CN115662198B - Method and system for passing through civil aviation route based on dynamic path planning field - Google Patents
Method and system for passing through civil aviation route based on dynamic path planning field Download PDFInfo
- Publication number
- CN115662198B CN115662198B CN202211692057.3A CN202211692057A CN115662198B CN 115662198 B CN115662198 B CN 115662198B CN 202211692057 A CN202211692057 A CN 202211692057A CN 115662198 B CN115662198 B CN 115662198B
- Authority
- CN
- China
- Prior art keywords
- node
- topv
- civil aviation
- flight
- civil
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a method and a system for traversing civil aviation air routes based on a dynamic path planning field, wherein the method constructs dynamic civil aviation flow prediction distribution by a grid subdivision method according to a flight plan of civil aviation so as to initially construct a path planning field by traversing a departure position and a target position of an airplane, and calculates an optimal smooth traversing path traversing a current position node of the airplane by the minimum accumulated flight cost; the method analyzes the predicted flight path or the advanced flight plan of the civil aviation, dynamically avoids barriers by establishing and updating a path planning field and taking the minimum crossing cost as a target, obtains an optimal path according to the current position node of the crossing airplane, can carry out the optimal smooth crossing air route of the crossing airplane for crossing the civil aviation air route in advance, does not need to freely and randomly set and allocate an air space depending on manual experience, improves the air space resource utilization rate and the civil aviation operation efficiency, and ensures the cooperative safe and efficient operation of the military and civil aviation.
Description
Technical Field
The invention relates to the technical field of airspace management and civil and military aviation configuration, in particular to a civil aviation route traversing method and a civil aviation route traversing system based on a dynamic path planning field.
Background
Under the current economic development situation and background, airspace management and civil and military collaborative operation are two important business fields. How to handle the common demand of military aviation and civil aviation to airspace resources, the method meets the requirements of military parties to achieve a set target while ensuring safety and high efficiency, reduces the influence on the economic benefit and organization and operation of civil aviation, and becomes a proposition of airspace fine management and control. The military aircraft inevitably passes through a civil aviation airway for transition or execution of combat and training tasks, the conventional adjustment and formulation method is mainly based on a mode of dividing and configuring an adjustment airspace and civil aviation organization avoidance, the allocation airspace is freely and coarsely divided, manual experience is obviously relied on, resources are easily wasted, the influence on civil aviation is large, and an existing flight plan needs to be correspondingly adjusted. Meanwhile, the route of the military aircraft passing through the civil aviation airway can be automatically calculated by a method, but the search of the passing space with low occurrence probability based on the historical track data of the military aircraft is a passing strategy carried out after the fact, the passing route is difficult to plan in advance before the military aircraft takes off, and the effects of minimum influence on the civil aviation and low occupation of civil aviation airspace resources are difficult to realize under the condition of ensuring the completion of the self task.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a method for traversing civil aviation routes, which can obtain a planned path for traversing the low-density flow civil aviation routes and allocate airspaces in advance; the second purpose of the invention is to provide a through civil aviation route system which can obtain a planned path through a low-density flow civil aviation route and allocate an airspace in advance.
The technical scheme is as follows: the method for passing through the civil aviation route based on the dynamic path planning field comprises the following steps:
step 1: according to the flight plan of the civil aviation, course prediction and course point prediction are carried out to obtain structured civil aviation predicted course information;
step 2: constructing dynamic civil aviation flow prediction distribution by a mesh generation method so as to pass through the departure position and the target position of the airplane and initialize and construct a path planning field;
and 3, step 3: constructing a flight cost function according to the dynamic civil aviation flow prediction distribution, and calculating an optimal traversing path traversing the current position node of the airplane through the minimum accumulated flight cost;
and 4, step 4: updating the traversing plane to the next position node according to the optimal traversing path; and if the crossing aircraft does not reach the target position, updating the path planning field according to the position of the node where the crossing aircraft is located, and executing the step 3, otherwise, performing smoothing processing on the optimal crossing path of the crossing aircraft to obtain a flight path of the crossing aircraft.
