CN112261616A - Method for relieving CPS cascade failure of air traffic - Google Patents

Method for relieving CPS cascade failure of air traffic Download PDF

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CN112261616A
CN112261616A CN202011004480.0A CN202011004480A CN112261616A CN 112261616 A CN112261616 A CN 112261616A CN 202011004480 A CN202011004480 A CN 202011004480A CN 112261616 A CN112261616 A CN 112261616A
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王兴隆
赵嶷飞
齐雁楠
贺敏
刘明学
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Civil Aviation University of China
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W28/00—Network traffic management; Network resource management
    • H04W28/02—Traffic management, e.g. flow control or congestion control
    • H04W28/0289—Congestion control
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W28/00—Network traffic management; Network resource management
    • H04W28/02—Traffic management, e.g. flow control or congestion control
    • H04W28/10—Flow control between communication endpoints

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Abstract

The invention provides a method for relieving CPS cascade failure of air traffic, which comprises the following steps of S1: setting the air traffic CPS cascade failure process into three operation states, including a normal state, a congestion state and a failure state; s2: calculating the capacity of the CPS node of the air traffic according to the actual flow; s3: judging whether all nodes in the normal operation process of the navigation network and the management network meet the condition that the node flow is smaller than the node capacity; s4: starting to redistribute the flow of the failure node; s5: the failure is further diffused; s6: and judging the state of the navigation network or the control network. The method for relieving the air traffic CPS cascade failure solves the problems that the air traffic CPS cascade failure phenomenon occurs, and the network can be rapidly crashed or even paralyzed.

Description

Method for relieving CPS cascade failure of air traffic
Technical Field
The invention belongs to the field of mitigation of CPS cascade failure of air traffic, and particularly relates to a method for mitigating CPS cascade failure of air traffic.
Background
The air traffic management system has the characteristics of a typical information physical system, and realizes the sensing of a physical environment and the processing of Control information through the organic integration and deep cooperation of 3C (Communication, Control) technology, thereby achieving the purpose of interdependence of traffic flow and information flow. However, scholars at home and abroad have relatively few researches on air traffic CPS, in 2016, Roy S and Sridhar B establish an evaluation model based on CPS and analyze the threat degree of an information network to an air traffic management system due to interruption caused by attack; in 2017, Ren L describes how FOC, ANSP and the like in an aviation system are converted into CPS in detail; in 2018, Li Fei proposes a concept of building a next-generation aviation power system based on a CPS technology, analyzes a key technology [7] which needs to be solved by an aviation power information physical fusion system, and lays a foundation for future CPS research of air traffic.
However, the prior art does not completely solve the problem of air traffic congestion. 15 days 8 and 15 months 2015, the air traffic control center in the Washington D.C. region has computer faults, so that the airspace sector of the center is almost completely closed, and large-area flight delay is caused; in 2018, 6 and 30 months, the flight of the Pudong airport in Shanghai is delayed in a large area under the influence of thunderstorm weather, and the traffic capacity is reduced by about 40%. When special conditions occur, the affected flight range can spread from a single air route to a region and even the whole air traffic system, so that cascade failure occurs, and the airspace capacity is reduced, the flight is delayed or cancelled. Once a cascading failure occurs, the network may crash rapidly, or even crash.
