CN110502676A - Airdrome scene operation emulation mode and storage medium based on visualization tool modeling - Google Patents
Airdrome scene operation emulation mode and storage medium based on visualization tool modeling Download PDFInfo
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Abstract
The invention discloses a kind of airdrome scene operation emulation modes and storage medium based on visualization tool modeling, 1) method is the following steps are included: carry out visualization pretreatment, form format data file to airdrome scene factor data based on GlobalMapper tool；2) scene element is extracted from formatted data files, is constructed the topological relation between scene element, is established airdrome scene model；3) airport planning data is read, according to above-mentioned airdrome scene model, chronologically calculates flight motion profile；4) conflict probe is carried out to flight based on the public section in airdrome scene model, the flight that there is conflict is mediated.The present invention realizes the visualization of airdrome scene model modeling, improves modeling efficiency, and realizes that real-time and precise emulates, the modelling mode of operation reserve is handled convenient for flexibly handling, can also dynamic access external policy, improve scalability, the convenient scene for being applied to verify external algorithm.
Description
Technical field
The present invention relates to a kind of airdrome scene operation emulation mode and storage mediums, more particularly to one kind based on visualization
The airdrome scene operation emulation mode and storage medium of tool modeling.
Background technique
With the fast development of air-transport industry, the scale on airport and the complexity of operation sharply rise, imitative by modeling
Genuine mode assesses the operational efficiency on airport, verifies to the planning of the control strategy, basic environment on airport, Cheng Liao
Necessary means.Traditional airdrome scene modeling and simulating method lacks a kind of visual modeling in terms of static scene modeling
Means, modeling efficiency is lower, and can not effectively be stated in the static modelling stage scene operation rule, to taxiway turn
It partial description or carries out simplifying processing, deviate actual conditions or is described using broken line, data storage capacity is big, is emulating
Aspect generally by the way of deducing offline, it is difficult to meet real-time simulation requirements, and not consider dynamic access external policy
Scaling concern.
Summary of the invention
Goal of the invention: the technical problem to be solved in the present invention is to provide a kind of airdrome scenes based on visualization tool modeling
Run emulation mode and storage medium, solve existing method can not visual modeling and modeling efficiency is low, inflexible deficiency,
In conjunction with airdrome scene design feature and scene operation rule, by GlobalMapper tool, realize that airdrome scene model is built
The visualization of mould improves modeling efficiency, and realizes that real-time and precise emulates, and handles the modelling mode of operation reserve convenient for spirit
Removable mounting unloads, additionally it is possible to which dynamic access external policy improves scalability, the convenient scene for being applied to verify external algorithm.
Technical solution: the airdrome scene operation emulation mode of the present invention based on visualization tool modeling, including with
Lower step:
(1) visualization pretreatment, form format are carried out to airdrome scene factor data based on GlobalMapper tool
Data file；
(2) scene element is extracted from formatted data files, constructs the topological relation between scene element, establishes airport
Surface model；
(3) airport planning data is read, according to above-mentioned airdrome scene model, chronologically calculates flight motion profile；
(4) based on the public section in airdrome scene model to flight carry out conflict probe, to exist conflict flight into
Row is mediated.
Further, the step (1) specifically:
(11) Multi-layer technology is carried out to airdrome scene factor data using GlobalMapper tool, with the shp of dot format
File stores aircraft gate data, and the shp file of line format stores taxiway data, and the shp file of face format stores runway data
With building data；
(12) taxiway data is edited, taxiway broken line is interrupted in road junction position, be split as to
A few broken line generates first taxiway data；
(13) attribute and Rule Information of aircraft gate data, taxiway data are set；
(14) for the taxiway of segmental arc turning, segmental arc turning mark is set；
(15) taxi holding post point, holding point of taking off are labeled as specific properties point, and are added to vertex type data
On GlobalMapper tools interfaces；
(16) above-mentioned data are exported as shp file and corresponding dbf file.
Further, in step (13) further include: set to the operation rule attribute of taxiway data, including setting
One-way trip taxiway and current angular range.
