CN110473431A - A kind of conflict prediction method under the height limitation of approach control airspace - Google Patents
A kind of conflict prediction method under the height limitation of approach control airspace Download PDFInfo
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- CN110473431A CN110473431A CN201910876789.XA CN201910876789A CN110473431A CN 110473431 A CN110473431 A CN 110473431A CN 201910876789 A CN201910876789 A CN 201910876789A CN 110473431 A CN110473431 A CN 110473431A
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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]
- G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
- G08G5/0026—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located on the ground
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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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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/02—Automatic approach or landing aids, i.e. systems in which flight data of incoming planes are processed to provide landing data
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Abstract
The invention discloses the conflict prediction methods under a kind of height limitation of approach control airspace, comprising the following steps: a, extracts aircraft intent information；B, cross track and velocity profile are determined；C, track section is shown；D, prewarning advanced period is set；E, collision alert threshold value is set；F, design conflicts detection method；G, error correction；H, collision detection is obtained and is shown.The present invention realizes the automatic collision detection in approach control airspace, reduces the workload of approach control person.
Description
Technical field
The invention belongs to the aircraft conflict prediction fields in air traffic approach control stage, and in particular to a kind of into nearly pipe
Conflict prediction method under airspace height limitation processed.
Background technique
The busy extent of the rapid growth of Chinese air traffic, airport air approaches is also continuously increased, and leads to air approaches
Automatic collision detection become concern hot spot.
Average prewarning advanced period is being kept not omit the detection premise to actual conflict while acceptable level
Under, reduce the false alarm rate of air approaches collision detection.Existing air traffic control automation system conflict early warning (CA) function, accidentally alerts
Rate is high, will affect flight safety.Therefore, for the high reliablity of the aircraft conflict prediction in air traffic approach control stage
Automation tools can help controller persistently to estimate the potential hiding loss at interval, facilitate the work for reducing controller
Amount, the capacity and aircraft for improving termination environment airspace are into the level of security left the theatre.
Air traffic controller is responsible for being commanded according to instrument flight rules (IFRS) instrument flight procedure aerial into what is left the theatre
There is uncertainty in the trajectory predictions method of traffic, existing single condition, simultaneously because first lacks aircraft level altitude letter
Breath, second lacks pilot and controller's intent information, it is difficult to realize accurate collision detection.
The automatic collision detection of air approaches is a challenging problem, and partly cause is related flight intent
Key message is unavailable.Unlike en route control person, when approach control person is spaced sky according to instrument flight rules (IFRS)
Height grant instruction is not issued in middle traffic generally, and therefore, collision detection automation, which can not obtain aircraft, will put down winged height
Degree.This uncertainty increases false alarm rate.And the instruction for requiring termination environment controller to issue height license will increase into close
ATC controller workload.
Summary of the invention
The technical problems to be solved by the invention are in view of the above shortcomings of the prior art, it is empty to provide a kind of approach control
Conflict prediction method under the height limitation of domain realizes the automatic collision detection in approach control airspace, reduces approach control person's
Workload；False alarm rate when system detection is reduced, the collision detection accuracy rate of the aircraft in approach control airspace is improved, mentions
High operational safety；Under the premise that security is guaranteed, aircraft is reduced into the interval left the theatre, and improves approach control airspace capacity.
The technical scheme adopted by the invention is that: the conflict prediction method under a kind of height limitation of approach control airspace, packet
Include following steps:
A, extract aircraft intent information: association approach control area air traffic control automation system is transferred and is parsed in it
The nominal track information in portion, area navigation information, master meter are into departure procedure information, flight plan information, height limitation information
Or other relevant informations；
B, determine cross track and velocity profile: the flight intent information based on above-mentioned priori, screening are related to this into near-space
The related aircraft of domain segment parses the horizontal trajectory and velocity profile of corresponding aircraft, designs the track choosing of corresponding aircraft
Rule is selected, cross track and velocity profile are generated；
C, track section is shown: the rectilinear orbit along aircraft course line obtains estimated track, by Current terrestrial speed and
Aircraft acceleration generates and shows aircraft cross track and velocity profile, is based on internal nominal track information, master meter
Into departure procedure information and track height limitation information, climb track of the corresponding aircraft from starting altitude to object height is generated
Or it descending trajectory sectional view and shows；
D, prewarning advanced period is arranged: setting prewarning advanced period is 2 minutes, and alerts in 2min for the first time along aircraft track
Every 4 seconds detection potential conflicts；
E, collision alert threshold value is arranged: being less than potential required interval minimum value between setting aircraft is collision alert threshold
The slightly below required interval minimum value of alarm threshold of non-wake forcing is arranged, if at least a frame aircraft is not in flying height in value
When layer, horizontal interval 1%, perpendicular separation 5%, if two frame aircrafts are all 10% in flight level；
F, design conflicts detection method: setting m/n cycline rule, wherein m is the prediction conflict for violating collision alert threshold value
Number, n are the radar update cycle；
G, error correction: being based on m/n cycline rule, and amendment guides control, intent inference error, track to build from controller
The uncertain error of mould error or radar tracking noise；
H, collision detection is obtained and is shown: the state and Trajectory-intent information updated based on each radar of aircraft, detection
Aircraft is less than the minimum required approach flight conflict being spaced, and generates horizontal profile collision detection figure and vertical section collision detection
Scheme and shows.
