled, the reply opinion for receiving the control plan is transmitted to other boats
Pocket, and the flight parameter of the aircraft to be controlled is adjusted according to the control plan of other aircrafts, after being adjusted
Flight plan；
The transmission unit is additionally operable to indicate that the control plan of other aircrafts is discontented when the third judging result
When the flight restriction of the foot aircraft to be controlled, by the reply opinion for refusing the control plan and the aircraft to be controlled
Flight restriction be transmitted to other aircrafts.
The present invention also provides a kind of flight Simulation System based on complicated low latitude, the analogue system includes：Simulation parameter/
Environment setup module, aircraft generation module, flight posture computing module, flight posture display module and the export of emulation data/
Read module；
The simulation parameter/environment setup module is used to adjust and be arranged the basic parameter of low-latitude flying emulation, including ring
Border information with free rule, takeoff separation, the minimum interval that conflicts, conflict probe distance, flight amount limit；It is additionally operable to setting low latitude
The Run-time scenario of flight simulation, including airport position, course line, way point, high mountain, thunderstorm, military training region；
The aircraft generation module is used to generate aircraft, flight according to existing or flight plan that is randomly generating library
Plan includes the departure time, original base, the corresponding flight line of airport of destination and multiple segments, flying height and flight speed
Degree, aircraft take off in respective original base, fly according to itself flight plan；
The flight posture computing module is used to be adjusted according to the environmental information at current time and the flight plan of aircraft
The flight attitude of aircraft；
The flight posture display module is used for real-time display flight posture information, including to aircraft, terrain information, day
The emulation of gas information, spatial domain, earth's surface, flight attitude information, trace information is shown, and is flown to flight posture index and history
The real-time display of data；
The emulation data export/read module in simulation process to real-time simulation data carry out backstage storage, and
Data are exported after emulation.
According to specific embodiment provided by the invention, the invention discloses following technique effects：
The flight control mode and analogue system of aircraft proposed by the present invention, in conjunction with weather, landform and other aircrafts
Information detection, realize the process of aircraft Conflict Detection.When a conflict exists, it according to the specifying information of conflict, is solved by conflicting
De- and conflict negotiation method, realizes the control to complicated low-latitude flying and simulation analysis.
Description of the drawings
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is that the present invention is based on the flow diagrams of the flight control method in complicated low latitude；
Fig. 2 is that the present invention is based on the flow diagrams of conflict negotiation in the flight control method in complicated low latitude；
Fig. 3 is that the present invention is based on the structural schematic diagrams of the flight control system in complicated low latitude；
Fig. 4 is that the present invention is based on the structural schematic diagrams of the flight Simulation System in complicated low latitude.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is that the present invention is based on the flow diagrams of the flight control method in complicated low latitude.As shown in Figure 1, the control
Method includes：
Step 100：Obtain the environmental information within the scope of given threshold around aircraft to be controlled.This step mainly perceives week
Environmental information is enclosed, includes the detection to Weather information, terrain information and other aircraft states information.The information of detection includes position
It sets, the parameters such as distance, influence degree.Specifically, environmental information includes information, Weather information and the landform letter of other aircrafts
Breath.Wherein, the information of other aircrafts includes the distance between the position of other aircrafts and described aircraft to be controlled；It
Gas information includes boisterous coverage (such as horizontal/vertical coverage etc. of Thunderstorm Weather) and influence degree (example
Such as haze visibility, thunderstorm intensity)；The terrain information includes the height and influence degree of terrain obstacle.
Step 200：Obtain the flight plan of aircraft to be controlled.The flight plan includes a series of segments and corresponding
Flight line, flying height and flying speed.The environmental information obtained based on step 100 detection can carry out pipe to flight plan
Reason, that is, adjust the flight intent of aircraft, and one of the reference conditions that flight intent is freed as conflict probe contain aircraft
The parameters such as destination, target flight height, target flight speed.
