CN109830127A - It is marched into the arena 4D path planning method based on an aircraft for fusion program - Google Patents
It is marched into the arena 4D path planning method based on an aircraft for fusion program Download PDFInfo
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Abstract
It is marched into the arena 4D path planning method the invention discloses a kind of based on an aircraft for fusion program, comprising the following steps: step S1, design point merge mission program;Step S2 evaluates a fusion mission program;Step S3, optimization point fusion Program Static Structure;Step S4, a building point fusion program 4D march into the arena trajectory planning model;Step S5 generates the point fusion program 4D dynamic track for flight of marching into the arena.Method of the invention improves termination environment approach course capacity, reduces aircraft operating cost under the premise of guaranteeing flight safe operation, reduces environment influence.
Description
Technical field
It marches into the arena 4D trajectory planning technical field the invention belongs to aircraft in termination environment, is related to a fusion approach procedure and combines
Termination environment operating condition runs the method planned to flight of marching into the arena.
Background technique
Global economy is fast-developing, and air-transport industry is grown rapidly.However, flourishing with air-transport industry, boat
Class's flow increases sharply.Termination environment is connected region as important between Flying Area in Airport and air route, and flight crowding phenomenon takes place frequently, makes
Spiral waiting, ground delays in the air at flight is unnecessary, increase operation cost, aggravated air traffic controller and
The added burden of unit, seriously jeopardizes air traffic safety.How to reinforce flight management in termination environment, guarantees aircraft safety, increases
Termination environment capacity, reduction flight cost, reduction discharge greatly become urgent that current air traffic control relevant department is faced
Business.
Traffic current density is big in termination environment, the transformation of aircraft operating status is frequent, route structure is intricate, air traffic
Highly dense, plurality of operating modes are simultaneously deposited, and Airspace congestion and flight tardy problem are serious.Wherein, aircraft of leaving the theatre generally takes off
Rapid climb altitude afterwards flies to hand-off point, conflicts less, and mission program applicability is high；And aircraft track freedom degree of marching into the arena is high,
Height change is flexible, and flight is easily accumulated, and mission program applicability is low.Therefore, aircraft approach path optimizing research all the time
It is all emphasis.
Currently, there are conventional radar guidance and area navigation both of which for termination environment internal standard arrival procedure.Traditional thunder
It is high up to bootstrap operational flexibility, but predictability is lower, converses frequently between controller and unit, workload is big；Area
Navigator operation in domain is simple, and person works' amount is small, but needs to occupy large area airspace, and operational flexibility is poor, and efficiency is relatively low.Point
Fusion program is come into being.The program combines area navigation program and continuous decline technical advantage, flies nonstop to fusion using closed loop
Point instruction changes the open loop course guidance of radar control.
Point emerging system (Point Merge System, PMS) is the face that European Organization for the Safety of Air Navigation experimental center proposes
To termination environment march into the arena traffic flow convergence operation approach procedure, dependent on existing precision zone navigation (P-RNAV), effectively plus
It marches into the arena in strong termination environment flight management, advances area navigation program and continuously decline into nearly (CDA) technology in the wide of termination environment
General application.It makes full use of the existing navigation based on performance, and aircraft operation track of marching into the arena is efficiently modified and is optimized.Point
Fusion program includes the sequence arc of a merging point and a plurality of pre-planning, as shown in Figure 1.
Compared with currently a popular open loop instruction guidance and existing precision zone navigation application, point fusion program can make
Area navigation program and continuously decline into nearly technology in termination environment into being more widely used near procedure, especially in height
Its advantage is more obvious in density operation.
Point fusion program strengthens the flight management of marching into the arena in termination environment, and termination environment is improved in the case where ensureing safety and is held
Amount, configuration are conducive to continuously decline operation (CDO) implementation of strategies, help to reduce flight cost, reduce discharge.Currently,
The technology is used widely in Europe, but is still in the theory study stage at home, and some scholars are set about studying and be inquired into
Its feasibility implemented and applied in China is merged program for specific airport design point and is transported based on a flight for fusion program
Row method, but how its design combines with the operation of actual traffic stream mostly according to theory, optimizes and just rise
Step.
Summary of the invention
In view of the problems of the existing technology, the present invention provides it is a kind of based on fusion program an aircraft march into the arena 4D boat
Mark planing method.
