CN104020681A - Free flight analog simulation platform - Google Patents
Free flight analog simulation platform Download PDFInfo
- Publication number
- CN104020681A CN104020681A CN201410280719.5A CN201410280719A CN104020681A CN 104020681 A CN104020681 A CN 104020681A CN 201410280719 A CN201410280719 A CN 201410280719A CN 104020681 A CN104020681 A CN 104020681A
- Authority
- CN
- China
- Prior art keywords
- aircraft
- flight
- simulation
- outlet
- analog
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Traffic Control Systems (AREA)
Abstract
The invention relates to a free flight analog simulation platform. The free flight analog simulation platform comprises an analog setting system, a data information system, a permission setting system, and an actual scene analog system. The implementation method of the platform includes the steps that first, a flight rule is designed, wherein in the actual scene analog module, an airplane flight process model is built on the basis of the core through that the distance is equal to the number generated when the speed is multiplied by the time; a conflict avoidance rule is designed, wherein in the actual scene analog module, the courses of airplanes are obtained through an equation of motion of the airplanes, the course included angle is calculated, and which encounter condition happens to the airplanes is judged so that corresponding avoidance measures can be taken. The free flight analog simulation platform is mainly used for the teams researching free flight to collect data and provides relevant data for free flight analog, analog logs are output, the analog data can be visually displayed for users, the users can conveniently calculate collision risk in free flight so that factors for influencing safety of free flight can be researched, and technical support is provided for achieving free flight.
Description
Technical field
The present invention relates to the field of civil aviaton's air traffic control, particularly a kind of free flight analog simulation platform, it is used that the team that is mainly used in research freedom flight aspect carries out Data Collection.For they provide the related data of simulated flight, output simulation daily record, represents in user at the moment emulated data intuitively, is convenient to user and calculates aloft risk of collision, study the factor that affects free flight security, for realizing early free flight, provide technical support.
Background technology
At present, the team of research freedom flight aspect carries out Data Collection and adopts the method for using for reference with reference to relevant real data under current non-free flight, there is no the related data of any simulated flight as a reference, in prediction risk of collision, free flight security aspect or blank, therefore design a kind of free flight analog simulation platform, the related data of simulated flight is provided, output simulation daily record, emulated data is represented in user at the moment intuitively, be convenient to user and calculate aloft risk of collision, study the factor that affects free flight security, yet the Analog Simulation System for free flight is developed without any Yi Jia entity or individual in the whole world at present.
Summary of the invention
Object of the present invention is exactly for overcoming the deficiencies in the prior art, a kind of free flight analog simulation platform is provided, the related data of simulated flight is provided, output simulation daily record, emulated data is represented in user at the moment intuitively, be convenient to user and calculate aloft risk of collision, study the factor that affects free flight security
Flithg rules under object of the present invention (1), design free flight and conflict avoiding rule.Object (2), obtain adding up time of whole program operation, the aircraft clearance interval that each simulation arranges, horizontal safety spacing, the data of vertical safe spacing, and the total hourage of the flight of all aircrafts, program aircraft, the program aircraft smashing, and the program aircraft of taking which kind of conflict avoiding, by studying these data, calculate aloft risk of collision under free flight, study the factor that affects free flight security.
The present invention realizes by such technical scheme: free flight analog simulation platform, it is characterized in that, and comprise that simulation arranges system, data information system, authority arrange system; Outdoor scene simulation system;
Described simulation arranges system by flight environment of vehicle module, simulation velocity module and flight parameter module composition;
Flight environment of vehicle module comprises communication and navigation supervision performance (Communication Navigation Surveillance, CNS) and the function arranging of aerial collision avoidance system (Traffic Collision Avoidance System, TCAS); Because communication and navigation monitors the impact on flight positioning error, need to be required communication performance (Required Communication Performance by CNS performance, RCP), required navigation performance (Required Navigation Performance, RNP), in required supervision performance (Required Surveillance Performance, RSP), affect the most direct factors quantization in aircraft position; Native system utilizes assessment indicator system CNS performance impact to be set to
=75 kinds of different weighted values, different weighted values is set different on the positioning error impact of aircraft, by user's Set For Current result, data is carried out to weight analysis, error result is returned to aircraft, and aircraft flies according to the current position message that contains error; Utilize reliability evaluation index system that the reliability of TCAS is carried out assessing and obtaining parameter 0.9630 after expert's marking;
Communication and navigation monitors that performance is divided into required communication performance RCP, required navigation performance RNP, required supervision performance RSP, according to (the International Civil Aviation Organization of International Civil Aviation Organization, ICAO) regulation, is described in detail as follows:
Required navigation performance RNP refers on a certain spatial domain or a certain air route, can guarantee that aircraft reaches the accuracy numerical value of expectation navigation performance within 95% time of spatial domain flight; Defined several RNP type at present, accuracy unit is nmile; In performance parameter, accuracy is the direct factor that causes aircraft position driftage, so the Plane location error that main consideration is caused by RNP accuracy in native system;
Table 1 RNP type
Required communication performance RCP describes with performance parameter processing time, continuity, availability and integrality; The RCP type of International Civil Aviation Organization (International Civil Aviation Organization, ICAO) suggestion, processing time unit is: second, other San Ge parameter units are: probability/pilot time; Communication performance mainly depends on traffic handling time; So main Plane location error of considering that the RCP processing time causes in this analog simulation platform;
Table 2 RCP type
