CN115482688B - Aircraft traffic conflict resolution method and system based on multiple clusters - Google Patents
Aircraft traffic conflict resolution method and system based on multiple clusters Download PDFInfo
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/04—Anti-collision systems
- G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Abstract
The invention discloses a method and a system for resolving aircraft traffic conflict based on multiple clusters, wherein a pre-flight route is generated according to flight information of the clusters; judging whether the pre-flying route collides or not by adopting a preset collision judgment criterion; if no conflict occurs, controlling the flight of the cluster according to the pre-flight route, collecting real-time flight information of the cluster, and generating an actual flight route according to the flight information; comparing whether the actual flight route and the pre-flight route deviate or not, and judging whether the actual flight route collides or not by adopting a preset collision judgment criterion if the deviation exceeds a preset range; judging the conflict position according to the actual flight path of the fleet, the flight altitude, the position and the airspeed; and generating a conflict resolution route according to the conflict position information, and controlling the cluster to resolve the conflict according to the conflict resolution route. According to the invention, the pre-flight route of the cluster is generated by comparing the pre-flight route with the judgment value in the conflict judgment module, so that the risk of traffic conflict among multiple clusters is effectively avoided.
Description
Technical Field
The invention relates to an aircraft conflict resolution method and system, in particular to an aircraft traffic conflict resolution method and system based on multiple clusters.
Background
The aircraft is used as one of important weapons deployed by modern air weapons, the formation flight has the incomparable advantage of single-machine flight, the formation cooperative combat is an important means for expanding the detection field of view, expanding the air countermeasures and improving the overall combat capability and task success rate, meanwhile, the remote control of the combat is also a task which is required to be completed by the formation aircraft, the close-range conflict resolution among the formation aircraft becomes the difficult problem of multi-cluster flight, the aircraft conflict resolution system appears in order to avoid the collision among the multi-clusters, but the existing aircraft resolution system cannot simulate the pre-flight route of the multi-clusters in advance, cannot avoid the probability of collision, and in addition, the existing aircraft resolution system cannot rely on the pilot to control the cluster to resolve when the collision cannot be resolved, so that the requirements of current use cannot be met.
Disclosure of Invention
The invention aims to: the invention aims to provide an aircraft traffic conflict resolution method based on multiple clusters, which solves the problem that the pre-flight route is not simulated and the probability of occurrence of conflicts is high.
Another object of the present invention is to provide an aircraft traffic conflict resolution system based on multiple clusters, which solves the problem that the existing flight resolution cannot simulate the pre-flight routes of multiple clusters in advance.
The technical scheme is as follows: the invention discloses a method for resolving aircraft traffic conflict based on multiple clusters, which comprises the following steps:
generating a pre-flight route for each cluster according to flight information of the cluster;
Judging whether the pre-flying route collides under the condition of three-dimensional space coordinates by adopting a preset collision judgment criterion;
if the judgment result is that the conflict occurs, carrying out simulation route conflict alarm;
if the judgment result is that no conflict occurs, controlling the flight of the cluster according to the pre-flight route, collecting real-time flight information of the cluster, and generating an actual flight route according to the flight information;
Comparing whether the actual flight route and the pre-flight route deviate or not, if the deviation exceeds a preset range, carrying out flight route deviation alarm, judging whether the actual flight route collides in a three-dimensional coordinate system by adopting a preset collision judgment criterion, and if the judgment result is that the actual flight route collides, carrying out actual flight route collision alarm;
And judging the conflict position according to the actual flight path, the flight altitude, the position and the airspeed of the cluster, generating a conflict resolution path according to the conflict position information, and controlling the cluster to resolve the conflict according to the conflict resolution path.
In one embodiment of the invention, after the conflict resolution route is generated, if the airspeed exceeds a preset range value, the conflict resolution is started to be forcedly controlled, and the conflict can be automatically forcedly resolved when the pilot cannot resolve the conflict.
In one embodiment of the invention, the flight information for the fleet includes flight path, time, and airspeed.
The invention relates to an aircraft traffic conflict resolution system based on multiple clusters, which comprises the following components:
the flight route simulation module of the cluster is used for generating a pre-flight route according to flight information of the cluster;
the conflict judging module is used for judging whether the pre-flight route conflicts or not by adopting a preset conflict judging criterion, and judging whether the actual flight route conflicts or not by adopting the preset conflict judging criterion when the deviation between the actual flight route and the pre-flight route exceeds a preset range;
The early warning module is used for simulating route conflict warning, flying route deviation warning and real-time flying route conflict warning;
the flight control module of the cluster, is used for controlling the flight of the cluster according to the route of pre-flight;
The actual flight route processing module is used for acquiring real-time flight information of the fleet and generating an actual flight route according to the flight information;
The conflict resolution processing module is used for judging the conflict position according to the actual flight route of the cluster, the flight altitude, the position and the airspeed, generating a conflict resolution route according to the conflict position information, and controlling the cluster to resolve the conflict according to the conflict resolution route.
In one embodiment of the present invention, the aircraft group control module is further provided on the aircraft group and is configured to forcibly control the aircraft group to fly according to the collision resolution route if the airspeed exceeds the preset range value after the collision resolution route is generated.
In one embodiment of the invention, the system further comprises a GPS positioning module, a height measuring module and an airspeed measuring module, which are all arranged on the aircraft group, wherein the GPS positioning module detects the real-time position of the aircraft, the height measuring module detects the real-time height of the aircraft, and the airspeed measuring module detects the real-time speed of the aircraft.
In one embodiment of the invention, the device further comprises an information receiving module for receiving the data of the flight of the fleet.
In one embodiment of the invention, the system further comprises an information processing module for processing the information received by the information receiving module, so that the positions of the clusters are presented in a three-dimensional space coordinate system by taking the origin of the same coordinate system as a reference, and the processed data are compared with a conflict judgment preset value, a flight route deviation preset value and an airspeed preset value.
In one embodiment of the invention, the device further comprises a display module for displaying the data processed by the information processing module, the route of the simulated flight of the cluster and the route of the actual flight of the cluster.
The beneficial effects are that: according to the invention, the cluster pre-flight route is generated through the cluster flight route simulation module, and compared with the judgment value in the conflict judgment criterion module, the optimal cluster pre-flight route is generated, and the clusters fly according to the pre-flight route, so that the risk of traffic conflict among multiple clusters is effectively avoided.
Drawings
FIG. 1 is a schematic flow chart of the present invention;
FIG. 2is a block diagram of an early warning module according to the present invention;
fig. 3 is a block diagram of the aircraft of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
Referring to fig. 1-3, the aircraft traffic conflict resolution system based on multiple clusters disclosed by the invention comprises a cluster 1, an information receiving module 2, a cluster flight path simulation module 3, an early warning module 4, an information processing module 5, a conflict judging module 6, a flight management system 7, a display module 8, a forced control judging module 9 and a cluster forced control module 10;
the information receiving module 2 is used for receiving the data flown by the cluster 1;
The flight route simulation module 3 of the cluster is matched with data in the flight management system 7 and is used for simulating a route pre-flown by the cluster 1;
The early warning module 4 is used for early warning the situation that the collision of the cluster 1 is possible;
the information processing module 5 processes the information received by the information receiving module 2, and compares the processed data with the conflict judging module 6 and the forced control judging module 9 so as to early warn and control in time;
a conflict determination module 6 for determining whether or not a conflict occurs in the cluster 1;
A flight management system 7 for managing the flight routes of all the aircrafts;
The display module 8 displays the data processed by the information processing module 5, the simulated flight route of the cluster 1 and the actual flight route of the cluster 1;
a forced control determination module 9 for determining whether or not the cluster 1 is forced to be controlled to fly;
The cluster forced control module 10 is used for forcibly controlling the cluster 1 to fly.
As will be understood by those skilled in the art, in the system for resolving the traffic collision of the aircraft based on multiple clusters provided in the above embodiment, before the flight of the cluster 1, the route, time and airspeed of the cluster 1 are input into the cluster flight route simulation module 3, and the routes of all the aircraft in the flight management system 7 are matched, the route of the cluster 1 is generated, and route information is transmitted to the information processing module 5, the information processing module 5 extracts data in the collision determination module 6 and compares the route with the route of the pre-aircraft, and determines whether a collision will occur, when the collision will occur, the simulated route collision pre-warning 401 issues a warning sound, when the pre-aircraft route does not collide, the aircraft route in the cluster 1 is controlled to fly according to the flight set 11 in the cluster 1 in the information processing module 5, and simultaneously the GPS positioning module 1111, the altitude measurement module 1112 and the airspeed measurement module 1113 in real time and continuously detect the position, altitude and airspeed of the cluster 1 in the aircraft, and transmit the acquired data to the information receiving module 2, and the information receiving module 2 compares the data in the collision determination module 6 with the route pre-aircraft route map 1, when the pre-aircraft route map 1 is actually deviated from the route map 1 in the information processing module 5, when the pre-aircraft route map is actually deviated from the route map 1 is determined when the pre-aircraft route map 1 is actually deviated from the route map 1, when the collision is actually predicted when the pre-aircraft route map is deviated from the route map 1 in the aircraft flight system, and the pre-aircraft 1 is in the flight map is determined when the pre-warning module is in accordance with the flight system, and when the pre-warning route map is in real time, meanwhile, the information processing module 5 judges the conflict position according to the actual flight route, the altitude, the position and the airspeed of the cluster 1 at the moment, and cooperates with the data in the forced control judging module 9 to automatically generate an optimal conflict resolution route, when the air speed is high and the pilot is inconvenient to operate, the cluster forced control module 10 automatically starts up, the optimal conflict resolution route of the cluster 1 is transmitted to the forced control module 1115, and the forced control module 1115 forcibly controls the cluster 1 to resolve the conflict.
Preferably, the early warning module 4 includes an analog route collision early warning 401, a flight route deviation early warning 402, and a real flight route collision early warning 403;
a simulated route collision early warning 401 for early warning the collision generated by the simulated flight route of the cluster 1;
a flight path deviation pre-warning 402, which pre-warns the situation that the cluster 1 deviates from the simulated flight path;
The real flight route collision early warning 403 early warns the situation that traffic collision occurs in the actual flight of the fleet 1.
Those skilled in the art can understand that the simulation route conflict pre-warning 401, the flight route deviation pre-warning 402 and the real flight route conflict pre-warning 403 are used for pre-warning the possible conflict of the unit, so as to remind the staff and the driver to timely remove the danger.
Preferably, the fleet 1 includes a plurality of flight units 11, the flight units 11 include a plurality of aircraft 111, a GPS positioning module 1111 is disposed on the aircraft 111, a altitude measurement module 1112 is disposed on the aircraft 111, an airspeed measurement module 1113 is disposed on the aircraft 111, an information transmission module 1114 is disposed on the aircraft 111, and a forced steering module 1115 is disposed on the aircraft 111.
The real-time position of the single aircraft 111 in the cluster 1 is detected by the GPS positioning module 1111, the real-time altitude of the single aircraft 111 in the cluster 1 is detected by the altitude measurement module 1112, the real-time speed of the single aircraft 111 in the cluster 1 is detected by the airspeed measurement module 1113, the data detected by the GPS positioning module 1111, the altitude measurement module 1112 and the airspeed measurement module 1113 are transmitted to the information receiving module 2 by the information transmitting module 1114, and the data of the cluster forced control module 10 is received by the forced control module 1115 to perform forced automatic control on the cluster 1.
The GPS positioning module, the altitude measuring module and the airspeed measuring module are utilized to detect the position, the altitude and the airspeed of the cluster continuously in real time, an actual flight route diagram of the cluster is generated according to the detected position, altitude and airspeed data through the information processing module, and whether the actual flight route of the cluster is matched with the pre-flight route or not is judged through comparing the generated actual flight route with the pre-flight route, so that the function of detecting the actual flight route of the cluster is realized.
When the actual flight route is not matched with the pre-flight route, the aircraft route in the flight management system is fused with the route of the cluster at the moment, the data in the conflict judging module is matched to judge whether the cluster can conflict according to the route at the moment, when the conflict can occur, the information processing module judges the conflict position according to the actual flight route of the cluster at the moment, the height, the position and the airspeed, and the data in the forced control judging module is matched to automatically generate the optimal conflict resolving route, when the airspeed is high, the pilot is inconvenient to operate, the forced control module of the cluster is automatically started, the optimal route for the conflict resolving of the cluster is transmitted to the forced control module, and the function of the emergency self conflict resolving of the cluster is realized by the forced control module.
The conflict determination value preset in the conflict determination module 6 can be changed by a computer.
The conflict determination value in the conflict determination module 6 can be changed by a computer so as to change the conflict definition range of different clusters 1, wherein the preset conflict determination criterion is to divide the space group of the altitude layer of the expected path of the aircraft into covering construction subspaces, realize the target quick grouping by a hash table, determine the vertical space and horizontal space interval requirements based on the current flight interval specification, quickly construct a protection area and determine whether the aircraft are safe or not.
The preset value for achieving forced control in the forced control decision module 9 can be changed by a computer.
The critical value of the forced control of the cluster 1 inside the forced control decision module 9 can be changed by a computer.
The cluster forced control module 10 is internally provided with a control signal transmitting module which is in wireless connection with the forced control module 1115.
The control signal transmitting module of the cluster forced control module 10 transmits a signal for controlling the cluster 1, and the signal is received by the forced control module 1115, and the flight route of the cluster 1 is forced to be controlled by the forced control module 1115.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application. It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein. In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form. The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (9)
1. The aircraft traffic conflict resolution method based on the multiple clusters is characterized by comprising the following steps of:
generating a pre-flight route for each cluster according to flight information of the cluster;
Judging whether the pre-flying route collides under the condition of three-dimensional space coordinates by adopting a preset collision judgment criterion;
if the judgment result is that the conflict occurs, carrying out simulation route conflict alarm;
if the judgment result is that no conflict occurs, controlling the flight of the cluster according to the pre-flight route, collecting real-time flight information of the cluster, and generating an actual flight route according to the flight information;
Comparing whether the actual flight route and the pre-flight route deviate or not, if the deviation exceeds a preset range, carrying out flight route deviation alarm, judging whether the actual flight route collides in a three-dimensional coordinate system by adopting a preset collision judgment criterion, and if the judgment result is that the actual flight route collides, carrying out actual flight route collision alarm;
judging the conflict position according to the actual flight path, the flight altitude, the position and the airspeed of the cluster, generating a conflict resolution path according to the conflict position information, and controlling the cluster to resolve the conflict according to the conflict resolution path;
The preset conflict judgment criterion is to divide a coverage construction subspace for a space group of an expected path height layer of the aircraft, realize target quick grouping by a hash table, judge the requirements of vertical space and horizontal space intervals based on the current flight interval specification, quickly construct a protection area and judge whether the aircraft are safe or not.
2. The method of claim 1, wherein after generating the conflict resolution route, if the airspeed exceeds a predetermined range value, the forced steering conflict resolution is initiated.
3. The multi-fleet based aircraft traffic conflict resolution method according to claim 1, wherein the fleet flight information comprises flight path, time and airspeed.
4. A multi-cluster based aircraft traffic conflict resolution system applying the multi-cluster based aircraft traffic conflict resolution method of any one of claims 1-3, comprising:
the flight route simulation module of the cluster is used for generating a pre-flight route according to flight information of the cluster;
the conflict judging module is used for judging whether the pre-flight route conflicts or not by adopting a preset conflict judging criterion, and judging whether the actual flight route conflicts or not by adopting the preset conflict judging criterion when the deviation between the actual flight route and the pre-flight route exceeds a preset range;
The early warning module is used for simulating route conflict warning, flying route deviation warning and real-time flying route conflict warning;
the flight control module of the cluster, is used for controlling the flight of the cluster according to the route of pre-flight;
The actual flight route processing module is used for acquiring real-time flight information of the fleet and generating an actual flight route according to the flight information;
The conflict resolution processing module is used for judging the conflict position according to the actual flight route of the cluster, the flight altitude, the position and the airspeed, generating a conflict resolution route according to the conflict position information, and controlling the cluster to resolve the conflict according to the conflict resolution route.
5. The multiple fleet based aircraft traffic conflict resolution system according to claim 4, further comprising a fleet force control module disposed on the fleet aircraft for forcibly controlling the fleet to fly according to the resolution conflict path if the airspeed exceeds a predetermined range value after the resolution conflict path is generated.
6. The multiple fleet based aircraft traffic conflict resolution system according to claim 4, further comprising a GPS positioning module, a altitude measurement module, and an airspeed measurement module, all disposed on the fleet aircraft, the GPS positioning module detecting a real-time position of the aircraft, the altitude measurement module detecting a real-time altitude of the aircraft, the airspeed measurement module detecting a real-time speed of the aircraft.
7. The multiple fleet based aircraft traffic conflict resolution system according to claim 5, further comprising an information receiving module for receiving fleet flight data.
8. The multi-cluster based aircraft traffic collision resolution system according to claim 7, further comprising an information processing module for processing the information received by the information receiving module to present the cluster position in the three-dimensional space coordinate system with reference to the same coordinate system origin, and comparing the processed data with a collision determination preset value, a flight path deviation preset value, and an airspeed preset value.
9. The multi-fleet based aircraft traffic conflict resolution system according to claim 8, further comprising a display module that displays the data processed in the information processing module, the fleet simulated flight route, and the fleet actual flight route.
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