CN105894862A - Intelligent command system for air traffic control - Google Patents
Intelligent command system for air traffic control Download PDFInfo
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- CN105894862A CN105894862A CN201610292006.XA CN201610292006A CN105894862A CN 105894862 A CN105894862 A CN 105894862A CN 201610292006 A CN201610292006 A CN 201610292006A CN 105894862 A CN105894862 A CN 105894862A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0043—Traffic management of multiple aircrafts from the ground
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Abstract
The invention relates to an intelligent command system for air traffic control. The system comprises a monitoring data processing module, a flight plane data processing module which is in a communication connection with the monitoring data processing module, a 4D flight track prediction module which is in a communication connection with the monitoring data processing module and the flight plan data processing module, a short-term and mid-term conflict detection module which is in a communication connection with the monitoring data processing module, the flight plane data processing module and the 4D flight track prediction module, as well as a conflict solution calculation module which is in a communication connection with the flight plane data processing module, the short-term and mid-term conflict detection module. The system provided by the invention has the advantages that automatic control of aircrafts can be implemented in an existing airspace environment; and a probability for human factors to cause occurrence of unsafe events can be reduced.
Description
Technical field
The present invention relates to a kind of civil aviation control technology, particularly relate to a kind of air traffic control intellectuality commander
System.
Background technology
In the face of the lasting fast development of modern Aviation industry and being skyrocketed through of air traffic, calculate with human brain
It is that main formulation control commands the method for operation of scheme to expose the short slab in operation and drawback already: due to pipe
The control unsafe incidents that member processed unconscious " mistake forgets leakage " causes airliner to be less than regulation personal distance,
Become restriction ATM safety and run one of very important reason；Judge and allotment energy based on controller self
The regulatory service quality that power is provided progressively presents descending trend, and this proper and flow growth forms inverse ratio；
Really the individual variation of technical ability and quality is there is also between controller and controller, hence in so that control clothes
Within business cannot maintain relatively-stationary yardstick and standard for a long time.
Based on above-mentioned situation, the air traffic blocking the most serious in the face of present stage aircraft industry is delayed with flight
The immense pressure ensured etc. phenomenon and control, at present in the urgent need to by intelligentized supplementary means, with
Human brain assisted by computer, to overcome the anthropic factor being unfavorable for control safe operation, relies on intellectualizing system side
Help controller to carry out decision-making, appropriateness shares control load.
Summary of the invention
In order to solve the problem that above-mentioned prior art exists, it is desirable to provide a kind of air traffic control
Intelligent command system, with in the environment of existing spatial domain, it is achieved the automatic pipe of airborne vehicle, reduces people
The probability that unsafe incidents occurs is caused for factor.
A kind of air traffic control intellectuality command system of the present invention, it is characterised in that this system
Including:
Monitor data processing module, its supervision signal receiving and inputting according to outside, obtain each in real time
The current track data of target airborne vehicle；
With the flight plan data processing module of described supervision data processing module communication connection, it receives also
Flight plan according to outside input and telegram data, analyze the flight object obtaining each plan airborne vehicle
Data, and according to the current track data of target airborne vehicle each described, by each described plan airborne vehicle
Flight object data be associated with described target airborne vehicle；
The 4D communicated to connect with described supervision data processing module and flight plan data processing module flies
Row track speculates module, and it receives and according to the current track data of target airborne vehicle each described and each
The flight object data that individual described target airborne vehicle is associated, and the going through of each target airborne vehicle prestored
History flight path data, calculate the following flight path data obtaining each described target airborne vehicle；
Speculate with described supervision data processing module, flight plan data processing module and 4D flight path
Module communication connection short-term and conflict probe module in mid-term, its according to each described target airborne vehicle work as
Flight object data that front track data is associated with target airborne vehicle each described and each described mesh
The following flight path data of mark airborne vehicle, calculate and obtain each two institute within the following one default period
State the minimum range between target airborne vehicle, and judge whether this minimum range meets default air traffic
Space requirement；And
With rushing of described flight plan data processing module, short-term and conflict probe module communication connection in mid-term
Dashing forward and free computing module, it receives described short-term and result of detection of conflict probe module in mid-term, when this spy
The minimum range that survey result is shown as between two described target airborne vehicles does not meets between default air traffic
In time requiring, outwardly send alarm, and the flight pair being associated according to target airborne vehicle described with each
Image data, searches in the conflict Resolution program experience storehouse pre-build and frees scheme accordingly, and according to
This frees dodging speed and/or dodging height needed for computation schemes obtains described target airborne vehicle, and passes through
With described conflict Resolution computing module communication connection Ground-to-Air Data Link communication module to described target airborne vehicle
Send its required dodging speed and/or dodge height.