Required supervision performance RSP is under specific degree of accuracy and refresh rate condition, obtains the ability of position, speed and the object of aircraft, and its performance requirement can be that refresh rate and reaction time, availability, integrality, continuity are described by accuracy; And the accuracy monitoring is the direct factor that causes aircraft position driftage, so main in this analog simulation platform, consider that the accuracy by RSP is the Plane location error causing in refresh rate, reaction time;
Table 3 RSP type
Described simulation velocity module comprises the function that simulation speed is arranged; Simulation speed is set to 1-10 any integer value doubly, and operating process is by directly inserting numeral, or the setting of sliding-rolling bar realization to simulation speed, clicks " determining ", completes the setting to simulation speed;
Flight parameter module comprises the correlation parameter of separation standard as the aircraft interval of letting pass, the function of the function that horizontal safety spacing arranges with vertical safe spacing, the setting of model selection;
This functional module of flight parameter is the corn module of whole free flight analog simulation platform, due to the capacity limit in spatial domain, first need the correlation parameter of separation standard as the aircraft interval of letting pass, horizontal safety spacing arranges with vertical safe spacing, related data based on existing non-free flight is as the aircraft interval of letting pass, horizontal safety spacing, on vertical safe spacing basis, default value aircraft clearance interval, horizontal safety spacing, vertical safe spacing is respectively 30km, 15km, 300m, certainly user needs to change arbitrarily these values in order self to study when analog simulation,
Need to carry out at computer screen window interface the setting of model selection in addition, if select " arranging voluntarily " pattern, the self-defined flight path that aircraft is set during simulation, comprising the height of aircraft, entrance, outlet and the velocity range in spatial domain, place;
This pattern can meet the needs of user to free flight simulation under particular case, non-selected if " arranging voluntarily " pattern, while simulating, system will adopt random flight path, comprising the height of aircraft, entrance, outlet and the velocity range in spatial domain, place, after completing, above setting clicks at computer screen window interface the setting that " determining " completes flight parameter;
Described data information system consists of statistical information module and generation backstage log pattern;
Statistical information module comprises obtaining the function that related data is added up in the process of analog simulation;
In the process of analog simulation, user ends current time by " statistical information " on click function menu bar with real time inspection, this time the relevant statistics of simulation; These statisticss comprise time that this time simulation has moved, program aircraft, the program aircraft smashing that simulation occurs, take program aircraft and the hypervelocity of taking to change course that rise and fall are dodged to cross the program aircraft of aircraft above;
Generate backstage log pattern and comprise that backstage daily record is divided into two parts, the summary daily record that first produces while being outdoor scene simulation for every two minutes, leave in by the text of sequence numbering, by every two minutes statistics one secondary data, avoid due to the too huge Memory Leaks producing of data, in this daily record, recording content comprises: the initial coordinate of every airplane, which kind of after clashing, takes dodge measure, and the time of process simulation operation, the total hourage of flight of every airplane;
Described authority arranges system and comprises user registration module; User registration module is for registration, authentication of users rights of using;
Described outdoor scene simulation system comprises outdoor scene analog module; Outdoor scene analog module comprises the function of observing the flight situation of every airplane in outdoor scene simulation;
The implementation method of described free flight analog simulation platform, comprises the steps:
Step 1) design flithg rules: in outdoor scene analog module, utilize the speed time of being multiplied by equal to set up aircraft flight process model apart from this core concept:
First utilize the speed time of being multiplied by equal apart from this formula
, wherein:
for distance,
for speed,
for the time, obtain the flying distance of aircraft in free flight spatial domain
;
Next obtains the course of airplane motion
, course cosine value and sine value are multiplied by respectively to the flying distance of aircraft in free flight spatial domain, just obtained aircraft and existed
axle and
the distance moving on direction of principal axis
,
;
In formula
for the flying distance of aircraft,
for aircraft exists at aircraft
the distance moving on axle,
aircraft exists
the distance moving on axle;
Then just obtain horizontal ordinate and the ordinate of the coordinate of aircraft in spatial domain, wherein
,
;
Utilizing class PlaneSatusUpdate is that aircraft real-time status is upgraded, and realizes the renewal in spatial domain internal coordinate to aircraft; For this analog simulation platform, the spatial domain of first given a slice free flight, setting spatial domain scope is 2000km * 2000km * 6km, the length range in spatial domain is 2000km, width range is 2000km, altitude range is 7000m-13000m, flight path is selected after the entrance and exit in this sheet spatial domain, aircraft is taked rectilinear flight, after running into flight collision, implement to dodge measure, if dodge, successfully depart from after conflict, aircraft again path planning is selected from the nearest rectilinear flight path flight of outlet, if dodge the unsuccessful conflict that do not depart from, aircraft smashes;
Flithg rules design is as follows:
Setting spatial domain scope is 2000km * 2000km * 6km, and altitude range is 7000m-13000m, and dividing of spatial domain entrance outlet is laid on each layer; If first to seven layer is respectively 7000m, 8000m, 9000m, 10000m, 11000m, 12000m, 13000m;
1, the selection of entrance A, the B on every one deck left side, C, D flight path;
(1), can select outlet E, F, G, the H on adjacent three layers (the right),
The entrance A of ground floor 7000m
1, B
1, C
1, D
1optional first, second and third layer of 7000m, outlet E, the F of 8000m, 9000m, G, H
I.e. { E
1, F
1, G
1, H
1, E
2, F
2, G
2, H
2, E
3, F
3, G
3, H
3;
The entrance A of second layer 8000m
2, B
2, C
2, D
2optional first, second and third layer of 7000m, outlet E, the F of 8000m, 9000m, G, H
I.e. { E
1, F
1, G
1, H
1, E
2, F
2, G
2, H
2, E
3, F
3, G
3, H
3;
The entrance A of the 3rd layer of 9000m
3, B
3, C
3, D
3optional second and third, four layers of 8000m, 9000m, outlet E, the F of 10000m, G, H
I.e. { E
2, F
2, G
2, H
2, E
3, F
3, G
3, H
3, E
4, F
4, G
4, H
4;
The entrance A of layer 7 13000m
7, B
7, C
7, D
7optional the 5th, six, seven layers of 11000m, 12000m, outlet E, the F of 13000m, G, H
I.e. { E
5, F
5, G
5, H
5, E
6, F
6, G
6, H
6, E
7, F
7, G
7, H
7;
(2), can select outlet H, I, J, K, M, L with (side) of layer,
