CN112365745A - Complex airport scene conflict detection and release method based on path dynamic grouping - Google Patents

Abstract

The invention provides a complex airport scene conflict detection and release method based on path dynamic grouping, which combines the actual scene conflict detection and release process to realize scene sliding simulation of approaching and departing flights, comprises sliding path dynamic grouping and embodies the division of the sliding process; the simulation logic is simulated on the basis of time sequence-point-sequence, which is embodied by abstraction of objective operation process; and based on the conflict detection and the conflict relief of the path grouping, a conflict identification and avoidance mechanism between the first group and the second group is realized. The algorithm is close to the aim of actual control, and can realize simulation deduction based on service requirements, so that the result is real and credible.

Description

Complex airport scene conflict detection and release method based on path dynamic grouping

Technical Field

The invention relates to a complex airport scene conflict detection and release method based on path dynamic grouping.

Background

The computer simulation technology is used as a basic technology and widely applied to the aviation subdivision fields of flight path planning, scheme decision, capacity evaluation, flow management and the like, and the efficient and careful simulation algorithm can act on each operation stage of planning design, preview demonstration, technical verification, decision implementation and the like, so that the research can effectively improve and improve the decision mode. In recent years, with the continuous development of the air transportation industry, the scale and complexity of airports are continuously improved, and a mode of measuring the operation efficiency of the airports by adopting a computer simulation mode is widely concerned. Currently, most researches usually aim at local operation optimization of a scene, focus on path planning and strategic conflict detection and resolution, and generally adopt ant colony algorithm, A-star algorithm and the like, wherein the algorithms can realize the pre-recognition and elimination of conflicts aiming at specific optimization targets, but have the defects of stronger theoretical calculation results, low executability and no real-time detection and resolution capability. In addition, most researches are only directed at airports with a small number of flights, operation simulation under the conditions of complex airports and large flight flows is not considered, and the operation efficiency of the complex airports in the actual process plays a crucial role in the stability and the efficiency of an air transportation network.

Disclosure of Invention

The invention provides a high-efficiency and practical complex airport surface sliding simulation algorithm based on actual operation requirements and in combination with an operation process. Aiming at all flights participating in airport scene sliding, according to dynamic sliding path division results, collision detection and disengagement principles in groups and groups are adopted, the flights sliding on the complex airport scene are subjected to collision detection and disengagement from a macroscopic view, and ordered conflict-free flight flow information is generated, so that reliable data support is provided for subsequent theoretical research and system application.

The technical scheme is as follows: the invention discloses a complex airport scene conflict detection and release method based on path dynamic grouping, which comprises the following steps:

step 1, determining a flight plan set;

step 2, path dynamic grouping;

and 3, simulating the airport surface sliding to finish the detection and release of the sliding conflict.

The step 1 comprises the following steps: according to airport scene sliding information, flight schedule information is cleaned and screened, a flight set for scene sliding simulation is determined, and each flight comprises: flight departure runway time (approach flight), flight slide-out stop time (departure flight), flight sliding path point set, flight sliding speed set and the like, wherein the flight set is expressed as Fs (Fs is the { Fs) }₁,Fs₂,…,Fs_i}。

Fs_iThe main information contained is described below:

current flight Fs_iThe moment of entering an airport scene (departure flight refers to the time of leaving the runway, and approach flight refers to the time of starting to taxi);

Fs_iand stored in a sliding pass order;

Fs_iover-point velocity sequence of, and

the lengths are the same, and the values correspond to one another;

Fs_isequence of course of the flight path passed by the slide, length ratio

1 is small;

Fs_ithe group number sequence to which the sliding pass point belongs, and

the lengths are the same, the initialization is null, and the paths are assigned after being dynamically grouped.

Is expressed as Fs_iPerforming the initial state sequence of the next sliding, if MOVE represents the sliding state; if the WAIT represents that the simulation system is in a delay resolution state, initializing the simulation system to be null, and filling the simulation system after calculation in the simulation process;

is expressed as Fs_iThe start time sequence for the next glide, and

the lengths are the same, the lengths are initialized to be empty, and the empty lengths are filled in after calculation in the simulation process;

is expressed as Fs_iThe start time sequence for the next glide, and

same lengthInitializing the simulation system to be empty, and filling the simulation system after calculation in the simulation process;

is expressed as Fs_iAn end time sequence for completing the next glide, an

The lengths are the same, the lengths are initialized to be empty, and the empty lengths are filled in after calculation in the simulation process;

is expressed as Fs_iThe time required to wait before starting the next taxi, and

the lengths are the same, the initial values are empty, and the empty values are filled after calculation in the simulation process.

Step 2, path dynamic grouping: the method dynamically groups the sliding paths of each flight according to the course change of the sliding paths, and allocates resources in groups in the simulation process, thereby maintaining the deduction efficiency and solving the deadlock problem of scene resource allocation.

The work goal of the ground controller is to keep the flight flow smooth and orderly in the process of sliding on the ground, and the work goal generally comprises the contents of sliding path selection, parking space distribution, runway distribution, sliding guide command and the like. When airport scene taxiing networks are complex and flight amount is large, how to carry out path planning and conflict detection and release is the main work content. The method mainly focuses on how to avoid conflict of the sliding process under the condition that the parking space, the runway and the sliding path are clear, and the simulation of the sliding process is realized.

The invention dynamically groups the sliding paths of each flight, and allocates resources in a group unit in the simulation process, thereby not only maintaining the deduction efficiency, but also solving the deadlock problem of scene resource allocation, and the step 2 comprises the following steps:

step 2-1, initializing a flight index to be findex is 0, initializing a site point index to be nindex is 1, and grouping an index to be gid is 0;

and 2-2, if findex is less than count (Fs), indicating that the flights have not been subjected to path dynamic grouping, executing the path dynamic grouping of the step 2, otherwise indicating that all the flights needing to be simulated have finished the path dynamic grouping, ending the grouping, and performing simulation deduction. Wherein count (fs) represents the number of flights participating in the simulation;

step 2-3, if the current point is flight Fs_findexThe first point on the taxi path is grouped into the first group, i.e. leaving nindex 1 unchanged,

wherein

Is expressed as Fs_findexA path packet number to which the first taxi path point belongs; if the current point is not flight Fs_findexThe first point on the sliding path executes the step 2-4;

step 2-4, if

Indicating Fs_findexIf the grouping is not performed, the grouping judgment is performed according to the heading, and if the grouping is not performed, the grouping is determined

Indicate by point

The course of the flight segment taking the starting point is different from the course of the flight segment taking the point as the end point, and then the point is

And Fs_findexThe last field point is belonging to different groups, gid +1,

otherwise, it indicates the point

The course of the segment taking the starting point is the same as the course of the segment taking the point as the end point, and then the point is

And Fs_findexThe last scene point passed belongs to the same group,

nindex +1, and continuing to perform step 2-4 until findex +1, and performing step 2-2, wherein

Is expressed as Fs_findexSequences of points that need to be traversed in the scene of sliding.