Further, the step 3 of calculating the optimal traversing path for traversing the nodes at the current position of the aircraft is as follows:
sequentially selecting a node TopV with the minimum priority in the priority queue, if TopV.g > TopV.rhs, indicating that the node is in a descending state, and executing descending state response; if TopV.g is less than TopV.rhs, indicating that the node is in a rising state, and executing rising state response; if topv.g = topv.rhs, it indicates that the nodes are continuous, and the next cycle is executed; the priority queue is a set of next nodes to be selected of the current position node;
wherein TopV.g represents the flight cost from the departure location node to the node TopV,
node u is a predecessor of node TopV, c (u, topV) is the cost of flight from node u to node V, and u.g represents the cost of flight from the departure location node to node u.
Further, the execute descent status response is:
updating topv.g, topv.g = topv.rhs, moving TopV out of the priority queue, performing a node-down update on TopV for all preceding nodes of TopV;
if node u is never searched, then: u.rhs = topv.g + c (u, topV); setting the next node of the optimal path u of the node as TopV, and adding the node u into a priority queue;
if node u waits to be updated in the priority queue: if u.rhs > TopV.g + c (u, topV), u.rhs = TopV.g + c (u, topV), setting the next node of the node optimal path u as TopV, adding the node u into the priority queue, otherwise, removing the node u from the priority queue;
if node u has been removed from the priority queue: if u.rhs > TopV.g + c (u, topV) or the next node of the node optimal path u is TopV, u.rhs = TopV.g + c (u, topV), setting the next node of the node optimal path u to be TopV, adding the node u into a priority queue, otherwise, keeping the node u in the original state;
where c (u, topV) is the cost of flight from node u to node TopV.
Further, the executing the rising state response is:
updating TopV.g, topV.g = ∞, and performing node-up updating on TopV on all previous nodes of TopV;
if the node u is not the target position node, performing the following operation on any subsequent node v of the node u:
if node v has been removed from the preferred column and u.rhs > v.g + c (u, v), performing u.rhs = v.g + c (u, v), setting the next node of the node optimal path u to be v, otherwise, keeping the node u in the original state;
if the node u is not searched or is removed from the priority queue, and u.rhs is not equal to u.g, adding the node u into the priority queue, otherwise, keeping the node u in the original state;
and if the node u waits to be updated in the priority queue and u.rhs = u.g, moving the node u out of the priority queue, otherwise, keeping the node u in the original state.
Further, in step 3, the flight cost function is:
wherein, the first and the second end of the pipe are connected with each other,α(u, v) represents the angle value between the vector formed by the center of the node u to the center of the node v and the vector formed by the center of the node u to the center of the previous node,F max is the maximum value of the current flow rate,F min is the minimum value of the current flow rate,epsrepresenting a minimal amount.
Further, the step 1 of predicting the course according to the flight plan of civil aviation comprises the following steps:
wherein, the first and the second end of the pipe are connected with each other,dthe flight course of the next time step of the civil aircraft is obtained;Y'' projecting coordinates for a route point Y axis on a civil aviation flight plan;Y' projecting coordinates for the Y axis of the next waypoint of the civil aviation flight plan;X'' projecting coordinates for an X-axis of a waypoint on a civil aviation flight plan;X' and planning the next route point X-axis projection coordinate for civil aviation flight.
Further, the predicting of the track point according to the civil aviation flight plan in the step 1 is as follows:
wherein the content of the first and second substances,Y* projecting coordinates for the Y axis of the next time step of the civil aircraft;X* projecting coordinates for the X axis of the next time step of the civil aircraft;Yprojecting coordinates for the current Y axis of the civil aircraft;Xprojecting coordinates for the current X axis of the civil aircraft;V y the current Y-axis velocity component of the civil aircraft is obtained;V x the current speed component on the X axis of the civil aircraft is obtained;d y the vector component on the current Y axis of the civil aviation course is taken as the vector component;d x vector components on the current X axis of the civil aviation course are obtained; Δ t is a single time step.
Further, the step 2 of constructing dynamic civil aviation flow prediction distribution by using a mesh generation method comprises the following steps: and (3) taking a longitude and latitude grid of a height layer with the height of 1 by 300 meters as a unit grid point to subdivide the global, and constructing dynamic civil aviation flow prediction distribution according to a three-dimensional global grid subdivision method and a civil aviation prediction track to form structured data.
Further, the priority Key = [ min (v.g, v.rhs) + v.h + km, min (v.g, v.rhs) for any node V]Where V.g represents the flight cost from the departure location node to node V, V.h represents the flight cost from node V to the destination location node, km is the cumulative flight cost from the departure location node to the current location node,
node u is a previous node to node V, and c (u, V) is the flight cost from node u to node V.
The invention relates to a civil aviation route traversing system based on a dynamic path planning field, which comprises:
the civil aviation track prediction module is used for carrying out course prediction and track point prediction according to a flight plan of civil aviation to obtain structured civil aviation predicted track information;
the path planning field construction module is used for constructing dynamic civil aviation flow prediction distribution through a mesh generation method so as to pass through the departure position and the target position of the airplane and construct a path planning field in an initialization mode;
the crossing path calculation module is used for constructing a flight cost function according to the dynamic civil aviation traffic prediction distribution and calculating an optimal crossing path crossing the current position node of the airplane; updating the traversing plane to the next position node according to the optimal traversing path; if the traversing aircraft does not reach the target position, updating the path planning field according to the position of the node where the traversing aircraft is located, and calculating the optimal traversing path, otherwise, smoothing the optimal traversing path of the traversing aircraft to obtain the flying path of the traversing aircraft.
Has the advantages that: compared with the prior art, the invention has the advantages that: (1) Analyzing the predicted route or the advanced flight plan report of the civil aviation, and counting the flow value through global grid subdivision and time slices to obtain dynamic civil aviation flow distribution prediction structured information so as to extract and converge the future flow of the civil aviation route and form computer-readable structured information for providing data for path planning; (2) By establishing and updating a path planning field, dynamic obstacle avoidance is carried out by taking the minimum crossing cost as a target, an optimal path is obtained according to a current position node of a crossing airplane, a smooth crossing air route with small influence on dynamic civil aviation flights is calculated in advance, a free and random planning and allocation airspace depending on manual experience is not needed, the airspace resource utilization rate and the civil aviation operation efficiency are improved, the collaborative safe and efficient operation of the civil aviation and military aviation is ensured, and the traditional rough airspace planning and civil aviation allocation method is broken through.
Drawings
FIG. 1 is a flow chart of a method for traversing civil aviation routes according to the present invention.
Fig. 2 is a dynamic civil aviation traffic prediction distribution of a two-dimensional longitude and latitude grid in the embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
As shown in FIG. 1, the method for traversing civil aviation route based on dynamic path planning field comprises the following steps
Step 1.1, predicting flight course: the course calculation method of civil aviation flight can be expressed as follows:
wherein the content of the first and second substances,dthe flight course of the next time step length of the civil aircraft is obtained;Y''projecting coordinates for a route point Y axis on a civil aviation flight plan;Y'projecting coordinates for the Y axis of the next waypoint in the civil aviation flight plan;X''projecting coordinates for an X-axis of a waypoint on a civil aviation flight plan;X'and planning the next route point X-axis projection coordinate for civil aviation flight.
Step 1.2, track point prediction calculation: the predicted calculation of the course point can be expressed as:
wherein, the first and the second end of the pipe are connected with each other,Y* projecting coordinates for the Y axis of the next time step of the civil aircraft;X* projecting coordinates for the X axis of the next time step of the civil aircraft;Yprojecting coordinates for the current Y axis of the civil aircraft;Xprojecting coordinates for the current X axis of the civil aircraft;V y the current Y-axis velocity component of the civil aircraft is obtained;V x the current speed component on the X axis of the civil aircraft is obtained;d y vector components on the current Y axis of the civil aviation course are obtained;d x vector components on the current X axis of the civil aviation course are obtained; Δ t is a single time step.
And 2, constructing dynamic civil aviation flow prediction distribution.
