CN102004852A - Airport ground aircraft slide route automatic calculating method - Google Patents

Abstract

The invention provides an airport ground aircraft slide route automatic calculating method. An airport is described into a two-dimensional grid, wherein slide routes are set to be arcs in the two-dimensional grid, a gate position and a departing crossing are set to be nodes in the two-dimensional grid and intersection points between the slide routes are also set to be nodes in the two-dimensional grid; and in a mathematic model building and calculating process, the optimal route can be obtained by only calculating the nodes through which an aircraft passes and the arriving time of the aircraft at each node. In the calculating method, the ground layouts, namely the gate positions, the departing crossing and the intersection points between the slide routes, are all replaced by the nodes and no loss is caused in the calculating process, so that the slide routes of active targets on the airport ground are reasonably arranged in real time and the conflicts between the slide routes are effectively avoided.

Description

A kind of airdrome scene aircraft slides the automatic calculation method of route

Technical field

The present invention relates to a kind of automatic calculation method method, particularly a kind ofly slide the automatic calculation method of route for the airdrome scene aircraft.

Background technology

The main traffic on airport comprises that the departure from port aircraft takes off and incoming flight these two processes from the runway to the aircraft gate from the aircraft gate to the runway, ground taxi is main tie, i.e. airdrome scene motion.In the airport ground control process, arranging the scene sliding path is the basis of realizing that target approaches and departs from port, and whether the taxi circuit arrangement rationally directly has influence on the utilization and the control effect of Airport Resources.By computer simulation technique, utilize the theory and the method for system optimization and artificial intelligence, for the airdrome scene moving target provides automatic route, be one of effective ways of realizing the airdrome scene automatic management.Current, airdrome scene control flow process complexity, staff's pressure is big, lack unified robotization coordinated decision system flexibly, therefore, how to realize automatic route planning technology, automatically handle by computing machine and realize fast, intelligence, scientifically arrange airdrome scene route and slide the hot issue that has become control circle expert and scholar's research constantly.

In the airdrome scene motion, do not resolve route calculation machine backup system automatically in the prior art, and main artificial arrangement sliding path and the guidance by sight of relying on of airdrome scene motion, under the situation of low visibility, the airport bottleneck problem appears in ground taxi difficulty easily.Even under normal visual condition, when the magnitude of traffic flow was very big, the scene taxi circuit can not be made rational planning for, and Airport Resources can not be made full use of.

In addition, the various sliding path optimized Algorithm that present prior theory is researched and proposed are mostly based on theory hypothesis.Most critical be the physical location of not considering the Airport Resources such as scene layout, particularly runway, taxiway and aircraft gate on airport, the complicacy of taxiway directly influences the result of path optimization.

Therefore, need a kind of new technical scheme to address the above problem.

Summary of the invention

Problem and shortage at above-mentioned prior art existence, the purpose of this invention is to provide a kind of airdrome scene aircraft and slide the automatic calculation method of route, this method has when calculating can not omit, reasonably arrange the route that slides of airdrome scene moving target in real time, and effectively avoid sliding the advantage of route conflict.

For achieving the above object, the present invention can adopt following technical scheme: a kind of airdrome scene aircraft slides the automatic calculation method of route, may further comprise the steps:

(1) airport is described as two-dimensional grid, wherein taxiway is made as the arc in the two-dimensional grid, and aircraft gate and disengaging road junction are made as the node in the two-dimensional grid, and the intersection point between the taxiway also is made as the node in the two-dimensional grid;

(2), set up the mathematical model of the optimal path of target aircraft based on node and the arc determined in the step (1);

(3) utilize mathematical model in the step (2) to obtain the node of target aircraft process and in the time of arrival of each node, this node and node are taxi circuit and the coasting time of target aircraft on airport taxiway time of arrival, are optimal path.

The present invention compared with prior art has the following advantages:

By the airport is described as two-dimensional grid; wherein taxiway is made as the arc in the two-dimensional grid; aircraft gate and disengaging road junction are made as the node in the two-dimensional grid; intersection point between the taxiway also is made as the node in the two-dimensional grid; in the foundation and calculating of mathematical model; as long as obtain the node of mark aircraft process and, can draw optimal path in the time of arrival of each node.This kind algorithm can be with the scene layout on the airport; the intersection point that is the aircraft gate, breaks away between road junction, the taxiway all substitutes with node; when calculating, all can not omit, thereby reasonably arrange the route that slides of airdrome scene moving target in real time, and effectively avoid sliding the conflict of route.