Step 3, airport surface sliding simulation

In the actual operation process, a scene controller can observe the scene flight situation at each moment, pay attention to the key conflict points of the scene, identify scene conflicts according to the situation, and resolve the conflicts by adopting modes of sliding guidance, intervention and the like. In order to simulate the process of situation awareness, control decision and situation intervention, the invention adopts a three-stage circulation mode to carry out sliding deduction, namely a global time sequence circulation, a field point circulation and a point flight queue circulation. The global time sequence loop is a first-stage loop in the algorithm, is the propulsion of a global time axis, embodies the abstraction of objective time, and has the characteristics of unidirectional evolution and global unification. The scene point cycle is a second stage cycle in the algorithm, is traversal of a scene sliding network point set, embodies the identification of flight space distribution under a specified time sequence, and is the basis for sliding conflict detection and resolution. The point flight queue cycle is a third-level cycle in the algorithm, is the traversal of a flight sequence of a designated point under a designated timing sequence, embodies the abstraction of the conflict detection and release process, and follows the control principle of point-by-point detection and hierarchical release.

Step 3-1, Global timing Loop

Since the flight schedules of the airport are usually arranged in units of natural days, the invention sets the global simulation time period to [0,24 × 60 × 60 ]), and the statuses of all taxied flights in the simulated airport at the current deduction time and 4D information are stored in each time sequence. Setting the starting point of the time sequence in the algorithm as 0 second, the increment of the time sequence as 1 second, and the current deduction time as the ct second, if ct belongs to the TimeSlice, carrying out deduction of the time and executing the step 3-2, otherwise, ending the process.

Step 3-2, scene point circulation

The scene point set determined according to the airport to be simulated is GNs, and the point for conflict resolution under the current time sequence ct is GNs_jIf GNs are_jAnd e, performing the deduction of the point at the moment ct by belonging to GNs, executing the step 3-3, otherwise, considering that all points in the point set of the current moment ct field surface are deduced, adding the flight in the initial state in Fs into the simulation airport, and executing the step 3-3-3.

Step 3-3, ordering flight queue circulation

Is ct time by GNs_jTaking the point as an object point to carry out collision detection and flight sequence relief, and determining GNs at the moment of ct_jThe flight for collision detection and disengagement by points is F_ijIf, if

Then a simulation deduction is made for the flight, step 3-3-1 is performed, otherwise GNs are represented_jAnd (5) after the flight sequence of the points is deduced at the moment ct, executing the step 3-2.

Step 3-3-1: simulation deduction based on a kinematic model:

if it is not

And is

Then represents F_ijCan start to coastLet us order

Otherwise, F is not changed when the next sliding section cannot be started_ijStatus information from

Selecting the next flight in the sequence to deduce, and executing the step 3-3;

if it is not

Indicating that flight F is at time ct_ijIn motion, calculating relative to the starting point GNs of the flight segment_j-1Distance of movement of

According to GNs_j-1Position of (e) and ddis,

Calculating the flight F at the moment ct_ijPosition pos. If pos is related to GNs_jIs greater than

Then represents F_ijDuring the course of sliding, from

Selecting the next flight in the sequence to deduce, and executing the step 3-3; else, flight to points GNs are represented_jPerforming conflict detection and release, and executing the step 3-3-2;

step 3-3-2, collision detection and resolution based on path grouping:

if the path group to which the next destination point belongs is the same as the path group to which the current point belongs, that is

The conflict detection and disengagement are completed before entering the group, and the next sliding section is obtained

Wait for information, F from time ct +1_ijThe next section of sliding is started, from

Selecting the next flight in the sequence to deduce, and executing the step 3-3;

if the path group to which the next destination point belongs is different from the path group to which the current point belongs, that is

Then the next packet needs to be detected and released, and the point index is marked with a value of bi ═ j + 1.

If it is not

Then flight F is indicated_ijWhen the simulation life cycle is over, the condition is satisfied

Point of (2)

Delete F in queue_ijFrom

And selecting the next flight in the sequence to deduce, and executing the step 3-3.

If it is not

Then flight F is indicated_ijThe simulation life cycle is not finished, the next group of conflict detection and release are required, and the specific steps comprise:

step a1, if

Then represents Fs_ijHas completed the detection and release of collisions within the next packet, from

Selecting the next flight in the sequence to deduce, and executing the step 3-3, otherwise

Show that

Still being a point in the next packet, collision detection and disengagement needs to be performed, and step a2 is performed.

Step a2, calculating

Calculating points

To point

And calculates Fs_ijArrival point

Predicted arrival time of

According to

And

position information calculation of

Step a3 is performed.

Step a3, finding flights Fs_ijAt the point of

The set of logical front machines PFs. If PFs are present_kBelongs to PF and

then it is indicated at

Processing logical front-end PFs_kAnd Fs_ijThere is a head-on glide conflict, from Fs_ijCompleted conflict detection and resolution scene point

Is deleted from the flight list Fs_ijAnd emptying the corresponding occupied time slot; updating Fs in Fs queue_ijInformation, will Fs_ijIs delayed in anticipation of start-up, i.e.

From

Selecting the next flight in the sequence to deduce, and executing step 3-3 (corresponding to the flight calculation is finished, and the next flight is selected to restart the calculation); if there is no glide collision, a chase collision detection is performed and step a4 is performed. Wherein di represents a point

For logical front-end PFs_kThe di-th passing point.

Step a4, PF if there is a front machine_kE is PFs, satisfies

And is

This indicates that at time instant Fs_ijIn that

Is present atConflict, which needs to be detected and released, is performed in step a5, where di represents point

For logical front-end PFs_kThe di-th passing point; otherwise, it indicates that at the moment of ct, Fs_ijIn that

Without conflict, calculate Fs_ij4D information of (1), order

Fs after information is updated_ijAdding into

In the peer flight queue, let bi be bi +1 execute step a 1.

Step a5, setting two conflict resolution modes, namely a uniform deceleration sliding mode and a waiting mode, giving priority to the uniform deceleration sliding mode, and firstly calculating Fs_ijCoasting time in the next coasting period

Then calculating the acceleration

Calculating predicted to-point velocity

The flight can not be decelerated without limit in the taxiing process, and the maximum deceleration threshold value is set to be 40% by combining the performance of the airplane.

If it is not

It indicates that the flight Fs is satisfied_ijAnd (4) performing uniform deceleration sliding in the next flight segment, and starting from the moment ct +1, enabling the flight to enter a uniform deceleration sliding state. Calculating Fs_ijThe relevant parameters are as follows:

taking the above formula to calculate the result value,

fs after information is updated_ijAdding into

Make a flight in the queue, according to

An insertion position in the queue is determined. Step a1 is performed by bi + 1.