The entrance A of ground floor 7000m
1, B
1, C
1, D
1the outlet H of optional ground floor
1, I
1, J
1, K
1, L
1, M
1
I.e. { H
1, I
1, J
1, K
1, L
1, M
1;
The entrance A of second layer 8000m
2, B
2, C
2, D
2the outlet H of the optional second layer
2, I
2, J
2, K
2, L
2, M
2
I.e. { H
2, I
2, J
2, K
2, L
2, M
2;
……
The entrance A of layer 7 13000m
7, B
7, C
7, D
7the outlet H of optional layer 7
7, I
7, J
7, K
7, L
7, M
7
I.e. { H
7, I
7, J
7, K
7, L
7, M
7;
2, entrance H, the I of every one deck side, J, K, M, L can only select outlet E, F, G, the H with layer (the right),
The entrance H of ground floor 7000m
1, I
1, J
1, K
1, L
1, M
1optional outlet E
1, F
1, G
1, H
1
I.e. { E
1, F
1, G
1, H
1;
The entrance H of second layer 8000m
2, I
2, J
2, K
2, L
2, M
2optional outlet E
2, F
2, G
2, H
2
I.e. { E
2, F
2, G
2, H
2;
The entrance H of layer 7 13000m
7, I
7, J
7, K
7, L
7, M
7optional outlet E
7, F
7, G
7, H
7
I.e. { E
7, F
7, G
7, H
7;
Step 2) design of conflict avoiding rule
Under free flight, the conflict avoiding Design with Rule of aircraft is as follows:
In outdoor scene analog module, by the equation of motion of aircraft, obtain the course of aircraft, calculate the size of course angle, which kind of situation of meeting judgement belongs to; And obtain aircraft coordinate (
),
,
(
be respectively the horizontal ordinate of two airplanes,
be respectively the ordinate of two airplanes) obtain level interval, the vertical interval of two airplanes
(
be respectively the vertical coordinate of two airplanes), judging respectively more whether these two kinds of spacing meet is less than or equal to horizontal safety spacing and the vertical safe spacing that simulation sets, if met, do not take any measure, if do not met, take different conflict avoiding measures;
Two airplanes intersections are met
Two airplanes (include cross flying in the same way at sustained height cross flying, reverse cross flying, 90 degree cross flyings) time, when distance is less than " horizontal safety spacing ", when another airplane is seen in driving cabin left side, should falling head dodge, when another airplane is seen on driving cabin right side, should dodge by lifting height, until two aircrafts are greater than " vertical safe spacing " at a distance of the distance of vertical direction, again path planning, flies to outlet;
2, two airplanes catch up with and meet
Two airplanes are in sustained height during along same airline operation, when aircraft below and the distance between aircraft are above less than " horizontal safety spacing ", 30 degree of turning right implement to surmount the measure of dodging, when two plane distances are 500 meters, 30 degree of turning left again fly on the course line parallel with original course, until the distance between two machines is while being greater than " horizontal safety spacing ", again path planning, flies to outlet;
3, two airplane differing heights meets
When two airplanes distance is in vertical direction less than " vertical safe spacing ", aircraft falling head in low clearance is dodged, aircraft lifting height in high altitude is dodged, until two aircrafts are while being greater than " vertical safe spacing " at a distance of the distance of vertical direction, again path planning, flies to outlet.
Beneficial effect of the present invention:
It is used that the team that the present invention can be mainly used in research freedom flight aspect carries out Data Collection.For they provide the related data of simulated flight, output simulation daily record, represents in user at the moment emulated data intuitively, is convenient to user and calculates aloft risk of collision, study the factor that affects free flight security, for realizing early free flight, provide technical support.
Accompanying drawing explanation
Fig. 1 spatial domain enter outlet stereographic map
Fig. 2 feasible path figure
Fig. 3 intersects the schematic diagram of cross flying in the same way in meeting;
Fig. 4 intersects the reverse cross flying schematic diagram in meeting;
Fig. 5 intersects 90 degree cross flying schematic diagram in meeting;
Fig. 6 catches up with the schematic diagram that meets;
Fig. 7 operational flow diagram;
Fig. 8 hardware block diagram.
Embodiment
For a more clear understanding of the present invention, describe in conjunction with the accompanying drawings and embodiments the present invention in detail:
As Figure 1-Figure 8:
1) design flithg rules: in outdoor scene analog module, utilize the speed time of being multiplied by equal to set up aircraft flight process model apart from this core concept:
First utilize the speed time of being multiplied by equal apart from this formula
, wherein:
for distance,
for speed,
for the time, obtain the flying distance of aircraft in free flight spatial domain
;
Next obtains the course of airplane motion
, course cosine value and sine value are multiplied by respectively to the flying distance of aircraft in free flight spatial domain, just obtained aircraft and existed
axle and
the distance moving on direction of principal axis
,
;
In formula
for the flying distance of aircraft,
for aircraft exists at aircraft
the distance moving on axle,
aircraft exists
the distance moving on axle;
Then just obtain horizontal ordinate and the ordinate of the coordinate of aircraft in spatial domain, wherein
,
;
Utilizing class PlaneSatusUpdate is that aircraft real-time status is upgraded, and realizes the renewal in spatial domain internal coordinate to aircraft; For this analog simulation platform, the spatial domain of first given a slice free flight, setting spatial domain scope is 2000km * 2000km * 6km, the length range in spatial domain is 2000km, width range is 2000km, altitude range is 7000m-13000m, flight path is selected after the entrance and exit in this sheet spatial domain, aircraft is taked rectilinear flight, after running into flight collision, implement to dodge measure, if dodge, successfully depart from after conflict, aircraft again path planning is selected from the nearest rectilinear flight path flight of outlet, if dodge the unsuccessful conflict that do not depart from, aircraft smashes;
Flithg rules design is as follows:
Setting spatial domain scope is 2000km * 2000km * 6km, and altitude range is 7000m-13000m, and dividing of spatial domain entrance outlet is laid on each layer.If first to seven layer is respectively 7000m, 8000m, 9000m, 10000m, 11000m, 12000m, 13000m.
Table 1 spatial domain go out entry declaration
For this emulation platform, the selection of flight path explanation: subscript 1,2 ... the 7th, difference respective heights 13000m, 12000m ... 7000m.Feasible path figure is as Fig. 2.
Flithg rules design is as follows:
Setting spatial domain scope is 2000km * 2000km * 6km, and altitude range is 7000m-13000m, and dividing of spatial domain entrance outlet is laid on each layer.If first to seven layer is respectively 7000m, 8000m, 9000m, 10000m, 11000m, 12000m, 13000m.
1, the selection of entrance A, the B on every one deck left side, C, D flight path;
(1), can select outlet E, F, G, the H on adjacent three layers (the right),
The entrance A of ground floor 7000m
1, B
1, C
1, D
1optional first, second and third layer of 7000m, outlet E, the F of 8000m, 9000m, G, H
I.e. { E
1, F
1, G
1, H
1, E
2, F
2, G
2, H
2, E
3, F
3, G
3, H
3.
