CN109191924B - Air traffic collision avoidance system and method - Google Patents
Air traffic collision avoidance system and method Download PDFInfo
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- CN109191924B CN109191924B CN201811120933.9A CN201811120933A CN109191924B CN 109191924 B CN109191924 B CN 109191924B CN 201811120933 A CN201811120933 A CN 201811120933A CN 109191924 B CN109191924 B CN 109191924B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0043—Traffic management of multiple aircrafts from the ground
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- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/04—Anti-collision systems
- G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
Abstract
The invention discloses an air traffic collision avoidance system and method, which are used for the field of aviation. The system provided by the invention comprises: a spatial domain model construction module: the method comprises the steps of dividing each aircraft flight process into different controlled airspace and constructing airspace models of all aircraft; the airspace operation model building module comprises: the system comprises a Petri network module, a data processing module and a data processing module, wherein the Petri network module is used for modeling the operation process of each aircraft and establishing an airspace operation model based on the airspace model; the anti-collision constraint model building module comprises: the method comprises the steps of constructing an aircraft anti-collision constraint model according to preset anti-collision rules and control intervals; an anti-collision decision module: and the collision avoidance control module is used for inputting navigation information into the airspace operation model, making a collision avoidance decision according to the collision avoidance constraint model and the collision avoidance algorithm, and generating a corresponding collision avoidance control instruction. The invention solves the problem of false alarm of collision of the aircraft in the running airspace based on the 4D track, thereby ensuring the navigation safety of the aircraft and simultaneously increasing the capacity of the airspace aircraft on the basis of ensuring the safety.
Description
Technical Field
The invention relates to the field of aviation, in particular to an air traffic collision avoidance system and method.
Background
When an airplane navigates, an anti-collision system is often needed to ensure navigation safety, and due to the fact that numerous aircrafts fly in the air, radar control and program control are often used in the anti-collision system, and the two control modes can confirm the relative position of the airplane, reduce the possibility of airplane collision and ensure air traffic safety. However, due to the rapid development of the civil aviation transportation industry, air traffic is more and more crowded, and higher requirements are placed on the accuracy and the prejudgment capability of an anti-collision system.
At present, a 4D track operation technology based on a time factor is gradually applied, that is, an airspace in which a 4D track of an aircraft operates is considered on the basis of original radar control and program control. However, due to the 4D track operation, the control interval between the aircrafts is smaller than the fixed anti-collision interval set by the traditional anti-collision system, so that the aircraft is collided and misreported, the operation error of a crew is caused to bring serious consequences, and the navigation safety of the aircrafts is difficult to guarantee.
Therefore, it is necessary to provide an anti-collision system capable of ensuring air traffic safety based on 4D flight path
Disclosure of Invention
The embodiment of the invention provides an air traffic collision avoidance system and method, which can ensure air traffic safety
In a first aspect of embodiments of the present invention, there is provided an air traffic collision avoidance system, comprising:
a spatial domain model construction module: the method is used for dividing the flight process of the aircraft into a full-flight airspace consisting of a 4D-track-based operation terminal control airspace, a radar control airspace and a program control airspace according to different control intervals of the aircraft, and constructing an airspace model of the aircraft through a discretization theory;
the airspace operation model building module comprises: the method comprises the steps that a Petri network is used for modeling the operation process of an aircraft in a controlled airspace based on a 4D track operation terminal, a radar controlled airspace and a program controlled airspace, and an airspace operation model is built based on the airspace model;
the anti-collision constraint model building module comprises: the method comprises the steps of constructing an aircraft anti-collision constraint model according to preset anti-collision rules and control intervals;
an anti-collision decision module: and the anti-collision control module is used for inputting aircraft navigation information into the airspace operation model, making an anti-collision decision according to the anti-collision constraint model and the anti-collision algorithm, and generating a corresponding anti-collision control instruction.