If it is not

The explanation is that the current acceleration can exceed the maximum deceleration range, namely the uniform deceleration flight can not eliminate the next target point pair Fs_ijThe delay caused by the method needs to be resolved by adopting a waiting mode:

calculating maximum acceleration of flight

Calculating the next sliding time

Calculating an estimated time to point

Calculating the required wait time

Calculating an expected start-up time

I.e. from time ct +1, the flight enters a wait state. Refreshing Fs_ijThe relevant parameters are as follows:

and taking the formula to calculate a result value. Fs after information is updated_ijAddition point

In a flight queue, and according to

An insertion position in the queue is determined. Let bi +1 perform step a 1.

Step 3-3-3: initial flight joining simulation airport

In the data preparation stage before the simulation is started, the flight plan to be involved in the simulation is read into Fs according to the object and the simulation scenario to be simulated (as described in step 1). An origin ori is simulated in the algorithm, the ori does not concern the connection with the actual point of entering the simulated airport, but only concerns the time of entering the simulated airport, so that the distance between the point and all the real points of the airport is defined to be 0.

Flights in Fs have the following characteristics:

time of entry into the simulated airport, Fs_iThe origin of the current flight segment is ori, and the target point is Fs_iFirst point of the scene gliding path

And is

If it is not

Then all flights enter the simulation airport, step 3-2 is executed, and the deduction of the moment ct +1 is carried out;

if it is not

Fs_mE.g. Fs and

illustrating the time Fs at ct_mPlanning to enter the simulated airport and then planning to enter the simulated airport,

is Fs_mAnd entering the starting point of the simulated airport. The invention inherits the simulation principle of first-come-first-serve, and the flights participating in the airport scene conflict detection and release at the moment ct are the flights of the simulation airport at the moment [0, ct ], so the flights joining the simulation airport at the moment are considered after the 4D calculation of the flights already in the airport at the moment ct is completed. Fs_mTwo collision detections and releases are required, respectively the first point collision detection and release and the first packet collision detection and release. Step 3-3-3-1 is performed.

3-3-3-1, detecting and releasing a first point conflict, wherein the detecting and releasing of the first point conflict refers to identifying and relieving a conflict at a sliding starting point, and the method specifically comprises the following steps:

step b1, if at ct time F traversal is completed, and there is no Fs_mE.s satisfies

If ct is ct +1, performing step 3-1; otherwise, determining the flight Fs entering the simulated airport at the moment ct_mSatisfy Fs_mE.g. Fs and

step b2 is performed.

Step b2, finding flights Fs_mAt the point of

The set of logical front machines PFs, which means the same at ct

Flights taxiing for target points, but PFs_k∈PF，PFs_kAnd Fs_mIs not necessarily the same, step b3 is performed.

Step b3, if there is no front end or any PFs_kE.g. PFs, all satisfy

Or

Indicating no collision at the first point, Fs_mCan arrive at the ct moment in time

Point, update Fs_mThe information is as follows:

fs after information is updated_mAdding into

Ordering flight queue, and deleting Fs in Fs_mStep 3-3-3-2 is executed to perform collision detection and release of the first packet. Wherein

Indicates that the flight PFs is in

The requirement of the sliding interval of the rear machine is met;

is expressed as Fs_mIn that

The requirement of the sliding interval of the rear machine is met; j represents a point

For logical front-end PFs_kThe jth passing point, usually j, is 0.

PF if there is a front engine_kE is PFs, satisfies

And is

This indicates that at time instant Fs_mIn that

If there is conflict, conflict detection and release are required, and Fs in Fs are updated_mInformation, will Fs_mIs delayed in anticipation of start-up, i.e.

Step b1 is performed.

Step 3-3-3-2, detecting and releasing the first packet conflict, wherein the detecting and releasing of the first packet conflict refers to the Fs_mIdentifying and mitigating conflicts in the first path dynamic grouping specifically comprises:

step c1, initialize the intra-group index bi as 1, if there is not yet any collision detection and release in the group and

then is at

Performing conflict detection and resolution, and executing step c 2; otherwise, it means Fs_mHaving completed collision detection and resolution in the first packet, step b1 in step 3-3-3-1 is performed.

Step c2, if

Then represents Fs_mHaving completed collision detection and resolution in the first packet, step b1 in step 3-3-3-1 is performed. Otherwise

Show that

Still being a point in the first packet, collision detection and disengagement needs to be performed, and step c3 is performed.

Step c3, calculating

Calculating points

To point

And calculates Fs_mArrival point

Predicted arrival time of

According to

And

position information calculation of

Step c4 is performed.

Step c4, finding flights Fs_mAt the point of

The set of logical front machines PFs. If PFs are present_kBelongs to PF and

then it is indicated at

Processing logical front-end PFs_kAnd Fs_mThere is a head-on glide conflict, from Fs_mCompleted conflict detection and resolution scene point

Is deleted from the flight list Fs_mAnd emptying the corresponding occupied time slot; updating Fs in Fs queue_mInformation, will Fs_mIs delayed in anticipation of start-up, i.e.

Step b1 in step 3-3-3-1 is performed. If there is no glide conflict, a chase conflict detection is made and step c5 is performed. Wherein di represents a point

For logical front-end PFs_kThe di-th passing point.

Step c5, PF if there is a front machine_kE is PFs, satisfies

And is

This indicates that at time instant Fs_mIn that

If there is a conflict, the conflict detection and release are required, and step c6 is executed; otherwise, it indicates that at the moment of ct, Fs_mIn that

Without conflict, calculate Fs_m4D information of (1), order

Fs after information is updated_mAdding into

In the peer flight queue, let bi be bi +1, step c2 is executed.

Step c6, the invention sets two conflict resolution modes, namely a uniform deceleration sliding mode and a waiting mode, and the uniform deceleration sliding mode is considered preferentially: first calculate Fs_mAt the time of taxiing for the next taxiing segment,

the acceleration is calculated and the acceleration is calculated,

calculating predicted to-point velocity

The flight can not be decelerated without limit in the taxiing process, and the maximum deceleration threshold value is set to be 40% by combining the performance of the airplane.

If it is not

It indicates that the flight Fs is satisfied_mAnd (4) performing uniform deceleration sliding in the next flight segment, and starting from the moment ct +1, enabling the flight to enter a uniform deceleration sliding state. Calculating Fs_mThe relevant parameters are as follows:

taking the above formula to calculate the result value,

fs after information is updated_mAdding into

Make a flight in the queue, according to

An insertion position in the queue is determined. b, executing step c 2;

if it is not

The explanation is that the current acceleration can exceed the maximum deceleration range, namely the uniform deceleration flight can not eliminate the next target point pair Fs_mThe delay is eliminated by adopting a waiting mode. Calculating maximum acceleration of flight

Calculating the next sliding time

Calculating an estimated time to point

Final calculation of required wait time

Calculating an expected start-up time

I.e. from time ct +1, the flight enters a wait state. Refreshing Fs_mThe relevant parameters are as follows:

and taking the formula to calculate a result value. Fs after information is updated_mAddition point

In a flight queue, and according to

An insertion position in the queue is determined. Let bi +1 perform step c 2.

