CN112927562B - Aircraft flight altitude profile calculation method based on specified altitude limit - Google Patents
Aircraft flight altitude profile calculation method based on specified altitude limit Download PDFInfo
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Abstract
The invention provides an aircraft flight height profile calculation method based on specified height limit, which is used for obtaining a flight plan, an airspace sector structure and height limit; analyzing the relation between the height of the limit point and the flight height of the previous flight segment to determine whether high-low sector transition exists; if not, sequentially calculating the minimum horizontal distance required by the current altitude to fly to the specified altitude and the distance from the altitude limiting point to the entering boundary of the sector to which the altitude limiting point belongs, and determining the sequence of changing the altitude and the plane flight through the relationship of the two distances when calculating the altitude section; if the distance between the altitude limit point and the target airport is smaller than the set parameter, the altitude profile is calculated to be preferentially lowered to the designated altitude and then the flight is kept flat. The method fully considers the rules and actual conditions of air traffic control operation, can improve the accuracy of predicting the flight path passing through the sector in the pre-tactical phase, and provides technical support for accurate sector flow prediction.
Description
Technical Field
The invention belongs to the field of air traffic management, and particularly relates to an aircraft flight altitude profile calculation method based on specified altitude limit.
Background
With the continuous increase of air traffic, the demand of air traffic fine operation and management is more urgent. The need for empty pipe operations is increasingly unsatisfied by still employing flight-based planning in combination with experience-based interval allocation in traffic-flow-dense airspaces. The method provides a new concept of taking four-dimensional track operation as future air traffic operation for the international civil aviation, and takes the four-dimensional track of the full life cycle of the flight of an aircraft as the center, and the air traffic control department, the airline company, the aircraft and the airport share, negotiate and manage the dynamic track, thereby realizing the cooperative decision between flight and control. This also puts higher demands on the 4D track prediction capability of the air traffic system.
The accurate 4D flight path is the basis for efficient use of a plurality of decision support tools of the air traffic management system, can be used for various stages of air traffic flow prediction and management, flight conflict detection, airplane entering sequence, auxiliary control command and the like, and improves the utilization rate of airspace resources. The 4D flight path includes: horizontal flight path, altitude profile and velocity profile, which are typically processed independently and eventually integrated for computational convenience. The 4D track prediction method commonly used in the current system is calculated by adopting a mode of combining a flight plan and an aircraft performance model. In this approach, the altitude profile is typically relatively simple, i.e., the aircraft climbs to cruise altitude, then flies flat to the descent peak, and then descends to the destination airport. The cruise altitude uses the altitude in the flight plan or the historical experience altitude, and considers the altitude limits such as the operation limit issued by the air traffic control, the control transfer protocol and the like, so that the predicted altitude profile has larger deviation from the actual altitude profile, and the calculation of the speed profile and the flight time can be influenced. Particularly, in the flow prediction process, since the high-altitude sector and the low-altitude sector may belong to different control units, the deviation of the height profile will cause inaccuracy of sector flow prediction, influence the formulation of a flow management strategy, and cause reduction of the overall operation efficiency. Currently, an accurate height profile calculation method which fully considers the practical operation of the air traffic control and the height limit is not available to support the prediction of an accurate 4D track.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the technical problem of researching and inventing an aircraft flight height profile calculation method based on specified height limit from the perspective of accurately predicting the 4D flight path of an aircraft aiming at the development requirement of an air traffic control system for the refined operation with the 4D flight path as the core.
