A reference track generation method based on flight sequencing information

Abstract

The application provides a reference flight path generation method based on flight sequencing information, first, according to the flight dynamic, the planned flight trajectory and the sequencing information of the flight, a delay absorption flight segment is screened; then, according to the delay degree of the flight segment, a delay absorption scheme is formulated, and the corresponding delay absorption strategy is calculated; then, according to the delay absorption scheme, the planned flight trajectory of the flight is corrected to generate a reference flight trajectory; on this basis, combined with the handover accuracy limit of the flight at the sequencing point, a reference flight path dynamically updated with the system time is generated; by comparing the real flight path of the flight, the current flight state of the flight can be judged whether it can meet the sequencing overpoint time and the handover accuracy requirement at the sequencing point, the ability of the air traffic management personnel to accurately command the flight according to the flight sequencing information is enhanced, and a technical foundation for the future implementation of the trajectory operation based on the flight sequencing information of China's civil aviation is laid.

Description

Technical Field

[0001] The present invention belongs to the field of civil aviation air traffic management, and in particular relates to a reference track generation method based on flight sequencing information. Background Art

[0002] In the field of civil aviation air traffic management, air traffic controllers (ATCs) initially used the Trailing Interval (MIT) strategy to control the intervals between flights entering busy airspace, such as terminal areas, to alleviate operational pressure. While the MIT strategy is easy for ATMs to understand and implement, it provides low airspace resource utilization. In recent years, with the development of domestic air traffic flow management (ATFM), ATMs have begun to replace the MIT strategy with flight sequencing strategies. These strategies prioritize flights at busy waypoints within a busy airspace, such as entry points and intersections, and assign sequencing information (including recommended times and sequences for flights to fly through these waypoints) to flights passing through them. Compared to the traditional MIT strategy, these strategies maximize airspace resource utilization. Current supporting systems include traffic flow management systems and airport arrival management systems (AMANs). However, the timing recommendations assigned by flight sequencing strategies are abstract and difficult for ATMs to intuitively perceive and understand, making them difficult to accurately implement and reducing the effectiveness of flight sequencing strategies. Summary of the Invention

[0003] Purpose of the Invention: This invention provides a method for generating reference flight paths based on flight sequencing information, aiming to address the problem that flight sequencing information in busy airspace is difficult for air traffic control personnel to intuitively perceive and understand, making it difficult to accurately execute. The invention includes the following steps:

[0004] Step 1, basic data preparation: obtain the input data required by this method and perform preliminary processing on it.

[0005] Step 2: Screening and dividing delay-absorbing segments: Based on the flight dynamics and sorting information of the flight, screen the delay-absorbing segments in the planned flight trajectory of the flight.

[0006] Step 3: Delay absorption plan construction: Based on the implementation effect of different types of delay absorption strategies, classify and define the degree of flight delay and construct corresponding delay absorption plans.

[0007] Step 4, delay absorption strategy calculation: select the corresponding delay absorption plan according to the delay degree of the flight segment, and calculate the delay absorption strategy included in the delay absorption plan.

[0008] Step 5, reference flight trajectory generation: Modify the planned flight trajectory according to the delay absorption plan to form a reference flight trajectory.

[0009] Step 6: Reference track generation and application: Based on the reference flight trajectory and the handover accuracy limit at the sorting point, a reference track is generated that is dynamically updated with system time to assist users in intuitively determining whether the flight can arrive at the sorting point according to the sorting time.

[0010] Beneficial Effects: The method of the present invention can analyze the degree of flight delay based on flight sequencing information and formulate delay absorption plans based on classification, ultimately forming a reference trajectory that is dynamically updated with system time, achieving the goal of converting abstract flight sequencing information into a visual spatial position reference, making it easier for users to intuitively judge whether the current operating status of the flight meets the sequencing information requirements; this method can be applied to air traffic control automation systems, providing system users with a new capability to accurately command flight flights according to sequencing information, laying a technical foundation for the future implementation of trajectory-based operations (TBO) in my country's civil aviation. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become more apparent.

[0012] Figure 1 It is the overall processing flow chart of the present invention.

[0013] Figure 2 It is a schematic diagram of the composition of the flight trajectory points of the present invention.

[0014] Figure 3 It is a schematic diagram of the planned flight trajectory detection process of the present invention.

[0015] Figure 4 It is a schematic diagram of screening and dividing delay absorbing flight segments of the present invention.

[0016] Figure 5 It is a schematic diagram of the aircraft's equiangular yaw flight according to the present invention.

[0017] Figure 6 It is a schematic diagram of a combined application mode of the medium positive delay segment delay absorption strategy of the present invention.

[0018] Figure 7 It is a schematic diagram of the aircraft yaw and direct flight of the present invention.

[0019] Figure 8 It is a schematic diagram of a route turning point of the present invention.

[0020] Figure 9 It is a schematic diagram of the segment division of the equiangular yaw flight path of the present invention.

[0021] Figure 10 It is a schematic diagram of the segment division of the off-course direct flight path of the present invention.

[0022] Figure 11Schematic diagram of the reference track application of the present invention. DETAILED DESCRIPTION

[0023] like Figure 1 As shown, the present invention provides a reference track generation method based on flight sorting information, comprising:

[0024] Step 1, prepare basic data: obtain the data required to generate the reference track and perform preliminary processing;

[0025] Step 2: Screening and dividing delay-absorbing segments: Based on the flight dynamics and sorting information of the flight, screen the delay-absorbing segments in the planned flight trajectory of the flight.

[0026] Step 3: Build a delay absorption plan: Based on the implementation effects of different types of delay absorption strategies, classify and define the degree of flight delay and build corresponding delay absorption plans.

[0027] Step 4: Calculate the delay absorption strategy: Select the corresponding delay absorption plan based on the delay degree of the flight segment, and calculate the delay absorption strategy included in the delay absorption plan.

[0028] Step 5: Generate a reference flight trajectory: Modify the planned flight trajectory according to the delay absorption plan to form a reference flight trajectory.

[0029] Step 6: Reference track generation and application: Based on the reference flight trajectory and the handover accuracy limit at the sorting point, a reference track is generated that is dynamically updated with system time to assist users in intuitively determining whether the flight can arrive at the sorting point according to the sorting time.

[0030] Step 1 includes the following steps:

[0031] Step 1-1, define the following variables:

[0032] Flt i : represents the i-th flight.

[0033] PtList i :Indicates flight Flt i The planned flight trajectory includes all flight trajectory points between the flight's take-off and landing airports.

[0034] PtNum i :Indicates flight Flt i Planned flight trajectory PtList i The number of trajectory points.

[0035] Pt i,j :Indicates flight Flt i Planned flight trajectory PtList i The jth trajectory point, Pt i,j∈PtList i .

[0036] SeqMark i,j : represents the trajectory point Pt i,j Is it a sorting point? A value of 1 indicates that the flight is at the trajectory point Pt i,j The value of 0 indicates that the flight is not at the trajectory point Pt i,j Participate in sorting, with an initial value of 0.

[0037] CircleMark i,j :Trajectory point Pt i,j Flag indicating whether it is a circling point. A value of 1 indicates the trajectory point Pt i,j It can be used for flights to circle and wait. The value 0 indicates the trajectory point Pt i,j Flights cannot circle or wait. The initial value is 0.

[0038] ETO i,j :Indicates flight Flt i At the trajectory point Pt i,j The estimated time of departure.

[0039] Velo i,j :Indicates flight Flt i At the trajectory point Pt i,j The expected flight speed at the location.

[0040] ClimbRatio i,j :Indicates flight Flt i At the trajectory point Pt i,j The expected climb rate at point Pt is 0, which means the flight is at the trajectory point Pt i,j Level flight, other values ​​indicate the flight is at the trajectory point Pt i,j Climb or descend.

[0041] Lat(Pt i,j ): represents the trajectory point Pt i,j latitude.

[0042] Lon(Pt i,j ): represents the trajectory point Pt i,j longitude.

[0043] Height(Pt i,j ):Indicates flight Flt i At the trajectory point Pt i,j The expected flight altitude.

[0044] STO i,j :Indicates flight Flt i At the trajectory point Pt i,jThe sorting time at the point, the initial value is ETO i,j .

[0045] PtDelay i,j :Indicates flight Flt i At the trajectory point Pt i,j The sorting delay at the point, in seconds, with an initial value of 0.

[0046] Step 1-2, generate planned flight trajectory: For flight Flt i According to its flight plan and flight dynamic information, the flight 4D trajectory prediction technology is used to predict all flight trajectory points of the flight from take-off to landing airport, forming a planned flight trajectory PtList i Planned flight trajectory PtList i The trajectory points in include not only the waypoints in the flight plan, but also the virtual points between adjacent waypoints generated by the 4D trajectory prediction technology; Figure 2 As shown in the figure, the circular icons represent waypoints in the flight plan, and the cross icons represent virtual points generated by 4D trajectory prediction technology between adjacent waypoints.

[0047] Planned flight trajectory PtList i Each trajectory point Pt i,j The information includes: track point name, estimated time of passing ETO i,j 、Estimated flight speed Velo i,j 、Expected climb rate ClimbRatio i,j 、LatitudeLat(Pt i,j ), longitude Lon(Pt i,j )、Expected flight altitudeHeight(Pt i,j ), CircleMark i,j .

[0048] Note 1: Flight plans are prepared by airlines based on their missions and submitted to air traffic control personnel. They include basic information such as the flight's departure and arrival airports, aircraft type, and flight route. Flight dynamics information refers to each flight's real-time position, speed, and heading, and can be provided by the air traffic control automation system.

[0049] Note 2: Flight 4D trajectory prediction technology is a common technology used in the civil aviation industry to predict flight paths. It is not the focus of this method and will not be described in detail here.

[0050] Note 3: A circling point is a special waypoint where a flight can circle and wait to absorb delays. This method will not be included in the planned flight trajectory PtList during subsequent processing. i Added a new hover point in .

[0051] Steps 1-3, obtain flight sorting information: In the daily operation of civil aviation, the air traffic flow management system or the airport approach management system will provide flight sorting services for busy waypoints, and allocate sorting time for flights that plan to pass through busy waypoints to ensure smooth air traffic. i The trajectory points that participate in flight sorting are called sorting points. This step obtains the sorting information of flights at busy waypoints from the air traffic flow management system or airport approach management system, and updates the planned flight trajectory PtList accordingly. i Each trajectory point Pt i,j The updated content includes the sorting point identifier SeqMark i,j and sorting time STO i,j ;

[0052] Planned flight trajectory PtList i Each trajectory point Pt i,j The sorting delay satisfies:

[0053]

[0054] Note 4: The arrival management system will sort the runway landing order of flights at the destination airport. Therefore, this method sets the last trajectory point (destination airport) in the flight plan flight trajectory as the sorting point by default.

[0055] Note 5: This method will not update the flight's sorting time at the sorting point during subsequent processing, and will not be included in the planned flight trajectory PtList i Added sorting points in .

[0056] Step 2 includes the following steps:

[0057] Step 2-1, define the following variables: SysTime: represents the current system time, which in this method refers to the real time based on Beijing time. i : Indicates the planned flight trajectory PtList i The maximum time interval between adjacent track points in seconds can be set by the user according to the requirements. In this method, it is set to 8 seconds. i,j ,Pt i,k ]: indicates the planned flight trajectory PtList i From the trajectory point Pt i,j To trajectory point Pt i,k The flight segments between i,j Indicates the starting point of the flight segment, Pt i,k Indicates the end point of this segment. i,j,k :Indicates flight Flti In the flight segment [Pt i,j ,Pt i,k ] flight status, a value of 1 indicates level flight, a value of 0 indicates non-level flight (i.e. climbing or descending). i,j,k :Indicates flight Flt i In the flight segment [Pt i,j ,Pt i,k ] on the delay value to be consumed, in seconds. RSPTime: Indicates the minimum reaction time from the current status of the flight to the start of delay absorption, in seconds. This method sets it to 30 seconds, which can be adjusted by the user as needed.

[0058] Step 2-2, check the planned flight trajectory: set the planned flight trajectory PtList i Each adjacent trajectory point in the segment [Pt i,p ,Pt i,p+1 ] is called a small segment. For the planned flight trajectory PtList i Each small segment [Pt i,p ,Pt i,p+1 ], determine flight Flt i Does the flight time on this segment meet the ETO requirement? i,p+1 -ETO i,p )≤Span i , for small segments that do not meet the conditions [Pt i,p ,Pt i,p+1 ], with parameter Span i Divide the step length by the proportion of flight time and add the newly generated virtual points to the planned flight trajectory PtList i middle.

[0059] like Figure 3 As shown, the track point interval parameter Span above i is 8 seconds, the flight is at the adjacent trajectory point Pt i,p With Pt i,p+1 The flight time is 20 seconds, with the parameter Span i Divide the step length by the flight time ratio to generate two new trajectory points and like Figure 3 Shown below. Figure 3 Lower mid-track point The longitude meets Latitude Satisfaction Estimated flight altitude Estimated flight speed Estimated rate of climb Estimated time Circling point flag Sorting point identifier Sort by time Track Points The longitude meets Latitude Satisfaction Estimated flight altitude Estimated flight speed Estimated rate of climb Estimated time Circling point flag Sorting point identifier Sort by time

[0060] Step 2-3, determine the flight status of the flight segment: for the planned flight trajectory PtList i Each small segment [Pt i,p ,Pt i,p+1 ], flight Flt i Flight status on the flight segment Seg Pr o i,p,p+1 The judgment formula is as follows:

[0061]

[0062] Step 2-4, filter the delay absorbing segments: Let [Pt t ,Pt t+1 ] is the current system time SysTime under flight Flt i In the planned flight trajectory PtList i The actual flight segment in the , must meet the following conditions:

[0063]

[0064] Let Pt i,Bgn For flight Flt i In the planned flight trajectory PtList i The starting point of delay absorption in the trajectory should be the distance from Pt i,t+1 The nearest trajectory point that meets the RSPTime constraint, that is, Pt i,Bgn The following conditions must be met:

[0065] (Bgn≥t+1)

[0066] &&(ETO i,Bgn -SysTime≥RSPTime)

[0067] &&Min{ETO i,Bgn -ETO i,t+1}

[0068] The flight plan trajectory PtListi The last trajectory point (destination airport) in is set as the sorting point, and the last trajectory point is used as the end point of the delay absorbing segment, denoted as Pt i,End In summary, in this method, flight Flt i Planned flight trajectory PtList i From Pt i,Bgn To Pt i,End The flight segments between i,Bgn ,Pt i,End ] as a delay absorbing segment.

[0069] Step 2-5, divide the delay absorbing segments: In order to ensure that the flight can accurately absorb the delay of each sequencing point in the planned flight trajectory, this step divides the delay absorbing segments according to the sequencing points [Pt i,Bgn ,Pt i,End ], each segment [Pt i,m ,Pt i,n ] is called a sub-segment and must meet the following requirements:

[0070]

[0071] Flight Flt i In each sub-segment [Pt i,m ,Pt i,n The calculation formula for the delay value that needs to be absorbed on the ] is as follows:

[0072] SegDelay i,m,n =PtDelay i,n -PtDelay i,m (4)

[0073] like Figure 4 As shown in the figure, the airplane icon represents the current position of the flight, and the black solid line represents the subsequent planned flight trajectory of the flight, which includes three sorting points P1, P2 and P3, among which P3 is the last trajectory point in the planned flight trajectory (destination airport); the figure selects a trajectory point P0 30 seconds away from the current position of the flight as the starting point for delay absorption, and uses [P0, P3] as the delay absorption segment, which is divided into three sub-segments Seg1, Seg2 and Seg3 according to the sorting points.

[0074] Step 3 includes the following steps: Step 3-1, analyze the characteristics of delay absorption strategies: For flights in flight, the delay absorption strategies adopted by air traffic management personnel mainly include three categories: speed control strategy, yaw strategy, and circling strategy; Table 1 below provides a qualitative description of the advantages and disadvantages of each strategy.

[0075] Table 1

[0076]

[0077]

[0078] Step 3-2: Build a delay absorption plan. This step categorizes the delay levels of sub-segments based on the amount of delays that the flight needs to absorb and the effectiveness of each delay absorption strategy. It then sets corresponding delay absorption strategies and optimization targets for segment delay absorption, forming a segment delay absorption plan, as shown in Table 2 below.

[0079] Table 2

[0080]

[0081] The delay absorption capacity of the delay absorption strategy is related to multiple factors such as the flight dynamics, performance, and route structure of the flight, and is difficult to determine intuitively. Therefore, for delayed segments, this step will initially define them as small delay segments, which will be subsequently verified in detail in step 4.

[0082] Step 4: For each sub-segment generated in steps 2-5 [Pt i,m ,Pt i,n ], select the corresponding delay absorption plan according to the delay degree of the flight in the sub-segment, and calculate the delay absorption strategy included in the delay absorption plan. It includes the following steps:

[0083] Step 4-1, define the following variables: DlyProgmCode i,j,k :Indicates flight Flt i In the flight segment [Pt i,j ,Pt i,k ] is the delay absorption scheme number used on the system. The value 0 means no adjustment is required, the value 1 means only the speed control strategy is used, the value 2 means the combination of yaw and speed control strategy is used, the value 3 means the circling strategy is used, the value 4 means manual adjustment, and the initial value is 0. SegDis i,j,k :Indicates flight Flt i In the flight segment [Pt i,j ,Pt i,k ] on the flight miles; DelayAbSpeedSug i,j,k :Indicates flight Flt i In the flight segment [Pt i,j ,Pt i,k The flight speed used when implementing the speed control strategy on . i,j,k :Indicates flight Flt i In the flight segment [Pt i,j ,Pt i,kThe delay absorbed by the speed control strategy on the segSpeedCho is initially 0. i,j,k :Indicates flight Flt i In the flight segment [Pt i,j ,Pt i,k ] flag to implement the speed control strategy, the value of 1 indicates that the flight Flt i Implement speed control strategy on the flight segment, and the value 0 indicates flight Flt i Do not implement speed control strategy on the flight segment, the initial value is 0. SegMinSpeed i,j,k :Indicates aircraft Flt i In the flight segment [Pt i,j ,Pt i,k ] is the minimum safe flight speed, which is obtained based on aircraft performance or airspace operation restrictions; SegMaxSpeed i,j,k :Indicates aircraft Flt i In the flight segment [Pt i,j ,Pt i,k ] is the maximum safe flight speed, which is obtained based on aircraft performance or airspace operation restrictions; FltEcoSpeed i,j,k :Indicates flight Flt i In the flight segment [Pt i,j ,Pt i,k ], which is the economic flight speed at which the flight efficiency is the highest and is determined based on the performance of each flight; SpeedAdjSpan i :Indicates flight Flt i The speed adjustment interval can be set according to user needs. i,j :Indicates aircraft Flt i At the trajectory point Pt i,j The delay absorption strategy type on θ is 0, which means no strategy, 1 means speed control strategy, 2 means yaw strategy, 3 means circling strategy, and the initial value is 0. i :Indicates flight Flt i The angle between the yaw flight path and the original path. θUpLimit i :Indicates flight Flt i The maximum angle between the yaw flight path and the original path is set by the user according to needs; θDownLimit i :Indicates flight Flt i The minimum angle between the yaw flight path and the original path is set by the user according to needs; SegActionDelay i,j,k :Indicates aircraft Flt i In the flight segment [Pt i,j ,Pt i,kThe delay absorbed by the yaw strategy on the segActionCho, the initial value is 0. i,j,k :Indicates flight Flt i In the flight segment [Pt i,j ,Pt i,k ] implement the flag of the yaw strategy, the value of 1 indicates that the flight Flt i Implement the deviation strategy on this segment, and the value of 0 indicates that the flight Flt i Do not implement the yaw strategy on this segment, the initial value is 0. i,j :Indicates flight Flt i At its flight trajectory point Pt i,j The adjacent segments [Pt i,j-1 ,Pt i,j ] and [Pt i,j ,Pt i,j+1 ], a value of 0 indicates that the delay absorption strategies on adjacent segments are the same, a value of 1 indicates that the delay absorption strategies on adjacent segments are different, and the initial value is 0. i,j,k :Indicates flight Flt i In the flight segment [Pt i,j ,Pt i,k ], a value of 1 indicates that the flight Flt i The deviation strategy can be implemented in this segment, and the value of 0 indicates that the flight Flt i The yaw strategy cannot be implemented in this segment, and the initial value is 0; SegStraDis i,j,k :Indicates flight Flt i In the flight segment [Pt i,j ,Pt i,k ]Pt i,j and the end point Pt i,k The straight-line distance between the two segments is also referred to as the direct flight distance of the flight segment in this invention. i,m,n :Flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] on the route turning point collection. RteTurnPtArrayNum i,m,n : Queue RteTurnPtArray i,m,n The number of elements in RrtSegOpArray. i,m,n :Flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] on the yaw segment option collection. RrtSegOpArrayNum i,m,n :queue RrtSegOpArrayi,m,n The number of elements in RrtSceOpArray. i,m,n :Flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] on the yaw strategy option collection. RrtSceOpArrayNum i,m,n : Queue RrtSceOpArray i,m,n The number of elements in RrtSceOp. i,m,n,z :RrtSceOpArray i,m,n The zth yaw strategy option in the queue. RrtSceOp i,m,n,z (Dis):RrtSceOpArray i,m,n The flight mileage of the zth yaw strategy option in the queue. i,m,n,z (DisInc): RrtSceOpArray i,m,n The range increment for the zth yaw maneuver option in the queue. i,m,n,z (SegNum): RrtSceOpArray i,m,n The number of yaw segments for the zth yaw strategy option in the queue. i,m,n,z (Num): RrtSceOpArray i,m,n The number of segments contained in the zth yaw strategy option in the queue.

[0084] Step 4-2, delay absorption strategy for small delay segments: In this case, let the sub-segment [Pt i,m ,Pt i,n ]'s delayed absorption plan number DlyProgmCode i,m,n =1, that is, the speed regulation strategy is used to distribute and absorb flight delays.

[0085] Step 4-2 includes the following steps:

[0086] Step 4-2-1, build model: For sub-segment [Pt i,m ,Pt i,n Any small segment within [Pt i,p ,Pt i,p+1 ], the speed control strategy is in the flight segment [Pt i,p ,Pt i,p+1 ]’s delay absorption capacity and flight Flt i In the flight segment [Pt i,p ,Pt i,p+1 ] is related to the flight status, flight mileage and flight speed of the flight segment. The calculation formula is as follows:

[0087]

[0088] According to the delay allocation target of the small delay segment and the delay absorption capacity of the speed regulation strategy, the delay allocation model of the small delay segment is constructed as follows:

[0089] Min F=f1

[0090]

[0091] in:

[0092] f1=|FltEcoSpeed i,m,n -DelayAbSpeedSug i,m,n |

[0093] In the model, F represents the optimization objective, which includes a sub-optimization objective f1. The optimization objective f1 is to reduce the deviation between the flight speed in the speed control strategy and the economic flight speed, thereby reducing the economic losses in the delay absorption process.

[0094] The key variables in the model include: Flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] Speed ​​adjustment value DelayAbSpeedSug i,m,n , sub-segment [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ] on the speed control strategy flag SegSpeedCho i,p,p+1 and its delay absorption capacity SegSpeedDelay i,p,p+1 . The variable SegSpeedCho i,p,p+1 Used to determine the sub-segment [Pt i,m ,Pt i,n ]The scope of the speed control strategy on .

[0095] The first constraint in the model indicates that the total delay absorbed by the speed control strategy is equal to flight Flt i In the sub-segment [Pt i,m ,Pt i,n Total delay SegDelay on i,m,n ; The second constraint in the model represents the sub-segment [Pt i,m ,Pt i,n The scope of action of the speed control strategy on the flight path is continuous; the third constraint in the model indicates that delay absorption is not performed on non-level flight segments; the fourth constraint in the model represents the calculation formula for the delay absorption capacity of the speed control strategy; the fifth, sixth, and seventh constraints in the model represent the value range restrictions of the variables in the model;

[0096] Step 4-2-2, design algorithm: By discretizing the speed adjustment value, simplify the delay allocation model calculation process for small delay segments and generate an approximate solution for the optimal segment delay absorption strategy. Specifically, it includes:

[0097] Step 4-2-2-1, discretization of speed adjustment value: speed adjustment value DelayAbSpeedSug in the delay distribution model of the small delay segment i,m,n It is a continuous variable. To simplify the calculation process, DelayAbSpeedSug is optimized according to the optimization target f1. i,m,n Discretization processing is performed, and the processing formula is:

[0098] DelayAbSpeedSug i,m,n =FltEcoSpeed i,m,n +L*SpeedAdjSpan i ,L∈Z (7)

[0100] And must meet DelayAbSpeedSug i,m,n ∈[SegMinSpeed i,m,n ,SegMaxSpeed i,m,n ] and SpeedAdjSpan i >0;

[0101] Step 4-2-2-2, calculate the flight delay absorption strategy, which specifically includes the following steps:

[0102] Step 4-2-2-2-1, model simplification: Add formula (7) as a new constraint to the delay allocation model of the small delay segment to generate the simplified model 1 shown below:

[0103] Min F=f1

[0104]

[0105] Step 4-2-2-2-2, calculation model: To meet the optimization goal f1, starting from L=0, calculate the corresponding speed adjustment value DelayAbSpeedSug according to the fifth constraint condition in the simplified model 1 i,m,n , and detect the speed adjustment value DelayAbSpeedSug according to the seventh constraint condition in the simplified model 1 i,m,n The rationality of the speed adjustment value DelayAbSpeedSug that satisfies the seventh constraint condition in the simplified model 1 i,m,n , calculate the sub-segment [Pt i,m ,Pt i,n ] Each small segment [Pti,p ,Pt i,p+1 ]Delay absorption capacity under the speed control strategy SegSpeedDelay i,p,p+1 ; At this time, the variables in the simplified model 1 include sub-segments [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ] speed control strategy flag SegSpeedCho i,p,p+1 , according to the 1st, 2nd, 3rd, and 6th constraints in the simplified model 1, the enumeration method is used to determine whether there is a feasible solution. If there is a feasible solution, the feasible solution of the simplified model 1 is calculated; otherwise, the value of |L is taken in ascending order, and steps 4-2-2-2-2 are repeated;

[0106] Step 4-2-2-2-3 result assignment: For the first set of feasible solutions calculated in step 4-2-2-2-2, the corresponding speed adjustment value DelayAbSpeedSug i,m,n and sub-segments [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ] speed control strategy flag SegSpeedCho i,p,p+1 As an approximate solution to the optimal speed control strategy; Flight Flt i In the sub-segment [Pt i,m ,Pt i,n Each trajectory point Pt in i,p The delay absorption strategy type satisfies the following formula:

[0107]

[0108] If there is no feasible solution after the processing of step 4-2-2-2-2, then let the sub-segment [Pt i,m ,Pt i,n ] is a medium-delay segment. Go to step 4-3 to regenerate the delay absorption strategy.

[0109] Step 4-3, delay absorption strategy for medium-delay segments: In this case, let the sub-segment [Pt i,m ,Pt i,n ]'s delayed absorption plan number DlyProgmCode i,m,n =2, that is, a combination of the deviation strategy and the speed control strategy is used to allocate and absorb flight delays. Because the deviation strategies used in positive and negative delay situations are different, this step classifies and calculates the delay absorption strategy based on the positive and negative situations of flight delays. Specifically, it includes:

[0110] Step 4-3-1, Delay Absorption Strategy for Moderately Delayed Segments:

[0111] The delayed segment meets SegDelay i,m,n >0, the delay absorption strategies used in this step include speed control strategy and yaw strategy, where the yaw strategy refers to increasing the flight distance of the segment by yawing and circling.

[0112] Step 4-3-2, Delay Absorption Strategy for Medium Negative Delay Segments:

[0113] Negative delay segments satisfy SegDelay i,m,n <0, the delay absorption strategies adopted in this step include speed control strategy and yaw strategy, wherein the yaw strategy refers to shortening the flight distance of the segment by yaw direct flight.

[0114] Step 4-4, delay absorption strategy for the long-delayed segment: In this case, let the sub-segment [Pt i,m ,Pt i,n ]'s delayed absorption plan number DlyProgmCode i,m,n =3, that is, a circling strategy is adopted to distribute and absorb flight delays.

[0115] Step 4-5, delay absorption strategy for non-delayed segments: In this case, flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] is 0, and the delay absorption plan number of this segment is DlyProgmCode i,m,n =0, which means that no delay absorption strategy needs to be adopted.

