CN104020681B - Free flight analog simulation platform - Google Patents
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- CN104020681B CN104020681B CN201410280719.5A CN201410280719A CN104020681B CN 104020681 B CN104020681 B CN 104020681B CN 201410280719 A CN201410280719 A CN 201410280719A CN 104020681 B CN104020681 B CN 104020681B
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Abstract
The present invention relates to free flight analog simulation platform, system, data information system, priority assignation system are set including simulation；Outdoor scene analog systems；Its implementation includes 1) design flithg rules: in outdoor scene analog module, utilize speed to be multiplied by the time and set up aircraft flight model equal to apart from this core concept: 2) design of conflict avoiding rule, in outdoor scene analog module, the course of aircraft is obtained by the equation of motion of aircraft, calculate the size of course angle, it is judged which kind of belongs to and meets situation take corresponding measures to keep clear；Present invention is mainly applied to the team in terms of research freedom flight and carry out used by data collection, the related data of simulation free flight is provided for them, output simulation daily record, emulation data are made to represent intuitively in user at the moment, it is easy to the risk of collision that user calculates in free flight, study the factor affecting free flight safety, provide technical support for realizing free flight.
Description
Technical field
The present invention relates to the field of civil aviaton's air traffic control, particularly to a kind of free flight analog simulation platform, main
Team in terms of research freedom flight to be applied to is carried out used by data collection.The related data of simulated flight is provided for them,
Output simulation daily record, makes emulation data represent intuitively in user at the moment, it is simple to user calculates aloft risk of collision, grinds
Study carefully the factor affecting free flight safety, provide technical support for realizing free flight early.
Background technology
At present, the team in terms of research freedom flight carries out data collection employing reference with reference to phase under current non-free flight
The method closing real data, there is no the related data of any simulated flight as reference, in prediction risk of collision, free flight peace
Full property aspect or blank, therefore a kind of free flight analog simulation platform of design, it is provided that the related data of simulated flight, defeated
Go out to simulate daily record, make emulation data represent intuitively in user at the moment, it is simple to user calculates aloft risk of collision, studies
Affect the factor of free flight safety, but the whole world does not has any entity or individual to develop for free flight at present
The ASS of row.
Summary of the invention
The purpose of the present invention is exactly for overcoming the deficiencies in the prior art, it is provided that a kind of free flight analog simulation platform, carries
For the related data of simulated flight, output simulation daily record, emulation data are made to represent intuitively in user at the moment, it is simple to user calculates
Aloft risk of collision, studies the factor affecting free flight safety,
Flithg rules under the purpose of the present invention (1), design free flight and conflict avoiding rule.Purpose (2), obtain
Add up the time that whole program is run, the aircraft departure separation that simulation is arranged every time, horizontal safety spacing, vertical safety spacing
Data, and the total hourage of flight of all aircrafts, program aircraft, the program aircraft smashed, and take which kind of conflict avoiding
Program aircraft, calculate aloft risk of collision under free flight by studying these data, study impact freely
The factor of flight safety.
The present invention is realized by such technical scheme: free flight analog simulation platform, it is characterised in that include
Simulation arranges system, data information system, priority assignation system；Outdoor scene analog systems；
Described simulation arranges system by flight environment of vehicle module, simulation velocity module and flight parameter module composition；
Flight environment of vehicle module includes communication and navigation is monitored performance (Communication Navigation
Surveillance, CNS) and aerial CAS (Traffic Collision Avoidance System, TCAS)
The function being configured；Owing to communication and navigation monitors the impact on flight position error, need the most required for CNS performance communicativeness
Can (Required Communication Performance, RCP), required navigation performance (Required Navigation
Performance, RNP), impact in required supervision performance (Required Surveillance Performance, RSP)
The most direct factors quantization in aircraft position；CNS performance impact is set to by native system Utilization assessment index system
=75 kinds of different weighted values, arranging different weighted values affects difference to the position error of aircraft, ties by user's current setting
Really, data are carried out weight analysis, error result are returned to aircraft, then aircraft according to the current position containing error report into
Row flight；Reliability evaluation index system is utilized to be estimated obtaining parameter after the reliability of TCAS is carried out expert estimation
0.9630；
Communication and navigation monitors that performance is divided into required communication performance RCP, required navigation performance RNP, required supervision performance RSP,
According to the regulation of International Civil Aviation Organization (International Civil Aviation Organization, ICAO), in detail
It is described as follows:
Required navigation performance RNP refers on a certain spatial domain or a certain bar air route, it is possible to ensure what aircraft flew in spatial domain
Reach to expect the accuracy numerical value of navigation performance in 95% time；The most defined several RNP types at present, accuracy unit is
nmile；In performance parameter, accuracy is the direct factor causing aircraft position to be gone off course, thus in the present system main consider by
The Plane location error that RNP accuracy causes；
Table 1 RNP type
Required communication performance RCP processes time, seriality, availability and integrity with performance parameter and describes；State
The RCP type that border civil aviation organization (International Civil Aviation Organization, ICAO) advises, processes
Unit of time is: the second, and other three Parameter units are: probability/pilot time；When communication performance depends on communication process
Between；So the Plane location error that the main consideration RCP process time causes in this analog simulation platform；
Table 2 RCP type
Required monitor that performance RSP is under the conditions of specific degree of accuracy and refresh rate, obtain the position of airborne vehicle, speed and
The ability of purpose, its performance requirement can come by accuracy i.e. refresh rate and response time, availability, integrity, seriality