Step 300：Judge that environmental information whether there is with the flight plan of aircraft to be controlled to conflict.If so, executing
Step 500；If not, executing step 400.Judge conflicting between other aircrafts to be the relative displacement according to two aircrafts
It judges whether to conflict with relative velocity, criterion is flown with current flight state (speed, course, height), two boats
(cylinder centered on aircraft, radius are minimum level interval, and height is twice of minimum vertical for the protection zone of pocket
Interval) whether it would be expected that overlapping.The criterion that conflicts between Weather information and barrier is：Boisterous coverage
Height and influence degree with terrain obstacle are with aircraft hair protection zone can be no estimated Chong Die.
Step 400：Aircraft to be controlled flies according to flight plan.In the case of Lothrus apterus, flight plan adjustment is to navigate
Pocket is after next segment starting point in reaching flight plan, according to flight plan adjust automatically its flying height, flight speed
Degree and next target flight point.
Step 500：Obtain the conflicting information of environmental information and flight plan.When a conflict exists, it needs to be believed according to conflict
Breath determines whether to carry out conflict negotiation with other aircrafts, to complete the process of conflict Resolution.This step is it needs to be determined that work as preshoot
With the presence or absence of the conflict number of individuals and other ginsengs for including in non-aircraft individual (such as thunderstorm, landform object hinder), current conflict in prominent
Number.Specifically, including three aspects：
Obtain the first conflict for existing with the flight plan of the aircraft to be controlled in the information of other aircrafts and conflicting
The information of individual, the first conflict individual is other aircrafts, and the information of the first conflict individual includes first punching
The distance between number, position and described aircraft to be controlled of prominent individual, flying speed, heading and flying height.
Obtain the letter that the flight plan in Weather information with the aircraft to be controlled has the second conflict individual to conflict
Breath, the second conflict individual are the region that bad weather occurs, and the information of the second conflict individual includes second punching
Number, position, coverage and the influence degree of prominent individual.
Obtain the letter that the flight plan in terrain information with the aircraft to be controlled has the third conflict individual to conflict
Breath, third conflict individual are barrier, the information of the third conflict individual include the individual number of the third conflict,
Position, height and influence degree.
Step 600：Flight plan is adjusted according to conflicting information, the flight plan after being adjusted.This step is
The process of conflict Resolution.Conflict Resolution includes two kinds of situations：For two machines and flight collision below, it is based on relative displacement vector
Calculate the adjustment parameter that conflict Resolution can be achieved；For flight collisions more than two machines, is calculated based on linear programming and punching can be achieved
The prominent adjustment parameter freed is held consultation if each aircraft frees scheduling conflicts.In the complicated flight punching for needing to hold consultation
Under prominent scene, multimachine negotiation rules are based on, the conflict Resolution between aircraft and between aircraft and control system is negotiated.Specifically
Include the following steps：
Judge whether the number of the first conflict individual is more than 2, obtains the second judging result；
When second judging result indicates that the number of the first conflict individual is not more than 2, rushed according to described first
Relative displacement between prominent individual, the second conflict individual and third conflict individual and the aircraft to be controlled is sweared
Amount adjusts the flight parameter of the aircraft to be controlled, the flight plan after being adjusted；The flight parameter includes flight side
To, flying speed and flying height；
When second judging result indicates that the number of the first conflict individual is more than 2, conflict according to described first
Relative displacement vector between individual, the second conflict individual and third conflict individual and the aircraft to be controlled,
It obtains to itself optimal control plan；When adjusting the flight parameter of the aircraft to be controlled according to the control plan, institute
The adjustment cost for stating aircraft to be controlled is minimum；
The control plan is transmitted to other aircrafts in the first conflict individual；
The reply opinion of other aircrafts in the first conflict individual is obtained, the reply opinion includes receiving the tune
Section plan and the refusal control plan；
When the reply opinion of other aircrafts in the first conflict individual is to receive the control plan, according to institute
State the flight parameter that control plan adjusts the aircraft to be controlled, the flight plan after being adjusted；
When the reply opinion of other aircrafts in the first conflict individual includes refusing the control plan, obtain
The priority level that the aircraft to be controlled conflicts other aircrafts in individual with described first；Different priority levels corresponds to not
Same concession amount；
The control plan is changed according to the concession amount of the priority level, obtains modified control plan；
The flight parameter that the aircraft to be controlled is adjusted according to the modified control plan flies after being adjusted
Row plan.