In above-mentioned air traffic control intellectuality command system, described supervision signal includes: a thunder
Reach signal, secondary radar signals, Automatic dependent surveillance broadcast signal and multipoint positioning signal.
In above-mentioned air traffic control intellectuality command system, the current flight path of described target airborne vehicle
Data include: the type of target airborne vehicle, flight number, secondary code, current latitude and longitude coordinates, current
Flying height and current flight speed.
In above-mentioned air traffic control intellectuality command system, the flight object of described plan airborne vehicle
Data include: plan the type of airborne vehicle, flight number, secondary code, original base, land airport,
Flight route, departure time.
In above-mentioned air traffic control intellectuality command system, the history flight of described target airborne vehicle
Track data includes: target airborne vehicle is in the history flying height of each way point.
In above-mentioned air traffic control intellectuality command system, the following flight of described target airborne vehicle
Track data includes: target airborne vehicle flies over the moment of each way point following and arrives each boat following
Flying height during waypoint.
In above-mentioned air traffic control intellectuality command system, the described default time be 10 minutes with
In or 10-30 minute.
In above-mentioned air traffic control intellectuality command system, described conflict Resolution computing module is joined
It is set to outwardly send alarm by graphic software platform interface.
Owing to have employed above-mentioned technical solution, the present invention speculates module by using 4D flight path
By the current track data by each target airborne vehicle monitoring data processing module offer, by flight plan
The flight object data being associated with each target airborne vehicle that data processing module provides, and prestore
The history flight path data of each target airborne vehicle combine, and each target airborne vehicle of Accurate Prediction is not
Carry out flight path data, and coordinate short-term and conflict probe module in mid-term for the institute in the range of system monitoring
Have target airborne vehicle, determine they future minimum range between any two can meet air traffic interval
Requirement, thus can automatically provide flight by conflict Resolution computing module in advance when detecting flight collision
Contradiction programs and Solving Flight Conflicts program, i.e. target airborne vehicle is for dodging needed for freeing conflict
Speed and/or dodge height, thus reduces the probability that anthropic factor causes unsafe incidents to occur.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention a kind of air traffic control intellectuality command system.
Detailed description of the invention
Below in conjunction with the accompanying drawings, provide presently preferred embodiments of the present invention, and be described in detail.
As it is shown in figure 1, the present invention, i.e. a kind of air traffic control intellectuality command system, comprising:
Monitor that data processing module 1, flight plan data processing module 2,4D flight path speculate module 3, short
Phase and conflict probe module in mid-term 4, conflict Resolution computing module 5 and Ground-to-Air Data Link communication module 6.
Monitor that data processing module 1, for the supervision signal received and input according to outside, obtains each in real time
The current track data of individual target airborne vehicle；Specifically:
The supervision signal of outside input specifically includes that primary radar signal, secondary radar signals, broadcast type
The longitude and latitude that the GPS of self positions (is thought four by target airborne vehicle by automatic dependent surveillance signal (ADS-B)
Week broadcast type transmission, and the geographical coordinate backward supervision number of target airborne vehicle is received by ground receiver
Transmit Automatic dependent surveillance broadcast signal according to processing module 1) and multipoint positioning signal (MLAT) (logical
The antenna crossing many diverse locations on ground receives the signal that target airborne vehicle sends, and passes through multipoint positioning
The each signal of system Difference Calculation arrives the time difference of different antennae, to calculate the coordinate of this target airborne vehicle
Backward supervision data processing module 1 transmits multipoint positioning signal).