Has the advantages that: the method fully considers the actual operation process of the complex airport, weakens the individual behaviors of the aircrafts in the processes of conflict detection and disengagement, and pays more attention to the macroscopic characteristics of mutual influence among the aircrafts in the process of scene sliding; in addition, the method does not adopt a pre-sorting mode to carry out conflict detection and resolution, thereby eliminating the uncertainty influence of different-scale pre-sorting strategies on the deduction result; and moreover, by adopting a backtracking-free algorithm flow, the execution efficiency of the method is improved, and the deduction result is reliable, so that the actual application requirements can be met.

The foregoing and/or other advantages of the invention will become further apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.

Drawings

FIG. 1 is a schematic flow chart of the method of the present invention.

FIG. 2 is a detailed flow chart of the method of the present invention.

Detailed Description

As shown in FIG. 1, the invention provides a complex airport scene conflict detection and release method based on path dynamic grouping, which comprises the following steps:

step 1, determining a flight plan set;

step 2, path dynamic grouping;

and 3, simulating the airport surface sliding to finish the detection and release of the sliding conflict.

The step 1 comprises the following steps: according to airport scene sliding information, flight schedule information is cleaned and screened, a flight set for scene sliding simulation is determined, and each flight comprises: flight departure runway time (approach flight), flight slide-out stop time (departure flight), flight sliding path point set, flight sliding speed set and the like, wherein the flight set is expressed as Fs (Fs is the { Fs) }₁,Fs₂,…,Fs_i}。

Fs_iThe main information contained is described below:

current flight Fs_iThe moment of entering an airport scene (departure flight refers to the time of leaving the runway, and approach flight refers to the time of starting to taxi);

Fs_iand stored in a sliding pass order;

Fs_iover-point velocity sequence of, and

the lengths are the same, and the values correspond to one another;

Fs_isequence of course of the flight path passed by the slide, length ratio

1 is small;

Fs_ithe group number sequence to which the sliding pass point belongs, and

the lengths are the same, the initialization is null, and the paths are assigned after being dynamically grouped.

Is expressed as Fs_iPerforming the initial state sequence of the next sliding, if MOVE represents the sliding state; if the WAIT represents that the simulation system is in a delay resolution state, initializing the simulation system to be null, and filling the simulation system after calculation in the simulation process;

is expressed as Fs_iThe start time sequence for the next glide, and

the lengths are the same, the lengths are initialized to be empty, and the empty lengths are filled in after calculation in the simulation process;

is expressed as Fs_iThe start time sequence for the next glide, and

the lengths are the same, the lengths are initialized to be empty, and the empty lengths are filled in after calculation in the simulation process;

is expressed as Fs_iAn end time sequence for completing the next glide, an

The lengths are the same, the lengths are initialized to be empty, and the empty lengths are filled in after calculation in the simulation process;

is expressed as Fs_iThe time required to wait before starting the next taxi, and

the lengths are the same, the initial values are empty, and the empty values are filled after calculation in the simulation process.

Step 2, path dynamic grouping: the method dynamically groups the sliding paths of each flight according to the course change of the sliding paths, and allocates resources in groups in the simulation process, thereby maintaining the deduction efficiency and solving the deadlock problem of scene resource allocation.

The work goal of the ground controller is to keep the flight flow smooth and orderly in the process of sliding on the ground, and the work goal generally comprises the contents of sliding path selection, parking space distribution, runway distribution, sliding guide command and the like. When airport scene taxiing networks are complex and flight amount is large, how to carry out path planning and conflict detection and release is the main work content. The method mainly focuses on how to avoid conflict of the sliding process under the condition that the parking space, the runway and the sliding path are clear, and the simulation of the sliding process is realized.

The invention dynamically groups the sliding paths of each flight, and allocates resources in a group unit in the simulation process, thereby not only maintaining the deduction efficiency, but also solving the deadlock problem of scene resource allocation, and the step 2 comprises the following steps:

step 2-1, initializing a flight index to be findex is 0, initializing a site point index to be nindex is 1, and grouping an index to be gid is 0;

step 2-2, if findex < count (fs), it indicates that there are flights to be subjected to path dynamic grouping, step 2 is executed, otherwise, it indicates that all flights to be simulated have completed path dynamic grouping, grouping is finished, and simulation deduction can be performed. Wherein count (fs) represents the number of flights participating in the simulation;

step 2-3, if the current point is flight Fs_findexThe first point on the taxi path is grouped into the first group, i.e. leaving nindex 1 unchanged,

wherein

Is expressed as Fs_findexA path packet number to which the first taxi path point belongs; if the current point is not flight Fs_findexSliding roadThe first point on the path executes step 2-4;

step 2-4, if

Indicating Fs_findexAnd if the grouping is not performed, judging the course. If it is not

Indicate by point

Flight segment and point of origin

If the course of the terminal is different, the terminal is pointed

And Fs_findexThe last field point is belonging to different groups, gid +1,

otherwise, it indicates the point

The course of the segment taking the starting point is the same as the course of the segment taking the point as the end point, and then the point is

And Fs_findexThe last scene point passed belongs to the same group,

nindex is nindex +1, and the step 2-4 is continuously performed until findex is findex +1, and the step 2-2 is performed.

Step 3, airport surface sliding simulation

In the actual operation process, a scene controller can observe the scene flight situation at each moment, pay attention to the key conflict points of the scene, identify scene conflicts according to the situation, and resolve the conflicts by adopting modes of sliding guidance, intervention and the like. In order to simulate the process of situation awareness, control decision and situation intervention, the invention adopts a three-stage circulation mode to carry out sliding deduction, namely a global time sequence circulation, a field point circulation and a point flight queue circulation. The global time sequence loop is a first-stage loop in the algorithm, is the propulsion of a global time axis, embodies the abstraction of objective time, and has the characteristics of unidirectional evolution and global unification. The scene point cycle is a second stage cycle in the algorithm, is traversal of a scene sliding network point set, embodies the identification of flight space distribution under a specified time sequence, and is the basis for sliding conflict detection and resolution. The point flight queue cycle is a third-level cycle in the algorithm, is the traversal of a flight sequence of a designated point under a designated timing sequence, embodies the abstraction of the conflict detection and release process, and follows the control principle of point-by-point detection and hierarchical release.

Step 3-1, Global timing Loop

Since the flight schedules of the airport are usually arranged in units of natural days, the invention sets the global simulation time period to [0,24 × 60 × 60 ]), and the statuses of all taxied flights in the simulated airport at the current deduction time and 4D information are stored in each time sequence. Setting the starting point of the time sequence in the algorithm as 0 second, the increment of the time sequence as 1 second, and the current deduction time as the ct second, if ct belongs to the TimeSlice, carrying out deduction of the time and executing the step 3-2, otherwise, ending the process.

