CN111047914B - FMS track prediction method based on four-dimensional track operation - Google Patents
FMS track prediction method based on four-dimensional track operation Download PDFInfo
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Abstract
The invention belongs to the technical field of track operation, and particularly relates to an FMS track prediction method based on four-dimensional track operation, which is completed by utilizing a four-dimensional horizontal track and vertical track prediction method, wherein the method comprises the following specific steps: s1) obtaining plane plan section files and plan point files according to the received flight plan of the plane in the flight section, and S2) obtaining a prediction result of a horizontal flight path through a horizontal prediction method according to the plan section files; obtaining a prediction result of a vertical track through a vertical prediction method; s3) according to the prediction result of S2), obtaining the RNP value of the located flight segment, and finishing the accurate flight of the flight segment. Due to the adoption of the technical scheme, the prediction method has high-precision track prediction capability, can improve the operation efficiency of the airplane and is effective guarantee for green and safe flight of the airplane.
Description
Technical Field
The invention belongs to the technical field of track operation, and particularly relates to an FMS track prediction method based on four-dimensional track operation, which is completed by utilizing a four-dimensional horizontal track and vertical track prediction method.
Background
At this stage, with the rapid development of the air transportation industry, the air traffic flow is also increased, and thus the exposed airspace operation efficiency and safety become more and more severe. In recent years, with the proposal of a four-dimensional track operation concept, the aircraft can adopt more environment-friendly and efficient flight modes such as continuous descending approach, continuous climbing cruise and the like theoretically, so that the flight efficiency of the aircraft is improved. By controlling the Required Arrival time (Required time of Arrival) of the airplane, the airplane can fly without conflict and arrive at a fixed time.
Track prediction is an important means to ensure efficient flight of an aircraft. At present, many researches on four-dimensional track prediction are carried out, but most researches are based on simulation verification, and a certain prediction accuracy is ensured. But not from the practical point of view of aircraft flight, the applicability is poor. Based on the method, the method comprehensively considers two modes of horizontal track prediction and vertical track prediction of actual flight, and provides the airborne FMS four-dimensional track prediction method under the condition of combining four-dimensional track operation.
Disclosure of Invention
The invention discloses an FMS track prediction method based on four-dimensional track operation, which aims to solve any one of the above and other potential problems in the prior art.
In order to achieve the purpose, the technical scheme of the invention is as follows: an FMS track prediction method based on four-dimensional track operation specifically comprises the following steps:
s1) obtaining an airplane plan section file and a plan point file according to the airplane flight plan;
s2) obtaining a prediction result of the horizontal track by a horizontal prediction method according to the plan section file; obtaining a prediction result of a vertical track through a vertical prediction method;
s3) according to the prediction result of S2), obtaining the RNP (required navigation performance) value of the located flight segment, and finishing accurate flight.
Further, the horizontal prediction and the vertical prediction in S2 complement each other: determining a planned flight section where the airplane is located according to the flight position and the height of the airplane by horizontal prediction, further determining a track angle and a roll angle of the airplane and sending the track angle and the roll angle to vertical prediction; the vertical prediction uses the control state and the flight state (including a track angle and a roll angle) of the airplane as parameters to call performance calculation services, and the state (including a flight position and an altitude) of the airplane at the next moment is obtained and returned to the horizontal prediction. And finally, completing a track prediction process based on four-dimensional track operation.