Monitor data processing module 1 receive above-mentioned from difference monitor source (that is, primary radar, two
Secondary radar, ground receiver and multipoint location system) supervision signal after, need to these monitor signal
Merge, this is because the time using different surveillance style to receive signal is different, therefore want
These produced monitoring, signal carries out calculating merge with the current track data forming each target airborne vehicle
(including: the type of target airborne vehicle, flight number, secondary code, current latitude and longitude coordinates, currently fly
Line height and current flight speed etc.), it is achieved in the real-time monitoring to target airborne vehicle flight path.
It addition, in the present embodiment, monitor data processing module 1 can also receive peripheral input for
Above-mentioned each monitors the quality factor that source sets, and merges above-mentioned supervision signal for dynamically adjusting
Weights required during weighted average, thus can preferably realize fusion of multi-sensor information when multi-source monitors, enter
And it is effectively improved the accuracy of the current track data of target airborne vehicle；This is because when multiple supervision sources are seen
The position measuring same target airborne vehicle is different, it is therefore desirable to difference is monitored the prison that source provides
It is weighted averagely depending on signal, so that the separate sources of corresponding same target airborne vehicle, form, spy
Point, the supervision information of character logically can organically blend, and carry out signal quality management, thus are
The acquisition of current track data provides data supporting.Typically some region can be pre-set each prison
Quality factor depending on source, it is possible to by Kalman filtering algorithm, dynamically adjusts each quality monitoring source
The factor；Such as, having three supervision sources, the initial value of the quality factor that they are corresponding is 1, when wherein
The target that one supervision source is observed with two other monitor spacing when far, then the quality in this supervision source
The factor will reduce.
Flight plan data processing module 2 communicates to connect with supervision data processing module 1, and it is used for receiving
And flight plan and the electricity of (such as being transmitted) is inputted by AFTN (AFTN) according to outside
Count off evidence, analyzes the flight object data obtaining each plan airborne vehicle, and according to each target airborne vehicle
Current track data, by each plan airborne vehicle flight object data be associated with target airborne vehicle；
Specifically:
Flight plan and telegram data contain flight planning whole life cycle change procedure and result, are
Air traffic controller grasps the foundation that flight status is the most basic；It specifically includes: flight plan report (FPL),
Rise report quickly (DEP), land report (ARR), flight change report (CPL), be delayed report (DLA), revise
(these are all " Civil Aviation Flight dynamically fixes telegraph form to 16 kinds of messages such as plan report (CHG) "
Standard criterion explicitly defines).
Plan airborne vehicle flight object data specifically include that plan the type of airborne vehicle, flight number, two
Secondary code, original base, land airport, flight route (including the information etc. of each way point), take off
The information such as moment；Generally, the prediction to the Future Trajectory of airborne vehicle is required for relying on flying in above-mentioned data
Row air route.
Flight plan data processing module 2 can be by by the flight number of each plan airborne vehicle and two second generations
Code matches with flight number and the secondary code of target airborne vehicle, thus by the flight pair of this plan airborne vehicle
Image data is associated with the target airborne vehicle of coupling (that is, by each plan airborne vehicle and target airborne vehicle pair
Should), by the monitoring of target airborne vehicle being also achieved that the automatic supervision to plan airborne vehicle.
4D flight path speculate module 3 respectively with monitor at data processing module 1 and flight plan data
Reason module 2 communicates to connect, its receive and according to the current track data of each target airborne vehicle and each
The flight object data that target airborne vehicle is associated, and the history flight of each target airborne vehicle prestored
Track data (includes the target airborne vehicle history flying height etc. at each way point), calculates and obtains each
The following flight path data of target airborne vehicle (include target airborne vehicle fly over each way point following time
Carve and arrive the flying height etc. during each way point following)；Specifically:
Owing to the airborne vehicle of different type of machines has different flight speeds, therefore, root in different cruising altitudes
According to type and the cruising altitude of airborne vehicle, the flight speed of this airborne vehicle can be calculated；Here, according to
The type of target airborne vehicle, current flight height and current flight speed, and history flight path data
Middle target airborne vehicle, in the history flying height of each way point, can calculate and obtain this target airborne vehicle
Following flight speed, and combine original base in its flight object data, land airport, flight route with
And departure time, this target airborne vehicle of acquisition can be calculated and fly over the moment of each way point following.