In the priority level for obtaining the aircraft to be controlled and conflicting other aircrafts in individual with described first, before and also
Including：
Obtain the control plan of other aircrafts in the first conflict individual；According to the control plan tune of other aircrafts
When saving the flight parameter of the aircraft to be controlled, the adjustment cost of other aircrafts is minimum；
Judge whether the control plan of other aircrafts meets the flight restriction of the aircraft to be controlled, obtains the
Three judging results；
When the third judging result indicates that the control plan of other aircrafts meets the aircraft to be controlled
When flight restriction, the reply opinion for receiving the control plan is transmitted to other aircrafts, and according to other described aircrafts
Control plan adjust the flight parameter of the aircraft to be controlled, the flight plan after being adjusted；
When the third judging result indicates that the control plan of other aircrafts is unsatisfactory for the aircraft to be controlled
Flight restriction when, the flight restriction of the reply opinion for refusing the control plan and the aircraft to be controlled is transmitted to it
His aircraft.
Step 700：Aircraft to be controlled flies according to the flight plan after adjustment.After conflict Resolution, aviation to be controlled
Device continues to fly according to the flight plan after adjustment, will not exist with the individual in environmental information and conflict.
Fig. 2 is that the present invention is based on the flow diagrams of conflict negotiation in the flight control method in complicated low latitude.Such as Fig. 2 institutes
Show, when there are the conflict situations of three frame aircrafts or more, needs to carry out conflict negotiation.Fly in the complexity for needing to hold consultation
Under row conflict scene, multimachine negotiation rules are based on, for the conflict Resolution association between aircraft and between aircraft and control system
Quotient, the information such as conflict Resolution information and flight intent send and receive, as shown in Fig. 2, for aircraft individual, calculate first
To itself it is optimal free scheme, this scheme and itself flight restriction are then sent to other aircrafts as negotiation information,
If other aircrafts receive this scheme, conflict Resolution is carried out according to this scheme；Conflict if this scheme exists with other schemes,
Then consider to conflict the limitation of object aircraft, and carries out on freeing cost certain concession and calculate new to free scheme.
When calculating conflict Resolution scheme using linear programming, it refers to certain aircraft in multimachine conflict that minimum, which frees cost,
Assuming that other aircrafts are adjusted without any state, and scheme is corresponding to be freed cost (boat is adjusted in speed governing for freeing of being calculated
To the sum of, adjusting height cost weight addition)；Calculate it is new free scheme refer to each conflict aircraft cost is freed with minimum can not
When realizing conflict Resolution, then give way on the basis of minimum cost (up-regulation acceptable cost), recalculates and free scheme；Concession volume
Priority of the degree depending on aircraft, the concession amount of such as four class priority aircrafts is respectively 8%, 6%, 4%, 2%.
If it is restricted that new departure can meet current institute, new departure is sent to other aircrafts；Aircraft can connect simultaneously
The scheme of other aircrafts transmission is received, if the scheme that assessment receives is unsatisfactory for the machine flight restriction, the machine is flown and is limited
System and refusal information postback.Aircraft calculate first to itself it is optimal free scheme, obtain a minimum and free cost,
In negotiations process, a degree of concession can be carried out on the basis of this frees cost.The amount of concession depends on aircraft
Priority level.The higher aircraft of priority possesses smaller concession amount.In two machine conflicts, the aircraft of more low priority
The aircraft of preferential evacuation higher priority, in multimachine conflict, the aircraft of more low priority has the concession amount of bigger.
