The Planning of Robust Conflict Resolution Trajectory

Abstract

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

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

CLC Number:

V355

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.

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.

Add to citation manager EndNote|Ris|BibTeX

URL: http://www.tseit.org.cn/EN/abstract/abstract19075.shtml

http://www.tseit.org.cn/EN/Y2015/V15/I5/142

References

[1] Al-Basman M, Hu J H. Probability of conflict analysis of 3D aircraft flight based on two-level Markov chain approximation approach[C]. International Conference on Networking, Sensing and Control. Illinois,USA:IEEE, 2010.

[2] Prandini M, Hu J H, Lygeros J, et al. A probabilistic approach to aircraft conflict detection[J]. IEEE Transactions on Intelligent Transportation Systems, 2000, 1(4): 199-220.

[3] Hu J H, Prandini M, Sastry S. Aircraft conflict prediction in the presence of a spatially correlated wind field[J]. IEEE Transactions on Intelligent Transportation Systems, 2005, 6(3): 326-340.

[4] Gilles D, César M, Alfons G. Tactical conflict detection and resolution in a 3-D airspace[R]. NASA Langley Research Center, 2001.

[5] Friedman M F. Decision analysis and optimality in air traffic control conflict resolution: II. Optimal heading (vectoring) control in a linear planar configuration[J]. Transportation Research Part B: Methodological, 1991, 25(1): 39-53.

[6] Friedman M F. Decision analysis and optimality in air traffic control conflict resolution I. optimal timing of speed control in a linear planar configuration[J]. Transportation Research Part B: Methodological, 1988, 22(3): 207-216.

[7] Pallottino L, Bicchi A. On the optimal conflict resolution for air traffic control[C]. Proceedings of IEEE Intelligent Transportation Systems Conference, Dearborn , USA: IEEE, 2000:167-172.

[8] 靳学梅, 韩松臣, 孙樊荣. 自由飞行中冲突解脱的线性规划法[J]. 交通运输工程学报, 2003, 03(02): 75-79. [JIN X M, HAN S C, SUN F R. Conflict resolution in free flight with linear programming[J]. Journal of Traffic and Transportation Engineering, 2003, 03(02): 75-79.]

[9] 朱代武. 低空空域飞行冲突避让算法[J]. 交通运输工程学报, 2005, 05(03):73-76. [ZHU D W. Calculational methods of avoiding flight conflict in low altitude airspace[J]. Journal of Traffic and Transportation Engineering, 2005, 05(03): 73-76.]

[10] Clements J C. The optimal control of collision avoidance trajectories in air traffic management[J]. Transportation Research Part B: Methodological, 1999, 33(4): 265-280.

[11] He X J, Liao M Z W, Chen W F. A conflict detectionand resolution scheme using dynamic flight model[C]. Proceedings of the Eighth International Conference on Machine Learning and Cybernetics. Baoding, China: IEEE, 2009.

[12] Tomlin C, Mitchell I M, Ghosh R. Safety verification of conflict resolution manoeuvres[J]. IEEE Transactions on Intelligent Transportation Systems, 2001, 2(2): 110-120.

[13] Tomlin C, Lygeros J, Sastry S. A game theoretic approach to controller design for hybrid systems[J]. Proceedings of the IEEE. 2000, 88(7): 949-970.

[14] Ghosh R, Tomlin C. Maneuver design for multiple aircraft conflict resolution[C]. Proceedings of the American Control Conference. Illinois,USA: IEEE, 2000: 672-676.

[15] Delahaye D, Puechmorel S. Aircraft local wind estimation from radar tracker data[C]. 10th International Conference on Control, Automation, Robotics and Vision. Hanoi, Vietnam: IEEE, 2008.

[16] Delahaye D, Puechmorel S, Vacher P. Windfield estimation by radar track Kalman filtering and vector spline extrapolation[C]. The 22nd Digital Avionics Systems Conference. Indianapolis,USA: IEEE, 2003.

[17] Bousson K. Model predictive control approach to global air collision avoidance[J]. Aircraft Engineering and Aerospace Technology, 2008, 80(6): 605-612.