In order to solve the technical problem, the invention discloses an aircraft flight height profile calculation method based on specified height limit, which comprises the following steps:
step 1: acquiring basic information such as a flight plan, an airspace sector structure, a entering and leaving procedure, height limitation of waypoints and the like;
step 2: calculating a height profile from a takeoff airport to a first waypoint according to an off-site program, and updating a track starting point to be the first waypoint;
and step 3: finding the next height limiting point backwards from the track starting point, calculating the height profile from the track starting point to the entering boundary of a sector before the height limiting point, and updating the track starting point;
and 4, step 4: judging whether the flight is converted from a high-altitude sector to a low-altitude sector or not according to the relationship among the flight height of the flight path starting point, the designated height of the limit point and the airspace sector structure;
and 5: according to the judgment result in the step 4, determining the sequence of the flat flight and climbing or descending processes:
step 5-1: when the situation of switching from a high-altitude sector to a low-altitude sector does not exist, determining the sequence of the horizontal flight and the climbing or descending process according to the relation between the required climbing or descending distance and the boundary of the sector;
step 5-2: when the situation that the high-altitude sector is converted into the low-altitude sector exists, judging whether a descending process needs to be preferentially executed or not by evaluating the distance between the altitude limit point and a target airport; when the distance between the two is less than or equal to the set parameter LT, the aircraft descends to the designated height first and then keeps flying horizontally; otherwise, determining the sequence of the horizontal flight and the descending process according to the relation between the required descending distance and the sector boundary; whether the descending process needs to be preferentially executed or not is judged according to the distance between the height limiting point and the target airport, so that the calculation of the height profile is more fit with the operation reality.
Step 6: calculating the height profile from the track starting point to the height limiting point according to the height profile change process determined in the step 5, and updating the track starting point;
and 7: judging whether the track starting point is the last route point or not, and if so, executing the step 8; if not, executing step 3;
and 8: and calculating the height profile from the starting point of the flight path to the destination airport according to the approach program.
In one implementation manner, in step 1, the flight plan includes information of a takeoff airport, a waypoint, a landing airport and a cruising altitude required for calculating the altitude profile, and also includes an aircraft model; the airspace sector structure is used for determining a high-altitude sector, a low-altitude sector and sector types corresponding to different heights of the waypoints; the entrance and exit field program is used for calculating the height profile of the exit field and the entrance field; the altitude restrictions of waypoints are derived from restrictions imposed by hand-over protocols, traffic management or regulation; the first waypoint and the last waypoint in the flight plan correspond to the departure point and the approach point, respectively, and the height limit of the waypoints is below 6000 meters according to the air traffic control operation rule.
In one implementation mode, in the step 2, the flight distance of the aircraft from the runway to the first waypoint is determined according to the departure procedure calculation of the takeoff airport, the calculation of the climbing process is divided into 3 sub-processes of acceleration climbing, low-grade table climbing and high-grade table climbing, and the height profile calculation formula is
In the formula: h is height, t is time, m is aircraft mass, VTasThe aircraft vacuum speed is g, the gravity acceleration is g, the aircraft thrust is T, and the aircraft drag is D;
an energy distribution coefficient representing the ratio of the thrust for climbing to the thrust for acceleration when climbing at a selected speed; the aircraft thrust T, aircraft drag D and aircraft vacuum speed V corresponding to the aircraft in different stages and heights can be obtained from a BADA database issued by European control through the aircraft modelTas(ii) a The climbing process adopts step-by-step iterative calculation, and the weight of the airplane is calculated at each time interval
Keeping constant, determining each time interval
Inner aircraft vacuum velocity VTasCalculating each time interval according to the above formula
The height profile calculation of the climbing process from the takeoff airport to the first waypoint is sequentially finished according to the climbing rate in the aircraft; if the specified altitude limit is reached before the first waypoint, the level flight condition is maintained to the first waypoint.
In one implementation, in step 3, a next altitude limiting point is found from the track starting point backward, the calculation formula of the altitude profile of the entering boundary of the sector before the track starting point to the altitude limiting point is the same as that in step 2, and the processing logic is as follows: when the calculated altitude profile does not reach the cruising altitude, namely the flight does not enter the cruising state, if the horizontal distance between the altitude limit point and the takeoff airport is less than 200 kilometers, climbing to the limit altitude, and then keeping level flight; otherwise, climbing to the cruising height first and then keeping level flight; if the flight has entered the cruise phase, the level flight is maintained to the entry boundary of the sector preceding the altitude limit point. The consideration of whether the aircraft enters the cruise phase ensures that the aircraft can fly at the cruise altitude as far as possible in the altitude profile calculation, and the operation is more consistent with the actual situation.
