CN109830127B - Aircraft approach 4D track planning method based on point fusion program - Google Patents
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Abstract
The invention discloses an aircraft approach 4D track planning method based on a point fusion program, which comprises the following steps: the method comprises the steps of S1 designing a point fusion flight program, S2 evaluating the point fusion flight program, S3 optimizing a static structure of the point fusion program, S4 constructing a 4D approach path planning model of the point fusion program, and S5 generating a 4D dynamic track of the point fusion program of the approach flight. The method of the invention improves the capacity of the approach route of the terminal area, reduces the operation cost of the aircraft and reduces the environmental impact on the premise of ensuring the safe operation of the flight.
Description
Technical Field
The invention belongs to the technical field of 4D (three-dimensional) track planning of an aircraft approach in a terminal area, and relates to a method for planning the operation of an approach flight by combining a point fusion approach program and the operation condition of the terminal area.
Background
The global economy is rapidly developed, and the air transportation industry is rapidly developed. However, with the explosion of the air transportation industry, flight traffic is increasing dramatically. The terminal area is used as an important connection area between an airport flight area and an air route, the phenomenon of flight congestion is frequent, unnecessary air spiral waiting and ground delay of flights are caused, the operation cost is increased, the extra burden of air traffic control personnel and units is increased, and the air traffic safety is seriously endangered. How to strengthen the flight management in the terminal area, ensure the safety of the airplane, increase the capacity of the terminal area, reduce the flight cost and reduce the emission becomes an urgent task for the related departments of the current air traffic control.
The terminal area has the defects of high traffic flow density, frequent change of the running state of the aircraft, complicated air route structure, high air traffic density, coexistence of multiple running modes, and serious problems of airspace congestion and flight delay. The departure aircraft generally climbs to the height quickly after taking off and flies to a transition point, so that the conflict is less, and the flight program applicability is high; and the approach aircraft has high track freedom, flexible height change, easy accumulation of flights and low flight program applicability. Therefore, the research on optimization of the approach path of the aircraft is always important.
At present, the standard approach procedure in the terminal area has two modes of traditional radar guidance and area navigation. The traditional radar bootstrap program has high operation flexibility but low predictability, frequent communication between a controller and a unit and large workload; the regional navigation program is simple to operate, the workload of personnel is low, but a large-area airspace is required to be occupied, the operation flexibility is poor, and the efficiency is low. The point fusion procedure takes place as soon as possible. The program combines the advantages of a regional navigation program and a continuous descent technology, and changes the open-loop course guidance of radar control by adopting a closed-loop direct-flight fusion point instruction.
The Point fusion System (PMS) is an approach program for convergence operation of terminal area-oriented approach traffic flow, which is proposed by an experimental center of european navigation safety organization, and relies on the existing precision area navigation (P-RNAV), thereby effectively enhancing the approach flight management in the terminal area, and promoting the wide application of the area navigation program and Continuous Descent Approach (CDA) technology in the terminal area. The method makes full use of the existing performance-based navigation to effectively improve and optimize the operation track of the approach aircraft. The point fusion procedure includes a fusion point and a plurality of preplanned sequencing arcs, as shown in FIG. 1.
Compared with the current popular open-loop instruction guidance and the current precise area navigation application, the point fusion program can enable the area navigation program and the continuous descending approach technology to be widely applied in the approach process of the terminal area, and particularly has more obvious advantages in high-density operation.
The point fusion program strengthens the inbound flight management in the terminal area, improves the capacity of the terminal area under the condition of ensuring safety, and the configuration of the point fusion program is beneficial to the implementation of a Continuous Descending Operation (CDO) strategy, thereby being beneficial to reducing the flight cost and reducing the emission. At present, the technology is widely applied in Europe, but is still in a theoretical exploration stage in China, and partial scholars proceed to research and discuss the feasibility of the implementation and the application of the technology in China, and aim at a specific airport design point fusion program and a flight operation method based on the point fusion program, but the design of the technology is mostly based on the theory, how to combine with the actual traffic flow operation, and the optimization design is just started.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an aircraft approach 4D track planning method based on a point fusion program.
