CN113470438B - Logic time sequence deduction simulation-based conflict-free flight trajectory generation method - Google Patents

Abstract

The invention provides a conflict-free flight trajectory generation method based on logic time sequence deduction simulation, which comprises the following steps of: step1, generating an initial flight plan; step2, deduction prediction and conflict recognition are carried out based on the logic time sequence; and 3, generating a corrected conflict-free track based on conflict dynamic mediation control of a preset strategy. The invention generates a relatively real flight plan based on the airspace operation element model, and improves the conflict detection speed by using a space grid method.

Description

Logic time sequence deduction simulation-based conflict-free flight trajectory generation method

Technical Field

The invention belongs to the technology of air traffic control systems, and particularly relates to a conflict-free flight trajectory generation method based on logic time sequence deduction simulation.

Background

The conflict-free track generation technology is an important component of system construction in the field of air traffic management, plays an important role, can assist a controller to carry out conflict deployment on a next-day flight plan to generate a conflict-free, safe and reliable deployment scheme, can simulate the operation condition of the plan through a conflict-free track generation process, assists the controller to deduce and make a decision on the operation situation, is a core operation concept of future aviation operation proposed by the international civil aviation organization on the basis of track operation, and is the basis of the operation concept, so that the conflict-free track generation technology has an extremely important significance on the research of the conflict-free track generation technology. The conventional conflict-free track generation is mostly based on the flight performance of aircrafts, the tracks of multiple aircrafts are presumed on different sections, and then conflict detection is carried out on a flight plan according to a safety interval.

Disclosure of Invention

The purpose of the invention is as follows: the invention starts from the actual application requirement, uses a quick conflict identification method and a flexible conflict mediation strategy to flexibly and quickly generate the conflict-free flight flow. In addition, in the flight flow generation process, the existing airspace resources and rules are fully considered, so that the generated flight flow is guaranteed to meet the objective operation rule, and reliable data support is provided for subsequent simulation deduction and planning verification.

The invention specifically provides a conflict-free flight trajectory generation method based on logic time sequence deduction simulation, which comprises the following steps: the method comprises the following steps:

step1, generating an initial flight plan;

step2, deduction prediction and conflict recognition are carried out based on the logic time sequence;

and 3, generating a modified conflict-free track based on conflict dynamic mediation control of a preset strategy.

The step1 comprises the following steps:

step1.1, performing networked modeling on airspace operation element information;

step1.2, generating flight flow flight routes according to flight take-off and landing relation distribution;

and step1.3, finishing the configuration of the initial flight planning height layer according to the flight direction of the flight flow airline.

In step1.1, the airspace operation element information networking modeling specifically comprises the following models:

an airport model which comprises an airport code and longitude and latitude and is used in a plan is generated according to the requirement;

the runway model comprises a runway code, an affiliated airport and a runway angle, the runway model used in the plan is generated according to the requirement, and the incidence relation between the runway model and the affiliated airport model is established;

the waypoint model comprises waypoint codes and longitude and latitude, and is used in the plan according to the requirement;

the high-altitude route model comprises high-altitude route codes and route point forming points, generates a high-altitude route model used in a plan according to requirements, and establishes an incidence relation with all the route point models forming the route;

the method comprises the following steps that an approach and departure route model comprises an approach and departure route code, a forming waypoint, an associated airport and an associated runway, the approach and departure route model used in a plan is generated according to requirements, and an association relation is established among all the waypoint models, the associated airport model and the associated runway model forming a route;

let the number of flights to be generated be num_allInitializing the flight index f_indexIf f is 0_index＜num_allRepeatedly executing the step1.2 to the step 1.3; otherwise, the initial flight plan generation is completed.

Step1.2 comprises:

step 1.2.1, acquiring a flight number, and assigning an ADEP (advanced airport) and an AARR (airport landing) for a flight corresponding to the flight number;

step 1.2.2, obtaining all runway sets RW associated with ADEP airport in the model established in step1.1_dep＝{DRW₁,DRW₂,...DRW_nRandomly selecting the DRW of the jth runway_jAs a take-off runway, j takes the value of 1-n, and n takes the value of a natural number;

step 1.2.3, obtaining and associating airport ADEP and runway DRW_jAssociated off-site course set FL_dep＝{DFL₁,DFL₂,...DFL_m}，DFL_mRepresenting the mth off-site route, wherein m is a natural number;

step 1.2.4, traverse FL_depExtracting the ending route point of each off-site route to form an off-site route ending point set P_dep＝{DP₁,DP₂,...DP_m}，DP_mRepresenting an ending waypoint of the mth off-site route;

step 1.2.5, obtaining all runways RW associated with AARR airport in model established in step1.1_arr＝{ARW₁,ARW₂,...ARW_pRandomly selecting the kth runway ARW_kAs landing runways, the value of k is 1-p, and the value of p is a natural number;

step 1.2.6, get and machineCourt AARR and runway ARW_kAssociated set of incoming routes FL_arr＝{AFL₁,AFL₂,...AFL_q}，AFL_qShow and runway ARW_kThe q-th approach route is correlated;

step 1.2.7, traverse FL_arrExtracting the starting route point of each route to form an approach route starting point set P_arr＝{AP₁,AP₂,...AP_q}；AP_qShow and runway ARW_kStarting waypoints of the associated qth approach route;

step 1.2.8, adding P_depAnd P_arrAll the elements in (1) are combined one by one to obtain a course starting end point set SP_da＝{(DP₁,AP₁),(DP₁,AP₂),...(DP_m,AP_q)}；