In one embodiment, in step b, cross track and velocity profile are determined, specific as follows:
Transfer and parse the area navigation information and standard instrument departure, SID program letter of approach control area air traffic control automation system
Breath predicts aircraft takeoff track, and the speed limit and lower velocity limit value of most laggard near point and runway threshold aircraft is arranged, from
Next way point on the prospective path of dynamic capture aircraft in target pattern, generates cross track arc section；
If aircraft deviates prospective path, straightway is generated along its current route, in collision detection by its target road
Line is connect with cross track, if aircraft is without departing from along straightway generation cross track and velocity profile, if aircraft is along structure
The cross track flight built, generates cross track and velocity profile, wherein the acceleration of aircraft is set as its current acceleration
The larger value or according to rate limitation determine constant acceleration value.
In one embodiment, it may be selected any two on cross track arc section based on generated cross track arc section
Point is section, obtain the point-to-point transmission along gauge from calculating aircraft commencing speed and the duration of the section.
In one embodiment, the water in step d, when collision alert threshold value is set, in 200 feet of head room
Any aircraft of flat flight is regarded as it in the altitude.
In one embodiment, in step e, required interval minimum value horizontal interval is flat for 3nm+ air approaches aircraft
Equal speed × 2min, required interval minimum value perpendicular separation are averaged climbing or average rate of decrease × 2min for 1000ft+.
In one embodiment, in step f, m/n cycline rule is set, specific as follows:
Collision alert threshold value and the prediction number of collisions for violating collision alert threshold value and the pass between the radar update cycle are set
System obtains prediction number of collisions and the radar update cycle for violating collision alert threshold value according to the collision alert threshold value of setting.
The beneficial effects of the present invention are:
1, on the basis of practical operation error information, the true air traffic data by simulating playback is carried out
, level height flight plan information is obtained using height limitation method, compared with the baseline of not height limitation, average alarm
Pre-set time improves 16%；
2, the automatic collision detection in approach control airspace is realized, the workload of approach control person is reduced.Reduction system
False alarm rate when detection improves the collision detection accuracy rate of the aircraft in approach control airspace, improves operational safety；
3, aircraft under the premise that security is guaranteed, is reduced into the interval left the theatre, and improves approach control airspace capacity.
Detailed description of the invention
Fig. 1 is descending trajectory sectional view of the present invention；
Fig. 2 is the prewarning advanced period CDF comparison of baseline of the present invention and height limitation method；
Fig. 3 is horizontal profile collision detection figure of the present invention；
Fig. 4 is vertical section collision detection figure of the present invention.
Specific embodiment
Invention is further described in detail below in conjunction with the accompanying drawings and the specific embodiments.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the invention discloses the conflict under a kind of height limitation of approach control airspace is pre-
Survey method, comprising the following steps:
Step 1: extracting aircraft intent information: association approach control area air traffic control automation system is transferred and is parsed
Its internal nominal track information, area navigation information, master meter are into departure procedure information, flight plan information, height limitation
Information or other relevant informations；
Step 2: determine cross track and velocity profile: the flight intent information based on above-mentioned priori, screening be related to this into
The related aircraft of near-space domain segment parses the horizontal trajectory and velocity profile of corresponding aircraft, designs the rail of corresponding aircraft
Mark selection rule, generates cross track and velocity profile；
Step 3: track section is shown: the rectilinear orbit along aircraft course line obtains estimated track, passes through Current terrestrial speed
Degree and aircraft acceleration generate and show aircraft cross track and velocity profile, are based on internal nominal track information, standard
Instrument generates corresponding aircraft climbing from starting altitude to object height into departure procedure information and track height limitation information
Track or descending trajectory sectional view are simultaneously shown；
Step 4: setting prewarning advanced period: setting prewarning advanced period is 2 minutes, and alerts in 2min for the first time along aviation
Device track was every 4 seconds detection potential conflicts；
Step 5: setting collision alert threshold value: being less than potential required interval minimum value between setting aircraft is that conflict is accused
The slightly below required interval minimum value of alarm threshold of non-wake forcing is arranged, if at least a frame aircraft is not flying in alert threshold value
When height layer, horizontal interval 1%, perpendicular separation 5%, if two frame aircrafts are all 10% in flight level；
Step 6: design conflicts detection method: setting m/n cycline rule, wherein m is the prediction for violating collision alert threshold value
Number of collisions, n are the radar update cycle；
Step 7: error correction: be based on m/n cycline rule, amendment from controller guide control, intent inference error,
The uncertain error of track modeling error or radar tracking noise；
Step 8: collision detection is obtained and is shown: the state and Trajectory-intent information updated based on each radar of aircraft,
It detects aircraft and is less than the minimum required approach flight conflict being spaced, generate horizontal profile collision detection figure and vertical section conflict
Detection figure is simultaneously shown.