Step 3-2, scene point circulation

The scene point set determined according to the airport to be simulated is GNs, and the point for conflict resolution under the current time sequence ct is GNs_jIf GNs are_jAnd e, performing the deduction of the point at the moment ct by belonging to GNs, executing the step 3-3, otherwise, considering that all points in the point set of the current moment ct field surface are deduced, adding the flight in the initial state in Fs into the simulation airport, and executing the step 3-3-3.

Step 3-3, ordering flight queue circulation

Is ct time by GNs_jTaking the point as an object point to carry out collision detection and flight sequence relief, and determining GNs at the moment of ct_jThe flight for collision detection and disengagement by points is F_ijIf, if

Then a simulation deduction is made for the flight, step 3-3-1 is performed, otherwise GNs are represented_jAnd (5) after the flight sequence of the points is deduced at the moment ct, executing the step 3-2.

Step 3-3-1: simulation deduction based on a kinematic model:

if it is not

And is

Then represents F_ijCan start to slide, order

Otherwise, F is not changed when the next sliding section cannot be started_ijStatus information from

Selecting the next flight in the sequence to deduce, and executing the step 3-3;

if it is not

Indicating that flight F is at time ct_ijIn motion, calculating relative to the starting point GNs of the flight segment_j-1Distance of movement of

According to GNs_j-1Position of (e) and ddis,

Calculating the flight F at the moment ct_ijPosition pos. If pos is related to GNs_jIs greater than

Then represents F_ijDuring the course of sliding, from

Selecting the next flight in the sequence to deduce, and executing the step 3-3; else, flight to points GNs are represented_jPerforming conflict detection and release, and executing the step 3-3-2;

step 3-3-2, collision detection and resolution based on path grouping:

if the path group to which the next destination point belongs is the same as the path group to which the current point belongs, that is

The conflict detection and disengagement are completed before entering the group, and the next sliding section is obtained

Wait for information, F from time ct +1_ijThe next section of sliding is started, from

Selecting the next flight in the sequence to deduce, and executing the step 3-3;

if the path group to which the next destination point belongs is different from the path group to which the current point belongs, that is

Then the next packet needs to be detected and released, and the point index is marked with a value of bi ═ j + 1.

If it is not

Then flight F is indicated_ijWhen the simulation life cycle is over, the condition is satisfied

Point of (2)

Delete F in queue_ijFrom

And selecting the next flight in the sequence to deduce, and executing the step 3-3.

If it is not

Then flight F is indicated_ijThe simulation life cycle is not finished, the next group of conflict detection and release are required, and the specific steps comprise:

step a1, if

Then represents Fs_ijHas completed the detection and release of collisions within the next packet, from

Selecting the next flight in the sequence to deduce, and executing the step 3-3, otherwise

Show that

Still being a point in the next packet, collision detection and disengagement needs to be performed, and step a2 is performed.

Step a2, calculating

Calculating points

To point

And calculates Fs_ijArrival point

Predicted arrival time of

According to

And

position information calculation of

Step a3 is performed.

Step a3, finding flights Fs_ijAt the point of

The set of logical front machines PFs. If PFs are present_kBelongs to PF and

then it is indicated at

Processing logical front-end PFs_kAnd Fs_ijThere is a head-on glide conflict, from Fs_ijCompleted conflict detection and resolution scene point

Is deleted from the flight list Fs_ijAnd emptying the corresponding occupied time slot; updating Fs in Fs queue_ijInformation, will Fs_ijIs delayed in anticipation of start-up, i.e.

From

Selecting the next flight in the sequence to deduce and execute3-3; if there is no glide collision, a chase collision detection is performed and step a4 is performed. Wherein di represents a point

For logical front-end PFs_kThe di-th passing point.

Step a4, PF if there is a front machine_kE is PFs, satisfies

And is

This indicates that at time instant Fs_ijIn that

Where there is a conflict, which needs to be detected and released, step a5 is executed, where di represents a point

For logical front-end PFs_kThe di-th passing point; otherwise, it indicates that at the moment of ct, Fs_ijIn that

Without conflict, calculate Fs_ij4D information of (1), order

Fs after information is updated_ijAdding into

In the peer flight queue, let bi be bi +1 execute step a 1.

Step a5, setting two conflict resolution modes, namely a uniform deceleration sliding mode and a waiting mode, giving priority to the uniform deceleration sliding mode, and firstly calculating Fs_ijCoasting time in the next coasting period

Then calculating the acceleration

Calculating predicted to-point velocity

The flight can not be decelerated without limit in the taxiing process, and the maximum deceleration threshold value is set to be 40% by combining the performance of the airplane.

If it is not

It indicates that the flight Fs is satisfied_ijAnd (4) performing uniform deceleration sliding in the next flight segment, and starting from the moment ct +1, enabling the flight to enter a uniform deceleration sliding state. Calculating Fs_ijThe relevant parameters are as follows:

taking the above formula to calculate the result value,

fs after information is updated_ijAdding into

Make a flight in the queue, according to

An insertion position in the queue is determined. Step a1 is performed by bi + 1.

If it is not

The explanation is that the current acceleration can exceed the maximum deceleration range, namely the uniform deceleration flight can not eliminate the next target point pair Fs_ijCause a delay, thereforeThe delay needs to be resolved in a waiting mode:

calculating maximum acceleration of flight

Calculating the next sliding time

Calculating an estimated time to point

Calculating the required wait time

Calculating an expected start-up time

I.e. from time ct +1, the flight enters a wait state. Refreshing Fs_ijThe relevant parameters are as follows:

and taking the formula to calculate a result value. Fs after information is updated_ijAddition point

In a flight queue, and according to

An insertion position in the queue is determined. Let bi +1 perform step a 1.

Step 3-3-3: initial flight joining simulation airport

In the data preparation stage before the simulation is started, the flight plan to be involved in the simulation is read into Fs according to the object and the simulation scenario to be simulated (as described in step 1). An origin ori is simulated in the algorithm, the ori does not concern the connection with the actual point of entering the simulated airport, but only concerns the time of entering the simulated airport, so that the distance between the point and all the real points of the airport is defined to be 0.

Flights in Fs have the following characteristics:

time of entry into the simulated airport, Fs_iThe origin of the current flight segment is ori, and the target point is Fs_iFirst point of the scene gliding path

And is

If it is not

Then all flights enter the simulation airport, step 3-2 is executed, and the deduction of the moment ct +1 is carried out;

if it is not

Fs_mE.g. Fs and

illustrating the time Fs at ct_mPlanning to enter the simulated airport and then planning to enter the simulated airport,

is Fs_mAnd entering the starting point of the simulated airport. The invention inherits the simulation principle of first-come-first-serve, and the flights participating in the airport scene conflict detection and release at the moment ct are the flights of the simulation airport at the moment [0, ct ], so the flights joining the simulation airport at the moment are considered after the 4D calculation of the flights already in the airport at the moment ct is completed. Fs_mTwo times of conflict detection and resolution are required, namely first point conflict detection and resolutionAnd first packet collision detection and resolution. Step 3-3-3-1 is performed.