Description of drawings

Fig. 1 slides the two-dimensional grid synoptic diagram that in the automatic calculation method of route the airport is described as comprising node and arc for airdrome scene aircraft of the present invention.

Fig. 2 slides the approach synoptic diagram of aircraft route planning of the present invention in the automatic calculation method of route for airdrome scene aircraft of the present invention.

Embodiment

Below in conjunction with the drawings and the specific embodiments, further illustrate the present invention, should understand following embodiment only is used to the present invention is described and is not used in and limit the scope of the invention, after having read the present invention, those skilled in the art all fall within the application's claims institute restricted portion to the modification of the various equivalent form of values of the present invention.

The present invention discloses a kind of airdrome scene aircraft and slides the automatic calculation method of route, may further comprise the steps:

(1) see also shown in Figure 1ly, the airport is described as two-dimensional grid, wherein taxiway is made as the arc in the two-dimensional grid, aircraft gate and break away from the road junction and be made as node in the two-dimensional grid, and the intersection point between the taxiway also is made as the node in the two-dimensional grid.Because institute's organic field all comprises three kinds of resources: runway, taxiway and aircraft gate, this is the resource that aircraft must use when ground motion of taking off/land.Though stroke physical location of establishing of each airfield runway, taxiway and aircraft gate is inequality, when route is resolved, it can be defined as different data acquisitions.Utilize network topology knowledge, with the airport space system be abstracted into a two-dimensional network figure G=who constitutes by node and arc (V, E), V is a set of node, E is the directed arc collection.

Resolve and do in the processing based on the abstract route that is reduced to give a definition:

Sliding path: fingering port, the taxi circuit that leaves the port.Wherein, the path of leaving the port is finished to the runway mouth by boarding gate (or aircraft gate) beginning; Beginning is then withdrawed from mouthful by runway in the path of approaching, and finishes to the aircraft gate.

Slide route: the sliding path of using some time-labelings.

The path sections: the minimum unit in path in the network of airport, be the ingredient of sliding path, the straight-line segment between two point of crossing, arc section are the path sections generally speaking.

Path node: the node in the network of airport, represent the taxiway point of crossing, runway outlet and aircraft gate can (x y) determine by two-dimensional coordinate.

Be applied to concrete airport, the data volume size of set of node and directed arc collection is directly related with the layout on airport.Carrying out route planning when handling, be that the path sections must be considered its attribute to the directed arc collection, comprising: a) allow the direction that slides; B) the maximum aircraft quantity that can hold simultaneously; C) surmount rule (do not allow to surmount, mono-directional overrun and bidirectional overtaking); D) receivable type; E) sliding speed restriction; F) forbidding or fault.

(2), set up the mathematical model of the optimal path of target aircraft based on node and the arc determined in the step (1); Wherein the mathematical model of optimal path comprises the optimum route of obtaining the target aircraft.

The mathematical model of described optimal path is:

$P_f^{*}=\{(p_{f1},t_{f1}),(p_{f2},t_{f2}),\mathrm{\Λ},(p_{\mathrm{fm}},t_{\mathrm{fm}}),\mathrm{\Λ},(p_{\mathrm{fn}},t_{\mathrm{fn}})\}$

(p wherein _F1, t _F1) be the origin information of flight f regulation, endpoint information (p _Fn, t _Fn) middle p _FnBe known terminal point, t _FnBe that the starting point of obtaining arrives p _FnOptimum slide T.T..