Further, the specific steps of predicting the four-dimensional horizontal trajectory and the four-dimensional vertical trajectory in S2) are as follows:
s2.1) horizontal prediction:
s4.11) connecting the transition tracks in the plan section file according to the airplane position and height data provided by vertical prediction, predicting the starting height and the ending height of the common flight section, and determining the end point position of the height cutoff flight section;
s4.12) determining the type of the horizontal flight segment;
s4.13) obtaining a rolling angle and a track angle of the airplane according to the flying position of the airplane;
s4.14) judging whether the flight segment prediction is finished or not according to the height data provided by the vertical prediction and the rolling angle and the flight path angle obtained by the S4.13), and if so, carrying out S4.15); otherwise, returning to S4.13);
s4.15) judging whether all horizontal flight plans are finished, if so, finishing horizontal prediction, and if not, returning to S4.12);
s4.16) after the horizontal track is predicted, storing a horizontal projection of the predicted track in a prediction buffer area, wherein the horizontal projection is a smooth track from a take-off airport to a landing airport, and is shown in figure 1;
s4.2) vertical track prediction
S4.21) setting the control mode and the control parameters of the airplane model according to the records in the planning point file,
s4.22) then obtaining the state sequence of the airplane by a cyclic calling performance calculation module;
s4.23) during the cyclic call, after the specific state of the aircraft is obtained by calling the performance calculation each time, it is necessary to check whether the specific state reaches the threshold value in the planning point, so as to determine whether to enter the state recorded by the next planning point, if yes, enter the state recorded by the next planning point, and if not, return to S4.21) until the vertical track prediction is completed, as shown in fig. 2.
Further, the types of the horizontal leg of S4.12) include: a circular arc-like flight path, a great circle flight path or a flight path similar to the great circle flight path.
Further, the specific method for judging whether the flight segment prediction is finished or not in S4.14) is as follows:
the arc-shaped flight sections in the navigation database are tangent to the front and rear flight paths, so that additional transition track connection is not needed between the arc-shaped flight sections and the front and rear flight sections;
for a large circular route or a route section approximate to the large circular route, firstly, the termination mode needs to be judged: if the model is a height cut-off model, determining the terminal point of a flight segment according to the position and height information provided by vertical prediction, and then connecting the terminal point with the next flight segment by using a flying FLyOver transition;
if the destination is determined, determining whether the destination is connected with the next flight segment By using Fly Over or Fly By according to the record of the file domain of the plan segment;
further, the specific steps of S4.22) are:
s4.221) obtaining the flight state of the airplane at the next moment according to the roll angle obtained by the horizontal track prediction,
s4.222) obtaining a track angle according to the horizontal track prediction, and updating the horizontal position of the airplane.
Further, the step S4.23) of determining whether to enter the state recorded by the next planning point includes: correcting airspeed, mach number, altitude, and flight position.
A computer program for implementing the FMS track prediction method based on four-dimensional track operation.
An information processing terminal for realizing the FMS track prediction method based on four-dimensional track operation.
A computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the method for FMS trajectory prediction based on four-dimensional trajectory described above.
The invention has the beneficial effects that: by adopting the technical scheme, the prediction method has the advantages of ensuring flight safety, maintaining air traffic order and accelerating control of traffic flow, and can improve the utilization rate of time, space resources and various devices and the working efficiency of workers, and specifically comprises the following aspects: displaying a four-dimensional flight profile: the time, space and flight position information of the airplane is obtained in real time by calculating the flight profile of the flight flying according to the given route. According to the flight time of the airplane, the flight process is simulated, the four-dimensional flight profile of the airplane is obtained, and the control of the air traffic flow at a certain moment by a controller is facilitated. And provides reference basis for the work of the controller, and reduces the burden of the controller. And standard limits are given for flights of the same model and flight plan to fly within the terminal area. And (4) consulting a descending point: and according to the flight profile obtained by calculation, a reasonable descending point is determined, the burden of a controller and a pilot is reduced, and the automation degree of air traffic management is improved. And (3) collision detection: the flight path prediction can predict the height, speed, course, time and the like of an airplane passing through a designated point in the flying process. Various flight conflicts can be predicted in advance.
Description of the drawings:
FIG. 1 is a block flow diagram of a FMS track prediction method based on four-dimensional track operation according to the present invention.
FIG. 2 is a logic diagram of a horizontal track prediction process in the prediction method of the present invention.
FIG. 3 is a logic diagram of a vertical trajectory prediction process in the prediction method of the present invention.
FIG. 4 is a diagram showing the comparison effect between the prediction method and the actual flight path.
Detailed Description
The technical solution of the present invention is further explained with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the present invention relates to a method for predicting an FMS track based on a four-dimensional track operation,
the prediction method specifically comprises the following steps:
s1) obtaining an airplane planning segment file and a planning point file according to the airplane flight plan.
S2) obtaining a prediction result of the horizontal track by a horizontal prediction method according to the plan section file; obtaining a prediction result of a vertical track through a vertical prediction method;
s3) obtaining the RNP value of the located flight segment according to the prediction result of S2) to finish accurate flight.
The horizontal prediction and the vertical prediction in S2 supplement each other: determining a planned flight section where the airplane is located according to the flight position and the height of the airplane by horizontal prediction, further determining a track angle and a roll angle of the airplane and sending the track angle and the roll angle to vertical prediction; the vertical prediction uses the control state and the flight state (including a track angle and a roll angle) of the airplane as parameters to call performance calculation services, and the state (including a flight position and an altitude) of the airplane at the next moment is obtained and returned to the horizontal prediction. And finally, completing a track prediction process based on four-dimensional track operation.
The specific steps of the four-dimensional horizontal trajectory and vertical trajectory prediction in S2) are as follows:
s2.1) horizontal prediction:
s4.11) connecting the transition tracks in the plan section file according to the airplane position and height data provided by vertical prediction, predicting the starting height and the ending height of the common flight section, and determining the end point position of the height cutoff flight section;
s4.12) determining the type of the horizontal flight segment;
s4.13) obtaining a rolling angle and a track angle of the airplane according to the flying position of the airplane;
s4.14) judging whether the flight segment prediction is finished or not according to the height data provided by the vertical prediction and the rolling angle and the flight path angle obtained by the S4.13), and if so, carrying out S4.15); otherwise, returning to S4.13);
s4.15) judging whether all horizontal flight plans are finished, if so, finishing horizontal prediction, and if not, returning to S4.12);
s4.16) after the horizontal track is predicted, storing a horizontal projection of the predicted track in a prediction buffer area, wherein the horizontal projection is a smooth track from a take-off airport to a landing airport, and is shown in FIG. 2;
s4.2) vertical track prediction
S4.21) setting the control mode and the control parameters of the airplane model according to the records in the planning point file,
s4.22) then obtaining the state sequence of the airplane by a cyclic calling performance calculation module;
s4.23) during the cyclic call, after the specific state of the aircraft is obtained by calling the performance calculation each time, it is necessary to check whether the specific state reaches the threshold value in the planning point, so as to determine whether to enter the state recorded by the next planning point, if yes, enter the state recorded by the next planning point, and if not, return to S4.21) until the vertical track prediction is completed, as shown in fig. 2.
The types of the horizontal flight segment of S4.12) comprise: a circular arc-like flight path, a great circle flight path or a flight path similar to the great circle flight path.
S4.14) judging whether the flight segment prediction is finished or not specifically comprises the following steps:
the arc-shaped flight sections in the navigation database are tangent to the front and rear flight paths, so that additional transition track connection is not needed between the arc-shaped flight sections and the front and rear flight sections;
for a large circular route or a route section approximate to the large circular route, firstly, the termination mode needs to be judged: if the model is a height cut-off model, determining the terminal point of a flight segment according to the position and height information provided by vertical prediction, and then connecting the terminal point with the next flight segment by using a flying FLyOver transition;
if the destination is determined, determining whether the destination is connected with the next flight segment By using Fly Over or Fly By according to the record of the file domain of the plan segment;
the S4.22) comprises the following specific steps:
s4.221) obtaining the flight state of the airplane at the next moment according to the roll angle obtained by the horizontal track prediction,
s4.222) obtaining a track angle according to the horizontal track prediction, and updating the horizontal position of the airplane.
The step S4.23) of determining whether to enter the state recorded by the next planning point includes: corrected airspeed, mach number, altitude, and flight position, as shown in figure 3.
A computer program for implementing the FMS track prediction method based on four-dimensional track operation.
An information processing terminal for realizing the FMS track prediction method based on four-dimensional track operation.
A computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the method for FMS trajectory prediction based on four-dimensional trajectory described above.
The predicted track point file obtained by vertical prediction contains much larger data volume. The predicted track segment only records the whole information of each predicted flight segment, and the predicted track point records the result of each calling of the performance calculation module in the prediction process. The track points not only form a dense point array along the three-dimensional flight track of the airplane in the flight space, but also each track point records the predicted state information of the airplane at the current position. The data recording unit of the predicted trace point is shown in table 2 below.
S7) the 4D track is added with a time dimension on the basis of the 3D track, and is required to reach a specific measuring point at a specific time. The implementation of four-dimensional trajectory prediction requires the ability to plan an executable 4D trajectory after a given flight plan and arrival time at a particular point, so that the aircraft can arrive at the destination at a predetermined time. In the four-dimensional trajectory prediction module of the method, the time of passing the following points is taken as a control time target:
1) the time at which the aircraft reaches the Top of descent (Top of decline);
2) time of arrival of the aircraft at an initial approach point (IF);
3) the time at which the aircraft reaches a particular waypoint in the cruise phase.
The specific design process is as follows:
1) at takeoff, the aircraft sends information including an Estimated Time of Arrival (ETA) to the ATC;
2) the ATC sends expected STAR information to the aircraft;
3) the unit updates FMS information, obtains more accurate ETA and sends the ETA to the ATC;
4) ATC sends STAR to the airplane, the unit updates FMS information, and more accurate ETA is obtained;
5) at T before the predicted arrival, the ground station takes the remaining 4D flight path from the aircraft and assigns RTA limits (to seconds) to the aircraft accordingly
6) ATC specifies RTA (close to ETA to ensure as acceptable as possible)
7) Aircraft acceptance of RTA
8) Before reaching the descent peak, the ground station acquires an accurate 4D track and RTA/ETA from the airplane so as to meet time constraint, and the method has the following parameters which can be adjusted in the flying process:
1) specific speeds in the climb and descent phases: specific airspeeds including climb phase, descent phase;
2) cruise altitude, mach number in cruise phase;
example (b):
taking Beijing flying to Shanghai as an example, a flight plan is made, the flight plan takes off from the Beijing capital airport to land on the Shanghai rainbow bridge airport, and the Pudong airport is taken as a reserve landing airport. The company's fairway from the Beijing capital airport ZBAA to the Shanghai rainbow bridge airport ZSSS has a ZBAASSS 1 ID, and there are 9 records in the ARINC424 data, corresponding to 9 flight segments. The specific path is that the aircraft first arrives at waypoint LADIX through SID takeoff procedure and goes from LADIX to the navigation station BTO, then flies to navigation station BTO along W40 flight line, flies from BTO to navigation station PIX along flight line a593, then flies from PIX to waypoint P44, from P44 to waypoint P43, from P43 to waypoint P41, from P41 to waypoint PIMOL, then flies from PIMOL to a593 to navigation station VMB. Finally, the appropriate STAR is selected from the VMB off-route, and the navigation system enters the Shanghai rainbow bridge airport ZSSS. The comparative effect of the method applying the method and the actual flight is shown in fig. 4.
The prediction result is analyzed, so that the result of the track prediction can fully reflect the information of the horizontal and vertical sections of the flight plan, and the state of the airplane in the full flight stage is accurately predicted.
TABLE 1 predicted track segment storage Unit architecture
TABLE 2 predicted trace point memory cell architecture
The FMS track prediction method based on four-dimensional track operation provided by the embodiment of the present application is described in detail above. The above description of the embodiments is only for the purpose of helping to understand the method of the present application and its core ideas; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
As used in the specification and claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The foregoing description shows and describes several preferred embodiments of the present application, but as aforementioned, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the application as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the application, which is to be protected by the claims appended hereto.
Claims (7)
1. An FMS track prediction method based on four-dimensional track operation is characterized by comprising the following steps:
s1) obtaining an airplane plan section file and a plan point file according to the airplane flight plan;
s2) obtaining a prediction result of the horizontal track by a horizontal prediction method according to the plan section file; obtaining a prediction result of a vertical track through a vertical prediction method;
the horizontal prediction and the vertical prediction complement each other: determining a planned flight section where the airplane is located according to the flight position and the height of the airplane by horizontal prediction, further determining a track angle and a roll angle of the airplane and sending the track angle and the roll angle to vertical prediction; the vertical prediction uses the control state and the flight state of the airplane, including a track angle and a roll angle, to call performance calculation service for parameters to obtain the state of the airplane at the next moment, including a flight position and an altitude, and returns to the horizontal prediction; finally, completing a track prediction process based on four-dimensional track operation;
the specific steps of the horizontal prediction and the vertical prediction are as follows:
s2.1) horizontal prediction:
s2.11) connecting the planning section files by using a transition track according to the airplane position and height data provided by vertical prediction, predicting the starting height and the ending height of a common flight section, and determining the end position of a height cutoff flight section;
s2.12) determining the type of the horizontal flight segment;
s2.13) obtaining a rolling angle and a track angle of the airplane according to the flying position of the airplane;
s2.14) judging whether the flight segment prediction is finished or not according to the height data provided by the vertical prediction and the rolling angle and the flight path angle obtained by the S2.13), and if so, carrying out S2.15); otherwise, returning to S2.13);
s2.15) judging whether all horizontal flight plans are finished, if so, finishing horizontal prediction, and if not, returning to S2.12);
s2.16) after the horizontal track is predicted, storing the horizontal projection of the predicted track in a prediction buffer area, wherein the horizontal projection is a smooth track from a take-off airport to a landing airport;
s2.2) vertical prediction:
s2.21) setting the control mode and the control parameters of the airplane model according to the records in the planning point file,
s2.22) circularly calling the performance calculation module to obtain a state sequence of the airplane;
s2.23) during cyclic calling, after the specific state of the airplane is obtained by calling performance calculation each time, whether the specific state reaches a threshold value in a planning point is required to be checked, so that whether the state recorded by the next planning point is judged, if yes, the state recorded by the next planning point is entered, and if not, S2.21 is returned until the vertical track prediction is completed;
s3) obtaining the RNP value of the located flight segment according to the prediction result of S2), and finishing the accurate flight of the flight segment.
2. The prediction method according to claim 1, wherein the type of the horizontal leg of S2.12) comprises: a circular arc-like flight path, a great circle flight path or a flight path similar to the great circle flight path.
3. The prediction method according to claim 1, wherein the specific method for S2.14) determining whether to complete the leg prediction is:
the arc navigation sections in the navigation database are tangent to the front and rear air routes, so that additional transition track connection is not needed between the arc navigation sections and the front and rear navigation sections;
for a large circular route or a route section approximate to the large circular route, firstly, the termination mode needs to be judged: if the model is a height cut-off model, determining the terminal point of a flight segment according to the position and height information provided by vertical prediction, and then connecting the terminal point with the next flight segment by using a flying type FLy Over transition;
if the destination is determined, it is determined whether to connect to the next leg By Fly Over or Fly By according to the record of the file field of the planned leg.
4. The prediction method according to claim 1, wherein the specific steps of S2.22) are:
s2.221) obtaining a roll angle according to the horizontal track prediction to obtain the flight state of the airplane at the next moment,
s2.222) obtaining a track angle according to the horizontal track prediction, and updating the horizontal position of the airplane.
5. The prediction method of claim 3, wherein the step S2.23) of determining whether to enter the state recorded by the next planning point comprises: correcting airspeed, mach number, altitude, and flight position.
6. An information processing terminal implementing the FMS track prediction method based on four-dimensional track operation according to any one of claims 1 to 5.
7. A computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the method of FMS trajectory prediction based on four-dimensional trajectory according to any of claims 1-5.
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| CN114078339B (en) * | 2022-01-07 | 2022-05-31 | 北京航空航天大学杭州创新研究院 | Flight-trend-inference-based flight conflict detection method for space-time probability distribution grid |
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