CAJ | 학술논문

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.
침대고정항로비행조건하고밀도운행공역다항공기실시충돌해탈궤적규화문제,위료획취고공풍장수치급증강항공기충돌해탈궤적적로봉성,근거항공기적운행상태구건료고공풍장선성화비선성려파모형.채용모형예측공제이론,통과장예측모형적교정과정전화위고공풍장수치적려파과정,재급각항공기설정해탈우선권중급고필량류해탈변량물리약속조건적전제하,종항공기적동태협동특성출발,구조능구반영공제수입량우렬적지표함수,제출일충능구괄응공역배경변화적충돌해탈항적재선곤동규화방안.산례분석표명,소제출적재선해탈궤적규화방안가행유효.
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.