The entrance A of second layer 8000m
2, B
2, C
2, D
2optional first, second and third layer of 7000m, outlet E, the F of 8000m, 9000m, G, H
I.e. { E
1, F
1, G
1, H
1, E
2, F
2, G
2, H
2, E
3, F
3, G
3, H
3.
The entrance A of the 3rd layer of 9000m
3, B
3, C
3, D
3optional second and third, four layers of 8000m, 9000m, outlet E, the F of 10000m, G, H
I.e. { E
2, F
2, G
2, H
2, E
3, F
3, G
3, H
3, E
4, F
4, G
4, H
4.
......
The entrance A of layer 7 13000m
7, B
7, C
7, D
7optional the 5th, six, seven layers of 11000m, 12000m, outlet E, the F of 13000m, G, H
I.e. { E
5, F
5, G
5, H
5, E
6, F
6, G
6, H
6, E
7, F
7, G
7, H
7.
(2), can select outlet H, I, J, K, M, L with (side) of layer,
The entrance A of ground floor 7000m
1, B
1, C
1, D
1the outlet H of optional ground floor
1, I
1, J
1, K
1, L
1, M
1
I.e. { H
1, I
1, J
1, K
1, L
1, M
1.
The entrance A of second layer 8000m
2, B
2, C
2, D
2the outlet H of the optional second layer
2, I
2, J
2, K
2, L
2, M
2
I.e. { H
2, I
2, J
2, K
2, L
2, M
2.
......
The entrance A of layer 7 13000m
7, B
7, C
7, D
7the outlet H of optional layer 7
7, I
7, J
7, K
7, L
7, M
7
I.e. { H
7, I
7, J
7, K
7, L
7, M
7.
2, entrance H, the I of every one deck side, J, K, M, L can only select outlet E, F, G, the H with layer (the right),
The entrance H of ground floor 7000m
1, I
1, J
1, K
1, L
1, M
1optional outlet E
1, F
1, G
1, H
1
I.e. { E
1, F
1, G
1, H
1.
The entrance H of second layer 8000m
2, I
2, J
2, K
2, L
2, M
2optional outlet E
2, F
2, G
2, H
2
I.e. { E
2, F
2, G
2, H
2.
......
The entrance H of layer 7 13000m
7, I
7, J
7, K
7, L
7, M
7optional outlet E
7, F
7, G
7, H
7
I.e. { E
7, F
7, G
7, H
7.
2) design of conflict avoiding rule
Under free flight, the conflict avoiding Design with Rule of aircraft is as follows:
In outdoor scene analog module, by the equation of motion of aircraft, obtain the course of aircraft, calculate the size of course angle, which kind of situation of meeting judgement belongs to; And obtain aircraft coordinate (
),
,
(
be respectively the horizontal ordinate of two airplanes,
be respectively the ordinate of two airplanes) obtain level interval, the vertical interval of two airplanes
(
be respectively the vertical coordinate of two airplanes), judging respectively more whether these two kinds of spacing meet is less than or equal to horizontal safety spacing and the vertical safe spacing that simulation sets, if met, do not take any measure, if do not met, take different conflict avoiding measures;
1, two airplanes intersections are met
Two airplanes (include cross flying in the same way at sustained height cross flying, reverse cross flying, 90 degree cross flyings) time, when distance is less than " horizontal safety spacing ", from driving cabin, hope away the aircraft falling head on the right dodge, the aircraft lifting height on the left side is dodged, until two aircrafts are greater than " vertical safe spacing " at a distance of the distance of vertical direction, again path planning, flies to outlet.
2, two airplanes catch up with and meet
Two airplanes are in sustained height during along same airline operation, when aircraft below and the distance between aircraft are above less than " horizontal safety spacing ", 30 degree of turning right implement to surmount the measure of dodging, when two plane distances are 500 meters, 30 degree of turning left again fly on the course line parallel with original course, until the distance between two machines is while being greater than " horizontal safety spacing ", again path planning, flies to outlet.
3, two airplane differing heights meets
When two airplanes distance is in vertical direction less than " vertical safe spacing ", aircraft falling head in low clearance is dodged, aircraft lifting height in high altitude is dodged, until two aircrafts are while being greater than " vertical safe spacing " at a distance of the distance of vertical direction, again path planning, flies to outlet.
As shown in Fig. 6 hardware block diagram: free flight analog simulation platform, comprise that simulation arranges system, data information system, authority arrange system; Outdoor scene simulation system;
Described simulation arranges system by flight environment of vehicle module, simulation velocity module and flight parameter module composition;
Flight environment of vehicle module comprises communication and navigation supervision performance (Communication Navigation Surveillance, CNS) and the function arranging of aerial collision avoidance system (Traffic Collision Avoidance System, TCAS); Because communication and navigation monitors the impact on flight positioning error, need to be required communication performance (Required Communication Performance by CNS performance, RCP), required navigation performance (Required Navigation Performance, RNP), in required supervision performance (Required Surveillance Performance, RSP), affect the most direct factors quantization in aircraft position.Native system utilizes assessment indicator system CNS performance impact to be set to
=75 kinds of different weighted values.Different weighted values is set different on the positioning error impact of aircraft, by user's Set For Current result, data is carried out to weight analysis, error result is returned to aircraft, aircraft flies according to the current position message that contains error.Utilize reliability evaluation index system that the reliability of TCAS is carried out assessing and obtaining parameter 0.9630 after expert's marking.
Communication and navigation monitors that performance is divided into required communication performance RCP, required navigation performance RNP, required supervision performance RSP, according to (the International Civil Aviation Organization of International Civil Aviation Organization, ICAO) regulation, is described in detail as follows:
Required navigation performance RNP refers on a certain spatial domain or a certain air route, can guarantee that aircraft reaches the accuracy numerical value of expectation navigation performance within 95% time of spatial domain flight.Defined several RNP type at present, accuracy unit is nmile.In performance parameter, accuracy is the direct factor that causes aircraft position driftage, so the Plane location error that main consideration is caused by RNP accuracy in native system.
Table 1 RNP type
Required communication performance RCP describes with performance parameter processing time, continuity, availability and integrality.The RCP type of International Civil Aviation Organization (International Civil Aviation Organization, ICAO) suggestion (processing time unit is second, and other San Ge parameter units are probability/pilot time).Communication performance mainly depends on traffic handling time.So main Plane location error of considering that the RCP processing time causes in this analog simulation platform.
Table 2 RCP type
Required supervision performance RSP is under specific degree of accuracy and refresh rate condition, obtains the ability of position, speed and the object of aircraft, and its performance requirement can be that refresh rate and reaction time, availability, integrality, continuity are described by accuracy.And the accuracy monitoring is the direct factor that causes aircraft position driftage, thus in this analog simulation platform the main Plane location error of considering that the accuracy (refresh rate, reaction time) by RSP causes.
Table 3 RSP type
Simulation velocity module comprises the function that simulation speed is arranged; Simulation speed is set to 1-10 any integer value doubly, and operating process is by directly inserting numeral, or the setting of sliding-rolling bar realization to simulation speed, clicks " determining ", completes the setting to simulation speed.
Flight parameter module comprises the correlation parameter of separation standard as the aircraft interval of letting pass, the function of the function that horizontal safety spacing arranges with vertical safe spacing, the setting of model selection;
This functional module of flight parameter is the corn module of whole free flight analog simulation platform, due to the capacity limit in spatial domain, first need the correlation parameter of separation standard as the aircraft interval of letting pass, horizontal safety spacing arranges with vertical safe spacing, related data based on existing non-free flight is as the aircraft interval of letting pass, horizontal safety spacing, on vertical safe spacing basis, default value aircraft clearance interval, horizontal safety spacing, vertical safe spacing is respectively 30km, 15km, 300m, certainly user needs to change arbitrarily these values in order self to study when analog simulation,
Need in addition to carry out the setting of model selection, if select " arranging voluntarily " pattern, the self-defined flight path that aircraft is set during simulation, comprising the height of aircraft, entrance, outlet and the velocity range in spatial domain, place;
This pattern can meet the needs of user to free flight simulation under particular case, non-selected if " arranging voluntarily " pattern, while simulating, system will adopt random flight path, comprising the height of aircraft, entrance, outlet and the velocity range in spatial domain, place, after above setting completes, the setting that completes flight parameter " is determined " in click;
Described data information system consists of statistical information module and generation backstage log pattern;
Statistical information module comprises obtaining the function that related data is added up in the process of analog simulation;
In the process of analog simulation, user ends current time by " statistical information " on click function menu bar with real time inspection, this time the relevant statistics of simulation; These statisticss comprise time that this time simulation has moved, program aircraft, the program aircraft smashing that simulation occurs, take program aircraft and the hypervelocity of taking to change course that rise and fall are dodged to cross the program aircraft of aircraft above;
Generate backstage log pattern and comprise that backstage daily record is divided into two parts, the summary daily record that first produces while being outdoor scene simulation for every two minutes, leave in by the text of sequence numbering, by every two minutes statistics one secondary data, avoid, due to the too huge Memory Leaks producing of data, in this daily record, recording content and comprising: the initial coordinate of every airplane, after clashing, which kind of takes dodge measure, and the time of process simulation operation, the total hourage of flight of every airplane;
Described authority arranges system and comprises user registration module;
User registration module is for registration, authentication of users rights of using;
In order to guarantee the rights of using of this analog simulation platform, first need to carry out user's registration.Click " help ", occur drop-down menu " registration ", register.User issues copyright owner by machine code, and copyright owner utilizes Register to generate according to this machine code and obtains registration code, the registration code obtaining is beamed back to user, to guarantee this analog simulation platform rights of using.Only have other functions that can use software after user registration success.In addition, Register extracts the label sequence number of computer C dish after calculating and obtains registration code, and therefore every machine only has a fixing registration code, does not reset under the prerequisite of system not changing computer, at fixing computer, registers and once can forever use.After user obtains registration code, be input to the corresponding position of register interface, can succeed in registration, continue to use this platform.
Described outdoor scene simulation system comprises outdoor scene analog module;
Outdoor scene analog module comprises the function of observing the flight situation of every airplane in outdoor scene simulation;
Work as user registration success, will simulate setting, flight environment of vehicle, after the setting of simulation speed completes, clicks the START button in the lower right corner, main interface, starts outdoor scene simulation.This analog simulation platform has added mouse response and keyboard control function when exploitation, therefore, in simulation process, by mouse, or realizes the operation to screen by shortcut.
First can realize and simulating with different view outdoor scenes by mouse drag screen.The advantage that adopts this technology is to simulate from different orientation observation outdoor scenes, thereby more understands the whole process of aircraft flight, and aircraft is how to take the measure of dodging.On next keyboard, PgUp can realize the amplification of screen, PgDn can realize dwindling of screen, clear for outdoor scene simulation, outside when starting to simulate, the demonstration of exit and entry mark is hidden, if but user needs more cheer and bright observation flight simulation, can realize by F5 the demonstration of outside exit and entry mark, when user is through amplifying, or dwindle, after the sequence of operations such as Rotation screen, can realize restoring operation by space bar, make screen be reduced to the pattern at primary simulation interface.On keyboard, a realizes screen and moves down, and á realizes screen and moves up, and à realizes screen and moves right, and realizes screen and is moved to the left.
Wherein the relevant flight parameter of every airplane has aircraft number, flying height, flying speed, these prompt operations can make user better observe the flight situation of every airplane in outdoor scene simulation, for example, when two airplanes run into after flight collision, the alarm of aircraft lights, and which kind of aircraft taked dodge the sights such as measure can both to simulate out.Along with the variation of the maneuver of aircraft, relevant flight parameter is also in real-time changing, and on the interface that is presented at outdoor scene simulation that can be real-time.
According to the above description, in conjunction with art technology, can realize the solution of the present invention.
Claims (1)
1. free flight analog simulation platform, is characterized in that, comprises that simulation arranges system, and data information system, authority arrange system; Outdoor scene simulation system;
Described simulation arranges system by flight environment of vehicle module, simulation velocity module and flight parameter module composition;
Flight environment of vehicle module comprises communication and navigation supervision performance (Communication Navigation Surveillance, CNS) and the function arranging of aerial collision avoidance system (Traffic Collision Avoidance System, TCAS); Because communication and navigation monitors the impact on flight positioning error, need to be required communication performance (Required Communication Performance by CNS performance, RCP), required navigation performance (Required Navigation Performance, RNP), in required supervision performance (Required Surveillance Performance, RSP), affect the most direct factors quantization in aircraft position; Native system utilizes assessment indicator system CNS performance impact to be set to
=75 kinds of different weighted values, different weighted values is set different on the positioning error impact of aircraft, by user's Set For Current result, data is carried out to weight analysis, error result is returned to aircraft, and aircraft flies according to the current position message that contains error; Utilize reliability evaluation index system that the reliability of TCAS is carried out assessing and obtaining parameter 0.9630 after expert's marking;
Communication and navigation monitors that performance is divided into required communication performance RCP, required navigation performance RNP, required supervision performance RSP, according to (the International Civil Aviation Organization of International Civil Aviation Organization, ICAO) regulation, is described in detail as follows:
Required navigation performance RNP refers on a certain spatial domain or a certain air route, can guarantee that aircraft reaches the accuracy numerical value of expectation navigation performance within 95% time of spatial domain flight; Defined several RNP type at present, accuracy unit is nmile; In performance parameter, accuracy is the direct factor that causes aircraft position driftage, so the Plane location error that main consideration is caused by RNP accuracy in native system;
Table 1 RNP type
Required communication performance RCP describes with performance parameter processing time, continuity, availability and integrality; The RCP type of International Civil Aviation Organization (International Civil Aviation Organization, ICAO) suggestion, processing time unit is: second, other San Ge parameter units are: probability/pilot time; Communication performance mainly depends on traffic handling time; So main Plane location error of considering that the RCP processing time causes in this analog simulation platform;
Table 2 RCP type
Required supervision performance RSP is under specific degree of accuracy and refresh rate condition, obtains the ability of position, speed and the object of aircraft, and its performance requirement can be that refresh rate and reaction time, availability, integrality, continuity are described by accuracy; And the accuracy monitoring is the direct factor that causes aircraft position driftage, so main in this analog simulation platform, consider that the accuracy by RSP is the Plane location error causing in refresh rate, reaction time;
Table 3 RSP type
Described simulation velocity module comprises the function that simulation speed is arranged; Simulation speed is set to 1-10 any integer value doubly, and operating process is by directly inserting numeral, or the setting of sliding-rolling bar realization to simulation speed, clicks " determining ", completes the setting to simulation speed;
Flight parameter module comprises the correlation parameter of separation standard as the aircraft interval of letting pass, the function of the function that horizontal safety spacing arranges with vertical safe spacing, the setting of model selection;
This functional module of flight parameter is the corn module of whole free flight analog simulation platform, due to the capacity limit in spatial domain, first need the correlation parameter of separation standard as the aircraft interval of letting pass, horizontal safety spacing arranges with vertical safe spacing, related data based on existing non-free flight is as the aircraft interval of letting pass, horizontal safety spacing, on vertical safe spacing basis, default value aircraft clearance interval, horizontal safety spacing, vertical safe spacing is respectively 30km, 15km, 300m, certainly user needs to change arbitrarily these values in order self to study when analog simulation,
Need to carry out at computer screen window interface the setting of model selection in addition, if select " arranging voluntarily " pattern, the self-defined flight path that aircraft is set during simulation, comprising the height of aircraft, entrance, outlet and the velocity range in spatial domain, place;
This pattern can meet the needs of user to free flight simulation under particular case, non-selected if " arranging voluntarily " pattern, while simulating, system will adopt random flight path, comprising the height of aircraft, entrance, outlet and the velocity range in spatial domain, place, after completing, above setting clicks at computer screen window interface the setting that " determining " completes flight parameter;
Described data information system consists of statistical information module and generation backstage log pattern;
Statistical information module comprises obtaining the function that related data is added up in the process of analog simulation;
In the process of analog simulation, user ends current time by " statistical information " on click function menu bar with real time inspection, this time the relevant statistics of simulation; These statisticss comprise time that this time simulation has moved, program aircraft, the program aircraft smashing that simulation occurs, take program aircraft and the hypervelocity of taking to change course that rise and fall are dodged to cross the program aircraft of aircraft above;
Generate backstage log pattern and comprise that backstage daily record is divided into two parts, the summary daily record that first produces while being outdoor scene simulation for every two minutes, leave in by the text of sequence numbering, by every two minutes statistics one secondary data, avoid due to the too huge Memory Leaks producing of data, in this daily record, recording content comprises: the initial coordinate of every airplane, which kind of after clashing, takes dodge measure, and the time of process simulation operation, the total hourage of flight of every airplane;
Described authority arranges system and comprises user registration module; User registration module is for registration, authentication of users rights of using;
Described outdoor scene simulation system comprises outdoor scene analog module; Outdoor scene analog module comprises the function of observing the flight situation of every airplane in outdoor scene simulation;
The implementation method of described free flight analog simulation platform, comprises the steps:
Step 1) design flithg rules: in outdoor scene analog module, utilize the speed time of being multiplied by equal to set up aircraft flight process model apart from this core concept:
First utilize the speed time of being multiplied by equal apart from this formula
, wherein:
for distance,
for speed,
for the time, obtain the flying distance of aircraft in free flight spatial domain
;
Next obtains the course of airplane motion
, course cosine value and sine value are multiplied by respectively to the flying distance of aircraft in free flight spatial domain, just obtained aircraft and existed
axle and
the distance moving on direction of principal axis
,
;
In formula
for the flying distance of aircraft,
for aircraft exists at aircraft
the distance moving on axle,
aircraft exists
the distance moving on axle;
Then just obtain horizontal ordinate and the ordinate of the coordinate of aircraft in spatial domain, wherein
,
;
Utilizing class PlaneSatusUpdate is that aircraft real-time status is upgraded, and realizes the renewal in spatial domain internal coordinate to aircraft; For this analog simulation platform, the spatial domain of first given a slice free flight, setting spatial domain scope is 2000km * 2000km * 6km, the length range in spatial domain is 2000km, width range is 2000km, altitude range is 7000m-13000m, flight path is selected after the entrance and exit in this sheet spatial domain, aircraft is taked rectilinear flight, after running into flight collision, implement to dodge measure, if dodge, successfully depart from after conflict, aircraft again path planning is selected from the nearest rectilinear flight path flight of outlet, if dodge the unsuccessful conflict that do not depart from, aircraft smashes;
Flithg rules design is as follows:
Setting spatial domain scope is 2000km * 2000km * 6km, and altitude range is 7000m-13000m, and dividing of spatial domain entrance outlet is laid on each layer; If first to seven layer is respectively 7000m, 8000m, 9000m, 10000m, 11000m, 12000m, 13000m;
1, the selection of entrance A, the B on every one deck left side, C, D flight path;
(1), can select outlet E, F, G, the H on adjacent three layers (the right),
The entrance A of ground floor 7000m
1, B
1, C
1, D
1optional first, second and third layer of 7000m, outlet E, the F of 8000m, 9000m, G, H
I.e. { E
1, F
1, G
1, H
1, E
2, F
2, G
2, H
2, E
3, F
3, G
3, H
3;
The entrance A of second layer 8000m
2, B
2, C
2, D
2optional first, second and third layer of 7000m, outlet E, the F of 8000m, 9000m, G, H
I.e. { E
1, F
1, G
1, H
1, E
2, F
2, G
2, H
2, E
3, F
3, G
3, H
3;
The entrance A of the 3rd layer of 9000m
3, B
3, C
3, D
3optional second and third, four layers of 8000m, 9000m, outlet E, the F of 10000m, G, H
I.e. { E
2, F
2, G
2, H
2, E
3, F
3, G
3, H
3, E
4, F
4, G
4, H
4;
......
The entrance A of layer 7 13000m
7, B
7, C
7, D
7optional the 5th, six, seven layers of 11000m, 12000m, outlet E, the F of 13000m, G, H
I.e. { E
5, F
5, G
5, H
5, E
6, F
6, G
6, H
6, E
7, F
7, G
7, H
7;
(2), can select outlet H, I, J, K, M, L with (side) of layer,
The entrance A of ground floor 7000m
1, B
1, C
1, D
1the outlet H of optional ground floor
1, I
1, J
1, K
1, L
1, M
1
I.e. { H
1, I
1, J
1, K
1, L
1, M
1;
The entrance A of second layer 8000m
2, B
2, C
2, D
2the outlet H of the optional second layer
2, I
2, J
2, K
2, L
2, M
2
I.e. { H
2, I
2, J
2, K
2, L
2, M
2;
……
The entrance A of layer 7 13000m
7, B
7, C
7, D
7the outlet H of optional layer 7
7, I
7, J
7, K
7, L
7, M
7
I.e. { H
7, I
7, J
7, K
7, L
7, M
7;
2, entrance H, the I of every one deck side, J, K, M, L can only select outlet E, F, G, the H with layer (the right),
The entrance H of ground floor 7000m
1, I
1, J
1, K
1, L
1, M
1optional outlet E
1, F
1, G
1, H
1
I.e. { E
1, F
1, G
1, H
1;
The entrance H of second layer 8000m
2, I
2, J
2, K
2, L
2, M
2optional outlet E
2, F
2, G
2, H
2
I.e. { E
2, F
2, G
2, H
2;
......
The entrance H of layer 7 13000m
7, I
7, J
7, K
7, L
7, M
7optional outlet E
7, F
7, G
7, H
7
I.e. { E
7, F
7, G
7, H
7;
Step 2) design of conflict avoiding rule
Under free flight, the conflict avoiding Design with Rule of aircraft is as follows:
In outdoor scene analog module, by the equation of motion of aircraft, obtain the course of aircraft, calculate the size of course angle, which kind of situation of meeting judgement belongs to; And obtain aircraft coordinate (
),
,
(
be respectively the horizontal ordinate of two airplanes,
be respectively the ordinate of two airplanes) obtain level interval, the vertical interval of two airplanes
(
be respectively the vertical coordinate of two airplanes), judging respectively more whether these two kinds of spacing meet is less than or equal to horizontal safety spacing and the vertical safe spacing that simulation sets, if met, do not take any measure, if do not met, take different conflict avoiding measures;
Two airplanes intersections are met
Two airplanes (include cross flying in the same way at sustained height cross flying, reverse cross flying, 90 degree cross flyings) time, when distance is less than " horizontal safety spacing ", when another airplane is seen in driving cabin left side, should falling head dodge, when another airplane is seen on driving cabin right side, should dodge by lifting height, until two aircrafts are greater than " vertical safe spacing " at a distance of the distance of vertical direction, again path planning, flies to outlet;
2, two airplanes catch up with and meet
Two airplanes are in sustained height during along same airline operation, when aircraft below and the distance between aircraft are above less than " horizontal safety spacing ", 30 degree of turning right implement to surmount the measure of dodging, when two plane distances are 500 meters, 30 degree of turning left again fly on the course line parallel with original course, until the distance between two machines is while being greater than " horizontal safety spacing ", again path planning, flies to outlet;
3, two airplane differing heights meets
When two airplanes distance is in vertical direction less than " vertical safe spacing ", aircraft falling head in low clearance is dodged, aircraft lifting height in high altitude is dodged, until two aircrafts are while being greater than " vertical safe spacing " at a distance of the distance of vertical direction, again path planning, flies to outlet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410280719.5A CN104020681B (en) | 2014-06-23 | 2014-06-23 | Free flight analog simulation platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410280719.5A CN104020681B (en) | 2014-06-23 | 2014-06-23 | Free flight analog simulation platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104020681A true CN104020681A (en) | 2014-09-03 |
| CN104020681B CN104020681B (en) | 2016-11-16 |
Family
ID=51437497
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410280719.5A Expired - Fee Related CN104020681B (en) | 2014-06-23 | 2014-06-23 | Free flight analog simulation platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104020681B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016070349A1 (en) * | 2014-11-05 | 2016-05-12 | Honeywell International Inc. | Air traffic system using procedural trajectory prediction |
| CN107368084A (en) * | 2016-05-11 | 2017-11-21 | 松下电器（美国）知识产权公司 | Flight control method and unmanned vehicle |
| US9898934B2 (en) | 2016-07-25 | 2018-02-20 | Honeywell International Inc. | Prediction of vehicle maneuvers |
| CN117688869A (en) * | 2023-12-18 | 2024-03-12 | 是石科技(江苏)有限公司 | Flight vehicle bad weather flight risk simulation system based on aerohydrodynamic |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030014165A1 (en) * | 1999-12-21 | 2003-01-16 | Baker Brian C | Spatial avoidance method and apparatus |
| FR2951278A1 (en) * | 2009-10-12 | 2011-04-15 | Thales Sa | RADAR WITH HIGH ANGULAR PRECISION, IN PARTICULAR FOR THE DETECTION AND OBSTACLE REMOVAL FUNCTION |
| CN102637038A (en) * | 2011-02-08 | 2012-08-15 | 伊德斯德国股份有限公司 | Unmanned aircraft with installed collision warning system |
| CN102867073A (en) * | 2011-07-08 | 2013-01-09 | 中国民航科学技术研究院 | Flight program design system for performance-based navigation, verification platform and verification method |
| CN203551961U (en) * | 2013-09-24 | 2014-04-16 | 中国兵器工业计算机应用技术研究所 | Avionics hardware-in-the-loop simulation system for unmanned plane |
-
2014
- 2014-06-23 CN CN201410280719.5A patent/CN104020681B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030014165A1 (en) * | 1999-12-21 | 2003-01-16 | Baker Brian C | Spatial avoidance method and apparatus |
| FR2951278A1 (en) * | 2009-10-12 | 2011-04-15 | Thales Sa | RADAR WITH HIGH ANGULAR PRECISION, IN PARTICULAR FOR THE DETECTION AND OBSTACLE REMOVAL FUNCTION |
| CN102637038A (en) * | 2011-02-08 | 2012-08-15 | 伊德斯德国股份有限公司 | Unmanned aircraft with installed collision warning system |
| CN102867073A (en) * | 2011-07-08 | 2013-01-09 | 中国民航科学技术研究院 | Flight program design system for performance-based navigation, verification platform and verification method |
| CN203551961U (en) * | 2013-09-24 | 2014-04-16 | 中国兵器工业计算机应用技术研究所 | Avionics hardware-in-the-loop simulation system for unmanned plane |
Non-Patent Citations (3)
| Title |
|---|
| 曲东才等: "飞机均衡式自动驾驶仪控制规律设计及仿真", 《海军航空工程学院学报》 * |
| 王锐等: "基于分散式RHC算法的无人机编队碰撞避免研究", 《航空计算技术》 * |
| 金飞虎等: "基于蚁群算法的自由飞行空间机器人路径规划", 《机器人》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016070349A1 (en) * | 2014-11-05 | 2016-05-12 | Honeywell International Inc. | Air traffic system using procedural trajectory prediction |
| CN107004369A (en) * | 2014-11-05 | 2017-08-01 | 霍尼韦尔国际公司 | Use the Air Traffic System of program trajectory predictions |
| US10347142B2 (en) | 2014-11-05 | 2019-07-09 | Honeywell International Inc. | Air traffic system using procedural trajectory prediction |
| CN107368084A (en) * | 2016-05-11 | 2017-11-21 | 松下电器（美国）知识产权公司 | Flight control method and unmanned vehicle |
| US9898934B2 (en) | 2016-07-25 | 2018-02-20 | Honeywell International Inc. | Prediction of vehicle maneuvers |
| CN117688869A (en) * | 2023-12-18 | 2024-03-12 | 是石科技(江苏)有限公司 | Flight vehicle bad weather flight risk simulation system based on aerohydrodynamic |
| CN117688869B (en) * | 2023-12-18 | 2024-06-07 | 是石科技(江苏)有限公司 | Flight vehicle bad weather flight risk simulation system based on aerohydrodynamic |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104020681B (en) | 2016-11-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202221566U (en) | Flight programming system and verification platform of performance-based navigation | |
| US10154096B2 (en) | Method for integrating a new service into an avionics onboard system with open architecture of client-server type, in particular for an FIM manoeuvre service | |
| CN107014383A (en) | The display of meteorological data in aircraft | |
| CN102867073A (en) | Flight program design system for performance-based navigation, verification platform and verification method | |
| CN111177851A (en) | Method for evaluating ground risks in unmanned aerial vehicle operation safety risk evaluation | |
| CN103287581A (en) | System and method for rendering an aircraft cockpit display for use with an in-trail procedure (ITP) | |
| CN105518763B (en) | Aircraft navigation information generation device and aircraft navigation information generating method | |
| CN104020681B (en) | Free flight analog simulation platform | |
| US10147327B2 (en) | Method for integrating a constrained route(s) optimization application into an avionics onboard system with open architecture of client server type | |
| US8774984B2 (en) | Valuation and simulation of required navigation performance | |
| Kochenderfer et al. | A comprehensive aircraft encounter model of the national airspace system | |
| Trucco et al. | Topological risk mapping of runway overruns: A probabilistic approach | |
| CN110196601A (en) | Unmanned aerial vehicle (UAV) control method, apparatus, system and computer readable storage medium | |
| US11644524B2 (en) | Ultra-wideband localization method, device, and system | |
| Tan et al. | Simulation of multi-rotor powered urban aerial mobility noise for environmental assessment | |
| CN107293186A (en) | A kind of inertial navigation real-time emulation system of training simulators | |
| Moud et al. | Qualitative and quantitative risk analysis of unmanned aerial vehicle flights on construction job sites: A case study | |
| Payan et al. | Improvement of rotorcraft safety metrics using performance models and data integration | |
| Donkels | Trajectory risk evaluation for autonomous low-flying air transport | |
| CN113570910B (en) | Air traffic flow management method and device and electronic equipment | |
| CN112231389B (en) | Track-based visual conflict model construction method and device, electronic equipment and storage medium | |
| Gore et al. | A methodical approach for developing valid human performance models of flight deck operations | |
| AbdElHamid et al. | A novel software simulator model based on active hybrid architecture | |
| US11175679B2 (en) | Drone elastic map | |
| Giulietti et al. | Visual aids for safe operation of remotely piloted vehicles in the controlled air space |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161116 Termination date: 20200623 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |