Low-altitude rescue aircraft route planning method based on three dimensional airspace grids

Abstract

The invention discloses a low-altitude rescue aircraft route planning method based on three dimensional airspace grids. The low-altitude rescue aircraft route planning method comprises that according to the three dimensional terrain, the aircraft performance and the weather distribution, the low-altitude airspace is divided into grids, nodes are generated, and the optimal flight path of a single aircraft is searched by means of an improved A* algorithm; on the basis that the flight path of the single aircraft is determined, by means of a time window estimation method, a time-space-interchange multi-aircraft conflict-free route planning method is provided, finally the shortest rescue time is taken as the optimization object, and a multi-aircraft conflict-free route planning scheme is obtained. According to the invention, an aviation rescue multi-aircraft conflict-free route planning method which takes the low-altitude complex terrain, the weather distribution and the aircraft performance into account, and a basis can be provided for the arrangement of the aircraft flight plan of an aviation emergency rescue command system.

Description

Technical field: [0001] The invention relates to a flight scheduling technology for aviation rescue, in particular to a low-altitude rescue aircraft trajectory planning method based on a three-dimensional airspace grid, which is suitable for aircraft optimization scheduling and flight plan scheduling under low-altitude rescue, ensuring air traffic operation Safe and efficient. Background technique: [0002] Among the various measures for disaster relief and emergency handling, aviation rescue has the advantages of being fast, efficient, and less restricted by geographical space, and is the most effective means commonly used by many countries in the world. However, in the aviation emergency rescue system, in the low-altitude operating environment of the rescued aircraft, due to the interference of the terrain environment, bad weather, dense flight and other uncertain factors, there are often high safety risks, low rescue efficiency and unreasonable implementation. And other issue...

AI Technical Summary

Problems solved by technology

However, there are some problems in the application of the existing research to the trajectory planning of aviation rescue: ① most methods only solve the problem of path planning in the two-dimensional plane; ② the three-dimensional trajectory planning in UAV flight mainly uses altitude The correction method rarely considers safe flight rules, rescue rules and aircraft performance constraints; ③ most of the solutions are single aircraft trajectory planning problems, and the flight conflicts between multiple aircraft are not considered

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