CN105894862B - A kind of air traffic control intelligence command system - Google Patents

Abstract

The present invention relates to a kind of air traffic control intelligence command system, it includes：Monitor data processing module；With the flight plan data processing module of the monitoring data processing module communication connection；Speculate module with the 4D flight paths of the monitoring data processing module and the communication connection of flight plan data processing module；The short-term and mid-term conflict probe module of module communication connection is speculated with monitoring data processing module, flight plan data processing module and the 4D flight paths；And the conflict Resolution computing module communicated to connect with the flight plan data processing module, short-term and mid-term conflict probe module.The present invention in existing spatial domain environment, can realize the automatic pipe of aircraft, reduce the probability that human factor causes unsafe incidents to occur.

Description

An intelligent command system for air traffic control

technical field

The invention relates to a civil aviation control technology, in particular to an intelligent command system for air traffic control.

Background technique

In the face of the continuous and rapid development of the modern aviation industry and the rapid growth of air traffic, the operation method of formulating control and command plans based on human brain computing has long exposed its shortcomings and drawbacks: due to the unconscious "errors, forgetting and omissions" of controllers, Control unsafe incidents that cause flights to be less than the specified safety interval have become one of the most important reasons restricting the safe operation of air traffic control; the quality of control services provided by the controllers based on their own judgment and deployment capabilities is gradually showing a downward trend, which coincides with the traffic flow The growth is inversely proportional; there are indeed individual differences in skills and qualities between controllers and controllers, which makes it impossible for control services to maintain a relatively fixed scale and standard for a long time.

Based on the above situation, in the face of the increasingly serious air traffic jams and flight delays in the aviation industry and the huge pressure on control and security, there is an urgent need to use intelligent auxiliary means to assist the human brain with computers to overcome the adverse effects of control and safety. The human factor of operation relies on the intelligent system to help controllers make decisions and moderately share the control load.

Contents of the invention

In order to solve the above problems in the prior art, the present invention aims to provide an intelligent air traffic control command system to realize automatic control of aircraft in the existing airspace environment and reduce the probability of unsafe incidents caused by human factors .

An air traffic control intelligent command system according to the present invention is characterized in that the system includes:

A monitoring data processing module, which receives and obtains the current track data of each target aircraft in real time according to externally input monitoring signals;

The flight plan data processing module communicated with the monitoring data processing module, which receives and analyzes the flight object data of each planned aircraft according to the externally input flight plan and telegram data, and according to the current track of each target aircraft data associating flight object data for each of said planned aircraft with said target aircraft;

A 4D flight trajectory estimation module communicated with the monitoring data processing module and the flight plan data processing module, which receives and according to the current track data of each of the target aircraft and the flight object data associated with each of the target aircraft, and the pre-stored historical flight trajectory data of each target aircraft, and calculate and obtain the future flight trajectory data of each of the target aircraft;

A short-term and medium-term conflict detection module communicated with the monitoring data processing module, flight plan data processing module and 4D flight trajectory estimation module, which is associated with each of the target aircraft according to the current track data of each of the target aircraft flight object data and the future flight trajectory data of each of the target aircraft, calculate the minimum distance between every two target aircraft within a preset period of time in the future, and judge whether the minimum distance conforms to the preset air traffic separation requirements; and

A conflict resolution calculation module communicated with the flight plan data processing module and the short-term and medium-term conflict detection module, which receives the detection results of the short-term and medium-term conflict detection modules, when the detection results show that there is a difference between the two target aircraft When the minimum distance between the aircraft does not meet the preset air traffic separation requirements, an alarm is sent to the outside world, and according to the flight object data associated with each target aircraft, the corresponding resolution solution is searched in the pre-established conflict resolution program experience database , and calculate and obtain the avoidance speed and/or avoidance altitude required by the target aircraft according to the release plan, and send the required avoidance speed and/or avoidance altitude to the target aircraft through the ground-air data link communication module connected with the conflict resolution calculation module. avoidance speed and/or avoidance altitude.

In the above-mentioned intelligent air traffic control command system, the monitoring signals include: primary radar signals, secondary radar signals, broadcast automatic dependent surveillance signals and multipoint positioning signals.

In the above-mentioned intelligent air traffic control command system, the current track data of the target aircraft includes: the type, flight number, secondary code, current latitude and longitude coordinates, current flight altitude and current flight speed of the target aircraft.

In the above intelligent air traffic control command system, the flight object data of the planned aircraft includes: the model of the planned aircraft, flight number, secondary code, departure airport, landing airport, flight route, and departure time.

