基于管制策略的4D进场航迹规划方法

为了实现终端区航班无冲突进场航迹的自动生成,提出了基于管制策略的4D进场航迹规划方法.通过基于进场耗时的层次聚类算法对历史雷达轨迹进行分析,提取包含管制意图的盛行水平路径;根据管制引导策略对进场程序航段分类,建立水平路径调整模型,结合各机型连续下降进近垂直剖面,生成无冲突4D进场航迹.以国内某机场为例,聚类分析进场航班,并对其进场程序建模仿真.结果 表明,上述法可以实现终端区进场程序的动态调整,在满足各类间隔约束的条件下,为每架进场航空器规划出无冲突航迹.     

基于频繁航路模式的航迹类型识别

随着全球定位系统和雷达技术的发展,越来越多的轨迹数据可以被收集到,其中,飞机、轮船、候鸟等对象产生的轨迹复杂多变,自由度较大.为了帮助识别飞行对象的行为和意图,航迹类型识别具有重要作用.文中提出了一种基于频繁航路模式的航迹分类方法.该方法包含一个频繁航路提取算法和一个卷积神经网络模型.算法首先对轨迹进行压缩,获得关键点;接着通过寻找轨迹自相交点提取闭合航路,然后寻找闭合航路中的频繁航路模式作为模型的分类依据;最后通过图像处理完成航迹类型的识别.文中利用FlightRadar24网站公开的真实航迹数据和模拟数据进行了大量的实验,结果表明,所提方法能有效识别复杂轨迹类型,与不经过轨迹提取的LeNet-5 CNN分类模型相比,所提方法性能更优,在轨迹分类上实现了95％以上的平均准确率.     

基于APSODE-MS算法的无人机航迹规划

无人机航迹规划是指在环境威胁与自身约束条件下,规划一条安全可行的航迹,是实现无人机自主化飞行的关键技术之一.为实现无人机在不同城市环境下能够快速规划一条安全可靠的航迹,提出一种基于自适应粒子群差分进化-最小捕捉(APSODE-MS)算法的无人机航迹规划方法.首先,建立城市环境航迹规划数学模型,以航程距离、威胁约束、违背约束代价3者的加权和作为目标函数;其次,在PSO算法中引入自适应非线性惯性权重,根据粒子偏离全局最优解的程度分配不同的搜索模式,结合动态差分进化(DE)算法加快粒子的收敛速度,引入改进的正态扰动提高跳出停滞与早熟现象的能力;最后,筛选关键航迹点,并采用最小捕捉轨迹(MS)算法对航迹进行光滑处理.仿真结果表明,所提出的APSODE-MS航迹规划方法能够在不同城市仿真环境下较好地完成规划任务,并能获得更优的航路,从而验证算法的有效性和鲁棒性.     

基于群智能-一致性理论的无人机编队全过程飞行航迹规划方法

针对无人机编队执行任务全过程飞行规划问题,提出一种基于多步粒子群优化的无人机编队航迹规划算法.首先,对无人机和执行任务策略进行建模,将编队执行任务全过程划分为编队成形、执行任务、返航、解散和无人机降落5个阶段,设计不同阶段的飞行策略;其次,针对不同的终端约束条件,设计多类多层优化指标,提出多步粒子群算法,并引入模型预测控制滚动优化航路点,得到适用于不同阶段的能严格满足约束条件的航路规划方法;然后,建立旋转坐标系,将航路点信息转换为编队控制律中的理想航向和高度信息,得到能通过航路点的编队控制算法;最后,利用编队控制算法去执行航路规划方法给出的航路点,生成航迹,得到编队航迹规划算法.仿真结果表明,所提规划方法比传统方法更适用于编队飞行,能为编队规划执行任务全过程的平滑航迹,具有良好的通用性.     

同向航迹对ITP距离的影响分析

基于ADS-B IN的高度层变更程序（ITP），可以更加直观高效地实现高度层变更机动飞行。基于目标安全等级（TLS）获得侧向安全间隔，确保两架航空器不同时出现在冲突区域，建立了基于冲突区理论的ITP距离求解模型，分析了同向航迹夹角变化对ITP距离的影响。研究结果表明，ITP距离随着同向航迹夹角增大而增大，并随着ITP航空器爬升率的增大而减小。     

基于C#的跑道侵入防控辅助系统设计与实现

提出了一种基于C#的跑道侵入防控辅助系统。系统引接空管自动化系统的综合航迹进行了分析,通过建立航空器落地趋势判断模型、航空器尾流间隔模型和跑道容量预估模型,及时有效提醒管制员扫视跑道以及实现两航空器间隔内插入放飞决策辅助。系统已在本地塔台管制现场运行超过半年,保障了塔台管制安全、提升了塔台管制效率。     

基于集成约束无人机两步制航迹规划方法

无人机航迹规划是一个富含地形威胁、雷达威胁和自身可飞性等多约束的优化问题.采用两步制的规划框架,提出一种基于集成约束的无人机航迹规划方法.规划第1阶段采用基于多种群策略的差分进化优化方法,规划第2阶段采用海洋捕食者算法的Lévy运动优化;集成约束机制在搜索过程中动态更新约束策略来补偿可行解数量骤减,抑制搜索停滞.与典型算法和约束处理策略进行对比,实验结果表明,所提出无人机航迹规划方法收敛性好、稳定性强,能够有效地求解复杂多约束无人机航迹规划问题.     

基于航路段相关的飞行冲突探测方法研究

调配航路飞行冲突是民航空管ATC区域管制的一项重要课题。文章从分析空管雷达航迹和航路之间的关系出发,提出了基于航路段分析调配航路飞行冲突的一种有效的解决方案。     

机动性约束下低空突防航迹规划算法研究

研究飞行器多目标优化问题,为了寻求安全突防的飞行轨迹,结合低空突防中对飞行器实际飞行轨迹的要求,对航迹规划算法进行了研究.针对改善目前航迹规划过程中所存在的几何建模困难和所得轨迹不能符合实际可飞的问题,提出了一种新的垂直面轨迹规划方法.方法在水平面规划的基础上重点分析了飞行器垂直面内的运动状态,结合过载、航迹倾角等机动性约束条件对垂直面内的运动轨迹进行研究,将实际复杂的飞行轨迹简化为由直线段和圆弧段衔接而成的轨迹模型,针对简化模型进行轨迹规划.仿真结果表明,能够得到满足约束条件,并符合实际飞行的航迹.     

反舰导弹航路规划问题的研究现状与进展

航路规划是一种多约束多目标非线性优化问题. 对反舰导弹航路规划 (Anti-ship missile path planning, ASMPP) 问题及其方法的研究进展进行了综述. 1) 论述了反舰导弹航路规划问题领域的研究现状, 包括 反舰导弹航路规划相关名词术语的统一和规范、 对问题的界定及其定义、反舰导弹航路规划的特点; 2) 分析了反舰导弹航路规划问题模型的研究进展; 3) 分析了反舰导弹航路规划方法的研究进展, 包括 基于几何学原理的航路规划方法和基于智能优 化算法的航路规划方法; 4) 对多平台反舰导弹协同航路规划方法的研究进展进行了分析和总结; 5) 阐述了反舰导弹航路规划面临的关键问题及发展趋势.     

Energy-efficient receding horizon trajectory planning of high-speed trains using real-time traffic information

Optimal trajectory planning of high-speed trains (HSTs) aims to obtain such speed curves that guarantee safety, punctuality, comfort and energy-saving of the train. In this paper, a new shrinking horizon model predictive control (MPC) algorithm is proposed to plan the optimal trajectories of HSTs using real-time traffic information. The nonlinear longitudinal dynamics of HSTs are used to predict the future behaviors of the train and describe variable slopes and variable speed limitations based on real-time traffic information. Then optimal trajectory planning of HSTs is formulated as the shrinking horizon optimal control problem with the consideration of safety, punctuality, comfort and energy consumption. According to the real-time position and running time of the train, the shrinking horizon is updated to ensure the recursive feasibility of the optimization problem. The optimal speed curve of the train is computed by online solving the optimization problem with the Radau Pseudo-spectral method (RPM). Simulation results demonstrate that the proposed method can satisfy the requirements of energy efficiency and punctuality of the train.     

基于卡尔曼滤波和AHP的航空管制航空器应急指挥效能评估

近年来,航空安全问题引人关注。传统航空应急指挥系统模型建立存在线性信号分析失常、应急指挥模型时效性滞后、空中管制系统信号算法穿透力差等问题,无法满足现代航空安全应急指挥的要求。针对传统航空应急指挥系统存在的问题,提出基于卡尔曼滤波和AHP的航空管制航空器应急指挥系统设计。利用卡尔曼滤波良好的线性分析能力与抗干扰性,结合AHP航空数据分析式,设计出针对性强的航空管制航空器应急指挥系统,并对设计系统进行指挥应用模型的效能评估。评估数据表明,提出的基于卡尔曼滤波和AHP的航空管制航空器应急指挥系统设计满足航空管制应急的使用要求。     

基于Agent的空中交通系统建模与仿真研究

从系统特性、内在运行机制和外在行为表现等方面对空中交通系统进行了深入分析,提出基于离散事件和连续时间相结合的混合空中交通仿真模型。该模型采用Agent技术表现实现个体微观行为的仿真,集成个体微观行为构成系统宏观性能表现。构建了典型的空中交通系统的Agent模型：飞机Agent和管制员Agent。最后,通过一个起飞和落地的应用验证了基于Agent的空中交通混合仿真在模拟个体微观行为和系统宏观表现方面均具有较高的逼真度。     

航空器轨迹预测技术研究综述

航空器轨迹预测是流量管理、冲突检测和解脱、航空器进场排序以及异常行为监测等空中交通管理技术的基础。关于航空器轨迹预测的研究产生了许多经典的方法和应用领域。对研究航迹预测问题的背景和意义进行概述,并从数据库、基础流程和预测关键技术三个方面介绍了有关航迹预测的基础知识。其中数据库包括航空器性能数据库、航空器监视数据库和气象数据库,基础流程包括准备、预测、更新和输出四个模块,预测关键技术总结并列举了状态估计模型、动力学模型和机器学习模型三类方法的典型模型。对航迹预测系统模型进行具体分析时,进一步列举三类方法的主要研究成果并归纳各类方法的特点。对航迹预测在空中交通管理中的具体应用进行分析,包括冲突检测、到达管理和流量管理等。总结并指出了目前航迹预测问题所面临的挑战和未来的发展方向。     

Post disaster adaptation management in airport: A coordination of runway and hangar resources for relief cargo transports

Air traffic congestions for processing relief cargos under post-disaster relief scenarios are common, due to high transport demands within a short time. To enhance the resilience of relief operations at airport, an optimization problem of relief air cargo transportations involving aircraft sequencing and loading/unloading within a designated hangar is studied in this paper. The objective is minimizing the tardiness in fulfilling inbound and outbound relief cargos. A mixed-integer linear programming model is formulated, which incorporates aircraft sequencing and hangar parking planning. To resolve the practical problem efficiently, we propose a two-stage optimization approach, which reduces complexity in solving the original model by coordinating the decisions of aircraft landing and take-off schedule and cargo hangar parking arrangement through iterations. The efficiency of the proposed method is examined through the computational results. High-quality solutions can be obtained by the two-stage optimization method within a reasonable time for practical implementation, which enhances the responsiveness and resource utilization of airport operations management under disaster relief situations.     

Dynamics and control technologies in air traffic management

Dynamics and Control technologies play a central role in the development and operation of decision support systems of modern air traffic management systems. Recent emergence of Global Navigation Satellite Systems and satellite-based augmentation systems have enabled higher precision execution of aircraft trajectories, opening-up the potential for the implementing more quantitative air traffic management approaches. Already, this navigation capability is enabling higher traffic through puts, and safer operation of aircraft in the proximity of the terrain at several major airports in the US. This paper discusses the aircraft trajectory optimization, conflict resolution algorithms, and traffic flow management problems which form the essential components of the evolving air traffic management system. It will be shown that Optimal Control Theory, Model Predictive Control and the Discrete Event Systems theory form the underlying analytical machinery in this domain. Finally, the paper will outline some of the algorithms for realizing the Trajectory Based Operations concept, currently being developed for future air traffic management.     

飞机着陆调度排序算法的设计与实现

航空管制员必须为同时到达的每一架飞机计算着陆时间，使整体费用最小，同时还要注意一些硬性的限制条件。在某一时刻，给定管制员视野内的飞机数量，可以公式化为约束最优化问题，从而应用一定的算法来解决。该文提出了基于分枝定界的飞机着陆调度排序算法——ASAL，实验证明通过该算法能够很好地解决飞机着陆调度优化问题。     

An efficient hybrid particle swarm optimization algorithm in a rolling horizon framework for the aircraft landing problem

This paper proposes a hybrid particle swarm optimization algorithm in a rolling horizon framework to solve the aircraft landing problem (ALP). ALP is an important optimization problem in air traffic control and is well known as NP-hard. The problem consists of allocating the arriving aircrafts to runways at an airport and assigning a landing time to each aircraft. Each aircraft has an optimum target landing time determined based on its most fuel-efficient airspeed and a deviation from it incurs a penalty which is proportional to the amount of deviation. The landing time of each aircraft is constrained within a specified time window and must satisfy minimum separation time requirement with its preceding aircrafts. The objective is to minimize the total penalty cost due to deviation of landing times of aircrafts from the respective target landing times. The performance of the proposed algorithm is evaluated on a set of benchmark instances involving upto 500 aircrafts and 5 runways. Computational results reveal that the proposed algorithm is effective in solving the problem in short computational time.     

一种新的实时智能汽车轨迹规划方法

针对智能汽车的驾驶决策和轨迹规划问题, 将轨迹表示为轨迹曲线和加速度变化两部分, 以优化轨迹的行驶效率、安全性、舒适性和经济性为目标建立非线性规划模型. 基于序优化思想, 提出混合智能优化算法OODE, 分内、外两层分别优化加速度变化和轨迹曲线, 通过“粗糙” 评价轨迹曲线实现轨迹曲线的快速择优. 仿真结果表明, 所提出的方法能够处理包含多动态障碍物的复杂交通场景, 且具备实时应用能力, 模型的精度和求解速度均优于传统方法.

     

A novel trajectory planning strategy for aircraft emergency landing using Gauss pseudospectral method

To improve the survivability during an emergency situation, an algorithm for aircraft forced landing trajectory planning is proposed. The method integrates damaged aircraft modelling and trajectory planning into an optimal control framework, in order to deal with the complex aircraft flight dynamics, a solving strategy based on Gauss pseudospetral method （GPM） is presented. A 3-DOF nonlinear mass-point model taking into account the wind is developed to approximate the aircraft flight dynamics after loss of thrust. The solution minimizes the forced landing duration, with respect to the constraints that translate the changed dynamics, flight envelope limitation and operational safety requirements. The GPM is used to convert the trajectory planning problem to a nonlinear programming problem （NLP）, which is solved by sequential quadratic programming algorithm. Simulation results show that the proposed algorithm can generate the minimum-time forced landing trajectory in event of engine-out with high efficiency and precision.