一个鲁棒性冲突解脱轨迹规划模型

交通运输系统工程与信息 ›› 2015, Vol. 15 ›› Issue (5): 142-149.

一个鲁棒性冲突解脱轨迹规划模型

韩云祥^*1，汤新民²

1. 江苏理工学院汽车与交通工程学院，江苏，常州213000；2. 南京航空航天大学民航学院，南京210016

收稿日期:2015-06-18 修回日期:2015-08-09 出版日期:2015-10-25 发布日期:2015-10-28
作者简介:韩云祥(1985-)，男，河南驻马店人，讲师，博士.
基金资助:
国家自然科学基金(61174180).

The Planning of Robust Conflict Resolution Trajectory

HAN Yun-xiang¹, TANG Xin-min²

1. School of Automobile and Traffic Eng., Jiangsu Univ. of Technol., Changzhou 213000, Jiangsu, China; 2. Civil Aviation College, Nanjing Univ. of Aeronautics & Astronautics, Nanjing 210016, China

Received:2015-06-18 Revised:2015-08-09 Online:2015-10-25 Published:2015-10-28

摘要/Abstract

摘要：

针对固定航路飞行条件下高密度运行空域多航空器实时冲突解脱轨迹规划问题，为了获取高空风场数值及增强航空器冲突解脱轨迹的鲁棒性，根据航空器的运行状态构建了高空风场线性和非线性滤波模型.采用模型预测控制理论，通过将预测模型的校正过程转化为高空风场数值的滤波过程，在给各航空器设定解脱优先权重及考虑两类解脱变量物理约束条件的前提下，从航空器的动态协同特性出发，构造能够反映控制输入量优劣的指标函数，提出一种能够适应空域环境变化的冲突解脱航迹在线滚动规划方案.算例分析表明，所提出的在线解脱轨迹规划方案可行有效.

关键词: 航空运输, 空中交通管制, 间隔, 轨迹, 卡尔曼滤波, 模型预测控制

Abstract:

In order to obtain high altitude wind field value and enhance the robustness of the aircraft conflict resolution, the wind field linear and nonlinear filtering model are formulated according to the running state of the high altitude aircraft focusing on the real- time conflict resolution trajectory planning problems under the condition of fixed routes and high density airspace. Starting from the dynamic collaborative features of aircrafts, the aircraft online rolling conflict resolution trajectory planning scheme is proposed. The trajectory planning model is formulated through setting priority weights to each aircraft based on model predictive control theory and linear & nonlinear wind filter model. The constraint conditions include airway space constraint and aircraft performance constraint. The optimization cost function is put forward to reflect the control inputs and the presented optimization model can adapt to the state change of airspace. Besides, the wind filter model is taken as calibration process of aircraft motion forecast model. The experimental results show the effectiveness of the proposed aircraft trajectory online rolling planning model.

Key words: air transportation, air traffic control, separation, trajectories, Kalman filter, model predictive control

中图分类号:

V355

韩云祥，汤新民. 一个鲁棒性冲突解脱轨迹规划模型[J]. 交通运输系统工程与信息, 2015, 15(5): 142-149.

HAN Yun-xiang, TANG Xin-min. The Planning of Robust Conflict Resolution Trajectory[J]. Journal of Transportation Systems Engineering and Information Technology, 2015, 15(5): 142-149.

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