3-3-3-1, detecting and releasing a first point conflict, wherein the detecting and releasing of the first point conflict refers to identifying and relieving a conflict at a sliding starting point, and the method specifically comprises the following steps:

step b1, if at ct time F traversal is completed, and there is no Fs_mE.s satisfies

If ct is ct +1, performing step 3-1; otherwise, determining the flight Fs entering the simulated airport at the moment ct_mSatisfy Fs_mE.g. Fs and

step b2 is performed.

Step b2, finding flights Fs_mAt the point of

The set of logical front machines PFs, which means the same at ct

Flights taxiing for target points, but PFs_k∈PF，PFs_kAnd Fs_mIs not necessarily the same, step b3 is performed.

Step b3, if there is no front end or any PFs_kE.g. PFs, all satisfy

Or

Indicating no collision at the first point, Fs_mCan arrive at the ct moment in time

Point, update Fs_mThe information is as follows:

fs after information is updated_mAdding into

Ordering flight queue, and deleting Fs in Fs_mStep 3-3-3-2 is executed to perform collision detection and release of the first packet. Wherein

Indicates that the flight PFs is in

The requirement of the sliding interval of the rear machine is met;

is expressed as Fs_mIn that

The requirement of the sliding interval of the rear machine is met; j represents a point

For logical front-end PFs_kThe jth passing point, usually j, is 0.

PF if there is a front engine_kE is PFs, satisfies

And is

This indicates that at time instant Fs_mIn that

If there is conflict, conflict detection and release are required, and Fs in Fs are updated_mInformation, will Fs_mIs delayed in anticipation of start-up, i.e.

Step b1 is performed.

Step 3-3-3-2, first packet punchingBurst detection and release, first packet collision detection and release for Fs_mIdentifying and mitigating conflicts in the first path dynamic grouping specifically comprises:

step c1, initialize the intra-group index bi as 1, if there is not yet any collision detection and release in the group and

then is at

Performing conflict detection and resolution, and executing step c 2; otherwise, it means Fs_mHaving completed collision detection and resolution in the first packet, step b1 in step 3-3-3-1 is performed.

Step c2, if

Then represents Fs_mHaving completed collision detection and resolution in the first packet, step b1 in step 3-3-3-1 is performed. Otherwise

Show that

Still being a point in the first packet, collision detection and disengagement needs to be performed, and step c3 is performed.

Step c3, calculating

Calculating points

To point

And calculates Fs_mArrival point

Predicted arrival time of

According to

And

position information calculation of

Step c4 is performed.

Step c4, finding flights Fs_mAt the point of

The set of logical front machines PFs. If PFs are present_kBelongs to PF and

then it is indicated at

Processing logical front-end PFs_kAnd Fs_mThere is a head-on glide conflict, from Fs_mCompleted conflict detection and resolution scene point

Is deleted from the flight list Fs_mAnd emptying the corresponding occupied time slot; updating Fs in Fs queue_mInformation, will Fs_mIs delayed in anticipation of start-up, i.e.

Step b1 in step 3-3-3-1 is performed. If there is no glide conflict, a chase conflict detection is made and step c5 is performed. Wherein di represents a point

For logical front-end PFs_kThe di-th passing point.

Step c5, if presentMechanical PF_kE is PFs, satisfies

And is

This indicates that at time instant Fs_mIn that

If there is a conflict, the conflict detection and release are required, and step c6 is executed; otherwise, it indicates that at the moment of ct, Fs_mIn that

Without conflict, calculate Fs_m4D information of (1), order

Fs after information is updated_mAdding into

In the peer flight queue, let bi be bi +1, step c2 is executed.

Step c6, the invention sets two conflict resolution modes, namely a uniform deceleration sliding mode and a waiting mode, and the uniform deceleration sliding mode is considered preferentially: first calculate Fs_mAt the time of taxiing for the next taxiing segment,

the acceleration is calculated and the acceleration is calculated,

calculating predicted to-point velocity

The flight can not be decelerated without limit in the taxiing process, and the maximum deceleration threshold value is set to be 40% by combining the performance of the airplane.

If it is not

It indicates that the flight Fs is satisfied_mAnd (4) performing uniform deceleration sliding in the next flight segment, and starting from the moment ct +1, enabling the flight to enter a uniform deceleration sliding state. Calculating Fs_mThe relevant parameters are as follows:

taking the above formula to calculate the result value,

fs after information is updated_mAdding into

Make a flight in the queue, according to

An insertion position in the queue is determined. b, executing step c 2;

if it is not

The explanation is that the current acceleration can exceed the maximum deceleration range, namely the uniform deceleration flight can not eliminate the next target point pair Fs_mThe delay is eliminated by adopting a waiting mode. Calculating maximum acceleration of flight

Calculating the next sliding time

Calculating an estimated time to point

Final calculation of required wait time

Calculating an expected start-up time

I.e. from time ct +1, the flight enters a wait state. Refreshing Fs_mThe relevant parameters are as follows:

and taking the formula to calculate a result value. Fs after information is updated_mAddition point

In a flight queue, and according to

An insertion position in the queue is determined. Let bi +1 perform step c 2.

The present invention provides a complex airport scene collision detection and release method based on path dynamic grouping, and the method and the way for implementing the technical scheme are many, the above description is only the preferred embodiment of the present invention, it should be noted that, for those skilled in the art, if any improvement and embellishment can be made without departing from the principle of the present invention, and these improvements and embellishments should also be regarded as the protection scope of the present invention. All the components not specified in the present embodiment can be realized by the prior art.

Claims (10)

1. The complex airport scene conflict detection and release method based on path dynamic grouping is characterized by comprising the following steps:

step 1, determining a flight plan set;

step 2, path dynamic grouping;

and 3, simulating the airport surface sliding to finish the detection and release of the sliding conflict.

2. The method of claim 1, wherein step 1 comprises: according to airport scene taxi information, cleaning and screening flight schedule information, and determining a flight set for scene taxi simulation, wherein the flight set is expressed as Fs (F ═ Fs)₁,Fs₂,…,Fs_i}，Fs_iRepresenting the ith set of flights;

Fs_ithe information contained is as follows:

current flight Fs_iThe time of entering the airport scene refers to the time of leaving the runway for the departure flight and the time of starting to slide for the approach flight;

Fs_iand stored in a sliding pass order;

Fs_iover-point velocity sequence of, and

the lengths are the same, and the values correspond to one another;

Fs_isequence of course of the flight path passed by the slide, length ratio

1 is small;

Fs_ithe group number sequence to which the sliding pass point belongs, and

the lengths are the same, and the initialization is empty;

is expressed as Fs_iPerforming the initial state sequence of the next sliding, if MOVE represents the sliding state; if the WAIT represents that the delay is resolved, initializing the state to be null;

is expressed as Fs_iThe start time sequence for the next glide, and

the lengths are the same, and the initialization is empty;

is expressed as Fs_iThe start time sequence for the next glide, and

the lengths are the same, and the initialization is empty;

is expressed as Fs_iAn end time sequence for completing the next glide, an

The lengths are the same, and the initialization is empty;

is expressed as Fs_iThe time required to wait before starting the next taxi, and

same length, initialized to null.