And t _FnAdopt following formula to try to achieve:

$t_{\mathrm{fn}}=\mathrm{Min}(\underset{m=2}{\overset{n}{\mathrm{\Σ}}}(\frac{S_{p_{m-1}{p}_m}}{V_f}+{\mathrm{turn}}_{\mathrm{fm}}\×R_{f1}+{\mathrm{hold}}_{\mathrm{fm}}\×R_{f2}+{(\mathrm{hold}\_t)}_{\mathrm{fm}})$

In the formula, p _M-1Be the present node of determining, p _mBe the next node that will search for, m is since 2, p ₁It is exactly starting point.The optimum p that determines _mNode must be p _M-1Adjacent node in one,

Be node p _M-1And p _mBetween the physical path length of arc.R wherein _F1Be that the f flight is gone through the time weights that once turning is consumed, R _F2Being the f flight waits for the time weights that once consumed in sliding the way, setting these two weights mainly is to turn for few, and few pause the in the way allows the path hommization.The condition of considering is as follows:

1)

2) from p _M-1Search for to p _mThe width attribute of taxiway between Shi Bixu considers at 2 promptly satisfies

The former is the receivable type width of taxiway, and the latter is a flight type size;

3) from p _M-1Search for to p _mDirection must satisfy and slides the highway section attribute, definition

Requirement

Wherein

4) if stipulated in the flight attribute flight the head in certain highway section towards, must consider this heading and p when then searching for _M-1To p _mHighway section attribute unanimity, i.e. requirement

Dir (f wherein _{M, h}) be flight head towards;

5)

Turn in the formula _FmBe expressed as flight f from p _M-1Search p _mWhether point turns;

6)

Wherein (hold_t) _FmFor flight f at p _M-1To p _mThe stand-by period of section when sliding, k had planned route in the flight set but all flights of not finishing the process of sliding;

7)

Hold wherein _FmBe expressed as flight f from p _M-1Search p _mWhether wait for.

(3) utilize mathematical model in the step (2) to obtain the node of target aircraft process and in the time of arrival of each node, this node and node are taxi circuit and the coasting time of target aircraft on airport taxiway time of arrival, are optimal path.

In the present embodiment, can adopt classical dijkstra's algorithm to solve optimal path.Dijkstra's algorithm is the algorithm that an order that increases progressively by the weights size produces optimal path, and it can be used for calculating from any some optimal path to other node of digraph.The basic ideas of this algorithm are: for a state space O, adopt labelling method to find the solution the optimal path of start node to destination node.The implementation procedure of algorithm is described with the adjacency matrix table below.

V represents the set of being had a few.(Vi, the Vj) segmental arc of expression, Cost[i, j from an i to j] the expression arc (Vi, weights Vj), if obstructed from Vi to Vj, Cost[i then, j] equal infinitely great.

Introduce an auxiliary vectorial Dist then, each component Dist[i] the minimum weights of expression from starting point to each terminal point Vi.Suppose that the sequence number of certain vectorial starting point in digraph is m, and to set this vectorial initial value be Dist[i]=Cost[m, i], Vi ∈ V.Introduce auxiliary vectorial P again, with Pi represent that i is ordered in the optimal path from m to i more preceding.The detailed process that the usage flag method is found the solution [5] is:

Initialization.Starting point is set to: Dist[m]=0, Pm is empty; Other has a Dist[i] for infinitely great, Pi is unknown; Starting point m is carried out mark, note k=m, other is made as unlabelled a little.

Check from all the some k of mark and be provided with to the segmental arc weights of its direct-connected unlabelled some i:

Dist[i]＝min{Dist[i]，Dist[k]+Cost[m，i]}

3) choose next point.From all unlabelled nodes, choose Dist[i] a middle minimum j:

Dist[j]=min{Dist[i], all unlabelled some i}

Point j just is chosen as a bit in the optimal path.

4) find that a j's is more preceding.From the point of mark, find the some i that is directly connected to a j ^*,, be provided with: Pj=i as more preceding ^*

5) gauge point j.If the mark of having a few, then algorithm withdraws from fully, otherwise note k=j forwards 2 to) continue again.

In sum; the present invention is by being described as two-dimensional grid with the airport; wherein taxiway is made as the arc in the two-dimensional grid; aircraft gate and disengaging road junction are made as the node in the two-dimensional grid; intersection point between the taxiway also is made as the node in the two-dimensional grid; in the foundation and calculating of mathematical model, as long as obtain the node of mark aircraft process and, can draw optimal path in the time of arrival of each node.This kind algorithm can be with the scene layout on the airport; the intersection point that is the aircraft gate, breaks away between road junction, the taxiway all substitutes with node; when calculating, all can not omit, thereby reasonably arrange the route that slides of airdrome scene moving target in real time, and effectively avoid sliding the conflict of route.

Among the present invention, in order to save computing time, improve counting yield, the algorithm of the optimal path of aforementioned calculation target aircraft is improved and optimizes, this improvement and optimization comprise following aspect:

(1) when the mathematical model of the optimal path of target aircraft is found the solution, the information of memory node writes down the information of the arc that each node is associated simultaneously, and represents the sequence number of node with the following table of array, make and searching the Shi Buxu traversal at every turn, but directly search this node.This data structure is simple, is easy to be visited by program code, has abandoned the method for the employed adjacency matrix of this algorithm of common solution, saves memory headroom, reduces algorithm complex.And with the node types refinement, the point that mark is crossed is handled set of node, and unmarked set of node is divided into the set of node that is untreated, pre-service set of node and processing node collection.

Consider starting point direction to terminal when (2) searching for.Obtain this value before the search, the checking times N is set, when the time along a certain node searching, the inferior working direction of N continuous all runs in the opposite direction with original direction, then this node directly is made as and handled node, and starting point is made as infinity to the weights of this node, and promptly this node can not lead to terminal point.

Optimize state space according to the restrictive condition that taxiway is provided with, promptly the node of before search being correlated with in faulty section, restricted area is rejected, and to reduce the hunting zone, saves time.

Taxiway is set a property, improve search speed.According to various taxiways on the airdrome scene, slide classification such as line and disengaging road, road is set to main with using with inferior, if the distance between starting point and the terminal point is far away, in leading, preferentially choose when then searching for,, then avoided carrying out the search of the overall situation if find the result with the road, can shorten computing time greatly, improve Real time Efficiency.

(3) convergence:,, then think algorithm convergence as long as the search through limited number of time can be found the path between starting point and the terminal point to limited search volume.But in the airdrome scene route planning is handled in real time, there are multiple factor and a plurality of constrained, may can not find and separate.The high efficiency that taking into account system is handled is drawn and is established one and comprise starting point and the big as far as possible rectangular area of terminal point, and the pre-service point in this zone is all processed but do not find yet and separate, and algorithm finishes, and automatic planning failure can adopt artificial appointment route.

Below carry out route planning by concrete aircraft type and resolve.

In the target of airdrome scene motion, leave the theatre and march into the arena two types, plan that when its optimum slided route, the branch type was carried out automatically.

(1) the aircraft route planning that approaches

See also shown in Figure 2ly, for aircraft planning sliding path the time, at first must determine starting point and terminal point.For the aircraft that approaches, the acquiescence terminal point is the aircraft gate of having determined in the flight planning, and starting point is for breaking away from the intersection point of road and taxiway.

The target contact the runway promptly triggers path planning and handles.Choose at random the disengaging road in order not limit the driver after landing, system as the route starting point, cooks up several initial paths for affirmation with each intersection point that breaks away from the road junction.When the target physical location changes the disengaging road over to, determine that the path that links to each other with this disengaging road is a net result.

When the aircraft gate of incoming flight was occupied, path planning module can automatically be sought the Accreditation Waiting Area that is associated with this aircraft gate, or according to the Accreditation Waiting Area of artificial appointment, with the Accreditation Waiting Area as path termination.

It is to predict the outcome that it's a time is past each key point of initially extrapolating.For incoming flight, obtain Actual Time Of Landing ATOL (Actual Time of Landing) from relevant plans information, what ATOL added that the runway occupancy time of in-bound aircraft just obtains in-bound aircraft begins to slide scheduled time TBT (Taxi Beging Time).With reference to the average straight way and the sliding curve speed of this type correspondence, calculate the estimated time of arrival (ETA) of each node on the sliding path.Be route by crossing the definite space-time route of some time and sliding path.

(2) departure from port aircraft route planning

Owing to require the full runway of aircraft to take off now, thereby the acquiescence starting point and the terminal point of departure from port aircraft taxi route can directly determine, the acquiescence starting point is the aircraft gate of waiting to depart from port aircraft, and terminal point is the Accreditation Waiting Area of runway head.

For the departure from port aircraft, when the projected state relevant with this target became the release state, execution route planning was handled.Estimate that release time ETOP (Estimated Time Of Push-out) can obtain from the flight planning processing module; With reference to the average straight way and the sliding curve speed of this type correspondence, calculate the estimated time of arrival (ETA) of each node on the sliding path.

(3) pull the aircraft route planning

To the aircraft that needs on the airport to pull, pull the aircraft plan information according to what create, determine the starting point and the terminal point of route planning.

When the state of the pull plan relevant with realistic objective became the release state, execution route planning was handled.The time is released in the expectation that pulls plan, is equivalent to the expectation coasting time of target, with reference to the sliding speed that pulls type, and the estimated time of arrival (ETA) of each node on the prediction sliding path.

(4) deicing aircraft route planning

To needing the aircraft of deicing, according to the freezing point of removing in the plan information, at first plan one from the aircraft gate to the path of removing freezing point.Utilize the release time of aircraft, each node Estimated Time of Arrival on the route is slided in budget.

After ice detachment finishes, when flight planning becomes the release state once more, plan a route from current to the runway mouth.

In addition, can also slide the automatic calculation method of route to this airdrome scene aircraft among the present invention and carry out following optimization, to obtain result of calculation more accurately:

(1) considers current time Runway operation direction, determine the runway mouth and break away from a mouthful position at a high speed;

(2) during the initial route of planning,, guarantee to converge when sliding to the time of same node point or same paths section and satisfy the wake flow interval for fear of the route conflict; Same route segment does not allow enemy's situation that slides to occur;

(3) set priority, special air mission has precedence over positive frequent flight passenger flight, and positive frequent flight passenger flight has precedence over goods class; Out of order aircraft has precedence over the non-fault aircraft; Airdreadnought has precedence over medium and small aircraft; It is minimum to pull flight priority.

In sum, airport ground aircraft slide route automatic calculating method of the present invention has the following advantages:

At first, the layout structure of the physical resources such as the runway on airport, aircraft gate, the taxiway digraph with two-dimensional network is represented, be the airborne vehicle of airdrome scene navigation problem description the optimum combination problem, come modeling with mathematical method, find the solution the optimal solution of decision-making problem of multi-objective;

The second, traditional searching algorithm is improved and optimizes, improve the operation effect of big data quantity, save time, embody the feasibility that this algorithm can be used in real time environment;

The 3rd, for the dissimilar target that airdrome scene slides, provide automatic route calculation method; And from the angle of global optimum, consider various influence factors and limiting factor, real-time, the optimum route that slides finally is provided.

Claims (9)

1. an airdrome scene aircraft slides the automatic calculation method of route, it is characterized in that: may further comprise the steps:

(1) airport is described as two-dimensional grid, wherein taxiway is made as the arc in the two-dimensional grid, and aircraft gate and disengaging road junction are made as the node in the two-dimensional grid, and the intersection point between the taxiway also is made as the node in the two-dimensional grid;

(2), set up the mathematical model of the optimal path of target aircraft based on node and the arc determined in the step (1);

(3) utilize mathematical model in the step (2) to obtain the node of target aircraft process and in the time of arrival of each node, this node and node are taxi circuit and the coasting time of target aircraft on airport taxiway time of arrival, are optimal path.

2. airdrome scene aircraft according to claim 1 slides the automatic calculation method of route, it is characterized in that: the mathematical model of optimal path comprises the optimum route of obtaining the target aircraft in the described step (2).

3. airdrome scene aircraft according to claim 1 and 2 slides the automatic calculation method of route, it is characterized in that: the mathematical model of described optimal path is:

$P_f^{*}=\{(p_{f1},t_{f1}),(p_{f2},t_{f2}),\mathrm{\Λ},(p_{\mathrm{fm}},t_{\mathrm{fm}}),\mathrm{\Λ},(p_{\mathrm{fn}},t_{\mathrm{fn}})\}$

Wherein Be optimal path, (p _F1, t _F1) be the origin information of flight f regulation, endpoint information (p _Fn, t _Fn) middle p _FnBe known terminal point, t _FnBe that the starting point of obtaining arrives p _FnOptimum slide T.T..

4. airdrome scene aircraft according to claim 3 slides the automatic calculation method of route, it is characterized in that: described t _FnAdopt following formula to try to achieve:

$t_{\mathrm{fn}}=\mathrm{Min}(\underset{m=2}{\overset{n}{\mathrm{\Σ}}}(\frac{S_{p_{m-1}{p}_m}}{V_f}+{\mathrm{turn}}_{\mathrm{fm}}\×R_{f1}+{\mathrm{hold}}_{\mathrm{fm}}\×R_{f2}+{(\mathrm{hold}\_t)}_{\mathrm{fm}})$

In the formula, p _M-1Be the present node of determining, p _mBe the next node that will search for, m is since 2, p ₁It is exactly starting point; The optimum p that determines _mNode must be p _M-1Adjacent node in one,

Be node p _M-1And p _mBetween the physical path length of arc; R wherein _F1Be that the f flight is gone through the time weights that once turning is consumed, R _F2Be that the f flight is waited for the time weights that once consumed in sliding the way, the condition of consideration is as follows:

1)

2) from p _M-1Search for to p _mThe width attribute of taxiway between Shi Bixu considers at 2 promptly satisfies The former is the receivable type width of taxiway, and the latter is a flight type size;

3) from p _M-1Search for to p _mDirection must satisfy and slides the highway section attribute, definition Requirement

Wherein

4) if stipulated in the flight attribute flight the head in certain highway section towards, must consider this heading and p when then searching for _M-1To p _mHighway section attribute unanimity, i.e. requirement

Dir (f wherein _{M, h}) be flight head towards;

5)

Turn in the formula _FmBe expressed as flight f from p _M-1Search p _mWhether point turns;

6)

Wherein (hold_t) _FmFor flight f at p _M-1To p _mThe stand-by period of section when sliding, k had planned route in the flight set but all flights of not finishing the process of sliding;

7)

Hold wherein _FmBe expressed as flight f from p _M-1Search p _mWhether wait for.

5. airdrome scene aircraft according to claim 4 slides the automatic calculation method of route, it is characterized in that: when the mathematical model of the optimal path of target aircraft is found the solution, the information of memory node, write down the information of the arc that each node is associated simultaneously, and represent the sequence number of node with the following table of array, make and searching the Shi Buxu traversal at every turn, but directly search this node; And with the node types refinement, the point that mark is crossed is handled set of node, and unmarked set of node is divided into the set of node that is untreated, pre-service set of node and processing node collection.

6. airdrome scene aircraft according to claim 5 slides the automatic calculation method of route, it is characterized in that: consider this target aircraft starting point direction to terminal when the target aircraft is searched for, and obtain this value before the search, it is N time that the checking number of times is set, when along a certain node searching, the inferior working direction of N continuous all runs in the opposite direction with original direction, then this node directly is made as and handled node, and starting point is made as infinity to the weights of this node, promptly this node can not lead to the terminal point of target aircraft.

7. airdrome scene aircraft according to claim 6 slides the automatic calculation method of route, it is characterized in that: to representing the node rejecting of faulty section, restricted area before the target aircraft search on the airport.

8. airdrome scene aircraft according to claim 7 slides the automatic calculation method of route, it is characterized in that: the taxiway on the airport is set to main with road and inferior using, if the distance between starting point and the terminal point is far away, in leading, preferentially choose when then searching for the road.

9. airdrome scene aircraft according to claim 8 slides the automatic calculation method of route, it is characterized in that: this airdrome scene aircraft slides the automatic calculation method of route also needs to carry out following optimization:

(1) considers current time Runway operation direction, determine the runway mouth and break away from a mouthful position at a high speed;

(2) during the initial route of planning,, guarantee to converge when sliding to the time of same node point or same paths section and satisfy the wake flow interval for fear of the route conflict; Same route segment does not allow enemy's situation that slides to occur;

(3) set priority, special air mission has precedence over positive frequent flight passenger flight, and positive frequent flight passenger flight has precedence over goods class; Out of order aircraft has precedence over the non-fault aircraft; Airdreadnought has precedence over medium and small aircraft; It is minimum to pull flight priority.

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