Describe；And the accuracy monitored is the direct factor causing aircraft position to be gone off course, so mainly examining in this analog simulation platform
Consider the Plane location error caused by the accuracy i.e. refresh rate of RSP, response time；
Table 3 RSP type
Described simulation velocity module includes the function being configured simulation speed；Simulation speed be set to 1-10 times times
Meaning integer value, operating process is by directly inserting numeral, or sliding-rolling bar realizes the setting to simulation speed, clicks on " really
Fixed ", complete the setting to simulation speed；
Flight parameter module includes the such as aircraft departure separation of the relevant parameter to separation standard, and horizontal safety spacing is with vertical
Function that safe spacing is configured, the function of the setting of model selection；
This functional module of flight parameter is the corn module of whole free flight analog simulation platform, due to spatial domain
Interior capacity limit, it is necessary first to the relevant parameter such as aircraft departure separation to separation standard, horizontal safety spacing and vertical peace
Full spacing is configured, and related data based on existing non-free flight such as aircraft departure separation, horizontal safety spacing, vertically pacifies
On the basis of full spacing, default value aircraft departure separation, horizontal safety spacing, vertical safety spacing are respectively 30km, 15km,
300m, certain user can arbitrarily change these values when analog simulation for self research needs；
Additionally need the setting carrying out model selection at computer screen window interface, if selecting " arranging voluntarily " mould
Formula, the most self-defined flight path that aircraft is set during simulation, including the height of aircraft, the entrance in spatial domain, place, outlet and
Velocity interval；
This pattern can meet the needs that free flight under particular case is simulated by user, if non-selected " arranging voluntarily " mould
Formula, then during simulation, system will use random flight path, including the height of aircraft, the entrance in spatial domain, place, outlet and
Velocity interval, arrangement above is clicked on " determination " at computer screen window interface after completing and is completed the setting of flight parameter；
Described data information system is made up of statistical information module and generation backstage log pattern；
Statistical information module includes obtaining the function that related data is added up during analog simulation；
During analog simulation, user is ended with real time inspection by " statistical information " on click function menu bar
Current time, this time relevant statistics of simulation；These statistical datas include this time simulating run time, simulate
Existing program aircraft, the program aircraft smashed, take program aircraft that rise and fall carry out dodging and take hypervelocity of changing course
Cross the program aircraft of above aircraft；
Generate backstage log pattern and include that backstage daily record is produced when being divided into two parts, Part I to be outdoor scene simulations for every two minutes
A raw summary daily record, leaves in the text of sequentially column number, is avoided due to number by every two minutes statistics one secondary data
According to the hugest and that produce Memory Leaks, in this daily record, recorded content includes: the initial coordinate of every airplane, rushes
Which kind of measures to keep clear, and the time of program dry run is taked, the total hourage of flight of every airplane after Tu；
Described priority assignation system includes user registration module；User registration module is used for registering, verifying user's right to use
Limit；
Described outdoor scene analog systems includes outdoor scene analog module；Outdoor scene analog module includes observing every frame in outdoor scene simulation and flies
The function of the flight progress of machine；
The implementation method of described free flight analog simulation platform, comprises the steps:
Step 1) design flithg rules: in outdoor scene analog module, utilize speed to be multiplied by the time equal to apart from this core
Thought sets up aircraft flight model:
It is multiplied by the time equal to apart from this formula first with speed, wherein:For distance,For speed,For time
Between, obtain aircraft flying distance in free flight spatial domain；
Next obtains the course of airplane motion, course cosine value and sine value are multiplied by aircraft respectively in free flight line space
Flying distance in territory, has just obtained aircraft and has existedAxle andThe distance of movement on direction of principal axis,；
In formulaFor the flying distance of aircraft,Exist at aircraft for aircraftThe distance of movement on axle,Aircraft existsOn axle
The distance of movement；
The most just obtain abscissa and the vertical coordinate of aircraft coordinate in spatial domain, wherein,；
The i.e. aircraft real-time status of class PlaneSatusUpdate is utilized to update, it is achieved to aircraft in spatial domain internal coordinate more
Newly；For this analog simulation platform, first giving the spatial domain of a piece of free flight, setting spatial domain scope is 2000km × 2000km
× 6km, the length range in spatial domain is 2000km, and width range is 2000km, and altitude range is 7000m 13000m, flight road
After the entrance and exit in this sheet spatial domain is i.e. selected in footpath, rectilinear flight taked by aircraft, implements measures to keep clear after running into flight collision,
If dodging after successfully departing from conflict, aircraft path planning again selects to separate out the rectilinear flight path flight that mouth is nearest, if dodging
Unsuccessful without departing from conflict, then aircraft smashes；
Flithg rules design is as follows:
Setting spatial domain scope is 2000km × 2000km × 6km, and altitude range is 7000m 13000m, and spatial domain entrance goes out
The distribution of mouth sets on each layer；If the first to seven layers be respectively 7000m, 8000m, 9000m, 10000m, 11000m,
12000m、13000m；
1, the selection of entrance A, B, C, D flight path on each layer of left side；
(1), outlet E, F, G, the H on optional adjacent three layers (the right), i.e.
The entrance A of ground floor 7000m1, B1, C1, D1The outlet of optional first, second and third layer of 7000m, 8000m, 9000m
E、F、G、H
I.e. { E1, F1, G1, H1 , E2, F2, G2, H2, E3, F3, G3, H3}；
The entrance A of second layer 8000m2, B2 , C2, D2The outlet of optional first, second and third layer of 7000m, 8000m, 9000m
E、F、G、H
I.e. { E1, F1, G1, H1, E2, F2, G2, H2, E3, F3, G3, H3}；
The entrance A of third layer 9000m3, B3 , C3, D3Optional second and third, the outlet of four layers of 8000m, 9000m, 10000m
E、F、G、H
I.e. { E2, F2, G2, H2, E3, F3, G3, H3, E4, F4, G4, H4}；
The entrance A of layer 7 13000m7, B7 , C7, D7Optional five, the six, seven layers of 11000m, 12000m, 13000m's
Outlet E, F, G, H
I.e. { E5, F5, G5, H5, E6, F6, G6, H6, E7, F7, G7, H7}；
(2), outlet H, I, J, K, M, the L of optional (side) with layer, i.e.