Disclosure of Invention
In view of the above, the present invention provides a method for alleviating the air traffic CPS cascade failure to solve the problems that the air traffic CPS cascade failure occurs, and the network may be rapidly crashed or even paralyzed.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a method for relieving CPS cascade failure of air traffic comprises the following steps:
s1: setting the air traffic CPS cascade failure process into three operation states, including a normal state, a congestion state and a failure state;
s2: calculating the capacity of the CPS node of the air traffic according to the actual flow;
s3: judging whether all nodes in the normal operation process of the navigation network and the management network meet the condition that the node flow is smaller than the node capacity, and executing the step S4 when the node flow is larger than the node capacity;
s4: starting to redistribute the flow of the failed node, distributing all the flow of the failed node to adjacent nodes, transmitting the information flow only in a control network, and transmitting the traffic flow only in a navigation network; the increment of the flow of the node connected with the failure node is delta L;
s5: the failure is further diffused, a node with the flow rate larger than the capacity of the node is identified, the state of the node is changed from a normal state to a congestion state, and the flow rate delta L' exceeding the capacity of the node is distributed to the node in the normal state adjacent to the node;
s6: judging the state of the navigation network or the management network, if the node L exists in the networki＞CiIf phi is 0, the network is in a collapse state, and the cascade failure is ended; if the navigation network or the control network has a node Li＞CiIf phi is greater than 0, the network is in a flow redistribution state, and the step S5 is skipped; if the navigation network or the control network nodes are all smaller than Li≤CiAnd the network recovers the normal operation state, and the cascade failure is finished.
Further, the normal state used in step S1 means that the traffic is smaller than the capacity, and the network operates normally;
the congestion state refers to that the flow is larger than the capacity, the node in the congestion state can not receive the flow distributed by other failed nodes any more, and only the flow can be allowed to flow out to other normal nodes until the flow of the node is smaller than or equal to the capacity of the node, and the node is recovered to the normal state;
the failure state is that the capacity is zero and the original traffic is distributed to the adjacent nodes.
Further, the specific flow of failure of the waypoint or the control seat is as follows:
a1: and (3) normal operation state: at the moment, the flow of all nodes is smaller than the capacity of the nodes;
a2: entering a failure state: after a certain node D fails, the traffic of D is distributed to the adjacent nodes G, F, E according to the corresponding rules;
a3: failure propagation state: node E receives the traffic from node D after the failure, changes from the original normal state to a congested state, and then distributes the portion of traffic exceeding its capacity to its neighboring node H, J;
a4: failure end state: a cascade failure terminates when two conditions occur: firstly, after the flow redistribution, the flow of all the nodes is smaller than the capacity of the nodes, and the network reaches a balance state; and secondly, when a certain node fails, other nodes are in a congestion state after traffic redistribution, cannot receive the traffic any more, and the network is in a breakdown state.
Further, a network normality rate is defined to represent the mitigation degree λ of the cascading failure, and the specific formula is as follows:
λ＝Np/N
wherein N ispThe number of the nodes in a normal state after flow distribution; n is the total number of nodes,
the larger the λ, the better the mitigation strategy effect.
Further, the node capacity C used in step S1iThe calculation method is
Ci＝Li+θ*Li μ
Wherein L isiIs the traffic of node i; mu represents a flow adjustable parameter between 0 and 1; theta represents a capacity tunable parameter greater than 0, with larger theta providing greater capacity.
Furthermore, strategies such as node degree distribution, betweenness centrality distribution, residual capacity distribution and the like are adopted respectively to relieve cascade failure of the navigation network and the management network.
Further, the method for calculating the increment Δ L of the traffic of the node connected to the failed node, which is used in step S1, by using the degree distribution mitigation strategy is as follows:
Figure BDA0002695434930000041
wherein ki is the degree of the node i;
the method for calculating the traffic Δ L' exceeding the capacity of the failed node, which is utilized in step S1, by using the degree distribution mitigation strategy is as follows:
Figure BDA0002695434930000042
where Φ is the total number of nodes in a normal state in the adjacent nodes of the node j.
Further, the method for calculating the traffic increment Δ L of the node connected to the failed node, which is used in step S1, by using the betweenness centrality distribution mitigation strategy is as follows:
Figure BDA0002695434930000043
wherein, BjRepresenting the betweenness centrality of the node j; Γ represents the set of nodes adjacent to i;
the method for calculating the flow Δ L' exceeding the capacity of the failed node, which is used in step S1, by using the betweenness centrality distribution mitigation strategy is as follows:
Figure BDA0002695434930000044
where Φ is the total number of nodes in a normal state in the adjacent nodes of the node j.