[0116] Step 4-3-1 includes the following steps: Step 4-3-1-1, build model: for sub-segment [Pt i,m ,Pt i,n Any small segment within [Pt i,p ,Pt i,p+1 ], the speed control strategy is in the flight segment [Pt i,p ,Pt i,p+1 ]’s positive delay absorption capacity and flight Flt i In this segment [Pt i,p ,Pt i,p+1 ] is related to the flight status, flight mileage and flight speed of the flight segment. The calculation formula is as follows:

[0117]

[0118] Absorbing positive delays by increasing flight distance through yaw and circumnavigation. In actual operation, there are many ways to yaw and circumnavigate flights. This step selects the most commonly used equiangular yaw and circumnavigation, which means first flying away from the original route at a fixed angle for a distance and then returning to the original route at the same angle. Figure 5 As shown in the figure, the flight segment [Pt i,p ,Pt i,p+4 ] is the effective flight segment of the yaw strategy, the dotted line represents the yaw flight path, θ i Indicates the yaw angle of the flight.

[0119] In the equiangular yaw fly-around, the yaw fly-around angle θ i It is an important factor affecting the delay absorption capacity of the yaw strategy. The flight yaw angle θ is set i The value range [θUpLimit i ,θDownLimit i ]; for sub-segment [Pt i,m ,Pt i,n Any small segment within [Pt i,p ,Pt i,p+1 ], the yaw strategy in the flight segment [Pt i,p ,Pt i,p+1 ]’s positive delay absorption capacity and flight Flt i In the flight segment [Pt i,p ,Pt i,p+1 The yaw angle of the flight is related to the flight speed, and the calculation formula is:

[0120]

[0121] Based on the delay allocation target for medium positive delay segments and the delay absorption capacity of various delay absorption strategies, the delay allocation model for medium positive delay segments is constructed as follows:

[0122] Min F=(g1,f2,f3)

[0123]

[0124] in:

[0125]

[0126]

[0127]

[0128] In the model, F represents the optimization goal of this model, which includes three sub-optimization goals: g1, f2, and f3. The optimization goal g1 is to reduce the distance increment caused by yaw and detour, thereby reducing the economic losses in the delay absorption process. The optimization goal f2 is to reduce the effective flight segments of the yaw strategy, improve the fit between the actual flight trajectory and the planned flight trajectory, and reduce the interference of the delay absorption process on the planned flight trajectory. The optimization goal f3 is to reduce the number of cross-uses of different types of delay absorption strategies, thereby reducing the difficulty of implementing the delay absorption strategy.

[0129] The key variables in the model include: Flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] Speed ​​adjustment value DelayAbSpeedSug i,m,n , flight Flt i The yaw angle θ i , each small segment [Pt i,p ,Pt i,p+1 ] on the speed control strategy flag SegSpeedCho i,p,p+1 and its delay absorption capacity SegSpeedDelay i,p,p+1 , the flag of the yaw strategy SegActionCho i,p,p+1 and its delay absorption capacity SegActionDelay i,p,p+1 . The variable SegSpeedCho i,p,p+1 Used to determine the sub-segment [Pt i,m ,Pt i,n ] on the scope of the speed control strategy, SegActionCho i,p,p+1 Used to determine the sub-segment [Pt i,m ,Pt i,n ]The scope of the yaw strategy on ].

[0130] The first constraint in the model indicates that the sum of delays absorbed by the speed control strategy and the deviation strategy is equal to the flight Flt i In the sub-segment [Pt i,m ,Pt i,n Total delay SegDelay on i,m,n The second constraint in the model indicates that the speed control strategy and the yaw strategy are used to absorb the segment delay SegDelay in the same direction i,m,n ; The third constraint in the model represents the sub-segment [Pt i,m ,Pt i,n ] on any small segment [Pt i,p ,Pt i,p+1 ] is assigned at most one of the speed control strategy or the deviation strategy; the fourth constraint in the model represents the sub-segment [Pti,m ,Pt i,n The scope of action of the speed control strategy and the yaw strategy on the flight path is continuous; the fifth constraint in the model indicates that no delay absorption is performed on the non-level flight segment; the sixth constraint in the model indicates the calculation formula for the positive delay absorption capacity of the speed control strategy; the seventh constraint in the model indicates the calculation formula for the positive delay absorption capacity of the yaw strategy; the eighth constraint in the model indicates the flight Flt i In the sub-segment [Pt i,m ,Pt i,n Each flight trajectory point Pt on i,p The calculation method of the difference value of the delay absorption strategy of adjacent flight segments; the 9th, 10th, 11th and 12th constraints in the model represent the value range restrictions of the variables in the model;

[0131] Step 4-3-1-2, design algorithm: By setting a combination of delay absorption strategies and discretizing the speed adjustment value, the delay allocation model calculation process for medium positive delay segments is simplified, and an approximate solution for the optimal segment delay absorption strategy is generated. The specific steps include the following:

[0132] Step 4-3-1-2-1, set the combined application mode of the delay absorption strategy: To meet the optimization goals g1 and f3, in the sub-segment [Pt i,m ,Pt i,n In the case of medium positive delay, the combination application mode of the delay absorption strategy is set as follows:

[0133] Set the scope of the delay absorption strategy: Set the scope of the delay absorption strategy to the entire sub-segment [Pt i,m ,Pt i,n ], the scope of the speed control strategy and yaw strategy must satisfy the following formula:

[0134]

[0135]

[0136] Set the priority of delay absorption strategy: according to the optimization target g1, the delay absorption is carried out by giving priority to speed control strategy and supplementing with deviation strategy, which reduces the demand for the deviation strategy and thus reduces the flight mileage increment; for sub-segments [Pt i,m ,Pt i,n Any small segment within [Pt i,p ,Pt i,p+1 ], according to formulas (10) and (11), the difference in delay absorption capacity between the yaw strategy and the speed control strategy is:

[0137]

[0138] Set sub-segment [Pt i,m ,Pt i,n ] When only the speed regulation strategy is used to absorb the delay, according to formula (13), there is still The amount of delay cannot be absorbed; therefore, from the sub-segment [Pt i,m ,Pt i,n ] Select some flight segments to implement the deviation strategy to improve the delay absorption capacity, and the selected flight segments for the deviation strategy must meet the following conditions:

[0139]

[0140] According to formula (15) and the optimization target g1, the minimum value of the flight mileage increment caused by the yaw strategy is:

[0141]

[0142] According to formula (16), under the principle of “speed control strategy priority and yaw strategy supplement”, the optimization target g1 and the sub-segment [Pt i,m ,Pt i,n ] on the speed control value DelayAbSpeedSug i,m,n The variables are positively correlated.

[0143] Set the order of delay absorption strategies: According to the optimization objective f3, to reduce the cross-use of different types of delay absorption strategies, the order of delay absorption strategies is set to speed control first, then yaw, which must satisfy the following formula:

[0144]

[0145] Figure 6 The figure shows the combined application mode of the delay absorption strategy set for the medium positive delay segment in this step. The scope of the speed control strategy and the deviation strategy in the figure covers the sub-segment [Pt i,m ,Pt i,n ], and the speed control strategy was used first, and then the yaw strategy was used.

[0146] Step 4-3-1-2-2, discretization of speed adjustment value: speed adjustment value DelayAbSpeedSug in the delay distribution model of medium positive delay segment i,m,n It is a continuous variable. To simplify the calculation process, the processing formula is:

[0147] DelayAbSpeedSug i,m,n =SegMinSpeed i,m,n +L*SpeedAdjSpan i ,L∈Z(18)

[0148] And must meet DelayAbSpeedSug i,m,n ∈[SegMinSpeed i,m,n ,SegMaxSpeed i,m,n ] and SpeedAdjSpan i >0;

[0149] Step 4-3-1-2-3, calculate the flight delay absorption strategy: In the process of calculating the flight delay absorption strategy, the priority is to ensure the economic benefits of the flight. Secondly, the difficulty of implementing the delay absorption strategy and the degree of deviation between the flight trajectory and the planned trajectory are considered. Therefore, the priority of the optimization objectives in the delay allocation model for the medium positive delay segment is set from high to low to g1, f3, and f2. Specifically,

[0150] Step 4-3-1-2-3-1, model simplification process 1: To meet the optimization goal g1, according to the combined application mode of the delay absorption strategy set in step 4-3-1-2-1, formulas (13) and (16) are used as new constraints to replace the first and fourth constraints in the delay allocation model of the medium positive delay segment;

[0151] Step 4-3-1-2-3-2, model simplification process 2: starting from L = 0, take the value of L in ascending order, and calculate the speed adjustment value DelayAbSpeedSug corresponding to the current L according to formula (18) i,m,n ;

[0152] Step 4-3-1-2-3-3, model simplification process 3: DelayAbSpeedSug i,m,n Substitute the known parameters into the delay allocation model for the medium positive delay segment and remove the speed adjustment value DelayAbSpeedSug in the model. i,m,n Related optimization objectives g1 and constraints;

[0153] Step 4-3-1-2-3-4, model simplification process 4: To meet the optimization target f3, according to the combined application mode of the delay absorption strategy set in step 4-3-1-2-1, add formula (17) as a new constraint to the delay allocation model of the medium positive delay segment, and remove the optimization target f3 and related constraints;

[0154] In summary, the simplified model 2 shown below is generated:

[0155] Min F=(f2)

[0156]

[0157] Step 4-3-1-2-3-5, Model Calculation 1: Based on the seventh constraint condition and speed adjustment value DelayAbSpeedSug in simplified model 2 i,m,n , calculate the sub-segment [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 The delay absorption capacity of the speed control strategy SegSpeedDelay i,p,p+1 At this time, the variables in the simplified model 2 include: yaw angle θ i , sub-segment [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ] speed control strategy flag SegSpeedCho i,p,p+1 , the flag of the yaw strategy SegActionCho i,p,p+1 and its delay absorption capacity SegActionDelay i,p,p+1 ;

[0158] Step 4-3-1-2-3-6, model calculation 2: Let K be an integer variable with an initial value of 1; to meet the optimization goal f2, starting from K=1, in the sub-segment [Pt i,m ,Pt i,n ] to select K small segments [Pt i,p ,Pt i,p+1 ] as a potential yaw strategy action segment, and according to the fourth and fifth constraints in the simplified model 2, Pt i,p ∈[Pt i,n-K ,Pt i,n-1 ]; When the K selected small segments are set as the yaw strategy action segments, the yaw angle θ is calculated according to the constraints 1, 6, 9, and 10 in the simplified model 2. i Is there a feasible solution if θ i If there is no feasible solution, let K = K + 1, and repeat steps 4-3-1-2-3-6 until K>nm is satisfied, then return to step 4-3-1-2-3-2; if θ i If there is a feasible solution, the K small segments selected will be used as the segments for the deviation strategy, and the sub-segments [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ]'s yaw strategy flag SegActionCho i,p,p+1 and its delay absorption capacity SegActionDelay i,p,p+1; Calculate the sub-segment according to the constraints 2, 3, 4, 6, and 9 in the simplified model 2 [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ] speed control strategy flag SegSpeedCho i,p,p+1 , the feasible solution of simplified model 2 is calculated;

[0159] Step 4-3-1-2-3-7, result assignment: For the first set of feasible solutions calculated in step 4-3-1-2-3-6, the corresponding speed adjustment value DelayAbSpeedSug i,m,n and sub-segments [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ] speed control strategy flag SegSpeedCho i,p,p+1 As an approximate solution to the optimal speed control strategy; the corresponding yaw angle θ i and sub-segments [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ]'s yaw strategy flag SegActionCho i,p,p+1 As an approximate solution to the optimal yaw strategy; flight Flt i In the flight segment [Pt i,m ,Pt i,n Each trajectory point Pt in i,p The delay absorption strategy type satisfies the following formula:

[0160]

[0161] If there is no feasible solution after processing from step 4-3-1-2-3-1 to step 4-3-1-2-3-6, then let the sub-segment [Pt i,m ,Pt i,n ] is a high-delay segment. Go to step 4-4 to regenerate the delay absorption strategy.

[0162] Step 4-3-2 includes the following steps: Step 4-3-2-1, build model: for sub-segment [Pt i,m ,Pt i,n Any small segment within [Pt i,p ,Pt i,p+1 ], the speed control strategy is in the flight segment [Pt i,p ,Pt i,p+1 ]’s negative delay absorption capacity and flight Flt i In the flight segment [Pti,p ,Pt i,p+1 ] is related to the flight status, flight mileage and flight speed of the flight segment. The calculation formula is:

[0163]

[0164] Absorb negative delay by shortening the flight distance through deviating and direct flight. Figure 7 As shown in the figure, the flight segment [Pt i,x ,Pt i,y ] is the effective segment of the yaw strategy, which contains 4 small segments, and the dotted line represents the yaw direct flight path.

[0165] For sub-segments [Pt i,m ,Pt i,n Any flight segment within [Pt i,x ,Pt i,y ], first determine the flight Flt i Can [Pt i,x ,Pt i,y ] to fly straight on the deviation; if the following judgment conditions are met, let the flight segment [Pt i,x ,Pt i,y ] yaw capability flag SegActionCap i,x,y =1, otherwise let SegActionCap i,x,y =0:

[0166]

[0167] When [Pt i,x ,Pt i,y ] satisfies the judgment condition in formula (22), then it is used as the effective segment of the yaw strategy, and the yaw strategy is effective in this segment [Pt i,x ,Pt i,y ]’s negative delay absorption capacity and flight Flt i The deviation and direct flight distance in this section is related to the flight speed, and the calculation formula is:

[0168]

[0169] For [Pt i,x ,Pt i,y Any small segment within [Pt i,p ,Pt i,p+1 ], the yaw strategy in this segment [Pt i,x ,Pt i,y The calculation formula for the negative delay absorbing capacity on ] is:

[0170]

[0171] Based on the delay allocation target for medium negative delay segments and the delay absorption capacity of various delay absorption strategies, the delay allocation model for medium negative delay segments is constructed as follows:

[0172] Min F=(f1,f2,f3)

[0173]

[0174] in:

[0175] f1=|FltEcoSpeed i,m,n -DelayAbSpeedSug i,m,n |

[0176]

[0177]

[0178] In the model, F represents the optimization goal of this model, which includes three sub-optimization goals: f1, f2, and f3. Optimization goal f1 is to reduce the deviation between the flight speed in the speed control strategy and the economic flight speed, thereby reducing the economic losses in the delay absorption process. Optimization goal f2 is to reduce the effective segments of the deviation strategy, improve the fit between the actual flight trajectory of the flight and the planned flight trajectory, and reduce the interference of the delay absorption process on the planned flight trajectory. Optimization goal f3 is to reduce the number of cross-uses of different types of delay absorption strategies, thereby reducing the difficulty of implementing the delay absorption strategy.

