基于半自由飞行模式的多机协同航路规划  

Cooperative Route Planning for Semi-free Flight Mode

作　　者：毛亿 陈平 徐颖 杨毅 MAO Yi;CHEN Ping;XU Ying;YANG Yi(State Key Laboratory of Air Traffic Management System and Technology,Nanjing 210007 China;Institute of Aerospace Information Innovation,Chinese Academy of Sciences,Beijing 100094 China)

机构地区：[1]空中交通管理系统与技术国家重点实验室,江苏南京210007 [2]中国科学院空天信息创新研究院,北京100094

出　　处：《西华大学学报（自然科学版）》2022年第1期13-22,共10页Journal of Xihua University:Natural Science Edition

基　　金：中国博士后科学基金(2020M681750)。

摘　　要：为改善传统自由飞行模式与集中管制模式的运行效能,本文提出一种用于民航空管系统的半自由飞行模式,并在该模式下研究多机协同航路规划问题。首先介绍半自由飞行空中交通管制系统的工作模式,然后设计了半自由飞行空中交通管制系统中最重要的多机协同航路规划方法。该方法基于实时动态网格和协同动态规划算法,在满足所有安全约束的前提下,实时规划飞行中或即将起飞飞机的航路,能够解决多架飞机的航路规划问题。最后,通过数值仿真验证了半自由飞行模式和协同航路规划方法的正确性和实用性。A Semi-Free Flight mode in civil air traffic control system is proposed in this paper to improve the capability of free flight mode and centralized management mode,and multi-aircraft cooperative route planning is designed in this mode.This paper introduces the working mode of Semi-Free Flight ATC system,and presents collaborative route planning method,which is the most important model in Semi-Free Flight ATC system.This collaborative route planning method can plan routes based on real-time dynamic grid and cooperative dynamic planning algorithm for each aircraft either in flight or about to fly in real time satisfying all safe constraints.The final numerical simulations verify the correctness and practicability of the Semi-Free Flight theory and collaborative route planning method.about to fly in real time and can satisfy all safe constraints.The final numerical simulations verify the correctness and practicability of the Semi-Free Flight theory and collaborative route planning method.

关 键 词：半自由飞行 多机航路规划 飞行控制系统 数值模拟 协同路径规划方法 

分 类 号：V355[航空宇航科学与技术—人机与环境工程] TP18[自动化与计算机技术—控制理论与控制工程]