CN111489590B - Flight regulation and control method based on multi-layer point fusion program - Google Patents

Flight regulation and control method based on multi-layer point fusion program Download PDF

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CN111489590B
CN111489590B CN202010324397.5A CN202010324397A CN111489590B CN 111489590 B CN111489590 B CN 111489590B CN 202010324397 A CN202010324397 A CN 202010324397A CN 111489590 B CN111489590 B CN 111489590B
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CN111489590A (en
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田勇
徐灿
万莉莉
邢大伟
王倩
马丽娜
梁满佳
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Nanjing University of Aeronautics and Astronautics
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Abstract

The invention discloses a flight regulation and control method and a flight regulation and control system based on a multi-layer point fusion program, wherein the method comprises the following steps: determining two fusion points according to the running mode of the parallel runways; generating a sequencing arc according to the fusion point; generating a 4D track of the aircraft according to the sequencing arcs; and regulating and controlling the flight according to the 4D flight path and the regulating and controlling parameters. The method of the invention provides a 4D track prediction method for a multi-layer point fusion system for the first time on the premise of considering the running mode of the parallel runway instrument, ensures the running safety of flight streams in a multi-layer point fusion program, and provides a theoretical and method basis for applying the multi-layer point fusion program to a multi-runway airport in China.

Description

Flight regulation and control method based on multi-layer point fusion program
Technical Field
The invention relates to the technical field of 4D (three-dimensional) track planning of an aircraft approach in a terminal area, in particular to a flight regulation and control method and system based on a multi-layer point fusion program.
Background
With the rapid development of economy and the rapid development of air transportation industry, the air traffic flow is increased rapidly. Many airport terminal areas are becoming more and more congested with traffic flow, causing a great deal of flight delays, bringing unprecedented pressure on air traffic control departments, airlines, and airports. In order to relieve traffic pressure, a plurality of large busy airports are built and run by using multiple runways, and the ten top ranked airports in China are all multi-runway airports at present. On the other hand, new navigation technologies, such as 4D flight path and point fusion based flight procedure, are being actively introduced.
The 4D track is a brand new air management technology, and the aircraft track is determined through the traditional three-dimensional space and the fourth dimension (time). The technology requires that the aircraft has the function of transmitting flight data to the ground and the prediction function, so that the aircraft can fly according to a preset track accurately after being coordinated with a ground system, tactical intervention is reduced, excessive air waiting is avoided, flight efficiency is improved, and fuel consumption and emission are reduced.
The point fusion program is an approach program which is provided by European navigation safety organization (Eurocontrol) experiment center and faces terminal area approach traffic flow convergence operation. The configuration of the terminal area is beneficial to the implementation of a continuous descending operation strategy, so that the flight cost is reduced, the emission is reduced, and the advantages are more obvious particularly in high-density operation. Many scholars both at home and abroad have studied on the operation of the external structure and the internal flight flow of the point fusion program.
However, at present, both theoretical research and discussion of scholars and application of point fusion procedures are mostly limited to the traditional point fusion configuration, that is, only one fusion point can be matched with only one runway. While relatively little research has been directed to multi-tiered point fusion programs combined with multi-runway operations. Therefore, it is very important to develop a research on a multi-layer point fusion system capable of matching multi-runway operation. How to manage the 4D track in the multi-layer point fusion program ensures the safety of flight operation and just starts.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a flight regulation and control method based on a multi-layer point fusion program so as to solve the problem that multi-layer point fusion is difficult in the prior art.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a flight regulation and control method based on a multi-layer point fusion program comprises the following steps:
determining two fusion points according to the running mode of the parallel runways;
generating a sequencing arc according to the fusion point;
generating a 4D track of the aircraft according to the sequencing arc;
and regulating and controlling the flight according to the 4D flight path and the flight path key parameters.
Further, the fusion point is positioned on the extension line of the five sides of the parallel double runways; the distances from the fusion points to the runway threshold are equal.
Further, the sequencing arcs include an inner sequencing arc and an outer sequencing arc; the horizontal interval between the inner sequencing arc and the outer sequencing arc is at least 6 km; the lowest height of the inner sequencing arcs is 300m higher than the lowest height of the outer sequencing arcs.
Further, the 4D track includes an entry point, a sequencing arc turn point, a start descent point, a blend point, and a landing point.
Further, the method for calculating the sequencing arc turning point comprises the following steps:
x3＝x0+r1cosθ1
y3＝y0+r1sinθ1
x4＝x0+r2cosθ2
y4＝y0+r2sinθ2
wherein the content of the first and second substances,
Figure BDA0002460938220000031
Figure BDA0002460938220000032
wherein (x)3,y3) For inner sequencing arc turning point coordinates, (x)4,y4) For the outer sequencing arc turning point coordinates, (x)0,y0) As a centre coordinate, theta1For turning angle, theta, of aircraft on inner-sequencing arcs2For turning angle, r, of aircraft on outer-sequencing arc1Is the inner sorting arc radius, r2To sort the arc radius, θminTFor the earliest turning angle of the aircraft, v is the true airspeed of the aircraft on the sequencing arc, tTIs the aircraft turn time, tminTThe earliest turn time of the aircraft.
Further, the method for calculating the horizontal distance from the sequencing arc turning point to the fusion point comprises the following steps:
Figure BDA0002460938220000033
Figure BDA0002460938220000034
Figure BDA0002460938220000035
Figure BDA0002460938220000036
wherein l1Distance, l, from inner sequencing arc turning point to fusion point 12For the distance from the turning point of the inner sequencing arc to the fusion point 2, l3For the distance from the turning point of the outer sequencing arc to the fusion point 1, l4For the distance from the outer sequencing arc turning point to the fusion point 2, (x)1,y1) To fuse Point 1 horizontal coordinates, (x)2,y2) For the fusion point 2 horizontal coordinate, (x)3,y3) For inner sequencing arc turning point coordinates, (x)4,y4) Coordinates of the turning points of the outer sequencing arcs.
Further, the flight path key parameters comprise surface speed when the aircraft flies on the sequencing arc, vacuum speed, turning rate when the aircraft turns to the fusion point and descending time when the surface speed descends.
Further, the calculation formula of the table speed is as follows:
VCAS＝V0+at，
wherein, VCASTo show the speed, V0The initial entering program speed of the aircraft, a is the acceleration of the aircraft, and t is the time of flight of the aircraft on the sequencing arc;
the calculation formula of the vacuum speed is as follows:
Figure BDA0002460938220000041
wherein, VTASThe vacuum velocity is, P is the ambient atmospheric pressure, ρ is the atmospheric density, μ is a constant, P0Is the standard atmospheric pressure, p0Is the standard air density;
the calculation formula of the turning rate is as follows:
Figure BDA0002460938220000042
wherein the content of the first and second substances,
Figure BDA0002460938220000043
is the turn rate, phi is the turn slope, g0Is a gravity coefficient;
the calculation formula of the fall time is as follows:
Figure BDA0002460938220000044
wherein, tDescendFor the fall time, h is the height and α is the fall angle.
Further, the method for regulating comprises the following steps:
dividing inbound flight streams into flight pairs pairwise;
classifying the flight pair according to the flight state;
performing conflict detection on the flight pair according to the flight pair classification and the 4D track;
and adjusting relevant parameters of the aircraft according to the conflict detection result to perform conflict resolution.
Further, the flight pair status includes the same-in same-out, the same-in different-out, different-in same-out and different-in different-out;
when the flight pair is in the same-in and same-out state, the collision detection points are turning points and fusion points;
when the flight pair is in the same-entering different-exiting states, the collision detection point is a turning point for the runway which the independent parallel instrument approaches, and the collision detection point is a turning point and fusion for the runway which the related parallel instrument approaches;
when the flight pair is in different in-and-out states, the collision detection point is a fusion point;
when the flight pair enters different exit states, the collision detection point is a fusion point for the runways that the relevant parallel instruments approach.
Compared with the prior art, the invention has the following beneficial effects:
according to the method, the plurality of fusion points are determined according to the operation mode, the 4D flight path of the aircraft operation is predicted through the sequencing arc generated by the fusion points, and the conflict detection and the disengagement in the program are realized through the 4D flight path, so that the flight regulation and control in the terminal area are enhanced, the operation safety of the aircraft is fully guaranteed, and the multi-layer point fusion of the aircraft operation is realized.
Drawings
FIG. 1 is a schematic overall flow diagram of the present invention;
FIG. 2 is a schematic diagram of a multi-level point fusion procedure;
FIG. 3 is a schematic diagram of 4D track coordinate system establishment.
Detailed Description
The present invention is further illustrated by the following specific examples, which are intended to be illustrative, not limiting and are not intended to limit the scope of the invention.
As shown in fig. 1, fig. 2, and fig. 3, a flight regulation and control method based on a multi-level point fusion program includes the following steps:
determining a fusion point according to the running mode of the parallel runways;
generating a sequencing arc according to the fusion point;
generating a 4D track of the aircraft according to the sequencing arcs;
and regulating and controlling the flight according to the 4D flight path and the flight path key parameters.
The flight path key parameters comprise the gauge speed when the aircraft flies on the sequencing arc, the vacuum speed, the turning rate when the aircraft turns to fly to the fusion point and the descent time when the constant gauge speed descends.
The method comprises the following specific steps:
and step S1, generating a multi-layer point fusion system by combining the parallel runway operation mode, and dividing the parallel double runway approach mode into independent parallel instrument approach, related parallel instrument approach and isolated operation, wherein the isolated operation is essentially reduced together without using the multi-layer point fusion system and is not considered. The method for selecting the fusion point and dividing the sequencing arc is the same as the method for selecting the fusion point and dividing the sequencing arc when the independent parallel instrument approaches and the related parallel instrument approaches.
Step S101, selecting two fusion points respectively positioned on two five-side extension lines of a parallel double runway, wherein the fusion points and a landing runway are in one-to-one correspondence, the distances from the fusion points to the entrances of the runways are equal, the heights of the fusion points are equal within the range of 3 nautical miles to 10 nautical miles, the airport reference point is taken as an origin within the range of 900 meters to 1500 meters, the extension line of the runways is taken as an x axis, the front x of the entrances of the runways is a positive value, the y axis crosses the origin and is vertical to the x axis, the y value is a positive value on the right side of an approaching track, the z axis is a vertical axis passing the origin, the reference point elevation is zero, the elevation higher than the reference point is positive, a coordinate system is established, and the horizontal coordinate of the fusion point 1 is (x is the horizontal coordinate of the x axis) of the fusion point1,y1) The horizontal coordinate of the fusion point 2 is (x)2,y2)。
Step S102, selecting a horizontal coordinate as (x)0,y0) A point which is located between the two fusion points and is optimal for the midpoint of the horizontal line connecting the two fusion points, i.e.
Figure BDA0002460938220000071
Two sequencing arcs are drawn by taking the point as the center of a circle, the horizontal interval of the two sequencing arcs is the common interval of 6km for approaching a control area, and the radius of the inner sequencing arc isr1Radius of outer sorting arc is r2Considering that a busy airport has fewer light landing machines, each sequencing arc occupies two height layers respectively for saving the use of the height layers, the higher height is used for a heavy machine, the lower height is used for a medium machine and a light machine, and in order to prevent an outer sequencing arc aircraft from directly flying to a fusion point and enabling the aircraft to pass through the inner sequencing arc, the lowest height of the inner sequencing arc needs to be only 300m higher than the lowest height of the outer sequencing arc.
And step S2, generating a 4D track of the multi-layer point fusion program. And calculating corresponding angles, distances and key point coordinates according to the geometric characteristic analysis of the multi-layer point fusion program structure and the intra-program aircraft kinematic model, thereby generating a 4D track based on five key points.
Step S201, for an aircraft i, if landing on a runway with a long distance, ri1, otherwise riTo reduce flight pair conflicts in the aggregation process, r is 0iWhen the number is 1, the aircraft must fly through the middle point of the sequencing arc, and the aircraft can turn to fly straight to the corresponding fusion point of the runway. The angles to be calculated include the turning angle theta of the aircraft on the inner sequencing arc1Turning angle theta of aircraft on outer sequencing arc2It can be calculated by the following formula:
Figure BDA0002460938220000072
Figure BDA0002460938220000073
θminTthe earliest turning angle of the aircraft, r is a fixed valueiWhen 1, the turning angle of the aircraft at the midpoint of the sequencing arc, riWhen 0, the turning angle of the aircraft at the starting point of the sequencing arc is shown. v is the true airspeed of the aircraft on the sequencing arc, tTIs the aircraft turn time, tminTFor the earliest turning time of the aircraft, riWhen 1, the turn time of the aircraft at the midpoint of the sequencing arc, riWhen 0, the turning time of the aircraft at the start of the sequencing arc is given.
Step S202, according to the two-dimensional coordinates (x) of the known circle center0,y0) And the turning angle calculated in step S201, calculating the coordinates (x) of the turning point of the inner sorting arc3,y3) And outer sequencing arc turning point coordinates (x)4,y4)：
x3＝x0+r1cosθ1
y3＝y0+r1sinθ1
x4＝x0+r2cosθ2
y4＝y0+r2sinθ2
Step S203, calculating a horizontal distance from the turning point to the fusion point according to the coordinates of the turning point of the aircraft on the sequencing arc calculated in step S202, including:
distance from turning point of inner sequencing arc to fusion point 1
Figure BDA0002460938220000081
Distance from turning point of inner sequencing arc to fusion point 2
Figure BDA0002460938220000082
Distance from turning point of outer sequencing arc to fusion point 1
Figure BDA0002460938220000083
Distance from turning point of outer sequencing arc to fusion point 2
Figure BDA0002460938220000084
Step S204, describing the 4D flight path of the aircraft in the multi-layer point fusion program by using five key points, namely a program entry point, a sequencing arc turning point, a starting descending point, a fusion point and a landing point, and adopting a rectangular coordinate system, wherein each point is described by using 4D coordinates (x, y, h and t). The power of the aircraft entering the multi-layer point fusion program is divided into three types of uniform (reduced) speed flat flight, turning and equal surface speed descent.
(1) When the aircraft flies at uniform (reduced) speed on the sequencing arc, the meter speed of the aircraft is VCAS＝V0+at
Wherein, VCASTo show the speed, V0The initial entering program speed of the aircraft, a is the acceleration of the aircraft, and t is the time of flight of the aircraft on the sequencing arc;
calculating the vacuum velocity from the gauge velocity
Figure BDA0002460938220000091
P0＝1013.25hPa，ρ0＝1.225kg/m3，μ＝0.2857；
Wherein, VTASVacuum velocity, P is the ambient atmospheric pressure, ρ is the atmospheric density, μ is a constant, P0Is the standard atmospheric pressure, p0Is the standard air density.
(2) When the turning starts to fly to the fusion point, the vehicle turns with the gradient phi and the turning rate of
Figure BDA0002460938220000092
Wherein the content of the first and second substances,
Figure BDA0002460938220000093
is the turn rate, phi is the turn slope, g0The gravity coefficient is 9.8N/kg.
(3) When the curve is finished and the speed is reduced, the height h is increased by a reduction angle alpha1Down to height h2At a time of
Figure BDA0002460938220000094
Wherein, tDescendFor the fall time, h is the height and α is the fall angle.
And calculating the table speed adopted by different types of machines to descend in different altitude ranges by referring to an operating program of an airline company in an European-control BADA manual.
According to the angles, distances and coordinates calculated in the previous steps and by combining a kinematic model, a track prediction model can be established, the earliest landing time of each aircraft is calculated, 4D coordinates of a landing point are obtained, and 4D coordinates of other points are reversely deduced.
And step S3, dividing flight pairs according to a determined flight flow sequence, dividing the flight pairs into different states, subdividing the approach of the independent parallel instrument and the approach of the related parallel instrument respectively according to the flight pairs in the different states, performing conflict detection, and finally realizing conflict resolution by adjusting three key parameters of the aircraft.
Step S301, combining a flight sequence with n aircrafts in pairs in front of and behind to divide the flight sequence into n-1 flight pairs. According to the difference of the front and back machines in the program of the flight pair, dividing n-1 flight pairs into 4 states: the same in and the same out, the same in and different out, different in and the same out and different in and different out are respectively marked as states 1, 2, 3 and 4.
Step S302, for flight pairs in different states, conflict detection is carried out
(1) Aiming at flights in the state 1, the flights fly on the same sequencing arc and fly to the same fusion point, collision detection needs to be carried out at a turning point and the fusion point, and the time difference delta t between a front aircraft i and a rear aircraft j passing through the turning pointT＝tjT-tiTTime difference Deltat between front machine i and rear machine j through fusion pointM＝tjM-tiMWhen Δ t isT,ΔtM≥ti,jWherein t isi,jConfiguring a converted time-based wake interval for ICAO-specified distance-based wake intervals in combination with speeds, flight-pair conflict-free;
(2) aiming at the flight pair in the state 2, the flight pair flies on the same sequencing arc but flies to different fusion points and lands on different runways, and for the runways which are approached by independent parallel instruments, radar intervals do not need to be arranged between aircraft continuously landing on different runways, and only collision detection is carried out at turning points, so that the requirement of delta t is metT,ΔtM≥ti,jThere is no conflict. For runways with related parallel instruments approaching, radar intervals need to be equipped between aircraft continuously landing on different runways, collision detection needs to be carried out at turning points and fusion points, and when delta t is measuredT,ΔtM≥ti,jFlight pairNo conflict exists;
(3) aiming at the flight pair in the state 3, the front machine and the back machine respectively enter different sequencing arcs, and horizontal and vertical intervals are set between the sequencing arcs, so that collision detection is not needed at a turning point, only the collision detection is needed at a fusion point, and the requirement of delta t is metM≥ti,jThere is no conflict.
(4) Aiming at the flight pair in the state 4, the front machine and the back machine respectively enter different sequencing arcs and fly to different fusion points, no intersection exists in the flight paths, collision detection is not needed for runways with independent parallel instruments approaching, collision detection is needed for runways with related parallel instruments approaching at the fusion points, and delta t is metM≥ti,jThere is no conflict.
Step S403, adjusting the time t for the aircraft to enter the terminal areaeVelocity v into the terminal areaeAnd turn time t on sequencing arcTAnd three variables are used for conflict resolution to generate a conflict-free flight path. Wherein, teThe adjustment amount is [ -3min,10min [)]With radar display update time 5s as a step length, veThe adjustment amount of (A) is [ -15%, 5%]In between, 5kt as a step, tTThe adjustment is carried out at any time between the earliest turning time and the latest turning time, and 5s is taken as a step length. For riFor an aircraft of 1, the earliest turn time is the turn time at the midpoint of the sequencing arc and the latest turn time is the turn time at the end of the sequencing arc. For riFor an aircraft of 0, the earliest turn time is the turn time at the entry of the sequencing arc and the latest turn time is the turn time at the midpoint of the sequencing arc.
The invention provides a flight regulation and control method based on a multi-layer point fusion program by comprehensively considering factors such as a runway operation mode, a terminal area operation environment, aircraft performance, a flight plan and the like and combining machine types, flow and capacity, and has important practical significance and application value. The 4D track of the aircraft running by the multi-layer point fusion program is predicted, conflict detection and release in the program are achieved, flight regulation and control in a terminal area are enhanced, and the running safety of the aircraft is fully guaranteed.
A flight regulation and control system based on a multi-layer point fusion program comprises:
a fusion point module: the fusion point is determined according to the running mode of the parallel runways;
a sequencing arc generation module: for generating a sequencing arc according to the fusion point;
the 4D track generation module: generating a 4D track of the aircraft according to the sequencing arcs;
a regulation module: and the flight control system is used for controlling the flight according to the 4D flight path and the control parameters.
A flight regulation and control system based on a multi-layer point fusion program comprises a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate according to the instructions to perform the steps of the method described above.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method described above.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (8)

1. A flight regulation and control method based on a multi-layer point fusion program is characterized by comprising the following steps:
determining two fusion points according to the running mode of the parallel runways;
generating a sequencing arc according to the fusion point;
generating a 4D track of the aircraft according to the sequencing arc;
regulating and controlling flights according to the 4D flight path and the flight path key parameters;
the method for regulating comprises the following steps:
dividing inbound flight streams into flight pairs pairwise;
classifying the flight pair according to the flight state;
performing conflict detection on the flight pair according to the flight pair classification and the 4D track;
adjusting relevant parameters of the aircraft according to the conflict detection result to perform conflict resolution;
the flight pair state comprises the same-in same-out state, the same-in different-out state, different-in same-out state and different-in different-out state;
when the flight pair is in the same-in and same-out state, the collision detection points are turning points and fusion points;
when the flight pair is in the same-entering different-exiting states, the collision detection point is a turning point for the runway which the independent parallel instrument approaches, and the collision detection point is a turning point and fusion for the runway which the related parallel instrument approaches;
when the flight pair is in different in-and-out states, the collision detection point is a fusion point;
when the flight pair enters different exit states, the collision detection point is a fusion point for the runways that the relevant parallel instruments approach.
2. The flight control method based on the multi-layer point fusion program according to claim 1, wherein the fusion point is located on a five-side extension line of the parallel double runways; the distances from the fusion points to the runway threshold are equal.
3. The flight regulation and control method based on the multi-layer point fusion program according to claim 1, wherein the sequencing arcs comprise an inner sequencing arc and an outer sequencing arc; the horizontal interval between the inner sequencing arc and the outer sequencing arc is at least 6 km; the lowest height of the inner sequencing arcs is 300m higher than the lowest height of the outer sequencing arcs.
4. The flight control method based on the multi-layer point fusion program according to claim 1, wherein the 4D flight path comprises an entry point, a sequencing arc turning point, a starting descent point, a fusion point and a landing point.
5. The flight regulation and control method based on the multi-layer point fusion program according to claim 4, wherein the calculation method of the sequencing arc turning point comprises the following steps:
x3＝x0+r1 cosθ1
y3＝y0+r1 sinθ1
x4＝x0+r2 cosθ2
y4＝y0+r2 sinθ2
wherein the content of the first and second substances,
Figure FDA0003491777040000021
Figure FDA0003491777040000022
wherein (x)3,y3) For inner sequencing arc turning point coordinates, (x)4,y4) For the outer sequencing arc turning point coordinates, (x)0,y0) As a centre coordinate, theta1For turning angle, theta, of aircraft on inner-sequencing arcs2For turning angle, r, of aircraft on outer-sequencing arc1Is the inner sorting arc radius, r2To sort the arc radius, θminTFor the earliest turning angle of the aircraft, v is the true airspeed of the aircraft on the sequencing arc, tTIs the aircraft turn time, tminTThe earliest turn time of the aircraft.
6. The flight control method based on the multi-layer point fusion program according to claim 4, wherein the method for calculating the horizontal distance from the sequencing arc turning point to the fusion point comprises:
Figure FDA0003491777040000023
Figure FDA0003491777040000031
Figure FDA0003491777040000032
Figure FDA0003491777040000033
wherein l1Distance, l, from inner sequencing arc turning point to fusion point 12The distance from the inner sequencing arc turning point to the fusion point 2,l3for the distance from the turning point of the outer sequencing arc to the fusion point 1, l4For the distance from the outer sequencing arc turning point to the fusion point 2, (x)1,y1) To fuse Point 1 horizontal coordinates, (x)2,y2) For the fusion point 2 horizontal coordinate, (x)3,y3) For inner sequencing arc turning point coordinates, (x)4,y4) Coordinates of the turning points of the outer sequencing arcs.
7. The flight control method based on the multi-layer point fusion program according to claim 1, wherein the flight path key parameters comprise surface speed when the aircraft flies on the sequencing arc, vacuum speed, turning rate when the aircraft turns to the fusion point, and descent time when the surface speed descends.
8. The flight regulation and control method based on the multi-layer point fusion program according to claim 7, wherein the formula for calculating the table speed is as follows:
VCAS＝V0+at，
wherein, VCASTo show the speed, V0The initial entering program speed of the aircraft, a is the acceleration of the aircraft, and t is the time of flight of the aircraft on the sequencing arc;
the calculation formula of the vacuum speed is as follows:
Figure FDA0003491777040000034
wherein, VTASThe vacuum velocity is, P is the ambient atmospheric pressure, ρ is the atmospheric density, μ is a constant, P0Is the standard atmospheric pressure, p0Is the standard air density;
the calculation formula of the turning rate is as follows:
Figure FDA0003491777040000035
wherein the content of the first and second substances,
Figure FDA0003491777040000041
is the turn rate, phi is the turn slope, g0Is a gravity coefficient;
the calculation formula of the fall time is as follows:
Figure FDA0003491777040000042
wherein, tDescendFor the fall time, h is the height and α is the fall angle.
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