[0179] The key variables in the model include: Flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] Speed ​​adjustment value DelayAbSpeedSug i,m,n , each small segment [Pt i,p ,Pt i,p+1 ] on the speed control strategy flag SegSpeedCho i,p,p+1 and its delay absorption capacity SegSpeedDelay i,p,p+1 , the flag of the yaw strategy SegActionCho i,p,p+1 and its delay absorption capacity SegActionDelay i,p,p+1 ; The variable SegSpeedCho i,p,p+1 Used to determine the sub-segment [Pt i,m ,Pt i,n ] on the scope of the speed control strategy, SegActionCho i,p,p+1 Used to determine the sub-segment [Pt i,m ,Pt i,n ] on the scope of the yaw strategy;

[0180] The first constraint in the model indicates that the sum of delays absorbed by the speed control strategy and the deviation strategy is equal to the flight Flt i In the sub-segment [Pt i,m ,Pt i,n Total delay SegDelay on i,m,n The second constraint in the model indicates that the speed control strategy and the yaw strategy are used to absorb the segment delay SegDelay in the same direction i,m,n ; The third constraint in the model represents the sub-segment [Pt i,m ,Pt i,n ] on any small segment [Pt i,p ,Pt i,p+1 ] is assigned at most one of the speed control strategy or the deviation strategy; the fourth constraint in the model represents the sub-segment [Pt i,m ,Pt i,n ] is continuous in scope of the speed control strategy and the yaw strategy; the fifth constraint in the model indicates that no delay absorption is performed on the non-level flight segment; the sixth constraint in the model indicates the calculation formula for the negative delay absorption capacity of the speed control strategy; the seventh constraint in the model indicates the effective segment of the yaw strategy [Pt i,x ,Pt i,y ] must be a level flight segment and the segment [Pt i,x ,Pt i,y Direct flights from SegStraDis i,x,y Must be less than the flight segment [Pt i,x ,Pt i,y ]'s flight miles SegDis i,x,y ; The 8th and 9th constraints in the model represent the effective segments of the yaw strategy [Pt i,x ,Pt i,y ] in each segment [Pt i,p ,Pt i,p+1 ]’s negative delay absorption capacity and the calculation method of the flag bit; the 10th constraint in the model represents the flight Flt i In the sub-segment [Pt i,m ,Pt i,n Each flight trajectory point Pt on i,p The calculation method of the difference between the delay absorption strategies of adjacent flight segments; the 11th, 12th, and 13th constraints in the model represent the value range restrictions of the variables in the model;

[0181] Step 4-3-2-2, design the algorithm, including:

[0182] Step 4-3-2-2-1, construct the yaw strategy solution space, which specifically includes the following steps:

[0183] Step 4-3-2-2-1-1, generate a set of route turning points: a route turning point is a special point in the route where the directions of the preceding and following segments connected to the point are inconsistent. Figure 8 As shown, point Pt i,a and Pt i,b For the turning point of the route. Search for sub-segments [Pt i,m ,Pt i,n ], add the route turning points to the route turning point collection RteTurnPtArray i,m,n In; let the final generated queue RteTurnPtArray i,m,n The number of elements in RteTurnPtArrayNum i,m,n ;

[0184] Step 4-3-2-2-1-2, generate the deviation segment option set: from the sub-segment [Pt i,m ,Pt i,n ]Inside filter contains queue RteTurnPtArray i,m,n All the flight segments of the element item; for any of the filtered flight segments [Pt i,x ,Pt i,y ], according to formula (22) to determine the flight Flt i In the flight segment [Pt i,x ,Pt i,y ] on the yaw capability SegActionCap i,x,y If SegActionCap is satisfied i,x,y = = 1, then the flight segment [Pt i,x ,Pt i,y ] As a yaw segment option, add the yaw segment option set RrtSegOpArray i,m,n In; let the final generated queue RrtSegOpArray i,m,n The number of elements in RrtSegOpArrayNum i,m,n ;

[0185] Step 4-3-2-2-1-3, build the yaw strategy option set: let K, z be integer variables, and the initial value is 1; starting from K=1, use the combination method to select the yaw strategy option from the queue RrtSegOpArray i,m,n Filter out all K yaw segment option combinations, the total number is For any K yaw segment option combinations that are screened out, determine whether there are overlapping segments between the yaw segment options. If there are no overlapping segments, use this K yaw segment option combination as the zth yaw strategy option RrtSceOp i,m,n,z , and let RrtSceOpi,m,n,z (Num) = K, add it to the yaw strategy option set RrtSceOpArray i,m,n And let z=z+1; After all the yaw segment option combinations are processed, set K = K + 1 and repeat the process of steps 4-3-2-2-1-3 until K>RrtSegOpArrayNum is satisfied. i,m,n ;

[0186] Let the resulting queue RrtSceOpArray i,m,n The number of elements in RrtSceOpArrayNum i,m,n ; Queue RrtSceOpArray i,m,n Flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] on the yaw strategy solution space;

[0187] Step 4-3-2-2-2, sorting the yaw strategy solution space: According to the optimization objectives f2 and f3 in the delay allocation model of the medium negative delay segment, design the number of yaw segments, yaw segment flight mileage, and range increment to sort the yaw strategy solution space RrtSceOpArray i,m,n The element item RrtSceOp i,m,n,z Perform combination sorting; the yaw segment flight mileage indicator is used to meet the optimization goal f2, the yaw segment number indicator is used to meet the optimization goal f3, and the range increment indicator is used to measure the yaw strategy option RrtSceOp i,m,n,z The implementation effect of the combination sorting process is as follows: the priority of the indicators used is the number of off-course segments, the mileage of off-course segments, and the range increment; among them, the number of off-course segments and the mileage of off-course segments are arranged in ascending order, and the range increment is arranged in descending order. The formula for each type of indicator is as follows:

[0188] Yaw strategy option RrtSceOp i,m,n,z The off-course flight mileage evaluation index RrtSceOp i,m,n,z (Dis):

[0189] RrtSceOp i,m,n,z (Dis)=∑SegDis i,x,y ,[Pt i,x ,Pt i,y ]∈RrtSceOp i,m,n,z (26)

[0190] Yaw strategy option RrtSceOp i,m,n,z Range increment evaluation index RrtSceOpi,m,n,z (DisInc):

[0191] RrtSceOp i,m,n,z (DisInc) = ∑(SegDis i,x,y -SegStraDis i,x,y ),[Pt i,x ,Pt i,y ]∈RrtSceOp i,m,n,z (27)

[0192] Yaw strategy option RrtSceOp i,m,n,z Evaluation index of the number of off-course segments RrtSceOp i,m,n,z (SegNum):

[0193] RrtSceOp i,m,n,z (SegNum)=RrtSceOp i,m,n,z (Num) (28)

[0194] Step 4-3-2-2-3, discretization of speed adjustment value:

[0195] Speed ​​adjustment value DelayAbSpeedSug in the delay distribution model for medium negative delay segments i,m,n It is a continuous variable. To simplify the calculation process, it is discretized according to the optimization target f1. The processing formula is as follows:

[0196] DelayAbSpeedSug i,m,n =FltEcoSpeed i,m,n +L*SpeedAdjSpan i ,L∈Z(29)

[0197] And must meet DelayAbSpeedSug i,m,n ∈[SegMinSpeed i,m,n ,SegMaxSpeed i,m,n ] and SpeedAdjSpan i >0;

[0198] Step 4-3-2-2-4, calculate the flight delay absorption strategy: set the priority of the optimization objectives in the delay allocation model for the medium negative delay flight segment to f1, f3, and f2 in descending order; perform the following steps:

[0199] Step 4-3-2-2-4-1, model simplification process 1:

[0200] To meet the optimization goal f1, starting from L = 0, in the order of |L| from small to large, the corresponding speed adjustment value DelayAbSpeedSug is calculated according to formula (29): i,m,n ;

[0201] Step 4-3-2-2-4-2, model simplification process 2: DelayAbSpeedSug i,m,n Substitute the known parameters into the delay allocation model of the medium negative delay segment until the model has a feasible solution; remove the speed adjustment value DelayAbSpeedSug in the model. i,m,n The relevant optimization objective f1 and constraints generate the simplified model 3 shown below:

[0202] Min F=(f2,f3)

[0203]

[0204] Step 4-3-2-2-4-3, model calculation 1: According to the 6th constraint condition and speed adjustment value DelayAbSpeedSug in simplified model 3 i,m,n , calculate the sub-segment [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 The negative delay absorption capacity of the speed control strategy SegSpeedDelay i,p,p+1 ; At this time, the variables in the simplified model 3 include: sub-segment [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ] speed control strategy flag SegSpeedCho i,p,p+1 , the flag of the yaw strategy SegActionCho i,p,p+1 and its delay absorption capacity SegActionDelay i,p,p+1 ;

[0205] Step 4-3-2-2-4-4, model calculation 2: To satisfy the optimization objectives f3 and f2 in turn, starting from z=1, the yaw strategy solution space RrtSceOpArray i,m,n The zth yaw strategy option in RrtSceOp i,m,n,z As known parameters, they are introduced into simplified model 3, and the sub-segment [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1]'s yaw strategy flag SegActionCho i,p,p+1 and its delay absorption capacity SegActionDelay i,p,p+1 ; At this time, the variables in the simplified model 3 include sub-segments [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ] speed control strategy flag SegSpeedCho i,p,p+1 , according to the constraints 1, 2, 3, 4, 5, and 11 in the simplified model 3, the enumeration method is used to determine whether there is a feasible solution. If there is a feasible solution, the calculation is completed; otherwise, let z = z + 1, and repeat steps 4-3-2-2-4-4 until z>RrtSceOpArrayNum is satisfied i,m,n Then return to step 4-3-2-2-4-1;

[0206] Step 4-3-2-2-4-5, result assignment: For the first set of feasible solutions calculated in step 4-3-2-2-4-4, the corresponding speed adjustment value DelayAbSpeedSug i,m,n and sub-segments [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ] speed control strategy flag SegSpeedCho i,p,p+1 As an approximate solution to the optimal speed control strategy; the sub-segment [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ]'s yaw strategy flag SegActionCho i,p,p+1 As an approximate solution to the optimal yaw strategy. Flight Flt i In the flight segment [Pt i,m ,Pt i,n Each trajectory point Pt in i,p The delay absorption strategy type satisfies the following formula:

[0207]

[0208] If there is no feasible solution after processing from step 4-3-2-2-4-1 to step 4-3-2-2-4-4, then let the sub-segment [Pt i,m ,Pt i,n ] is a high-delay segment. Go to step 4-4 to regenerate the delay absorption strategy.

[0209] Step 4-4 specifically includes:

[0210] Step 4-4-1, feasibility test: If SegDelay is satisfied i,m,n <0, in this case, the delay cannot be absorbed by the speed control strategy, yaw strategy or circling strategy, the segment delay allocation fails, and DlyProgmCode i,m,n =4, prompting the user to use manual command to absorb the flight in the sub-segment [Pt i,m ,Pt i,n ] on delays.

[0211] If SegDelay is satisfied i,m,n ≥0, in this case, it is necessary to determine the sub-segment [Pt i,m ,Pt i,n ] whether the circling point is located on flight Flt i After the current position. If there is a circling point, it means that the flight can adopt a circling strategy to absorb the delay, and continue with step 4-4-2; if there is no circling point, the flight delay allocation fails, and DlyProgmCode i,m,n =4, prompting the user to use manual command to absorb the flight in the sub-segment [Pt i,m ,Pt i,n ] on delays.

[0212] Step 4-4-2, calculate the flight delay absorption strategy: let Pt i,c For sub-segment [Pt i,m ,Pt i,n ]Departure Flight Flt i Current location is closest and on flight Flt i The hover point after the current position.

[0213] To reduce the difficulty of implementing the delay absorption strategy and the interference of the delay absorption process on the planned flight trajectory, this method only absorbs the flight delay by circling and waiting at the circling point. After the delay is absorbed, the flight returns to the planned flight trajectory from the circling point.

[0214] Therefore, flight Flt i In the flight segment [Pt i,m ,Pt i,n Each trajectory point Pt in i,p The delay absorption strategy type satisfies the following formula:

[0215]

[0216] Step 5: For each sub-segment generated in steps 2-5 [Pt i,m ,Pt i,n], based on its delay absorption plan, the planned flight trajectory of the flight in the sub-segment is modified and the recommended transit time of each trajectory point is calculated. Based on this, a reference flight trajectory of the flight is generated as the recommended flight trajectory of the flight. The following steps are included:

[0217] Step 5-1, define the following variables: [Pt i,j ,Pt i,k ] is used to replace the planned flight trajectory PtList i From the trajectory point Pt i,j To trajectory point Pt i,k The flight segments between i,j ,Pt i,k ], With [Pt i,j ,Pt i,k ]’s starting point is the same. i,j :Indicates flight Flt i At the trajectory point Pt i,j Estimated time of elapsed time (ETO) i,j The initial value is TmpETO i,j =ETO i,j . CTO i,j :Indicates flight Flt i At the trajectory point Pt i,j The calculated time at the point, the initial value is ETO i,j .CalPtDelay i,j :Indicates flight Flt i At the trajectory point Pt i,j The calculated point delay at IniPtList, in seconds, with an initial value of 0. i :Indicates flight Flt i The backup of the planned flight trajectory, the initial value is IniPtList i =PtList i RefPtList i :Indicates flight Flt i The reference flight trajectory, the initial value is RefPtList i =PtList i .

[0218] Step 5-2, check the need for correction of the planned flight trajectory: For the sub-segment [Pt i,m ,Pt i,n ], when DlyProgmCode is satisfied i,m,n = = 0, jump to step 5-4; when DlyProgmCode is satisfied i,m,nIf ==4, select the next sub-segment and repeat step 5-2; otherwise, continue with step 5-3.