In the above intelligent air traffic control command system, the historical flight trajectory data of the target aircraft includes: the historical flight altitude of the target aircraft at each waypoint.

In the above intelligent air traffic control command system, the future flight trajectory data of the target aircraft includes: the moment when the target aircraft flies over each future waypoint and the flight altitude when it reaches each future waypoint.

In the aforementioned air traffic control intelligent command system, the preset time is within 10 minutes or 10-30 minutes.

In the above intelligent air traffic control command system, the conflict resolution calculation module is configured to issue an alarm to the outside world through a graphical display interface.

Owing to adopting above-mentioned technical solution, the present invention is by adopting 4D flight track deduction module to provide the current track data of each target aircraft by monitoring data processing module, the flights associated with each target aircraft provided by flight plan data processing module Combined with the object data and the pre-stored historical flight trajectory data of each target aircraft, it can accurately predict the future flight trajectory data of each target aircraft, and cooperate with the short-term and medium-term conflict detection module to determine all target aircraft within the monitoring range of the system. Whether the minimum distance between two pairs can meet the air traffic separation requirements, so that when a flight conflict is detected, the conflict resolution calculation module can automatically give the flight conflict deployment plan and the flight conflict resolution program in advance, that is, the target aircraft needs to resolve the conflict. avoidance speed and/or avoidance altitude, thereby reducing the probability of unsafe incidents caused by human factors.

Description of drawings

Fig. 1 is a structural schematic diagram of an air traffic control intelligent command system according to the present invention.

Detailed ways

Below in conjunction with the drawings, preferred embodiments of the present invention are given and described in detail.

As shown in Figure 1, the present invention, that is, an intelligent air traffic control command system, includes: a monitoring data processing module 1, a flight plan data processing module 2, a 4D flight trajectory estimation module 3, and a short-term and mid-term conflict detection module 4 , conflict resolution calculation module 5 and ground-air data link communication module 6.

The monitoring data processing module 1 is used to receive and obtain the current track data of each target aircraft in real time according to the externally input monitoring signal; specifically:

The externally input monitoring signals mainly include: primary radar signal, secondary radar signal, automatic dependent surveillance broadcast (ADS-B) (the target aircraft broadcasts the longitude and latitude of its own GPS positioning to the surroundings, and passes the ground receiver After receiving the geographic coordinates of the target aircraft, transmit the ADS-B signal to the monitoring data processing module 1) and the multilateration signal (MLAT) (receive the signal sent by the target aircraft through multiple antennas in different positions on the ground, and pass through multiple The point positioning system differentially calculates the time difference of each signal arriving at different antennas to calculate the coordinates of the target aircraft and then transmit the multilateration signal to the monitoring data processing module 1).

After the monitoring data processing module 1 receives the above-mentioned monitoring signals from different monitoring sources (ie, primary radar, secondary radar, ground receiver and multilateration system), it needs to fuse these monitoring signals, because different The time when the signals are received by the monitoring method is different, so these generated monitoring signals need to be calculated and fused to form the current track data of each target aircraft (including: target aircraft model, flight number, secondary code, current latitude and longitude coordinates, current flight altitude and current flight speed, etc.), thus realizing real-time monitoring of the target aircraft track.

In addition, in this embodiment, the monitoring data processing module 1 can also receive the quality factor set for each of the above-mentioned monitoring sources input from the peripheral, so as to dynamically adjust the weight required for the fusion and weighted average of the above-mentioned monitoring signals, In this way, multi-signal fusion can be better realized during multi-source monitoring, and the accuracy of the current track data of the target aircraft can be effectively improved; this is because when multiple monitoring sources observe different positions of the same target aircraft, Therefore, it is necessary to carry out a weighted average of the surveillance signals provided by different surveillance sources, so that the surveillance information corresponding to different sources, formats, characteristics, and properties of the same target aircraft can be logically integrated, and the signal quality management can be carried out. The acquisition of trace data provides data support. Generally, the quality factor of each monitoring source can be preset for a certain area, and the quality factor of each monitoring source can be dynamically adjusted through the Kalman filter algorithm; for example, there are three monitoring sources, and the initial values of their corresponding quality factors are 1. When the target observed by one of the monitoring sources is far away from the other two monitoring sources, the quality factor of the monitoring source will decrease.