In a second aspect of the embodiments of the present invention, there is provided an air traffic collision avoidance method, including:
dividing each aircraft flight process into a full-flight airspace consisting of a 4D-track-based operation terminal control airspace, a radar control airspace and a program control airspace according to different aircraft control intervals, and constructing airspace models of all aircraft through a discretization theory;
modeling the operation process of the aircraft in a controlled airspace based on a 4D track operation terminal, a radar controlled airspace and a program controlled airspace through a Petri network, and establishing an airspace operation model based on the airspace model;
constructing an aircraft anti-collision constraint model according to preset anti-collision rules and control intervals;
inputting aircraft navigation information into the airspace operation model, making an anti-collision decision according to the anti-collision constraint model and the anti-collision algorithm, and generating a corresponding anti-collision control instruction.
According to the technical scheme, the embodiment of the invention has the following advantages:
in the embodiment of the invention, an operation model of the aircraft is constructed by dividing different airspaces, a constraint model is established according to knowledge such as control intervals, anti-collision rules and the like, and finally a decision instruction is obtained according to the operation model and the constraint model. The problem of in the 4D track operation airspace, the tradition is through the problem that the aircraft that radar control and program control appear bumps into the mistake and police is solved, avoids receiving wrong control instruction, and then ensures the navigation safety of aircraft, simultaneously, on the basis of guaranteeing safety, increases airspace aircraft's capacity.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of an air traffic collision avoidance system according to an embodiment of the present invention;
fig. 2 is another schematic structural diagram of an air traffic collision avoidance system according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of an air traffic collision avoidance method according to a third embodiment of the present invention.
Detailed Description
The embodiment of the invention provides an air traffic collision avoidance system and method, which are used for guaranteeing navigation safety of an aircraft.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a schematic structural diagram of an air traffic collision avoidance system according to an embodiment of the present invention includes:
the spatial domain model building module 110: the method is used for dividing the flight process of each aircraft into a full-flight airspace consisting of a 4D-track-based operation terminal control airspace, a radar control airspace and a program control airspace according to different control intervals of the aircraft, and constructing airspace models of all the aircraft through a discretization theory;
the aircraft is an aircraft capable of controlled flight in the atmosphere, and generally refers to an airplane. The control interval, i.e. the difference of the aircraft passing through the control airspace during the whole navigation process, can be generally divided into terminal control, radar control and program control.
The airspace model is an airspace division set through which each aircraft flies, and the navigation process of each aircraft can be represented through airspace model simulation according to the difference of airspace division.
Optionally, the airspace through which each aircraft navigates is constructed into a full-flight airspace set, wherein the passing airspace includes a 4D-track-based operation terminal controlled airspace, a radar controlled airspace, and a program controlled airspace.
Optionally, the constructing the airspace through which each aircraft travels into a full-flight airspace set further includes: and defining an airspace boundary line set, and dividing the full flight airspace of each aircraft through the airspace boundary lines.
The airspace operation model building module 120: the method comprises the steps that a Petri network is used for modeling the operation process of an aircraft in a controlled airspace based on a 4D track operation terminal, a radar controlled airspace and a program controlled airspace, and an airspace operation model is established;
the Petri net is commonly used for describing an asynchronous and concurrent computer system model and generally consists of elements such as a custody, a transition, a directed arc and a token. The Petri network can describe the state information of all aircrafts in each airspace.
Collision avoidance constraint model building module 130: the method comprises the steps of constructing an aircraft anti-collision constraint model according to preset anti-collision rules and control intervals;
the collision avoidance rules, i.e. the rules which are usually made to prevent an aircraft from colliding, may be general rules, such as, for example, the right of way: and the right-side right-hand right-hand right-hand. But also to temporarily made possible rules, etc. The control interval is used for ensuring the safe flight of the aircraft, and can comprise the following steps: vertical spacing, wake spacing, lateral spacing, longitudinal spacing, and the like.
The anti-collision constraint model is a set of constraint conditions which should be met by adjusting two aircrafts under the condition of collision in each airspace, generally can be set according to anti-collision rules, control interval knowledge and the like by combining a course, a boundary threshold value control interval and the like, and can also be different due to the difference of airspaces, types and performances of the aircrafts.
Optionally, the collision avoidance constraint model building module 130 specifically includes:
a setting unit: and the method is used for setting the control interval and the anti-collision rule as constraint conditions according to the detected angle of the flight direction between the two aircrafts in the preset airspace.
The collision avoidance decision module 140: and the anti-collision control module is used for inputting aircraft navigation information into the airspace operation model, making an anti-collision decision according to the anti-collision constraint model and the anti-collision algorithm, and generating a corresponding anti-collision control instruction.
The navigation information generally at least comprises aircraft position, aircraft direction and the like, and the anti-collision algorithm is
The collision avoidance decision refers to a flight strategy adopted to avoid collision of the aircraft, and a general collision avoidance strategy can be adopted, such as flying towards the left side or the right side, and also flying towards the upper side or the lower side. According to the anti-collision strategy, corresponding flight instructions can be generated, the flight instructions need to be sent to the two corresponding aircraft respectively, and preferably, the anti-collision control instructions also include flight parameters which need to be adjusted.
Optionally, the collision avoidance decision module 140 includes:
a determination unit: the collision avoidance system is used for judging the collision state of the aircraft according to the navigation information of the aircraft and the collision avoidance constraint model;
an acquisition unit: the anti-collision control system is used for acquiring a corresponding anti-collision control instruction according to the collision state of the aircraft and the flying direction between the collided aircraft;
an execution unit: and the aircrafts used for collision respectively execute corresponding anti-collision control commands.
For the convenience of understanding, according to the embodiment described in fig. 1, an air traffic collision avoidance method in the embodiment of the present invention is described in the following practical application scenario:
first, the full flight space of each aircraft is defined as Q, and the boundary line set of each regulatory space is L, where L ═ L1,l2,···,liThe space domain type is indicated as 21 in fig. 2, the boundary line is indicated as 22, and the full flight space domain Q is divided by the space domain boundary line L through the discretization theory, which can be expressed as Q ═ Q1,Q2,···,QiIn which QiMay represent one of a 4D track based operation terminal airspace, a radar-controlled airspace, and a program-controlled airspace.
And defining an anti-collision airspace operation model, constructing the operation model for each divided control airspace by using a Petri network, wherein the model is defined as N ═ (P, T, Pre, Post, m), P is a library set and represents the operation airspace, and P ═ P { (P)1,P2,···,Pi}; t is transition set, namely representing each operation space domain boundary, and T is { T ═ T1,t2，···，ti}; pre expressed as P T flowRelation of weight wpreI.e. representing the direction of travel of the aircraft; post is expressed as a T P stream relationship with a weight of wpostI.e. representing the direction of travel of the aircraft; and m is a state identifier and represents the condition of the airplane in the operating air.
In addition, k can be usedi(pi) Represents piRegulatory interval, h (p), within the operating airspace represented by the libraryi) Represents piThe library represents an operating airspace in which the management interval is impacted.
Then k (a)i,aj) Can represent an airplane ai,ajInterval between adjacent lines, w (a)i,aj) Can represent an airplane ai,ajRelative direction therebetween, h (a)i) Representing the flight altitude of the aircraft.
Secondly, constructing collision avoidance constraint conditions among the airplanes as follows:
(1) when w (a)i,aj) Indicating that the angle of flight direction between the aircraft is 180 degrees, and the aircraft ai,ajAt piRepresenting spatial run time, the following constraints exist:
k(ai,aj)>k1(pi)，h(ai)>h(pi)；
(2) when W (a)i,aj) Indicating that the angle of the flight direction between the aircraft is 0 degrees, and the aircraft ai,ajAt piRepresenting spatial run time, the following constraints exist:
k(ai,aj)>k2(pi)，h(ai)>h(pi)；
(3) when W (a)i,aj) Indicating that the flying direction angle between the airplanes is more than 0 degree and less than 90 degrees, and the airplane ai,ajAt piRepresenting spatial run time, the following constraints exist:
k(ai,aj)>k3(pi)，h(ai)>h(pi)；
(4) when W (a)i,aj) When the angle of the flying direction between the airplanes is larger than 90 degrees and smaller than 180 degrees, and the airplane ai,ajAt piRepresenting spatial run time, the following constraints exist:
k(ai,aj)>k4(pi)，h(ai)>h(pi)；
finally, an aircraft collision state E ═ {0,1} is defined, where a collision event exists in the operating airspace, and 0 indicates that a collision event does not exist in the operating airspace. If the airplane in the operating airspace violates the collision avoidance constraint, E is 1; if the aircraft in the operating airspace does not violate the collision avoidance constraint, then E is 0.