The entrance A of ground floor 7000m1, B1, C1, D1The outlet H of optional ground floor1, I1, J1, K1, L1, M1
I.e. { H1, I1, J1, K1, L1, M1}；
The entrance A of second layer 8000m2, B2 , C2, D2The outlet H of the optional second layer2, I2, J2, K2, L2, M2
I.e. { H2, I2, J2, K2, L2, M2}；
……
The entrance A of layer 7 13000m7, B7 , C7, D7The outlet H of optional layer 77, I7, J7, K7, L7, M7
I.e. { H7, I7, J7, K7, L7, M7}；
2, entrance H, I, J, K, M, L of each layer of side can only select outlet E, F, G, H of same layer (the right), i.e.
The entrance H of ground floor 7000m1, I1, J1, K1, L1, M1Optional outlet E1, F1, G1, H1
I.e. { E1, F1, G1, H1}；
The entrance H of second layer 8000m2, I2, J2, K2, L2, M2Optional outlet E2, F2, G2, H2
I.e. { E2, F2, G2, H2}；
The entrance H of layer 7 13000m7, I7, J7, K7, L7, M7Optional outlet E7, F7, G7, H7
I.e. { E7, F7, G7, H7}；
Step 2) conflict avoiding rule design
Under free flight, the conflict avoiding rule design of aircraft is as follows:
In outdoor scene analog module, obtained the course of aircraft by the equation of motion of aircraft, calculate the size of course angle,
Judge which kind of belongs to meets situation；And obtain aircraft coordinate (),,(It is respectively two airplanes
Abscissa,It is respectively the vertical coordinate of two airplanes) obtain the level interval of two airplanes, vertical interval(It is respectively the vertical coordinate of two airplanes), then judge whether both spacing meet less than or equal to simulation institute respectively
The horizontal safety spacing set and vertical safety spacing, if meeting, not taking any measure, if be unsatisfactory for, taking not
Same conflict avoiding measure；
Two airplanes intersections are met
At sustained height cross flying, (including cross flying in the same direction, reverse cross flying, 90 degree of intersections fly two airplanes
Time OK), when distance is less than " horizontal safety spacing ", should falling head carry out when seeing another airplane on the left of driving cabin
Dodge, should dodge by lifting height when seeing another airplane on the right side of driving cabin, until two aircrafts are at a distance of Vertical Square
To distance more than " vertical safety spacing ", path planning again, fly to outlet；
2, two airplane pursuits are met
Two airplanes in sustained height along same airline operation time, between aircraft below and aircraft above away from
From during less than " horizontal safety spacing ", 30 degree of enforcements of turning right surmount measures to keep clear, when two plane distances are 500 meters, then
Turn left 30 degree, the course line parallel with original course flies, during until the distance between two machines is more than " horizontal safety spacing ", weight
New planning path, flies to outlet；
3, the meeting of two airplane differing heights
When two airplanes distance in vertical direction is less than " vertical safety spacing ", the aircraft being in low clearance declines
Highly dodging, the aircraft lifting height being in high altitude is dodged, until the distance of two aircraft vertical direction apart
During more than " vertical safety spacing ", path planning again, flies to outlet.
Beneficial effects of the present invention:
The present invention can be mainly used in the team in terms of research freedom flight and carry out used by data collection.Mould is provided for them
Intend the related data of flight, output simulation daily record, make emulation data represent intuitively in user at the moment, it is simple to user calculates flight
In risk of collision, study the factor affecting free flight safety, for realize early free flight provide technical support.
Accompanying drawing explanation
Fig. 1 spatial domain enter outlet axonometric chart
The optional pathway figure of Fig. 2
Fig. 3 intersect meet in cross flying schematic diagram in the same direction；
Fig. 4 intersect meet in reverse cross flying schematic diagram；
Fig. 5 intersect meet in 90 degree of cross flying schematic diagrams；
Fig. 6 pursues the schematic diagram that meets；
Fig. 7 operational flow diagram；
Fig. 8 hardware block diagram.