It should be noted that the flying height being merely by airborne vehicle in prior art calculates its flight speed
Degree, then calculates acquisition airborne vehicle and flies over the moment of each way point.The defect of this mode is, nothing
Method knows which flying height airborne vehicle reaches after passing through which way point.Such as, flying from Shanghai
In air route, Pekinese, existing mode can be considered as airborne vehicle from Shanghai tiltedly fly nonstop to 9200 meters and highly fly to
Beijing, and according to the history flight path data of airborne vehicle it is recognised that the Pekinese's flight that flies to from Shanghai
9200 meters of height can be risen in overhead, Wuxi.It is to say, enter the nearly stage at flight, existing track
Airborne vehicle is considered as going straight up to cruising altitude from original base is oblique with certain climb rate all the time by model, or
All the time drop to, with certain rate of descent, field level face of landing from cruising altitude.But, flight flies actual
During row, according to each airport to enter departure procedure different, have the most different flight paths, it is actual
In flight course as stair climbing, one section can be climbed, put down and fly one section, then climb one section, land the stage
Also it is similar to.As can be seen here, the 4D flight path of airborne vehicle cannot accurately be estimated by existing model.Therefore, 4D
Flight path speculates that module 3 combines the history flight path data of each target airborne vehicle, with engineering
The mode practised builds the 4D section model of the time of each type for every air route, azel
(on every leg of main research, differing heights layer, different type of machines are at DIFFERENT METEOROLOGICAL CONDITIONS (upper-level winds)
Under length velocity relation), movement locus forecast error can be reduced so that the following flight of each target airborne vehicle
Track data is the most accurate.
Short-term and conflict probe module in mid-term 4 respectively with monitor at data processing module 1, flight plan data
Reason module 2 and 4D flight path speculates that module 3 communicates to connect, its working as according to each target airborne vehicle
Flight object data that front track data is associated with each target airborne vehicle and each target airborne vehicle
Following flight path data, calculate and obtain each two target airborne vehicle within the following one default period
Between minimum range, and judge whether this minimum range meets default air traffic space requirement；Tool
For body:
Short-term and conflict probe module in mid-term 4 are required for all target airborne vehicles in the range of system monitoring,
Current latitude and longitude coordinates, current flight height and current flight speed according to each target airborne vehicle,
The flight route of each target airborne vehicle and they fly over the time data of each way point following, calculate
They between any two the minimum range (including level interval and vertical interval) within following a period of time be
No meet air traffic space requirement and (for each flight path, a three-dimensional space can be carried out every several cycles
Between detect), if the present level spacing between two target airborne vehicles and vertical interval simultaneously less than alarm
Interval, or when will be spaced less than alarm in following a certain parameter temporal, then need by conflict Resolution simultaneously
Computing module 5 sends collision alert and program is freed in startup." a period of time " herein can be set to 10
(short-term) or 10-30 minute (mid-term) within minute, " air traffic space requirement " herein is permissible
It is set according to the flight safety interval of regulation in " People's Republic of China's flight fundamental rule ", example
As, two airplanes in the same direction, same to altitude, time interval must 60 kilometers, lateral spacing must 20 kilometers；
Forward or inversely fly with course line, upper-lower height interval palpus 300 meters.
In the present embodiment, if the initial position of two airborne vehicles is far or not on a height layer
(every 300 meters is a height layer), then can filter and not calculate, and calculates pressure to reduce.It addition,
Mid-term conflict probe and the difference of traffic control conflict detection be, traffic control conflict detection is the most past with current course
Before fly into row calculating, mid-term, the most planned flight route of conflict probe calculated, such as,
On air route, this corner to calculate after turning round.It is to say, traffic control conflict detection is based primarily upon
The kinetic model of the airborne vehicle of current location, and conflict probe in mid-term is based primarily upon above-mentioned 4D section mould
Type, using the some time of estimating of each way point with highly as basis for estimation.
It addition, after selected two target airborne vehicles, can first to they carry out level, height thick
Filtering, the flight level comparing both is the most consistent, and current distance is the most far, and whether following air route
There is common segment etc., thus reduce calculated load.
Conflict Resolution computing module 5 respectively with flight plan data processing module 2 and short-term and punching in mid-term
Prominent detecting module 4 communicates to connect, and it receives short-term and the result of detection of conflict probe module in mid-term 4, when
The minimum range that result of that probe is shown as between two described target airborne vehicles does not meets default aerial friendship
Logical space requirement, i.e. when there is flight collision, outwardly send alarm, and navigate according to each target
The flight object data that pocket is associated, in the conflict Resolution program experience storehouse pre-build, search is corresponding
Free scheme, and free dodging speed and/or keeping away needed for computation schemes obtains target airborne vehicle according to this
Allow highly, to free above-mentioned flight collision and no longer to produce new flight collision；Specifically:
After short-term and conflict probe module in mid-term 4 detect the generation of flight collision, conflict Resolution calculates
Module 5 will send alarm by patterned display interface to aircraft controller, and start above-mentioned freeing
The search validation process of scheme, wherein,
The source in conflict Resolution program experience storehouse can be manually entered, it is also possible to by machine learning
Mode inputs, and it can be set up in the following manner: for every air route, controller can be according to spatial domain
Situation and the turnover agreement with adjacent control unit, preset access height layer, the instrument of each type
Speed interval, or set this air route recommend height layer and speed according to landing airport；The most all right
By statistical analysis module (not shown), the history flight path data of each target airborne vehicle are united
Meter is analyzed, and (includes that different rising flies with each type, different flight planning on intellectual learning every air route
Airport, ground) flying height is interval and speed interval, thus set up conflict Resolution program experience storehouse, thus
Intelligentized means are provided to guide controller correctly to process flight conflict.
Can be by control turnover agreement datumization and realize flying by above-mentioned conflict Resolution program experience storehouse
The excavation of row track data.Currently available technology needs artificial memory control turnover agreement, and drops control
After turnover agreement datumization, (such as, system can provide instruction before aircraft flies to command border premise
Fly to any height, what frequency to set up contact etc. in)；Dig history flight path is carried out data simultaneously
After pick, the history flight path that can set up each flight is interval, it is generally the case that it is believed that this flight
The flight path before flown over is all the flight path closing rule.By the combination of above two mode, can be in sky
The experience arranging a flying height and flight speed in the range of sky is interval (that is, freeing scheme), thus
Current Flight Plan and the warp in air route can be searched in conflict Resolution program experience storehouse after there is flight collision
Test highly interval and speed interval (freeing scheme i.e., accordingly), and visit successively in above-mentioned experience interval
Survey speed governing degree and whether adjusting height can free current flight collision, and no longer produce new flight collision
(that is, dodging speed and/or dodging height needed for calculating target airborne vehicle), should ensure that this target is navigated simultaneously
Pocket still runs in the spatial domain of this control unit, thus commands target airborne vehicle in relatively reasonable scope
Inside dodge.
It addition, when conflict Resolution computing module 5 searched many sets free scheme can free conflict time,
Selection optimization scheme can will be set according to the weight of every factor, such as:
One frame flight is only issued instruction be better than two frame flights are issued instruction；
One frame flight is issued instruction be better than a frame flight is issued a plurality of instruction；
One frame flight carries out speed governing be better than a frame flight is carried out height adjustment；
When one frame flight is adjusted height, highly it is better than close to the transfer with next regulatory area deviateing and next
The transfer height of regulatory area；
When one frame flight is adjusted height, lifting height is better than falling head.
Certainly, if all cannot finding in every constraints and suitably freeing scheme, then conflict Resolution
Computing module 5 will produce corresponding warning information, remind controller to carry out spatial domain to adjacent cells or the military
Coordinate.
Ground-to-Air Data Link communication module 6 communicates to connect with conflict Resolution computing module 5, when conflict Resolution meter
Calculate module 5 calculate target airborne vehicle needed for dodge speed and/or dodge height after, will be by this air-ground number
Send CPDLC data according to chain communication module 6 to target airborne vehicle, and ask the CPDLC of airborne vehicle to answer
Answer；Specifically:
Conflict Resolution computing module 5, after calculating feasible conflict Resolution scheme, answers automatic spring
The transmission window of CPDLC message, and instruction is filled in corresponding text box, controller only needs to confirm
Rear click SendTo button is sent to the pilot of target airborne vehicle, and need not be manually entered any literary composition
Word.
Above-described, only presently preferred embodiments of the present invention, it is not limited to the scope of the present invention,
The above embodiment of the present invention can also make a variety of changes.The most every right according to the present patent application is wanted
Ask change simple, equivalent and modification that book and description made, fall within the right of patent of the present invention
Claimed scope.The most detailed description of the present invention be routine techniques content.
Claims (8)
1. an air traffic control intellectuality command system, it is characterised in that this system includes:
Monitor data processing module, its supervision signal receiving and inputting according to outside, obtain each in real time
The current track data of target airborne vehicle；
With the flight plan data processing module of described supervision data processing module communication connection, it receives also
Flight plan according to outside input and telegram data, analyze the flight object obtaining each plan airborne vehicle
Data, and according to the current track data of target airborne vehicle each described, by each described plan airborne vehicle
Flight object data be associated with described target airborne vehicle；
The 4D communicated to connect with described supervision data processing module and flight plan data processing module flies
Row track speculates module, and it receives and according to the current track data of target airborne vehicle each described and each
The flight object data that individual described target airborne vehicle is associated, and the going through of each target airborne vehicle prestored
History flight path data, calculate the following flight path data obtaining each described target airborne vehicle；
Speculate with described supervision data processing module, flight plan data processing module and 4D flight path
Module communication connection short-term and conflict probe module in mid-term, its according to each described target airborne vehicle work as
Flight object data that front track data is associated with target airborne vehicle each described and each described mesh
The following flight path data of mark airborne vehicle, calculate and obtain each two institute within the following one default period
State the minimum range between target airborne vehicle, and judge whether this minimum range meets default air traffic
Space requirement；And
With rushing of described flight plan data processing module, short-term and conflict probe module communication connection in mid-term
Dashing forward and free computing module, it receives described short-term and result of detection of conflict probe module in mid-term, when this spy
The minimum range that survey result is shown as between two described target airborne vehicles does not meets between default air traffic
In time requiring, outwardly send alarm, and the flight pair being associated according to target airborne vehicle described with each
Image data, searches in the conflict Resolution program experience storehouse pre-build and frees scheme accordingly, and according to
This frees dodging speed and/or dodging height needed for computation schemes obtains described target airborne vehicle, and passes through
With described conflict Resolution computing module communication connection Ground-to-Air Data Link communication module to described target airborne vehicle
Send its required dodging speed and/or dodge height.
Air traffic control intellectuality command system the most according to claim 1, it is characterised in that
Described supervision signal includes: primary radar signal, secondary radar signals, Automatic dependent surveillance broadcast are believed
Number and multipoint positioning signal.
Air traffic control intellectuality command system the most according to claim 1, it is characterised in that
The current track data of described target airborne vehicle includes: the type of target airborne vehicle, flight number, two second generations
Code, current latitude and longitude coordinates, current flight height and current flight speed.
Air traffic control intellectuality command system the most according to claim 1, it is characterised in that
The flight object data of described plan airborne vehicle includes: the plan type of airborne vehicle, flight number, two second generations
Code, original base, land airport, flight route, departure time.
Air traffic control intellectuality command system the most according to claim 1, it is characterised in that
The history flight path data of described target airborne vehicle include: target airborne vehicle is in the history of each way point
Flying height.
Air traffic control intellectuality command system the most according to claim 1, it is characterised in that
The following flight path data of described target airborne vehicle include: target airborne vehicle flies over each way point following
Moment and flying height when arriving each way point following.
Air traffic control intellectuality command system the most according to claim 1, it is characterised in that
Within the described default time is 10 minutes or 10-30 minute.
Air traffic control intellectuality command system the most according to claim 1, it is characterised in that
Described conflict Resolution computing module is configured to graphic software platform interface and outwardly sends alarm.
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