低空风影响下的多航空器航迹规划

Multi aircraft Trajectory Planning under Influence of Low altitude Wind

为了提高多航空器航迹规划的安全性和准确性,针对航空器性能因素、低空风因素以及多航空器之间的相互约束三方面对于航迹的影响,建立了航空器性能模型和多机冲突模型,通过引入时间窗原理以及A*算法完成多航空器的安全航迹规划,并且构建风影响下的航迹修正模型,根据每个航迹节点上的风速情况,对无风状态下的初始航迹进行修正,得出修正航迹,完成多航空器安全航迹的预战术规划。经实验验证,在保证航空器安全飞行的前提下,方法的总航程相比其他文献减少了9.5%。提高了航迹规划的准确性和安全性。

In order to improve the safety and accuracy of multi aircraft trajectory planning,in view of the impact of aircraft performance factors,low altitude wind factors and the mutual constraints between multiple aircraft on the trajectory,the aircraft performance model and the multi aircraft conflict model were first established.The safe trajectory planning of multi aircraft is completed by introducing the time window principle and A*algorithm,and the trajectory correction model under the influence of wind is constructed.According to the wind speed on each trajectory node,the initial trajectory in the no wind state is carried out.Correction,the revised trajectory is obtained,and the pre tactical planning of the safe trajectory of multiple aircraft is completed.Experimental verification shows that the total voyage of the method in this paper is reduced by 9.5%compared with other documents under the premise of ensuring the safe flight of the aircraft.The results show that the route planning of this method is more accurate and safer.