The present invention considers aircraft influence on system operation using traffic flow of marching into the arena as object, approach course path is planned again, in point
On the basis of fusion structure, by carrying out security risk, capacity, economy, environmental impact assessment to program, screening optimum point is melted
Configuration is closed, approach course in termination environment is optimized.And on this basis, 4D track optimizing is carried out to aircraft of marching into the arena, building point melts
Configuration trajectory planning model is closed, optimizes aircraft in termination environment and marches into the arena 4D track.
It is provided by the invention a kind of to be marched into the arena 4D path planning method, including following step based on an aircraft for fusion program
It is rapid:
Step S1, design point merge mission program；
Step S101 chooses merging point；
Step S102, setting sequence arc；
Step S2 evaluates a fusion mission program；
Whether step S201, measuring and calculating point fusion mission program operation are safe；
Step 202, measuring and calculating point fusion mission program capacity；
Step S203, measuring and calculating point fusion mission program operating cost；
Step S204 calculates mission program effect on environment factor；
Step S205 evaluates a fusion mission program；
Step S3, optimization point fusion Program Static Structure；
Step S301, screening point fusion mission program key parameter；
Step S302 constructs evaluation function；
Step S4, a building point fusion program 4D march into the arena trajectory planning model；
Step S401, building sequence arc module and link block；
Traffic lights section is arranged in sequence arc module in step S402；
Step S403, a building point fusion program 4D march into the arena trajectory planning agent model；
Step S5 generates the point fusion program 4D dynamic track for flight of marching into the arena.
The present invention is all having the beneficial effect that of reaching
Comprehensive study of the present invention considers the factors such as flight plan, aircraft performance, mission program design, proposes to melt based on point
The aircraft for closing program is marched into the arena 4D path planning method, has important practical significance and application prospect.Building mission program is commented
Valence system fully assesses program runnability, to realize a building for fusion preferred configuration；On the basis of program structure optimization
On, traffic flow is advanced optimized, using intelligent algorithm, realizes flight 4D trajectory planning of marching into the arena；Guaranteeing flight safe operation
Under the premise of, termination environment approach course capacity is improved, aircraft operating cost is reduced, reduces environment influence.
Detailed description of the invention
Fig. 1 is a fusion configuration schematic diagram；
Fig. 2 is that a fusion program 4D marches into the arena arc module and the link block schematic diagram of sorting in trajectory planning model；
Fig. 3 is that a fusion program 4D marches into the arena agent model schematic in trajectory planning model；
Fig. 4 is a fusion program postitallation evaluation architectural schematic；
Fig. 5 is 4D path planning method technology path schematic diagram of being marched into the arena based on an aircraft for fusion program.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Provided by the invention based on an aircraft 4D path planning method of marching into the arena for fusion program includes carrying out in order
The following steps:
Step S1, design point merge mission program.
Background, purpose, range, navigation accuracy requirement, configuration, operation and a managing special situation for fusion program is carried out detailed
Understand, for existing in fusion program containing relating to merging point, sequence arc, envelope, public segment, turning angle and convergence angle etc.
Interior all kinds of parameters and the factors such as the corresponding height of each parameter and angle, based on mission program basic design principles, design point
Merge program.
Step S101 chooses merging point.
On the airfield runway extended line of termination environment, in 5 km of runway mouth~20 kilometer ranges, traffic flow starts to converge
It integrates and the anchor point on runway extended line is as program merging point, merge point height HmpIn 900 meters~1500 meters
In range；
Step S102, setting sequence arc.
Using merging point as the center of circle, sequence arc is delineated；Set internal sort arc LegIt is interiorWith external sorting arc LegOutside, internal sort arc LegIt is interior
With external sorting arc LegOutsideHorizontal interval k be at least 4 kms, every sequence arc occupies a height layer, every two height respectively
Perpendicular separation is M between layer1Rice, M1It can be 300 meters, internal sort arc LegIt is interiorHeight HIn lHigher than external sorting arc LegOutsideHeight
HOutside l, external sorting arc LegOutsideHeight HOutside lRange is generally 10000 feet -12000 feet, avoids using transition level, mistake
The definition for crossing height layer is: the minimum available flight level on transition altitude.Referred to using transition level and was used
Space --- the transition interlayer between height and transition level is crossed, a specific correct sea level pressure height is high herein
Degree or hereinafter, the upright position of aircraft is indicated according to correct sea level pressure height, in order to avoid radio communication is caused to obscure,
Aircraft meeting switching frequency, obscures if will cause radio communication using the height layer in transition level.
The distance R of sequence arc to merging point meets:
Wherein, θ is that aircraft continuously declines the angle of descent used when operation.
Step S2 evaluates a fusion mission program.
On the basis of guaranteeing flight safe operation, estimating capacity, economy and an environment for fusion program influences, and adopts
Appraisement system is established with analytic hierarchy process (AHP) (AHP), overall merit point merges mission program.
Whether step S201, measuring and calculating point fusion mission program operation are safe.
The safe operation of mission program includes both sides meaning: 1, it is enough super to should ensure that aircraft has for mission program
Barrier safety；2, in the case where considering certain ATC controller workload level conditions, have enough interval safety between aircraft, keep away
Exempt to clash and even collide.It includes boat that the meaning run from mission program, which can be seen that mission program operational safety risk,
Security risk between pocket and ground obstacle, referred to as near-earth risk, the main collision considered between aircraft and barrier
Safety；Security risk between aircraft and aircraft, referred to as collision risk, the main peace considered between aircraft and aircraft
Entirely.
For near-earth risk, consider aircraft and barrier close to risk analysis, using penetrating obstacle clearance altitude
The method of (Obstacle Clearance Altitude, OCA) is assessed, and the parameters such as obstacle clearance remaining is obtained, when obstacle clearance remaining
When less than personal distance, there are near-earth risks；Otherwise near-earth risk is not present；
For collision risk, if the radar separation in horizontal direction is greater than 10 kms, and the interval in vertical direction is big
Then it is safety in 300 meters, is otherwise dangerous；
Step 202, measuring and calculating point fusion mission program capacity.
When the airspace structure of termination environment and when into departure procedure design comparison specification, each approach course, approach route, with
And there is no crosspoint between course line of leaving the theatre, aircraft stream will be reached and aircraft flow point of leaving the theatre usually using height limitation in termination environment
From influence each other very little.The airspace structure for simplifying termination environment carries out a fusion mission program capacity using following mathematical model
Analysis,
Wherein: Cpy is program capacity (sortie)；LiFor the length (km) of the correspondence every arc that sorts；M is sequence arc item
Number；
Step S203, measuring and calculating point fusion mission program operating cost.
Under the premise of ensureing mission program operational safety, improving its economy becomes modern mission program planning and design
Higher pursuit.Mission program performance driving economy refer to aircraft using mission program, with reduce oil consumption, shorten the flight time and
Flying distance is the flight course of target.Main consideration mission program operating cost is estimated to mission program economy, that is, is flown
Row oil consumption cost and flight time cost.
Point fusion mission program operating cost includes flight oil consumption cost and flight time cost.
Point fusion mission program operating cost (Coo) refer to typical type aircraft using certain point fusion mission program fortune
When row, the fuel consumption cost Co of generationfWith flight time cost CotThe sum of, it may be assumed that
Coo=Cof+Cot
Fuel consumption cost CofIn Air Transport Enterprises Under cost structure element, belong to direct variable cost, it and flight
Time, height are related to speed.The visiting rate of course line break even point and carrying rate can directly be reduced by reducing fuel cost, be air transportation
The important link that enterprise controls cost, obtains maximum return.Time cost CotIt points out except fuel consumption, with flight
The relevant direct operating cost of time t；
Step S204 calculates mission program effect on environment factor.
Reducing influence of the mission program to environment is higher level pursuit, and reflects modern mission program design and operation
The importance of quality.
Environmental impact factor includes noise figure and exhaust emissions index, and noise figure calculates as follows:
In formula, LWECPNContinue grade for the daily noise of mission program；N1, N2, N3Respectively between daytime, the flight of dusk, night
Number is 7 points to 19 points between daytime, is at dusk 19 points to 22 points, and night is 22 points to 7 points,For average effective sensation noise
Grade, calculation formula are
LEPNjThe single incident noise figure generated when (x, y) is the aircraft of type j to observation point (x, y), lg are
It is to indicate symbol with 10 for the common logarithm at bottom；
Exhaust emissions index calculates as follows:
E is pollutant set, E={ NOX,HC,CO,TSP}。For flight i it is flat fly, the decline stage when e
The emission index of kind pollutant, Arr are flight set of marching into the arena,For flight i it is flat fly, the flight time of decline stage,
FFi L、FFi DIt is flight i in flat winged, the decline stage fuel flow rate.It is intermediate variable；
Step S205 evaluates a fusion mission program.