Further, the step (2) specifically:
(21) scene element is extracted from formatted data files and its attribute, the scene element include aircraft gate, cunning
Trade, runway, building；
(22) endpoint location for traversing taxiway is overlapped the point that number is 2 for endpoint location, by its corresponding two cunning
Trade data are merged as a first taxiway data, are overlapped point of the number not equal to 2 for endpoint location and are extracted as closing
Key point；First taxiway is associated with its corresponding two key point, each key point is associated with all first taxiways of its connection；
(23) corresponding relationship of aircraft gate and key point is established, the incidence relation of key point and first taxiway is further passed through
Establish the incidence relation of aircraft gate and taxiway；
(24) by the associated key point of first taxiway and associated other yuan of taxiway of key point, taxiway is established
With the incidence relation of taxiway；
(25) according to positional relationship judge specific properties point belonging to first taxiway, and specific properties point is inserted into first cunning
In the data broken line point sequence of trade, and establish the incidence relation of specific properties point and taxiway data；
(26) position data is transformed into global coordinate system from local coordinate system.
It further, further include segmental arc fit procedure, specifically, the broken line set in traversal taxiway, if discovery step
Suddenly the segmental arc turning mark in (14) then carries out segmental arc fitting, indicates broken line after fitting with segmental arc；
The segmental arc fit procedure is located at step (21) between step (26).
Further, the step (3) specifically:
(31) airport planning data is read, distributes aircraft gate and runway for flight；
(32) sliding path distribution is carried out to flight, includes aircraft gate, runway and taxiway in sliding path；
(33) flight dead reckoning is carried out according to sliding path, and drives flight location updating.
Further, the step (4) specifically:
(41) sliding path of all flights on airdrome scene is obtained, the sliding path of every two flight is compared,
The lap in flight sliding path is extracted as public section, arrival time is carried out to the flight for using the public section
Prediction；
(42) judge whether flight clashes according to arrival time；
(43) when a conflict exists, the strategy waited using the time, is successively mediated according to the sequence of flight priority.
Further, the judgment method in step (42) are as follows: the condition that two frame flights clash is,
(t1st-t2start)*(t1end-t2end) < 0,
Wherein, t1stAt the time of reaching public section starting point for first flight, t1endIt is reached for first flight public
At the time of the end point of section, t2starAt the time of reaching public section starting point for the second frame flight, t2endIt is arrived for the second frame flight
At the time of up to common segment end point.
Further, method is mediated in step (43) are as follows: priority ranking is carried out to flight, according to priority successively from boat
A frame flight is taken out in class's queue, each frame flight lower than the flight priority in queue is traversed and carries out conflict judgement, if
It clashes, the flight low to priority increases in the previous key point in public section waits time slot, then successively traversal processing time
The flight of priority, up to all flights, all processing terminate.
Computer storage medium of the present invention, is stored thereon with computer program, and the computer program is being counted
Calculation machine processor realizes that the above-mentioned airdrome scene based on visualization tool modeling runs emulation mode when executing.
The utility model has the advantages that (1) present invention by GlobalMapper visualization tool, realize the modeling of airport static models can
Depending on changing；(2) operation rule is incorporated static models modeling process by the present invention, is provided and a kind of is visualized expansible rule settings side
Method；(3) present invention frees strategy, non recounting using the conflict probe based on public section during simulation run, and algorithm is received
It holds back, real-time is high；(4) operation reserve of present invention during simulation run can be accessed dynamically from outside, and scalability is strong；(5)
Preferred embodiment of the invention models taxiway turn section by the way of segmental arc fitting, is actually more bonded with airport, and subtract
The amount of storage of a small number of evidences.
Detailed description of the invention
Fig. 1 is the method overall flow figure of present embodiment；
Fig. 2 is the data visualization pretreatment process figure in present embodiment；
Fig. 3 is the operation rule attribute setup schematic diagram in present embodiment；
Fig. 4 is the static models data rapidly extracting flow chart in present embodiment；
Fig. 5 is the scene operation simulation contact surface in present embodiment；
Fig. 6 is the conflict probe schematic diagram based on public section in present embodiment.；
Specific embodiment
The method flow of embodiment of the present invention is as shown in Figure 1, comprising the following steps:
Step 1 carries out visualization pretreatment, form format to airdrome scene factor data based on GlobalMapper tool
Change data；Specifically:
Step 1-1, as shown in Fig. 2, being pre-processed to initial data.Specific practice are as follows: read initial data, original number
It may be AutoCAD format, shp format, mif format etc. according to format, shp data processing be uniformly converted to Various types of data, is pressed
Layered shaping is carried out to initial data according to types such as aircraft gate, taxiway, runway, buildings, and is deposited with the shp file of dot format
Aircraft gate is stored up, the shp file of line format stores taxiway, the shp file storage runway and building of face format；
Step 1-2 carries out the taxiway data of shp format under visual interface by GlobalMapper tool
Visual edit processing generates first taxiway data.Specific practice are as follows: by taxiway broken line at the enterprising Break Row in crosspoint
Reason, i.e., be split as multiple broken lines in cross-point locations for broken line, multiple broken lines share the same endpoint, the folding after fractionation
Line segment is referred to as first taxiway data；
Step 1-3, by GlobalMapper tool in the environment of visualization to the attribute of data and Rule Information into
Row setting.The attribute of aircraft gate includes that seat in the plane code name, the length of seat in the plane, width, the orientation angle of seat in the plane and seat in the plane are suitble to stop
The aircraft model put；The attribute of taxiway includes taxiway title, taxiway type, such as quick-return taxi track, disengaging taxiway, seat in the plane
Sliding channel etc., while some operation rule association attributes can be set, such as one-way trip taxiway, current angular range is set
Deng.It is illustrated by taking the current direction of taxiway as an example, taxiway D5 as shown in Figure 3 is to be rapidly separated, and what is be rapidly separated makes
With rule are as follows: only allow not allowing to enter runway from being rapidly separated, therefore EN_ can be increased from gun off the runway is rapidly separated
DIRECTION field, representing the taxiway allows current direction scope, and it is 180 to 360 degree that current angular range, which is arranged,
To limit the use direction of taxiway；
Step 1-4 slides section for segmental arc turning, segmental arc turning mark is arranged, and facilitates and subsequent carries out segmental arc to it
Process of fitting treatment；
Step 1-5, the interactive addition vertex type data on visualization interface, and labeled data attribute is specific properties
The special points such as point, including taxi holding post point, holding point of taking off；
Step 1-6 exports the data after visual edit and attribute labeling, is stored as the point, line, surface lattice of standard
The property file of the shp file of formula and its corresponding dbf format.
Step 2 carries out rapidly extracting to format data, constructs the topological relation between element, realizes airdrome scene model
Static modelling；Specifically:
Step 2-1, as shown in figure 4, reading aircraft gate, taxiway, runway, building from the shp and dbf file of formatting
Etc. the data of scene elements and its corresponding attribute information, be stored in memory, traverse internal storage data, if it is taxiway data
2-2 and step 2-3 are thened follow the steps, 2-4 is thened follow the steps if it is vertex type data, executes step if being otherwise face categorical data
Rapid 2-5；
Step 2-2 reads taxiway attribute data, including taxiway title, taxiway type, operation rule correlation category
Property, segmental arc turning mark etc..Broken line set is traversed, skates a turn if it is segmental arc, carries out segmental arc process of fitting treatment, is fitted
It indicates largely to put the broken line formed with segmental arc afterwards, to reduce the amount of storage of data；Segmental arc fitting indicates several with camber line
The advantages of broken line of a point composition, this method is that, in the place of turning, if indicated with broken line, broken line point can be very more, is deposited
Storage and calculation amount are bigger, are indicated that data volume can be reduced with camber line.
Step 2-3, extract airdrome scene key point (key point refer in scene taxiway and taxiway or taxiway with
The crosspoint of runway, and do not have the endpoint of the taxiway intersected with other taxiways) and first taxiway data (two adjacent passes
Taxiway data between key point).Specific practice are as follows: the endpoint location for traversing taxiway data is judged, and doubling line segment
Endpoint is overlapped number and is recorded, and being overlapped number for endpoint location is that 1 or the point greater than 2 are extracted as key point, for endpoint
Position is overlapped the point that number is 2, its corresponding two taxiway data is merged as a first taxiway data.And it will
First taxiway data is associated with its corresponding two key point, and each key point is associated with multiple first taxiway datas of its connection；
Step 2-4 extracts aircraft gate and specific properties point data.Specific practice are as follows: judge that vertex type data are to shut down to be
Data then extract the center position of aircraft gate from position data, and the attribute letter of aircraft gate is extracted in dependence file
Breath, is suitble to aircraft model parked etc. including seat in the plane code name, the length of seat in the plane, width, the orientation angle of seat in the plane and seat in the plane；Such as
Fruit dot categorical data is specific properties point, then reads the location information of the specific properties point and the attribute information of specific properties point,
Including sliding holding point, holding point of taking off etc..
Step 2-5 extracts the faces categorical datas such as building, runway.Specific practice are as follows: extracted from the categorical data of face polygon
Shaped position data extract the attribute information, including building, runway title etc. of face data in dependence file.
Step 2-6 establishes the relationship of aircraft gate and taxiway.Specific practice are as follows: the point coordinate and key point of aircraft gate
It sets and is compared, if location matches, establish the corresponding relationship of aircraft gate Yu the key point, further pass through key point and member
The relationship of taxiway establishes the incidence relation of aircraft gate and taxiway；
Step 2-7 establishes the relationship of taxiway and taxiway.Specific practice are as follows: by the associated key point of first taxiway,
And other associated relevant first taxiways of key point, to establish the incidence relation of taxiway and taxiway；
Step 2-8 establishes the relationship of specific properties point and taxiway.Specific practice are as follows: it is special to be judged according to positional relationship
First taxiway where attribute point, and specific properties point is inserted into first taxiway data broken line point sequence, and establish it is special
The bi-directional association relationship of attribute point and taxiway data；
Step 2-9, position data are transformed into global coordinate system from local coordinate system.Specific practice are as follows: according to initial data
The corresponding latitude and longitude coordinates of reference point and rotation angle carry out coordinate conversion process, are transformed into global latitude and longitude coordinates.Assuming that office
Portion coordinate points (x0,y0) and global latitude and longitude coordinates point (lon0,lat0) corresponding, and rotating angle is θ, it is first determined overall situation warp
Latitude coordinate point (lon0,lat0) coordinate under projected coordinate system is (X0,Y0), then under local coordinate any point in the overall situation
Coordinate position under projected coordinate system are as follows:
Global latitude and longitude coordinates (Lon, Lat) are transformed by projection coordinate (X, Y) projective transformation under world coordinates；
Step 3 reads airport planning data, chronologically calculates aircraft motion profile；Specifically:
Step 3-1, as shown in figure 5, flight planning information is read, according to the propulsion of timing, if whole flight plannings are imitative
Really terminate, then exit, otherwise judge whether there is new flight and be added in simulation queue, if there is then carrying out machine to the flight
Position, runway assignment, seat in the plane, runway assignment can according to emulation purpose difference may be selected using built-in Gate Position Scheduling model (so that
It is the principle seat in the plane that uses of distribution flight and runway with Lothrus apterus and type matching) or seat in the plane, runway directly outside dynamic access
The result of distribution system distribution, which carries out seat in the plane and the distribution of runway, (can test external allocation algorithm using which emulation
Card)；
Step 3-2 carries out real-time dynamic sliding path distribution according to seat in the plane, runway information and taxiway rules properties；
Step 3-3 carries out target position reckoning according to sliding path, carries out in real time in such a way that relative time timing promotes
Dead reckoning, and target position is driven to update, realize the update of emulation situation.
Step 4, using based on public section real-time conflict probe and mediate processing；Specifically:
Step 4-1, the conflict probe based on public section.Specific practice are as follows: trajectory predictions are carried out to flight, obtain every frame
Taxi circuit of the flight on airdrome scene, flight taxi circuit is compared two-by-two, is extracted in flight taxi circuit two-by-two
Lap as the public section in prediction locus (may be a first taxiway, it is also possible to multiple member taxiways
Combination is that conflict judges that the processing mode of object is easy to cause backtracking for the processing of enemy's conflict with first taxiway and key point
The problem of not restraining, and the conflict probe based on public section is freed can preferably handle the problem), as shown in figure 5, public
Section of the section between p1 and p2 carries out arrival time prediction to the two frame flights for using the public section, it is assumed that first
Flight is t at the time of reaching common segment starting point1star, it is t at the time of reaching common segment end point1end, the arrival of the second frame flight
It is t at the time of common segment starting point2sta, the second frame flight is t at the time of reaching common segment starting point2end, then two frame flights occur
The condition of conflict are as follows:
(t1start-t2start)*(t1end-t2end)<0
As shown in fig. 6, F1 flight position-time graph such as f1Shown, F2 flight is different according to the time for entering common segment
It is represented by one group of curve along time-axis direction translation, with f in figure2、f2' and f2" three curves indicate, for pair in left side
Head flight the case where f1With f2Slope contrary sign, for the case where f to fly in the same direction on right side1And f2Slope jack per line, however,
It is flight in the same direction or correct flight, position-time graph of F2 flight is in f2Left side or f2' right side the case where be all not in
Conflict, f2" it is the case where conflict, the common ground of flight and correct flight is all to enter the common segment time in the same direction under conflict situations
Difference with exit common segment time difference contrary sign, that is, knock into the back conflict and the correct flight for meeting above-mentioned Rule of judgment, therefore flying in the same direction
Correct conflict, conflict condition can be indicated by above-mentioned conflict condition formula.
Step 4-2, the strategy waited using the time are carried out conflict in the method for Scheduled Flight priority and mediated.Specifically do
Method are as follows: priority ranking is carried out to the flight of emulation, a frame flight, order traversal are according to priority successively taken out from flight queue
The each frame flight lower than the flight priority, carries out conflict judgement using the method for step 4-1, meets above-mentioned conflict in queue
Condition, then the flight low to priority increases in the previous key point in public section waits time slot, then successively traversal processing suboptimum
The flight of first grade, up to all flights, all processing terminate.
If the embodiment of the present invention is realized and when sold or used as an independent product in the form of software function module,
Also it can store in a computer readable storage medium.Based on this understanding, the technical solution of the embodiment of the present invention
Substantially the part that contributes to existing technology can be embodied in the form of software products in other words, the computer software
Product is stored in a storage medium, including some instructions are used so that computer equipment (can be personal computer,
Server or the network equipment etc.) execute all or part of each embodiment the method for the present invention.And storage above-mentioned is situated between
Matter, which includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read Only Memory), magnetic or disk etc. are various, to deposit
Store up the medium of program code.It is combined in this way, present example is not limited to any specific hardware and software.
Correspondingly, embodiments of the present invention additionally provide a kind of computer storage medium, it is stored thereon with computer journey
Sequence.When the computer program is executed by processor, the aforementioned airdrome scene fortune based on visualization tool modeling may be implemented
Row emulation mode.For example, the computer storage medium is computer readable storage medium.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Claims (10)
1. a kind of airdrome scene based on visualization tool modeling runs emulation mode, which comprises the following steps:
(1) visualization pretreatment, form format data are carried out to airdrome scene factor data based on GlobalMapper tool
File；
(2) scene element is extracted from formatted data files, is constructed the topological relation between scene element, is established airdrome scene mould
Type；
(3) airport planning data is read, according to above-mentioned airdrome scene model, chronologically calculates flight motion profile；
(4) conflict probe is carried out to flight based on the public section in airdrome scene model, the flight that there is conflict is arranged
Solution.
2. the airdrome scene according to claim 1 based on visualization tool modeling runs emulation mode, which is characterized in that
The step (1) specifically:
(11) Multi-layer technology is carried out to airdrome scene factor data using GlobalMapper tool, with the shp file of dot format
Aircraft gate data are stored, the shp file of line format stores taxiway data, and the shp file of face format stores runway data and builds
Build object data；
(12) taxiway data is edited, taxiway broken line is interrupted in road junction position, is split as at least one
A broken line generates first taxiway data；
(13) attribute and Rule Information of aircraft gate data, taxiway data are set；
(14) for the taxiway of segmental arc turning, segmental arc turning mark is set；
(15) taxi holding post point, holding point of taking off are labeled as specific properties point, and are added to vertex type data
On GlobalMapper tools interfaces；
(16) above-mentioned data are exported as shp file and corresponding dbf file.
3. the airdrome scene according to claim 2 based on visualization tool modeling runs emulation mode, which is characterized in that
In step (13) further include: the operation rule attribute of taxiway data is set, including setting one-way trip taxiway and
Current angular range.
4. the airdrome scene according to claim 2 based on visualization tool modeling runs emulation mode, which is characterized in that
The step (2) specifically:
(21) extract scene element and its attribute from formatted data files, the scene element include aircraft gate, taxiway,
Runway, building；
(22) endpoint location for traversing taxiway is overlapped the point that number is 2 for endpoint location, by its corresponding two taxiway
Data are merged as a first taxiway data, are overlapped point of the number not equal to 2 for endpoint location and are extracted as key point；
First taxiway is associated with its corresponding two key point, each key point is associated with all first taxiways of its connection；
(23) corresponding relationship of aircraft gate and key point is established, is further established by the incidence relation of key point and first taxiway
The incidence relation of aircraft gate and taxiway；
(24) by the associated key point of first taxiway and associated other yuan of taxiway of key point, taxiway and cunning are established
The incidence relation on trade；
(25) according to positional relationship judge specific properties point belonging to first taxiway, and specific properties point is inserted into first taxiway
In data broken line point sequence, and establish the incidence relation of specific properties point and taxiway data；
(26) position data is transformed into global coordinate system from local coordinate system.
5. the airdrome scene according to claim 4 based on visualization tool modeling runs emulation mode, it is characterised in that:
It further include segmental arc fit procedure, specifically, the broken line set in traversal taxiway, if the segmental arc turning in discovery step (14)
Mark then carries out segmental arc fitting, indicates broken line after fitting with segmental arc；
The segmental arc fit procedure is located at step (21) between step (26).
6. the airdrome scene according to claim 1 based on visualization tool modeling runs emulation mode, which is characterized in that
The step (3) specifically:
(31) airport planning data is read, distributes aircraft gate and runway for flight；
(32) sliding path distribution is carried out to flight, includes aircraft gate, runway and taxiway in sliding path；
(33) flight dead reckoning is carried out according to sliding path, and drives flight location updating.
7. the airdrome scene according to claim 1 based on visualization tool modeling runs emulation mode, which is characterized in that
The step (4) specifically:
(41) sliding path of all flights on airdrome scene is obtained, the sliding path of every two flight is compared, and is extracted
The lap in flight sliding path is pre- to using the flight in the public section to carry out arrival time as public section out
It surveys；
(42) judge whether flight clashes according to arrival time；
(43) when a conflict exists, the strategy waited using the time, is successively mediated according to the sequence of flight priority.
8. the airdrome scene according to claim 7 based on visualization tool modeling runs emulation mode, which is characterized in that
Judgment method in step (42) are as follows: the condition that two frame flights clash is,
(t1start-t2st)*(t1en-t2end) < 0,
Wherein, t1startAt the time of reaching public section starting point for first flight, t1endPublic road is reached for first flight
At the time of section end point, t2starAt the time of reaching public section starting point for the second frame flight, t2endFor the arrival of the second frame flight
At the time of common segment end point.
9. the airdrome scene according to claim 7 based on visualization tool modeling runs emulation mode, which is characterized in that
Method is mediated in step (43) are as follows: priority ranking is carried out to flight, a frame is according to priority successively taken out from flight queue
Flight traverses each frame flight lower than the flight priority in queue and carries out conflict judgement, in case of conflicting, to priority
Low flight increases in the previous key point in public section waits time slot, then the successively flight of traversal processing sub-priority, until
All processing terminate for all flights.
10. a kind of computer storage medium, is stored thereon with computer program, it is characterised in that: the computer program is in quilt
Claim 1 to 9 described in any item methods are realized when computer processor executes.
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