Search

CN-121838532-B - Aircraft cluster control method, device, equipment and storage medium

CN121838532BCN 121838532 BCN121838532 BCN 121838532BCN-121838532-B

Abstract

The invention relates to an aircraft cluster control method, device, equipment and storage medium, wherein the method comprises the steps of dividing a traffic airspace into a plurality of traffic subareas and correspondingly distributing a plurality of formal aircraft; the method comprises the steps of evaluating and sorting importance of all formal aircrafts based on traffic scenario, sorting important aircrafts based on importance of all formal aircrafts, generating an important aircraft queue, distributing at least one candidate aircraft for each important aircraft, confirming accompanying track of the candidate aircraft, controlling the formal aircrafts to execute traffic instructions according to the traffic scenario, controlling the candidate aircrafts to fly along the accompanying track and enter a standby state, monitoring flying states of all formal aircrafts and the candidate aircrafts in real time, and executing a replacement process when any important aircraft is monitored to be faulty. The invention realizes the instant replacement of the fault aircraft and ensures the instant and smooth recovery of the traffic flow of the aircraft.

Inventors

  • CHEN PENG
  • DENG TAO

Assignees

  • 深圳大漠大智控技术有限公司

Dates

Publication Date
20260508
Application Date
20260312

Claims (10)

  1. 1. A method of aircraft cluster control, comprising: Dividing a traffic airspace into a plurality of traffic subareas and correspondingly distributing a plurality of formal aircrafts; evaluating and sequencing the importance of all the formal aircrafts based on traffic drama; screening important aircraft based on the importance degree sequences of all the formal aircraft, and generating an important aircraft queue; Assigning at least one candidate aircraft to each important aircraft, and confirming the accompanying track of the candidate aircraft; the formal aircraft is controlled to execute traffic instructions according to traffic scenario, and the candidate aircraft is controlled to fly along the accompanying track and enter a standby state; monitoring the flight states of all the formal aircrafts and the candidate aircrafts in real time; When any important aircraft is monitored to be faulty, executing a replacement process, namely controlling the faulty important aircraft to exit the traffic flow and return to the voyage, simultaneously controlling the candidate aircraft corresponding to the faulty important aircraft to move to the preset real-time position of the faulty important aircraft, and connecting and executing the traffic instruction of the faulty important aircraft; the evaluation and ranking of importance of all the formal aircraft based on traffic drama includes: acquiring a traffic scenario, wherein the traffic scenario comprises formal activity frames of all formal aircrafts in time sequence; based on the formal activity frames, quantitatively scoring the vision and the structural importance of each formal aircraft when executing traffic instructions through a multidimensional weighted scoring model to obtain importance scores; according to the importance scores, ordering all formal aircrafts in a descending order; The calculation dimension of the multi-dimensional weighted scoring model at least comprises a fluency score, a missing violation score, a topology criticality score and a visual focus score, wherein the visual and structural importance of each formal aircraft when executing traffic instructions is quantitatively scored through the multi-dimensional weighted scoring model based on the formal activity frame to obtain an importance score, and the method comprises the following steps: calculating the fluency score, the missing violation score, the topology criticality score and the visual focus score of each formal aircraft through a multidimensional weighted scoring model based on the formal activity frame; and carrying out weighted summation on all calculated dimensions corresponding to each formal aircraft according to a preset weight coefficient to obtain the importance score of each formal aircraft.
  2. 2. The aircraft cluster control method of claim 1, wherein the screening out important aircraft based on the importance ranking of all the formal aircraft and generating an important aircraft queue comprises: selecting a formal aircraft with the importance score ranked in the top N bits based on the importance ranks of all the formal aircraft for each traffic subarea, and marking the formal aircraft as an important aircraft of the traffic subarea; and summarizing all important aircrafts in the traffic subarea, and generating the important aircraft queue according to the importance sequence.
  3. 3. The aircraft cluster control method of claim 2, wherein the assigning at least one candidate aircraft to each of the important aircraft and confirming the flight trajectory of the candidate aircraft comprises: according to the important aircraft queue, deploying a candidate aircraft set for each traffic subarea, wherein the number of the candidate aircraft in the candidate aircraft set is not less than the number of important aircraft in the traffic subarea; Allocating one or more candidate aircraft from the candidate aircraft set for each important aircraft based on the importance ranking in the important aircraft queue, and establishing a replacement mapping relation between the important aircraft and the allocated candidate aircraft; preloading traffic instructions of important aircraft corresponding to the candidate aircraft for each candidate aircraft according to the replacement mapping relation; and calculating the accompanying track of the candidate aircraft according to the formal active frames of the important aircraft corresponding to the candidate aircraft.
  4. 4. The aircraft cluster control method of claim 3, wherein assigning one or more candidate aircraft from the candidate aircraft set for each important aircraft based on the importance ranking in the important aircraft queue and establishing an alternate mapping relationship comprises: for each traffic subarea, sequentially distributing at least two candidate aircrafts from the candidate aircraft set for each important aircraft in descending order according to the importance ranking; Establishing a replacement sequence with a priority order based on at least two candidate aircrafts distributed for each important aircraft, and establishing a replacement mapping relation based on the mapping relation between the important aircrafts and the replacement sequence; wherein the same candidate aircraft may be assigned to alternate sequences of different important aircraft and have different priority orders in the different alternate sequences.
  5. 5. The aircraft cluster control method of claim 4, wherein the calculating the flight trajectory of the candidate aircraft from the formal activity frames of the important aircraft corresponding to the candidate aircraft comprises: acquiring a formal active frame sequence of all important aircraft responsible for tracking by the candidate aircraft based on the replacement mapping relation; Based on the formal activity frame sequence, respectively acquiring a preset real-time position of each important aircraft responsible for tracking by the candidate aircraft at each moment, and superposing a preset fixed offset vector to obtain a candidate companion flight position corresponding to each important aircraft; According to the importance score of each important aircraft, carrying out weighted average on a plurality of candidate flight positions, and taking a weighted average result as the flight position of the candidate aircraft at the moment; performing track smoothing on the calculated accompanying position sequence to generate an initial accompanying track; inputting the formal activity frame sequences of all the formal aircrafts and the initial accompanying track of each candidate aircraft into a simulation environment for verification, and confirming whether collision exists; if no collision exists, the simulation verification is passed, and the initial accompanying track is used as the finally executed accompanying track; if collision exists, the candidate accompanying positions of the candidate aircrafts in the collision objects at the collision moment are recalculated based on the collision moment, the collision positions and the collision objects, and the initial accompanying track is regenerated and verified until the simulation verification passes.
  6. 6. The aircraft cluster control method according to claim 1, wherein each of the candidate aircraft is controlled to continuously run a partial obstacle avoidance algorithm during the flight in the process of controlling the candidate aircraft to fly along a flight trace and to enter a standby state; the local obstacle avoidance algorithm senses the real-time relative positions and speeds between the candidate aircraft and other surrounding aircraft in real time; when the local obstacle avoidance algorithm predicts that collision risks exist with other surrounding aircrafts, controlling the candidate aircrafts to generate and execute a temporary obstacle avoidance maneuver instruction on the basis of the accompanying track so as to avoid the collision risks; And after the collision risk is relieved, controlling the candidate aircraft to return to the original accompanying track to continue flying.
  7. 7. A method of aircraft cluster control according to claim 3, wherein the performing an alternative procedure when any significant aircraft is monitored for failure comprises: inquiring the replacement mapping relation to obtain a replacement sequence which corresponds to the fault important aircraft and is ordered according to priority; Sequentially checking the current flight state of each candidate aircraft in the replacement sequence according to the priority order of the replacement sequence; selecting a candidate aircraft which meets the current flight state as available from the replacement sequence as a target replacement aircraft; Controlling the fault important aircraft to exit the traffic flow and executing the return voyage; And controlling the target replacement aircraft to deviate from the current accompanying track, calculating and executing a complementary point flight path according to the preset real-time position of the fault important aircraft so as to move to the preset real-time position and take over the traffic instruction of the fault important aircraft.
  8. 8. An aircraft cluster control device, characterized by being used for realizing the aircraft cluster control method according to any one of claims 1 to 7, and comprising a dividing unit, an evaluation and sorting unit, a screening unit, an allocation unit, a control unit, a monitoring unit and a replacement unit; The dividing unit is used for dividing the traffic airspace into a plurality of traffic subareas and correspondingly distributing a plurality of formal aircrafts; The evaluation and sorting unit is used for evaluating and sorting the importance of all the formal aircrafts based on the traffic scenario; the screening unit is used for screening important aircraft based on the importance degree sequences of all the formal aircraft and generating an important aircraft queue; The allocation unit is used for allocating at least one candidate aircraft for each important aircraft and confirming the accompanying track of the candidate aircraft; the control unit is used for controlling the formal aircraft to execute traffic instructions according to traffic scenario, and controlling the candidate aircraft to fly along the accompanying track and enter a standby state; The monitoring unit is used for monitoring the flight states of all the formal aircrafts and the candidate aircrafts in real time; And the replacing unit is used for executing a replacing process when any important aircraft is monitored to fail, controlling the important aircraft with failure to exit the traffic flow and return, simultaneously controlling the candidate aircraft corresponding to the important aircraft with failure to move to the preset real-time position of the important aircraft with failure, and taking in the traffic instruction of the important aircraft with failure into account.
  9. 9. A computer device, characterized in that it comprises a memory and a processor, on which a computer program is stored, which processor, when executing the computer program, implements an aircraft cluster control method according to any one of claims 1 to 7.
  10. 10. A storage medium storing a computer program comprising program instructions which, when executed by a processor, implement an aircraft cluster control method according to any one of claims 1 to 7.

Description

Aircraft cluster control method, device, equipment and storage medium Technical Field The invention relates to the technical field of air traffic control, in particular to an aircraft cluster control method, an aircraft cluster control device, an aircraft cluster control equipment and a storage medium. Background When a large-scale aircraft cluster executes tasks such as formation flight, collaborative operation and the like, the faults of a single aircraft can cause the task to be interrupted, the formation to be destroyed or the targets to be not achieved, so that the overall efficiency of the aircraft traffic flow is seriously affected. In the prior art, a common fault tolerance method is to control the faulty aircraft to return after the fault is detected, and take off again by the standby aircraft standing by on the ground and add into the cluster to fill the gap. However, the method has the obvious defect that the standby aircraft takes a long time to take off from the ground, climb and arrive at a preset position, so that the interruption of local air traffic flow is formed, and the requirements of application scenes with high requirements on continuity (such as air performance, cooperative logistics, continuous monitoring and the like) cannot be met. Disclosure of Invention The invention aims to overcome the defects of slow replacement response and long task interruption time of a fault aircraft in the prior art, and provides an aircraft cluster control method, device, equipment and storage medium. In order to solve the technical problems, the invention adopts the following technical scheme: in a first aspect, the present embodiment provides an aircraft cluster control method, including: Dividing a traffic airspace into a plurality of traffic subareas and correspondingly distributing a plurality of formal aircrafts; evaluating and sequencing the importance of all the formal aircrafts based on traffic drama; screening important aircraft based on the importance degree sequences of all the formal aircraft, and generating an important aircraft queue; Assigning at least one candidate aircraft to each important aircraft, and confirming the accompanying track of the candidate aircraft; the formal aircraft is controlled to execute traffic instructions according to traffic scenario, and the candidate aircraft is controlled to fly along the accompanying track and enter a standby state; monitoring the flight states of all the formal aircrafts and the candidate aircrafts in real time; and when any important aircraft is monitored to be faulty, executing a replacement process, namely controlling the faulty important aircraft to exit the traffic flow and return to the voyage, simultaneously controlling the candidate aircraft corresponding to the faulty important aircraft to move to the preset real-time position of the faulty important aircraft, and taking in the traffic instruction of the faulty important aircraft. In a second aspect, the embodiment provides an aircraft cluster control device, which is used for implementing the aircraft cluster control method, and comprises a dividing unit, an evaluation and sorting unit, a screening unit, an allocation unit, a control unit, a monitoring unit and a replacement unit; The dividing unit is used for dividing the traffic airspace into a plurality of traffic subareas and correspondingly distributing a plurality of formal aircrafts; The evaluation and sorting unit is used for evaluating and sorting the importance of all the formal aircrafts based on the traffic scenario; the screening unit is used for screening important aircraft based on the importance degree sequences of all the formal aircraft and generating an important aircraft queue; The allocation unit is used for allocating at least one candidate aircraft for each important aircraft and confirming the accompanying track of the candidate aircraft; the control unit is used for controlling the formal aircraft to execute traffic instructions according to traffic scenario, and controlling the candidate aircraft to fly along the accompanying track and enter a standby state; The monitoring unit is used for monitoring the flight states of all the formal aircrafts and the candidate aircrafts in real time; And the replacing unit is used for executing a replacing process when any important aircraft is monitored to fail, controlling the important aircraft with failure to exit the traffic flow and return, simultaneously controlling the candidate aircraft corresponding to the important aircraft with failure to move to the preset real-time position of the important aircraft with failure, and taking in the traffic instruction of the important aircraft with failure into account. In a third aspect, the present embodiment provides a computer device, where the computer device includes a memory and a processor, where the memory stores a computer program, and where the processor implements an aircraft cluster control method as describ