And taking a longitude and latitude grid of a height layer with 1 part by 300 meters as a unit grid point to subdivide the globe, and constructing dynamic civil aviation flow prediction distribution according to a three-dimensional global grid subdivision method and a civil aviation predicted track to form structured data. And respectively counting the number of the predicted track points of different aircrafts in each time slice (such as a time window of one minute) of each subdivision grid point. Determining and naming a folder by date, dividing the folder by hours at a lower level, internally splitting a plurality of files, naming each file by a higher-level subdivision grid, recording the grid point track information belonging to the higher-level subdivision grid, and recording the track number of each grid point in each unit minute according to a file formatting specification. Taking the dynamic civil aviation traffic prediction distribution of a certain two-dimensional longitude and latitude grid as an example, the traffic data can be divided into 300-meter height layers and 30-minute time slices as shown in fig. 2.
And 3, constructing a path planning field.
And according to the selected three-dimensional global grid splitting method, a path planning field is constructed by initialization of the starting position, the target position and the like of the traversing airplane. Defining a directed graph G = (V, E), wherein V represents a subdivision point set, E represents an edge set, E (u, V) epsilon E represents a directed edge u → V, c (u, V) represents a weight of E (u, V), and c (u, V) ≧ 0 is specified. Succ (v) represents a successor node set of the node v, and u belongs to Succ (v) and represents that a directed edge e (v, u) exists; pred (v) represents the set of predecessors of node v, and u ∈ Pred (v) represents the existence of a directed edge e (u, v).
Set parent attribute v.father for node v, v.father = u, indicating that the next node of v on the optimal path is u.
And determining that the node passes through the departure position StartV of the airplane and the node reaching the target position is GoalV. And setting a priority Queue to store the nodes waiting for updating.
Setting a label attribute v.tag for the node v; v.tag = NEW, indicating that the node has never been searched, v.tag = OPEN, indicating that the node is waiting for an update and has been entered in the Queue sequence, v.tag = CLOSED, indicating that the node has been deleted from the Queue sequence.
And setting a node v attribute v.g, and indicating the cost of the node v to the starting position node StartV.
And setting a node v attribute v.h, and representing the cost of the node v to the destination position node GoalV.
And setting a node v attribute v.rhs:
wherein c (u, v) is the flight cost from node u to node v; if v.g = v.rhs, node v is said to be continuous.
Initializing the attribute StartV.rhs = StartV.g = ∞ of two nodes; gos v. rhs =0; tag = OPEN. The priority Queue is set to empty and the target node GoalV is added. The cumulative flight cost km =0 from the departure location to the current location. Crossing a location node LastV = StartV on the aircraft.
And 4, updating the state of the path planning field according to the dynamic civil aviation flow distribution prediction.
According to the current time, the following steps are executed:
step 4.1, because the position of the node where the traversing aircraft is located is updated, the accumulated flight cost from the departure position to the current position is correspondingly updated: km = km + c (LastV, currV), where c (LastV, currV) represents the flight cost of traversing a location node on the aircraft to the current location node.
Step 4.2, scanning the map, updating the flow value u.F of each grid point u according to dynamic civil aviation flow distribution prediction, and recording the maximum value of the current flowF max And minimum valueF min 。
And 4.3, updating the flight cost c (u, v) from the adjacent node u to the node v, and meeting the following formula:
where c (u, v) is the cost of flight from node u to node v,α(u, v) represents the angle value between the vector formed by the center of the node u to the center of the node v and the vector formed by the center of the node u to the center of the previous node,epsrepresenting a minimal amount.
And 5, calculating the optimal path passing through the current position node of the airplane.
Step 5.1, acquiring a node TopV with the minimum priority Key in a priority Queue, wherein the node TopV = Queue. Wherein, the priority Key of any node V is = [ min (V.g, V.rhs) + V.h + km, min (V.g, V.rhs) ].
Step 5.2, if the TopV satisfies TopV.Key < CurrV.Key or TopV.rhs ≠ CurrV.g, executing step 5.3 and step 5.4.
And 5.3, if the TopV.g is greater than the TopV.rhs, indicating that the node is in a descending state, and executing descending state response.
Step 5.3.1, updating topv.g, topv.g = topv.rhs;
step 5.3.2, updating topv.tag, topv.tag = CLOSED; and remove TopV out of the priority sequence, queue.
