受限航路空域自主航迹规划与冲突管理技术

陈雨童; 胡明华; 杨磊; 张昊然; 赵征

doi:10.7527/S1000-6893.2020.24045

航空学报 >

2020 , Vol. 41 >Issue 9: 324045 - 324045

DOI: https://doi.org/10.7527/S1000-6893.2020.24045

电子电气工程与控制

受限航路空域自主航迹规划与冲突管理技术

陈雨童 ,
胡明华 ,
杨磊 ,
张昊然 ,
赵征

展开

南京航空航天大学民航学院, 南京 210000

收稿日期: 2020-04-02

修回日期: 2020-04-22

网络出版日期: 2020-09-29

基金资助

国家自然科学基金（61903187）；江苏省自然科学基金青年基金项目（BK20190414）；江苏省研究生科研与实践创新计划项目（KYCX20_0213）

收起

Autonomous trajectory planning and conflict management technology in restricted airspace

CHEN Yutong ,
HU Minghua ,
YANG Lei ,
ZHANG Haoran ,
ZHAO Zheng

Expand

College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 210000, China

Received date: 2020-04-02

Revised date: 2020-04-22

Online published: 2020-09-29

Supported by

National Natural Science Foundation of China (61903187); Natural Science Foundation of Jiangsu Province (BK20190414); Postgraduate Research and Practice Innovation Program of Jiangsu Province (KYCX20_0213)

Fold

摘要

为了解决在基于航迹运行的空中交通管理自动化系统中人机意识同步的问题，以航路运行为对象，开展了面向受限空域的自主四维航迹（4DT）冲突探测与解脱（CD&R）技术研究。基于自由航线空域（FRA）环境，提出基于栅格的空域离散化处理与计算方法；在此基础上，提出受限空域自主航迹运行两阶段方法：阶段1运用可视图（VG）法和Dijkstra算法，实现了满足限制区约束的航空器期望航迹快速规划；阶段2提出航迹可达时空域模型及其图形化表达方法，并基于连续飞行动力学推导出了不同情况下的航空器位置更新模型，并采用局部冲突探测与解脱方法，以飞行距离最短为目标，实现航空器自主路径与速度联动规划，从而支撑空地、人机认知同步的无冲突四维航迹生成；最后，以中国西部典型空域为运行场景开展仿真实验，验证了所提方法的计算高效性和模型有效性，并对栅格尺寸和探测距离这2个关键参数进行了灵敏度分析。结果表明，所提方法能够支撑复杂空域高密度运行环境自主航迹运行，为推动自主空中交通系统发展提供了新思路和新方法。

关键词： 基于航迹运行; 空中交通管理; 自主运行; 自由航线空域; 空地协同认知

本文引用格式

陈雨童 , 胡明华 , 杨磊 , 张昊然 , 赵征 . 受限航路空域自主航迹规划与冲突管理技术[J]. 航空学报, 2020 , 41(9) : 324045 -324045 . DOI: 10.7527/S1000-6893.2020.24045

Abstract

To solve the problem of human-machine awareness synchronization in air traffic management automation systems based on trajectory operation, this study examines real-time autonomous 4D Trajectory (4DT) Conflict Detection and Resolution (CD&R) technology for restricted airspace with route operation as the research object. In Free Route Airspace (FRA) environment, a grid-based discrete processing and calculation method for airspace is proposed. Based on this, a two-stage method for autonomous trajectory operation in restricted airspace is presented. In stage one, the Visibility Graph (VG) method and Dijkstra algorithm are used to realize rapid planning of the desired aircraft trajectory meeting the constraints of the restricted area. In stage two, a spatio-temporal reachable space model and its graphical expression method are proposed. Aircraft position update models in different situations are derived according to continuous flight dynamics. The local CD&R method, aiming at the shortest flight distance, was adopted to realize the autonomous trajectory and speed linkage planning of the aircraft, thereby supporting the generation of conflict-free 4DT with air-ground and human-machine cognitive synchronization. Finally, simulation experiments using a typical airspace in western China as the operating scenario verify the computational efficiency and model validity of the proposed method. Sensitivity analyses are performed on two key parameters: grid size and detection distance. The results show that the proposed method can support autonomous trajectory operation in high-density operating environments in complex airspace, thus providing new ideas and methods for the promotion of autonomous air traffic system development.

Key words： trajectory-based operation; air traffic management; autonomous operation; free route airspace; air-ground cooperative cognition

参考文献

[1] ICAO. Global air traffic management operational concept[R]. Montreal:ICAO, 2005.
[2] BENTRUP L, HOFFMANN M. Free routing airspace in Europe[C]//Proceedings of the International Conference on Research in Air Transportation, 2016.
[3] 中国民用航空局. 中国民航空管基于航迹运行(TBO)运行概念[R]. 北京:空中交通管理局, 2019. CAAC. The concept of trajectory based operation (TBO) in China civil aviation air traffic management[R]. Beijing:Air Traffic Management Bureau, 2019(in Chinese).
[4] LÓPEZ-LEONÉS J, VILAPLANA M A, GALLO E, et al. The aircraft intent description language:A key enabler for air-ground synchronization in trajectory-based operations[C]//Proceedings of the 2007 IEEE/AIAA 26th Digital Avionics Systems Conference.Piscataway:IEEE Press,2007.
[5] TOY J. Complexity metric comparison study for controller workload prediction in 4D trajectory management environments[D]. Delft:Delft University of Technology, 2015.
[6] KNORR D, WALTER L. Trajectory uncertainty and the impact on sector complexity and workload[C]//Proceedings of the SESAR Innovation Days, 2011.
[7] DURAND N, BARNIER N. Does ATM need centralized coordination? Autonomous conflict resolution analysis in a constrained speed environment[J]. Air Traffic Control, 2015, 23(4):325-346.
[8] AERONAUTICS R T C F. Final report of RTCA task force 3 free flight implementation[R]. Washington, D.C.:RTCA, 1995.
[9] HOEKSTRA J M, VAN GENT R N, RUIGROK R C. Designing for safety:The ‘free flight’ air traffic management concept[J]. Reliability Engineering & System Safety, 2002, 75(2):215-232.
[10] 靳学梅. 自由飞行空域中多机冲突探测与解脱技术研究[D]. 南京:南京航空航天大学, 2004. JIN X M. The research of technologies of the conflict detection and resolution among multi-aircraft in free flight airspace[D]. Nanjing:Nanjing University of Aeronautics and Astronautics, 2004(in Chinese).
[11] 程丽媛. 自由飞行空域中多机冲突探测与解脱技术研究[D]. 南京:南京航空航天大学, 2005. CHENG L Y. Research on technologies of the conflict detection and resolution among multi-aircraft in free flight airspace[D]. Nanjing:Nanjing University of Aeronautics and Astronautics, 2005(in Chinese).
[12] 吴君, 张京娟. 采用遗传算法的多机自由飞行冲突解脱策略[J]. 智能系统学报, 2013, 8(1):16-20. WU J, ZHANG J J. Conflict resolution of multiple airplanes in free flight based on the genetic algorithm[J]. CAAI Transactions on Intelligent Systems, 2013, 8(1):16-20(in Chinese).
[13] 杨尚文, 戴福青. 基于一种免疫遗传算法的自由飞行冲突解脱[J]. 航空计算技术, 2007, 1(1):41-43. YANG S W, DAI F Q. Conflict resolution in free flight based on an immune genetic algorithm[J]. Aeronautical Computing Technique, 2007, 1(1):41-43(in Chinese).
[14] ALAM S, SHAFI K, ABBASS H A, et al. An ensemble approach for conflict detection in free flight by data mining[J]. Transportation research part C:Emerging Technologies, 2009, 17(3):298-317.
[15] WALTER L, KOSTINA E. Optimal control framework for a centralized approach to separation management[J]. Journal of Guidance, Control, and Dynamics, 2014, 37(3):1033-1038.
[16] CECEN R K, CETEK C. A two-step approach for airborne delay minimization using pretactical conflict resolution in free-route airspace[J]. Journal of Advanced Transportation, 2019, 2019(PT.2):4805613.1-4805613.17.
[17] OMER J. A space-discretized mixed-integer linear model for air-conflict resolution with speed and heading maneuvers[J]. Computers & Operations Research, 2015, 58:75-86.
[18] SEENIVASAN D B, OLIVARES A, STAFFETTI E. Multi-aircraft optimal 4D online trajectory planning in the presence of a multi-cell storm in development[J]. Transportation Research Part C:Emerging Technologies, 2020, 110(1):123-142.
[19] PAPPAS G, TOMLIN C, LYGEROS J, et al. A next generation architecture for air traffic management systems[C]//Proceedings of the Proceedings of the 36th IEEE Conference on Decision and Control.Piscataway:IEEE Press,2002.
[20] GOODCHILD C, VILAPLANA M A, ELEFANTE S. Cooperative optimal airborne separation assurance in free flight airspace[C]//Proceedings of the Air Traffic management R&D seminar,2015.
[21] 周建, RAHMANI A, 刘昕, 等. 分布式MAS在飞行冲突解脱中的应用研究[J]. 交通运输系统工程与信息, 2015, 15(5):231-238. ZHOU J, RAHMANI A, LIU X, et al. Application of distributed MAS in flight conflict avoidance[J]. Journal of Transportation Systems Engineering and Information Technology, 2015, 15(5):231-238(in Chinese).
[22] BLOM H A, BAKKER G. Agent-based modelling and simulation of trajectory based operations under very high traffic demand[C]//Proceedings of the 6th SESAR Innovation Days, 2016.
[23] HOEKSTRA J, RUIGROK R, VAN GENT R. Free flight in a crowded airspace?[C]//Proceedings of the Proceedings of the 3rd USA/Europe Air Traffic Management R&D Seminar,2015.
[24] MARSHALL C, ROBERTS B, GRENN M. Intelligent control & supervision for autonomous system resiliencein uncertain worlds[C]//Proceedings of the 2017 3rd International Conference on Control, Automation and Robotics (ICCAR),2017.
[25] DRUPKA G, MAJKA A, ROGALSKI T, et al. An airspace model aplicable for automatic flight route planning inside free route airspace[R]. Rzeszow:Rzeszów University of Technology, 2018.
[26] 董兵, 杜文, 刘晓明. 基于有向元胞自动机的空中导航和冲突解脱算法[J]. 飞行力学, 2015, 33(2):178-181,186. DONG B, DU W, LIU X M. Studies on directional cellular automata based air navigation and conflict resolution algorithm[J]. Flight Dynamics, 2015, 33(2):178-181,186(in Chinese).
[27] WICHMAN K D, LINDBERG L, KILCHERT L, et al. Europe's emerging trajectory-based ATM environment[C]//Proceedings of the 22nd Digital Avionics Systems Conference, 2003.
[28] RAMASAMY S, SABATINI R, GARDI A G, et al. Novel flight management system for real-time 4-dimensional trajectory based operations[C]//Proceedings of the AIAA Guidance, Navigation, and Control (GNC) Conference. Reston:AIAA,2013.
[29] LYONS R. Complexity analysis of the next gen air traffic management system:Trajectory based operations[J]. Work, 2012, 41(Suppl 1):4514-4522.
[30] HAO S, ZHANG Y, CHENG S, et al. Probabilistic multi-aircraft conflict detection approach for trajectory-based operation[J]. Transportation Research Part C:Emerging Technologies, 2018, 95(1):698-712.
[31] GATSINZI D, SAEZ NIETO F J, MADANI I. Development of a new method for ATFCM based on trajectory-based operations[J]. Proceedings of the Institution of Mechanical Engineers, Part G:Journal of Aerospace Engineering, 2019, 233(1):261-284.
[32] 刘杰, 张军峰, 朱海波,等. 基于计划到达时刻的四维航迹规划[J]. 航空计算技术, 2016, 46(4):44-47,51. LIU J, ZHANG J F, ZHU H B, et al. Four-dimension trajectory planning based on scheduled time of arrival[J]. Aeronautical Computing Technique, 2016, 46(4):44-47,51(in Chinese).
[33] 张军峰, 葛腾腾, 陈强, 等. 离场航空器四维航迹预测及不确定性分析[J]. 西南交通大学学报, 2016, 51(4):800-806. ZHANG J F, GE T T, CHEN Q, et al. 4D trajectory prediction and uncertainty analysis for departure aircraft[J]. Journal of Southwest Jiaotong University, 2016, 51(4):800-806(in Chinese).
[34] 王超, 郭九霞, 沈志鹏. 基于基本飞行模型的4D航迹预测方法[J]. 西南交通大学学报, 2009, 44(2):295-300. WANG C, GUO J X, SHEN Z P. Prediction of 4D trajectory based on basic flight models[J]. Journal of Southwest Jiaotong University, 2009, 44(2):295-300(in Chinese).
[35] 张军峰, 蒋海行, 武晓光, 等. 基于BADA及航空器意图的四维航迹预测[J]. 西南交通大学学报, 2014, 49(3):553-558. ZHANG J F, JIANG H H, WU X G, et al. 4D trajectory prediction based on BADA and aircraft intent[J]. Journal of Southwest Jiaotong University, 2014, 49(3):553-558(in Chinese).
[36] 汤新民, 韩云祥, 韩松臣. 面向4D航迹运行的飞行冲突混杂系统理论监控方法[J]. 电子科技大学学报, 2012, 41(5):717-722. TANG X M, HAN Y X, HAN S C. 4D trajectory based operation flight conflict supervisory control based on hybrid system theory[J]. Journal of University of Electronic Science and Technology of China, 2012, 41(5):717-722(in Chinese).
[37] SAEZ NIETO F J. The long journey toward a higher level of automation in ATM as safety critical, sociotechnical and multi-Agent system[J]. Proceedings of the Institution of Mechanical Engineers, Part G:Journal of Aerospace Engineering, 2016, 230(9):1533-1547.
[38] ICAO. Global TBO concept[R]. Montreal:ATMRPP, 2018.
[39] SLATTERY R, GREEN S. Conflict-free trajectory planning for air traffic control automation[R]. Washington,D.C.:NASA, 1994.
[40] LOZANO-PÉREZ T, WESLEY M A. An algorithm for planning collision-free paths among polyhedral obstacles[J]. Communications of the ACM, 1979, 22(10):560-570.
[41] KALUĐER H, BREZAK M, PETROVIĆ I. A visibility graph based method for path planning in dynamic environments[C]//Proceedings of the 2011 Proceedings of the 34th International Convention MIPRO,2011.
[42] DIJKSTRA E W. A note on two problems in connexion with graphs[J]. Numerische Mathematik, 1959, 1(1):269-271.
[43] VIGEANT-LAGILOIS L, HANSMAN R J. Human-Centered Systems analysis of aircraft separation from adverse weather:ICAT-2004-2[R]. Boston:Massachusetts Institute of Technology, 2004.
[44] MILLER H J. Modelling accessibility using space-time prism concepts within geographical information systems[J]. International Journal of Geographical Information System, 1991, 5(3):287-301.
[45] MILLER O M. Notes on cylindrical world map projections[J]. Geographical Review, 1942, 32(3):424-430.
[46] BILIMORIA K, SHETH K, LEE H, et al. Performance evaluation of airborne separation assurance for free flight[C]//Proceedings of the AIAA Guidance, Navigation and Control Conference. Reston:AIAA, 2003.

Options

文章导航

模态框（Modal）标题

摘要

本文引用格式

Abstract

参考文献