Defining a collision avoidance instruction set, wherein, V ═ X, Y }, where X ═ hold, left, right, up, down }, Y ═ hold, left, right, up, down }, X and Y respectively represent control instructions for two aircraft flights that are in collision with each other, and hold represents hold flight, left flight is left flight, right represents right flight, up represents upward climb, and down represents downward flight.
According to the state between two airplanes, the following mapping relation is defined:
1) when E is 0, V is { hold, hold };
2) when E is 1, and w (a)i,aj) 180 °, V ═ left, right };
3) when E is 1, and w (a)i,aj) When 0 °, V ═ left, right };
4) when E is 1, and 0 °<w(ai,aj)<At 90 °, V ═ { up, down };
5) when E is 1, and 90 °<w(ai,aj)<At 180 °, V ═ { up, down };
based on the mapping relation, according to the flight states of the two airplanes which reach the collision condition in the operation model, finding out the collision avoidance instruction in the collision avoidance instruction set V, and executing the corresponding collision avoidance instruction.
Optionally, the air traffic collision avoidance system may generate the collision avoidance instruction according to the operating airspace information, the airspace situation information, the aircraft position and the direction information, and by combining the collision avoidance rule base. The air traffic collision avoidance system can analyze possible aircrafts colliding with each other in all airspaces, warn and provide early warning for the aircrafts according to the input navigation information.
Among the above-mentioned collision avoidance system, through constructing airspace operation model and anticollision restraint model, according to airborne vehicle state and restraint model, seek corresponding crashproof instruction, can ensure the safety of airborne vehicle in the flight like this, avoid the mistake of traditional 4D operation-based collision avoidance system to appear alert. :
it is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Example three:
an air traffic collision avoidance system has been described above, and an air traffic collision avoidance method will be described in detail below.
Fig. 3 shows a flow chart of an air traffic collision avoidance method provided by an embodiment of the present invention, which includes:
s301, dividing the flight process of each aircraft into a full-flight airspace consisting of a 4D-track-based operation terminal control airspace, a radar control airspace and a program control airspace according to different control intervals of the aircraft, and constructing airspace models of all the aircraft through a discretization theory;
optionally, the constructing the airspace models of all aircraft specifically includes:
and constructing a full-flight airspace set through which each aircraft navigates, wherein the passing airspace comprises a 4D-track-based operation terminal controlled airspace, a radar controlled airspace and a program controlled airspace.
Optionally, the constructing the airspace through which each aircraft travels into a full-flight airspace set further includes: and defining an airspace boundary line set, and dividing the full flight airspace of each aircraft through the airspace boundary lines.
S302, modeling the operation process of the aircraft in a controlled airspace based on a 4D track operation terminal, a radar controlled airspace and a program controlled airspace through a Petri network, and establishing an airspace operation model based on the airspace model;
s303, constructing an aircraft anti-collision constraint model according to a preset anti-collision rule and a control interval;
optionally, the constructing of the aircraft anti-collision constraint model according to the preset anti-collision rule and the control interval specifically includes:
within the predetermined airspace, the regulatory interval and the collision avoidance rule are set as constraints according to the detected angle of the flight direction between the two aircraft.
S304, inputting aircraft navigation information into the airspace operation model, making an anti-collision decision according to the anti-collision constraint model and the anti-collision algorithm, and generating a corresponding anti-collision control instruction.