Fig. 3 is that the present invention is based on the structural schematic diagrams of the flight control system in complicated low latitude.As shown in figure 3, the system
Including：
Environment information acquisition module 301, for obtaining the environmental information around aircraft to be controlled within the scope of given threshold,
The environmental information includes information, Weather information and the terrain information of other aircrafts；The information of other aircrafts includes
The distance between the position of other aircrafts and the aircraft to be controlled；The Weather information includes boisterous influence
Range and influence degree；The terrain information includes the height and influence degree of terrain obstacle；
Flight plan acquisition module 302, the flight plan for obtaining the aircraft to be controlled, the flight plan packet
Include the corresponding flight line in multiple segments, flying height and flying speed；
First judgment module 303, for judge the environmental information and the aircraft to be controlled flight plan whether
There are conflicts, obtain the first judging result；When first judging result indicates the environmental information and the aviation to be controlled
There is no when conflict, the aircraft to be controlled flies the flight plan of device according to the flight plan；
Conflicting information acquisition module 304, for when first judging result indicate the environmental information with it is described to be controlled
When the flight plan of aircraft processed has conflict, the conflicting information of the environmental information and the flight plan is obtained；
Flight plan adjustment module 305 is adjusted for being adjusted to the flight plan according to the conflicting information
Flight plan after whole, the aircraft to be controlled fly according to the flight plan after the adjustment.
Fig. 4 is that the present invention is based on the structural schematic diagrams of the flight Simulation System in complicated low latitude.As shown in figure 4, the emulation
System includes：It is aobvious including simulation parameter/environment setup module, aircraft generation module, flight posture computing module, flight posture
Show module and emulation data export/read module.Wherein：
The simulation parameter/environment setup module is used to adjust and be arranged the basic parameter of low-latitude flying emulation, including punching
It is prominent to detect and free rule, takeoff separation, the minimum interval that conflicts, conflict probe distance, the limitation of flight amount etc., low-latitude flying is set
Run-time scenario of emulation, including airport position, course line, way point, high mountain, thunderstorm, military training region etc.；
The aircraft generation module generates aircraft, flight plan according to existing or flight plan that is randomly generating library
Including the departure time, original base, airport of destination, way point cross point height, the information such as spot speed are crossed, aircraft is respective
Original base takes off, and flies according to itself flight plan；
The flight posture computing module is according to status information (position, height, the speed of aircraft in current time spatial domain
Degree, course) calculate subsequent time aircraft state, according to aircraft intelligent body internal logic frame carry out aircraft Conflict Detection
With free, according to the state of flight for freeing result and adjusting aircraft, while being calculated according to history and current flight data corresponding
Flight posture index, including flight amount, all kinds of type accountings, number of collisions, average speed, approaching rate etc..
The flight posture display module real-time display flight posture information, including to all purpose aircraft, landform object barrier, day
The emulation of gas, spatial domain, earth's surface, state of flight information, trace information shows, and to flight posture index and history flying quality
Real-time display.
The emulation data export/read module carries out backstage storage in simulation process to real-time simulation data, and can
Data are exported after emulation, can be used for further handling and analyzing, while can also read again derived data,
Carry out flight posture reproduction.
When carrying out flight simulation, mainly include the following steps：
Mainly include the following steps：
Step 1, flying scene initializes, Initialize installation flight simulation scene, including airport position and type, course line are risen
Initial point, way point position, airspace segment, landform object barrier etc..
Step 2, flight plan initializes, and imports existing flight plan or regenerates new flight plan, including is each
Aircraft type, landing airport, the departure time, flight route point, crosses point height and speed etc. at aerial mission.
Step 3, aircraft states refresh, and aircraft flies according to flight plan in each field takeoff and along flight route point
Row, and flight status parameter is updated according to the flying speed of itself, course and flight attitude.
Step 4, conflict probe with free, first detect conflict probe in the presence or absence of have potential conflict other navigate
Pocket or barrier, then carry out conflict Resolution calculating, and aircraft implements conflict avoiding behavior according to conflict Resolution result of calculation.
Step 5, it reaches aircraft processing and is updated to next flight after aircraft reaches Current Flight Plan path point
Lu Jingdian simultaneously adjusts state of flight；After aircraft arrives at airport, removed from emulation data.
Step 6, flight posture emulation display, to flight simulation scene (airport, landform, spatial domain, weather environment), aircraft
(position, status information, flight path), flight posture index, flight simulation data carry out Dynamic Announce.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related place is said referring to method part
It is bright.
Principle and implementation of the present invention are described for specific case used herein, and above example is said
The bright method and its core concept for being merely used to help understand the present invention；Meanwhile for those of ordinary skill in the art, foundation
The thought of the present invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of flight control method based on complicated low latitude, which is characterized in that the method includes：
The environmental information within the scope of given threshold around aircraft to be controlled is obtained, the environmental information includes other aircrafts
Information, Weather information and terrain information；The information of other aircrafts include other aircrafts position, with it is described to be controlled
The distance between aircraft；The Weather information includes boisterous coverage and influence degree；The terrain information packet
Include the height and influence degree of terrain obstacle；
The flight plan of the aircraft to be controlled is obtained, the flight plan includes the corresponding flight line in multiple segments, flies
Row height and flying speed；
Judge that the environmental information, with the presence or absence of conflicting, obtains the first judgement knot with the flight plan of the aircraft to be controlled
Fruit；
When first judging result indicates the environmental information, there is no conflict with the flight plan of the aircraft to be controlled
When, the aircraft to be controlled flies according to the flight plan；
When first judging result indicates the environmental information with the flight plan of the aircraft to be controlled in the presence of conflicting,
Obtain the conflicting information of the environmental information and the flight plan；
The flight plan is adjusted according to the conflicting information, the flight plan after being adjusted, the boat to be controlled
Pocket flies according to the flight plan after the adjustment.
2. according to the method described in claim 1, it is characterized in that, described judge the environmental information and the aviation to be controlled
The flight plan of device is specifically included with the presence or absence of conflict：
Judge when the aircraft to be controlled is according to current flight plan flight, the protection zone of the aircraft to be controlled with
Whether the protection zone of other aircrafts can be overlapped；The protection zone is the cylindrical region centered on aircraft, the cylinder
The radius of body region is the minimum level spacing distance of aircraft safe flight, and the height of the cylindrical region is pacified for aircraft
Two times of distances at the minimum vertical interval flown entirely；
When the protection zone of the aircraft to be controlled will not be overlapped with the protection zone of other aircrafts, other aircrafts
There is no conflict information with the flight plan of the aircraft to be controlled；When the protection zone of the aircraft to be controlled and other boats
When the protection zone of pocket can be overlapped, the flight plan of the information of other aircrafts and the aircraft to be controlled, which exists, rushes
It is prominent；
Judge when the aircraft to be controlled is according to current flight plan flight, the protection zone of the aircraft to be controlled with
Whether the boisterous coverage can be overlapped；
When the protection zone of the aircraft to be controlled will not be overlapped with the boisterous coverage, the Weather information
There is no conflict with the flight plan of the aircraft to be controlled；When the protection zone of the aircraft to be controlled and the severe day
When the coverage of gas can be overlapped, the Weather information exists with the flight plan of the aircraft to be controlled to conflict；
Judge when the aircraft to be controlled is according to current flight plan flight, the protection zone of the aircraft to be controlled with
Whether the height and influence degree of the terrain information can be overlapped；
When the protection zone of the aircraft to be controlled will not be overlapped with the height of the terrain information and influence degree, describedly
There is no conflict shape information with the flight plan of the aircraft to be controlled；When the protection zone of the aircraft to be controlled with it is described
When the height and influence degree of terrain information can be overlapped, the flight plan of the terrain information and the aircraft to be controlled exists
Conflict.