3. The method of claim 2, wherein step 2 comprises:

step 2-1, initializing a flight index to be findex is 0, initializing a site point index to be nindex is 1, and grouping an index to be gid is 0;

step 2-2, if findex < count (fs), it indicates that there are flights to be subjected to path dynamic grouping, then path dynamic grouping is executed, otherwise, it indicates that all flights to be simulated have completed path dynamic grouping, then grouping is ended, wherein count (fs) represents the number of flights participating in simulation;

step 2-3, if the current point is flight Fs_findexThe first point on the taxi path is grouped into the first group, i.e. leaving nindex 1 unchanged,

wherein

Is expressed as Fs_findexA path packet number to which the first taxi path point belongs; if the current point is not flight Fs_findexThe first point on the sliding path executes the step 2-4;

step 2-4, if

Indicating Fs_findexIf the grouping is not performed, the grouping judgment is performed according to the heading, and if the grouping is not performed, the grouping is determined

Indicate by point

The course of the flight segment taking the starting point is different from the course of the flight segment taking the point as the end point, and then the point is

And Fs_findexThe last field point is belonging to different groups, gid +1,

otherwise, it indicates the point

The course of the segment taking the starting point is the same as the course of the segment taking the point as the end point, and then the point is

And Fs_findexThe last scene point passed belongs to the same group,

continuing to execute step 2-4 until findex ═ findex +1, executing step 2-2, wherein

Is expressed as Fs_findexSequences of points that need to be traversed in the scene of sliding.

4. The method of claim 3, wherein step 3 comprises:

step 3-1, circulating the overall time sequence;

step 3-2, circulating scene points;

and 3, circulating the flight queue.

5. The method of claim 4, wherein step 3-1 comprises: and setting the global simulation time period as TimeSlice [0,24 × 60 × 60), storing the states of all taxiing flights in the simulation airport at the current deduction time and 4D information in each time sequence, setting the starting point of the time sequence as 0 th second, the increment of the time sequence as 1 second, and the current deduction time as the ct th second, carrying out deduction of the time if ct belongs to the TimeSlice, and executing the step 3-2, otherwise, ending the process.

6. The method of claim 5, wherein step 3-2 comprises: the scene point set determined according to the airport to be simulated is GNs, and the point for conflict resolution under the current time sequence ct is GNs_jIf GNs are_jAnd e, performing the deduction of the ct moment on the point by belonging to GNs, executing the step 3-3, otherwise, indicating that all points in the ct field surface point set at the current moment are deduced, adding the flight in the initial state in Fs into the simulation airport, and executing the step 3-3-3.

7. The method of claim 6, wherein step 3-3 comprises:

is ct time by GNs_jTaking the point as an object point to carry out collision detection and flight sequence relief, and determining GNs at the moment of ct_jThe flight for collision detection and disengagement by points is F_ijIf, if

Then a simulation deduction is made for the flight, step 3-3-1 is performed, otherwise GNs are represented_jAfter the flight sequence of the points is deduced at the moment ct, executing a step 3-2;

step 3-3-1: simulation deduction based on a kinematic model:

if it is not

And is

Then represents F_ijCan start to slide, order

Otherwise, F is not changed when the next sliding section cannot be started_ijStatus information from

Selecting the next flight in the sequence to deduce, and executing the step 3-3;

if it is not

Indicating that flight F is at time ct_ijIn motion, calculating relative to the starting point GNs of the flight segment_j-1Distance of movement of

According to GNs_j-1Position of (e) and ddis,

Calculating the flight F at the moment ct_ijPosition pos of (1), if pos is related to GNs_jIs greater than

Then represents F_ijDuring the course of sliding, from

Selecting the next flight in the sequence to deduce, and executing the step 3-3; else, flight to points GNs are represented_jPerforming conflict detection and release, and executing the step 3-3-2;

step 3-3-2, collision detection and resolution based on path grouping:

if the path group to which the next destination point belongs is the same as the path group to which the current point belongs, that is

The punch is completed before entering the groupBurst detection and release to obtain the next section of sliding

Information, F from time ct +1_ijThe next section of sliding is started, from

Selecting the next flight in the sequence to deduce, and executing the step 3-3;

if the path group to which the next destination point belongs is different from the path group to which the current point belongs, that is

Then the next packet needs to be subjected to collision detection and release, and the point index mark bi is j + 1;

if it is not

Then flight F is indicated_ijWhen the simulation life cycle is over, the condition is satisfied

Point of (2)

Delete F in queue_ijFrom

Selecting the next flight in the sequence to deduce, and executing the step 3-3;

if it is not

Then flight F is indicated_ijThe simulation life cycle is not finished, the next group of conflict detection and release is required, and the specific steps comprise：

Step a1, if

Then represents Fs_ijHas completed the detection and release of collisions within the next packet, from

Selecting the next flight in the sequence to deduce, and executing the step 3-3, otherwise

Show that

Still being a point in the next packet, collision detection and disengagement needs to be performed, and step a2 is executed;

step a2, calculating

Calculating points

To point

And calculates Fs_ijArrival point

Predicted arrival time of

According to

And

position information calculation of

Performing step a 3;

step a3, finding flights Fs_ijAt the point of

Set of logical front-end PFs, if any_kBelongs to PF and

then it is indicated at

Processing logical front-end PFs_kAnd Fs_ijThere is a head-on glide conflict, from Fs_ijCompleted conflict detection and resolution scene point

Is deleted from the flight list Fs_ijAnd emptying the corresponding occupied time slot; updating Fs in Fs queue_ijInformation, will Fs_ijIs delayed in anticipation of start-up, i.e.