Further, the method for calculating the increment Δ L of the traffic of the node connected to the failed node, which is used in step S1, by using the remaining capacity allocation mitigation strategy is as follows:
Figure BDA0002695434930000051
wherein, Cj-LjRepresents the remaining capacity of node j;II represents a set of nodes adjacent to i;
the method for calculating the traffic Δ L' exceeding the capacity of the failed node, which is utilized in step S1, by using the remaining capacity allocation mitigation strategy is as follows:
Figure BDA0002695434930000052
where Φ is the total number of nodes in a normal state in the adjacent nodes of the node j.
Compared with the prior art, the invention has the following advantages:
the method for relieving the CPS cascade failure of the air traffic divides nodes into normal, congestion and failure states, adopts strategies such as node degree distribution, betweenness centrality distribution, residual capacity distribution and the like respectively to relieve the cascade failure of the navigation network and the management network, and represents the cascade failure relieving degree through the network normal rate index. Under the node betweenness centrality distribution mode, the capability of resisting cascade failure is stronger, and the recovery is started from a collapse state at first; under the condition of node residual capacity distribution, cascade failure is recovered to the original normal state firstly, and the capacity of each node for receiving extra capacity is fully utilized, so that the method has a better relieving effect.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a method for mitigating air traffic CPS cascade failure according to an embodiment of the present invention;
fig. 2 is a schematic diagram of air traffic CPS cascade failure according to the embodiment of the invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 2, when a learner builds a cascade failure model, the nodes are mostly set to be in a normal state and a failure state, but in air traffic, when a large number of flights occur in each direction of a certain intersection, information flow is not transmitted in time, the traffic capacity of a navigation network can be rapidly reduced but cannot be failed to zero, that is, traffic jam occurs. When the waypoints are congested, the controllers can dredge the traffic flow in time to recover normal traffic as soon as possible, and information flow can be frequently interacted among seats of the management network in the period. Based on the above situation, the air traffic CPS cascade failure process is set to three operating states:
(1) and (3) normal state: the flow is less than the capacity, and the network operates normally.
(2) Congestion state: when the traffic is larger than the capacity, the node in the state can not receive the traffic distributed by other failed nodes any more, and only the traffic of the node can be allowed to flow out to other normal nodes until the traffic of the node is smaller than or equal to the capacity of the node, and the node is recovered to the normal state.
(3) Failure state: the capacity is zero, and the original traffic is distributed to the adjacent nodes.
Based on the three node states set above, the specific process of failure of the waypoint or the control seat is as follows:
(1) and (3) normal operation state: all nodes now have less traffic than their capacity.
(2) Entering a failure state: when a node D fails, the traffic of D is distributed to its neighboring nodes G, F, E according to the corresponding rule.
(3) Failure propagation state: node E receives traffic from the post-failure distribution of D, changes from the original normal state to a congested state, and then distributes that portion of the traffic that exceeds its capacity to its neighboring node H, J.
(4) Failure end state: the cascade failure terminates when the following two conditions occur. Firstly, after the flow redistribution, the flow of all the nodes is smaller than the capacity of the nodes, and the network reaches a balance state; and secondly, when a certain node fails, other nodes are in a congestion state after traffic redistribution, cannot receive the traffic any more, and the network is in a breakdown state.
Establishing an air traffic CPS cascade failure model, wherein the model is related to the flow and the capacity of a node, and the capacity of a control seat is defined as the maximum information flow which can be transmitted in a certain time period; in the navigation network, the capacity of a navigation point is defined as the maximum traffic flow which can be accommodated in a certain time period. In prior studies, capacity versus flow were defined as a direct proportional relationship [16 ]]However, in the actual air traffic operation process, the capacity of the waypoint is affected not only by the navigation equipment and airspace conditions, but also by the traffic capacity of the navigation networkThe controller and the like are related, so that the air traffic CPS node capacity C is determined according to the actual flowiIs defined as
Ci＝Li+θ*Li μ
Wherein L isiIs the traffic of node i; mu represents a flow adjustable parameter between 0 and 1; theta represents a capacity tunable parameter greater than 0, with larger theta providing greater capacity.