Detailed description of the invention
Understand the present invention in order to clearer, describe the present invention in conjunction with the accompanying drawings and embodiments in detail:
As Figure 1-Figure 8:
1) design flithg rules: in outdoor scene analog module, utilize speed to be multiplied by the time equal to apart from this core concept
Set up aircraft flight model:
It is multiplied by the time equal to apart from this formula first with speed, wherein:For distance,For speed,For time
Between, obtain aircraft flying distance in free flight spatial domain；
Next obtains the course of airplane motion, course cosine value and sine value are multiplied by aircraft respectively in free flight line space
Flying distance in territory, has just obtained aircraft and has existedAxle andThe distance of movement on direction of principal axis,；
In formulaFor the flying distance of aircraft,Exist at aircraft for aircraftThe distance of movement on axle,Aircraft existsOn axle
The distance of movement；
The most just obtain abscissa and the vertical coordinate of aircraft coordinate in spatial domain, wherein,；
The i.e. aircraft real-time status of class PlaneSatusUpdate is utilized to update, it is achieved to aircraft in spatial domain internal coordinate more
Newly；For this analog simulation platform, first giving the spatial domain of a piece of free flight, setting spatial domain scope is 2000km × 2000km
× 6km, the length range in spatial domain is 2000km, and width range is 2000km, and altitude range is 7000m 13000m, flight road
After the entrance and exit in this sheet spatial domain is i.e. selected in footpath, rectilinear flight taked by aircraft, implements measures to keep clear after running into flight collision,
If dodging after successfully departing from conflict, aircraft path planning again selects to separate out the rectilinear flight path flight that mouth is nearest, if dodging
Unsuccessful without departing from conflict, then aircraft smashes；
Flithg rules design is as follows:
Setting spatial domain scope is 2000km × 2000km × 6km, and altitude range is 7000m 13000m, and spatial domain entrance goes out
The distribution of mouth sets on each layer.If the first to seven layers be respectively 7000m, 8000m, 9000m, 10000m, 11000m,
12000m、13000m。
Table 1 spatial domain go out entry declaration
For this emulation platform, the selection explanation of flight path: subscript 1,2 ... 7 be respectively respective heights 13000m,
12000m、...7000m.Optional pathway figure such as Fig. 2.
Flithg rules design is as follows:
Setting spatial domain scope is 2000km × 2000km × 6km, and altitude range is 7000m 13000m, and spatial domain entrance goes out
The distribution of mouth sets on each layer.If the first to seven layers be respectively 7000m, 8000m, 9000m, 10000m, 11000m,
12000m、13000m。
1, the selection of entrance A, B, C, D flight path on each layer of left side；
(1), outlet E, F, G, the H on optional adjacent three layers (the right), i.e.
The entrance A of ground floor 7000m1, B1, C1, D1The outlet of optional first, second and third layer of 7000m, 8000m, 9000m
E、F、G、H
I.e. { E1, F1, G1, H1 , E2, F2, G2, H2, E3, F3, G3, H3}。
The entrance A of second layer 8000m2, B2 , C2, D2The outlet of optional first, second and third layer of 7000m, 8000m, 9000m
E、F、G、H
I.e. { E1, F1, G1, H1, E2, F2, G2, H2, E3, F3, G3, H3}。
The entrance A of third layer 9000m3, B3 , C3, D3Optional second and third, the outlet of four layers of 8000m, 9000m, 10000m
E、F、G、H
I.e. { E2, F2, G2, H2, E3, F3, G3, H3, E4, F4, G4, H4}。
The entrance A of layer 7 13000m7, B7 , C7, D7Optional five, the six, seven layers of 11000m, 12000m, 13000m's
Outlet E, F, G, H
I.e. { E5, F5, G5, H5, E6, F6, G6, H6, E7, F7, G7, H7}。
(2), outlet H, I, J, K, M, the L of optional (side) with layer, i.e.
The entrance A of ground floor 7000m1, B1, C1, D1The outlet H of optional ground floor1, I1, J1, K1, L1, M1
I.e. { H1, I1, J1, K1, L1, M1}。
The entrance A of second layer 8000m2, B2 , C2, D2The outlet H of the optional second layer2, I2, J2, K2, L2, M2
I.e. { H2, I2, J2, K2, L2, M2}。
The entrance A of layer 7 13000m7, B7 , C7, D7The outlet H of optional layer 77, I7, J7, K7, L7, M7
I.e. { H7, I7, J7, K7, L7, M7}。
2, entrance H, I, J, K, M, L of each layer of side can only select outlet E, F, G, H of same layer (the right), i.e.
The entrance H of ground floor 7000m1, I1, J1, K1, L1, M1Optional outlet E1, F1, G1, H1
I.e. { E1, F1, G1, H1}。
The entrance H of second layer 8000m2, I2, J2, K2, L2, M2Optional outlet E2, F2, G2, H2
I.e. { E2, F2, G2, H2}。
The entrance H of layer 7 13000m7, I7, J7, K7, L7, M7Optional outlet E7, F7, G7, H7
I.e. { E7, F7, G7, H7}。
2) design of conflict avoiding rule
Under free flight, the conflict avoiding rule design of aircraft is as follows:
In outdoor scene analog module, obtained the course of aircraft by the equation of motion of aircraft, calculate the size of course angle,
Judge which kind of belongs to meets situation；And obtain aircraft coordinate (),,(It is respectively two airplanes
Abscissa,It is respectively the vertical coordinate of two airplanes) obtain the level interval of two airplanes, vertical interval(It is respectively the vertical coordinate of two airplanes), then judge whether both spacing meet less than or equal to simulation institute respectively
The horizontal safety spacing set and vertical safety spacing, if meeting, not taking any measure, if be unsatisfactory for, taking not
Same conflict avoiding measure；
1, two airplanes intersections are met
At sustained height cross flying, (including cross flying in the same direction, reverse cross flying, 90 degree of intersections fly two airplanes
Time OK), when distance is less than " horizontal safety spacing ", hope away that from driving cabin the aircraft falling head on the right is dodged, left
The aircraft lifting height on limit is dodged, until two aircrafts are more than " vertical safety spacing " at a distance of the distance of vertical direction, and weight
New planning path, flies to outlet.
2, two airplane pursuits are met
Two airplanes in sustained height along same airline operation time, between aircraft below and aircraft above away from
From during less than " horizontal safety spacing ", 30 degree of enforcements of turning right surmount measures to keep clear, when two plane distances are 500 meters, then
Turn left 30 degree, the course line parallel with original course flies, during until the distance between two machines is more than " horizontal safety spacing ", weight
New planning path, flies to outlet.
3, the meeting of two airplane differing heights
When two airplanes distance in vertical direction is less than " vertical safety spacing ", the aircraft being in low clearance declines
Highly dodging, the aircraft lifting height being in high altitude is dodged, until the distance of two aircraft vertical direction apart
During more than " vertical safety spacing ", path planning again, flies to outlet.
As shown in Fig. 6 hardware block diagram: free flight analog simulation platform, system, data message system are set including simulation
System, priority assignation system；Outdoor scene analog systems；
Described simulation arranges system by flight environment of vehicle module, simulation velocity module and flight parameter module composition；
Flight environment of vehicle module includes communication and navigation is monitored performance (Communication Navigation
Surveillance, CNS) and aerial CAS (Traffic Collision Avoidance System, TCAS)
The function being configured；Owing to communication and navigation monitors the impact on flight position error, need the most required for CNS performance communicativeness
Can (Required Communication Performance, RCP), required navigation performance (Required Navigation
Performance, RNP), impact in required supervision performance (Required Surveillance Performance, RSP)
The most direct factors quantization in aircraft position.CNS performance impact is set to by native system Utilization assessment index system =
75 kinds of different weighted values.Different weighted values is set the position error of aircraft is affected difference, by user's current setting result,
Data are carried out weight analysis, error result is returned to aircraft, then aircraft is carried out according to the report of the current position containing error
Flight.Reliability evaluation index system is utilized to be estimated obtaining parameter after the reliability of TCAS is carried out expert estimation
0.9630。
Communication and navigation monitors that performance is divided into required communication performance RCP, required navigation performance RNP, required supervision performance RSP,
According to the regulation of International Civil Aviation Organization (International Civil Aviation Organization, ICAO), in detail
It is described as follows:
Required navigation performance RNP refers on a certain spatial domain or a certain bar air route, it is possible to ensure what aircraft flew in spatial domain
Reach to expect the accuracy numerical value of navigation performance in 95% time.The most defined several RNP types at present, accuracy unit is
nmile.In performance parameter, accuracy is the direct factor causing aircraft position to be gone off course, thus in the present system main consider by
The Plane location error that RNP accuracy causes.
Table 1 RNP type
Required communication performance RCP processes time, seriality, availability and integrity with performance parameter and describes.State
The RCP type that border civil aviation organization (International Civil Aviation Organization, ICAO) advises (processes
Unit of time is the second, and other three Parameter units are probability/pilot time).Communication performance depends on traffic handling time.
So the Plane location error that the main consideration RCP process time causes in this analog simulation platform.
Table 2 RCP type
Required monitor that performance RSP is under the conditions of specific degree of accuracy and refresh rate, obtain the position of airborne vehicle, speed and
The ability of purpose, its performance requirement can come by accuracy i.e. refresh rate and response time, availability, integrity, seriality
Describe.And the accuracy monitored is the direct factor causing aircraft position to be gone off course, so mainly examining in this analog simulation platform
Consider the Plane location error caused by the accuracy (refresh rate, response time) of RSP.
Table 3 RSP type
Simulation velocity module includes the function being configured simulation speed；Simulation speed is set to 1-10 times the most whole
Numerical value, operating process is by directly inserting numeral, or sliding-rolling bar realizes the setting to simulation speed, clicks on " determination ",
Complete the setting to simulation speed.
Flight parameter module includes the such as aircraft departure separation of the relevant parameter to separation standard, and horizontal safety spacing is with vertical
Function that safe spacing is configured, the function of the setting of model selection；
This functional module of flight parameter is the corn module of whole free flight analog simulation platform, due to spatial domain
Interior capacity limit, it is necessary first to the relevant parameter such as aircraft departure separation to separation standard, horizontal safety spacing and vertical peace
Full spacing is configured, and related data based on existing non-free flight such as aircraft departure separation, horizontal safety spacing, vertically pacifies
On the basis of full spacing, default value aircraft departure separation, horizontal safety spacing, vertical safety spacing are respectively 30km, 15km,
300m, certain user can arbitrarily change these values when analog simulation for self research needs；
Additionally need the setting carrying out model selection, if selecting " arranging voluntarily " pattern, the most self-defined setting during simulation
The flight path of aircraft, including height, the entrance in spatial domain, place, outlet and the velocity interval of aircraft；
This pattern can meet the needs that free flight under particular case is simulated by user, if non-selected " arranging voluntarily " mould
Formula, then during simulation, system will use random flight path, including the height of aircraft, the entrance in spatial domain, place, outlet and
Velocity interval, arrangement above is clicked on " determination " after completing and is completed the setting of flight parameter；
Described data information system is made up of statistical information module and generation backstage log pattern；
Statistical information module includes obtaining the function that related data is added up during analog simulation；
During analog simulation, user is ended with real time inspection by " statistical information " on click function menu bar
Current time, this time relevant statistics of simulation；These statistical datas include this time simulating run time, simulate
Existing program aircraft, the program aircraft smashed, take program aircraft that rise and fall carry out dodging and take hypervelocity of changing course
Cross the program aircraft of above aircraft；
Generate backstage log pattern and include that backstage daily record is produced when being divided into two parts, Part I to be outdoor scene simulations for every two minutes
A raw summary daily record, leaves in the text of sequentially column number, by every two minutes statistics one secondary data, it is to avoid due to number
According to the hugest and that produce Memory Leaks, in this daily record, recorded content includes: the initial coordinate of every airplane, rushes
Which kind of measures to keep clear, and the time of program dry run is taked, the total hourage of flight of every airplane after Tu；
Described priority assignation system includes user registration module；
User registration module is used for registering, verifying that user uses authority；
In order to ensure the use authority of this analog simulation platform, it is necessary first to carry out the registration of user.Click on " help ", go out
Existing drop-down menu " is registered ", registers.Machine code is issued copyright owner by user, and copyright owner utilizes Register according to this machine code
Generation obtains registration code, and the registration code obtained is beamed back user, to ensure that this analog simulation platform uses authority.Only work as user
Other functions of software can be used after succeeding in registration.It addition, Register the tag sequence number of computer C dish is extracted into
Row obtains registration code after calculating, the registration code that therefore every machine only one of which is fixing, does not reset system being changed without computer
Under premise, once can forever use in the registration of fixing computer.Register interface it is input to corresponding after user obtains registration code
Position, can succeed in registration, be continuing with this platform.
Described outdoor scene analog systems includes outdoor scene analog module；
Outdoor scene analog module includes observing the function of the flight progress of every airplane in outdoor scene simulation；
Work as user registration success, simulation is arranged, flight environment of vehicle, after simulation speed is provided with, click on bottom right, main interface
The START button at angle, starts outdoor scene simulation.This analog simulation platform with the addition of mouse response and Keyboard Control merit when exploitation
Can, therefore in simulation process, by mouse, or realize the operation to screen by shortcut.
First can realize simulating with different view outdoor scenes by mouse drag screen.Use the excellent of this technology
Point is from different azimuthal observation outdoor scene simulations, thus can to become more apparent upon the whole process of aircraft flight, and aircraft is how to adopt
Take measures to keep clear.Secondly on keyboard, PgUp is capable of the amplification of screen, and PgDn is capable of reducing of screen, for outdoor scene
That simulates is clear, and when starting to simulate, the display of outer outlets entrance mark is hiding, if but user needs clearer
The observation flight simulation understood, then can realize the display of outer outlets entrance mark by F5, when user is through amplifying, or
Reduce, after the sequence of operations such as Rotation screen, then can realize restoring operation by space bar, make screen be reduced to primary simulation
The pattern at interface.Realizing screen on keyboard to move down, á realizes screen and moves up, and à realizes screen and moves right, it is achieved screen
Curtain is moved to the left.
Wherein the relevant flight parameter of every airplane has aircraft number, flying height, flight speed, and these prompt operations can
So that user preferably observes the flight progress of every airplane in outdoor scene simulation, such as after two airplanes run into flight collision,
The alarm of aircraft lights, and aircraft takes the sights such as which kind of measures to keep clear to simulate out.Motor-driven along with aircraft moves
The change made, relevant flight parameter also changes at real-time, and display that can be real-time is at the interface of outdoor scene simulation
On.
According to the above description, the solution of the present invention can be realized in conjunction with art technology.
Claims (1)
1. free flight analog simulation platform, it is characterised in that include that simulation arranges system, data information system, priority assignation
System, outdoor scene analog systems；
Described simulation arranges system by flight environment of vehicle module, simulation velocity module and flight parameter module composition；
Flight environment of vehicle module includes communication and navigation is monitored performance (Communication Navigation Surveillance)
CNS and the function being configured of aerial CAS (Traffic Collision Avoidance System) TCAS；By
Monitor the impact on flight position error in communication and navigation, need the most required for CNS performance communication performance (Required
Communication Performance) RCP, required navigation performance (Required Navigation Performance)
RNP, required supervision performance (Required Surveillance Performance) RSP affect aircraft position the most direct
Factors quantization；CNS performance impact is set to by native system Utilization assessment index systemPlant different weights
Value, arranging different weighted values affects difference to the position error of aircraft, by user's current setting result, data is carried out weight
Analyze, error result is returned to aircraft, then aircraft flies according to the report of the current position containing error；Utilize reliability
Assessment indicator system is estimated after the reliability of TCAS is carried out expert estimation obtaining parameter 0.9630；
Communication and navigation monitors that performance is divided into required communication performance RCP, required navigation performance RNP, required supervision performance RSP, according to
The regulation of International Civil Aviation Organization (International Civil Aviation Organization) ICAO, describes in detail such as
Under:
Required navigation performance RNP refers on a certain spatial domain or a certain bar air route, it is possible to ensure aircraft fly in spatial domain 95%
Reach to expect the accuracy numerical value of navigation performance in time；The most defined several RNP types at present, accuracy unit is
nmile；In performance parameter, accuracy is the direct factor causing aircraft position to be gone off course, thus in the present system main consider by
The Plane location error that RNP accuracy causes；
Table 1RNP type
Required communication performance RCP processes time, seriality, availability and integrity with performance parameter and describes；The international people
The RCP type of boat tissue (International Civil Aviation Organization) ICAO suggestion, processes the time single
Position is: the second, other three Parameter units are: probability/pilot time；Communication performance depends on traffic handling time；So
The Plane location error that the main consideration RCP process time causes in this analog simulation platform；
Table 2RCP type
Required supervision performance RSP is under the conditions of specific degree of accuracy and refresh rate, obtains the position of airborne vehicle, speed and purpose
Ability, its performance requirement can describe by accuracy i.e. refresh rate and response time, availability, integrity, seriality；
And the accuracy monitored is the direct factor causing aircraft position to be gone off course, thus in this analog simulation platform main consider by
The Plane location error that the accuracy of RSP i.e. refresh rate, response time cause；
Table 3RSP type
Described simulation velocity module includes the function being configured simulation speed；Simulation speed is set to 1-10 times the most whole
Numerical value, operating process is by directly inserting numeral, or sliding-rolling bar realizes the setting to simulation speed, clicks on " determination ",
Complete the setting to simulation speed；
Flight parameter module includes the such as aircraft departure separation of the relevant parameter to separation standard, horizontal safety spacing and vertical safety
Function that spacing is configured, the function of the setting of model selection；
This functional module of flight parameter is the corn module of whole free flight analog simulation platform, due in spatial domain
Capacity limit, it is necessary first to the relevant parameter such as aircraft departure separation to separation standard, between horizontal safety spacing and vertical safety
Away from being configured, between related data such as aircraft departure separation based on existing non-free flight, horizontal safety spacing, vertical safety
On the basis of away from, default value aircraft departure separation, horizontal safety spacing, vertical safety spacing are respectively 30km, 15km, 300m, when
So user can arbitrarily change these values when analog simulation for self research needs；
Additionally need the setting carrying out model selection at computer screen window interface, if selecting " arranging voluntarily " pattern, mould
The most self-defined flight path arranging aircraft during plan, including height, the entrance in spatial domain, place, outlet and the speed model of aircraft
Enclose；
This pattern can meet the needs that free flight under particular case is simulated by user, if non-selected " arranging voluntarily " pattern,
Then during simulation, system is by using random flight path, including height, the entrance in spatial domain, place, outlet and the speed of aircraft
Scope, arrangement above is clicked on " determination " at computer screen window interface after completing and is completed the setting of flight parameter；
Described data information system is made up of statistical information module and generation backstage log pattern；
Statistical information module includes obtaining the function that related data is added up during analog simulation；
During analog simulation, user is current with real time inspection cut-off by " statistical information " on click function menu bar
Moment, this time relevant statistics of simulation；These statistical datas include this time simulating time of having run, simulation occurs
Program aircraft, the program aircraft smashed, program aircraft that rise and fall carry out dodging and taking hypervelocity of changing course is taked to cross
The above program aircraft of aircraft；
Generate backstage log pattern and include backstage daily record, be the summary daily record produced for every two minutes during outdoor scene simulation, deposit
In the text of sequentially column number, avoid internal memory that is the hugest due to data and that produce by every two minutes statistics one secondary data
Leakage problem, in this daily record, recorded content includes: the initial coordinate of every airplane, takes which kind of measures to keep clear after clashing,
And the time of program dry run, the total hourage of flight of every airplane；
Described priority assignation system includes user registration module；User registration module is used for registering, verifying that user uses authority；
Described outdoor scene analog systems includes outdoor scene analog module；Outdoor scene analog module includes observing every airplane in outdoor scene simulation
The function of flight progress；
The implementation method of described free flight analog simulation platform, comprises the steps:
Step 1) design flithg rules: in outdoor scene analog module, utilize speed to be multiplied by the time equal to apart from this core concept
Set up aircraft flight model:
Being multiplied by the time equal to apart from this formula s=vt first with speed, wherein: s is distance, v is speed, and t is the time, asks
Go out aircraft flying distance s in free flight spatial domain；
Next obtains the course θ of airplane motion, and course cosine value and sine value are multiplied by aircraft respectively in free flight spatial domain
Flying distance, just obtained distance s that aircraft moves up in x-axis and y-axis sidex=s cos θ, sy=s sin θ；
In formula, s is the flying distance of aircraft, sxFor the aircraft distance of movement, s in x-axisyThe distance that aircraft moves on the y axis；
The most just obtain abscissa and the vertical coordinate of aircraft coordinate in spatial domain, wherein x=sx, y=sy；
The i.e. aircraft real-time status of class PlaneSatusUpdate is utilized to update, it is achieved to aircraft in the renewal of spatial domain internal coordinate；Pin
To this analog simulation platform, first give the spatial domain of a piece of free flight, set spatial domain scope be 2000km × 2000km ×
6km, the length range in spatial domain is 2000km, and width range is 2000km, and altitude range is 7000m 13000m, flight path
After i.e. selecting the entrance and exit in this sheet spatial domain, rectilinear flight taked by aircraft, implements measures to keep clear after running into flight collision, if
Dodging after successfully departing from conflict, aircraft path planning again selects to separate out the rectilinear flight path flight that mouth is nearest, if dodging not
Success is without departing from conflict, then aircraft smashes；
Flithg rules design is as follows:
Setting spatial domain scope is 2000km × 2000km × 6km, and altitude range is 7000m 13000m, spatial domain inlet port
Distribution sets on each layer；If the first to seven layers be respectively 7000m, 8000m, 9000m, 10000m, 11000m, 12000m,
13000m；
1, the selection of entrance A, B, C, D flight path on each layer of left side；
(1), outlet E, F, G, the H on optional adjacent three layers of the right, i.e.
The entrance A of ground floor 7000m1, B1, C1, D1Outlet E, F, G, H of optional first, second and third layer of 7000m, 8000m, 9000m
I.e. { E1, F1, G1, H1, E2, F2, G2, H2, E3, F3, G3, H3}；
The entrance A of second layer 8000m2, B2, C2, D2Outlet E, F, G, H of optional first, second and third layer of 7000m, 8000m, 9000m
I.e. { E1, F1, G1, H1, E2, F2, G2, H2, E3, F3, G3, H3}；
The entrance A of third layer 9000m3, B3, C3, D3Optional second and third, outlet E, F, G, H of four layers of 8000m, 9000m, 10000m
I.e. { E2, F2, G2, H2, E3, F3, G3, H3, E4, F4, G4, H4}；
The entrance A of the 4th layer of 10000m4, B4, C4, D4Optional third and fourth, the outlet E of five layers of 9000m, 10000m, 11000m, F,
G、H
I.e. { E3, F3, G3, H3, E4, F4, G4, H4, E5, F5, G5, H5}；
The entrance A of layer 5 11000m5, B5, C5, D5The outlet E of optional fourth, fifth, six layers of 10000m, 11000m, 12000m, F,
G、H
I.e. { E4, F4, G4, H4, E5, F5, G5, H5, E6, F6, G6, H6}；
The entrance A of layer 6 12000m6, B6, C6, D6Optional five, the six, seven layers of outlet E of 11000m, 12000m, 13000m, F,
G、H
I.e. { E5, F5, G5, H5, E6, F6, G6, H6, E7, F7, G7, H7}；
The entrance A of layer 7 13000m7, B7, C7, D7Optional five, the six, seven layers of outlet E of 11000m, 12000m, 13000m, F,
G、H
I.e. { E5, F5, G5, H5, E6, F6, G6, H6, E7, F7, G7, H7}；
(2), outlet N, I, J, K, M, L of the optional side with layer, i.e.
The entrance A of ground floor 7000m1, B1, C1, D1The outlet N of optional ground floor1, I1, J1, K1, L1, M1
I.e. { N1, I1, J1, K1, L1, M1}；
The entrance A of second layer 8000m2, B2, C2, D2The outlet N of the optional second layer2, I2, J2, K2, L2, M2
I.e. { N2, I2, J2, K2, L2, M2}；
The entrance A of third layer 9000m3, B3, C3, D3The outlet N of optional third layer3, I3, J3, K3, L3, M3
I.e. { N3, I3, J3, K3, L3, M3}；
The entrance A of the 4th layer of 10000m4, B4, C4, D4The outlet N of optional 4th layer4, I4, J4, K4, L4, M4
I.e. { N4, I4, J4, K4, L4, M4}；
The entrance A of layer 5 11000m5, B5, C5, D5The outlet N of optional layer 55, I5, J5, K5, L5, M5
I.e. { N5, I5, J5, K5, L5, M5}；
The entrance A of layer 6 12000m6, B6, C6, D6The outlet N of optional layer 66, I6, J6, K6, L6, M6
I.e. { N6, I6, J6, K6, L6, M6}；
The entrance A of layer 7 13000m7, B7, C7, D7The outlet N of optional layer 77, I7, J7, K7, L7, M7
I.e. { N7, I7, J7, K7, L7, M7}；
2, entrance N, I, J, K, M, L of each layer of side can only select outlet E, F, G, the H on the right of same layer, i.e. ground floor 7000m
Entrance N1, I1, J1, K1, L1, M1Optional outlet E1, F1, G1, H1
I.e. { E1, F1, G1, H1}；
The entrance N of second layer 8000m2, I2, J2, K2, L2, M2Optional outlet E2, F2, G2, H2
I.e. { E2, F2, G2, H2}；
The entrance N of third layer 9000m3, I3, J3, K3, L3, M3Optional outlet E3, F3, G3, H3
I.e. { E3, F3, G3, H3}；
The entrance N of the 4th layer of 10000m4, I4, J4, K4, L4, M4Optional outlet E4, F4, G4, H4
I.e. { E4, F4, G4, H4}；
The entrance N of layer 5 11000m5, I5, J5, K5, L5, M5Optional outlet E5, F5, G5, H5
I.e. { E5, F5, G5, H5}；
The entrance N of layer 6 12000m6, I6, J6, K6, L6, M6Optional outlet E6, F6, G6, H6
I.e. { E6, F6, G6, H6}；
The entrance N of layer 7 13000m7, I7, J7, K7, L7, M7Optional outlet E7, F7, G7, H7
I.e. { E7, F7, G7, H7}；
Step 2) conflict avoiding rule design
Under free flight, the conflict avoiding rule design of aircraft is as follows:
In outdoor scene analog module, obtained the course of aircraft by the equation of motion of aircraft, calculate the size of course angle, it is judged that
Which kind of belongs to meet situation；And obtain aircraft coordinate (x, y, z), | x1-x2|, | y1-y2|, x1, x2It is respectively two airplanes
Abscissa, y1, y2It is respectively the vertical coordinate of two airplanes, obtains the level interval of two airplanes, vertical interval | z1-z2|, z1, z2
It is respectively the vertical coordinate of two airplanes, then judges that whether both spacing meet less than or equal to set by simulating respectively
Horizontal safety spacing and vertical safety spacing, if meeting, not taking any measure, if be unsatisfactory for, taking different rushing
Prominent measures to keep clear；
(1) two airplane intersection is met
Two airplanes, at sustained height cross flying, include cross flying in the same direction, reverse cross flying, 90 degree of cross flyings
Time, when distance is less than " horizontal safety spacing ", should falling head keep away when seeing another airplane on the left of driving cabin
Allow, should dodge by lifting height when seeing another airplane on the right side of driving cabin, until two aircrafts are at a distance of vertical direction
Distance more than " vertical safety spacing ", path planning again, fly to outlet；
(2) two airplane pursuits are met
Two airplanes in sustained height along same airline operation time, the distance between aircraft below and aircraft above is little
When " horizontal safety spacing ", 30 degree of enforcements of turning right surmount measures to keep clear, when two plane distances are 500 meters, more to the left
Turn 30 degree, the course line parallel with original course flies, during until the distance between two machines is more than " horizontal safety spacing ", again advise
Draw path, fly to outlet；
Meeting of (3) two airplane differing heights
When two airplanes distance in vertical direction is less than " vertical safety spacing ", it is in the aircraft falling head of low clearance
Dodging, the aircraft lifting height being in high altitude is dodged, until two aircrafts are more than at a distance of the distance of vertical direction
Time " vertical safety spacing ", path planning again, flies to outlet.
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| 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 |
| 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 |
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