CN109191919B - Four-dimensional track speed adjusting method and device based on required arrival time limit - Google Patents

Four-dimensional track speed adjusting method and device based on required arrival time limit Download PDF

Info

Publication number
CN109191919B
CN109191919B CN201810860310.9A CN201810860310A CN109191919B CN 109191919 B CN109191919 B CN 109191919B CN 201810860310 A CN201810860310 A CN 201810860310A CN 109191919 B CN109191919 B CN 109191919B
Authority
CN
China
Prior art keywords
arrival time
required arrival
waypoint
limit
wpt
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201810860310.9A
Other languages
Chinese (zh)
Other versions
CN109191919A (en
Inventor
拓朴筠
李清
程农
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tsinghua University
Original Assignee
Tsinghua University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tsinghua University filed Critical Tsinghua University
Priority to CN201810860310.9A priority Critical patent/CN109191919B/en
Publication of CN109191919A publication Critical patent/CN109191919A/en
Application granted granted Critical
Publication of CN109191919B publication Critical patent/CN109191919B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/40—Business processes related to the transportation industry
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Human Resources & Organizations (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Economics (AREA)
  • Strategic Management (AREA)
  • Remote Sensing (AREA)
  • Tourism & Hospitality (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Marketing (AREA)
  • Theoretical Computer Science (AREA)
  • General Business, Economics & Management (AREA)
  • Quality & Reliability (AREA)
  • Game Theory and Decision Science (AREA)
  • Operations Research (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Development Economics (AREA)
  • Automation & Control Theory (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Primary Health Care (AREA)
  • Traffic Control Systems (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

The invention discloses a four-dimensional track speed adjusting method and device based on required arrival time limit, wherein the method comprises the following steps: s1: constructing an initial four-dimensional track; s2: sequentially reading a required arrival time RTA flight plan waypoint WPTi(ii) a S3: judging whether the estimated arrival time ETA meets the error limit of the RTA or not; s4: if the error limit is not satisfied, then a WPT is calculatediTo obtain a speed adjustment parameter SAP; s5: WPT with RTA restriction according to SAPi‑1Adjusting the speed limit value on the vertical section for the starting point, and performing trajectory prediction again, returning to S3; s6: if the error limit is met, the WPT is judgediIf it is the last waypoint and if so ends, otherwise i +1 and returns to S2. The method can enable the track to meet the requirement of the required arrival time of each waypoint.

Description

Four-dimensional track speed adjusting method and device based on required arrival time limit
Technical Field
The invention relates to the technical field of air traffic management and flight management, in particular to a four-dimensional track speed adjusting method and device based on required arrival time limitation.
Background
With the increasing shortage of airspace and the gradual increase of air traffic flow, the track-based operation becomes the development direction of the next generation of air traffic management. It requires an advanced flight management system to be able to predict the four-dimensional trajectory of the aircraft according to the flight plan given by the air traffic control, requiring the aircraft to fly along the trajectory and reach a certain point at a certain time.
Therefore, under the condition that the air traffic control provides the required arrival time limit, the flight management system needs to optimize the speed profile of the four-dimensional track, so that the four-dimensional track can meet the requirement of the required arrival time of each flight planning waypoint.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, an object of the present invention is to provide a four-dimensional trajectory speed adjustment method based on the required arrival time limit, which effectively processes the multiple required arrival time limit to make the trajectory meet the required arrival time of each waypoint.
It is another object of the present invention to provide a four-dimensional trajectory speed adjustment device based on a required arrival time limit.
In order to achieve the above object, an embodiment of an aspect of the present invention provides a four-dimensional trajectory speed adjusting method based on a required arrival time limit, including the following steps: step S1: according to a horizontal flight plan given by an empty pipe, under the condition that the required arrival time limit is not considered, constructing an initial four-dimensional track by using an initial vertical section; step S2: reading in sequence a flight plan waypoint WPT with a required arrival time limit from a takeoff airporti(ii) a Step S3: judging the flight plan waypoint WPT according to the predicted trackiWhether the estimated time of arrival ETA of (a) meets the error limit of the required time of arrival RTA; step S4: calculating the flight plan waypoint WPT if the error limit is not satisfiediTo obtain a speed adjustment parameter SAP; step S5: adjusting a routing point WPT with a required arrival time limit according to one or more than one SAPi-1Adjusting the speed limit value on the vertical section for the starting point, and performing trajectory prediction again, and returning to the step S3; step S6: if the error limit is met, the flight plan waypoint WPT is judgediWhether it is the last waypoint and if it is the last waypoint, it is ended, otherwise i +1 is ended, and the process returns to the step S2.
According to the four-dimensional track speed adjusting method based on the required arrival time limit, the speed adjusting parameters are introduced through a numerical calculation method, and the speed profile of the airplane is adjusted by combining the flight plan given by the air traffic control and the four-dimensional track predicted by the flight control, so that the multiple-point required arrival time limit is effectively processed, and the track can meet the requirement of the required arrival time of each route point.
In addition, the four-dimensional trajectory speed adjustment method based on the required arrival time limit according to the above embodiment of the present invention may further have the following additional technical features:
further, in one embodiment of the present invention, the required arrival time error of the waypoints in the cruise zone is within 10s and the required arrival time error of the waypoints in the terminal zone is within 6 s.
Further, in an embodiment of the present invention, the step S4 further includes: introducing said speed adjustment parameter SAP for calculating a flight plan waypoint WPT limited by a required arrival time from said previous stripi-1Each predicted trajectory point from the beginning is the target groundspeed.
Further, in one embodiment of the present invention, the expected first and second derivatives of time of arrival are:
Figure BDA0001749471850000021
Figure BDA0001749471850000022
wherein S isjFor two predictions of the horizontal distance, V, between trace pointsG,jAnd target ground speed is calculated for each predicted track point.
Further, in an embodiment of the present invention, the solution of the speed adjustment parameter SAP is:
Figure BDA0001749471850000023
wherein, ETAiTo predict time of arrival, RTAiIs the desired arrival time.
In order to achieve the above object, another embodiment of the present invention provides a four-dimensional trajectory speed adjusting device based on a required arrival time limit, including: the construction module is used for constructing an initial four-dimensional track by using the initial vertical section under the condition of not considering the required arrival time limit according to a horizontal flight plan given by the empty pipe; a reading module for reading a flight plan waypoint WPT with a required arrival time limit in sequence from a takeoff airporti(ii) a First judgmentA disconnection module used for judging the flight plan waypoint WPT according to the predicted trackiWhether the estimated time of arrival ETA of (a) meets the error limit of the required time of arrival RTA; a calculation module for calculating the flight plan waypoint WPT when the error limit is not satisfiediTo obtain a speed adjustment parameter SAP; an adjusting module for adjusting the speed of the SAP to be used for adjusting the required arrival time limit of the waypoint WPTi-1Adjusting a speed limit value on the vertical section for the starting point, predicting the track again, and returning to the first judgment module; a second judging module, configured to judge the flight plan waypoint WPT when the error limit is satisfiediAnd if the route point is the last route point, ending the process, otherwise, returning the process to the reading module by i + 1.
According to the four-dimensional track speed adjusting device based on the required arrival time limit, the speed adjusting parameters are introduced through a numerical calculation method, and the speed profile of the airplane is adjusted by combining the flight plan given by the air traffic control and the four-dimensional track predicted by the flight control, so that the multiple-point required arrival time limit is effectively processed, and the track can meet the requirement of the required arrival time of each route point.
In addition, the four-dimensional trajectory speed adjusting device based on the required arrival time limit according to the above embodiment of the present invention may further have the following additional technical features:
further, in one embodiment of the present invention, the required arrival time error of the waypoints in the cruise zone is within 10s and the required arrival time error of the waypoints in the terminal zone is within 6 s.
Further, in an embodiment of the invention, the calculation module is further adapted to introduce the speed adjustment parameter SAP for calculating a flight plan waypoint WPT from the last band required arrival time limiti-1Each predicted trajectory point from the beginning is the target groundspeed.
Further, in one embodiment of the present invention, the expected first and second derivatives of time of arrival are:
Figure BDA0001749471850000031
Figure BDA0001749471850000032
wherein S isjFor two predictions of the horizontal distance, V, between trace pointsG,jAnd target ground speed is calculated for each predicted track point.
Further, in an embodiment of the present invention, the solution of the speed adjustment parameter SAP is:
Figure BDA0001749471850000033
wherein, ETAiTo predict time of arrival, RTAiIs the desired arrival time.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow diagram of a four-dimensional trajectory speed adjustment method based on a desired arrival time limit, according to one embodiment of the present invention;
FIG. 2 is a flow diagram of a four-dimensional trajectory speed adjustment method based on a desired arrival time limit in accordance with an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a four-dimensional trajectory speed adjusting device based on a required arrival time limit according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a four-dimensional trajectory speed adjustment method and device based on a required arrival time limit according to an embodiment of the present invention with reference to the drawings, and first, a four-dimensional trajectory speed adjustment method based on a required arrival time limit according to an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a flow chart of a four-dimensional trajectory speed adjustment method based on a required arrival time limit according to an embodiment of the present invention.
As shown in fig. 1, the four-dimensional trajectory speed adjusting method based on the required arrival time limit includes the following steps:
step S1: from the horizontal flight plan given by the empty pipe, an initial four-dimensional trajectory is constructed using the initial vertical profile, without considering the required arrival time limit.
It will be appreciated that, as shown in FIG. 2, first, an embodiment of the present invention obtains an initial predicted trajectory. The horizontal flight plan, vertical section and four-dimensional trajectory are explained in detail below.
(1) And (3) horizontal flight planning: the horizontal flight plan is given by air traffic control, and is composed of flight sections and route points defined in a navigation database, wherein the flight sections comprise 23 types of sections of a terminal area program and a connecting line between the two route points of a route area. Each flight segment information in the horizontal flight plan includes the start point, the end point, the coordinates of the turning center point, the turning direction and the like of the segment.
(2) Vertical flight plan/vertical profile: the vertical flight plan combines aircraft performance and air traffic requirements into a velocity/altitude schedule composed of a series of points, including speed altitude limits for the points, control modes, and the like.
(3) Four-dimensional trajectory: and according to the predicted track obtained by integrating the horizontal flight plan and the vertical flight plan, the information of each point of the track comprises high-dimensional information such as the position, the speed, the height, the fuel flow, the quality, the control mode, the arrival time and the like of the point, and the four-dimensional track can be projected into a smoothly connected track in the horizontal direction, so that the sections of the horizontal flight plan are in smooth transitional connection. Because the integral step length is very small, one horizontal flight planning segment can be composed of a plurality of predicted track points, the number of the predicted four-dimensional track points is far greater than that of the flight planning points, and the calculated track precision is high.
Step S2: reading in sequence a flight plan waypoint WPT with a required arrival time limit from a takeoff airporti。
Step S3: judging flight plan waypoint WPT according to predicted trackiWhether the estimated time of arrival ETA meets the error limit of the required time of arrival RTA.
In one embodiment of the invention, the required arrival time error of the cruise zone waypoint is within 10s and the required arrival time error of the terminal zone waypoint is within 6 s.
It can be understood that, according to the predicted trajectory, the embodiment of the present invention obtains the predicted arrival time of the waypoint, and determines whether the predicted arrival time ETA of the waypoint meets the error limit of the required arrival time RTA, where in general, the required arrival time error of the waypoint in the cruise area needs to be within 10s, and the required arrival time error of the waypoint in the terminal area needs to be within 6 s.
Step S4: calculating a flight plan waypoint WPT if the error limit is not satisfiediTo obtain the velocity adjustment parameter SAP, and its first and second derivatives.
In an embodiment of the present invention, step S4 further includes: introducing a speed adjustment parameter SAP to calculate a flight plan waypoint WPT from a previous band required arrival time limiti-1Each predicted trajectory point from the beginning is the target groundspeed.
Specifically, a speed adjustment parameter SAP is introduced, and a flight plan waypoint WPT limited by the required arrival time from the last strip is calculatedi-1Starting each predicted trajectory point target ground speed:
VG,j＝VG0,j×(1+SAP×gainj)
wherein, VG0,jIn order to predict the initial ground speed of the track point, gain can take different values according to the flight phase and the speed unit, and the speed can be taken from climbing correction airspeed, climbing Mach number, cruising Mach number, descending correction airspeed and the like.
The estimated arrival time of the flight plan waypoint is obtained as:
Figure BDA0001749471850000051
wherein S isjThe horizontal distance between two predicted trace points is determined.
Further, in one embodiment of the present invention, the expected first and second derivatives of time of arrival are:
Figure BDA0001749471850000052
Figure BDA0001749471850000053