Keeping mu unchanged according to the relation between the node flow and the capacity, and adjusting the size of a parameter theta to reflect the capacity of the maximum flow which can be accommodated by one node; when theta tends to infinity, the capacity also tends to infinity, and cascade failure cannot be caused by failure of any node; when theta tends to be infinitely small, the capacity and the flow rate tend to be equal, all nodes are close to saturation, and when one node fails, other nodes cannot accept the flow rate distributed by the node, so that serious cascade failure is caused, and the network is crashed. Therefore, a threshold value θ must existτWhen theta < thetaτWhen the node fails, the cascade failure is caused to cause serious damage to the network; when theta is more than or equal to thetaτAnd the node fails, and cascade failure cannot be caused. ThetaτThe smaller the probability that the network is broken down due to cascade failure is, the lower the requirements on navigation equipment and airspace conditions are made by nodes, so that the economic cost is reduced, and the working intensity of a controller is weakened.
From the above analysis, it can be seen that θ existsτWhen theta is not less than thetaτThe network does not crash due to cascading failures. In fact, the collapse of the navigation network or the pipe network is not easy to occur, so that the research on theta is mainly carried out, wherein theta is more than or equal to thetaτWhen the node is attacked and failed, the traffic of the node is redistributed.
When theta is more than or equal to thetaτAnd meanwhile, the number of the nodes in a normal state in the network can reflect the alleviation degree of the cascade failure by the traffic redistribution mode. Defining the normal rate of the network to represent the mitigation degree of the cascading failure, wherein the specific formula is as follows:
λ＝Np/N
wherein N ispThe number of the nodes in a normal state after flow distribution; n is a nodeThe total number of (c). The larger the λ, the better the mitigation strategy effect.
As shown in fig. 1, an optimized load distribution strategy is adopted, and the degree of air traffic CPS cascade failure is relieved by using degree, betweenness centrality and residual capacity distribution strategies, and the relieving process is as follows:
the method comprises the following steps: all nodes in the normal operation process of the navigation network and the management network all meet Li＜Ci；
Step two: carrying out selective attack to make a certain node fail;
step three: the failure node starts to redistribute the flow, all the flow is distributed to the adjacent nodes, the information flow is only transmitted in the control network, and the traffic flow is only transmitted in the navigation network; the increment of the flow of the nodes connected with the node is delta L;
step four: failure is further propagated, and L is identifiedi＞CiTaking the node j as an example, the state of the node j is changed from normal to congestion, and the flow rate delta L' exceeding the capacity of the node j is distributed to the node adjacent to the node j in the normal state;
step five: judging the state of the navigation network or the management network:
(1) if there is a node L in the networki＞CiIf phi is 0, the network is in a collapse state, and the cascade failure is ended;
(2) if the navigation network or the control network has a node Li＞CiIf phi is greater than 0, the network is in a flow redistribution state, and the step four is skipped;
(3) if the navigation network or the managed network nodes are smaller than Li≤CiAnd the network recovers the normal operation state, and the cascade failure is finished.
The method for calculating the traffic increment Δ L of the node connected to the failed node, which is used in step S1, by using the degree distribution mitigation strategy is as follows:
Figure BDA0002695434930000091
wherein ki is the degree of the node i;
the method for calculating the traffic Δ L' exceeding the capacity of the failed node, which is utilized in step S1, by using the degree distribution mitigation strategy is as follows:
Figure BDA0002695434930000101
where Φ is the total number of nodes in a normal state in the adjacent nodes of the node j.