3. according to the method described in claim 1, it is characterized in that, described obtain the environmental information and the flight plan
Conflicting information specifically includes：
Obtain the first conflict for existing with the flight plan of the aircraft to be controlled in the information of other aircrafts and conflicting
The information of individual, the first conflict individual is other aircrafts, and the information of the first conflict individual includes first punching
The distance between number, position and described aircraft to be controlled of prominent individual, flying speed, heading and flying height；
Obtain the letter that there is the second conflict individual to conflict in the Weather information with the flight plan of the aircraft to be controlled
Breath, the second conflict individual are the region that bad weather occurs, and the information of the second conflict individual includes second punching
Number, position, coverage and the influence degree of prominent individual；
Obtain the letter that there is the third conflict individual to conflict in the terrain information with the flight plan of the aircraft to be controlled
Breath, third conflict individual are barrier, the information of the third conflict individual include the individual number of the third conflict,
Position, height and influence degree.
4. according to the method described in claim 3, it is characterized in that, it is described according to the conflicting information to the flight plan into
Row adjustment, the flight plan after being adjusted specifically include：
Judge whether the number of the first conflict individual is more than 2, obtains the second judging result；
When second judging result indicates that the number of the first conflict individual is not more than 2, according to first conflict
Relative displacement vector between body, the second conflict individual and third conflict individual and the aircraft to be controlled, is adjusted
Save the flight parameter of the aircraft to be controlled, the flight plan after being adjusted；The flight parameter includes heading, flies
Scanning frequency degree and flying height；
When second judging result indicates that the number of the first conflict individual is more than 2, individual according to first conflict,
Relative displacement vector between the second conflict individual and third conflict individual and the aircraft to be controlled, obtains pair
Itself optimal control plan；It is described to be controlled when adjusting the flight parameter of the aircraft to be controlled according to the control plan
The adjustment cost of aircraft processed is minimum；
The control plan is transmitted to other aircrafts in the first conflict individual；
The reply opinion of other aircrafts in the first conflict individual is obtained, the reply opinion includes receiving the adjusting meter
It draws and refuses the control plan；
When the reply opinion of other aircrafts in the first conflict individual is to receive the control plan, according to the tune
Save the flight parameter of aircraft to be controlled described in planned regulation, the flight plan after being adjusted；
When the reply opinion of other aircrafts in the first conflict individual includes refusing the control plan, described in acquisition
The priority level that aircraft to be controlled conflicts other aircrafts in individual with described first；Different priority levels corresponds to different
Concession amount；
The control plan is changed according to the concession amount of the priority level, obtains modified control plan；
The flight parameter that the aircraft to be controlled is adjusted according to the modified control plan, the flight meter after being adjusted
It draws.
5. according to the method described in claim 4, it is characterized in that, described obtain the aircraft to be controlled and first punching
The priority level of other aircrafts in prominent individual further includes before：
Obtain the control plan of other aircrafts in the first conflict individual；Institute is adjusted according to the control plan of other aircrafts
When stating the flight parameter of aircraft to be controlled, the adjustment cost of other aircrafts is minimum；
Judge whether the control plan of other aircrafts meets the flight restriction of the aircraft to be controlled, obtains third and sentence
Disconnected result；
When the third judging result indicates that the control plan of other aircrafts meets the flight of the aircraft to be controlled
When limitation, the reply opinion for receiving the control plan is transmitted to other aircrafts, and according to the tune of other aircrafts
Save the flight parameter of aircraft to be controlled described in planned regulation, the flight plan after being adjusted；
When the third judging result indicates that the control plan of other aircrafts is unsatisfactory for flying for the aircraft to be controlled
When row limitation, the flight restriction of the reply opinion for refusing the control plan and the aircraft to be controlled is transmitted to other boats
Pocket.