The flight plan data processing module 2 is in communication connection with the monitoring data processing module 1, which is used to receive and analyze the flight object of each planned aircraft according to the flight plan and telegraph data input from the outside (for example, transmitted through the aviation fixed telecommunication network (AFTN)) data, and associate the flight object data of each planned aircraft with the target aircraft based on the current track data of each target aircraft; specifically:

The flight plan and telegram data include the change process and results of the entire life cycle of the flight plan, and are the most fundamental basis for air traffic controllers to grasp the flight status; it specifically includes: flight plan report (FPL), departure report (DEP), arrival report (ARR ), flight change report (CPL), delay report (DLA), revision plan report (CHG) and other 16 messages (these are clearly defined in the standard specification of "Civil Aviation Flight Dynamic Fixed Telegram Format").

The flight object data of the planned aircraft mainly includes: the type of the planned aircraft, the flight number, the secondary code, the departure airport, the landing airport, the flight route (including the information of each waypoint, etc.), the departure time and other information; usually, for the aircraft The prediction of future trajectories needs to rely on the flight routes in the above data.

Flight plan data processing module 2 can be by the flight number of each plan aircraft and secondary code and the flight number of target aircraft and secondary code match, thereby the flight object data of this plan aircraft is associated with the matched target aircraft ( That is, each planned aircraft corresponds to the target aircraft), and the automatic monitoring of the planned aircraft is realized through the monitoring of the target aircraft.

The 4D flight path estimation module 3 is connected with the monitoring data processing module 1 and the flight plan data processing module 2 respectively, and it receives and calculates according to the current track data of each target aircraft, the flight object data associated with each target aircraft, and the pre-stored The historical flight trajectory data of each target aircraft (including the historical flight altitude of the target aircraft at each waypoint, etc.), calculate and obtain the future flight trajectory data of each target aircraft (including the time when the target aircraft flies over each future waypoint and arrives at each future route) flight altitude at point time, etc.); specifically:

Since different types of aircraft have different flying speeds at different cruising altitudes, the flying speed of the aircraft can be calculated according to the aircraft type and cruising altitude; here, according to the target aircraft type, current flying altitude and The current flight speed and the historical flight altitude of the target aircraft at each waypoint in the historical flight trajectory data can be calculated to obtain the future flight speed of the target aircraft, and combined with the departure airport, landing airport, flight route and take-off in the flight object data The moment can be calculated to obtain the moment when the target aircraft flies through each waypoint in the future.

It should be noted that, in the prior art, the flight speed of the aircraft is only calculated according to the flight height of the aircraft, and then the time when the aircraft flies over each waypoint is obtained through calculation. The disadvantage of this method is that it is impossible to know which flight altitude the aircraft reaches after passing through which waypoint. For example, in the air route from Shanghai to Beijing, the existing method will regard the aircraft as an oblique flight from Shanghai to an altitude of 9200 meters to Beijing. However, according to the historical flight track data of the aircraft, it can be known that the flight from Shanghai to Beijing The flight will rise to an altitude of 9,200 meters over Wuxi. That is to say, in the approach phase of the flight, the existing trajectory model regards the aircraft as always climbing straight up from the departure airport to the cruising altitude at a certain climb rate, or always descending from the cruising altitude to the landing airport level at a certain descent rate. . However, during the actual flight, the flight will have different flight trajectories according to the different entry and departure procedures of each airport. The actual flight process will be like climbing stairs. It will climb a section, level flight, climb a section, and land. Also similar. It can be seen that the existing models cannot accurately predict the 4D flight trajectory of the aircraft. Therefore, the 4D flight trajectory estimation module 3 combines the historical flight trajectory data of each target aircraft, and constructs a 4D profile model of time, orientation and altitude for each aircraft type of each route in a machine learning manner (mainly researching each flight segment On the other hand, the speed relationship of different altitudes and different models under different meteorological conditions (high-altitude wind) can reduce the trajectory prediction error and make the future flight trajectory data of each target aircraft more accurate.

The short-term and medium-term conflict detection module 4 is respectively connected with the monitoring data processing module 1, the flight plan data processing module 2 and the 4D flight trajectory estimation module 3, and it is based on the current track data of each target aircraft, the flight associated with each target aircraft The object data and the future flight trajectory data of each target aircraft are calculated to obtain the minimum distance between every two target aircraft within a preset period of time in the future, and judge whether the minimum distance meets the preset air traffic separation requirements; specifically Say:

The short-term and medium-term conflict detection module 4 needs to aim at all target aircraft within the monitoring range of the system, according to the current latitude and longitude coordinates, current flight altitude and current flight speed of each target aircraft, the flight route of each target aircraft and the flight path of each target aircraft as they fly over each waypoint in the future. Time data, calculate whether the minimum distance (including horizontal distance and vertical distance) between them in a period of time in the future meets the requirements of air traffic separation (for each track, a three-dimensional space detection can be performed every few cycles) , if the current horizontal distance and vertical distance between the two target aircraft are lower than the warning interval at the same time, or will be lower than the warning interval at the same time within a certain parameter time in the future, then the conflict resolution calculation module 5 needs to issue a conflict warning and start the resolution program. The "a period of time" here can be set within 10 minutes (short term) or 10-30 minutes (medium term). The "air traffic separation requirements" here can be based on the flight safety separation stipulated in the "Basic Flight Rules of the People's Republic of China" For example, if two planes are flying in the same direction and at the same height, the front-to-back distance must be 60 kilometers, and the sideways distance must be 20 kilometers; if the two planes are flying forward or reverse on the same route, the up-and-down height distance must be 300 meters.

In this embodiment, if the initial positions of the two aircraft are far away or are not on the same level (every 300 meters is a level), it can be filtered and not calculated to reduce the calculation pressure. In addition, the difference between mid-term conflict detection and short-term conflict detection is that short-term conflict detection is calculated by flying straight ahead on the current heading, while medium-term conflict detection is calculated based on the planned flight route, for example, where the turn should be made on the route. Calculate afterwards. That is to say, the short-term conflict detection is mainly based on the dynamic model of the aircraft at the current position, while the medium-term conflict detection is mainly based on the above-mentioned 4D profile model, and the estimated passing time and altitude of each waypoint are used as the judgment basis.

In addition, after two target aircrafts are selected, they can be roughly filtered by level and altitude first, and compare whether the flight levels of the two are consistent, whether the current distance is far away, whether there is a common section on the future route, etc., thus Reduce computational load.

The conflict resolution calculation module 5 is connected to the flight plan data processing module 2 and the short-term and medium-term conflict detection module 4 respectively, and it receives the detection results of the short-term and medium-term conflict detection module 4. The minimum distance between the aircraft does not meet the preset air traffic separation requirements, that is, when a flight conflict occurs, an alarm is issued to the outside world, and according to the flight object data associated with each target aircraft, it is searched in the pre-established experience library of conflict resolution procedures Corresponding release plan, and according to the release plan, calculate and obtain the avoidance speed and/or avoidance altitude required by the target aircraft, so as to release the above-mentioned flight conflicts and no new flight conflicts will be generated; specifically:

After the short-term and medium-term conflict detection module 4 detects the occurrence of flight conflicts, the conflict resolution calculation module 5 will send an alarm to the aircraft controller through a graphical display interface, and start the search and verification process of the above-mentioned resolution plan, wherein,

The source of conflict resolution procedure experience database can be input manually or through machine learning. It can be established in the following way: for each route, the controller can, according to the airspace situation and the handover agreement with adjacent control units, Pre-set the access level and the instrument speed range of each aircraft type, or set the recommended level and speed of the route according to the landing airport; at the same time, the statistical analysis module (not shown in the figure) can also analyze the history of each target aircraft Statistical analysis of flight trajectory data is used to intelligently learn the flight altitude range and speed range of each aircraft type and different flight plans (including different takeoff and landing airports) on each route, thereby establishing an experience library of conflict resolution procedures to provide intelligent Means to guide controllers to correctly handle flight conflicts.

Through the above-mentioned conflict resolution program experience database, the control handover agreement can be digitized and the flight trajectory data mining can be realized. At present, in the existing technology, artificial memory control handover protocol is required, and after the downgrade control handover protocol is digitized, the system can give instructions in advance before the aircraft flies to the command boundary (for example, what altitude to fly to, what frequency to establish contact, etc.); At the same time, after data mining of historical flight trajectories, the historical flight trajectory interval of each flight can be established. Usually, it can be considered that the trajectories that the flight has flown before are all compliant flight paths. Through the combination of the above two methods, an empirical range of flight altitude and flight speed can be set in the sky (that is, the release plan), so that after a flight conflict occurs, the current flight plan and route can be searched in the conflict release program experience database The experience altitude interval and speed interval (that is, the corresponding release plan), and sequentially detect whether the speed adjustment and altitude adjustment can relieve the current flight conflict in the above experience interval, and no new flight conflict will be generated (that is, the calculated target The avoidance speed and/or avoidance altitude required by the aircraft), and at the same time, it should ensure that the target aircraft is still operating in the airspace of the control unit, so as to command the target aircraft to avoid within a relatively reasonable range.

In addition, when the conflict resolution calculation module 5 finds that there are multiple sets of resolution solutions that can resolve conflicts, the optimal solution can be selected according to the weight settings of various factors, for example:

issuing instructions for only one flight is better than issuing instructions for two flights;

An order for one flight is better than multiple orders for one flight;

Adjusting the speed of a flight is better than adjusting the altitude of a flight;

When adjusting the altitude of a flight, the handover altitude close to the next control area is better than the handover altitude away from the next control area;

When adjusting the altitude of a flight, the ascending altitude is preferred over the descending altitude.

Of course, if no suitable solution can be found within the various constraint conditions, the conflict resolution calculation module 5 will generate corresponding alarm information to remind the controller to conduct airspace coordination with adjacent units or the military.

The ground-air data link communication module 6 is communicatively connected with the conflict-free calculation module 5. After the conflict-free calculation module 5 calculates the required avoidance speed and/or avoidance altitude of the target aircraft, the ground-air data link communication module 6 will send a message to the target aircraft. Send CPDLC data and request the aircraft's CPDLC reply; specifically:

After the conflict resolution calculation module 5 calculates the feasible conflict resolution scheme, the sending window of the CPDLC message should pop up automatically, and the instruction is filled in the corresponding text box, and the controller only needs to click the SendTo button to send it to the target aircraft after confirmation. The pilot can, without having to manually enter any text.

What is described above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Various changes can also be made to the above embodiments of the present invention. That is to say, all simple and equivalent changes and modifications made according to the claims and description of the application for the present invention fall within the protection scope of the claims of the patent of the present invention. What is not described in detail in the present invention is conventional technical contents.

Claims (8)

1. a kind of air traffic control intelligence command system, it is characterised in that the system includes：

Monitor data processing module, it receives and according to externally input monitoring signal, obtains each target aircraft in real time Current track data；

With the flight plan data processing module of the monitoring data processing module communication connection, it receives and according to external input Flight plan and telegram data, analysis obtains the flight object data of each plan aircraft, and according to each target The current track data of aircraft is related to the target aircraft by the flight object data of each plan aircraft Connection；

Speculate mould with the 4D flight paths of the monitoring data processing module and the communication connection of flight plan data processing module Block, it receives and according to the current track data of each target aircraft, associated with each target aircraft Flight object data, and the history flight path data of each target aircraft to prestore, calculate and obtain each target The following flight path data of aircraft；

Speculate module communication connection with monitoring data processing module, flight plan data processing module and the 4D flight paths Short-term and mid-term conflict probe module, its according to the current track data of each target aircraft, with each mesh The flight object data and the following flight path data of each target aircraft that mark aircraft is associated, calculate and obtain Minimum range within the following one default time between target aircraft described in each two, and whether judge the minimum range Meet default air traffic space requirement；And

Mould is calculated with the conflict Resolution of the flight plan data processing module, the communication connection of short-term and mid-term conflict probe module Block, it receives short-term and mid-term conflict probe module the result of detection, when result of that probe is shown as two targets When minimum range between aircraft does not meet default air traffic space requirement, outwardly send alarm, and according to it is each The flight object data that a target aircraft is associated, is searched for corresponding in the conflict Resolution program experience storehouse pre-established Free scheme, and scheme is freed according to this and calculates the avoidance speed needed for obtaining the target aircraft and/or avoids height, And the Ground-to-Air Data Link communication module by being communicated to connect with the conflict Resolution computing module is sent to the target aircraft Avoidance speed and/or avoidance height needed for it.

2. air traffic control intelligence command system according to claim 1, it is characterised in that the monitoring signal bag Include：Primary radar signal, secondary radar signals, Automatic dependent surveillance broadcast signal and multipoint positioning signal.

3. air traffic control intelligence command system according to claim 1, it is characterised in that the target aircraft Current track data include：Type, flight number, secondary code, current latitude and longitude coordinates, the current flight of target aircraft are high Degree and current flight speed.

4. air traffic control intelligence command system according to claim 1, it is characterised in that the plan aircraft Flight object data include：The type of plan aircraft, flight number, secondary code, original base, landing airport, flight boat Road, departure time.

5. air traffic control intelligence command system according to claim 1, it is characterised in that the target aircraft History flight path data include：History flying height of the target aircraft in each way point.

6. air traffic control intelligence command system according to claim 1, it is characterised in that the target aircraft Following flight path data include：At the time of target aircraft flies over following each way point and reach following each air route Flying height during point.

7. air traffic control intelligence command system according to claim 1, it is characterised in that the default time For within 10 minutes or 10-30 minutes.

8. air traffic control intelligence command system according to claim 1, it is characterised in that the conflict Resolution meter Module is calculated to be configured as outwardly sending alarm by graphic software platform interface.