Step 1.2.9, for SP_daEach group element (DP) of_a,AP_b) Respectively finding out DP in the model established in step1.1_aAnd AP_bThe associated high altitude routes are compared to obtain the simultaneous association DP_aAnd AP_bHigh altitude route set FL_air＝{F₁,F₂,...F_rAnd calculates FL_airAll routes in DP_aAnd AP_bSelecting the route with the minimum distance among the route distances dis between the two points, thereby expanding the SP_daObtaining SP_da＝{(DP₁,AP₁,F_c,dis),(DP₁,AP₂,F_d,dis),...(DP_m,AP_q,F_e,dis)}，F_rIndicating the r-th simultaneous association DP_aAnd AP_bC, d and e are 1-r;

step 1.2.10, traverse SP_daObtaining a combination of start and end points (DP) of which dis is the smallest route_f,AP_g,F_h,dis)；

Step 1.2.11, combining to obtain a generated flight path, namely: take-off airport ADEP, take-off runway DRW_jDFL of off-site route_fHigh altitude route F_hAFL of approach route_gLanding runway ARW_kLanding airport AARR;

and step 1.2.12, randomly generating the takeoff time of the flight in a specified time period, and generating all arrival time of the flight according to the generated flight route and the set flight speed.

Step1.3 comprises: and (3) judging the direction of the flight route generated in the step1.2, and randomly assigning a planned height layer of the flight route according to the rules of east, west and west.

The step2 comprises the following steps:

step 2.1, establishing a flight circulating logic prediction sequence: the predicted time tfo is set, and a sequence POS (POS) is established for each flight₀,pos₁,...pos_tfo) In which pos_i＝{X_i,Y_i,height_i,flag_iRepresents the position information of the flight with the cycle number i, including the projection coordinate X_i,Y_iHeight of height_iAnd using a parameter flag_iMarking the validity of each second of data in the sequence, and marking the data as invalid data when the deduction prediction time exceeds the flight operation time;

step 2.2, establishing a flight position dynamic distribution management mechanism based on the spatial grid;

step 2.3, logic timing advance and prediction

And 2.4, rapidly identifying the conflict based on the grids.

Step 2.2 comprises:

step 2.2.1, setting the size length of the space grid according to the size a b of the planned airspace and the distance limit;

step 2.2.2, starting from the upper left corner of the planned airspace, dividing the airspace into n × m square spatial grids, wherein the intermediate parameter n is a/length +1, and the intermediate parameter m is b/length + 1;

step 2.2.3, numbering the grids in sequence from left to right, top to bottom, S_area＝(Area₀,Area₁,Area₂,...Area_n*m)，S_areaIs a collection of all spatial grids, Area_iA grid with the number i;

step 2.2.4, build prediction time series AF ═ (flip) in all grids₀,Flist₁,...Flist_tfo) Wherein Flist_iRepresenting a flight number list existing in each space grid when the serial number is i, wherein the value of i is 1-tfo;

step 2.3 comprises:

step 2.3.1, initialize logic sequence t_curIf at time t ═ 0_curWhen all flights finish flying, logic time sequence propulsion is finished, and conflict-free track generation is finished; otherwise, executing step 2.3.2;

step 2.3.2, use of xh_cur＝t_curCalculating to obtain the current sequence number xh by percent (tfo +1)_curRepresents the current timing t_curA sequence number in a circular queue; and calculate xh_last＝xh _cur1, if xh _cur0, then xh_last＝tfo，xh_lastRepresenting the sequence number at the last time and after the tfo time sequence, go to step 2.3.3;

step 2.3.3, deleting flight cycle logic prediction sequence and spatial grid distribution sequence at sequence number xh_lastStep 2.3.4 is performed;

step 2.3.4, traversing all flights in the flight circulating logic prediction sequence, moving the flights which have ended at the current moment out of the sequence, and distributing the sequence S in a space grid_areaRemoving the flight which is finished at the current moment, and executing the step 2.3.5;

step 2.3.5, the number of flights in the flight cycle logic prediction sequence is num_curInitializing flight index fl_index＝0；

Step 2.3.6, if fl_index＜num_curStep 2.3.7 is executed; otherwise, go to step 2.3.13;

step 2.3.7, calculate t_cur+ tfo time flight fl_indexIs updated to the flight fl_indexIn a cyclic logic prediction sequence POS

Finding t according to the projected coordinates of the flight_cur+ tfo space grid Area where flight is located_jUpdating the grid

Add the current flight number, go to step 2.3.8;

step 2.3.8, for Area_jThe grid performs conflict recognition in step 2.4, and if no conflict exists, the fl is ordered_index＝fl_index+1, go to step 2.3.6; otherwise, go to step 2.3.9;

in step 2.3.9, the number of conflict mediation policies available in step3 is SL, and a policy index SL is initialized_indexWhen 0, go to step 2.3.10;

step 2.3.10, if sl_index< SL, go to step 11; otherwise, fl_indexFailure to reconcile, record fl in the log_indexAnd is in F_curMiddle deletion fl_indexLet fl be_index＝fl_index+1, go to step 2.3.6;

step 2.3.11, use policy sl_indexFor flight fl_indexAdjusting the flight path to the adjusted fl_indexAt t_curTo t_curThe track between + tfo times is calculated and updated to fl_indexIn a cyclic logical prediction sequence of POS and spatial grid sequence S_areaStep 2.3.12 is performed;