Optionally, the inputting the current aircraft navigation information into the airspace operation model, making an anti-collision decision according to the anti-collision constraint model and the anti-collision algorithm, and generating a corresponding anti-collision control instruction includes:
judging the collision state of the aircraft according to the navigation information of the aircraft and the anti-collision constraint model;
acquiring a corresponding anti-collision control instruction according to the collision state of the aircraft and the flying direction between the collided aircraft;
and the collided aircrafts respectively execute corresponding anti-collision control commands.
The anti-collision method can guarantee the flight safety of the aircraft during 4D navigation, and avoid misoperation caused by false alarm.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art would appreciate that the modules, elements, and/or method steps of the various embodiments described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (2)
1. An air traffic collision avoidance system, comprising:
a spatial domain model construction module: the method is used for dividing the flight process of each aircraft into a full-flight airspace consisting of a 4D-track-based operation terminal control airspace, a radar control airspace and a program control airspace according to different control intervals of the aircraft, and constructing airspace models of all the aircraft through a discretization theory;
the airspace operation model building module comprises: the method comprises the steps that a Petri network is used for modeling the operation process of each aircraft in a controlled airspace based on a 4D track operation terminal, a radar controlled airspace and a program controlled airspace, and an airspace operation model is built based on the airspace model;
the anti-collision constraint model building module comprises: the method comprises the steps of constructing an aircraft anti-collision constraint model according to preset anti-collision rules and control intervals;
the anti-collision constraint model building module comprises:
a setting unit: the method comprises the steps that a control interval and an anti-collision rule are set as constraint conditions according to the detected angle of the flying direction between two aircrafts in a preset airspace;
let P be the set of libraries, i.e. representing the operating airspace, P = { P1, P2, ·, Pi };
by usingk i(pi) To representp iThe regulatory interval within the operating airspace represented by the library,h(pi) To representp iRunning of library representatives
Managing intervals in the airspace in collision; by usingk(a i,a j) Showing an aircraft ai,ajThe inter-regulation interval of the time interval,w(a i,a j) Representing aircrafta i,a jIn the relative direction of the two or more,h(a i) Representing the flight altitude of the aircraft;
constructing collision avoidance constraint conditions among airplanes as follows:
(1) when in usew(a i,a j) Indicating that the angle of the flight direction between the airplanes is 180 degrees, and the airplanesa i,a jIn thatpiRepresenting spatial run time, the following constraints exist:
k(ai,a j ) ＞k1( pi) ，h(ai) ＞h( pi) ；
(2) when in usew (ai,a j ) Indicating that the flying direction angle between the airplanes is 0 degree, and the airplanesa i,a jIn thatpiRepresenting spatial run time, the following constraints exist:
k(a i ,a j ) ＞k 2 ( p i ) ，h(a i ) ＞h( p i )；
(3) when in usew (ai,a j ) The angle of the flying direction between the airplanes is larger than 0 degree and smaller than 90 degrees, and the airplanesa i,a jIn thatpiRepresenting spatial run time, the following constraints exist:
k(ai,a j ) ＞k3( pi) ，h(ai) ＞h( pi) ；
(4) when in usew (ai,a j ) When the angle of the flying direction between the airplanes is larger than 90 degrees and smaller than 180 degrees, and the airplanesa i,a jIn thatpiRepresenting spatial run time, the following constraints exist:
k(ai,a j ) ＞k4 ( pi) ，h(ai) ＞h( pi) ；
an anti-collision decision module: the collision avoidance control system is used for inputting the aircraft navigation information into the airspace operation model, making a collision avoidance decision according to the collision avoidance constraint model and the collision avoidance algorithm, and generating a corresponding collision avoidance control instruction;
the method for constructing the airspace models of all aircrafts specifically comprises the following steps:
constructing a full-flight airspace set through which each aircraft navigates, wherein the passing airspace comprises a 4D-track-based operation terminal control airspace, a radar control airspace and a program control airspace;
the method for constructing the airspace through which each aircraft travels into a full-flight airspace set further comprises the following steps:
defining a set of airspace boundary lines, and entering each aircraft full-flight airspace through the airspace boundary lines
Dividing lines; the collision avoidance decision module comprises:
a determination unit: the collision avoidance system is used for judging the collision state of the aircraft according to the navigation information of the aircraft and the collision avoidance constraint model;
an acquisition unit: the anti-collision control system is used for acquiring a corresponding anti-collision control instruction according to the collision state of the aircraft and the flying direction between the collided aircraft;
an execution unit: and the aircrafts used for collision respectively execute corresponding anti-collision control commands.
2. An air traffic collision avoidance method, comprising:
dividing each aircraft flight process into a full-flight airspace consisting of a 4D-track-based operation terminal control airspace, a radar control airspace and a program control airspace according to different aircraft control intervals, and constructing airspace models of all aircraft through a discretization theory;
modeling the operation process of the aircraft in a controlled airspace based on a 4D track operation terminal, a radar controlled airspace and a program controlled airspace through a Petri network, and establishing an airspace operation model based on the airspace model;
constructing an aircraft anti-collision constraint model according to preset anti-collision rules and control intervals; the method specifically comprises the following steps: setting a control interval and an anti-collision rule as constraint conditions according to the detected angle of the flight direction between two aircrafts in a preset airspace;
by usingk i(pi) To representp iThe regulatory interval within the operating airspace represented by the library,h(pi) To representp iRunning of library representatives
Managing intervals in the airspace in collision; by usingk(a i,a j) Showing an aircraft ai,ajThe inter-regulation interval of the time interval,w(a i,a j) Representing aircraft
a i,a jIn the relative direction of the two or more,h(a i) Representing the flight altitude of the aircraft; constructing collision avoidance constraint conditions among airplanes as follows:
(1) when in usew(a i,a j) Indicating that the angle of the flight direction between the airplanes is 180 degrees, and the airplanesa i,a jAt piRepresenting spatial run time, the following constraints exist:
k(ai,a j ) ＞k1( pi) ，h(ai) ＞h( pi) ；
(2) when in usew (ai,a j ) Indicating that the flying direction angle between the airplanes is 0 degree, and the airplanesa i,a jIn thatpiRepresenting spatial run time, the following constraints exist:
k(a i ,a j ) ＞k 2 ( p i ) ，h(a i ) ＞h( p i )
(3) when in usew (ai,aj ) The angle of the flying direction between the airplanes is larger than 0 degree and smaller than 90 degrees, and the airplanesa i,a jIn thatpiRepresenting spatial run time, the following constraints exist:
k(ai,a j ) ＞k3( pi) ，h(ai) ＞h( pi) ；
(4) when in usew(ai,a j ) When the angle of the flying direction between the airplanes is larger than 90 degrees and smaller than 180 degrees, and the airplanesa i,a jIn thatpiRepresenting spatial run time, the following constraints exist:
k(ai,a j ) ＞k4 ( pi) ，h(ai) ＞h( pi) ；
inputting aircraft navigation information into the airspace operation model, making an anti-collision decision according to the anti-collision constraint model and an anti-collision algorithm, and generating a corresponding anti-collision control instruction;
the method for constructing the airspace models of all aircrafts specifically comprises the following steps:
constructing a full-flight airspace set through which each aircraft navigates, wherein the passing airspace comprises a 4D-track-based operation terminal control airspace, a radar control airspace and a program control airspace;
the method for constructing the airspace through which each aircraft travels into a full-flight airspace set further comprises the following steps:
defining an airspace boundary line set, and dividing the full flight airspace of each aircraft through the airspace boundary lines;
the inputting of the aircraft navigation information into the airspace operation model, making an anti-collision decision according to the anti-collision constraint model and the anti-collision algorithm, and generating a corresponding anti-collision control instruction comprises the following steps:
judging the collision state of the aircraft according to the navigation information of the aircraft and the anti-collision constraint model;
acquiring a corresponding anti-collision control instruction according to the collision state of the aircraft and the flying direction between the collided aircraft;
and the collided aircrafts respectively execute corresponding anti-collision control commands.
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