Using analytic hierarchy process (AHP) (AHP) stratification target problem, multi-level simulation tool structural model is constructed；Specific structure model
If Fig. 4 point merges program postitallation evaluation architectural schematic, i.e., building tower structure model, set point merge program operation
Appraisement system is destination layer, and economy, capacity, environment constitute rule layer, evaluation index composing indexes layer；The target problem packet
It includes: under the constraint for meeting safe operation, increasing capacity, reduce operating cost, slow down influence of noise, reduce discharge；
The relative Link Importance of each layer factor of quantificational description forms judgment matrix, and judgment matrix is as follows:
For example, target A has B1、B2、B3、…、BnA evaluation index then constructs the judgment matrix of B in target A, as follows:
bqpIndicate file BpWith BqIt is comparing as a result, and bqp=1/bpq, judgment matrix scale and meaning be as shown in the table:
Calculate element relative weighting under single criterion.
1) by each column normalization of judgment matrix B, arrived normalized value aqp；
2) by AW=(aqp)n×nIt is added up by row；AW is normalization matrix；
3) by capable and vector normalization obtained by step 2), orderweight vector W is obtainedp；
WpFor feature vector,Respectively AWp, AWqN times root side；
3) judgment matrix B maximum eigenvalue ψ is calculatedmax；
AWpFor p-th of component of AW；
It checks judgment matrix approach, judges according to the following method:
1) coincident indicator CI (consistency index) is calculated；
2) consistency ration CR (consistency ratio) is calculated；
In formula, nRIFor evaluation index number, RI is random index, can be inquired by following table.
3) when consistency ration CR is less than setting value, then it is assumed that matrix is by consistency check, and wherein each element meets
It is required that；Otherwise matrix is rebuild, setting value can be 0.10；
The weight that capacity, economy, environment influence is calculated, calculating process is as follows:
Each factor in each judgment matrix is calculated to the opposite synthetic weight of destination layer, such as B layers include element B1、B2、
B3、…、Bn, level weight is respectively b1、b2、b3、…、bn, C layers include Elements C1、C2、C3、…、Cn, opposing factors Bq's
Level weight is respectively c1q、c2q、c3q、…、cnq, then C layers for BqSynthetic weight be respectively
Step S3, optimization point fusion Program Static Structure.According to mission program evaluation method, standardized using Z-score
Method carries out the processing of index unification and nondimensionalization processing, constructs evaluation function, dissects the fortune of point fusion program under different parameters
Row influences, and specifies the superiority and inferiority degree of design scheme, proposes that specific aim improvement project, screening optimum point merge configuration.
Step S301, screening point fusion mission program key parameter.It relates to merge for containing in fusion mission program
All kinds of parameters including point, sequence arc, envelope, public segment, turning angle and convergence angle etc., choose (the fusion of merging point parameter
Point position and height), sequence arc parameter (sequence arc length and height) and size range (merging point to sort arc distance from and program
Angle of eccentricity) three big key parameters, based on mission program basic design principles, merging the big key of configuration three by set-point is
Number, variation point merge configuration；
Step S302 constructs evaluation function.The features such as property, dimension, the order of magnitude due to each index, there are certain
Difference, the present invention use Z-score Standardization Act, find out the arithmetic mean of instantaneous value X of each indexiWith standard deviation Si, it is standardized place
Reason: each index includes capacity, operating cost, noise and discharge；
Wherein: ZijFor the variate-value after standardization；XijFor real variable value, XiFor arithmetic mean of instantaneous value and SiFor standard deviation,
Sign before inverse indicators is exchanged, the variate-value Z after standardizationijAround about 0 fluctuation, the variate-value after standardization is greater than 0
It indicates to be higher than average level, the variate-value after standardization indicates to be lower than average level less than 0.It is handled by index unification and nothing
Dimensionization processing solves the problems, such as heterogeneity and comparativity between index, the finger obtained in conjunction with the evaluation method in step S2
Weight is marked, evaluation function is constructed, point of quantification merges configuration；The inverse indicators, that is, reversed index, inverse indicators are the smaller the better；
Evaluation function Fun are as follows: Fun=α CY+ β CT+ χ NE+ δ EN,
CY, CT, NE, EN are respectively capacity, operating cost, noise and pollutant normalization as a result, α, β, χ, δ are each index
Corresponding weight；
Step S303, screening optimum point merge configuration.
Quantitatively evaluating is carried out to a fusion program structure using evaluation function, according to evaluation result change parameter, adjusts journey
Sequence structure, Utilization assessment function method successive optimization obtain the optimal static structure of point fusion program.Variation are as follows: adjustment is melted
Chalaza height, sequence arc length and height and merging point to sequence arc distance from and program bias angle；
Step S4, a building point fusion program 4D march into the arena trajectory planning model.
According to a fusion configuration, establish sequence arc module and link block, propose the aircraft based on agent technology into
Field scheduling landings method.
Step S401, building sequence arc module and link block.
The present invention establishes sequence arc module and link block on the basis of fusion configuration；
The sequence arc module makes to march into the arena flight in the operation for keeping orderly Lothrus apterus on arc of sorting, root by adjustment speed
Extend or shorten flying distance of the aircraft in segmental arc according to traffic flow situation.
The course of work for the arc module that sorts are as follows:
1) when flight enters termination environment, judge that the flight inlet point merges the entrance of program by the arc module that sorts；
2) it calculates under current flight sequence, the time required to flight reaches merging point；
3) according to location information of the flight in 4D track, using wake forcing (distance) judge front and back machine interval whether
It meets the requirements, carries out conflict probe (pursuit conflict)；
4) conflict Resolution is carried out using adjustment speed method.
Link block is used to determine that flight to leave the sequence of sequence arc, through merging point, the course of work of link block are as follows:
1) flight determines that flight can be in the time for sorting the through merging point of turning on arc when running on sequence arc；
2) the optimum turning time is calculated, is continuously declined into close to be executed in the case where considering aeroplane performance；
3) it is based on 4D track position, conflict probe (convergence conflicts) is carried out using wake forcing (time)；
4) conflict is freed using the method for speed regulation.
Traffic lights section is arranged in sequence arc module in step S402, and sequence arc is bisected into three sections since entrance, point
Not Wei green light, amber light, red light, when aircraft is in green light section, flight flow is small, directly by link block determines that flight exists
The time of the through merging point of turning on sequence arc；When aircraft is in amber light section, flight flow is more, passes through the arc module that sorts
Traffic flow is integrated in combing, keeps the operation of the orderly Lothrus apterus of flight；When aircraft is in red light section, flow in point fusion program
It close to saturation, is dredged according to the course of work of sequence arc model, while controlling the time of aircraft inlet point fusion program
And the time for through merging point of turning, to guarantee the even running of traffic flow；
Step S403, a building point fusion program 4D march into the arena trajectory planning agent model.
The present invention is marched into the arena traffic flow using agent model management, design flight agent, conflict probe and free agent,
Trajectory planning agent and runway agent,
The flight agent: the information comprising each flight, including flight number, when estimating/actually enter emerging system
Between, preplan runway, air speed, aircraft position, fly nonstop to the time, fly nonstop to speed, by the merging point time, corresponding sort
Arc, wake flow classification (Cat) and predefined track；
Runway agent: according to Runway operation strategy, by the merging point time, the arc module that sorts and link block are negative for limitation
Blame the available time slot according to flight plan and Runway operation policy calculation runway；
Trajectory planning agent: to determine flight sequence, sequence track is adjusted, according to aircraft performance database to vertical
Straight rail mark is adjusted, and the time and earliest for calculating estimated merging point fly nonstop to the time；
Conflict probe and free agent: the conflict of detection aircraft sequence and decline stage, from trajectory planning agent
Estimated track is received to assess conflict, and passes the result to basic data of the trajectory planning agent as orbit adjusting；It is each
It is interrelated between agent, information exchange is carried out, time management of marching into the arena, flight sequence and conflict probe is realized and frees.
Step S5 generates the point fusion program 4D dynamic track for flight of marching into the arena.
According to program structure and operation characteristic, Runway operation mode is considered, using fusion route structure to flight
Containment plans aircraft 4D approach path using intelligent algorithm.