step 2.3.12, at S_areaTo fl_indexPerforming conflict identification at each time sequence, and enabling sl to be in conflict if conflict exists_index＝sl_index+1, go to step 2.3.10, otherwise, record fl_indexAdjusted course line, command fl_index＝fl_index+1, go to step 2.3.6;

step 2.3.13, traverse all flights, find out all the flights which just take off in the current time sequence, the number of the flights which just take off is num_newInitializing the index fnew of the takeoff flight at the current moment_indexStep 2.3.14 is performed, 0;

step 2.3.14, if fnew_index＜num_newThen go to step 2.3.15; otherwise, let t_cur＝t_cur+1, go to step 2.3.1;

step 2.3.15, calculate from t_curTo t_cur+ tfo time flight fnew_indexUpdating the projection coordinates and the height information into a flight circulating logic prediction sequence and a spatial grid distribution sequence;

step 2.3.16, performing conflict identification on the updated spatial grid distribution sequence, and if no conflict exists, performing fnew_indexAdding the flight to the flight cycle logic prediction sequence, let fnew_index＝fnew_index+1, go to step 2.3.14; otherwise, go to step 2.3.17;

step 2.3.17, for fnew_indexConflict mediation is carried out, and if all the regulation strategies cannot mediate conflict, fnew is carried out_indexFlight uses a delay-after-takeoff strategy, and if conflict is successfully reconciled, fnew is used_indexAdding the flight to the flight cycle logic prediction sequence, let fnew_index＝fnew_index+1, step 2.3.14 is performed.

Step 2.4 includes:

step 2.4.1, judging the number of the grid according to the projection coordinate of the current flight;

step 2.4.2, extracting flight numbers recorded in all grids within k x k range taking the grid as the center at the current moment;

step 2.4.3, respectively calculating the distance between the flight corresponding to the flight number obtained in the step 2.4.2 and the current flight;

step 2.4.4, if the distance between the flight X and the current flight is less than the conflict distance, calculating the height difference between the flight X and the current flight;

step 2.4.5, if the altitude difference is smaller than the conflict altitude difference, judging that the current flight has conflict; if all in-range flights do not have a conflict, then there is no conflict for the current flight.

The step3 comprises the following steps:

step 3.1, adjusting the strategy of the height layer at the current moment:

after a conflict is detected, adjusting the height layer of the conflict flight at the current moment, adjusting the heights of the flight paths after the conflict flight to be in the adjusted height layer, and moving up or down n height layers based on the current height layer during adjustment, wherein at most 2n height layer adjustment strategies are provided in total;

step 3.2, the current time speed adjustment strategy is as follows:

after the conflict is detected, adjusting the speed of the conflict flight at the current moment, and adjusting the speeds after the conflict flight to be the adjusted speeds; during adjustment, based on the current speed, increasing or decreasing (n x 10) m/s, and at most 2n speed adjustment strategies exist in total;

step 3.3, takeoff time delay strategy

When the flight which is just added has conflict and the conflict can not be regulated after all the height and speed regulation strategies are used, a delay-after-takeoff strategy is used, wherein the delay-after-takeoff strategy is to delay the planning time of the current flight by 1 second and delay the flight which is just added;

step 3.4, finishing flight track correction based on a conflict condition strategy:

if the height layer adjustment is carried out, the climbing rate is changed to be a set value (the set value is determined according to the machine type) at the current moment, the climbing rate is set to be 0 after the height layer is adjusted to the target height layer, and the planned heights after the adjustment are all adjusted to be the height of the target height layer;

if the speed adjustment is performed, the acceleration is changed to a set value (the set value is determined according to the model) at the current moment, the acceleration is set to 0 after the target speed is adjusted, and all the planned speeds after the adjustment are adjusted to the target speed.

The invention generates a relatively real flight plan based on the airspace operation element model, and improves the conflict detection speed by using a space grid method.

The invention has the following beneficial effects:

the invention models the real airport and the air route, can randomly generate simulation flights of the appointed take-off and landing airport in batch, and is used for planning flight plans, thereby reducing the dependency on real flight plan data;

according to the flight schedule, the invention can generate a conflict-free flight track by adjusting the height layer, the speed and the takeoff time in the flight process;

the invention uses logic time sequence deduction simulation to deduct the original flight plan splendid second by second aiming at the appointed predicted time, thereby improving the safety performance of the generated track in time.

The invention uses the space grid method to detect the conflict, ensures that the generated track does not conflict in the set safety distance, and improves the safety performance of the generated track in space.

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 flight flow generation flowchart.

Fig. 2 is a logic timing deduction prediction flow chart.

FIG. 3 is a flow chart of spatial grid method collision recognition.

Fig. 4 is a diagram of fast collision determination based on a spatial grid.

FIG. 5 is a conflict dynamic mediation flow diagram.

Detailed Description

The invention provides a conflict-free flight trajectory generation method based on logic time sequence deduction simulation, which comprises the following steps.

Step 1: initial flight plan generation

To generate an initial flight plan, the structure modeling is firstly carried out on the operating elements in the airspace, and then the take-off airport ADEP, the landing airport AARR and the take-off time t of each flight are determined_depThree elements. And finishing the generation of flight routes of the flight flows according to the generated elements, and configuring the height layers according to rules. The flow of the initial flight flow generation is shown in fig. 1.

And performing the spatial domain operation element for structural modeling by executing Step1.1. The elements comprise an airport, a runway, waypoints, a high-altitude route and an approach and departure route, and the incidence relation among the models needs to be determined while the models are established.

And after the element model is built, starting to generate an initial flight plan. Let the number of flights to be generated be num_allInitializing the flight index f_indexIf f is 0_index＜num_allRepeating the steps of Step1.2 and Step1.3; otherwise, the initial flight plan generation is completed.

Step1.1 airspace operation element information networking modeling

In order to generate the flight routes combined with the existing airspace operation element resources and rules, the invention carries out networked modeling on the airspace operation elements contained in the flight plan. The airspace operation elements contained in the patent include the following:

the airport model comprises parameters such as airport codes, longitude and latitude and the like, and is used in a plan according to requirements;

the runway model comprises parameters such as runway codes, an affiliated airport, runway angles and the like, a runway model used in a plan is generated according to requirements, and an incidence relation between the runway model and the affiliated airport model is established;

the waypoint model comprises waypoint codes, longitude and latitude and other parameters, and is used in the plan according to the requirement;

the high-altitude route model comprises parameters such as high-altitude route codes and route point forming points, generates a high-altitude route model used in a plan according to requirements, and establishes an incidence relation with all route point models forming routes;

the approach and departure route model comprises an approach and departure route code, a forming waypoint, an associated airport, an associated runway and other parameters, generates an approach and departure route model used in a plan according to requirements, and establishes an association relation with all the waypoint models, the associated airport model and the associated runway model forming routes.

Step1.2 completes flight flow flight route generation according to flight take-off and landing relation distribution

Based on the networked model of the airspace operation elements, the method can generate flight routes according to the flight take-off and landing relations. The steps of generating flight routes according to the flight take-off and landing relations are as follows:

step 1.2.1, acquiring a flight number, and assigning an ADEP (advanced airport) and an AARR (airport landing) for the flight;

step 1.2.2, all runway RW related to ADEP airport is obtained in element network model_dep＝{DRW₁,DRW₂,...DRW_nRandomly selecting one DRW_jAs a take-off runway;

step 1.2.3, obtaining and associating airport ADEP and runway DRW_jAssociated off-site course set FL_dep＝{DFL₁,DFL₂,...DFL_m}；

Step 1.2.4, traverse FL_depExtracting the ending route point of each route to form an off-site route ending point set P_dep＝{DP₁,DP₂,...DP_m}；

Step 1.2.5, all runways RW associated with AARR airport are obtained in element network model_arr＝{ARW₁,ARW₂,...ARW_pRandomly selecting one of the ARWs_kAs landing runways;

step 1.2.6, obtaining and associating airport AARR and runway ARW_kAssociated set of incoming routes FL_arr＝{AFL₁,AFL₂,...AFL_q}；

Step 1.2.7, traverse FL_arrExtracting the starting route point of each route to form an approach route starting point set P_arr＝{AP₁,AP₂,...AP_q}；

Step 1.2.8, adding P_depAnd P_arrAll the elements in (1) are combined one by one to obtain a course starting end point set SP_da＝{(DP₁,AP₁),(DP₁,AP₂),...(DP_m,AP_q)}；

Step 1.2.9, for SP_daEach group element (DP) of_a,AP_b) Respectively finding out DP in element network model_aAnd AP_bThe associated high altitude routes are compared to obtain the simultaneous association DP_aAnd AP_bHigh altitude flight line FL_air＝{F₁,F₂,...F_rAnd calculates FL_airSelecting the route with the minimum distance among the route distances dis of all routes between the corresponding two points, thereby expanding the SP_daObtaining SP_da＝{(DP₁,AP₁,F_c,dis),(DP₁,AP₂,F_d,dis),...(DP_m,AP_q,F_e,dis)}；

Step 1.2.10, traverse SP_daObtaining a combination of start and end points (DP) of which dis is the smallest route_f,AP_g,F_h,dis)；

Step 1.2.11, combining to obtain a generated flight path, namely: take-off airport ADEP, take-off runway DRW_jDFL of off-site route_fHigh altitude route F_hAFL of approach route_gLanding runway ARW_kLanding airport AARR;

and step 1.2.12, randomly generating the takeoff time of the flight in a specified time period, and generating all arrival time of the flight according to the generated flight route and the set flight speed.

After generating the flight flow flight route based on the flight take-off and landing relationship, Step1.3 is also needed to complete the configuration of the altitude layer.

Step1.3 completes the configuration of the initial flight plan height layer according to the flight direction of the flight flow route

And judging the direction of the flight route generated in Step1.2, and randomly assigning a planned height layer of the route according to the rule of east, west and west. The specific height level allocation rules are shown in table 1.

TABLE 1

Direction	Height
		Eastward	14900
Facing west	14300
		Eastward	13700
Facing west	13100
		Eastward	12500
Facing west	12200
		Eastward	11900
Facing west	11600
		Eastward	11300
Facing west	11000
		Eastward	10700
Facing west	10400
		Eastward	10100
Facing west	9800
		Eastward	9500
Facing west	9200
		Eastward	8900
Facing west	8400
		Eastward	8100
Facing west	7800

Step 2: deductive prediction and conflict identification based on logic time sequence

In Step1, a specified number of flights are generated according to the flight's take-off and landing relationship and altitude level rules, but there is no guarantee that there is no conflict between the flights. At Step2, using the logical sequences, a derived prediction is made for all flights generated and conflict identification is made for all flights in each sequence. The logic timing based deductive prediction flow is shown in fig. 2.

Step 2.1, establishing flight circulation logic prediction sequence

The predicted time tfo is set. Establishing a sequence POS (POS) for each flight₀,pos₁,...pos_tfo). Wherein, pos_i＝{X_i,Y_i,height_i,flag_iAnd represents the position information of the flight with the cycle number i, including the projection coordinate XY and height. And flag is used to determine the number of seconds per second in the sequenceAnd marking according to the validity of the data, and when the time exceeds the flight operation time, marking as invalid data.

Step 2.2, establishing flight position dynamic distribution management mechanism based on space grid

The invention carries out conflict prediction aiming at the spatial relationship between flights and sets two standards of horizontal distance and vertical distance. Aiming at the horizontal distance, the method divides the whole airspace by using a space grid method, limits a judgment area and reduces the calculation amount. The dynamic distribution management steps of the flight positions of the spatial grid are as follows:

step 2.2.1, setting the size length of the space grid according to the size of the planned airspace and the distance limit;

step 2.2.2, starting from the upper left corner of the planned airspace, dividing the airspace into n x m spatial grids;

step 2.2.3, numbering the grids in sequence from left to right, top to bottom, S_area＝(Area₀,Area₁,Area₂,...Area_n*m)；

Step 2.2.4, build prediction time series AF ═ (flip) in all grids₀,Flist₁,...Flist_tfo) Wherein Flist_iRepresenting a flight number list existing in the space grid when the serial number is i;

step 2.3 logical timing advance and prediction

In order to predict the generated initial flight plan, a logical time sequence is established in the patent, representing the real time, so as to predict the flight path. Initializing a logic sequence t_curThe overall logic sequence advancing strategy is as follows:

step 2.3.1, if t_curWhen all flights in the time sequence are finished, logic time sequence propulsion is finished, and conflict-free track generation is finished; otherwise, executing step 2.3.2;

step 2.3.2, use of xh_cur＝t_curCalculating to obtain the current sequence number xh by percent (tfo +1)_curRepresents the current timing t_curSequence number in the circular queue. And calculate xh_last＝xh_cur-1 (if xh)_cur0, then xh_lastTfo) representing the sequence number at the previous time and after tfo. Step 2.3.3 is executed;

step 2.3.3, deleting flight cycle logic prediction sequence and spatial grid distribution sequence at sequence number xh_lastStep 2.3.4 is performed;

step 2.3.4, traversing flight cycle logic prediction sequence F_curAll flights in the system move the flights which have ended at the current moment out of the sequence and distribute the sequence S in the space grid_areaRemoving the flight and executing the step 2.3.5;

step 2.3.5, F_curNumber of flights in num_curInitializing flight index fl_index＝0；

Step 2.3.6, if fl_index＜num_curStep 2.3.7 is executed; otherwise, go to step 2.3.13;

step 2.3.7, calculate t_cur+ tfo time flight fl_indexThe projection coordinate and the height information of the flight fl are updated_indexIn a cyclic logic prediction sequence POS

And finding the space grid Area where the flight is located at the moment according to the projection coordinates of the flight_jUpdating the grid

Add the current flight number, go to step 2.3.8;

step 2.3.8, for Area_jThe grid carries out conflict identification, and if no conflict exists, the fl is ordered_index＝fl_index+1, go to step 2.3.6; otherwise, go to step 2.3.9;

at step 2.3.9, available conflict mediation policies are SL, and a policy index SL is initialized_indexWhen 0, go to step 2.3.10;

step 2.3.10, if sl_index< SL, go to step 11; otherwise, fl_indexFailure to reconcile, record fl in the log_indexAnd is in F_curMiddle deletion fl_indexLet fl be_index＝fl_index+1, go to step 2.3.6;

step 2.3.11, use policy sl_indexFor flight fl_indexAnd adjusting the flight path. For the adjusted fl_indexAt t_curTo t_curThe track between + tfo times is calculated and updated to fl_indexIn a cyclic logical prediction sequence of POS and spatial grid sequence S_areaStep 2.3.12 is performed;

step 2.3.12, at S_areaTo fl_indexPerforming conflict identification at each time sequence, and enabling sl to be in conflict if conflict exists_index＝sl_index+1, go to step 2.3.10, otherwise, record fl_indexAdjusted course line, command fl_index＝fl_index+1, go to step 2.3.6;

step 2.3.13, traverse all flights, find out all the flights which just take off in the current time sequence, the number of the flights which just take off is num_newInitializing the departure flight index fnew at the current time_indexStep 2.3.14 is performed, 0;

step 2.3.14, if fnew_index＜num_newThen go to step 2.3.15; otherwise, let t_cur＝t_cur+1, go to step 2.3.1;

step 2.3.15, calculate from t_curTo t_cur+ tfo time flight fnew_indexUpdating the projection coordinates and the height information into a flight circulating logic prediction sequence and a grid distribution sequence;

step 2.3.16, performing conflict recognition on the updated sequence, and if no conflict exists, then fnew is used_indexAirline joining to F_curIn (1), let fnew_index＝fnew_index+1, go to step 2.3.14; otherwise, go to step 2.3.17;

step 2.3.17, for fnew_indexConflict mediation is carried out, if all the regulation strategies can not mediate the conflict, a take-off time delay strategy is used for the flight, and if the conflict is successfully mediated, fnew is used_indexAirline joining to F_curIn (1), let fnew_index＝fnew_index+1, go to step 2.3.14;

step 2.4 mesh-based collision rapid identification

The invention uses the space grid to rapidly identify the flight conflict. The spatial grid method conflict identification process is shown in fig. 3, and the rapid conflict judgment based on the spatial grid is shown in fig. 4.

The method comprises the following specific steps:

step 2.4.1, judging the number of the grid according to the projection coordinate of the current flight;

step 2.4.2, extracting flight numbers recorded in all grids within a k x k (k value is determined by requirements) range taking the grid as a center at the current moment;

step 2.4.3, respectively calculating the distances between the flights and the current flight;

step 2.4.4, if the distance between a flight and the current flight is less than the conflict distance, calculating the height difference between the flight and the current flight;

step 2.4.5, if the altitude difference is smaller than the conflict altitude difference, judging that the current flight has conflict; if all in-range flights do not have a conflict, then there is no conflict for the current flight.

Step 3: conflict dynamic mediation control based on preset strategy to generate modified conflict-free track

The invention uses a plurality of fixed strategies to adjust the flight routes with conflicts, and the adjustment is repeated until a conflict-free track is generated. The conflict dynamic mediation process is shown in fig. 5.

Step 3.1 current-time height layer adjustment strategy

To reconcile conflicts over the predicted time, the present invention uses a current time-of-day height level adjustment strategy. And after the conflict is detected, adjusting the height level at the current moment, and adjusting the heights of the routes behind the flight to be in the adjusted height level. During adjustment, the height layers are moved upwards or downwards by n height layers based on the current height layer, and the total height layer adjustment strategies are 2n at most.

Step 3.2 current time speed adjustment strategy

To reconcile conflicts within the predicted time, the present invention uses a current time speed adjustment strategy. And after the conflict is detected, adjusting the speed at the current moment, and adjusting the speeds after the flight to be the adjusted speeds. When adjusting, based on the current speed, the speed is increased or decreased by (n x 10) m/s, and the total speed adjusting strategies are 2n at most.

Step 3.3 takeoff time delay strategy

The post-takeoff delay strategy is used when there is a conflict with the flight that just joined and the conflict cannot be reconciled after all altitude and speed adjustment strategies are used. The strategy is to delay the planning time of the current flight by 1 second and delay the flight for processing.

Step 3.4, finishing flight track correction based on conflict condition strategy

If the height layer adjustment is carried out, the climbing rate is changed at the current moment, the climbing rate is set to be 0 after the target height layer is adjusted, and the planned heights after the adjustment are all adjusted to be the height of the target height layer;

if the speed adjustment is carried out, the acceleration is changed at the current moment, the acceleration is set to be 0 after the target speed is adjusted, and the planned speeds after the adjustment are all adjusted to be the target speed.

The present invention is described in further detail below in connection with the operation data of the airway simulation. First, a networked model of airports, runways, waypoints, high-altitude routes, and routes to and from the field is generated using the real data. Using a flight flow generation method to randomly generate 1000 flights between 9:00 and 11:00, wherein the departure and landing airport and the departure time of each flight are randomly set, and the planned height is set according to a rule; setting a horizontal collision distance to be 20km, a vertical collision distance to be 300m, a spatial grid size to be 10km x 10km and prediction time to be 180 s; and after the conflict is detected, the used height layer adjusting strategy is to adjust 1-2 height layers up and down, and the used speed adjusting strategy is to increase and decrease by 10-20 m/s. The above parameters are used to generate a collision-free plan for the flight flow, and partial results are shown in table 2.

TABLE 2

The invention provides a conflict-free flight trajectory generation method based on logic time sequence deduction simulation, and a plurality of methods and ways for implementing the technical scheme are provided, the above description is only a preferred embodiment of the invention, and it should be noted that, for a person skilled in the art, a plurality of improvements and embellishments can be made without departing from the principle of the invention, and the improvements and embellishments should also be regarded as the protection scope of the invention. All the components not specified in this embodiment can be implemented by the prior art.

Claims (7)

1. A conflict-free flight trajectory generation method based on logic time sequence deduction simulation is characterized by comprising the following steps:

step1, generating an initial flight plan;

step2, deduction prediction and conflict recognition are carried out based on the logic time sequence;

step3, based on the conflict dynamic mediation control of the preset strategy, generating a modified conflict-free track;

the step1 comprises the following steps:

step1.1, performing networked modeling on airspace operation element information;

step1.2, generating flight flow flight routes according to flight take-off and landing relation distribution;

step1.3, finishing the configuration of an initial flight planning height layer according to the flight direction of a flight flow route;

in step1.1, the airspace operation element information networking modeling specifically comprises the following models:

an airport model which comprises an airport code and longitude and latitude and is used in a plan is generated according to the requirement;

the runway model comprises a runway code, an affiliated airport and a runway angle, the runway model used in the plan is generated according to the requirement, and the incidence relation between the runway model and the affiliated airport model is established;

the waypoint model comprises waypoint codes and longitude and latitude, and is used in the plan according to the requirement;

the high-altitude route model comprises high-altitude route codes and route point forming points, generates a high-altitude route model used in a plan according to requirements, and establishes an incidence relation with all the route point models forming the route;

the method comprises the following steps that an approach and departure route model comprises an approach and departure route code, a forming waypoint, an associated airport and an associated runway, the approach and departure route model used in a plan is generated according to requirements, and an association relation is established among all the waypoint models, the associated airport model and the associated runway model forming a route;

let the number of flights to be generated be num_allInitializing the flight index f_indexIf f is 0_index＜num_allRepeatedly executing the step1.2 to the step 1.3; otherwise, the generation of the initial flight plan is finished;

step1.2 comprises:

step 1.2.1, acquiring a flight number, and assigning an ADEP (advanced airport) and an AARR (airport landing) for a flight corresponding to the flight number;

step 1.2.2, obtaining all runway sets RW associated with ADEP airport in the model established in step1.1_dep＝{DRW₁,DRW₂,...DRW_nRandomly selecting the DRW of the jth runway_jAs a take-off runway, j takes the value of 1-n, and n takes the value of a natural number;

step 1.2.3, obtaining and associating airport ADEP and runway DRW_jAssociated off-site course set FL_dep＝{DFL₁,DFL₂,...DFL_m}，DFL_mRepresenting the mth off-site route, wherein m is a natural number;

step 1.2.4, traverse FL_depExtracting the ending route point of each off-site route to form an off-site route ending point set P_dep＝{DP₁,DP₂,...DP_m}，DP_mRepresenting an ending waypoint of the mth off-site route;

step 1.2.5, obtaining all runways RW associated with AARR airport in model established in step1.1_arr＝{ARW₁,ARW₂,...ARW_pRandomly selecting the kth runway ARW_kAs landing runways, the value of k is 1-p, and the value of p is a natural number;

step 1.2.6, obtaining and associating airport AARR and runway ARW_kAssociated set of incoming routes FL_arr＝{AFL₁,AFL₂,...AFL_q}，AFL_qShow and runway ARW_kThe q-th approach route is correlated;

step 1.2.7, traverse FL_arrExtracting the starting route point of each route to form an approach route starting point set P_arr＝{AP₁,AP₂,...AP_q}；AP_qShow and runway ARW_kStarting waypoints of the associated qth approach route;

step 1.2.8, adding P_depAnd P_arrAll the elements in (1) are combined one by one to obtain a course starting end point set SP_da＝{(DP₁,AP₁),(DP₁,AP₂),...(DP_m,AP_q)}；

Step 1.2.9, for SP_daEach group element (DP) of_a,AP_b) Respectively finding out DP in the model established in step1.1_aAnd AP_bThe associated high-altitude air routes are compared to obtain the simultaneous association DP_aAnd AP_bHigh altitude route set FL_air＝{F₁,F₂,...F_rAnd calculates FL_airAll routes in DP_aAnd AP_bSelecting the route with the minimum distance among the route distances dis between the two points, thereby expanding the SP_daObtaining SP_da＝{(DP₁,AP₁,F_c,dis),(DP₁,AP₂,F_d,dis),...(DP_m,AP_q,F_e,dis)}，F_rIndicating the r-th simultaneous association DP_aAnd AP_bC, d and e are 1-r;

step 1.2.10, traverse SP_daObtaining a combination of start and end points (DP) of which dis is the smallest route_f,AP_g,F_h,dis)；

Step 1.2.11, combining to obtain a generated flight path, namely: take-off airport ADEP, take-off runway DRW_jDFL of off-site route_fHigh altitude route F_hAFL of approach route_gLanding runway ARW_kLanding airport AARR;

and step 1.2.12, randomly generating the takeoff time of the flight in a specified time period, and generating all arrival time of the flight according to the generated flight route and the set flight speed.

2. The method according to claim 1, characterized in that step1.3 comprises: and (3) judging the direction of the flight route generated in the step1.2, and randomly assigning a planned height layer of the flight route according to the rules of east, west and west.

3. The method of claim 2, wherein step2 comprises:

step 2.1, establishing a flight circulating logic prediction sequence: the predicted time tfo is set, and a sequence POS (POS) is established for each flight₀,pos₁,...pos_tfo) In which pos_i＝{X_i,Y_i,height_i,flag_iRepresents the position information of the flight with the cycle number i, including the projection coordinate X_i,Y_iHeight of height_iAnd using a parameter flag_iMarking the validity of each second of data in the sequence, and marking the data as invalid data when the deduction prediction time exceeds the flight operation time;

step 2.2, establishing a flight position dynamic distribution management mechanism based on the spatial grid;

step 2.3, logic timing advance and prediction

And 2.4, rapidly identifying the conflict based on the grids.

4. A method according to claim 3, characterised in that step 2.2 comprises:

step 2.2.1, setting the size length of the space grid according to the size a b of the planned airspace and the distance limit;

step 2.2.2, starting from the upper left corner of the planned airspace, dividing the airspace into n × m square spatial grids, wherein the intermediate parameter n is a/length +1, and the intermediate parameter m is b/length + 1;

step 2.2.3, numbering the grids in sequence from left to right, top to bottom, S_area＝(Area₀,Area₁,Area₂,...Area_n*m)，S_areaIs a collection of all spatial grids, Area_iA grid with the number i;

step 2.2.4, build prediction time series AF ═ (flip) in all grids₀,Flist₁,...Flist_tfo) Wherein Flist_iRepresenting the flight number list existing in each space grid when the serial number is i, wherein the value of i is 1-tfo.

5. The method according to claim 4, characterized in that step 2.3 comprises:

step 2.3.1, initialize logic sequence t_curIf at time t ═ 0_curWhen all flights finish flying, logic time sequence propulsion is finished, and conflict-free track generation is finished; otherwise, executing step 2.3.2;

step 2.3.2, use of xh_cur＝t_curCalculating to obtain the current sequence number xh by percent (tfo +1)_curRepresents the current timing t_curA sequence number in a circular queue; and calculate xh_last＝xh_cur1, if xh_cur0, then xh_last＝tfo，xh_lastRepresenting the sequence number at the last time and after the tfo time sequence, go to step 2.3.3;

step 2.3.3, deleting flight cycle logic prediction sequence and spatial grid distribution sequence at sequence number xh_lastStep 2.3.4 is performed;

step 2.3.4, traversing all flights in the flight circulating logic prediction sequence, moving the flights which are finished at the current moment out of the sequence, and dividing the flights into grids in spaceCloth sequence S_areaRemoving the flight which is finished at the current moment, and executing the step 2.3.5;

step 2.3.5, the number of flights in the flight cycle logic prediction sequence is num_curInitializing flight index fl_index＝0；

Step 2.3.6, if fl_index＜num_curStep 2.3.7 is executed; otherwise, go to step 2.3.13;

step 2.3.7, calculate t_cur+ tfo time flight fl_indexIs updated to the flight fl_indexIn a cyclic logic prediction sequence POS

Finding t according to the projected coordinates of the flight_cur+ tfo space grid Area where flight is located_jUpdating the grid

Add the current flight number, go to step 2.3.8;

step 2.3.8, for Area_jThe grid performs conflict recognition in step 2.4, and if no conflict exists, the fl is ordered_index＝fl_index+1, go to step 2.3.6; otherwise, go to step 2.3.9;

at step 2.3.9, available conflict mediation policies are SL, and a policy index SL is initialized_indexWhen equal to 0, go to step 2.3.10;

step 2.3.10, if sl_index< SL, go to step 11; otherwise, fl_indexFailure to reconcile, record fl in the log_indexAnd is in F_curMiddle deletion fl_indexLet fl be_index＝fl_index+1, go to step 2.3.6;

step 2.3.11, use policy sl_indexFor flight fl_indexAdjusting the flight path to the adjusted fl_indexAt t_curTo t_curThe track between + tfo times is calculated and updated to fl_indexIn a cyclic logic prediction sequence ofAnd a spatial grid sequence S_areaStep 2.3.12 is performed;

step 2.3.12, at S_areaMiddle to fl_indexPerforming conflict identification at each time sequence, and enabling sl to be in conflict if conflict exists_index＝sl_index+1, go to step 2.3.10, otherwise, record fl_indexAdjusted course line, command fl_index＝fl_index+1, go to step 2.3.6;

step 2.3.13, traverse all flights, find out all the flights which just take off in the current time sequence, the number of the flights which just take off is num_newInitializing the departure flight index fnew at the current time_indexStep 2.3.14 is performed, 0;

step 2.3.14, if fnew_index＜num_newThen go to step 2.3.15; otherwise, let t_cur＝t_cur+1, go to step 2.3.1;

step 2.3.15, calculate from t_curTo t_cur+ tfo time flight fnew_indexUpdating the projection coordinates and the height information into a flight circulating logic prediction sequence and a spatial grid distribution sequence;

step 2.3.16, performing conflict identification on the updated spatial grid distribution sequence, and if no conflict exists, performing fnew_indexAdding the flight to the flight cycle logic prediction sequence, let fnew_index＝fnew_index+1, go to step 2.3.14; otherwise, go to step 2.3.17;

step 2.3.17, for fnew_indexConflict mediation is carried out, and if all the regulation strategies cannot mediate conflict, fnew is carried out_indexFlight uses a delay-after-takeoff strategy, and if conflict is successfully reconciled, fnew is used_indexAdding the flight to the flight cycle logic prediction sequence, let fnew_index＝fnew_index+1, step 2.3.14 is performed.

6. The method of claim 5, wherein step 2.4 comprises:

step 2.4.1, judging the number of the grid according to the projection coordinate of the current flight;

step 2.4.2, extracting flight numbers recorded in all grids within k x k range taking the grid as the center at the current moment;

step 2.4.3, respectively calculating the distance between the flight corresponding to the flight number obtained in the step 2.4.2 and the current flight;

step 2.4.4, if the distance between the flight X and the current flight is less than the conflict distance, calculating the height difference between the flight X and the current flight;

step 2.4.5, if the height difference is smaller than the conflict height difference, judging that the current flight has conflict; if all in-range flights do not have a conflict, then there is no conflict for the current flight.

7. The method of claim 6, wherein step3 comprises:

step 3.1, adjusting the strategy of the height layer at the current moment:

after a conflict is detected, adjusting the height layer of the conflict flight at the current moment, adjusting the heights of the flight paths after the conflict flight to be in the adjusted height layer, and moving up or down n height layers based on the current height layer during adjustment, wherein at most 2n height layer adjustment strategies are provided in total;

step 3.2, the current time speed adjustment strategy is as follows:

after the conflict is detected, adjusting the speed of the conflict flight at the current moment, and adjusting the speeds after the conflict flight to be the adjusted speeds; during adjustment, based on the current speed, increasing or decreasing (n x 10) m/s, and at most 2n speed adjustment strategies exist in total;

step 3.3, takeoff time delay strategy

When the flight which is just added has conflict and the conflict cannot be regulated after all height and speed regulation strategies are used, a delay-after-take strategy is used, wherein the delay-after-take strategy is to delay the planning time of the current flight by 1 second and delay the flight which is just added;

step 3.4, finishing flight track correction based on a conflict condition strategy:

if the height layer adjustment is carried out, the climbing rate is changed to be a set value at the current moment, the climbing rate is set to be 0 after the target height layer is adjusted, and the planned heights after the adjustment are all adjusted to be the height of the target height layer;

if the speed adjustment is carried out, the acceleration is changed to be a set value at the current moment, the acceleration is set to be 0 after the target speed is adjusted, and the planned speeds after the adjustment are all adjusted to be the target speed.

Images