In one implementation manner, in step 4, when the flight path starting point is in the high-altitude sector and the specified altitude of the limit point is lower than the flight altitude of the flight path starting point, whether the specified altitude is in the airspace of the low-altitude sector is determined according to the airspace sector structure, so as to determine whether the aircraft flies from the high-altitude sector to the low-altitude sector.
In one implementation, the step 5-1 includes:
5-1 a: calculating the minimum horizontal distance L required for the current height to climb or descend to the specified heightminConsidering that the aircraft needs to meet the altitude restrictions in advance,
Lmin＝Lf+20km
wherein L isfFor the horizontal distance of the current height climbing or descending to the designated height, the climbing rate or descending rate of the current height climbing or descending to the designated height is calculated according to the height profile calculation formula in the step 2, and the time required for the current height climbing or descending to the designated height is calculated according to the height difference of the current height climbing or descending to the designated height
By time
And at this stage the aircraft vacuum velocity VTasAnd wind speed VwindCalculating to obtain Lf；
5-1 b: calculating the distance L from the height limit point to the entering boundary of the sector to which the height limit point belongs, namely the distance from the height limit point to the boundary line;
5-1 c: when L is more than or equal to LminThen, the altitude profile change process of the aircraft is described as follows: firstly keeping flat flying to the distance before the height limit point LminThen executing descending or climbing process to a specified height, and then flying horizontally to a height limit point;
5-1 d: when L < LminWhen it is, let Lmin＝min{Lf+L，LcAnd the change process of the height profile of the aircraft comprises the following steps: firstly keeping flat flying to the distance before the height limit point LminThen executing descending or climbing process to a specified height, and then flying horizontally to a height limit point; wherein L iscIs the horizontal distance between the track starting point and the height limit point.
In one implementation, the parameter LT in step 5-2 is set to 200 km; when the horizontal distance between the altitude limit point and the destination airport is more than 200 kilometers, the altitude profile change process comprises the following steps:
5-2 a: calculating the minimum horizontal distance L required by the current height to fall to the specified heightminConsidering that the aircraft needs to meet the altitude restrictions in advance,
Lmin＝Lf+20km
wherein L isfFor the horizontal distance that the current height descends to the designated height, the descending rate that the current height descends to the designated height is calculated and obtained according to the height profile calculation formula in the step 2, and then the time required by the current height to descend to the designated height is calculated according to the height difference that the current height descends to the designated height
By time
And at this stage the aircraft vacuum velocity VTasAnd wind speed VwindCalculating to obtain Lf；
5-2 b: calculating the distance L from the height limit point to the entering boundary of the sector to which the height limit point belongs, namely the distance from the height limit point to the boundary line;
5-2 c: when L is more than or equal to LminThen, the altitude profile change process of the aircraft is described as follows: firstly, useKeeping flat flying to the distance before the height limit point LminThen, a descending process is carried out to a specified height, and then the aircraft flies to a height limit point;
5-2 d: when L < LminWhen it is, let Lmin＝min{Lf+L，LcAnd the change process of the height profile of the aircraft comprises the following steps: firstly keeping flat flying to the distance before the height limit point LminThen, a descending process is carried out to a specified height, and then the aircraft flies to a height limit point; wherein L iscIs the horizontal distance between the track starting point and the height limit point.
In the steps 3, 4 and 5, the important operation factor of the airspace sector boundary is considered in the process of determining the flight state and calculating the altitude profile. When the sequence of the level flight, descending or climbing process is determined, the level flight state when the control handover is carried out across the sector boundary is kept, and the reasonability and the refinement degree of the height profile are increased.
In one implementation, the calculation formula for calculating the height profile from the track starting point to the height limiting point in step 6 according to the height profile change process determined in step 5 is the same as that in step 2.
In one implementation, the formula for calculating the altitude profile of the approach stage in step 8 is the same as that in step 2, and the horizontal distance L required for descending from the current altitude to the altitude of the destination airport is calculated and determineddThe aircraft is kept level flying from the current altitude to the distance destination airport LdThen begins to descend to the destination airport; calculating and obtaining the descending rate from the current height to the target airport height according to the height profile calculation formula in the step 2, and calculating the time required by the current height to descend to the airport height according to the height difference between the current height and the airport height
By time
And at this stage the aircraft vacuum velocity VTasAnd wind speed VwindCalculating to obtain Ld。
The invention has the following technical effects:
1. the invention provides a quick implementation method for aircraft height profile calculation in the pre-tactical stage; in the process of determining the flight state and calculating the altitude profile, the important operation factor of the boundary of the airspace sector is considered. When the sequence of the level flight, descending or climbing process is determined, the level flight state when the control handover is carried out across the sector boundary is kept, and the reasonability and the refinement degree of the height profile are increased.
2. The invention provides technical support for accurate prediction of the four-dimensional track, when a next height limiting point is found backwards from a track starting point, whether the aircraft enters a cruise stage or not is considered when the height profile from the track starting point to a sector entering boundary before the height limiting point is calculated, and the aircraft can fly by using the cruise height as much as possible during calculation of the height profile, which is more consistent with the actual operation; when the situation that the flight is converted from a high-altitude sector to a low-altitude sector exists, whether the descending process needs to be preferentially executed or not is judged according to the distance between the height limiting point and the destination airport, so that the calculation of the height profile is more fit with the operation reality.
Drawings
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.
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a height profile without a transition from a high altitude sector to a low altitude sector;
fig. 3 is a height profile of a transition from a high altitude sector to a low altitude sector.
Detailed Description
Embodiments of the present invention will be described below with reference to the accompanying drawings.
As shown in FIG. 1, the invention discloses a method for calculating a flight altitude profile of an aircraft based on specified altitude limits, which comprises the following steps:
step 1: acquiring basic information such as a flight plan, an airspace sector structure, a entering and leaving procedure, height limitation of waypoints and the like; the flight plan comprises information of a takeoff airport, a waypoint, a landing airport and a cruising altitude required by calculating the altitude profile, and also comprises an aircraft model; the airspace sector structure is used for determining a high-altitude sector, a low-altitude sector and sector types corresponding to different heights of the waypoints; the entrance and exit field program is used for calculating the height profile of the exit field and the entrance field; the height limit of the waypoints comes from the limit proposed by a handover protocol, traffic management or control and the like, the first waypoint and the last waypoint in the flight plan respectively correspond to an departure point and an approach point, and the specified height limit is available according to the air traffic control operation rule and is usually below 6000 meters;
step 2: calculating a height profile from a takeoff airport to a first waypoint according to an off-site program, and updating a track starting point to be the first waypoint; the method comprises the steps of calculating and determining the flight distance of an aircraft from a runway to a first route point according to an departure program of a takeoff airport, wherein the calculation of a climbing process is divided into 3 sub-processes of accelerating climbing, low-grade table climbing and high-grade table climbing, and the calculation formula is that
In the formula: h is the height, t is the time, and m is the mass of the aircraft; vTasIs the aircraft vacuum speed; g is the gravitational acceleration, T is the aircraft thrust, and D is the aircraft resistance;
the energy distribution coefficient represents the ratio of the thrust for climbing to the thrust for acceleration when climbing at a selected speed. The Base OfAircraft Data (BADA) database issued by European controller contains performance parameters of the common aircraft model, including thrust, drag and speed corresponding to different stages and altitudes, and the performance parameters are obtained through the aircraft modelThe aircraft thrust T, aircraft drag D and aircraft vacuum speed V corresponding to different stages and altitudes of the aircraft can be obtained from the BADA databaseTas. The climbing process adopts the idea of gradually iterating calculation, and the climbing process is carried out at each time interval
Determining each time interval on the assumption that the weight of the aircraft remains unchanged
Inner VTasThen calculate each time interval according to the formula (1)
The internal climbing rate, the height profile calculation of the climbing process from the takeoff airport to the first route point and the time interval
Typically 8 seconds. If the specified altitude limit is reached before the first waypoint, the level flight condition is maintained to the first waypoint.