The method takes the approach traffic flow as an object, considers the operation influence of the aircraft, re-plans the approach route path, and optimizes the approach route in the terminal area by evaluating the safety risk, capacity, economy and environmental influence on the program on the basis of the point fusion structure and screening the optimal point fusion configuration. And on the basis, 4D track optimization is carried out on the approach aircraft, a point fusion configuration track planning model is constructed, and the approach 4D track of the aircraft in the terminal area is optimized.
The invention provides an aircraft approach 4D track planning method based on a point fusion program, which comprises the following steps:
step S1, designing a point fusion flight program;
step S101, selecting a fusion point;
step S102, setting a sequencing arc;
step S2, evaluating the point fusion flight program;
step S201, measuring and calculating whether the point fusion flight program is safe to operate;
step 202, measuring and calculating the capacity of a point fusion flight program;
step S203, calculating the operating cost of the point fusion flight program;
step S204, measuring and calculating influence factors of the flight program on the environment;
step S205, evaluating the point fusion flight program;
step S3, optimizing a point fusion program static structure;
s301, fusing key parameters of a flight program by a screening point;
step S302, an evaluation function is constructed;
step S4, constructing a point fusion program 4D approach path planning model;
step S401, constructing a sequencing arc module and a connecting module;
step S402, traffic light segments are arranged on the sequencing arc module;
step S403, constructing a point fusion program 4D entrance trajectory planning agent model;
step S5, a point fusion program 4D dynamic track of the approach flight is generated.
The invention has all the following beneficial effects:
the invention comprehensively considers factors such as flight plans, aircraft performance, flight program design and the like, provides the aircraft approach 4D track planning method based on the point fusion program, and has important practical significance and application prospect. A flight program evaluation system is constructed, and the program operation performance is comprehensively evaluated, so that the construction of the point fusion optimal configuration is realized; on the basis of program structure optimization, traffic flow is further optimized, and an intelligent algorithm is adopted to realize the 4D trajectory planning of the incoming flights; on the premise of ensuring safe operation of the flight, the capacity of the approach route of the terminal area is improved, the operation cost of the aircraft is reduced, and the environmental impact is reduced.
Drawings
FIG. 1 is a schematic view of a point fusion configuration;
FIG. 2 is a schematic diagram of the sequencing arcs and the connection modules in the point fusion program 4D approach trajectory planning model;
FIG. 3 is a schematic diagram of agent models in the point fusion program 4D approach trajectory planning model;
FIG. 4 is a schematic diagram of a point fusion program operation evaluation architecture;
fig. 5 is a technical route diagram of an aircraft approach 4D track planning method based on a point fusion procedure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides an aircraft approach 4D track planning method based on a point fusion program, which comprises the following steps in sequence:
and step S1, designing a point fusion flight program.
The background, the purpose, the range, the navigation precision requirement, the configuration, the operation and the special situation disposal of the point fusion program are known in detail, and the point fusion program is designed based on the basic principle of flight program design aiming at various parameters including fusion points, sequencing arcs, envelope lines, public navigation sections, turning angles, convergence angles and the like and factors such as the corresponding heights and angles of the parameters in the point fusion program.
And step S101, selecting a fusion point.
On the extension line of the airport runway in the terminal area, within 5-20 km from the runway opening, the traffic flow starts to converge and integrate, and the positioning point positioned on the extension line of the runway serves as a program fusion point, and the height H of the fusion pointmpIs in the range of 900-1500 m;
step S102, setting a sequencing arc.
Drawing a sequencing arc by taking the fusion point as a circle center; setting an inner sequencing arc LegInner partAnd outer sequencing arc LegOuter coverInner sequencing arc LegInner partAnd outer sequencing arc LegOuter coverThe horizontal interval k is at least 4 kilometers, each sequencing arc respectively occupies one height layer, and the vertical interval between every two height layers is M1Rice, M1Can be 300 meters, and has an inner sequencing arc LegInner partHeight H ofl inHigher than outer sorting arc LegOuter coverHeight H ofl outer layerOuter sorting arc LegOuter coverHeight H ofl outer layerTypically ranging from 10000 feet to 12000 feet, avoiding the use of transition height layers, which are defined as: the lowest available flight level above the transition level. The use of a transition altitude layer means the use of a space between the transition altitude and the transition altitude layer, the transition interlayer, a particular modified sea level barometric altitude at or below which the vertical position of the aircraft is expressed in terms of the modified sea level barometric altitude so as not to cause radio communication confusion, within which the aircraft may switch frequencies, which would otherwise result if the altitude layer were used.