[0219] Step 5-3, correct the planned flight trajectory: The implementation of the deviation strategy will cause the flight to deviate from the planned route, making the actual flight trajectory of the flight different from the planned flight trajectory PtList i Therefore, for the sub-segment [Pt i,m ,Pt i,n ], according to flight Flt i Based on the degree of delay in that segment and the delay absorption plan, the planned flight trajectory of the flight in that segment is revised.

[0220] Step 5-4, correct the estimated time of the track point: due to the correction of the planned flight trajectory, the flight Flt i In [Pt i,m ,Pt i,n ], the estimated passing time of each trajectory point will deviate. This step starts from Pt i,m Start by correcting flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] Each trajectory point Pt i,p Estimated time of elapsed time (ETO) i,p , the correction formula is:

[0221]

[0222] Step 5-5, allocate flight segment delay: Based on step 5-3, allocate flight segment delay according to the sub-segment [Pt i,m ,Pt i,n The delay absorption scheme adopted on the flight is to absorb the delay SegDelay on the sub-segment i,m,n Allocate to each small segment [Pt i,p ,Pt i,p+1 ], the calculation formula is as follows:

[0223]

[0224] Step 5-6, calculate the recommended transit time of the track point: for the sub-segment [Pt i,m ,Pt i,n Any trajectory point Pt within i,p , initialize the calculation of the time CTO i,p ,satisfy:

[0225]

[0226] According to the flight segment delay allocation result in step 5-5, the trajectory point Pt i,p Calculated point delay CalPtDelayi,p The calculation formula satisfies:

[0227]

[0228]

[0229] Track point Pt i,p Calculate the time CTO i,p The calculation formula satisfies:

[0230] CTO i,p =ETO i,p +CalPtDelay i,p (37)

[0231] Step 5-7, generate reference flight trajectory: When each sub-segment generated in step 2-5 [Pt i,m ,Pt i,n After completing steps 5-2 to 5-6, the planned flight trajectory PtList i As flight Flt i The reference flight trajectory, and let RefPtList i =PtList i ; After the flight Flt i After the reference flight trajectory is generated, the planned flight trajectory of the flight is restored, and PtList i =IniPtList i .

[0232] Step 5-3 includes the following steps:

[0233] Step 5-3-1, correct the flight trajectory of the slightly delayed segment: In this case, flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] on the delay absorption plan number DlyProgmCode i,m,n If it is 1, only the speed adjustment strategy is used to absorb the flight delay, which will not cause the flight to deviate from the planned route; therefore, there is no need to adjust the flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] within the planned flight trajectory;

[0234] Step 5-3-2, correct the flight trajectory of the medium-delayed segment: In this case, flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] on the delay absorption plan number DlyProgmCode i,m,n=2, a combination of yaw strategy and speed control strategy is used to absorb the flight delay; therefore, the flight Flt needs to be corrected according to the yaw strategy. i In the sub-segment [Pt i,m ,Pt i,n ]; because the deviation strategies adopted in positive and negative delay situations are different, this step classifies the delays according to their positive and negative situations.

[0235] Step 5-3-2-1, correct the flight trajectory of the medium positive delay segment, specifically including: The yaw strategy in this step refers to increasing the flight distance of the segment by yaw and fly around, so the yaw and fly around path needs to be added to the planned flight trajectory.

[0236] Step 5-3-2-1-1, generate the yaw path:

[0237] First, according to flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ]'s yaw strategy flag SegActionCho i,p,p+1 , filter sub-segments [Pt i,m ,Pt i,n ]All the effective flight segments of the yaw strategy within.

[0238] Then, for any selected yaw strategy action segment [Pt ix ,Pt iy ], according to flight Flt i The yaw angle θ i Generate a conformal yaw flyby path for this segment

[0239] like Figure 9 As shown in the figure, the flight segment [Pt i,p ,Pt i,p+4 ] is the effective flight segment of the yaw strategy, and the dotted line represents the equiangular yaw flight path

[0240] Step 5-3-2-1-2, divide the yaw path:

[0241] For any effective segment of the yaw strategy selected in step 5-3-2-1-1 [Pt i,x ,Pt i,y ], first according to the flight Flt i On its corresponding equiangular yaw flight path Flight mileage and speed adjustment value DelayAbSpeedSug i,m,n, calculate flight Flt i On a conformal yaw fly-around path The flight duration in; then, with the parameter Span i Divide the step length into the equiangular yaw flight path according to the flight time ratio Generate a yaw fly-around path For the trajectory points in , the division method can refer to step 2-2.

[0242] for Any small segment divided from [Pt i,p ,Pt i,p+1 ], let SegActionCho i,p,p+1 =1 and SegSpeedCho i,p,p+1 = 0. Figure 9 As shown in the figure, the effective segment of the yaw strategy is [Pt i,p ,Pt i,p+4 ], the dotted line represents the yaw flight path Flights in The flight duration is 32 seconds, and the parameter Span i The value is 8 seconds, and three trajectory points are divided according to the 8-second interval. and four small segments

[0243] Step 5-3-2-1-3, replace the yaw path:

[0244] For flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] within any yaw strategy action segment [Pt i,x ,Pt i,y ], yaw its angular orbital path The newly generated trajectory points are replaced by [Pt i,x ,Pt i,y ] within the trajectory point.

[0245] Waiting for sub-segment [Pt i,m ,Pt i,n After all the effective segments of the yaw strategy are processed, the flight Flt is completed. i In the sub-segment [Pt i,m ,Pt i,n ] within the planned flight trajectory correction.

[0246] Step 5-3-2-2, correct the flight trajectory of the medium negative delay segment, specifically including: The deviation strategy in this step refers to shortening the flight distance of the segment by deviation and direct flight, so the deviation and direct flight path needs to be added to the planned flight trajectory.

[0247] Step 5-3-2-2-1, generate the yaw path:

[0248] First, according to flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ]'s yaw strategy flag SegActionCho i,p,p+1 , filter sub-segments [Pt i,m ,Pt i,n ] all the effective segments of the yaw strategy within the selected segment; then, for any effective segment of the yaw strategy [Pt i,x ,Pt i,y ], the starting point Pt i,x and the endpoint Pt i,y The direct flight path between the two routes is used as the deviated direct flight path for this segment.

[0249] like Figure 10 As shown in the figure, the flight segment [Pt i,p ,Pt i,p+4 ] is the effective flight segment of the yaw strategy, and the dotted line represents the yaw direct flight path corresponding to this segment

[0250] Step 5-3-2-2-2, divide the yaw path:

[0251] For any effective segment of the yaw strategy selected in step 5-3-2-2-1 [Pt i,x ,Pt i,y ], first according to the flight Flt i On its corresponding yaw direct flight path Flight mileage and speed adjustment value DelayAbSpeedSug i,m,n , calculate flight Flt i On a yawed direct flight path The flight duration in; then, with the parameter Span i Divide the yaw and direct flight paths by the proportion of flight time for the step length Generate a yawed direct flight path For the trajectory points in , the division method can refer to step 2-2.

[0252] for Any small segment divided in [Pt i,p ,Pt i,p+1 ], let SegActionCho i,p,p+1 =1 and SegSpeedCho i,p,p+1 =0.

[0253] like Figure 10 As shown in the figure, the effective segment of the yaw strategy is [Pt i,p ,Pt i,p+4 ], the dotted line represents the yawed direct flight path Flights in The flight duration is 32 seconds, and the parameter Span i The value is 8 seconds, and three trajectory points are divided according to the 8-second interval. and four small segments

[0254] Step 5-3-2-2-3, replace the yaw path:

[0255] For flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] within any yaw strategy action segment [Pt i,x ,Pt i,y ], deviating it from the direct flight path The newly generated trajectory points are replaced by [Pt i,x ,Pt i,y ] within the trajectory point.

[0256] Waiting for sub-segment [Pt i,m ,Pt i,n After all the effective segments of the yaw strategy are processed, the flight Flt is completed. i In the sub-segment [Pt i,m ,Pt i,n ] within the planned flight trajectory correction.

[0257] Step 5-3-3, correct the flight trajectory of the long-delayed segment: In this case, flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] on the delay absorption plan number DlyProgmCode i,m,n If it is 3, a circling strategy is used to absorb flight delays.

[0258] On the one hand, there are many ways to implement flight circling, and air traffic control personnel can flexibly choose according to actual conditions and work experience. They only need to provide air traffic control personnel with circling point and circling time suggestions, and do not need to plan a specific circling path for them. On the other hand, after the flight is circled, it will return to the planned flight path from the circling point. Therefore, there is no need to correct the flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] within the planned flight trajectory.

[0259] Step 6: Based on the flight reference trajectory and the handover accuracy limit at the sorting point, a reference trajectory is generated that is dynamically updated with system time to assist the user in intuitively determining whether the flight can arrive at the sorting point according to the sorting time. This includes the following steps:

[0260] Step 6-1, define the following variables:

[0261] RefPos i :Indicates flight Flt i The reference track at the current system time SysTime.

[0262] Rds(RefPos i ):Indicates the reference track RefPos i radius.

[0263] PrecRes i,j :Indicates flight Flt i At the trajectory point Pt i,j The handover accuracy limit at the point refers to the upper limit of the absolute value of the deviation between the actual transit time of the flight at the trajectory point and the sorted transit time, in seconds. It is set to 10 seconds in this method and can be adjusted by the user as needed.

[0264] Step 6-2, generate the position of the reference track: The reference track generated by this method is a circle that is dynamically updated with the system time, representing the recommended spatial position range of the flight at the current system time; when the actual track of the flight is within the reference track, it indicates that the flight can fly over the sequencing point according to the sequencing transit time and handover accuracy limits.

[0265] First, according to flight Flt i Reference flight path RefPtList i Calculate the time of each track point and filter the flight Flt under the current system time SysTime i In the reference flight trajectory RefPtList i The reference segment in which the .

[0266] Let [Pt i,r ,Pt i,r+1 ] is the current system time SysTime under flight Flt i In the reference flight trajectory RefPtList i The reference segment in , then the following conditions must be met:

[0267]

[0268] Then, due to RefPtList iThe estimated time interval between adjacent trajectory points in the trajectory does not exceed the parameter Span i , this step estimates the flight Flt proportionally i Reference track RefPos at the current system time SysTime i location information.

[0269] Reference track RefPos i Latitude Lat(RefPos i ) is calculated as:

[0270]

[0271] Reference track RefPos i Longitude Lon(RefPos i ) is calculated as:

[0272]

[0273] Step 6-3, generate the radius of the reference track: let [Pt i,t ,Pt i,t+1 ] is the current system time SysTime under flight Flt i In the reference flight trajectory RefPtList i The actual flight segment in the , must meet the following conditions:

[0274]

[0275] From Pt i,t+1 Start by adding the RefPtList i Find flight Flt in the queue i The subsequent flight trajectory point is from Pt i,t+1 The nearest sorting point, denoted as Pt i,s , and satisfies SeqMark i,s ==1; then the reference track RefPos i The radius satisfies:

[0276] Rds(RefPos i )=PrecRes i,s (40)

[0277] The longitude Lon(RefPos i ), Latitude Lat(RefPos i ) is the center of the circle, Rds(RefPos i ) is the radius, construct and display flight Flt i Reference track RefPos at the current system time SysTimei Information; Compare flights by Flt i The real flight track under the current system time SysTime helps users to intuitively judge the flight Flt i Does the flight status at the current system time SysTime meet the flight Flt i At the sorting point Pt i,s The sorting transit time and handover accuracy limit requirements are met.

[0278] like Figure 11 As shown in the figure, the current system time is 09:30:00, the airplane icon represents the actual track of the flight at the current system time, the circle represents the reference track of the flight at the current system time calculated by this method, VYK is the sorting point, the sorting time of the flight at this sorting point is 10:10:00, and the handover accuracy is limited to 10 seconds; the actual track of the flight in the figure is ahead of the reference track, indicating that the flight is currently flying too fast and cannot pass the sorting point according to the sorting time. The user needs to guide the flight to the reference track.