6. a kind of flight control system based on complicated low latitude, which is characterized in that the system comprises：
Environment information acquisition module, for obtaining the environmental information around aircraft to be controlled within the scope of given threshold, the ring
Border information includes information, Weather information and the terrain information of other aircrafts；The information of other aircrafts includes other boats
The distance between the position of pocket and the aircraft to be controlled；The Weather information include boisterous coverage and
Influence degree；The terrain information includes the height and influence degree of terrain obstacle；
Flight plan acquisition module, the flight plan for obtaining the aircraft to be controlled, the flight plan includes multiple
The corresponding flight line in segment, flying height and flying speed；
First judgment module, the flight plan for judging the environmental information with the aircraft to be controlled is with the presence or absence of punching
It is prominent, obtain the first judging result；When first judging result indicates flying for the environmental information and the aircraft to be controlled
There is no when conflict, the aircraft to be controlled flies according to the flight plan for row plan；
Conflicting information acquisition module, for indicating the environmental information and the aircraft to be controlled when first judging result
Flight plan exist conflict when, obtain the conflicting information of the environmental information and the flight plan；
Flight plan adjusts module, for being adjusted to the flight plan according to the conflicting information, after being adjusted
Flight plan, the aircraft to be controlled fly according to the flight plan after the adjustment.
7. system according to claim 6, which is characterized in that the conflicting information acquisition module specifically includes：
First conflict individual information acquiring unit, in the information for obtaining other aircrafts with the aircraft to be controlled
Flight plan exist conflict first conflict individual information, it is described first conflict individual be other aircrafts, described first
The information of conflict individual includes the distance between number, position and described aircraft to be controlled of the first conflict individual, flies
Scanning frequency degree, heading and flying height；
Second conflict individual information acquiring unit, by obtain in the Weather information with based on the flight of the aircraft to be controlled
Draw exist conflict second conflict individual information, it is described second conflict individual be bad weather occur region, described second
The information of conflict individual includes number, position, coverage and the influence degree of the second conflict individual；
Third conflict individual information acquiring unit, by obtain in the terrain information with based on the flight of the aircraft to be controlled
The information for the third conflict individual that there is conflict is drawn, the third conflict individual is barrier, the letter of the third conflict individual
Breath includes number, position, height and the influence degree of the third conflict individual.
8. system according to claim 7, which is characterized in that the flight plan adjustment module specifically includes：
Second judgment unit obtains the second judging result for judging whether the number of the first conflict individual is more than 2；
Flight plan adjustment unit, for indicating that the number of the first conflict individual is not more than 2 when second judging result
When, according to the first conflict individual, the second conflict individual and third conflict individual and the aircraft to be controlled
Between relative displacement vector, adjust the flight parameter of the aircraft to be controlled, the flight plan after being adjusted；It is described to fly
Row parameter includes heading, flying speed and flying height；
Control plan acquiring unit, when for indicating the number of the first conflict individual when second judging result more than 2,
According between the first conflict individual, the second conflict individual and third conflict individual and the aircraft to be controlled
Relative displacement vector, obtain to itself optimal control plan；The aircraft to be controlled is adjusted according to the control plan
Flight parameter when, the adjustment cost of the aircraft to be controlled is minimum；
Transmission unit, for the control plan to be transmitted to other aircrafts in the first conflict individual；
Opinion acquiring unit is replied, the reply opinion for obtaining other aircrafts in the first conflict individual, the reply
Opinion includes receiving the control plan and refusing the control plan；
Flight plan adjustment unit is additionally operable to when the reply opinion of other aircrafts in the first conflict individual be to receive institute
When stating control plan, the flight parameter of the aircraft to be controlled, the flight after being adjusted are adjusted according to the control plan
Plan；
Priority level acquiring unit, for including refusal institute when the reply opinion of other aircrafts in the first conflict individual
When stating control plan, the priority level that the aircraft to be controlled conflicts other aircrafts in individual with described first is obtained；No
Same priority level corresponds to different concession amounts；
Plan for adjustment changes unit, for changing the control plan according to the concession amount of the priority level, is changed
Control plan afterwards；
Flight plan adjustment unit is additionally operable to adjust the flight of the aircraft to be controlled according to the modified control plan
Parameter, the flight plan after being adjusted.
9. system according to claim 8, which is characterized in that the flight plan adjusts module and further includes
Other aircraft plan for adjustment acquiring units conflict its in individual for obtaining the aircraft to be controlled with described first
Before the priority level of his aircraft, the control plan of other aircrafts in the first conflict individual is obtained；According to other boats
When the control plan of pocket adjusts the flight parameter of the aircraft to be controlled, the adjustment cost of other aircrafts is minimum；
Third judging unit, for judging whether the control plan of other aircrafts meets flying for the aircraft to be controlled
Row limitation, obtains third judging result；
The flight plan adjustment unit is additionally operable to indicate the control plan of other aircrafts when the third judging result
When meeting the flight restriction of the aircraft to be controlled, the reply opinion for receiving the control plan is transmitted to other aviations
Device, and the flight parameter of the aircraft to be controlled is adjusted according to the control plan of other aircrafts, after being adjusted
Flight plan；
The transmission unit is additionally operable to indicate that the control plan of other aircrafts is unsatisfactory for institute when the third judging result
When stating the flight restriction of aircraft to be controlled, by refuse the control plan reply opinion and the aircraft to be controlled fly
Row limitation is transmitted to other aircrafts.
10. a kind of flight Simulation System based on complicated low latitude, which is characterized in that the analogue system includes：Simulation parameter/ring
Border setup module, aircraft generation module, flight posture computing module, flight posture display module and emulation data export/reading
Modulus block；
The simulation parameter/environment setup module is used to adjust and be arranged the basic parameter of low-latitude flying emulation, including environment letter
It ceases and frees rule, takeoff separation, the minimum interval that conflicts, conflict probe distance, the limitation of flight amount；It is additionally operable to setting low-latitude flying
The Run-time scenario of emulation, including airport position, course line, way point, high mountain, thunderstorm, military training region；
The aircraft generation module is used to generate aircraft, flight plan according to existing or flight plan that is randomly generating library
Including the departure time, original base, the corresponding flight line of airport of destination and multiple segments, flying height and flying speed,
Aircraft takes off in respective original base, flies according to itself flight plan；
The flight posture computing module is used to adjust aviation according to the environmental information at current time and the flight plan of aircraft
The flight attitude of device；
The flight posture display module is used for real-time display flight posture information, including believes aircraft, terrain information, weather
The emulation of breath, spatial domain, earth's surface, flight attitude information, trace information shows, and to flight posture index and history flying quality
Real-time display；
The emulation data export/read module carries out backstage storage in simulation process to real-time simulation data, and is emulating
After data are exported.
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| CN109739255A (en) * | 2018-11-29 | 2019-05-10 | 北京航空航天大学 | The ship trajectory planing method of unmanned plane, apparatus and system |
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| CN110320933A (en) * | 2019-07-29 | 2019-10-11 | 南京航空航天大学 | Unmanned plane avoidance motion planning method under a kind of cruise task |
| CN111402637A (en) * | 2020-01-13 | 2020-07-10 | 南京航空航天大学 | Conflict-free track planning method, device and system based on reachable time-space domain |
| CN111402637B (en) * | 2020-01-13 | 2021-11-23 | 南京航空航天大学 | Conflict-free track planning method, device and system based on reachable time-space domain |
| CN111899376A (en) * | 2020-07-06 | 2020-11-06 | 上海桥枫航空科技有限公司 | Fire balloon flight monitoring system |
| CN112434855A (en) * | 2020-11-25 | 2021-03-02 | 浩亚信息科技有限公司 | UTM-based flight plan planning method |
| CN112598935A (en) * | 2020-12-08 | 2021-04-02 | 中国民用航空飞行学院 | Air traffic conflict early warning management system |
| CN112598935B (en) * | 2020-12-08 | 2021-06-22 | 中国民用航空飞行学院 | Air traffic conflict early warning management system |
| CN113485103A (en) * | 2021-06-29 | 2021-10-08 | 四川大学 | Aircraft conflict resolution method based on deep reinforcement learning |
| CN114355978A (en) * | 2022-01-06 | 2022-04-15 | 北京大唐永盛科技发展有限公司 | Unmanned aerial vehicle low-altitude flight management method |
| CN114743408A (en) * | 2022-04-18 | 2022-07-12 | 北京大唐永盛科技发展有限公司 | Low-altitude flight management system based on meshing |
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