Step 5.3.3, performing node down update on the TopV on all the previous nodes of the TopV; for the three cases of u.tag, the treatment was performed separately. If u.tag = NEW, performing step 5.3.3.1; performing step 5.3.3.2 if u.tag = OPEN; performing step 5.3.3.3 if u.tag = CLOSED;
step 5.3.3.1, update u.rhs attribute, u.rhs = topv.g + c (u, topV); calculating the Key of u, updating the u.fanher attribute, wherein u.fanher = TopV, updating the u.tag attribute, and u.tag = OPEN, and adding the node u into a priority Queue;
step 5.3.3.2, if u.rhs > topv.g + c (u, topV), executing u.rhs = topv.g + c (u, topV), u.farmer = TopV, calculating the Key of u, u.farmer = TopV, u.tag = OPEN, and adding the node u to the priority Queue; otherwise, moving the node u out of the priority Queue;
step 5.3.3.3, if u.rhs > topv.g + c (u, topV) or u.farmer = TopV, executing u.rhs = topv.g + c (u, topV), calculating the Key of u, u.farmer = TopV, u.tag = OPEN, adding node u to the priority Queue, otherwise keeping node u in the original state.
Step 5.4, if the TopV.g is less than the TopV.rhs, indicating that the node is in a rising state, and executing rising state response;
step 5.4.1, updating TopV.g, topV.g = ∞;
step 5.4.2, node-up update on TopV is done for all previous nodes of TopV
If u is not the target node, executing the following steps:
for any subsequent node v of u, if v.tag = CLOSED and u.rhs > v.g + c (u, v), performing u.rhs = v.g + c (u, v), u.father = v, otherwise keeping node u in the original state;
if u.tag is not equal to OPEN and u.rhs is not equal to u.g, executing u.tag = OPEN, calculating the Key of u, adding the node u into a priority Queue, and otherwise, keeping the node u in the original state;
if u.tag = OPEN and u.rhs = u.g, executing u.tag = CLOSED, moves node u out of the priority Queue, otherwise keeps node u in the original state.
And 5.5, acquiring a node TopV with the minimum Key in the priority Queue, wherein the TopV = Queue.
Step 6, updating the position of the passing plane
Updating the passing plane to the next position node, recording the historical position node of the passing plane, including the last position node LastV, and jumping to the step 4 if the passing plane does not reach the target position.
And 7, smoothing the recorded flying path of the crossing airplane.
And 8, planning and allocating airspace according to the position relation between the smooth flying path of the passing plane and the civil aviation road network.
Based on the same inventive concept, the civil aviation route traversing system based on the dynamic path planning field comprises:
the civil aviation track prediction module is used for carrying out course prediction and track point prediction according to a flight plan of civil aviation to obtain structured civil aviation predicted track information;
the path planning field construction module is used for constructing dynamic civil aviation flow prediction distribution through a mesh generation method so as to pass through the departure position and the target position of the airplane and construct a path planning field through initialization;
the crossing path calculation module is used for constructing a flight cost function according to the dynamic civil aviation flow prediction distribution and calculating an optimal crossing path crossing the current position node of the airplane; updating the traversing plane to the next position node according to the optimal traversing path; if the crossing aircraft does not reach the target position, updating the path planning field according to the position of the node where the crossing aircraft is located, and calculating an optimal crossing path, otherwise, performing smoothing processing on the optimal crossing path of the crossing aircraft to obtain a flight path of the crossing aircraft.
Claims (7)
1. A method for passing through a civil aviation route based on a dynamic path planning field is characterized by comprising the following steps:
step 1: according to the flight plan of the civil aviation, course prediction and course point prediction are carried out to obtain structured civil aviation predicted course information;
step 1, the course prediction according to the flight plan of civil aviation is as follows:
wherein d is the flight course of the next time step of the civil aircraft; y' is a Y-axis projection coordinate of a waypoint on the civil aviation flight plan; y' is a Y-axis projection coordinate of a next waypoint of the civil aviation flight plan; x' is an X-axis projection coordinate of a waypoint on the civil aviation flight plan; x' is the X-axis projection coordinate of the next waypoint of the civil aviation flight plan;
step 1, predicting the track point according to the flight plan of civil aviation:
y is a Y-axis projection coordinate of the next time step of the civil aircraft; x is under civil aviation aircraftX-axis projection coordinates for one time step; y is the current Y-axis projection coordinate of the civil aircraft; x is the current X-axis projection coordinate of the civil aircraft; v y The current Y-axis velocity component of the civil aircraft is obtained; v x The current X-axis velocity component of the civil aircraft is obtained; d y Vector components on the current Y axis of the civil aviation course are obtained; d is a radical of x The vector component on the current X axis of the civil aviation course is obtained; Δ t is a single time step;
and 2, step: constructing dynamic civil aviation flow prediction distribution by a mesh generation method so as to pass through the departure position and the target position of the airplane and initialize and construct a path planning field;
and 3, step 3: constructing a flight cost function according to the dynamic civil aviation flow prediction distribution, and calculating an optimal traversing path traversing the current position node of the airplane through the minimum accumulated flight cost;
step 3, the flight cost function is:
wherein c (u, v) is the flight cost from the node u to the node v, alpha (u, v) represents the angle value of the vector formed by the center of the node u to the center of the node v and the vector formed by the center of the node u to the center of the previous node, F max Is the current maximum flow, F min For the current minimum flow, eps represents the minimum;
and 4, step 4: updating the traversing plane to the next position node according to the optimal traversing path; and if the crossing aircraft does not reach the target position, updating the path planning field according to the position of the node where the crossing aircraft is located, and executing the step 3, otherwise, performing smoothing processing on the optimal crossing path of the crossing aircraft to obtain a flight path of the crossing aircraft.
2. The method for traversing civil aviation route based on dynamic path planning field according to claim 1, wherein the step 3 of calculating the optimal traversing path for traversing the current position node of the aircraft is as follows:
sequentially selecting a node TopV with the minimum priority in the priority queue, if TopV.g > TopV.rhs, indicating that the node is in a descending state, and executing descending state response; if TopV.g is less than TopV.rhs, the node is in a rising state, and rising state response is executed; if topv.g = topv.rhs, indicating that the nodes are continuous, executing the next cycle; the priority queue is a set of next nodes to be selected of the current position node;
wherein TopV.g represents the flight cost from the departure location node to the node TopV,
node u is a predecessor of node TopV, c (u, topV) is the cost of flight from node u to node TopV, and u.g represents the cost of flight from the departure location node to node u.
3. The method for traversing civil aviation route according to claim 2 wherein the executing a descent state response is:
updating topv.g, topv.g = topv.rhs, moving TopV out of the priority queue, making a node-down update on TopV for all preceding nodes of TopV;
if node u is never searched, then: u.rhs = topv.g + c (u, topV); setting the next node of the optimal path u of the node as TopV, and adding the node u into a priority queue;
if node u waits to be updated in the priority queue: if u.rhs > TopV.g + c (u, topV), u.rhs = TopV.g + c (u, topV), setting the next node of the node optimal path u as TopV, adding the node u into the priority queue, otherwise, removing the node u from the priority queue;
if node u has been removed from the priority queue: if u.rhs > TopV.g + c (u, topV) or the next node of the node optimal path u is TopV, u.rhs = TopV.g + c (u, topV), setting the next node of the node optimal path u to be TopV, adding the node u into a priority queue, otherwise, keeping the node u in the original state;
where c (u, topV) is the cost of flight from node u to node TopV.
4. The method for traversing civil aviation route based on dynamic path planning field according to claim 2, wherein the executing ascending state response is:
updating TopV.g, topV.g = ∞, and performing node-up updating on TopV on all previous nodes of TopV;
if the node u is not the target position node, performing the following operation on any subsequent node v of the node u:
if node v has been removed from the preferred column and u.rhs > v.g + c (u, v), performing u.rhs = v.g + c (u, v), setting the next node of the node optimal path u to be v, otherwise, keeping the node u in the original state;
if the node u is not searched or is removed from the priority queue, and u.rhs is not equal to u.g, adding the node u into the priority queue, otherwise, keeping the node u in the original state;
if the node u waits to be updated in the priority queue and u.rhs = u.g, moving the node u out of the priority queue, otherwise, keeping the node u in the original state;
where c (u, v) is the flight cost from node u to node v.
5. The method for traversing civil aviation routes based on the dynamic path planning field according to claim 1, wherein the step 2 of constructing dynamic civil aviation traffic prediction distribution by mesh subdivision comprises the following steps: and (3) taking a longitude and latitude grid of a height layer with the height of 1 by 300 meters as a unit grid point to subdivide the global, and constructing dynamic civil aviation flow prediction distribution according to a three-dimensional global grid subdivision method and a civil aviation prediction track to form structured data.
6. The method for traversing civil aviation route based on dynamic path planning field according to claim 2, wherein the priority Key of any node V = [ min (V.g, V.rhs) + V.h + km, min (V.g, V.rhs)]Where V.g represents the flight cost from the departure location node to the node V, V.h represents the flight cost from the node V to the destination location node, and km is the departure location node to the current location nodeThe cumulative cost of the flight of (c) is,
node u is a predecessor to node V, and c (u, V) is the cost of flight from node u to node V.
7. A civil aviation route traversing system based on a dynamic path planning field is characterized by comprising:
the civil aviation track prediction module is used for carrying out course prediction and track point prediction according to a flight plan of civil aviation to obtain structured civil aviation predicted track information;
the path planning field construction module is used for constructing dynamic civil aviation flow prediction distribution through a mesh generation method so as to pass through the departure position and the target position of the airplane and construct a path planning field through initialization;
the crossing path calculation module is used for constructing a flight cost function according to the dynamic civil aviation traffic prediction distribution and calculating an optimal crossing path crossing the current position node of the airplane; updating the traversing plane to the next position node according to the optimal traversing path; if the crossing aircraft does not reach the target position, updating the path planning field according to the position of the node where the crossing aircraft is located, calculating an optimal crossing path, and otherwise, performing smoothing processing on the optimal crossing path of the crossing aircraft to obtain a flight path of the crossing aircraft;
the course prediction according to the flight plan of civil aviation is as follows:
wherein d is the flight course of the next time step of the civil aircraft; y' is a Y-axis projection coordinate of a waypoint on the civil aviation flight plan; y' is the Y-axis projection coordinate of the next waypoint of the civil aviation flight plan; x' is an X-axis projection coordinate of a waypoint on the civil aviation flight plan; x' is the X-axis projection coordinate of the next waypoint of the civil aviation flight plan;
the track point prediction according to the civil aviation flight plan is as follows:
wherein, Y is the Y-axis projection coordinate of the next time step of the civil aircraft; x is the X-axis projection coordinate of the next time step of the civil aircraft; y is the current Y-axis projection coordinate of the civil aircraft; x is the current X-axis projection coordinate of the civil aircraft; v y The current Y-axis velocity component of the civil aircraft is obtained; v x The current X-axis velocity component of the civil aircraft is obtained; d is a radical of y The vector component on the current Y axis of the civil aviation course is taken as the vector component; d is a radical of x Vector components on the current X axis of the civil aviation course are obtained; Δ t is a single time step;
the flight cost function is:
wherein c (u, v) is the flight cost from the node u to the node v, alpha (u, v) represents the angle value of the vector formed by the center of the node u to the center of the node v and the vector formed by the center of the node u to the center of the previous node, F max Is the current maximum flow, F min For the current flow minimum, eps represents the minimum.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211692057.3A CN115662198B (en) | 2022-12-28 | 2022-12-28 | Method and system for passing through civil aviation route based on dynamic path planning field |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211692057.3A CN115662198B (en) | 2022-12-28 | 2022-12-28 | Method and system for passing through civil aviation route based on dynamic path planning field |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115662198A CN115662198A (en) | 2023-01-31 |
| CN115662198B true CN115662198B (en) | 2023-03-10 |
Family
ID=85022555
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211692057.3A Active CN115662198B (en) | 2022-12-28 | 2022-12-28 | Method and system for passing through civil aviation route based on dynamic path planning field |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115662198B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105556408A (en) * | 2014-09-15 | 2016-05-04 | 深圳市大疆创新科技有限公司 | Flight control method of aircrafts and device related thereto |
| CN112330983A (en) * | 2020-10-23 | 2021-02-05 | 杭州优迈科思信息科技有限责任公司 | Integrated intelligent recovery method for abnormal flight |
| CN112362060A (en) * | 2020-08-28 | 2021-02-12 | 中国南方航空股份有限公司 | Civil aviation flight route planning method |
| CN112365746A (en) * | 2020-10-19 | 2021-02-12 | 中国电子科技集团公司第二十八研究所 | Method and system for military aircraft to pass through civil aviation route |
| CN114333430A (en) * | 2021-12-22 | 2022-04-12 | 悠桦林信息科技(上海)有限公司 | Flight information generation method, flight information generation device, flight information generation equipment, storage medium and computer program product |
-
2022
- 2022-12-28 CN CN202211692057.3A patent/CN115662198B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105556408A (en) * | 2014-09-15 | 2016-05-04 | 深圳市大疆创新科技有限公司 | Flight control method of aircrafts and device related thereto |
| CN112362060A (en) * | 2020-08-28 | 2021-02-12 | 中国南方航空股份有限公司 | Civil aviation flight route planning method |
| CN112365746A (en) * | 2020-10-19 | 2021-02-12 | 中国电子科技集团公司第二十八研究所 | Method and system for military aircraft to pass through civil aviation route |
| CN112330983A (en) * | 2020-10-23 | 2021-02-05 | 杭州优迈科思信息科技有限责任公司 | Integrated intelligent recovery method for abnormal flight |
| CN114333430A (en) * | 2021-12-22 | 2022-04-12 | 悠桦林信息科技(上海)有限公司 | Flight information generation method, flight information generation device, flight information generation equipment, storage medium and computer program product |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115662198A (en) | 2023-01-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8082102B2 (en) | Computing flight plans for UAVs while routing around obstacles having spatial and temporal dimensions | |
| Bennell et al. | Airport runway scheduling | |
| Ikli et al. | The aircraft runway scheduling problem: A survey | |
| US9513125B2 (en) | Computing route plans for routing around obstacles having spatial and temporal dimensions | |
| Bennell et al. | Airport runway scheduling | |
| EP2140439B1 (en) | Method and apparatus for planning air refueling for aircraft | |
| CN115204466B (en) | International route planning method with band-pass restriction | |
| CN111583724A (en) | Pre-tactical phase interval management method for four-dimensional track operation | |
| CN110059863B (en) | Aircraft four-dimensional track optimization method based on required arrival time | |
| CN113222277B (en) | Urban area logistics unmanned aerial vehicle demand prediction method based on dynamic allocation algorithm | |
| Erzberger et al. | Design principles and algorithms for air traffic arrival scheduling | |
| Balakrishnan et al. | Efficient and equitable departure scheduling in real-time: new approaches to old problems | |
| CN112735188A (en) | Air traffic network vulnerability analysis system based on complex network theory | |
| CN112530206A (en) | Air traffic network vulnerability analysis method | |
| Çeçen et al. | Optimising aircraft arrivals in terminal airspace by mixed integer linear programming model | |
| Steinberg et al. | UAS batch path planning with a space-time graph | |
| Rosenow et al. | Multiple Aircraft in a multi-criteria Trajectory Optimization | |
| Huang et al. | Strategic conflict management using recurrent multi-agent reinforcement learning for urban air mobility operations considering uncertainties | |
| CN115662198B (en) | Method and system for passing through civil aviation route based on dynamic path planning field | |
| Gekht et al. | Tactical re-planning within the 4D contracts ATC concept | |
| Lundberg et al. | Human-in-the-loop AI: Requirements on future (unified) air traffic management systems | |
| Park et al. | Optimal Trajectory Option Sets for In-Flight Climb-Descend Trajectory Negotiations | |
| Enayatollahi et al. | PBN-based time-optimal terminal air traffic control using cellular automata | |
| Sedov et al. | Decentralized self-propagating ground delay for UTM: Capitalizing on domino effect | |
| Clare et al. | Receding horizon, iterative optimization of taxiway routing and runway scheduling |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |