CN-119832772-B - Flight around path planning and evaluating method under severe weather condition

CN119832772BCN 119832772 BCN119832772 BCN 119832772BCN-119832772-B

Abstract

The invention discloses a flight around path planning and evaluating method under severe weather conditions, which comprises the steps of obtaining a weather distribution diagram and all planned tracks, judging whether each planned track is affected by weather according to the weather distribution diagram, planning a plurality of preselected tracks by combining the weather distribution diagram according to an A-type algorithm for each abnormal track, calculating the comprehensive score of each preselected track according to the weather distribution diagram, selecting the preselected track with the highest score to replace the abnormal track, classifying the replaced abnormal track as the normal track, and repeating the step S2 until each planned track is not affected by weather, thereby completing path planning. The invention solves a plurality of around-flight paths through an A-algorithm, and comprehensively evaluates the plurality of around-flight paths, so that the path planning is preferentially performed, and the problems of single concentration point and low planning efficiency of the path planning method in the prior art are solved.

Inventors

ZHU GANG
LIU ZHEN
WANG FEI

Assignees

中国民用航空中南地区空中交通管理局

Dates

Publication Date: 20260508
Application Date: 20250124

Claims (7)

1. The flight around-the-fly path planning and evaluating method under severe weather conditions is characterized by comprising the following steps: s1, acquiring a weather distribution diagram and all planned tracks, judging whether each planned track is affected by weather according to the weather distribution diagram, marking the planned tracks affected by the weather as abnormal tracks, and marking the planned tracks not affected by the weather as normal tracks; S2, for each abnormal track, planning a plurality of pre-selected tracks by combining with a weather distribution diagram according to an A-algorithm, avoiding the influence of weather, calculating the comprehensive score of each pre-selected track according to the weather distribution diagram, selecting the pre-selected track with the highest score to replace the abnormal track, classifying the replaced abnormal track as a normal track, Wherein, the specific implementation mode of the comprehensive score of each pre-selected track is calculated according to the weather distribution diagram, the comprehensive score comprises a safety index, an efficiency index, a regularity index and a conflict index, The calculation formula of the comprehensive score is as follows: Wherein: Wherein s represents a safety index, d represents a efficiency index, c represents a collision index, ad represents a weight value of the efficiency index, ar represents a weight value of the regularity index, cr represents a weight value of the collision index, Dividing each pixel point of the weather distribution map into safe weather, risk weather and dangerous weather according to color values, dividing the grid into a risk grid when the risk weather exists in the grid but the risk weather does not exist in the grid, wherein the calculation formula of the safety index s is as follows Wherein L is a grid set through which the track passes, To aggregate all the grids of the non-passable area, A set of all risk grids; The calculation formula of the efficiency index d is as follows: Wherein, the Representing the path length of the preselected path, Representing the path length of the original planned track corresponding to the preselected track; for each point on the preselected track, when the point on the preselected track Point(s) The distance from the original planned track is smaller than the preset parameter Recording the point Point(s) Distance between The calculation formula of the regularity index r is as follows: Wherein, the Representing the length of the original planned track corresponding to the preselected track; The calculation formula of the conflict index c is as follows: Wherein, the The pre-selected course of the track is indicated, Represents the jth planned route of all planned routes, Representation of The number of crossing points between; s3, repeating the step S2 until each planned track is not affected by weather, and completing path planning.
2. The method for planning and evaluating a flight around route in severe weather according to claim 1, wherein the color value of each pixel point in the weather distribution map corresponds to the weather condition representing the position corresponding to the pixel point, the weather distribution map is divided into a plurality of grids with the same size, when the color value of any pixel point in the grids exceeds a preset threshold, the position corresponding to the pixel point is dangerous weather, the grids are divided into non-passable grids, and all the non-passable grids are combined into non-passable areas.
3. The method for planning and evaluating a flight around path under severe weather conditions according to claim 2, wherein in step S1, it is determined whether each planned track is affected by weather according to a weather distribution map, and the specific implementation manner is that, for each planned track, when any part of the planned tracks does not pass through an unvented area, the planned track is a normal track, and when any part of the planned tracks passes through the unvented area, the planned track is an abnormal track.
4. A method for planning and evaluating a flight around a flight path in severe weather conditions according to claim 3, wherein in step S2, a weather profile is combined according to an a-algorithm, a number of pre-selected tracks are planned avoiding the influence of weather, the abnormal track includes N track points, the abnormal track is divided into N-1 tracks, all the tracks passing through the non-passable area in the abnormal track are marked as dangerous tracks, the dangerous tracks continuously passing through the non-passable area are combined into the same dangerous track, and for each dangerous track k, a path planning is performed, the path planning includes: And selecting the kth-1 track point as a planning starting point A, taking the kth+1 track point as a planning end point S, and carrying out path planning from the planning starting point A to the planning end point S according to an A-x algorithm.
5. The method for planning and evaluating a flight around path in severe weather according to claim 4, wherein the path planning from a planning start point a to a planning end point S is performed according to an a-x algorithm, and the specific implementation manner is that an objective function of the a-x algorithm is as follows: and meet the following , Wherein, the Representation points 、 The distance between them, m represents the number of track points, L represents the track, Representing an unvented area; the optimization cost function of the algorithm a is: f(n)=g(n)+h(n) Wherein f (n) represents an estimated cost function from a planning starting point A to a current node n and then from the current node n to a planning end point S, g (n) represents an actual cost function from a flight starting point A to the current node n, h (n) represents a heuristic function, and the estimated cost function from the current node n to the planning end point S; The actual cost function g (n) is: g(n)= Wherein, the Represents the i-th point coordinate between the start point a and the current point n, and when i=0, In order to plan the starting point a, Representation points 、 Distance between them.
6. The method of claim 5, further comprising setting a different planning start point and/or planning end point for each dangerous leg of each abnormal track, and performing path planning by using an A-algorithm to obtain a plurality of different preselected tracks.
7. The method of claim 5, further comprising smoothing the preselected track, wherein the smoothing comprises smoothing the aircraft Duan Lazhi for each leg of the preselected track if the aircraft Duan Lazhi does not pass through the non-traversable area.

Description

Flight around path planning and evaluating method under severe weather condition Technical Field The invention relates to the technical field of flight route management, in particular to a flight around-the-fly path planning and evaluating method under severe weather conditions. Background Severe weather is a significant cause of threatening air traffic safety and causing delays in flights. When some airspace or airlines are affected by bad weather and cannot be used normally, the problem can be effectively solved by implementing the fly-around modified flight, namely, arranging the flight to temporarily select an unaffected airline to bypass a dangerous weather area. Flight detour planning is a key issue for the navigational strategy. Foreign scholars have first started from the 90 s of the last century on the study of flight around-flight path planning, and have proposed several representative algorithms, namely grid-based route search, free flight-based route search algorithm, polygon-based route search algorithm, and the like. In the prior art, the route changing planning based on free flight is not applicable in China, the route searching algorithm based on the existing route points often causes longer route changing and increases economic burden, the dangerous area based on ellipse is set to have ideal conditions and lacks persuasion, the initial route changing based on the geometric algorithm passes through the dangerous area and needs to be continuously corrected to generate a final route changing meeting the condition, and the calculated amount is increased. In addition, the existing research is focused on path planning aiming at avoiding dangerous areas and the shortest path, often deviates far from the original planned track, other evaluation indexes such as conflict, efficiency, regularity and the like are also required to be considered in actual operation, and the existing research rarely involves comprehensive evaluation of path planning results. Therefore, a path planning method capable of avoiding the dangerous area and comprehensively evaluating is needed at present. Disclosure of Invention In order to solve the problems, the invention provides a flight around flight path planning and evaluating method under severe weather conditions, which solves a plurality of around flight paths through an A-type algorithm and comprehensively evaluates the plurality of around flight paths, so that the path planning is preferentially performed, and the problems of single focus and low planning efficiency of the path planning method in the prior art are solved. In order to achieve the above purpose, the present invention provides the following technical solutions: a flight around-the-fly path planning and evaluating method under severe weather conditions comprises the following steps: s1, acquiring a weather distribution diagram and all planned tracks, judging whether each planned track is affected by weather according to the weather distribution diagram, marking the planned tracks affected by the weather as abnormal tracks, and marking the planned tracks not affected by the weather as normal tracks; S2, for each abnormal track, planning a plurality of pre-selected tracks by combining a weather distribution diagram according to an A-type algorithm and avoiding weather influence, calculating the comprehensive score of each pre-selected track according to the weather distribution diagram, selecting the pre-selected track with the highest score to replace the abnormal track, and classifying the replaced abnormal track as a normal track; s3, repeating the step S2 until each planned track is not affected by weather, and completing path planning. Further, the color value of each pixel point in the weather distribution map corresponds to the weather condition representing the corresponding position of the pixel point, the weather distribution map is divided into a plurality of grids with the same size, when the color value of any pixel point in the grids exceeds a preset threshold, the corresponding position of the pixel point is dangerous weather, the grids are divided into non-passable grids, and all the non-passable grids are combined into non-passable areas. Further, in step S1, whether each planned track is affected by weather is determined according to the weather distribution diagram, which is specifically implemented in such a way that, for each planned track, when any part of the planned tracks does not pass through the non-passable area, the planned track is a normal track, and when any part of the planned tracks passes through the non-passable area, the planned track is an abnormal track. Further, in step S2, a plurality of pre-selected tracks are planned to avoid the influence of weather according to a weather distribution diagram in combination with an a-algorithm, wherein the abnormal track includes N track points, the track points divide the abnormal track into N-1 segments, all segments passing th