考虑多种危险气象的分层航迹动态规划策略

Stratified Path Dynamic Planning Strategy in View of Multiple Weather Hazards

针对雷暴天气下伴随着多种危险气象同时存在的动态改航规划需求,提出了一种考虑多种危险气象的分层航迹动态规划策略。首先,根据雷达回波图对改航空域进行分层规划;然后,基于改航起点和改航终点利用稀疏A^(*)算法结合改航约束条件对分层空域进行全局航迹规划,并利用关键点选取策略确定关键航迹点;最后,根据关键航迹点对全局航迹进行分段,并利用动态窗口法逐段进行实时航迹动态规划。实验结果表明所提方法具备良好的实时航迹动态规划性能,并且优于动态稀疏A^(*)算法、动态窗口法和现行策略,而且所提方法还可以提供在规避危险气象过程中关于航空器的航速和航向的变化情况供飞行员参考。

A stratified path dynamic planning strategy in view of multiple weather hazards is proposed to solve the demand of dynamic rerouting planning in thunderstorm weather with a variety of Hazardous weather at the same time.Firstly,according to the radar echo map,the rerouting airspace is planned hierarchically.Secondly,based on the rerouting starting point and rerouting ending point,the sparse A^(*)algorithm combined with the rerouting constraints is used to plan the global path in the layered airspace,and the key points are determined by using the key point selection strategy.Finally,the global path is segmented by the key point,and the real-time path dynamic planning is carried out by using the dynamic window method.The experimental results show that the proposed method had good real-time dynamic path planning performance,and was superior to dynamic sparse A^(*)algorithm,dynamic window method and current strategy.Moreover,The proposed method can also provide information on the changes of the aircraft’s speed and course during the process of avoiding dangerous weather for pilots’reference.