wherein S isjFor two predictions of the horizontal distance, V, between trace pointsG,jAnd target ground speed is calculated for each predicted track point.
In one embodiment of the present invention, the solution for the speed adjustment parameter SAP is:
Figure BDA0001749471850000054
wherein, ETAiTo predict time of arrival, RTAiIs the desired arrival time.
Specifically, the expected time of arrival first and second derivatives are:
Figure BDA0001749471850000061
Figure BDA0001749471850000062
solving the required SAP value according to the Taylor expansion of the SAP by the ETA, wherein the SAP solution formula is as follows:
Figure BDA0001749471850000063
the solution of the SAP is a linear binary equation, and a situation without solution may occur, and the reason for this situation may be that the distance of the flight is too small to adjust to the required speed, and an alarm prompt should be given at this time.
Step S5: adjusting the WPT of the waypoint with the required arrival time limit according to more than one SAPi-1The velocity limit value on the vertical section is adjusted for the starting point and the trajectory prediction is repeated, returning to step S3.
Step S6: if the error limit is met, judging the flight plan waypoint WPTiWhether it is the last waypoint and if it is the last waypoint, it is ended, otherwise i +1 is ended, and the process returns to step S2.
According to the steps, the speed adjustment of the full track can be completed.
In summary, the embodiment of the invention is characterized in that the flight plan and the predicted track are combined, the speed adjusting parameter is calculated according to the predicted track under the condition that the arrival time limit of the flight plan waypoint is limited, the arrival time limit of the waypoint is gradually approached by a numerical calculation method, and the track prediction is carried out for many times while the vertical speed profile is adjusted, so that the predicted four-dimensional track has higher precision.
According to the four-dimensional track speed adjusting method based on the required arrival time limit, provided by the embodiment of the invention, the speed adjusting parameter is introduced through a numerical calculation method, and the speed profile of the airplane is adjusted by combining the flight plan given by the air traffic control and the four-dimensional track predicted by the flight control, so that the multi-point required arrival time limit is effectively processed, and the track can meet the requirement of the required arrival time of each waypoint.
Next, a four-dimensional trajectory speed adjusting device based on a required arrival time limit proposed according to an embodiment of the present invention will be described with reference to the drawings.
FIG. 3 is a four-dimensional trajectory speed adjustment device based on a desired arrival time limit, in accordance with an embodiment of the present invention
As shown in fig. 3, the four-dimensional trajectory speed adjusting apparatus 10 based on the required arrival time limit includes: the device comprises a construction module 100, a reading module 200, a first judgment module 300, a calculation module 400, an adjustment module 500 and a second judgment module 600.
Wherein the construction module 100 is configured to construct an initial four-dimensional trajectory using the initial vertical profile, without considering the required arrival time limit, from a horizontal flight plan given by the empty pipe. The reading module 200 is used for sequentially reading a flight plan waypoint WPT with a required arrival time limit from a takeoff airporti. The first judging module 300 is used for judging a flight plan waypoint WPT according to the predicted trackiWhether the estimated time of arrival ETA meets the error limit of the required time of arrival RTA. The calculation module 400 is configured to calculate a flight plan waypoint WPT when the error limit is not satisfiediTo obtain the velocity adjustment parameter SAP, and its first and second derivatives. The adjustment module 500 is configured to adjust the speed parameter SAP for one or more waypoints WPT with a required arrival time limiti-1The velocity limit on the vertical section is adjusted for the starting point and the trajectory prediction is repeated and returned to the first decision block 300. The second determining module 600 is used for determining a flight plan waypoint WPT when the foot error is limitediIf the route point is the last route point, and if the route point is the last route point, the process is ended, otherwise, i +1 is carried out, and the process returns to the reading module 200. The device 10 of the embodiment of the invention can effectively process the limitation of the arrival time required by multiple points, so that the track can meet the requirement of the arrival time required by each waypoint.
Further, in one embodiment of the present invention, the required arrival time error of the waypoints in the cruise zone is within 10s and the required arrival time error of the waypoints in the terminal zone is within 6 s.
Further, in an embodiment of the invention, the calculation module 400 is further adapted to introduce a speed adjustment parameter SAP for calculating a flight plan waypoint WPT from a last belt required arrival time limiti-1Each predicted trajectory point from the beginning is the target groundspeed.
Further, in one embodiment of the present invention, the expected first and second derivatives of time of arrival are:
Figure BDA0001749471850000071
Figure BDA0001749471850000072
wherein S isjFor two predictions of the horizontal distance, V, between trace pointsG,jAnd target ground speed is calculated for each predicted track point.
Further, in one embodiment of the present invention, the solution for the speed adjustment parameter SAP is:
Figure BDA0001749471850000073
wherein, ETAiTo predict time of arrival, RTAiIs the desired arrival time.
It should be noted that the foregoing explanation of the embodiment of the four-dimensional trajectory speed adjustment method based on the required arrival time limit is also applicable to the four-dimensional trajectory speed adjustment device based on the required arrival time limit in this embodiment, and details are not described here again.
According to the four-dimensional track speed adjusting device based on the required arrival time limit, provided by the embodiment of the invention, the speed adjusting parameter is introduced through a numerical calculation method, and the speed profile of the airplane is adjusted by combining the flight plan given by the air traffic control and the four-dimensional track predicted by the flight control, so that the multi-point required arrival time limit is effectively processed, and the track can meet the requirement of the required arrival time of each waypoint.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (6)