The distance R from the sequencing arc to the fusion point satisfies:
where θ is a descent angle used when the aircraft is continuously descending.
In step S2, the point fusion flight program is evaluated.
On the basis of ensuring safe operation of the flight, the capacity, the economy and the environmental influence of the point fusion program are measured, an evaluation system is established by adopting an Analytic Hierarchy Process (AHP), and the point fusion flight program is comprehensively evaluated.
And step S201, calculating whether the point fusion flight program is safe to operate.
Safe operation of a flight procedure involves two implications: 1. the flight procedure should ensure that the aircraft has sufficient obstacle-surmounting safety; 2. under the condition of considering a certain controller work load level, the aircrafts have enough interval safety, and collision and even collision are avoided. As can be seen from the meaning of the flight procedure operation, the flight procedure operation safety risk includes the safety risk between the aircraft and the ground obstacle, which is called the ground proximity risk, and mainly considers the collision safety between the aircraft and the obstacle; the safety risk between the aircraft and the aircraft, called the risk of collision, is mainly considered for the safety between the aircraft and the aircraft.
Regarding the near-earth risk, considering the analysis of the approach risk of the aircraft and the Obstacle, and evaluating by adopting an Obstacle Clearance (OCA) penetration method to obtain parameters such as Obstacle Clearance and the like, wherein the near-earth risk exists when the Obstacle Clearance is smaller than a safety interval; otherwise there is no ground proximity risk;
for the collision risk, if the radar interval in the horizontal direction is more than 10 kilometers, and the interval in the vertical direction is more than 300 meters, the radar is safe, otherwise, the radar is unsafe;
step 202, calculating point fusion flight procedure capacity.
When the airspace structure and the approach and departure programming of the terminal area are relatively standard, each approach route, approach route and departure route have no intersection, and the arrival aircraft flow and the departure aircraft flow are separated by using height limitation in the terminal area, so that the mutual influence is small. The airspace structure of the terminal area is simplified, the following mathematical model is adopted to analyze the capacity of the point fusion flight program,
wherein: cpy is program capacity (rack count); l isiFor each sequencing arc length (kilometers); m is the number of sequencing arcs; r is a constant; i is the sequencing arc number, i.e. thi sequencing arcs;
and step S203, calculating the operating cost of the point fusion flight program.
On the premise of ensuring the running safety of the flight program, the improvement of the economy becomes a higher pursuit of the planning and design of the modern flight program. The economy of flight procedure operation refers to the flight process of the aircraft using the flight procedure to reduce fuel consumption, shorten flight time and flight distance. The measure of the economy of the flight program mainly considers the operation cost of the flight program, namely the flight oil consumption cost and the flight time cost.
The point-fused flight procedure operating costs include flight fuel consumption costs and flight time costs.
Point fusion flight procedure operating cost (Co)o) The method refers to the fuel consumption cost Co generated when a typical aircraft model is applied to a certain point and is fused with a flight program to operatefAnd time of flight cost CotAnd (c) the sum, i.e.:
Coo＝Cof+Cot
fuel consumption cost CofAmong the cost components of an air transport enterprise are the direct variable costs, which are related to time of flight, altitude and speed. The reduction of fuel cost can directly reduce the passenger seat rate and the carrying rate of the air route cost-keeping point, and is an important link for controlling cost and obtaining the maximum profit of an air transportation enterprise. Time cost CotDirect operating costs associated with the time of flight t, in addition to fuel consumption;
and step S204, measuring and calculating the influence factors of the flight program on the environment.
Reducing the impact of flight programs on the environment is a higher-level pursuit and is also an important aspect for reflecting the design and the operation quality of modern flight programs.
The environmental influence factors comprise a noise index and an exhaust emission index, and the noise index is calculated according to the following formula:
in the formula, LWECPNFor each day of flight procedureA noise persistence level; n is a radical of1，N2，N3The flying times in the daytime, in the evening and at night are respectively, the flying times in the daytime are from 7 to 19, in the evening are from 19 to 22, and in the night are from 22 to 7,
to average the effective perceived noise level, the formula is
LEPNj(x, y) is a single event noise value generated to an observation point (x, y) when the aircraft with the model j flies, and lg is a common logarithm expression symbol with the base 10;
the exhaust emission index is calculated according to the following formula:
e is a set of contaminants, E ═ NOX,HC,CO,TSP}。
The emission index of the e pollutant when flight i is in the stage of level flight and descent, Arr is the set of incoming flights,
for flight i flight time in level flight, descent phase, FFi L、FFi DThe fuel flow rate for flight i in the level flight, descent phase.