And step 3: and finding the next height limit point backwards from the track starting point, calculating the height profile from the track starting point to the entering boundary of a sector before the height limit point, and updating the track starting point. The calculation process of the height profile of the step still utilizes the calculation formula of the step 2, but the processing logic is as follows: 1) when the calculated altitude profile does not reach the cruising altitude, namely the flight does not enter the cruising state, if the horizontal distance between the altitude limit point and the takeoff airport is less than 200 kilometers, climbing to the limit altitude, and then keeping level flight; otherwise, climbing to the cruising height first and then keeping level flight; 2) if the flight has entered the cruise phase, the level flight is maintained to the entry boundary of the sector preceding the altitude limit point.
And 4, step 4: and judging whether the flight is converted from the high-altitude sector to the low-altitude sector or not according to the relationship among the flight altitude of the flight path starting point, the designated altitude of the limit point and the airspace sector structure. When the flight path starting point is in the high-altitude sector and the designated height of the limit point is lower than the flight height of the flight path starting point, judging whether the designated height is in the low-altitude sector according to the airspace sector structure so as to judge whether the aircraft flies from the high-altitude sector to the low-altitude sector; the boundary between the high and low altitude sectors is different within each geofence, but is typically 7800 meters or 6600 meters.
And 5: according to the judgment result in the step 4, determining the sequence of the flat flight and climbing or descending processes:
step 5-1: when there is no situation of switching from the high altitude sector to the low altitude sector, as shown in fig. 2, the sequence of the level flight and the climbing or descending process is determined according to the relationship between the required climbing or descending distance and the sector boundary. The specific calculation process is as follows:
5-1 a: calculating the minimum horizontal distance L required for the current height to climb or descend to the specified heightminConsidering that aircraft generally need to meet altitude restrictions in advance,
Lmin＝Lf+20km
wherein L isfFor the distance from the current height to the specified height, the climbing rate or the descending rate of the current height to the specified height can be calculated according to the formula (1), and the time required for the current height to climb or descend to the specified height is calculated according to the height difference of the current height to the specified height
By time
And at this stage the aircraft vacuum velocity VTasAnd wind speed VwindCalculating to obtain Lf；
5-1 b: calculating the distance L from the height limit point to the entering boundary of the sector to which the height limit point belongs;
5-1 c: when L is more than or equal to LminThen, the description may be that the altitude change process is completed in the last sector, and the altitude profile change process of the aircraft is as follows: firstly keeping flat flying to the distance before the height limit point LminThen executing descending or climbing process to a specified height, and then flying horizontally to a height limit point;
5-1 d: when L < LminWhen it is, let Lmin＝min{Lf+L，LcAnd the change process of the height profile of the aircraft comprises the following steps: firstly keeping flat flying to the distance before the height limit point LminThen executing descending or climbing process to a specified height, and then flying horizontally to a height limit point; wherein L iscIs the horizontal distance between the track starting point and the height limit point.