1. A four-dimensional track speed adjusting method based on a required arrival time limit is characterized by comprising the following steps:
step S1: according to a horizontal flight plan given by an empty pipe, under the condition that the required arrival time limit is not considered, constructing an initial four-dimensional track by using an initial vertical section;
step S2:reading in sequence a flight plan waypoint WPT with a required arrival time limit from a takeoff airporti；
Step S3: judging the flight plan waypoint WPT according to the predicted trackiEstimated time of arrival ETAiWhether the required arrival time RTA is satisfiediError limit of (2);
step S4: calculating the flight plan waypoint WPT if the error limit is not satisfiediTo obtain the velocity adjustment parameter SAP, wherein the first and second derivatives of the estimated time of arrival are:
Figure FDA0002695102720000011
wherein S isjFor two predictions of the horizontal distance, V, between trace pointsG,jFor each predicted trajectory point target ground speed, the solving formula of the speed adjustment parameter SAP is as follows:
Figure FDA0002695102720000012
wherein, ETAiTo predict time of arrival, RTAiIs the required arrival time;
step S5: adjusting a routing point WPT with a required arrival time limit according to one or more than one SAPi-1Adjusting the speed limit value on the vertical section for the starting point, and performing trajectory prediction again, and returning to the step S3;
step S6: if the error limit is met, the flight plan waypoint WPT is judgediWhether it is the last waypoint and if it is the last waypoint, it is ended, otherwise i +1 is ended, and the process returns to the step S2.
2. The four-dimensional track speed regulation method based on the required arrival time limit of claim 1, wherein the required arrival time error of the cruise area waypoint is within 10s, and the required arrival time error of the terminal area waypoint is within 6 s.
3. The four-dimensional trajectory speed adjusting method based on the required arrival time limit of claim 1, wherein the step S4 further comprises:
introducing said speed adjustment parameter SAP for calculating a flight plan waypoint WPT limited by a required arrival time from said previous stripi-1Each predicted trajectory point from the beginning is the target groundspeed.
4. A four-dimensional trajectory speed adjustment device based on a required arrival time limit, comprising:
the construction module is used for constructing an initial four-dimensional track by using the initial vertical section under the condition of not considering the required arrival time limit according to a horizontal flight plan given by the empty pipe;
a reading module for reading a flight plan waypoint WPT with a required arrival time limit in sequence from a takeoff airporti；
A first judging module for judging the flight plan waypoint WPT according to the predicted trackiEstimated time of arrival ETAiWhether the required arrival time RTA is satisfiediError limit of (2);
a calculation module for calculating the flight plan waypoint WPT when the error limit is not satisfiediTo obtain the velocity adjustment parameter SAP, wherein the first and second derivatives of the estimated time of arrival are:
Figure FDA0002695102720000021
wherein S isjFor two predictions of the horizontal distance, V, between trace pointsG,jFor each predicted trajectory point target ground speed, the solving formula of the speed adjustment parameter SAP is as follows:
Figure FDA0002695102720000022
wherein, ETAiTo predict time of arrival, RTAiIs the required arrival time;
an adjusting module for adjusting parameters according to the speedSAP above one waypoint WPT with time limit of arrival requiredi-1Adjusting a speed limit value on the vertical section for the starting point, predicting the track again, and returning to the first judgment module;
a second judging module, configured to judge the flight plan waypoint WPT when the error limit is satisfiediAnd if the route point is the last route point, ending the process, otherwise, returning the process to the reading module by i + 1.
5. The four-dimensional trajectory speed adjustment device according to claim 4, wherein the required arrival time error of the cruise area waypoint is within 10s and the required arrival time error of the end area waypoint is within 6 s.
6. The device according to claim 4, wherein the calculation module is further configured to introduce the speed adjustment parameter SAP to calculate a WPT from the last planned flight path point with the desired arrival time limiti-1Each predicted trajectory point from the beginning is the target groundspeed.
CN201810860310.9A 2018-08-01 2018-08-01 Four-dimensional track speed adjusting method and device based on required arrival time limit Active CN109191919B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810860310.9A CN109191919B (en) 2018-08-01 2018-08-01 Four-dimensional track speed adjusting method and device based on required arrival time limit

