A method and system for approach sequencing based on conflict detection and sequencing degradation

Abstract

The embodiment of the application discloses a kind of based on conflict detection and sequencing degradation method of approach sequencing, including: runway sequencing, delay allocation and waypoint sequencing, conflict detection and degradation sequencing strategy are used.The beneficial effects of the application include: (1) not directly conflict resolution, but conflict detection and conflict avoidance method, multiple sequencing problem is simplified into runway sequencing single point sequencing, effectively solve all conflicts, ensure safe operation;(2) provide a variety of sequencing strategies for flexible selection, realize the balance between safe operation and efficiency, when more flights, safety priority strategy can be used, strictly ensure that flights do not conflict;When less flights, efficiency priority strategy is used.Air traffic control department can flexibly select sequencing strategy according to actual situation of operation.(3) the method of the application does not involve complex mathematical operation, facilitate engineering implementation, reduce the requirement to algorithm.

Description

Technical Field

[0001] This invention relates to the field of flight arrival management technology, specifically to an arrival sorting method and system based on conflict detection and sorting degradation. Background Technology

[0002] With rapid economic development, my country's aviation industry is also progressing and developing rapidly. The resulting surge in flight traffic has made the existing air traffic control system increasingly inadequate to meet the demands of this development. Safe and efficient flight arrival management has become a crucial research direction for future air traffic control. Current research on arrival sequencing primarily focuses on improving arrival efficiency, reducing flight delays, and increasing on-time performance, with relatively little research on resolving flight conflict in arrival sequencing. Existing conflict resolution solutions can effectively address single-point conflicts, but they cannot effectively resolve flight conflicts caused by multiple points and multiple sequencing. Safe operation is the lifeline of the civil aviation industry; all research should be based on safety, and conflict resolution is the foundation of arrival sequencing management research.

[0003] Existing AMAN arrival sequencing systems focus more on improving arrival efficiency, increasing airport throughput, and reducing flight delays, with less research on conflict resolution, especially the difficulty in resolving conflict resolution under multiple sequencing scenarios. The paper "Terminal Area Flight Conflict Resolution Methods and Systems" provides a method for conflict resolution in the terminal area, but it also cannot solve the problem of multiple sequencing.

[0004] The multiple sorting problem occurs when a flight's route has multiple sorting points (including the arrival runway). When a flight's route point conflicts with other flights, attempts to resolve the conflict can be made by adjusting the flight's transit time at that point. However, adjusting the transit time at this point affects the transit times of other flights, potentially causing conflicts at previously non-conflicting route points. Adjusting the new conflict point then affects other sorting points again, leading to new conflicts. This cycle continues, making it impossible to resolve all conflicts. The multiple sorting problem is more pronounced when there are many flights, which is precisely the key scenario for arrival sorting applications.

[0005] The traditional 4D trajectory conflict resolution technology solution is as follows:

[0006] (1) Collect information on all flights entering the terminal area to form a flight buffer queue. Sort the flight buffer queue according to the expected landing time of each inbound flight to form an inbound flight sequence with the optimal landing time of the flight.

[0007] (2) Extract a flight pair, determine whether there is a conflict between the flight pair based on the inbound flight data, if so, implement a conflict resolution strategy for the flight pair and add the conflict resolution strategy to the resolution strategy sequence; otherwise, add the flight pair to the conflict-free flight sequence.

[0008] (3) Generate an arrival plan based on the conflict-free flight sequence and the relief strategy sequence.

[0009] Traditional technologies have the following drawbacks:

[0010] (1) Traditional conflict resolution methods can only resolve single-point conflicts. Conflict resolution strategies can resolve conflicts for flights at a certain convergence point, but they fail to consider the impact of the conflict resolution strategy adopted at this point on other convergence points of the flight. It may cause new conflicts on other convergence routes and cannot resolve multiple sorting.