In the present embodiment, in step 2, cross track and velocity profile are determined, specific as follows:
Transfer and parse the area navigation information and standard instrument departure, SID program letter of approach control area air traffic control automation system
Breath predicts aircraft takeoff track, and the speed limit and lower velocity limit value of most laggard near point and runway threshold aircraft is arranged, from
Next way point on the prospective path of dynamic capture aircraft in target pattern, generates cross track arc section；
If aircraft deviates prospective path, straightway is generated along its current route, in collision detection by its target road
Line is connect with cross track, if aircraft is without departing from along straightway generation cross track and velocity profile, if aircraft is along structure
The cross track flight built, generates cross track and velocity profile, wherein the acceleration of aircraft is set as its current acceleration
The larger value or according to rate limitation determine constant acceleration value.
In the present embodiment, it is area that any two points on cross track arc section, which may be selected, based on generated cross track arc section
Section, obtain the point-to-point transmission along gauge from calculating aircraft commencing speed and the duration of the section.
In the present embodiment, in step 4, when collision alert threshold value is arranged, the level in 200 feet of head room flies
Capable any aircraft is regarded as it in the altitude.
In the present embodiment, in step 5, required interval minimum value horizontal interval is the average speed of 3nm+ air approaches aircraft
Degree × 2min, required interval minimum value perpendicular separation are that 1000ft+ is averaged climbing or average rate of decrease × 2min.
In the present embodiment, in step 6, m/n cycline rule is set, specific as follows:
Collision alert threshold value and the prediction number of collisions for violating collision alert threshold value and the pass between the radar update cycle are set
System obtains prediction number of collisions and the radar update cycle for violating collision alert threshold value according to the collision alert threshold value of setting.
In the present invention, approach control area air traffic control automation system includes the initial prototype system of flight intent information, this is
System considers available flight intent information and carrys out prediction locus.The extractable flight intent information used includes internal nominal at present
Track, area navigation, master meter can be used for detecting approach flight into information such as departure procedure, flight plan and height limitations
The conflict of stage aircraft.Detailed flight path is predicted into departure procedure information based on area navigation and master meter.Together
Sample needs internal nominal track to project fine arrival track.And height gap is that accurate pre-computed altitude trail change must
It needs.
The outgoing flight of most of main airports usually follows strictly the master meter of announcement into departure procedure, according to aviation
Device type, into leave the theatre instrument system and airfield runway dynamic selection criteria instrument into departure procedure.According to the flight meter having been filed on
It draws and flight track is modeled, or in the case where lacking flight plan route, carry out reckoning.Assuming that takeoff runway
Be in the past it is given, automatically detect now.Indistributable height license is by controller's input system.Next-generation aviation
Transportation system will be using the effectively navigation based on performance (PBN) approach procedure, using area navigation (RNAV) and required performance
It navigates (RNP), obtains more accurate flight path, further space vector, so that better flight intent information is obtained, this
Trajectory Prediction will be made more accurate.
Flight path is last into closely spaced in the air approaches of horizontal rail and velocity profile based on nominal track
Constructed in tool, the flight path based on effective PBN approach procedure be terminal room away from constructed in sequence, the two
Track be provided to make aircraft it is anticipated that flight path flight, when deviation route, it is simulated using heuristic
To the track of runway, to calculate E.T.A.For the conflict prediction in short time range in approach control, it is contemplated that
The current state (may be arbitrary for its course line) of aircraft needs to select most probable rail from from more tracks
Mark, the reckoning including conflict probe.
Altitude profile can be modeled as one or more sub- sections, and every sub- section is by zero to two horizontal segments and zero to one
It is a to climb or descending branch composition, and three phases can be divided into and modeled: initial acceleration phase, constant rate of speed stage and most
The whole decelerating phase (sets the vertical speed in initial acceleration phase as vι)。
Level height in vertical section is estimated from available flight intent information.It is assumed that controller will be by defeated
Enter all height in hand.But additional control workload can be generated, the invention proposes a kind of methods, only need to be to current behaviour
Make the small change of progress and is obtained with altitude intent information.For specifically reaching runway, in air approaches track
Or usually there is height limitation on certain way points on decline section.It is attached in a certain way point due to way point height limitation
Close all aircrafts need not repeatedly input identical height license.
In most cases, way point limitation is not dependent on course line, is also not dependent on and marches into the arena and departure procedure, and limitation is only
Dependent on certain specific way points.In addition, take into consideration only at present port flight " or be higher than " and outgoing flight " or it is low
In " height limitation.Aircraft is that possible may not limit without way point according to nominal track or the route of its flight again,
Therefore also will use runway decline section can search height limitation as issued in instrument approach procedure, IAP.Pass through air route in real time
Point table and runway decline section.Way point height limitation usually matches with the level height in runway decline section；Work as discovery
When mismatch, it is subject to higher height limitation.
Fig. 1 illustrates to reach the name decline section of runway, as shown in IAP figure (i.e. into nearly plate).Height limitation includes one
It is a at most laggard 2300 feet of near point or more, it is other at 7.4N miles away from runway or 3000 English away from 5.1N miles of runway threshold
Ruler or more, away from 3000 feet of runway or more.Away from 13.7 nautical miles of runway, away from 4000 feet or more at 16.9 nautical miles of runway.
After primarily determining horizontal rail, before establishing velocity profile, according to the distance for arriving runway threshold, track is divided into secondary
Section, and height limitation is applied to the way point of section.The height in hand degree of controller's distribution will cover way point or runway decline is cutd open
Height limitation on face.
In the present invention, the prewarning advanced period time is 2 minutes, by alerting case to practical air approaches air traffic conflict
Playback analyzed, wherein approach control person is in separation loss for the first time (LOS) 2min in 90% collision alert case
It does not respond to inside, therefore the present invention sets the prewarning advanced period time to 2 minutes.It alerts in 2min for the first time along aircraft track
Every 4 seconds detection potential conflicts, to remind the corresponding conflict state of controller, wherein 4 seconds each radar scanning renewal times.
In the present invention wake flow refer to caused by aircraft operation to the disturbance of its ambient atmosphere it mainly by jet flow and wing tip
Two parts are vortexed to form.Aircraft enters phenomena such as pitching, rolling, stall caused by preceding machine wake zone and makes in order to prevent
At aviation accident, in this regard, International Civil Aviation Organization (ICAO) formulated it is a set of than more complete wake forcing standard.In the present invention,
The alarm threshold of non-wake forcing is the alarm threshold for including except other situations of wake forcing standard.
By improving m/n cycline rule, amendment guides control, intent inference error, track modeling error from controller
Or the uncertain error of radar tracking noise, its object is to reduce false alarm rate.
Need to carry out collision alert threshold value setting before aircraft collision detection, its object is to pass through trajectory predictions aircraft
Position.
In actual operation, controller guides control, intent inference error, track modeling error or radar tracking noise
Uncertain error all may cause and accidentally alert；Conventional m/n cycline rule is for specifying alarm conditions and period.The application
The conflict statement that the m/n rule of multi-standard is arranged is suitable for a variety of situations, improved to ensure to miss any actual conflict
M/n rule facilitates from the average value of update cycle to reject false alarm, and by using confirming in truthful data inspection alarm.
The application by be arranged multiple collision alert threshold values and violate collision alert threshold value prediction number of collisions and the radar update cycle it
Between relationship realize above-mentioned purpose, wherein collision alert threshold value and the prediction number of collisions for violating collision alert threshold value and radar be more
Relationship such as table 1 between the new period:
1 collision alert threshold value of table and the prediction number of collisions for violating collision alert threshold value and the relationship between the radar update cycle
| Time (s) | M/n standard |
| t≤15 | 1/2 |
| 15 t≤35 < | 2/3 |
| 35 t≤60 < | 3/5 |
| 60 t≤90 < | 4/6 |
| T > 90 | 5/7 |
In above table, in the range of first time predicting to violate the time t of alert threshold, in n radar update cycle
There are the predictions that m violates alert threshold.
A specific embodiment of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.
Claims (6)
1. the conflict prediction method under a kind of height limitation of approach control airspace, which comprises the following steps:
A, extract aircraft intent information: association approach control area air traffic control automation system is transferred and parses its internal mark
Claim track information, area navigation information, master meter into departure procedure information, flight plan information, height limitation information or its
Its relevant information；
B, determine cross track and velocity profile: the flight intent information based on above-mentioned priori, screening are related to air approaches boat
The related aircraft of section parses the horizontal trajectory and velocity profile of corresponding aircraft, and the track for designing corresponding aircraft selects rule
Then, cross track and velocity profile are generated；
C, track section is shown: the rectilinear orbit along aircraft course line obtains estimated track, passes through Current terrestrial speed and aviation
Device acceleration generates and shows aircraft cross track and velocity profile, based on internal nominal track information, master meter into from
Program information and track height limitation information, generate corresponding aircraft from starting altitude to object height climb track or under
Drop track sectional view is simultaneously shown；
D, be arranged prewarning advanced period: setting prewarning advanced period be 2 minutes, and for the first time alert 2min in along aircraft track every
4 seconds detection potential conflicts；
E, collision alert threshold value is arranged: being less than potential required interval minimum value between setting aircraft is collision alert threshold value, if
The slightly below required interval minimum value of alarm threshold for setting non-wake forcing, if at least a frame aircraft is not in flight level,
Horizontal interval is 1%, perpendicular separation 5%, if two frame aircrafts are all 10% in flight level；
F, design conflicts detection method: setting m/n cycline rule, wherein m is the prediction number of collisions for violating collision alert threshold value, n
For the radar update cycle；
G, error correction: being based on m/n cycline rule, and amendment guides control, intent inference error, track modeling to miss from controller
The uncertain error of difference or radar tracking noise；
H, collision detection is obtained and shown: the state and Trajectory-intent information updated based on each radar of aircraft detects aviation
Device is less than the minimum required approach flight conflict being spaced, and generates horizontal profile collision detection figure and vertical section collision detection figure simultaneously
Display.
2. the conflict prediction method under a kind of approach control airspace height limitation according to claim 1, which is characterized in that
In step b, cross track and velocity profile are determined, specific as follows:
The area navigation information and standard instrument departure, SID program information of approach control area air traffic control automation system are transferred and parse, in advance
Aircraft takeoff track is surveyed, the speed limit and lower velocity limit value of most laggard near point and runway threshold aircraft are set, caught automatically
Next way point on the prospective path of aircraft in target pattern is obtained, cross track arc section is generated；
If aircraft deviate prospective path, along its current route generate straightway, in collision detection by its target route with
Cross track connection, if aircraft is without departing from along straightway generating cross track and velocity profile, if aircraft is along having constructed
Cross track flight, generates cross track and velocity profile, wherein the acceleration of aircraft be set as its current acceleration compared with
Big value or the constant acceleration value determined according to rate limitation.
3. the conflict prediction method under a kind of approach control airspace height limitation according to claim 2, which is characterized in that
It is section that any two points on cross track arc section, which may be selected, based on generated cross track arc section, obtains the edge of the point-to-point transmission
Gauge is from calculating aircraft commencing speed and the duration of the section.
4. the conflict prediction method under a kind of approach control airspace height limitation according to claim 1, which is characterized in that
In step d, when collision alert threshold value is arranged, any aircraft of the horizontal flight in 200 feet of head room is regarded
It is it in the altitude.
5. the conflict prediction method under a kind of approach control airspace height limitation according to claim 1, which is characterized in that
In step e, required interval minimum value horizontal interval is 3nm+ air approaches aircraft average speed × 2min, and required interval is minimum
Value perpendicular separation is that 1000ft+ is averaged climbing or average rate of decrease × 2min.
6. the conflict prediction method under a kind of approach control airspace height limitation according to claim 1, which is characterized in that
In step f, m/n cycline rule is set, specific as follows:
Collision alert threshold value and the prediction number of collisions for violating collision alert threshold value and the relationship between the radar update cycle, root are set
Prediction number of collisions and the radar update cycle for violating collision alert threshold value are obtained according to the collision alert threshold value of setting.
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| US11030907B1 (en) | 2020-06-19 | 2021-06-08 | Honeywell International Inc. | Methods, systems, and apparatuses for identifying and indicating the secondary runway aiming point (SRAP) approach procedures |
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