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810860310.9A CN109191919B (en) 2018-08-01 2018-08-01 Four-dimensional track speed adjusting method and device based on required arrival time limit

Publications (2)

Publication Number Publication Date
CN109191919A CN109191919A (en) 2019-01-11
CN109191919B true CN109191919B (en) 2020-12-04

Family

ID=64937611

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810860310.9A Active CN109191919B (en) 2018-08-01 2018-08-01 Four-dimensional track speed adjusting method and device based on required arrival time limit

Country Status (1)

Country Link
CN (1) CN109191919B (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110889543B (en) * 2019-11-20 2023-06-09 西北工业大学 RTA sequence distribution method based on four-dimensional track operation
CN111123977A (en) * 2019-12-25 2020-05-08 中国航空工业集团公司西安飞机设计研究所 Time guidance method of flight management system
CN111240361A (en) * 2020-01-19 2020-06-05 中国商用飞机有限责任公司北京民用飞机技术研究中心 Flight control method, device and equipment based on four-dimensional data and storage medium
US11587447B2 (en) 2020-01-23 2023-02-21 Honeywell International Inc. Dynamically modifiable parameters in required time of arrival (RTA) regions of an assigned flight path
CN113031641B (en) * 2021-05-21 2021-08-27 北京三快在线科技有限公司 Unmanned aerial vehicle control method and device, storage medium and unmanned aerial vehicle
CN116842736A (en) * 2023-07-05 2023-10-03 中国人民解放军92728部队 Route planning method based on particle targets