[0011] (2) When the conflict resolution method is carried out, it only resolves one group of flights without considering the impact of the resolution strategy on other flights. It may affect the landing time, overdue time, etc. of other flights, and may create new conflicts for other flights.

[0012] Reasons for the shortcomings:

[0013] (1) When there are multiple sorting waypoints in the flight path, there is a problem of difficulty in resolving conflicts under multiple sorting. The problem of difficulty in resolving conflicts under multiple sorting is more obvious in scenarios with more flights to be sorted and more sorting points.

[0014] (2) Traditional methods separate the sorting strategy from the conflict resolution process. In fact, when conflicts occur between flights, although certain methods can resolve the conflict, the resolution will affect the arrival sorting strategy of the flight or other flights. The separate-conquer approach of sorting strategy and conflict resolution does not fully consider that the various steps of arrival sorting are an organic whole, and that they influence each other and must be analyzed in a unified manner. Summary of the Invention

[0015] The purpose of this invention is to provide an arrival sorting method and system based on conflict detection and sorting degradation to solve the technical problem of multiple sorting.

[0016] To achieve the above objectives, in a first aspect, embodiments of the present invention provide an arrival sorting method based on collision detection and sorting degradation, comprising:

[0017] Runway sequencing steps: Based on the estimated arrival time (ETA) calculated from the 4D trajectory, an initial sequenced arrival time (STA) is obtained; conflict detection is performed using the initial sequenced arrival time as the time base to determine if the flight complies with all runway operation restrictions. If it does, the delay allocation step is initiated; otherwise, the sequenced arrival time (STA) is updated to STA = STA + σT, and conflict detection continues using the new sequenced arrival time (STA). T For incremental delays;

[0018] Delay allocation step: Based on the sorted landing time STA calculated in the runway sorting step, check the upper limit of the number of flights that the corresponding flight number sector can control. If it is not exceeded, proceed to the waypoint sorting step. If it is exceeded, the sorted landing time STA is delayed by STA = STA + σT, and return to the runway sorting stage.

[0019] Waypoint sorting steps: After delay allocation, calculate the transit time for each waypoint; check in turn whether the flight conflicts with other flights at the sorted waypoints. If there is no conflict, the sorting ends; if there is a conflict, perform degenerate sorting.

[0020] As one specific implementation of this application, the runway sequencing steps are as follows:

[0021] (1) Based on the estimated landing time ETA calculated from the 4D trajectory, the initial sorted landing time STA is obtained;

[0022] (2) Based on the sorted landing time STA, check whether the runway slot for the flight is closed at the sorted landing time, whether there is a wake conflict with other flights, a runway interval conflict, or a slant distance conflict between flights on parallel runways, and whether the number of arriving flights has exceeded the runway capacity; if any of these are true, update the sorted landing time STA to STA = STA + σT and continue to step (2); if all are false, complete the runway sorting and proceed with the delay allocation step.

[0023] As one specific implementation of this application, the delay allocation step is as follows:

[0024] (1) Sort the delay absorption priority of the sectors through which the flight passes from high to low;

[0025] (2) Traverse the sectors from high to low priority and allocate them according to the latency that each sector can absorb.

[0026] (3) Traverse all sectors and check whether the sector capacity limit is met during the time period when the flight passes through the sector after the delay allocation; if the sector capacity limit is exceeded, the sorted landing time STA is incremented by σT, the sorted landing time STA is updated to STA=STA+σT, and the process returns to the runway sorting stage.

[0027] (5) If the sum of the maximum absorbed delay of all sectors is less than the delay duration in step (2), check if there is a Hold sector. If there is, the Hold sector will absorb the remaining delay. Otherwise, the remaining delay will be forcibly allocated according to the length of the flight route through each sector.

[0028] As one specific implementation of this application, the flight is checked sequentially at all waypoints to see if there are any conflicts with other flights. If so, a degenerate sorting process is performed, specifically as follows:

[0029] like Then update the sorted landing time STA to STA = STA + σT, sort the runways again, and perform collision detection again; where ΔT = STA - ETA is the current flight delay duration. For sector (s1, s1, ..., s1) n The total delay that can be absorbed;

[0030] like The sorting mode then degenerates, progressing step by step from "complete sorting" to "focused sorting" to "important sorting" to "forced sorting". When the sorting mode degenerates to forced sorting, only runway sorting is performed, and waypoint sorting is no longer performed.

[0031] Secondly, embodiments of the present invention provide an arrival sorting device based on collision detection and sorting degradation, including a processor, an input device, an output device, and a memory, wherein the processor, input device, output device, and memory are interconnected. The memory is used to store program instructions, and the processor is configured to invoke the program instructions to execute the method as described in the first aspect above.

[0032] Thirdly, embodiments of the present invention also provide another port arrival sorting system based on conflict detection and sorting degradation, including:

[0033] Runway Sequencing Module: Based on the estimated arrival time (ETA) calculated from the 4D trajectory, an initial sorted arrival time (STA) is obtained. Conflict detection is performed using the initial sorted arrival time as the time base to determine whether the flight complies with the various restrictions of runway operation. If it does, the delay allocation step is initiated; otherwise, the sorted arrival time (STA) is updated to STA = STA + σT, and conflict detection continues using the new sorted arrival time (STA), where σT is the incremental delay.

[0034] Delay allocation module: Based on the sorted landing time STA calculated in the runway sorting step, check the upper limit of the number of flights that the sector can control at the corresponding time. If it is not exceeded, proceed to the waypoint sorting step. If it is exceeded, the sorted landing time STA is delayed by STA = STA + σT, and return to the runway sorting stage.

[0035] Waypoint sorting module: After delay allocation, calculate the transit time of each waypoint; check in turn whether the flight has conflicts with other flights at the sorted waypoints. If there are no conflicts, the sorting ends; if there are conflicts, perform degenerate sorting.

[0036] Implementing the embodiments of the present invention has the following beneficial effects:

[0037] (1) Existing conflict resolution solutions cannot solve the problem of multiple sorting, that is, resolving a conflict at one waypoint leads to the creation of new conflict waypoints, and it is always impossible to resolve conflicts at multiple sorting points simultaneously. The method of this application does not directly resolve conflicts, but adopts a conflict detection and conflict avoidance method, which simplifies the multiple sorting problem to single-point sorting of runways, effectively resolving all conflicts and ensuring safe operation.

[0038] (2) Multiple sorting strategies are provided for flexible selection to achieve a balance between safe operation and efficiency. When there are many flights, a safety-first strategy can be adopted to strictly ensure that flights do not conflict; when there are few flights, an efficiency-first strategy can be adopted. Air traffic control departments can flexibly choose the sorting strategy according to the actual operation situation.

[0039] (3) The method of this application does not involve complex mathematical operations, which is convenient for engineering implementation and reduces the requirements for computing power. Attached Figure Description

[0040] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below.

[0041] Figure 1 This is a flowchart of the port arrival sorting method based on conflict detection and sorting degradation of the present invention;

[0042] Figure 2 This is a diagram showing the relationship between waypoints and sectors;

[0043] Figure 3 This is a flowchart of the runway sequencing process;

[0044] Figure 4 This is a flowchart of the delay allocation process;

[0045] Figure 5 This is a flowchart of waypoint sorting;

[0046] Figure 6 This is a structural diagram of the port sorting device based on collision detection and sorting degradation of the present invention;

[0047] Figure 7This is a structural diagram of the port arrival sorting system based on conflict detection and sorting degradation of the present invention. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0050] This invention provides a novel flight arrival sequencing method based on conflict detection and sequencing degradation (hereinafter referred to as the novel method). Its core idea is to detect conflicts and, when conflicts occur, avoid them appropriately, rather than resolving them with a specific conflict resolution strategy, as conflict resolution strategies are difficult to handle multiple sequencing problems. The novel method employs different sequencing strategies in different scenarios to meet the operational requirements of air traffic control, specifically:

[0051] (1) When the sorting strategy selects safety priority, this method can calculate a time slot path for the flight to be sorted, which does not conflict with other flights at any sorting waypoints and meets the strict safety operation requirements.