The method for calculating the increment Δ L of the flow of the node connected to the failed node, which is used in step S1, by using the betweenness centrality distribution mitigation strategy is as follows:
Figure BDA0002695434930000102
wherein, BjRepresenting the betweenness centrality of the node j; Γ represents the set of nodes adjacent to i;
the method for calculating the flow Δ L' exceeding the capacity of the failed node, which is used in step S1, by using the betweenness centrality distribution mitigation strategy is as follows:
Figure BDA0002695434930000103
where Φ is the total number of nodes in a normal state in the adjacent nodes of the node j.
The method for calculating the increment Δ L of the traffic of the node connected to the failed node, which is used in step S1, by using the remaining capacity allocation mitigation strategy is as follows:
Figure BDA0002695434930000104
wherein, Cj-LjRepresents the remaining capacity of node j; II represents a set of nodes adjacent to i;
the method for calculating the traffic Δ L' exceeding the capacity of the failed node, which is utilized in step S1, by using the remaining capacity allocation mitigation strategy is as follows:
Figure BDA0002695434930000111
where Φ is the total number of nodes in a normal state in the adjacent nodes of the node j.
The invention provides a method for relieving air traffic CPS cascade failure, which divides nodes into normal, congestion and failure states, adopts strategies such as node degree distribution, betweenness centrality distribution, residual capacity distribution and the like respectively to relieve the cascade failure of a navigation network and a management network, and expresses the cascade failure relieving degree through network normal rate indexes. Under the mode of node betweenness centrality distribution, the method for relieving the CPS cascade failure of the air traffic has stronger capability of resisting the cascade failure, and the recovery is started from a collapse state at first; under the condition of node residual capacity distribution, cascade failure is firstly recovered to the original normal state, the capacity of each node for receiving the extra capacity is fully utilized, and the relieving effect is relatively good.
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, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (10)

1. A method for relieving CPS cascade failure of air traffic is characterized in that: the method comprises the following steps:
s1: setting the air traffic CPS cascade failure process into three operation states, including a normal state, a congestion state and a failure state;
s2: calculating the capacity of the CPS node of the air traffic according to the actual flow;
s3: judging whether all nodes in the normal operation process of the navigation network and the management network meet the condition that the node flow is smaller than the node capacity, and executing the step S4 when the node flow is larger than the node capacity;
s4: starting to redistribute the flow of the failed node, distributing all the flow of the failed node to adjacent nodes, transmitting the information flow only in a control network and transmitting the traffic flow only in a navigation network;
s5: the flow increment of the nodes connected with the failed node is delta L, the nodes with the flow larger than the node capacity are identified, the state of the nodes is changed from a normal state to a congestion state, and the flow delta L' exceeding the capacity of the nodes is distributed to the nodes in the normal state adjacent to the nodes;
s6: judging the state of the navigation network or the control network, if the navigation network or the control network has a node Li＞CiAnd phi is larger than 0, the network is in a flow redistribution state, and the step S5 is skipped to, otherwise, the cascade failure is ended.
2. The method for mitigating air traffic CPS cascade failure as recited in claim 1, wherein: the normal state used in step S1 means that the traffic is smaller than the capacity and the network is operating normally;
the congestion state refers to that the flow is larger than the capacity, the node in the congestion state can not receive the flow distributed by other failed nodes any more, and only the flow of the node can be allowed to flow out to other normal nodes until the flow of the node is smaller than or equal to the capacity of the node, and the node is recovered to the normal state;
the failure state is that the capacity is zero and the original traffic is distributed to the adjacent nodes.
3. The method for mitigating air traffic CPS cascade failure as recited in claim 2, wherein: the specific process of failure of the waypoint or the control seat is as follows:
a1: and (3) normal operation state: at the moment, the flow of all nodes is smaller than the capacity of the nodes;
a2: entering a failure state: after a certain node D fails, the traffic of D is distributed to the adjacent nodes G, F, E according to the corresponding rules;
a3: failure propagation state: node E receives the traffic from node D after the failure, changes the original normal state into a congestion state, and then distributes the traffic exceeding the capacity to the adjacent node H, J;
a4: failure end state: a cascade failure terminates when two conditions occur: firstly, after the flow redistribution, the flow of all the nodes is smaller than the capacity of the nodes, and the network reaches a balance state; and secondly, when a certain node fails, other nodes are in a congestion state after traffic redistribution, and cannot accept the traffic any more, so that the network is in a breakdown state.
4. The method for mitigating air traffic CPS cascade failure as recited in claim 1, wherein: defining a network normal rate to represent the mitigation degree lambda of the cascade failure, wherein the specific formula is as follows:
λ＝Np/N
wherein N ispThe number of the nodes in a normal state after flow distribution; n is the total number of the nodes, and the larger the lambda is, the better the mitigation strategy effect is.
5. The method for mitigating air traffic CPS cascade failure as recited in claim 1, wherein: node capacity C used in step S1iThe calculation method comprises the following steps:
Ci＝Li+θ*Li μ
wherein L isiIs the traffic of node i; mu represents a flow adjustable parameter between 0 and 1; theta represents a capacity tunable parameter greater than 0, with larger theta providing greater capacity.
6. The method for mitigating air traffic CPS cascade failure as recited in claim 1, wherein: and the strategies of node degree distribution, betweenness centrality distribution, residual capacity distribution and the like are adopted respectively to relieve the cascade failure of the navigation network and the control network.
7. The method for mitigating air traffic CPS cascade failure as recited in claim 6, wherein: the method for calculating the increment Δ L of the traffic of the node connected to the failed node, which is used in step S1, by using the degree distribution mitigation strategy is as follows:
Figure FDA0002695434920000031
wherein ki is the degree of the node i;
the method for calculating the traffic Δ L' exceeding the capacity of the failed node, which is utilized in step S1, by using the degree distribution mitigation strategy is as follows:
Figure FDA0002695434920000032
where Φ is the total number of nodes in a normal state in the adjacent nodes of the node j.
8. The method for mitigating air traffic CPS cascade failure as recited in claim 6, wherein: the method for calculating the increment Δ L of the flow of the node connected to the failed node, which is used in step S1, by using the betweenness centrality distribution mitigation strategy is as follows:
Figure FDA0002695434920000033
wherein, BjRepresenting the betweenness centrality of the node j; Γ represents the set of nodes adjacent to i;
the method for calculating the flow Δ L' exceeding the capacity of the failed node, which is used in step S1, by using the betweenness centrality distribution mitigation strategy is as follows:
Figure FDA0002695434920000034
where Φ is the total number of nodes in a normal state in the adjacent nodes of the node j.
9. The method for mitigating air traffic CPS cascade failure as recited in claim 6, wherein: the method for calculating the increment Δ L of the traffic of the node connected to the failed node, which is used in step S1, by using the remaining capacity allocation mitigation strategy is as follows:
Figure FDA0002695434920000041
wherein, Cj-LjRepresents the remaining capacity of node j; II represents a set of nodes adjacent to i;
the method for calculating the traffic Δ L' exceeding the capacity of the failed node, which is utilized in step S1, by using the remaining capacity allocation mitigation strategy is as follows:
Figure FDA0002695434920000042
where Φ is the total number of nodes in a normal state in the adjacent nodes of the node j.
10. The method for mitigating air traffic CPS cascade failure as recited in claim 1, wherein: the determination of the state of the navigation network or the management network used in step S6 is made if there is a node L in the networki＞CiIf phi is 0, the network is in a collapse state, and the cascade failure is ended; if the navigation network or the managed network nodes are smaller than Li≤CiAnd the network recovers the normal operation state, and the cascade failure is finished.
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Application publication date: 20210122