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007035821A1 (en) * 2007-07-31 2009-02-05 Robert Bosch Gmbh Traffic route section representing method for e.g. motor vehicle navigation system, involves representing route section as Bezier curve from start point to end point, and representing determined control points as control points of curve
FR2953302B1 (en) * 2009-11-27 2012-08-10 Thales Sa PLANNING, TRACK CALCULATION, PREDICTION AND GUIDING METHOD FOR RESPECTING AN AIRCRAFT PASSAGE TIME CONSTRAINT
EP2482269B1 (en) * 2011-01-28 2017-03-22 The Boeing Company Providing data for predicting aircraft trajectory
FR2993063B1 (en) * 2012-07-05 2014-08-22 Thales Sa NAVIGATION ASSISTING METHOD FOR MANAGING VERTICALLY ANTICIPATED STRESS
FR3022354B1 (en) * 2014-06-16 2016-07-15 Thales Sa METHOD OF PREDICTING A SHORT-TERM TRACK OF AN AIRCRAFT, COMPUTER PROGRAM PRODUCT, PREDICTION AVAILABLE, GUIDING METHOD, GUIDE SYSTEM AND AIRCRAFT
US9625261B2 (en) * 2014-09-04 2017-04-18 Honeywell International Inc. System and method for managing speed constraints during required time of arrival operations
CN104965519B (en) * 2015-06-10 2018-08-10 北京理工大学 A kind of terminal guidance method with angle of fall constraint based on Bezier
CN107085978B (en) * 2017-06-21 2020-02-18 南京航空航天大学 Control aid decision instruction generation method based on required arrival time
CN108133076B (en) * 2017-11-30 2021-06-25 河北科技大学 Four-dimensional coordinate-based unmanned aerial vehicle collision model modeling method

Also Published As

Publication number Publication date
CN109191919A (en) 2019-01-11

Similar Documents

Publication Publication Date Title
CN109191919B (en) Four-dimensional track speed adjusting method and device based on required arrival time limit
EP3598262B1 (en) Method and system for determining a climb profile
US8150588B2 (en) Methods and system for time of arrival control using time of arrival uncertainty
US10794705B2 (en) Methods and systems for optimal guidance based on energy state approximation
US8498769B2 (en) Method of short-term rejoining of a flight plan by radar guidance of an aircraft
US10380901B2 (en) Method for automatically rejoining a reference vertical profile of an aircraft
EP3232292B1 (en) Aircraft systems and methods with multiple sap speed profiles
US8126599B2 (en) Method of calculating approach trajectory for aircraft
US10041809B2 (en) Aircraft intent processor
CN111047913B (en) Method and electronic device for optimizing a vertical profile of an aircraft flight
US9213335B2 (en) Method for controlling aircraft time of arrival
US8924047B2 (en) Method of correcting a lateral trajectory on approach as a function of the energy to be reabsorbed
US9963247B2 (en) Method and system for automatic determination of an optimized descent and approach profile for an aircraft
US8583352B2 (en) Method and system for hold path computation to meet required hold departure time
CN112669651B (en) Method for correcting and predicting over-point time based on EET value in flight dynamic information
US9410807B2 (en) Method for determining an offset lateral trajectory for an aircraft
CN114446094A (en) Space-time conversion method of flight sequencing information
Robinso et al. A concurrent sequencing and deconfliction algorithm for terminal area air traffic control
Park et al. Optimal Trajectory Option Sets for In-Flight Climb-Descend Trajectory Negotiations
Stell Flight management system prediction and execution of idle-thrust descents
CN112882488B (en) Aircraft 4D trajectory prediction method and device
CN115171432A (en) Speed solving method and system based on required arrival time and performance prediction
CN114049795A (en) Method and device for optimizing flight trajectory of aircraft
Fricke et al. Simulation of automated approach procedures considering dynamic flight operations
CN116466750A (en) Aircraft vertical trajectory prediction and optimization method based on combined model

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant