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摘要: 针对固定航路上2架航空器的冲突解脱问题, 在基于航向角和地速调整的静态单一最优解脱策略的基础上, 考虑航空器飞行过程中可能存在的速度扰动等不确定因素, 给出了一种基于滚动时域优化的动态混合最优解脱策略, 采用极大似然估计和牛顿-拉夫逊迭代算法对风矢量进行辨识, 对无扰动下的静态优化、航空器地速变化条件下的滚动时域优化以及风矢量变化条件下的滚动时域优化3种策略进行对比。分析结果表明: 调整航向角的最短解脱时间为195s, 调整地速的最短解脱时间为285s;第1架航空器减速、匀速、加速时, 解脱时间分别为240、215、150s;风矢量横向、纵向分量估计值的平均绝对误差分别为0.049、-0.067km·h-1, 相对误差分别为0.173%、-0.205%;对风矢量进行辨识后解脱时间从215s减少为160s。可见, 基于风矢量辨识与滚动时域优化的动态混合最优解脱策略能够及时应对风矢量、航空器地速突然变化的情况, 具有较好的动态适应性。
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关键词:
- 空中交通管理 /
- 下一代空管自动化系统 /
- 冲突解脱 /
- 滚动时域控制 /
- 参数辨识
Abstract: Aiming at conflict resolution problem of two aircrafts on fixed airway, the static single optimal resolution strategy based on adjusting course angle and ground speed was analyzed, the uncertain factors such as speed disturbance possibly existing in aircraft flying process were considered, and a dynamic mixed optimal resolution strategy based on receding horizon optimization was proposed.The maximum likelihood estimation and Newton-Raphson iteration algorithm were used to identify wind vector.Three strategies including static optimization without disturbance, receding horizon optimization with changing ground speed of aircraft and receding horizon optimization with changing wind vector were compared.Analysis result shows that the shortest resolution time by adjusting course angle is 195 s, and the shortest resolution time by adjusting ground speed is 285 s.When the first aircraft decelerates, keeps uniform speed and accelerates, the resolution times are 240, 215 and 150 srespectively.The mean absolute errors of estimated values for wind vector's transversal and longitudinal components are 0.049 and-0.067 km ·h-1 respectively, and the relative errors are 0.173% and-0.205% respectively.The resolution time decreases from 215 sto 160 safter wind vector is identificated.The dynamic mixed optimal resolution strategy based on wind vector identification and receding horizon optimization can timely response to the suddenly changing situation of wind vector and the ground speed of aircraft, and has good dynamic adaptability.15 figs, 27 refs. -
图 2 航空器 b 通过调整航向角解脱冲突的航迹
Figure 2. Flight path of aircraft b by adjusting course angle to resolve conflict
图 3 航空器 b 通过调整地速解脱冲突的航迹
Figure 3. Flight path of aircraft b by adjusting ground speed to resolve conflict
图 4 航空器 b 通过滚动时域优化解脱冲突的航迹
Figure 4. Flight path of aircraft b by using receding horizon optimization
图 6 两架航空器在惯性坐标系内的初始位置关系
Figure 6. Initial position relation of two aircrafts in inertial coordinate system
图 7 解脱过程中2架航空器的轨迹曲线
Figure 7. Trajectory curves of two aircrafts in resolution process
图 8 静态单一解脱策略下2架航空器之间间隔的变化曲线
Figure 8. Variation curves of interval between two aircrafts under static single resolution strategy
图 9 航空器 a 地速变化时静态解脱策略下2架航空器之间间隔的变化曲线
Figure 9. Variation curves of interval between two aircrafts under static resolution strategy with changing ground speed of aircraft a
图 10 解脱过程中航空器 b 的轨迹曲线
Figure 10. Trajectory curves of aircraft b in resolution process
图 11 滚动时域优化策略下2架航空器之间间隔的变化曲线
Figure 11. Variation curves of interval between two aircrafts under receding horizon optimization strategy
图 13 随机风场风分量与实际风场风分量的差值
Figure 13. Differences between wind components of random wind field and actual wind field
图 14 风矢量辨识前后航空器 b 的轨迹曲线
Figure 14. Trajectory curves of aircraft b before and after wind vector identification
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