Step 5-2: when the situation of switching from the high-altitude sector to the low-altitude sector exists, as shown in fig. 3, whether a descending process needs to be preferentially executed is judged by evaluating the distance between the altitude limit point and the destination airport; when the horizontal distance between the altitude limit point and the destination airport is less than or equal to 200 kilometers (the set parameter LT), the change process of the altitude profile of the aircraft is as follows: descending to a specified height, and keeping level flight to a height limit point; when the horizontal distance between the altitude limit point and the destination airport is more than 200 km, the determination of the altitude profile change process is consistent with step 5-1, and comprises the following steps:
5-2 a: calculating the minimum horizontal distance L required by the current height to fall to the specified heightminConsidering that the aircraft needs to meet the altitude restrictions in advance,
Lmin＝Lf+20km
wherein L isfFor the horizontal distance that the current height descends to the designated height, the descending rate that the current height descends to the designated height is calculated and obtained according to the height profile calculation formula in the step 2, and then the time required by the current height to descend to the designated height is calculated according to the height difference that the current height descends to the designated height
By time
And at this stage the aircraft vacuum velocity VTasAnd wind speed VwindCalculating to obtain Lf；
5-2 b: calculating the distance L from the height limit point to the entering boundary of the sector to which the height limit point belongs;
5-2 c: when L is more than or equal to LminThen, the altitude profile change process of the aircraft is described as follows: firstly keeping flat flying to the distance before the height limit point LminThen, a descending process is carried out to a specified height, and then the aircraft flies to a height limit point;
5-2 d: when L < LminWhen it is, let Lmin＝min{Lf+L，LcAnd the change process of the height profile of the aircraft comprises the following steps: firstly keeping flat flying to the distance before the height limit point LminThen, a descending process is carried out to a specified height, and then the aircraft flies to a height limit point; wherein L iscIs the horizontal distance between the track starting point and the height limit point.
Step 6: and (5) calculating the height profile from the track starting point to the height limiting point according to the height profile change process determined in the step (5), and updating the track starting point. The calculation formula for the height profile from the starting point of the flight path to the height limit point is the same as that in step 2.
And 7: judging whether the track starting point is the last route point or not, and if so, executing the step 8; if not, step 3 is performed.
And 8: and calculating the height profile from the starting point of the flight path to the destination airport according to the approach program. The height profile of the approach phase is substantially symmetrical to the height profile of the departure phase, and is still calculated using equation (1). First, the horizontal distance L required to descend from the current altitude to the destination airport is calculated and determineddThe aircraft is kept level flying from the current altitude to the distance destination airport LdThen begins to descend to the destination airport.Calculating and obtaining the descending rate from the current height to the target airport height according to the height profile calculation formula in the step 2, and calculating the time required by the current height to descend to the airport height according to the height difference between the current height and the airport height
By time
And at this stage the aircraft vacuum velocity VTasAnd wind speed VwindCalculating to obtain Ld。
The present invention provides a method for calculating a flight height profile of an aircraft based on specified height limits, and a plurality of methods and ways for implementing the method, and the above description is only a specific embodiment of the present invention, and it should be noted that, for a person skilled in the art, a plurality of modifications and embellishments can be made without departing from the principle of the present invention, and these modifications 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 (7)
1. A method for calculating a flight profile of an aircraft based on specified altitude limits, comprising the steps of:
step 1: acquiring a flight plan, an airspace sector structure, an entering and leaving procedure and height limit basic information of an airway point;
step 2: calculating a height profile from a takeoff airport to a first waypoint according to an off-site program, and updating a track starting point to be the first waypoint;
and step 3: finding the next height limiting point backwards from the track starting point, calculating the height profile from the track starting point to the entering boundary of a sector before the height limiting point, and updating the track starting point;
and 4, step 4: judging whether the flight is converted from a high-altitude sector to a low-altitude sector or not according to the relationship among the flight height of the flight path starting point, the designated height of the limit point and the airspace sector structure;