Are all inAn intermediate variable;
step S205, the point fusion flight procedure is evaluated.
Adopting an Analytic Hierarchy Process (AHP) to stratify a target problem and constructing a multi-level analytical structure model; the specific structural model is as a structural schematic diagram of a point fusion program operation evaluation system shown in FIG. 4, namely a tower-type structural model is constructed, the point fusion program operation evaluation system is a target layer, the economy, the capacity and the environment form a criterion layer, and the evaluation indexes form an index layer; the target problem includes: under the constraint of meeting safe operation, the capacity is increased, the operation cost is reduced, the noise influence is slowed down, and the emission is reduced;
and (3) describing the relative importance of each layer factor quantitatively to form a judgment matrix, wherein the judgment matrix is as follows:
for example, object A has B1、B2、B3、…、BnAnd (4) constructing a judgment matrix of B in the target A according to the evaluation indexes, wherein the judgment matrix comprises the following steps:
bqprepresents column one BpAnd column two BqResults of comparison, and bqp＝1/bpq，bpqFor intermediate variables, the decision matrix scales and meanings are shown in the following table:
the relative weights of the elements under a single criterion are calculated.
1) Normalizing each row of the judgment matrix B to obtain a normalized value aqp；
brqRepresents any column BrAnd column BqThe result of the comparison; n is the dimension of the judgment matrix;
2) AW ═ aqp)n×nSumming according to rows; AW is a normalized matrix;
3) normalizing the row and vector obtained in the step 2) to obtain a sorting weight vector Wp；
AWpIs the p-th component of AW;
checking and judging the consistency of the matrix, and judging according to the following method:
1) calculating a consistency index CI (consistency index);
2) calculating a consistency ratio CR (consistency ratio);
in the formula, nRIFor evaluating the number of indexes, RI is a random consistency index, which can be queried by the following table.
3) When the consistency ratio CR is smaller than a set value, the matrix is considered to pass consistency inspection, and all elements meet the requirements; otherwise, reconstructing the matrix, wherein the set value can be 0.10;
and calculating the weights of capacity, economy and environmental influence, wherein the calculation process is as follows:
calculating relative composite weights of factors in judgment matrices to the target layer, e.g. B layer containing element B1、B2、B3、…、BnThe hierarchical weight is b1、b2、b3、…、bnThe layer C containing element C1、C2、C3、…、CnRelative factor B thereofqThe hierarchical weight of c is respectively1q、c2q、c3q、…、cnqThen C layer to BqAre respectively the synthesis weights of
ncThe number of elements in the C layer;
and step S3, optimizing the static structure of the point fusion program. According to the flight program evaluation method, index consistency processing and dimensionless processing are carried out by adopting a Z-score standardization method, an evaluation function is constructed, the operation influence of a point fusion program under different parameters is analyzed, the quality degree of a design scheme is determined, a targeted improvement scheme is provided, and an optimal point fusion configuration is screened.
Step S301, the key parameters of the flight program are fused at the screening points. Aiming at various parameters including a fusion point, a sequencing arc, an envelope line, a public navigation section, a turning angle, a convergence angle and the like in a point-to-point fusion flight program, three key parameters including a fusion point parameter (a fusion point position and a height), a sequencing arc parameter (a sequencing arc length and a height) and a size range (a fusion point-to-sequencing arc distance and a program offset angle) are selected, and based on a basic principle of flight program design, a point fusion configuration is changed by setting three key coefficients of a point fusion configuration;
step S302, an evaluation function is constructed. Because the characteristics of the nature, dimension, order of magnitude and the like of each index have certain difference, the invention adopts a Z-score standardization method to calculate the arithmetic mean value X of each indexiAnd standard deviation SiTo proceed withAnd (3) standardization treatment: each index includes capacity, operating cost, noise and emissions;
wherein: zijIs a normalized variable value; xijAs values of actual variables, XiIs the arithmetic mean sum SiFor standard deviation, the signs before the inverse index are exchanged, and the value of the normalized variable ZijFluctuating around 0, normalized variable values greater than 0 indicate above average, and normalized variable values less than 0 indicate below average. Solving the problems of different properties and comparability between indexes through index consistency processing and dimensionless processing, constructing an evaluation function by combining the index weight obtained by the evaluation method in the step S2, and quantifying the point fusion configuration; the inverse index is the reverse index, and the smaller the inverse index is, the better the inverse index is;
the evaluation function Fun is: fun ═ α CY + β CT + χ NE + EN,
CY, CT, NE and EN are respectively the normalized results of capacity, running cost, noise and pollutants, and alpha, beta and chi are weights corresponding to all indexes;
step S303, screening the optimal point fusion configuration.
And quantitatively evaluating the point fusion program structure by adopting an evaluation function, changing parameters according to an evaluation result, adjusting the program structure, and gradually optimizing by utilizing the evaluation function method to obtain the optimal static structure of the point fusion program. The changing method comprises the following steps: adjusting the height of the fusion point, the length and the height of the sequencing arc, the distance from the fusion point to the sequencing arc and the program offset angle;
and step S4, constructing a point fusion program 4D approach path planning model.
According to the point fusion configuration, a sequencing arc module and a connection module are established, and an aircraft approach landing planning method based on agent technology is provided.
Step S401, a sequencing arc module and a connection module are constructed.
On the basis of point fusion configuration, a sequencing arc module and a connection module are established;
the sequencing arc module keeps the incoming flights to operate on the sequencing arcs in order and without conflict by adjusting the speed, and prolongs or shortens the flight distance of the airplanes on the arc sections according to the traffic flow condition.
The working process of the sequencing arc module is as follows:
1) when a flight enters a terminal area, judging an entry point of the flight entry point fusion program through a sequencing arc module;
2) calculating the time required by the flight to reach the fusion point under the current flight sequence;
3) according to the position information of the flight in the 4D track, judging whether the interval between the front machine and the back machine meets the requirement by utilizing the wake flow interval (distance) to perform conflict detection (catch up conflicts);
4) and (5) utilizing a speed regulation method to perform conflict resolution.
The connecting module is used for determining the sequence of flights leaving the sequencing arc and going to the fusion point, and the working process of the connecting module is as follows:
1) when the flight operates on the sequencing arc, determining the time that the flight can be bent on the sequencing arc to reach the fusion point;
2) calculating an optimal turning time to perform a continuous descent approach taking into account aircraft performance;
3) based on the 4D track position, adopting wake interval (time) to carry out conflict detection (convergence conflict);
4) and (5) solving conflict by adopting a speed regulation and control method.
Step S402, setting a traffic light segment on a sequencing arc module, dividing the sequencing arc into three segments from an entry point, wherein the three segments are a green light, a yellow light and a red light respectively, when the aircraft is in the green light segment, the flight flow is small, and the time of the flight turning on the sequencing arc to reach the fusion point is directly determined through a connection module; when the aircraft is in the yellow light section, the flight flow is more, the traffic flow is combed and integrated through the sequencing arc module, and the flight is kept to operate orderly without conflict; when the aircraft is in the red light section, the flow in the point fusion program is close to saturation, the dispersion is carried out according to the working process of the sequencing arc model, and meanwhile, the time of the aircraft entering the point fusion program and the time of turning to the fusion point are controlled so as to ensure the stable operation of the traffic flow;
step S403, constructing a point fusion program 4D approach path planning agent model.
The invention adopts the agent model to manage the traffic flow of the approach, designs flight agents, conflict detection and resolution agents, track planning agents and runway agents,
the flight agent: information including each flight including flight number, estimated/actual entry point fused system time, pre-planned runway, aircraft speed, aircraft position, straight time of flight, straight speed of flight, time past fused point, corresponding sequencing arc, wake category (Cat), and predefined trajectory;
a runway agent: according to a runway operation strategy, the time of passing through the fusion point is limited, and the sequencing arc module and the connection module are responsible for calculating the available time slot of the runway according to the flight plan and the runway operation strategy;
trajectory planning agent: the method is used for determining flight sequence, adjusting sequence track, adjusting vertical track according to an aircraft performance database, and calculating time of a predicted fusion point and earliest direct flight time;
conflict detection and resolution agent: detecting conflicts between the aircraft sequence and the descending stage, receiving a predicted track from the track planning agent to evaluate the conflicts, and transmitting the result to the track planning agent to serve as basic data for track adjustment; the agents are mutually associated, information interaction is carried out, and entrance time management, flight sequencing, conflict detection and resolution are achieved.
Step S5, a point fusion program 4D dynamic track of the approach flight is generated.
According to the program structure and the operation characteristics, the runway operation mode is considered, the accommodation of the point fusion airline structure to the flights is utilized, and the 4D approach route of the aircraft is planned by adopting an intelligent algorithm.
Setting the number of conflicts among aircrafts to be zero, taking capacity, economy and environmental influence as optimization targets, establishing a mathematical model for quantitative analysis, taking flight position, speed, time entering a terminal area and sequencing arc turning time as decision variables, establishing maximum position moving times, arrival time windows, safety intervals and sequencing arc turning time constraints, setting weight coefficients by taking the evaluation result of the evaluation method in the step S2 as a target, then processing a flight plan by adopting a genetic algorithm, and automatically searching an optimal value of an objective function, thereby generating a point fusion program 4D dynamic track of an approach flight; the mathematical model is a calculation formula of each index in step S2 and an evaluation function Fun ═ α CY + β CT + χ NE + EN in step S3;
in the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. An aircraft approach 4D track planning method based on a point fusion program is characterized by comprising the following steps: the method comprises the following steps:
step S1, designing a point fusion flight program;
step S101, on an airport runway extension line in a terminal area, within a range of 5-20 kilometers away from a runway opening, traffic flow starts to converge and integrate, and positioning points positioned on the runway extension line are used as fusion points;
step S102, setting an inner sorting arc Leg by taking the fusion point as the center of a circleInner partAnd outer sequencing arc LegOuter cover；
Step S2, evaluating the point fusion flight program;
step S201, measuring and calculating whether the point fusion flight program is safe to operate;
step 202, analyzing the capacity of the point fusion flight procedure by adopting the following mathematical model,
wherein: cpy is the program capacity; l isiFor each length of sequencing arc; m is the number of sequencing arcs; r is a constant; i is a sequencing arc number, namely the ith sequencing arc;
step S203, calculating the operating cost of the point fusion flight program, wherein the operating cost of the point fusion flight program comprises flight oil consumption cost and flight time cost, and the operating cost Co of the point fusion flight programoThe method refers to the fuel consumption cost Co generated when a typical aircraft model is applied to a certain point and is fused with a flight program to operatefAnd time of flight cost CotAnd (c) the sum, i.e.:
Coo＝Cof+Cot；
s204, measuring and calculating environmental influence factors of the flight program, wherein the environmental influence factors comprise a noise index and a tail gas emission index;
step S205, adopting an analytic hierarchy process to stratify a target problem, constructing a multi-level analytic structure model, namely constructing a tower structure model, taking a set point fusion program operation evaluation system as a target layer, forming a criterion layer by economy, capacity and environment, and forming an index layer by evaluation indexes;
the target problem includes: under the constraint of meeting safe operation, the capacity is increased, the operation cost is reduced, the noise influence is slowed down, and the emission is reduced;
and (3) describing the relative importance of each layer factor quantitatively to form a judgment matrix, wherein the judgment matrix is as follows:
object A has B1、B2、B3、…、BnAnd (4) constructing a judgment matrix of B in the target A according to the evaluation indexes, wherein the judgment matrix comprises the following steps:
bqprepresents column one BpAnd column two BqResults of comparison, and bqp＝1/bpq，bpqIs the intermediate variable(s) of the variable,
1) normalizing each row of the judgment matrix B to obtain a normalized value aqp；
brqRepresents any column BrAnd column BqThe result of the comparison; n is the dimension of the judgment matrix;
2) AW ═ aqp)n×nSumming according to rows; AW is a normalized matrix;
3) normalizing the row and vector obtained in the step 2) to obtain a sorting weight vector Wp；
4) calculating the maximum bit of the judgment matrix BCharacteristic value psimax；
AWpIs the p-th component of AW;
checking and judging the consistency of the matrix, and judging according to the following method:
1) calculating a consistency index CI;
2) calculating a consistency ratio CR;
in the formula, nRIThe number of the indexes is evaluation index number; RI represents an average random consistency index;
3) when the consistency ratio CR is smaller than a set value, the matrix is considered to pass consistency inspection, and all elements meet the requirements; otherwise, reconstructing the matrix;
and calculating the weights of capacity, economy and environmental influence, wherein the calculation process is as follows:
calculating the relative composite weight of each factor in each judgment matrix to the target layer, and setting that the B layer contains an element B1、B2、B3、…、BnThe hierarchical weight is b1、b2、b3、…、bnThe layer C containing element C1、C2、C3、…、CnRelative factor B thereofqThe hierarchical weight of c is respectively1q、c2q、c3q、…、cnqThen C layer to BqAre respectively the synthesis weights of
ncThe number of elements in the C layer;
step S3, optimizing a point fusion program static structure;
step S301, selecting a fusion point parameter, a sorting arc parameter, a distance from the fusion point to the sorting arc and a program offset angle as key parameters;
step S302, adopting a Z-score standardization method to obtain an arithmetic mean value X of each indexiAnd standard deviation SiCarrying out standardization treatment, wherein each index comprises capacity, running cost, noise and emission;
step S303, carrying out quantitative evaluation on the point fusion program structure by adopting an evaluation function, changing parameters according to an evaluation result, gradually optimizing by utilizing an evaluation function method, and obtaining an optimal static structure of the point fusion program, wherein the changing method comprises the following steps: adjusting the height of the fusion point, the length and the height of the sequencing arc, the distance from the fusion point to the sequencing arc and the program offset angle;
step S4, constructing a point fusion program 4D approach path planning model;
step S401, constructing a sequencing arc module and a connecting module; the working process of the sequencing arc module is as follows:
1) when a flight enters a terminal area, judging an entry point of the flight entry point fusion program through a sequencing arc module;
2) calculating the time required by the flight to reach the fusion point under the current flight sequence;
3) according to the position information of the flight in the 4D track, judging whether the interval between the front machine and the back machine meets the requirement by utilizing the wake interval, and performing conflict detection;
4) utilizing a speed regulation method to carry out conflict resolution;
the working process of the connecting module is as follows:
1) when the flight operates on the sequencing arc, determining the time that the flight can be bent on the sequencing arc to reach the fusion point;
2) calculating an optimal turning time to perform a continuous descent approach taking into account aircraft performance;
3) performing collision detection by adopting wake flow intervals based on the 4D track position;
4) a speed regulation and control method is adopted to relieve conflict;
step S402, traffic light segments are arranged on the sequencing arc module;
step S403, constructing a point fusion program 4D entrance trajectory planning agent model;
step S5, setting the number of conflicts among aircrafts to be zero, taking capacity, economy and environmental influence as optimization targets, establishing a mathematical model for quantitative analysis, taking flight position, speed, time of entering a terminal area and sequencing arc turning time as decision variables, establishing maximum position moving times, arrival time windows, safety intervals and sequencing arc turning time constraints, setting weight coefficients by taking the evaluation result of the evaluation method in the step S2 as a target, then processing a flight plan by adopting a genetic algorithm, and automatically searching an optimal value of an objective function, thereby generating an inbound flight point fusion program 4D dynamic track; the mathematical model is a calculation formula of each index in step S2 and an evaluation function Fun ═ α CY + β CT + χ NE + EN in step S3, where CY, CT, NE, and EN are normalized results of capacity, running cost, noise, and emissions, and α, β, and χ are weights corresponding to each index.
2. The method for 4D trajectory planning of an aircraft approach based on a point fusion procedure according to claim 1, characterized in that: in the step S101, the height H of the fusion pointmpIs in the range of 900-1500 m;
in step S102, inner sorting arcs LegInner partAnd outer sequencing arc LegOuter coverThe horizontal interval k is at least 4 kilometers, each sequencing arc respectively occupies one height layer, and the vertical interval between every two height layers is M1Rice, inner sequencing arc LegInner partHeight H ofl inHigher than outer sorting arc LegOuter coverHeight H ofl outer layerOuter sorting arc LegOuter coverHeight H ofl outer layerTypically ranging from 10000 feet to 12000 feet, the distance R of the sequencing arc to the point of fusion satisfies:
wherein theta is a descent angle adopted when the aircraft continuously descends;
in the step S201, including the ground proximity risk and the collision risk,
risk in the near field: evaluating by adopting a method of penetrating the obstacle clearance height to obtain obstacle clearance, and when the obstacle clearance is smaller than the safety interval, presenting a near-ground risk; otherwise there is no ground proximity risk;
risk of collision: it is safe if the radar spacing in the horizontal direction is greater than 10 km and the spacing in the vertical direction is greater than 300 m, otherwise it is unsafe.
3. The method for 4D trajectory planning of an aircraft approach based on a point fusion procedure according to claim 1, characterized in that: in step S204, the noise figure is calculated according to the following formula:
in the formula, LWECPNDaily noise duration level for flight procedure; n is a radical of1，N2，N3The flying times in the daytime, in the evening and at night are respectively, the flying times in the daytime are from 7 to 19, in the evening are from 19 to 22, and in the night are from 22 to 7,
to average the effective perceived noise level, the formula is
LEPNj(x, y) is a single event noise value generated to an observation point (x, y) when the aircraft with the model j flies, and lg is a common logarithm expression symbol with the base 10;
the emission index Em is calculated according to the following formula:
e is a set of contaminants, E ═ NOX,HC,CO,TSP}，
The emission index of the e pollutant when flight i is in the stage of level flight and descent, Arr is the set of incoming flights,
for flight i flight time in level flight, descent phase, FFi L、FFi DFuel flow rate for flight i in the level flight, descent phase;
are all intermediate variables.
4. The method for 4D trajectory planning of an aircraft approach based on a point fusion procedure according to claim 1, characterized in that: in the step S302, the process is repeated,
wherein: zijIs a normalized variable value; xijAs values of actual variables, XiIs the arithmetic mean sum SiFor standard deviation, the signs before the inverse index are exchanged, and the value of the normalized variable ZijFluctuating around 0, wherein the normalized variable value is greater than 0 and is higher than the average level, the normalized variable value is less than 0 and is lower than the average level, and an evaluation function is constructed and the point fusion configuration is quantized by combining the index weight acquired by the evaluation method in the step S2; the inverse index is a reverse index, and the smaller the inverse index is, the better the inverse index is.
5. The method for 4D trajectory planning of an aircraft approach based on a point fusion procedure according to claim 1, characterized in that: in step S402, a traffic light segment is set on the sequencing arc module, the sequencing arc is divided into three segments from an entry point, the three segments are a green light, a yellow light and a red light, when the aircraft is in the green light segment, the flight flow is small, and the time when the flight turns on the sequencing arc to reach the fusion point is directly determined through the connection module; when the aircraft is in the yellow light section, the flight flow is more, the traffic flow is combed and integrated through the sequencing arc module, and the flight is kept to operate orderly without conflict; when the aircraft is in the red light section, the flow in the point fusion program is close to saturation, and the dispersion is carried out according to the working process of the sequencing arc model.
6. The method for 4D trajectory planning of an aircraft approach based on a point fusion procedure according to claim 1, characterized in that: in the step S403 of the above-described embodiment,
managing an incoming traffic flow by using an agent model, and designing a flight agent, a conflict detection and resolution agent, a track planning agent and a runway agent;
the flight agent: the method comprises the steps that information of each flight is contained, wherein the information comprises a flight number, estimated/actual entry point fusion system time, a pre-planned runway, airplane speed, airplane position, direct flight time, direct flight speed, time passing through fusion points, a corresponding sequencing arc, wake classification and a predefined track;
a runway agent: according to a runway operation strategy, the time of passing through the fusion point is limited, and the sequencing arc module and the connection module are responsible for calculating the available time slot of the runway according to the flight plan and the runway operation strategy;
trajectory planning agent: the method is used for determining flight sequence, adjusting sequence track, adjusting vertical track according to an aircraft performance database, and calculating time of a predicted fusion point and earliest direct flight time;
conflict detection and resolution agent: and detecting conflicts between the aircraft sequence and the descending stage, receiving a predicted track from the track planning agent to evaluate the conflicts, and transmitting the result to the track planning agent to be used as basic data for track adjustment.
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