Claims

1. A reference track generation method based on flight sorting information, characterized in that: The following steps are involved: Step 1, prepare basic data: obtain the data required to generate the reference track and perform preliminary processing; Step 2: Delay-absorbing segments screening and division: Based on the flight dynamics and sorting information of the flight, delay-absorbing segments are screened from the flight's planned flight trajectory; Step 3: Build a delay absorption plan: Based on the effectiveness of different delay absorption strategies, define the degree of flight delays by category and build corresponding delay absorption plans. Step 4: Calculate the delay absorption strategy: Select the corresponding delay absorption plan based on the delay degree of the flight segment and calculate the delay absorption strategy included in the delay absorption plan; Step 5: Generate a reference flight trajectory: Modify the planned flight trajectory according to the delay absorption plan to form a reference flight trajectory; Step 6: Reference track generation and application: Based on the reference flight trajectory and the handover accuracy limit at the sorting point, a reference track is generated that is dynamically updated with system time to help users intuitively determine whether the flight can reach the sorting point according to the sorting time. Step 1 includes the following steps: Step 1-1, define the following variables: Flt i : represents the i-th flight; PtList i :Indicates flight Flt i The planned flight trajectory includes all flight trajectory points between the take-off and landing airports; PtNum i :Indicates flight Flt i Planned flight trajectory PtList i The number of trajectory points; Pt i,j :Indicates flight Flt i Planned flight trajectory PtList i The jth trajectory point, Pt i,j ∈PtList i ; SeqMark i,j : represents the trajectory point Pt i,j Is it a sorting point? A value of 1 indicates that the flight is at the track point Pt i,j Participate in sorting, and a value of 0 means the flight is not at the trajectory point Pt i,j Participate in sorting, the initial value is 0; CircleMark i,j :Trajectory point Pt i,j Flag indicating whether it is a circling point. A value of 1 indicates the trajectory point Pt i,j It can be used for flights to circle and wait. The value 0 indicates the trajectory point Pt i,j Flights cannot circle and wait, the initial value is 0; ETO i,j :Indicates flight Flt i At the trajectory point Pt i,j The estimated time of passing the point; Velo i,j :Indicates flight Flt i At the trajectory point Pt i,j Estimated flight speed at ClimbRatio i,j :Indicates flight Flt i At the trajectory point Pt i,j The expected climb rate at point Pt is 0, which means the flight is at the trajectory point Pt i,j Level flight, other values ​​indicate the flight is at the trajectory point Pt i,j Climb or descend; Lat(Pt i,j ): represents the trajectory point Pt i,j Latitude; Lon(Pt i,j ): represents the trajectory point Pt i,j longitude; Height(Pt i,j ):Indicates flight Flt i At the trajectory point Pt i,j The expected flight altitude at STO i,j :Indicates flight Flt i At the trajectory point Pt i,j The sorting time at the point, the initial value is ETO i,j ; PtDelay i,j :Indicates flight Flt i At the trajectory point Pt i,j The sorting delay at the point, in seconds, with an initial value of 0; Step 1-2, generate planned flight trajectory: For flight Flt i According to its flight plan and flight dynamic information, the flight 4D trajectory prediction technology is used to predict all flight trajectory points of the flight from take-off to landing airport, forming a planned flight trajectory PtList i , planned flight trajectory PtList i The trajectory points in include the waypoints in the flight plan and the virtual points between adjacent waypoints generated by 4D trajectory prediction technology; Planned flight trajectory PtList i Each trajectory point Pt i,j The information includes: Track point name; Estimated time ETO i,j ; Estimated flight speed Velo i,j ; Estimated climb rate ClimbRatio i,j ; Latitude Lat(Pt i,j ); Longitude Lon(Pt i,j ); Estimated flight altitude Height(Pt i,j ); CircleMark i,j ; Steps 1-3, get flight sorting information: The flight plan trajectory PtList i The trajectory points that participate in flight sorting are called sorting points; Obtain flight sorting information at busy waypoints from the air traffic flow management system or airport approach management system, and update the planned flight trajectory PtList accordingly i Each trajectory point Pt i,j The updated content includes the sorting point identifier SeqMark i,j and sorting time STO i,j ; Planned flight trajectory PtList i Each trajectory point Pt i,j The sorting delay satisfies: Step 2 includes the following steps: Step 2-1, define the following variables: SysTime: indicates the current system time; Span i : Indicates the planned flight trajectory PtList i The maximum time interval between adjacent trajectory points in ; [Pt i,j ,Pt i,k ]: indicates the planned flight trajectory PtList i From the trajectory point Pt i,j To trajectory point Pt i,k The flight segments between i,j Indicates the starting point of the flight segment, Pt i,k Indicates the end point of the flight segment; Seg Pro i,j,k :Indicates flight Flt i In the flight segment [Pt i,j ,Pt i,k ] flight status, a value of 1 indicates level flight, and a value of 0 indicates non-level flight; SegDelay i,j,k :Indicates flight Flt i In the flight segment [Pt i,j ,Pt i,k ]The delay value that needs to be consumed; RSPTime: indicates the minimum reaction time from the current status of the flight to the start of delay absorption; Step 2-2, check the planned flight trajectory: set the planned flight trajectory PtList i Each adjacent trajectory point in the segment [Pt i,p ,Pt i,p+1 ] is called a small segment; for the planned flight trajectory PtList i Each small segment [Pt i,p ,Pt i,p+1 ], determine flight Flt i Does the flight duration on the flight segment meet the requirements (ETO i,p+1 -ETO i,p )≤Span i , for small segments that do not meet the conditions [Pt i,p ,Pt i,p+1 ], with parameter Span i Divide the step length by the proportion of flight time and add the newly generated virtual points to the planned flight trajectory PtList i middle; Step 2-3, determine the flight status of the flight segment: for the planned flight trajectory PtList i Each small segment [Pt i,p ,Pt i,p+1 ], flight Flt i Flight status on the flight segment Seg Pr o i,p,p+1 The judgment formula is as follows: Step 2-4, filter the delay absorbing segments: Let [Pt t ,Pt t+1 ] is the current system time SysTime under flight Flt i In the planned flight trajectory PtList i The actual flight segment in the , must meet the following conditions: Let Pt i,Bgn For flight Flt i In the planned flight trajectory PtList i The starting trajectory point for delay absorption, Pt i,Bgn The following conditions must be met: (Bgn≥t+1) &&(LINE UP i,Bgn -SysTime≥RSPTime) &&Min{ETO i,Bgn -ETO i,t+1 } The flight plan trajectory PtList i The last trajectory point in is set as the sorting point, and the last trajectory point is used as the end point of the delay absorbing segment, denoted as Pt i,End ; Flight Flt i Planned flight trajectory PtList i Pt i,Bgn To Pt i,End The flight segments between i,Bgn ,Pt i,End ] as a delay absorbing segment; Step 2-5, divide the delay absorbing segments: divide the delay absorbing segments according to the sorting points [Pt i,Bgn ,Pt i,End ], each segment [Pt i,m ,Pt i,n ] is called a sub-segment and must meet the following requirements: Flight Flt i In each sub-segment [Pt i,m ,Pt i,n ]The delay value SegDelay that needs to be absorbed i,m,n The calculation formula is as follows: SegDelay i,m,n =PtDelay i,n -PtDelay i,m (4)。 2. The method according to claim 1, characterized in that Step 3 includes the following steps: Step 3-1: Analyze the characteristics of delay absorption strategies: For flights in flight, the delay absorption strategies adopted by air traffic management personnel include three categories: speed control strategy, deviation strategy, and circling strategy; Step 3-2, Build a Delay Absorption Plan: Based on the amount of delays that the flight needs to absorb on the sub-segments and the implementation effect of each type of delay absorption strategy, classify and define the delay degree of the sub-segments, set corresponding delay absorption strategies and optimization goals for segment delay absorption, and form a segment delay absorption plan.

3. The method according to claim 2, characterized in that Step 4 includes the following steps: Step 4-1, define the following variables: DlyProgmCode i,j,k :Indicates flight Flt i In the flight segment [Pt i,j ,Pt i,k ] is the delay absorption scheme number adopted on the UPS. The value 0 indicates no adjustment is required, the value 1 indicates that only the speed control strategy is adopted, the value 2 indicates that a combination of yaw and speed control strategies is adopted, the value 3 indicates that a circling strategy is adopted, the value 4 indicates manual adjustment, and the initial value is 0; SegDis i,j,k :Indicates flight Flt i In the flight segment [Pt i,j ,Pt i,k ] on the flight miles; DelayAbSpeedSug i,j,k :Indicates flight Flt i In the flight segment [Pt i,j ,Pt i,k ]The flight speed used when implementing the speed control strategy; SegSpeedDelay i,j,k :Indicates flight Flt i In the flight segment [Pt i,j ,Pt i,k The delay absorbed by the speed regulation strategy on the 1st node is 0. SegSpeedCho i,j,k :Indicates flight Flt i In the flight segment [Pt i,j ,Pt i,k ] flag to implement the speed control strategy, the value of 1 indicates that the flight Flt i Implement speed control strategy on the flight segment, and the value 0 indicates flight Flt i Do not implement speed control strategy on the flight segment, the initial value is 0; SegMinSpeed i,j,k :Indicates aircraft Flt i In the flight segment [Pt i,j ,Pt i,k ] minimum safe flight speed; SegMaxSpeed i,j,k :Indicates aircraft Flt i In the flight segment [Pt i,j ,Pt i,k ]'s maximum safe flight speed; FltEcoSpeed i,j,k :Indicates flight Flt i In the flight segment [Pt i,j ,Pt i,k ] on economical flight speed; SpeedAdjSpan i :Indicates flight Flt i Speed ​​adjustment interval; PtStrType i,j :Indicates aircraft Flt i At the trajectory point Pt i,j The delay absorption strategy type on the , the value 0 indicates no strategy, the value 1 indicates speed control strategy, the value 2 indicates yaw strategy, the value 3 indicates circling strategy, and the initial value is 0; θ i :Indicates flight Flt i The angle between the yaw flight path and the original path; θUpLimit i :Indicates flight Flt i The maximum angle between the yaw flight path and the original path; θDownLimit i :Indicates flight Flt i The minimum angle between the yaw flight path and the original path; SegActionDelay i,j,k :Indicates aircraft Flt i In the flight segment [Pt i,j ,Pt i,k The delay absorbed by the yaw strategy on the yaw axis is 0. SegActionCho i,j,k :Indicates flight Flt i In the flight segment [Pt i,j ,Pt i,k ] implement the flag of the yaw strategy, the value of 1 indicates that the flight Flt i Implement the deviation strategy on the flight segment, and the value 0 indicates the flight Flt i Do not implement the yaw strategy on the flight segment, the initial value is 0; PtStrChg i,j :Indicates flight Flt i At its flight trajectory point Pt i,j The adjacent segments [Pt i,j-1 ,Pt i,j ] and [Pt i,j ,Pt i,j+1 ], a value of 0 indicates that the delay absorption strategies on adjacent flight segments are the same, a value of 1 indicates that the delay absorption strategies on adjacent flight segments are different, and the initial value is 0; SegActionCap i,j,k :Indicates flight Flt i In the flight segment [Pt i,j ,Pt i,k ], a value of 1 indicates that the flight Flt i The deviation strategy can be implemented in the flight segment, and the value of 0 indicates that the flight Flt i The yaw strategy cannot be implemented in the flight segment, and the initial value is 0; SegStraDis i,j,k :Indicates flight Flt i In the flight segment [Pt i,j ,Pt i,k ]Pt i,j and the end point Pt i,k The straight-line distance between the two legs is also called the direct flight distance of the flight segment; RteTurnPtArray i,m,n :Flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] on the route turning point set; RteTurnPtArrayNum i,m,n : Queue RteTurnPtArray i,m,n The number of elements in the RrtSegOpArray i,m,n :Flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] on the yaw segment option set; RrtSegOpArrayNum i,m,n :queue RrtSegOpArray i,m,n The number of elements in the RrtSceOpArray i,m,n :Flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] on the yaw strategy options set; RrtSceOpArrayNum i,m,n : Queue RrtSceOpArray i,m,n The number of elements in the RrtSceOp i,m,n,z :RrtSceOpArray i,m,n The zth yaw strategy option in the queue; RrtSceOp i,m,n,z (Dis):RrtSceOpArray i,m,n The flight mileage of the zth yaw strategy option in the queue; RrtSceOp i,m,n,z (DisInc): RrtSceOpArray i,m,n The range increment for the zth yaw strategy option in the queue; RrtSceOp i,m,n,z (SegNum): RrtSceOpArray i,m,n The number of yaw segments for the zth yaw strategy option in the queue; RrtSceOp i,m,n,z (Num): RrtSceOpArray i,m,n The number of segments included in the zth yaw strategy option in the queue; Step 4-2, delay absorption strategy for small delay segments: In this case, let the sub-segment [Pt i,m ,Pt i,n ]'s delayed absorption plan number DlyProgmCode i,m,n =1, that is, the speed adjustment strategy is used to distribute and absorb flight delays; step 4-2 includes the following steps: Step 4-2-1, build the model: For sub-segments [Pt i,m ,Pt i,n Any small segment within [Pt i,p ,Pt i,p+1 ], the speed control strategy is in the flight segment [Pt i,p ,Pt i,p+1 ]’s delay absorption capacity and flight Flt i In the flight segment [Pt i,p ,Pt i,p+1 ] is related to the flight status, flight mileage and flight speed of the flight segment. The calculation formula is as follows: According to the delay allocation target of the small delay segment and the delay absorption capacity of the speed regulation strategy, the delay allocation model of the small delay segment is constructed as follows: Min F=f1 in: f1=|FltEcoSpeed i,m,n -DelayAbSpeedSug i,m,n | In the model, F represents the optimization objective, which includes a sub-optimization objective f1. The optimization objective f1 is to reduce the deviation between the flight speed in the speed control strategy and the economic flight speed, thereby reducing the economic losses in the delay absorption process. The key variables in the model include: Flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] Speed ​​adjustment value DelayAbSpeedSug i,m,n , sub-segment [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ] on the speed control strategy flag SegSpeedCho i,p,p+1 and its delay absorption capacity SegSpeedDelay i,p,p+1 ; The variable SegSpeedCho i,p,p+1 Used to determine the sub-segment [Pt i,m ,Pt i,n ] on the scope of the speed control strategy; The first constraint in the model indicates that the total delay absorbed by the speed control strategy is equal to flight Flt i In the sub-segment [Pt i,m ,Pt i,n Total delay SegDelay on i,m,n ; The second constraint in the model represents the sub-segment [Pt i,m ,Pt i,n The scope of action of the speed control strategy on the flight path is continuous; the third constraint in the model indicates that delay absorption is not performed on non-level flight segments; the fourth constraint in the model represents the calculation formula for the delay absorption capacity of the speed control strategy; the fifth, sixth, and seventh constraints in the model represent the value range restrictions of the variables in the model; Step 4-2-2, design algorithm: By discretizing the speed adjustment value, simplify the delay allocation model calculation process for small delay segments and generate an approximate solution for the optimal segment delay absorption strategy. Specifically, it includes: Step 4-2-2-1, discretization of speed adjustment value: Speed ​​adjustment value DelayAbSpeedSug in the delay distribution model for small delay segments i,m,n It is a continuous variable. To simplify the calculation process, DelayAbSpeedSug is optimized according to the optimization target f1. i,m,n Discretization processing is performed, and the processing formula is: DelayAbSpeedSug i,m,n =FltEcoSpeed i,m,n +L*SpeedAdjSpan i ,L∈Z (7) And must meet DelayAbSpeedSug i,m,n ∈[SegMinSpeed i,m,n ,SegMaxSpeed i,m,n ] and SpeedAdjSpan i >0; Step 4-2-2-2, calculate the flight delay absorption strategy, which specifically includes the following steps: Step 4-2-2-2-1, model simplification: Adding formula (7) as a new constraint to the delay allocation model of the small delay segment generates the simplified model 1 shown below: Min F=f1 Step 4-2-2-2-2, calculation model: To meet the optimization goal f1, starting from L = 0, the corresponding speed adjustment value DelayAbSpeedSug is calculated according to the fifth constraint condition in the simplified model 1. i,m,n , and detect the speed adjustment value DelayAbSpeedSug according to the seventh constraint condition in the simplified model 1 i,m,n The rationality of the speed adjustment value DelayAbSpeedSug that satisfies the seventh constraint condition in the simplified model 1 i,m,n , calculate the sub-segment [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ]Delay absorption capacity under the speed control strategy SegSpeedDelay i,p,p+1 ; At this time, the variables in the simplified model 1 include sub-segments [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ] speed control strategy flag SegSpeedCho i,p,p+1 , according to the 1st, 2nd, 3rd, and 6th constraints in the simplified model 1, the enumeration method is used to determine whether there is a feasible solution. If there is a feasible solution, the feasible solution of the simplified model 1 is calculated; otherwise, the value of |L| is taken in ascending order, and steps 4-2-2-2-2 are repeated; Step 4-2-2-2-3 result assignment: For the first set of feasible solutions calculated in step 4-2-2-2-2, the corresponding speed adjustment value DelayAbSpeedSug i,m,n and sub-segments [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ] speed control strategy flag SegSpeedCho i,p,p+1 As an approximate solution to the optimal speed control strategy; Flight Flt i In the sub-segment [Pt i,m ,Pt i,n Each trajectory point Pt in i,p The delay absorption strategy type satisfies the following formula: If there is no feasible solution after the processing of step 4-2-2-2-2, then let the sub-segment [Pt i,m ,Pt i,n ] is a medium-delay segment, go to step 4-3 to regenerate the delay absorption strategy; Step 4-3, delay absorption strategy for medium-delay segments: In this case, let the sub-segment [Pt i,m ,Pt i,n ]'s delayed absorption plan number DlyProgmCode i,m,n =2, that is, a combination of the deviation strategy and the speed control strategy is used to distribute and absorb flight delays; specifically, the following are included: Step 4-3-1, Delay Absorption Strategy for Moderately Delayed Segments: The delayed segment meets SegDelay i,m,n >0, the delay absorption strategies used in this step include speed control strategy and yaw strategy, where the yaw strategy refers to increasing the flight distance of the segment by yawing around; Step 4-3-2, Delay Absorption Strategy for Medium Negative Delay Segments: Negative delay segments satisfy SegDelay i,m,n <0, the delay absorption strategies adopted in this step include speed control strategy and yaw strategy, among which the yaw strategy refers to shortening the flight distance of the segment by yawing and flying directly; Step 4-4, delay absorption strategy for the long-delayed segment: In this case, let the sub-segment [Pt i,m ,Pt i,n ]'s delayed absorption plan number DlyProgmCode i,m,n =3, i.e. adopting a circling strategy to distribute and absorb flight delays; Step 4-5, delay absorption strategy for non-delayed segments: In this case, flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] has a delay value of 0, so that the sub-segment [Pt i,m ,Pt i,n ] segment delay absorption plan number DlyProgmCode i,m,n =0, which means that no delay absorption strategy needs to be adopted.