[0052] (2) When the sorting strategy prioritizes operational efficiency, the system can be configured with a sorting degradation strategy to remove low-priority waypoints from the sorted sequence, thereby reducing the probability of conflict and minimizing delays. Control can manually intervene in waypoints that have not been sorted.

[0053] (3) The control site can adopt a sorting strategy that meets the operational requirements in real time according to the actual operation situation to achieve a dynamic balance between safe operation and efficiency. For example, when there are many inbound flights, a safety priority strategy is adopted; when there are few flights, an efficiency priority strategy is adopted.

[0054] like Figure 1 As shown in the embodiments of the present invention, the method for arrival sequencing is divided into three main steps: runway sequencing, delay allocation, and waypoint sequencing. During the sequencing process, when conflicts occur, the core idea is to avoid all conflicts, rather than actively adjusting for conflicts in some way, thereby resolving the problem of multiple sequencing.

[0055] To facilitate better analysis in the following sections, some preconditions are defined for the subsequent sorting methods.

[0056] The prerequisite for sorting arriving flights is that all flights to be sorted have completed 4D trajectory calculations and have obtained the estimated arrival time (ETA), estimated waypoint time (ETO), and the sectors that the flights are expected to fly over.

[0057] Assuming a flight's estimated arrival time is ETA and its sorted arrival time is STA, then the flight's delay time ΔT = STA - ETA. During conflict detection, the time step for each detection is σT. The sectors the flight passes through are (s1, s2, ..., s3). n The system configuration parameters for the maximum absorbed delay time of each sector are (t1, t2, ..., t...). n The waypoints for this flight are (p1, p1, ..., p). m The estimated elapsed times are (e1, e2, ..., e) in sequence. m The relationship between flight waypoints and sectors is shown below:

[0058]

[0059] In the above formula, the parameters related to p all refer to the waypoints the flight passes through. The relationship between waypoints and sectors is as follows: Figure 2 As shown.

[0060] The three steps of this novel method are described in detail below.

[0061] I. Track Ranking

[0062] Runway sequencing is constrained by various factors, such as runway closure time slots, wake separation, runway spacing, slant spacing, and runway capacity. Runway sequencing is mandatory, and all factors affecting safe operation must be met. Therefore, during the runway sequencing phase, only conflict detection occurs; there is no sequencing degradation. When a conflict occurs, flights are delayed by a unit of time σT to avoid a conflict.

[0063] In the initial stage of runway sequencing, the sequenced landing time STA is initialized to the estimated landing time ETA. After sequencing begins, based on the STA time, it is checked whether the flight landing at the STA time meets the requirements for runway slot, wake separation, runway spacing, slant spacing, and runway capacity. If not, the STA is incremented by a delay σT, and the STA is updated to STA = STA + σT. The constraints are checked again based on the new STA. Runway sequencing is completed until all constraints are met, and the sequenced landing time STA is obtained.

[0064] In fact, during the runway sequencing phase, conflict detection involves continuously incrementing the STA time by a delay σT to check if the constraints are met. Runway sequencing is complete when the new STA time satisfies all constraints. Therefore, please refer to... Figure 3 The specific process of runway sequencing can be described as follows:

[0065] (1) Runway sequencing begins. Flight 4D trajectory prediction and flight estimated landing ETA / sequential landing STA have been completed. Set the sequential landing time STA to the estimated landing time ETA, i.e., STA = ETA.

[0066] (2) Based on the STA time, check whether the runway slot is closed at the landing time, whether there is a conflict with the wake turbulence of other flights, a conflict with the runway spacing, a conflict with the slant distance between flights on parallel runways, or whether the number of arriving flights has exceeded the runway capacity. If so, update STA to STA = STA + σT and continue to step 2); otherwise, complete the runway sorting and proceed to the next process.

[0067] That is, during the runway sequencing phase, the estimated landing time (ETA) calculated based on the 4D trajectory is used to obtain the initial sequencing landing time (STA). STA is used as the time base for probing to determine if any runway operation restrictions apply. If the restrictions are met, delay allocation begins; if the restrictions are not met, STA is updated to STA = STA + σT, and probing is performed again. This process continues until a suitable STA time is found.

[0068] II. Delayed Allocation

[0069] Based on the runway sequencing results, the difference between the scheduled landing time (STA) and the estimated landing time (ETA), ΔT = STA - ETA, is the delay duration for that flight. The purpose of delay allocation is to distribute the total delay duration ΔT among the various sectors the flight will pass through.

[0070] In delay allocation, the conflict detection mechanism is reflected in the STA calculated based on runway sorting. It detects the upper limit of the number of flights that the corresponding flight sector can control at the corresponding time. If it does not exceed the limit, the subsequent point sorting steps are performed; otherwise, STA = STA + σT, and the process returns to runway sorting.

[0071] Specifically, such as Figure 4 As shown, the delay allocation steps are as follows:

[0072] (1) Delay allocation begins, the runway sorting for the flight has been completed, the flight's ETA and STA, ΔT = STA - ETA;

[0073] (2) The priority of delay absorption of the sectors through which the flight passes is sorted from high to low.

[0074] (3) Traverse the sectors from high to low priority and allocate them according to the latency that each sector can absorb. Assume that the sectors the flight passes through are (s1, s2, ..., s3). n The maximum absorption times for each sector are configured as (t1, t2, ..., t). n The latency absorbed by each sector is then...

[0075]

[0076]

[0077]

[0078]

[0079]

[0080] (5) Traverse all sectors and check whether the sector capacity limit is met within the time period during which the flight passes through the sector after the delay allocation. If the sector capacity limit is exceeded, the delay σT is incremented by STA, STA is updated to STA = STA + σT, and the runway sorting is performed again.

[0081] (6) If the sector capacity limit is not exceeded, continue to determine whether the sector TTL limit is exceeded; if the sector TTL limit is not exceeded, the delay allocation ends; if the sector TTL limit is exceeded, check whether there is a Hold sector. If it exists, the Hold sector will absorb the remaining delay; otherwise, the remaining delay will be forcibly allocated according to the length of the flight route through each sector.

[0082] III. Waypoint Ranking

[0083] The waypoint sorting method described in this paper involves: after delay allocation, calculating the transit time for each waypoint; sequentially checking all waypoints, and if a waypoint is a sorting point, checking for time slot conflicts with other flights at that waypoint. If a conflict exists, two scenarios are handled: First, if ΔT is less than the sum of the maximum absorbed delays of all sectors, the STA is incremented by σT, the STA is updated to STA = STA + σT, conflict detection is performed, and the process returns to the runway sorting stage of Method 1. Second, if ΔT is greater than or equal to the configured sum of the maximum absorbed delays of all sectors, sorting point mode degradation is performed, the STA is initialized to the estimated arrival time (ETA), conflict detection is performed, and the process returns to the runway sorting stage.

[0084] Specifically, the waypoints are ordered as follows: Figure 5 As shown, it includes:

[0085] (1) The point sorting has started, and the delay allocation for this flight has been completed.

[0086] (2) Calculate the transit time of each waypoint.

[0087] (3) Traverse all waypoints. If there are no sorting points, no sorting point conflicts, or the sector TTL is not exceeded or has degenerated to the runway sorting stage, then the point sorting ends and the port sorting ends.

[0088] (4) If there is a sorting point and the sorting point time slot conflicts, then determine whether the sector TTL exceeds the limit.

[0089] (5) If the sector TTL is not exceeded, the STA will continue to be delayed by STA = STA + σT, and the process will return to the runway sequencing stage.

[0090] (6) If the sector TTL exceeds the limit and has not degenerated to runway sorting, then sorting degeneration is performed, STA is updated to ETA, STA = ETA, and the process returns to the runway sorting stage.

[0091] It should be noted that in the waypoint sorting of this invention:

[0092] 1. The priority of sorting points and sorting modes are defined as follows:

[0093] Waypoint sorting priority definition:

[0094] Configure sorting point HIGH Corridor entrance MID ordinary waypoints LOW

[0095] Table 1

[0096] Sorting pattern definition:

[0097] Forced sorting Unsorted points Importance ranking Configure sorting point Sort by attention Configure sorting point + corridor entrance point Complete sorting All waypoints

[0098] Table 2

[0099] 2. Sorting Degradation Process

[0100] If the current sorting mode is "Full Sorting," the sorting points are all waypoints along the flight's route. When sorting degrades due to time slot conflicts, the system degrades the sorting mode to "Focus Sorting," where the sorting points only involve configured sorting points and corridor points. Reducing the number of sorting points lowers the probability of conflicts between flights. When sorting degrades again, the degradation process continues in this manner. When the sorting mode degrades to Forced Sorting, the system only guarantees runway sorting and no longer performs any waypoint sorting; waypoint conflicts are handled by manual intervention from air traffic control.

[0101] 3. Method for calculating waypoint transit time

[0102] Based on the aforementioned delay allocation, the waypoint sorting transit time is calculated according to the following rules, as shown in the following formula:

[0103]

[0104] Where (s1,s2,…,s) m The waypoints are (p1, p2, ..., p) in sequence. m The sorting time of (e1, e2, ..., e) is as follows: m ) represents the estimated time to cross a point calculated from the 4D trajectory, (d1, d2, ..., d n L represents the delay duration allocated to each sector in Method 2. k For waypoint p k With p k+1 The distance between them. In the above formula, the parameters related to 's' all refer to the sorting time to the point, and the parameters related to 'e' all refer to the estimated time to the point calculated from the 4D trajectory.

[0105] In other words, during the delay allocation phase, given the waypoint arrival times, the system sequentially checks whether a flight has conflicts with other flights at each of the sorted waypoints. If no conflict exists, the sorting process ends. If a conflict exists, ... (Where ΔT = STA - ETA is the current flight delay duration) For sector (s1, s1, ..., s1) n If the total delay that can be absorbed is ), then STA is updated to STA = STA + σT, runway sorting is performed again, and detection is performed again; if The sorting mode then degenerates, progressing from "complete sorting" to "focused sorting" to "important sorting" to "forced sorting". When the sorting mode degenerates to forced sorting, the system only sorts runways and no longer sorts waypoints.

[0106] The method of this invention has the following beneficial effects:

[0107] (1) Existing conflict resolution solutions cannot solve the problem of multiple sorting, that is, resolving a conflict at one waypoint leads to the creation of new conflict waypoints, and it is always impossible to resolve conflicts at multiple sorting points simultaneously. The method of this application does not directly resolve conflicts, but adopts a conflict detection and conflict avoidance method, which simplifies the multiple sorting problem to single-point sorting of runways, effectively resolving all conflicts and ensuring safe operation.

[0108] (2) Multiple sorting strategies are provided for flexible selection to achieve a balance between safe operation and efficiency. When there are many flights, a safety-first strategy can be adopted to strictly ensure that flights do not conflict; when there are few flights, an efficiency-first strategy can be adopted. Air traffic control departments can flexibly choose the sorting strategy according to the actual operation situation.

[0109] (3) The method of this application does not involve complex mathematical operations, which is convenient for engineering implementation and reduces the requirements for computing power.

[0110] Based on the same inventive concept, embodiments of the present invention provide an arrival sorting device based on collision detection and sorting degradation. For example... Figure 6 As shown, the port arrival sorting device may include one or more processors 101, one or more input devices 102, one or more output devices 103, and a memory 104. The processors 101, input devices 102, output devices 103, and memory 104 are interconnected via a bus 105. The memory 104 stores a computer program, which includes program instructions. The processor 101 is configured to invoke the program instructions to execute the aforementioned method steps.

[0111] It should be understood that, in the embodiments of the present invention, the processor 101 may be a central processing unit (CPU), a deep learning graphics card (such as Huawei NPU, NVIDIA GPU, Google TPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0112] Input device 102 may include a keyboard, etc., and output device 103 may include a display (LCD, etc.), a speaker, etc.

[0113] The memory 104 may include read-only memory and random access memory, and provides instructions and data to the processor 101. A portion of the memory 104 may also include non-volatile random access memory. For example, the memory 104 may also store device type information.

[0114] Please refer to this again. Figure 7 This invention also provides an arrival sorting system based on conflict detection and sorting degradation, comprising:

[0115] Runway Sequencing Module: Based on the estimated arrival time (ETA) calculated from the 4D trajectory, an initial sorted arrival time (STA) is obtained. Conflict detection is performed using the initial sorted arrival time as the time base to determine whether the flight complies with the various restrictions of runway operation. If it does, the delay allocation step is initiated; otherwise, the sorted arrival time (STA) is updated to STA = STA + σT, and conflict detection continues using the new sorted arrival time (STA), where σT is the incremental delay.

[0116] Delay allocation module: Based on the sorted landing time STA calculated in the runway sorting step, detect the upper limit of the number of flights that the sector can control at the corresponding time. If it is not exceeded, proceed to the waypoint sorting step. If it is exceeded, the sorted landing time STA is delayed by STA = STA + σT, and return to the runway sorting stage.

[0117] Waypoint sorting module: After delay allocation, calculate the transit time of each waypoint; check in turn whether the flight has conflicts with other flights at the sorted waypoints. If there are no conflicts, the sorting ends; if there are conflicts, degenerate sorting is performed.

[0118] Specifically, the runway sorting module is used for:

[0119] Based on the estimated landing time ETA calculated from the 4D trajectory, the initial sorted landing time STA is obtained;

[0120] Based on the sorted landing time STA, check whether the flight meets the requirements for runway slot, wake separation, runway spacing, slant spacing, and runway capacity. If not, update the sorted landing time STA to STA = STA + σT, and check again based on the new sorted landing time STA to see if the above requirements are met, until the above requirements are met, and the runway sorting is completed.

[0121] Specifically, the waypoint sorting module is used for:

[0122] Check each flight sequentially at all waypoints for conflicts with other flights. If conflicts exist, perform a degenerate sorting process, specifically:

[0123] like Then update the sorted landing time STA to STA = STA + σT, perform conflict detection again, and sort the runways again; where ΔT = STA - ETA is the current flight delay duration. For sector (s1, s1, ..., s1) n The total delay that can be absorbed;

[0124] like The sorting mode then degenerates, progressing step by step from "complete sorting" to "focused sorting" to "important sorting" to "forced sorting". When the sorting mode degenerates to forced sorting, only runway sorting is performed, and waypoint sorting is no longer performed.

[0125] It should be noted that for a more detailed description of the system and equipment workflow, please refer to the aforementioned method implementation section, which will not be repeated here.

[0126] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An arrival sorting method based on collision detection and sorting degradation, characterized in that, include: Runway sequencing steps: Calculate the estimated landing time (ETA) based on the 4D trajectory, and initialize the sequenced landing time (STA) to the estimated landing time (ETA); Using the initialized sorted landing time as the time base, conflict detection is performed to determine if the flight meets all runway operation restrictions. If it does, the delay allocation step begins; otherwise, the sorted landing time STA is updated. The STA will continue to conduct collision detection based on the new sorted landing time. For incremental delays; Delay allocation steps: Based on the sorted landing time (STA) calculated in the runway sorting step, check the maximum number of flights that the sector can control at that time. If it is not exceeded, proceed to the waypoint sorting step; if it is exceeded, the sorted landing time (STA) is further delayed. Then return to the runway sorting step and re-perform collision detection based on the latest sorted landing time; Waypoint sorting steps: After delay allocation, calculate the transit time for each waypoint; sequentially check whether the flight has time slot conflicts with other flights at the sorted waypoints. If not, the sorting ends; if conflicts exist, proceed as follows: like Then update the sorting landing time STA to Return to the runway sorting step and re-perform collision detection using the latest sorted landing time as the time base; where The current flight delay duration, For sector (s1,s2,...,s) n The total delay that can be absorbed, (s1,s2,...,s) n Let t represent the sectors the flight passes through, with n sectors in total. i The maximum absorbed delay time for the i-th sector through which the flight passes; like If a time slot conflict occurs, the sorting mode degrades. Sorting modes include Full Sorting, Focus Sorting, Important Sorting, and Forced Sorting, degrading progressively from "Full Sorting" → "Focus Sorting" → "Important Sorting" → "Forced Sorting". The current sorting mode is degraded to the next level, and the runway sorting step is returned to the degraded sorting mode. The sorted landing time (STA) is initialized to the estimated landing time (ETA), and conflict detection is performed using the initialized landing time as the time base. Specifically, "Full Sorting" sorts all waypoints the flight will pass through; "Focus Sorting" sorts only waypoints involving configuration sorting points and corridor entrances; "Important Sorting" sorts only waypoints involving configuration sorting points; and "Forced Sorting" only sorts the runway, without sorting waypoints. If the current sorting mode is "Full Sorting," and a time slot conflict causes a sorting mode degrade, the current sorting mode is degraded to "Focus Sorting." When the sorting mode degrades to Forced Sorting, only runway sorting is performed, without sorting waypoints, and waypoint conflicts are handled manually by air traffic control.

2. The port arrival sorting method as described in claim 1, characterized in that, The specific steps for track sequencing are as follows: (11) Calculate the estimated landing time ETA based on the 4D trajectory, and initialize the sorted landing time STA to the estimated landing time ETA; (12) Based on the sorted landing time STA, check whether the runway is closed when the flight lands at that sorted landing time, whether there is a wake conflict with other flights, runway interval conflict, and slant distance conflict between flights on parallel runways, and whether the number of arriving flights has exceeded the runway capacity. If any of them are true, then update the sort landing time STA to . Continue to step (12); if all are negative, then complete the runway sorting and proceed with the delay allocation step.

3. The port arrival sorting method as described in claim 2, characterized in that, The specific steps for delay allocation are as follows: (21) Sort the delay absorption priority of the sectors through which the flight passes from high to low; (22) Traverse the sectors from high to low priority and allocate delays according to the latency that each sector can absorb. (23) Traverse all sectors and check whether the sector capacity limit is met within the time period during which the flight passes through the sector after the delay allocation; if the sector capacity limit is exceeded, the landing time STA is incremented backward. The sorting and landing time (STA) have been updated to... Return to the runway sorting step and re-execute the collision detection based on the latest sorted landing time; (24) If in step (22) the sum of the maximum absorbed delay of all sectors is less than the delay duration, check if there is a Hold sector. If there is, allocate the remaining delay to the Hold sector; otherwise, allocate the remaining delay proportionally according to the length of the flight route through each sector.

4. An arrival sorting device based on collision detection and sorting degradation, comprising a processor, an input device, an output device, and a memory, wherein the processor, input device, output device, and memory are interconnected, characterized in that, The memory is used to store program instructions, and the processor is configured to invoke the program instructions to perform the steps of the method as described in any one of claims 1-3.

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