Number of collisions between aircraft is set as zero, influences to establish mathematics for optimization aim with capacity, economy and environment
Model carry out quantitative analysis, using flight position, speed, into the termination environment time and sequence arc turning time as decision variable, build
Vertical maximum position movement number, arrival time window, personal distance and sequence arc turning time constraint, with evaluation method in step S2
Assessment result be that weight coefficient is arranged in target, flight plan is handled using genetic algorithm later, automatic searching target
Optimized value thus generates the point fusion program 4D dynamic track for flight of marching into the arena；The mathematical model is each in step S2
Evaluation function Fun=α CY+ β CT+ χ NE+ δ EN in the calculation formula and step S3 of index；
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When using entirely or partly realizing in the form of a computer program product, the computer program product include one or
Multiple computer instructions.When loading on computers or executing the computer program instructions, entirely or partly generate according to
Process described in the embodiment of the present invention or function.The computer can be general purpose computer, special purpose computer, computer network
Network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or from one
Computer readable storage medium is transmitted to another computer readable storage medium, for example, the computer instruction can be from one
A web-site, computer, server or data center pass through wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)
Or wireless (such as infrared, wireless, microwave etc.) mode is carried out to another web-site, computer, server or data center
Transmission).The computer-readable storage medium can be any usable medium or include one that computer can access
The data storage devices such as a or multiple usable mediums integrated server, data center.The usable medium can be magnetic Jie
Matter, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid
State Disk (SSD)) etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of marched into the arena 4D path planning method based on an aircraft for fusion program, it is characterised in that: the following steps are included:
Step S1, design point merge mission program；
Step S101 chooses merging point；
Step S102, setting sequence arc；
Step S2 evaluates a fusion mission program；
Whether step S201, measuring and calculating point fusion mission program operation are safe；
Step 202, measuring and calculating point fusion mission program capacity；
Step S203, measuring and calculating point fusion mission program operating cost；
Step S204 calculates mission program effect on environment factor；
Step S205 evaluates a fusion mission program；
Step S3, optimization point fusion Program Static Structure；
Step S301, screening point fusion mission program key parameter；
Step S302 constructs evaluation function；
Step S4, a building point fusion program 4D march into the arena trajectory planning model；
Step S401, building sequence arc module and link block；
Traffic lights section is arranged in sequence arc module in step S402；
Step S403, a building point fusion program 4D march into the arena trajectory planning agent model；
Step S5 generates the point fusion program 4D dynamic track for flight of marching into the arena.
2. according to claim 1 marched into the arena 4D path planning method based on an aircraft for fusion program, it is characterised in that:
In the step S101, on the airfield runway extended line of termination environment, in 5 km of runway mouth~20 kilometer ranges, traffic
Stream starts convergence integration and the anchor point on runway extended line as program merging point, merges point height HmpIn 900
Rice~1500 meters within the scope of；
In step S102, using merging point as the center of circle, sequence arc is delineated；Set internal sort arc LegIt is interiorWith external sorting arc LegOutside, interior row
Sequence arc LegIt is interiorWith external sorting arc LegOutsideHorizontal interval k be at least 4 kms, every sequence arc occupies a height layer respectively, often
Perpendicular separation is M between two height layers1Rice, internal sort arc LegIt is interiorHeight HIn lHigher than external sorting arc LegOutsideHeight HOutside l, outside
Sort arc LegOutsideHeight HOutside lRange is generally 10000 feet -12000 feet, and the distance R of sequence arc to merging point meets:
Wherein, θ is that aircraft continuously declines the angle of descent used when operation；
In the step S201, including near-earth risk and collision risk,
Near-earth risk: being assessed using the method for penetrating obstacle clearance altitude, obtain obstacle clearance remaining, between obstacle clearance remaining is less than safety
Every when, then there is near-earth risk；Otherwise near-earth risk is not present；
Collision risk: if the radar separation in horizontal direction is greater than 10 kms, and the interval in vertical direction is greater than 300 meters,
It is then safety, is otherwise dangerous.
3. according to claim 1 marched into the arena 4D path planning method based on an aircraft for fusion program, it is characterised in that:
In step 202, a fusion mission program capacity is analyzed using following mathematical model,
Wherein: Cpy is program capacity (sortie)；LiFor the length (km) of the correspondence every arc that sorts；M is sequence arc item number；
In step S203, point fusion mission program operating cost (Coo) refer to that typical type aircraft flies using certain point fusion
When stroke sort run, the fuel consumption cost Co of generationfWith flight time cost CotThe sum of, it may be assumed that
Coo=Cof+Cot。
4. according to claim 1 marched into the arena 4D path planning method based on an aircraft for fusion program, it is characterised in that:
In step S204, environmental impact factor includes noise figure and exhaust emissions index, and noise figure calculates as follows:
In formula, LWECPNContinue grade for the daily noise of mission program；N1, N2, N3Respectively between daytime, the flight time of dusk, night
Number is 7 points to 19 points between daytime, is at dusk 19 points to 22 points, and night is 22 points to 7 points,For average effective perceived noise level,
Calculation formula is
LEPNjThe single incident noise figure generated when (x, y) is the aircraft of type j to observation point (x, y), lg is to be with 10
Symbol is indicated for the common logarithm at bottom；
Exhaust emissions index calculates as follows:
E is pollutant set, E={ NOX, HC, CO, TSP },For flight i it is flat fly, the decline stage when e kind it is dirty
The emission index of object is contaminated, Arr is flight set of marching into the arena,It is flight i in flat winged, the decline stage flight time, FFi L、
FFi DIt is flight i in flat winged, the decline stage fuel flow rate；It is intermediate variable.
5. according to claim 1 marched into the arena 4D path planning method based on an aircraft for fusion program, it is characterised in that:
In step S205, using analytic hierarchy process (AHP) stratification target problem, multi-level simulation tool structural model is constructed, that is, constructs tower knot
Structure model, it is destination layer that set point, which merges program postitallation evaluation system, and economy, capacity, environment constitute rule layer, evaluation index
Composing indexes layer；The target problem includes: to increase capacity under the constraint for meeting safe operation, reduces operating cost, slows down
Influence of noise reduces discharge；
The relative Link Importance of each layer factor of quantificational description forms judgment matrix, and judgment matrix is as follows:
Target A has B1、B2、B3、…、BnA evaluation index then constructs the judgment matrix of B in target A, as follows:
bqpIndicate file BpWith BqIt is comparing as a result, and bqp=1/bpq,
1) by each column normalization of judgment matrix B, arrived normalized value aqp；
2) by AW=(aqp)n×nIt is added up by row；AW is normalization matrix；
3) by capable and vector normalization obtained by step 2), orderweight vector W is obtainedp；
WpFor feature vector,Respectively AWp, AWqN times root side；
3) judgment matrix B maximum eigenvalue ψ is calculatedmax；
AWpFor p-th of component of AW；
It checks judgment matrix approach, judges according to the following method:
1) coincident indicator CI is calculated；
2) consistency ration CR is calculated；
In formula, nRIFor evaluation index number；
3) when consistency ration CR is less than setting value, then it is assumed that matrix is by consistency check, and wherein each element meets the requirements；
Otherwise matrix is rebuild；
The weight that capacity, economy, environment influence is calculated, calculating process is as follows:
Each factor in each judgment matrix is calculated to the opposite synthetic weight of destination layer, if B layers include element B1、B2、B3、…、Bn,
Level weight is respectively b1、b2、b3、…、bn, C layers include Elements C1、C2、C3、…、Cn, opposing factors BqLevel weight point
It Wei not c1q、c2q、c3q、…、cnq, then C layers for BqSynthetic weight be respectively
6. according to claim 1 marched into the arena 4D path planning method based on an aircraft for fusion program, it is characterised in that:
In step S301, choose merging point parameter, sequence arc parameter, merging point to sequence arc distance from program bias angle be key
Parameter；
The arithmetic mean of instantaneous value X of each index is found out using Z-score Standardization Act in step S302iWith standard deviation Si, carry out standard
Change processing: each index includes capacity, operating cost, noise and discharge；
Wherein: ZijFor the variate-value after standardization；XijFor real variable value, XiFor arithmetic mean of instantaneous value and SiIt, will be inverse for standard deviation
Sign before index is exchanged, the variate-value Z after standardizationijAround about 0 fluctuation, the variate-value after standardization, which is greater than 0, to be indicated
Higher than average level, the variate-value after standardization indicates to be lower than average level less than 0, obtains in conjunction with the evaluation method in step S2
Index weights, construct evaluation function, point of quantification merge configuration；The inverse indicators, that is, reversed index, inverse indicators are the smaller the better；
Evaluation function Fun are as follows: Fun=α CY+ β CT+ χ NE+ δ EN,
CY, CT, NE, EN are respectively capacity, operating cost, noise and pollutant normalization as a result, α, β, χ, δ are corresponding for each index
Weight；
In step S303, quantitatively evaluating is carried out to a fusion program structure using evaluation function, according to evaluation result change ginseng
Number, Utilization assessment function method successive optimization obtain the optimal static structure of point fusion program, variation are as follows: adjustment merging point
Highly, arc length and the height of sorting and merging point to sequence arc distance from and program bias angle.