and 5: according to the judgment result in the step 4, determining the sequence of the flat flight and climbing processes or the sequence of the flat flight and descending processes:
step 5-1: when the situation of switching from a high-altitude sector to a low-altitude sector does not exist, according to the relation between the required climbing or descending distance and the boundary of the sector, if climbing is required, the sequence of the horizontal flying and climbing processes is determined, and if descending is required, the sequence of the horizontal flying and descending processes is determined;
step 5-2: when the situation that the high-altitude sector is converted into the low-altitude sector exists, judging whether a descending process needs to be preferentially executed or not by evaluating the distance between the altitude limit point and a target airport; when the distance between the two is less than or equal to the set parameter LT, the aircraft descends to the designated height first and then keeps flying horizontally; otherwise, determining the sequence of the horizontal flight and the descending process according to the relation between the required descending distance and the sector boundary;
step 6: calculating the height profile from the track starting point to the height limiting point according to the height profile change process determined in the step 5, and updating the track starting point;
and 7: judging whether the track starting point is the last route point or not, and if so, executing the step 8; if not, executing step 3;
and 8: calculating a height profile from a track starting point to a target airport according to an approach program;
the step 5-1 comprises the following steps:
5-1 a: calculating the minimum horizontal distance L required for the current height to climb or descend to the specified heightminConsidering that the aircraft needs to meet the altitude restrictions in advance,
Lmin＝Lf+20km
wherein L isfFor the horizontal distance of the current height climbing or descending to the designated height, the climbing rate or descending to the designated height of the current height is calculated and obtained according to the height profile calculation formula in the step 2The descending rate, and the time required for the current height to climb or descend to the specified height is calculated according to the height difference of the current height to climb or descend to the specified height
By time
And at this stage the aircraft vacuum velocity VTasAnd wind speed VwindCalculating to obtain Lf；
5-1 b: calculating the distance L from the height limit point to the entering boundary of the sector to which the height limit point belongs;
5-1 c: when L is more than or equal to LminThen, the altitude profile change process of the aircraft is described as follows: firstly keeping flat flying to the distance before the height limit point LminThen executing descending or climbing process to a specified height, and then flying horizontally to a height limit point;
5-1 d: when L < LminWhen it is, let Lmin＝min{Lf+L,LcAnd the change process of the height profile of the aircraft comprises the following steps: firstly keeping flat flying to the distance before the height limit point LminThen executing descending or climbing process to a specified height, and then flying horizontally to a height limit point; wherein L iscThe horizontal distance between the track starting point and the height limiting point is obtained;
the parameter LT in the step 5-2 is set to 200 kilometers; when the horizontal distance between the altitude limit point and the destination airport is more than 200 kilometers, the altitude profile change process comprises the following steps:
5-2 a: calculating the minimum horizontal distance L required by the current height to fall to the specified heightminConsidering that the aircraft needs to meet the altitude restrictions in advance,
Lmin＝Lf+20km
wherein L isfFor the horizontal distance that the current height descends to the designated height, the descending rate that the current height descends to the designated height is calculated and obtained according to the height profile calculation formula in the step 2, and then the time required by the current height to descend to the designated height is calculated according to the height difference that the current height descends to the designated height
By time
And at this stage the aircraft vacuum velocity VTasAnd wind speed VwindCalculating to obtain Lf；
5-2 b: calculating the distance L from the height limit point to the entering boundary of the sector to which the height limit point belongs;
5-2 c: when L is more than or equal to LminThen, the altitude profile change process of the aircraft is described as follows: firstly keeping flat flying to the distance before the height limit point LminThen, a descending process is carried out to a specified height, and then the aircraft flies to a height limit point;
5-2 d: when L < LminWhen it is, let Lmin＝min{Lf+L,LcAnd the change process of the height profile of the aircraft comprises the following steps: firstly keeping flat flying to the distance before the height limit point LminThen, a descending process is carried out to a specified height, and then the aircraft flies to a height limit point; wherein L iscIs the horizontal distance between the track starting point and the height limit point.