From

Selecting the next flight in the sequence to deduce, and executing the step 3-3; if no head sliding conflict exists, detecting the pursuit conflict and executing the step a 4; wherein di represents a point

For logical front-end PFs_kThe di-th passing point;

step a4, PF if there is a front machine_kE is PFs, satisfies

And is

This indicates that at time instant Fs_ijIn that

Where there is a conflict, which needs to be detected and released, step a5 is executed, where di represents a point

For logical front-end PFs_kThe di-th passing point; otherwise, it indicates that at the moment of ct, Fs_ijIn that

Without conflict, calculate Fs_ij4D information of (1), order

Fs after information is updated_ijAdding into

In the peer flight queue, let bi be bi +1 execute step a 1;

step a5, setting two conflict resolution modes, namely a uniform deceleration sliding mode and a waiting mode, and giving priority to the uniform deceleration sliding mode: first calculate Fs_ijCoasting time in the next coasting period

Then calculating the acceleration

Calculating predicted to-point velocity

If it is not

It indicates that the flight Fs is satisfied_ijThe uniform deceleration sliding can be carried out in the next flight segment, and the flight enters a uniform deceleration sliding state from the moment ct + 1; calculating Fs_ijThe relevant parameters are as follows:

taking the above formula to calculate the result value,

fs after information is updated_ijAdding into

Make a flight in the queue, according to

Judging the position of the insertion in the queue, bi +1, and executing the step a 1;

if it is not

The explanation is that the current acceleration can exceed the maximum deceleration range, namely the uniform deceleration flight can not eliminate the next target point pair Fs_ijThe delay caused by the method needs to be resolved by adopting a waiting mode:

calculating maximum acceleration of flight

Calculating the next sliding time

Calculating an estimated time to point

Calculating the required wait time

Calculating an expected start-up time

Starting from the moment ct +1, the flight enters a waiting state, and Fs is refreshed_ijThe relevant parameters are as follows:

calculating the result value by the formula, and updating the information Fs_ijAddition point

In a flight queue, and according to

Judging the position of the insertion in the queue, making bi be bi +1, and executing step a 1;

step 3-3-3: the initial flight joins the simulated airport.

8. The method of claim 7, wherein step 3-3-3 comprises: simulating an origin ori, and defining the distances between the point and all real points of the airport to be 0;

flights in Fs have the following characteristics:

time of entry into the simulated airport, Fs_iThe origin of the current flight segment is ori, and the target point is Fs_iScene slideFirst point of diameter

And is

If it is not

Then all flights enter the simulation airport, step 3-2 is executed, and the deduction of the moment ct +1 is carried out;

if it is not

Fs_mE.g. Fs and

illustrating the time Fs at ct_mPlanning to enter the simulated airport and then planning to enter the simulated airport,

is Fs_mA starting point for entering the simulation airport; according to the simulation principle of first-come-first-serve, the flights participating in airport scene conflict detection and releasing at the moment ct are the flights of the simulation airport at the moment [0, ct), so that the flights participating in the simulation airport at the moment ct are considered after the 4D calculation of the flights already in the airport at the moment ct is completed; fs_mPerforming two times of conflict detection and resolution, namely first point conflict detection and resolution and first packet conflict detection and resolution respectively; performing step 3-3-3-1;

step 3-3-3-1, the first point conflict detection and resolution specifically comprises:

step b1, if at ct time F traversal is completed, and there is no Fs_mE.s satisfies

If ct is ct +1, performing step 3-1; otherwise, the entry into the simulated airport at the moment ct is determinedFlight Fs_mSatisfy Fs_mE.g. Fs and

step b2 is executed;

step b2, finding flights Fs_mAt the point of

The set of logical front machines PFs, which means the same at ct

Executing step b3 for the flight taxiing at the target point;

step b3, if there is no front end or any PFs_kE.g. PFs, all satisfy

Or

Indicating no collision at the first point, Fs_mCan arrive at the ct moment in time

Point, update Fs_mThe information is as follows:

fs after information is updated_mAdding into

Ordering flight queue, and deleting Fs in Fs_mExecuting step 3-3-3-2 to detect and release the conflict of the first packet; wherein

Indicates that the flight PFs is in

The requirement of the sliding interval of the rear machine is met;

is expressed as Fs_mIn that

The requirement of the sliding interval of the rear machine is met; j represents a point

For logical front-end PFs_kThe jth passing point;

PF if there is a front engine_kE is PFs, satisfies

And is

This indicates that at time instant Fs_mIn that

If there is conflict, conflict detection and release are required, and Fs in Fs are updated_mInformation, will Fs_mIs delayed in anticipation of start-up, i.e.

Step b1 is executed;

and 3-3-3-2, detecting and releasing the first packet conflict.

9. The method of claim 8, wherein step 3-3-3-2 comprises:

step c1, initialize the intra-group index bi as 1, if there is not collision detection in the group yetAnd is released and

then is at

Performing conflict detection and resolution, and executing step c 2; otherwise, it means Fs_mHaving completed the collision detection and release in the first packet, step b1 in step 3-3-3-1 is performed;

step c2, if

Then represents Fs_mHaving completed the collision detection and release in the first packet, step b1 in step 3-3-3-1 is performed; otherwise

Show that

Still being a point in the first packet, collision detection and disengagement needs to be performed, step c3 is performed;

step c3, calculating

Calculating points

To point

And calculates Fs_mArrival point

Predicted arrival time of

According to

And

position information calculation of

Performing step c 4;

step c4, finding flights Fs_mAt the point of

Set of logical front-end PFs, if any_kBelongs to PF and

then it is indicated at

Processing logical front-end PFs_kAnd Fs_mThere is a head-on glide conflict, from Fs_mCompleted conflict detection and resolution scene point

Is deleted from the flight list Fs_mAnd emptying the corresponding occupied time slot; updating Fs in Fs queue_mInformation, will Fs_mIs delayed in anticipation of start-up, i.e.

Step b1 in step 3-3-3-1 is performed; if no head sliding conflict exists, detecting the pursuit conflict and executing the step c 5; wherein di represents a point

For logical front-end PFs_kThe di-th passing point;

step c5, PF if there is a front machine_kE.g. PFs, fullFoot

And is

This indicates that at time instant Fs_mIn that

If there is a conflict, the conflict detection and release are required, and step c6 is executed; otherwise, it indicates that at the moment of ct, Fs_mIn that

Without conflict, calculate Fs_m4D information of (1), order

Fs after information is updated_mAdding into

In the peer flight queue, let bi be bi +1, go to step c 2;

and step c6, setting two conflict resolution modes, namely a uniform deceleration sliding mode and a waiting mode.

10. The method according to claim 9, wherein in step c6, the level-geared skating mode is prioritized as follows: first calculate Fs_mCoasting time in the next coasting period

Calculating acceleration

Calculating predicted to-point velocity

If it is not

It indicates that the flight Fs is satisfied_mThe uniform deceleration sliding can be carried out in the next flight segment, and the flight enters a uniform deceleration sliding state from the moment ct + 1; calculating Fs_mThe relevant parameters are as follows:

taking the above formula to calculate the result value,

fs after information is updated_mAdding into

Make a flight in the queue, according to

Judging the position of the insertion in the queue, bi +1, and executing step c 2;

if it is not

The explanation is that the current acceleration can exceed the maximum deceleration range, namely the uniform deceleration flight can not eliminate the next target point pair Fs_mThe delay caused by the method needs to be resolved by adopting a waiting mode: calculating maximum acceleration of flight

Calculating the next sliding time

Calculating an estimated time to point

Final calculation of required wait time

Calculating an expected start-up time

Starting from the moment ct +1, the flight enters a waiting state, and Fs is refreshed_mThe relevant parameters are as follows:

calculating a result value by taking the formula; fs after information is updated_mAddition point

In a flight queue, and according to

The position of the insertion in the queue is determined, and step c2 is executed with bi + 1.

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