7. according to claim 1 marched into the arena 4D path planning method based on an aircraft for fusion program, it is characterised in that:
In step S401, building sequence arc module and link block,
The course of work of the sequence arc module are as follows:
1) when flight enters termination environment, judge that the flight inlet point merges the entrance of program by the arc module that sorts；
2) it calculates under current flight sequence, the time required to flight reaches merging point；
3) location information according to flight in 4D track, judges whether the interval of front and back machine meets the requirements using wake forcing,
Carry out conflict probe；
4) conflict Resolution is carried out using adjustment speed method；
The course of work of the link block are as follows:
1) flight determines that flight can be in the time for sorting the through merging point of turning on arc when running on sequence arc；
2) the optimum turning time is calculated, is continuously declined into close to be executed in the case where considering aeroplane performance；
3) it is based on 4D track position, conflict probe is carried out using wake forcing；
4) conflict is freed using the method for speed regulation.
8. according to claim 1 marched into the arena 4D path planning method based on an aircraft for fusion program, it is characterised in that:
In step S402, traffic lights section is set in sequence arc module, sequence arc is bisected into three sections since entrance, respectively
Green light, amber light, red light, when aircraft is in green light section, flight flow is small, directly determines that flight is sorting by link block
The time of the through merging point of turning on arc；When aircraft is in amber light section, flight flow is more, passes through sequence arc module combing
Traffic flow is integrated, the operation of the orderly Lothrus apterus of flight is kept；When aircraft is in red light section, flow is close in point fusion program
Saturation is dredged according to the course of work of sequence arc model.
9. according to claim 1 marched into the arena 4D path planning method based on an aircraft for fusion program, it is characterised in that:
In step S403, a building point fusion program 4D marches into the arena trajectory planning agent model,
It is marched into the arena traffic flow using agent model management, design flight agent, conflict probe and frees agent, trajectory planning
Agent and runway agent；
The flight agent: the information comprising each flight, including flight number, estimate/actually enter the emerging system time,
Preplan runway, air speed, aircraft position, flies nonstop to the time, flies nonstop to speed, by merging point time, corresponding sequence arc, tail
Traffic category and predefined track；
Runway agent: according to Runway operation strategy, limitation is responsible for root by merging point time, the arc module that sorts and link block
According to the available time slot of flight plan and Runway operation policy calculation runway；
Trajectory planning agent: to determine flight sequence, sequence track is adjusted, according to aircraft performance database to vertical rails
Mark is adjusted, and the time and earliest for calculating estimated merging point fly nonstop to the time；
Conflict probe and free agent: the conflict of detection aircraft sequence and decline stage is received from trajectory planning agent
It is expected that track conflicts to assess, and pass the result to basic data of the trajectory planning agent as orbit adjusting.
10. according to claim 1 marched into the arena 4D path planning method based on an aircraft for fusion program, feature exists
In: in step s 5, number of collisions between aircraft is set as zero, influences to build for optimization aim with capacity, economy and environment
Vertical mathematical model carries out quantitative analysis, becomes using flight position, speed, into termination environment time and sequence arc turning time as decision
Amount establishes the mobile number of maximum position, arrival time window, personal distance and sequence arc turning time constraint, to comment in step S2
The assessment result of valence method is that weight coefficient is arranged in target, is handled using genetic algorithm flight plan, is searched later automatically
Objective function optimal value is sought, the point fusion program 4D dynamic track for flight of marching into the arena is thus generated；The mathematical model is step S2
In each index calculation formula and step S3 in evaluation function Fun=α CY+ β CT+ χ NE+ δ EN.
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