2. The aircraft flight height profile calculation method based on the specified height limit as claimed in claim 1, wherein in the step 1, the flight plan includes information of a takeoff airport, a waypoint, a landing airport and a cruise altitude required for calculating the height profile, and further includes an aircraft model; the airspace sector structure is used for determining a high-altitude sector, a low-altitude sector and sector types corresponding to different heights of the waypoints; the entrance and exit field program is used for calculating the height profile of the exit field and the entrance field; the altitude restrictions of waypoints are derived from restrictions imposed by hand-over protocols, traffic management or regulation; the first waypoint and the last waypoint in the flight plan correspond to the departure point and the approach point, respectively, and the height limit of the waypoints is below 6000 meters according to the air traffic control operation rule.
3. The method as claimed in claim 2, wherein in step 2, the flight distance of the aircraft from the runway to the first waypoint is determined according to the departure procedure calculation of the takeoff airport, the calculation of the climbing process is divided into 3 sub-processes of accelerated climbing, low-level table climbing and high-level table climbing, and the altitude profile calculation formula is that
In the formula: h is height, t is time, m is aircraft mass, VTasThe aircraft vacuum speed is g, the gravity acceleration is g, the aircraft thrust is T, and the aircraft drag is D;
an energy distribution coefficient representing the ratio of the thrust for climbing to the thrust for acceleration when climbing at a selected speed; the aircraft thrust T, aircraft drag D and aircraft vacuum speed V corresponding to the aircraft in different stages and heights can be obtained from a BADA database issued by European control through the aircraft modelTas(ii) a The climbing process adopts step-by-step iterative calculation, and the weight of the airplane is calculated at each time interval
Keeping constant, determining each time interval
Inner aircraft vacuum velocity VTasCalculating each time interval according to the above formula
The height profile calculation of the climbing process from the takeoff airport to the first waypoint is sequentially finished according to the climbing rate in the aircraft; if the specified altitude limit is reached before the first waypoint, the level flight condition is maintained to the first waypoint.
4. The aircraft flight profile calculation method based on the designated altitude limit of claim 3, wherein in step 3, the next altitude limit point is found from the track starting point backwards, the altitude profile calculation formula of the track starting point to the sector entering boundary before the altitude limit point is the same as that in step 2, and the processing logic is as follows: when the calculated altitude profile does not reach the cruising altitude, namely the flight does not enter the cruising state, if the horizontal distance between the altitude limit point and the takeoff airport is less than 200 kilometers, climbing to the limit altitude, and then keeping level flight; otherwise, climbing to the cruising height first and then keeping level flight; if the flight has entered the cruise phase, the level flight is maintained to the entry boundary of the sector preceding the altitude limit point.
5. The aircraft flight height profile calculation method based on the specified height limit as claimed in claim 4, wherein in step 4, when the flight path starting point is in the high altitude sector and the specified height of the limit point is lower than the flight height of the flight path starting point, whether the specified height is in the low altitude sector space is judged according to the airspace sector structure, so as to judge whether the aircraft flies from the high altitude sector to the low altitude sector.
6. The aircraft flight profile calculation method based on the designated altitude limit of claim 5, wherein the altitude profile calculation formula from the flight path starting point to the altitude limit point in step 6 according to the altitude profile change process determined in step 5 is the same as that in step 2.
7. The method as claimed in claim 6, wherein the calculation formula of the altitude profile of the approach stage in step 8 is the same as that in step 2, and the horizontal distance L required for descending from the current altitude to the altitude of the destination airport is calculated and determineddThe aircraft is kept level flying from the current altitude to the distance destination airport LdThen begins to descend to the destination airport; calculating and obtaining the descending rate from the current height to the target airport height according to the height profile calculation formula in the step 2, and calculating the time required by the current height to descend to the airport height according to the height difference between the current height and the airport height
By time
And at this stage the aircraft vacuum velocity VTasAnd wind speed VwindCalculating to obtain Ld：
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