4. The method according to claim 3, characterized in that Step 4-3-1 includes the following steps: Step 4-3-1-1, build the model: For sub-segments [Pt i,m ,Pt i,n Any small segment within [Pt i,p ,Pt i,p+1 ], the speed control strategy is in the flight segment [Pt i,p ,Pt i,p+1 ]’s positive delay absorption capacity and flight Flt i In this segment [Pt i,p ,Pt i,p+1 ] is related to the flight status, flight mileage and flight speed of the flight segment. The calculation formula is as follows: Absorb positive delay by increasing flight distance through yaw circling: In equiangular yaw circling, the yaw circling angle θ i It is an important factor affecting the delay absorption capacity of the yaw strategy. The flight yaw angle θ is set i The value range [θUpLimit i ,θDownLimit i ]; For sub-segments [Pt i,m ,Pt i,n Any small segment within [Pt i,p ,Pt i,p+1 ], the yaw strategy in the flight segment [Pt i,p ,Pt i,p+1 ]’s positive delay absorption capacity and flight Flt i In the flight segment [Pt i,p ,Pt i,p+1 The yaw angle of the flight is related to the flight speed, and the calculation formula is as follows: Based on the delay allocation target for medium positive delay segments and the delay absorption capacity of various delay absorption strategies, the delay allocation model for medium positive delay segments is constructed as follows: Min F=(g1,f2,f3) in: In the model, F represents the optimization goal of this model, which includes three sub-optimization goals: g1, f2, and f3. The optimization goal g1 is to reduce the distance increment caused by yaw and detour, thereby reducing the economic losses in the delay absorption process. The optimization goal f2 is to reduce the effective flight segments of the yaw strategy, improve the fit between the actual flight trajectory and the planned flight trajectory, and reduce the interference of the delay absorption process on the planned flight trajectory. The optimization goal f3 is to reduce the number of cross-uses of different types of delay absorption strategies, thereby reducing the difficulty of implementing the delay absorption strategy. The key variables in the model include: Flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] Speed ​​adjustment value DelayAbSpeedSug i,m,n , flight Flt i The yaw angle θ i , each small segment [Pt i,p ,Pt i,p+1 ] on the speed control strategy flag SegSpeedCho i,p,p+1 and its delay absorption capacity SegSpeedDelay i,p,p+1 , the flag of the yaw strategy SegActionCho i,p,p+1 and its delay absorption capacity SegActionDelay i,p,p+1 ; The variable SegSpeedCho i,p,p+1 Used to determine the sub-segment [Pt i,m ,Pt i,n ] on the scope of the speed control strategy, SegActionCho i,p,p+1 Used to determine the sub-segment [Pt i,m ,Pt i,n ] on the scope of the yaw strategy; The first constraint in the model indicates that the sum of delays absorbed by the speed control strategy and the deviation strategy is equal to the flight Flt i In the sub-segment [Pt i,m ,Pt i,n Total delay SegDelay on i,m,n The second constraint in the model indicates that the speed control strategy and the yaw strategy are used to absorb the segment delay SegDelay in the same direction i,m,n ; The third constraint in the model represents the sub-segment [Pt i,m ,Pt i,n ] on any small segment [Pt i,p ,Pt i,p+1 ] is assigned at most one of the speed control strategy or the deviation strategy; the fourth constraint in the model represents the sub-segment [Pt i,m ,Pt i,n The scope of action of the speed control strategy and the yaw strategy on the flight path is continuous; the fifth constraint in the model indicates that no delay absorption is performed on the non-level flight segment; the sixth constraint in the model indicates the calculation formula for the positive delay absorption capacity of the speed control strategy; the seventh constraint in the model indicates the calculation formula for the positive delay absorption capacity of the yaw strategy; the eighth constraint in the model indicates the flight Flt i In the sub-segment [Pt i,m ,Pt i,n Each flight trajectory point Pt on i,p The calculation method of the difference value of the delay absorption strategy of adjacent flight segments; the 9th, 10th, 11th and 12th constraints in the model represent the value range restrictions of the variables in the model; Step 4-3-1-2, design algorithm: By setting a combination of delay absorption strategies and discretizing the speed adjustment value, the delay allocation model calculation process for medium positive delay segments is simplified, and an approximate solution for the optimal segment delay absorption strategy is generated. The specific steps include the following: Step 4-3-1-2-1, set the combined application mode of the delay absorption strategy: To meet the optimization goals g1 and f3, in the sub-segment [Pt i,m ,Pt i,n In the case of medium positive delay, the combination application mode of the delay absorption strategy is set as follows: Set the scope of the delay absorption strategy: Set the scope of the delay absorption strategy to the entire sub-segment [Pt i,m ,Pt i,n ], the scope of the speed control strategy and yaw strategy must satisfy the following formula: Set the priority of delay absorption strategy: According to the optimization goal g1, the delay is absorbed by prioritizing the speed control strategy and supplementing the yaw strategy, which reduces the demand for the yaw strategy and thus reduces the flight mileage increment. For sub-segments [Pt i,m ,Pt i,n Any small segment within [Pt i,p ,Pt i,p+1 ], according to formulas (10) and (11), the difference in delay absorption capacity between the yaw strategy and the speed control strategy is: Set sub-segment [Pt i,m ,Pt i,n ] When only the speed regulation strategy is used to absorb the delay, according to formula (13), there is still The amount of delay cannot be absorbed; therefore, from the sub-segment [Pt i,m ,Pt i,n ] Select some flight segments to implement the deviation strategy to improve the delay absorption capacity, and the selected flight segments for the deviation strategy must meet the following conditions: According to formula (15) and the optimization target g1, the minimum value of the flight mileage increment caused by the yaw strategy is: Set the order in which the delay absorption strategies are used: According to the optimization objective f3, in order to reduce the cross-use of different types of delay absorption strategies, the order of using the delay absorption strategy is set to speed regulation first and then yaw, which needs to satisfy the following formula: Step 4-3-1-2-2, discretization of speed adjustment value: Speed ​​adjustment value DelayAbSpeedSug in the delay distribution model for medium positive delay segments i,m,n It is a continuous variable. To simplify the calculation process, the processing formula is as follows: DelayAbSpeedSug i,m,n =SegMinSpeed i,m,n +L*SpeedAdjSpan i ,L∈Z(18) And must meet DelayAbSpeedSug i,m,n ∈[SegMinSpeed i,m,n ,SegMaxSpeed i,m,n ] and SpeedAdjSpan i >0; Step 4-3-1-2-3, calculate the flight delay absorption strategy: In the process of calculating the flight delay absorption strategy, the priority is to ensure the economic benefits of the flight. Secondly, the difficulty of implementing the delay absorption strategy and the degree of deviation between the flight trajectory and the planned trajectory are considered. Therefore, the priority of the optimization objectives in the delay allocation model for the medium positive delay segment is set from high to low to g1, f3, and f2. Specifically, Step 4-3-1-2-3-1, model simplification process 1: In order to meet the optimization goal g1, according to the combined application mode of the delay absorption strategy set in step 4-3-1-2-1, formulas (13) and (16) are used as new constraints to replace the first and fourth constraints in the delay allocation model of the medium positive delay segment; Step 4-3-1-2-3-2, model simplification process 2: Starting from L=0, the value of L is taken in ascending order, and the speed adjustment value DelayAbSpeedSug corresponding to the current L is calculated according to formula (18): i,m,n ; Step 4-3-1-2-3-3, model simplification process 3: DelayAbSpeedSug i,m,n Substitute the known parameters into the delay allocation model for the medium positive delay segment and remove the speed adjustment value DelayAbSpeedSug in the model. i,m,n Related optimization objectives g1 and constraints; Step 4-3-1-2-3-4, model simplification process 4: To meet the optimization goal f3, according to the combined application mode of the delay absorption strategy set in step 4-3-1-2-1, formula (17) is added as a new constraint to the delay allocation model of the medium positive delay segment, and the optimization goal f3 and related constraints are removed; In summary, the simplified model 2 shown below is generated: Min F=(f2) Steps 4-3-1-2-3-5, model calculation 1: According to the seventh constraint condition and speed adjustment value DelayAbSpeedSug in simplified model 2 i,m,n , calculate the sub-segment [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 The delay absorption capacity of the speed control strategy SegSpeedDelay i,p,p+1 At this time, the variables in the simplified model 2 include: yaw angle θ i , sub-segment [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ] speed control strategy flag SegSpeedCho i,p,p+1 , the flag of the yaw strategy SegActionCho i,p,p+1 and its delay absorption capacity SegActionDelay i,p,p+1 ; Steps 4-3-1-2-3-6, model calculation 2: Let K be an integer variable with an initial value of 1. To meet the optimization goal f2, starting from K=1, in the sub-segment [Pt i,m ,Pt i,n ] to select K small segments [Pt i,p ,Pt i,p+1 ] as a potential yaw strategy action segment, and according to the fourth and fifth constraints in the simplified model 2, Pt i,p ∈[Pt i,n-K ,Pt i,n-1 ]; When the K selected small segments are set as the yaw strategy action segments, the yaw angle θ is calculated according to the constraints 1, 6, 9, and 10 in the simplified model 2. i Is there a feasible solution if θ i If there is no feasible solution, let K = K + 1, and repeat steps 4-3-1-2-3-6 until K>nm is satisfied, then return to step 4-3-1-2-3-2; if θ i If there is a feasible solution, the K small segments selected will be used as the segments for the deviation strategy, and the sub-segments [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ]'s yaw strategy flag SegActionCho i,p,p+1 and its delay absorption capacity SegActionDelay i,p,p+1 ; Calculate the sub-segment according to the constraints 2, 3, 4, 6, and 9 in the simplified model 2 [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ] speed control strategy flag SegSpeedCho i,p,p+1 , the feasible solution of simplified model 2 is calculated; Steps 4-3-1-2-3-7, result assignment: For the first set of feasible solutions calculated in step 4-3-1-2-3-6, the corresponding speed adjustment value DelayAbSpeedSug i,m,n and sub-segments [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ] speed control strategy flag SegSpeedCho i,p,p+1 As an approximate solution to the optimal speed control strategy; the corresponding yaw angle θ i and sub-segments [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ]'s yaw strategy flag SegActionCho i,p,p+1 As an approximate solution to the optimal yaw strategy; flight Flt i In the flight segment [Pt i,m ,Pt i,n Each trajectory point Pt in i,p The delay absorption strategy type satisfies the following formula: If there is no feasible solution after processing from step 4-3-1-2-3-1 to step 4-3-1-2-3-6, then let the sub-segment [Pt i,m ,Pt i,n ] is a high-delay segment. Go to step 4-4 to regenerate the delay absorption strategy.

5. The method according to claim 4, characterized in that Step 4-3-2 includes the following steps: Negative delay segments satisfy SegDelay i,m,n <0, the delay absorption strategies adopted in this step include speed control strategy and yaw strategy, among which the yaw strategy refers to shortening the flight distance of the segment by yawing and flying directly; Step 4-3-2-1, build the model: For sub-segments [Pt i,m ,Pt i,n Any small segment within [Pt i,p ,Pt i,p+1 ], the speed control strategy is in the flight segment [Pt i,p ,Pt i,p+1 ]’s negative delay absorption capacity and flight Flt i In the flight segment [Pt i,p ,Pt i,p+1 ] is related to the flight status, flight mileage and flight speed of the flight segment. The calculation formula is as follows: Absorb negative delay by shortening the flight distance by deviating from the route and flying directly: For sub-segments [Pt i,m ,Pt i,n Any flight segment within [Pt i,x ,Pt i,y ], first determine the flight Flt i Can [Pt i,x ,Pt i,y ] to fly straight on the deviation; if the following judgment conditions are met, let the flight segment [Pt i,x ,Pt i,y ] yaw capability flag SegActionCap i,x,y =1, otherwise let SegActionCap i,x,y =0: When [Pt i,x ,Pt i,y ] satisfies the judgment condition in formula (22), then it is used as the effective segment of the yaw strategy, and the yaw strategy is effective in this segment [Pt i,x ,Pt i,y ]’s negative delay absorption capacity and flight Flt i The deviation and direct flight distance in this section is related to the flight speed, and the calculation formula is: For [Pt i,x ,Pt i,y Any small segment within [Pt i,p ,Pt i,p+1 ], the yaw strategy in this segment [Pt i,x ,Pt i,y The calculation formula for the negative delay absorbing capacity on ] is: Based on the delay allocation target for medium negative delay segments and the delay absorption capacity of various delay absorption strategies, the delay allocation model for medium negative delay segments is constructed as follows: Min F=(f1,f2,f3) in: f1=|FltEcoSpeed i,m,n -DelayAbSpeedSug i,m,n | In the model, F represents the optimization goal of this model, which includes three sub-optimization goals: f1, f2, and f3. Optimization goal f1 is to reduce the deviation between the flight speed in the speed control strategy and the economic flight speed, thereby reducing the economic losses in the delay absorption process. Optimization goal f2 is to reduce the effective segments of the deviation strategy, improve the fit between the actual flight trajectory of the flight and the planned flight trajectory, and reduce the interference of the delay absorption process on the planned flight trajectory. Optimization goal f3 is to reduce the number of cross-uses of different types of delay absorption strategies, thereby reducing the difficulty of implementing the delay absorption strategy. The key variables in the model include: Flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] Speed ​​adjustment value DelayAbSpeedSug i,m,n , each small segment [Pt i,p ,Pt i,p+1 ] on the speed control strategy flag SegSpeedCho i,p,p+1 and its delay absorption capacity SegSpeedDelay i,p,p+1 , the flag of the yaw strategy SegActionCho i,p,p+1 and its delay absorption capacity SegActionDelay i,p,p+1 ; The variable SegSpeedCho i,p,p+1 Used to determine the sub-segment [Pt i,m ,Pt i,n ] on the scope of the speed control strategy, SegActionCho i,p,p+1 Used to determine the sub-segment [Pt i,m ,Pt i,n ] on the scope of the yaw strategy; The first constraint in the model indicates that the sum of delays absorbed by the speed control strategy and the deviation strategy is equal to the flight Flt i In the sub-segment [Pt i,m ,Pt i,n Total delay SegDelay on i,m,n The second constraint in the model indicates that the speed control strategy and the yaw strategy are used to absorb the segment delay SegDelay in the same direction i,m,n ; The third constraint in the model represents the sub-segment [Pt i,m ,Pt i,n ] on any small segment [Pt i,p ,Pt i,p+1 ] is assigned at most one of the speed control strategy or the deviation strategy; the fourth constraint in the model represents the sub-segment [Pt i,m ,Pt i,n ] is continuous in scope of the speed control strategy and the yaw strategy; the fifth constraint in the model indicates that no delay absorption is performed on the non-level flight segment; the sixth constraint in the model indicates the calculation formula for the negative delay absorption capacity of the speed control strategy; the seventh constraint in the model indicates the effective segment of the yaw strategy [Pt i,x ,Pt i,y ] must be a level flight segment and the segment [Pt i,x ,Pt i,y Direct flights from SegStraDis i,x,y Must be less than the flight segment [Pt i,x ,Pt i,y ]'s flight miles SegDis i,x,y ; The 8th and 9th constraints in the model represent the effective segments of the yaw strategy [Pt i,x ,Pt i,y ] in each segment [Pt i,p ,Pt i,p+1 ]’s negative delay absorption capacity and the calculation method of the flag bit; the 10th constraint in the model represents the flight Flt i In the sub-segment [Pt i,m ,Pt i,n Each flight trajectory point Pt on i,p The calculation method of the difference between the delay absorption strategies of adjacent flight segments; the 11th, 12th, and 13th constraints in the model represent the value range restrictions of the variables in the model; Step 4-3-2-2, design the algorithm, including: Step 4-3-2-2-1, construct the yaw strategy solution space, which specifically includes the following steps: Step 4-3-2-2-1-1, generate a set of route turning points: Search for sub-segments [Pt i,m ,Pt i,n ], add the route turning points to the route turning point collection RteTurnPtArray i,m,n In; let the final generated queue RteTurnPtArray i,m,n The number of elements in RteTurnPtArrayNum i,m,n ; Step 4-3-2-2-1-2, generate the deviation segment option set: From the sub-segment [Pt i,m ,Pt i,n ]Inside filter contains queue RteTurnPtArray i,m,n All the flight segments of the element item; for any of the filtered flight segments [Pt i,x ,Pt i,y ], according to formula (22) to determine the flight Flt i In the flight segment [Pt i,x ,Pt i,y ] on the yaw capability SegActionCap i,x,y If SegActionCap is satisfied i,x,y = = 1, then the flight segment [Pt i,x ,Pt i,y ] As a yaw segment option, add the yaw segment option set RrtSegOpArray i,m,n In; let the final generated queue RrtSegOpArray i,m,n The number of elements in RrtSegOpArrayNum i,m,n ; Step 4-3-2-2-1-3, build a yaw strategy option set: Let K, z be integer variables, and their initial values ​​are both 1; starting from K=1, use the combination method to select i,m,n Filter out all K yaw segment option combinations, the total number is For any K yaw segment option combinations that are screened out, determine whether there are overlapping segments between the yaw segment options. If there are no overlapping segments, use this K yaw segment option combination as the zth yaw strategy option RrtSceOp i,m,n,z , and let RrtSceOp i,m,n,z (Num) = K, add it to the yaw strategy option set RrtSceOpArray i,m,n And let z=z+1; After all the yaw segment option combinations are processed, set K = K + 1 and repeat the process of steps 4-3-2-2-1-3 until K>RrtSegOpArrayNum is satisfied. i,m,n ; Let the resulting queue RrtSceOpArray i,m,n The number of elements in RrtSceOpArrayNum i,m,n ; Queue RrtSceOpArray i,m,n Flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] on the yaw strategy solution space; Step 4-3-2-2-2, sorting the yaw strategy solution space: According to the optimization objectives f2 and f3 in the delay allocation model of the medium negative delay segment, design the number of yaw segments, yaw segment flight mileage, and range increment to sort the yaw strategy solution space RrtSceOpArray i,m,n The element item RrtSceOp i,m,n,z Perform combination sorting; the yaw segment flight mileage indicator is used to meet the optimization goal f2, the yaw segment number indicator is used to meet the optimization goal f3, and the range increment indicator is used to measure the yaw strategy option RrtSceOp i,m,n,z The implementation effect of the combination sorting process is as follows: the priority of the indicators used is the number of off-course segments, the mileage of off-course segments, and the range increment; among them, the number of off-course segments and the mileage of off-course segments are arranged in ascending order, and the range increment is arranged in descending order; the formula for each type of indicator is as follows: Yaw strategy option RrtSceOp i,m,n,z The off-course flight mileage evaluation index RrtSceOp i,m,n,z (Dis): RrtSceOp i,m,n,z (Dis)=∑SegDis i,x,y ,[Pt i,x ,Pt i,y ]∈RrtSceOp i,m,n,z (26) Yaw strategy option RrtSceOp i,m,n,z Range increment evaluation index RrtSceOp i,m,n,z (DisInc): RrtSceOp i,m,n,z (DisInc)=∑(SegDis i,x,y -SegStraDis i,x,y ),[Pt i,x ,Pt i,y ]∈RrtSceOp i,m,n,z (27) Yaw strategy option RrtSceOp i,m,n,z Evaluation index of the number of off-course segments RrtSceOp i,m,n,z (SegNum): RrtSceOp i,m,n,z (SegNum)=RrtSceOp i,m,n,z (Num) (28) Step 4-3-2-2-3, discretization of speed adjustment value: Speed ​​adjustment value DelayAbSpeedSug in the delay distribution model for medium negative delay segments i,m,n It is a continuous variable. To simplify the calculation process, it is discretized according to the optimization target f1. The processing formula is as follows: DelayAbSpeedSug i,m,n =FltEcoSpeed i,m,n +L*SpeedAdjSpan i ,L∈Z(29) And must meet DelayAbSpeedSug i,m,n ∈[SegMinSpeed i,m,n ,SegMaxSpeed i,m,n ] and SpeedAdjSpan i >0; Step 4-3-2-2-4, calculate the flight delay absorption strategy: Set the priorities of the optimization objectives in the delay allocation model for the medium negative delay segment to f1, f3, and f2 in descending order; perform the following steps: Step 4-3-2-2-4-1, model simplification process 1: To meet the optimization goal f1, starting from L = 0, in the order of |L| from small to large, the corresponding speed adjustment value DelayAbSpeedSug is calculated according to formula (29): i,m,n ; Step 4-3-2-2-4-2, model simplification process 2: DelayAbSpeedSug i,m,n Substitute the known parameters into the delay allocation model of the medium negative delay segment until the model has a feasible solution; remove the speed adjustment value DelayAbSpeedSug in the model. i,m,n The relevant optimization objective f1 and constraints generate the simplified model 3 shown below: Min F=(f2,f3) Step 4-3-2-2-4-3, model calculation 1: According to the sixth constraint condition and speed adjustment value DelayAbSpeedSug in simplified model 3 i,m,n , calculate the sub-segment [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 The negative delay absorption capacity of the speed control strategy SegSpeedDelay i,p,p+1 ; At this time, the variables in the simplified model 3 include: sub-segment [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ] speed control strategy flag SegSpeedCho i,p,p+1 , the flag of the yaw strategy SegActionCho i,p,p+1 and its delay absorption capacity SegActionDelay i,p,p+1 ; Step 4-3-2-2-4-4, model calculation 2: In order to satisfy the optimization objectives f3 and f2 in turn, starting from z=1, the yaw strategy solution space RrtSceOpArray i,m,n The zth yaw strategy option in RrtSceOp i,m,n,z As known parameters, they are introduced into simplified model 3, and the sub-segment [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ]'s yaw strategy flag SegActionCho i,p,p+1 and its delay absorption capacity SegActionDelay i,p,p+1 ; At this time, the variables in the simplified model 3 include sub-segments [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ] speed control strategy flag SegSpeedCho i,p,p+1 According to the constraints 1, 2, 3, 4, 5, and 11 in the simplified model 3, the enumeration method is used to determine whether there is a feasible solution. If there is a feasible solution, the calculation is completed; otherwise, let z = z + 1 and repeat steps 4-3-2-2-4-4 until z>RrtSceOpArrayNum is satisfied. i,m,n Then return to step 4-3-2-2-4-1; Steps 4-3-2-2-4-5, result assignment: For the first set of feasible solutions calculated in step 4-3-2-2-4-4, the corresponding speed adjustment value DelayAbSpeedSug i,m,n and sub-segments [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ] speed control strategy flag SegSpeedCho i,p,p+1 As an approximate solution to the optimal speed control strategy; the sub-segment [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ]'s yaw strategy flag SegActionCho i,p,p+1 As an approximate solution to the optimal yaw strategy; flight Flt i In the flight segment [Pt i,m ,Pt i,n Each trajectory point Pt in i,p The delay absorption strategy type satisfies the following formula: If there is no feasible solution after processing from step 4-3-2-2-4-1 to step 4-3-2-2-4-4, then let the sub-segment [Pt i,m ,Pt i,n ] is a high-delay segment. Go to step 4-4 to regenerate the delay absorption strategy.

6. The method according to claim 5, characterized in that Step 4-4 specifically includes: Step 4-4-1, feasibility test: If SegDelay is satisfied i,m,n <0, in this case, the delay cannot be absorbed by the speed control strategy, yaw strategy or circling strategy, the segment delay allocation fails, and DlyProgmCode i,m,n =4, prompting the user to use manual command to absorb the flight in the sub-segment [Pt i,m ,Pt i,n ] on delays; If SegDelay is satisfied i,m,n ≥0, in this case, it is necessary to determine the sub-segment [Pt i,m ,Pt i,n ] whether the circling point is located on flight Flt i After the current position; if there is a circling point, it indicates that the flight adopts a circling strategy to absorb the delay, and continue with step 4-4-2; if there is no circling point, the flight delay allocation fails, and DlyProgmCode i,m,n =4, prompting the user to use manual command to absorb the flight in the sub-segment [Pt i,m ,Pt i,n ] on delays; Step 4-4-2, calculate the flight delay absorption strategy: Let Pt i,c For sub-segment [Pt i,m ,Pt i,n ]Departure Flight Flt i Current location is closest and on flight Flt i The hovering point after the current position; The flight will only wait in a circle at the circling point to absorb the flight delay. After the delay is absorbed, the flight will return to the planned flight path from the circling point. Flight Flt i In the flight segment [Pt i,m ,Pt i,n Each trajectory point Pt in i,p The delay absorption strategy type satisfies the following formula:

7. The method according to claim 6, characterized in that Step 5 includes the following steps: Step 5-1, define the following variables: [Pt i,j ,Pt i,k ] is used to replace the planned flight trajectory PtList i From the trajectory point Pt i,j To trajectory point Pt i,k The flight segments between i,j ,Pt i,k ], With [Pt i,j ,Pt i,k ]’s flight segments have the same starting point; TmpETO i,j :Indicates flight Flt i At the trajectory point Pt i,j Estimated time of elapsed time (ETO) i,j The initial value is TmpETO i,j =ETO i,j ; CTO i,j :Indicates flight Flt i At the trajectory point Pt i,j The calculated time at the point, the initial value is ETO i,j ; CalPtDelay i,j :Indicates flight Flt i At the trajectory point Pt i,j The calculated point delay at the location, in seconds, with an initial value of 0; IniPtList i :Indicates flight Flt i The backup of the planned flight trajectory, the initial value is IniPtList i =PtList i ; RefPtList i :Indicates flight Flt i The reference flight trajectory, the initial value is RefPtList i =PtList i ; Step 5-2, check the need for correction of the planned flight trajectory: For the sub-segment [Pt i,m ,Pt i,n ], when DlyProgmCode is satisfied i,m,n = = 0, jump to step 5-4; when DlyProgmCode is satisfied i,m,n If ==4, select the next sub-segment and repeat step 5-2; otherwise, continue to step 5-3; Step 5-3, correct the planned flight trajectory: The implementation of the deviation strategy will cause the flight to deviate from the planned route, making the actual flight trajectory of the flight different from the planned flight trajectory PtList i Deviation occurs, for sub-segment [Pt i,m ,Pt i,n ], according to flight Flt i In this segment [Pt i,m ,Pt i,n ] and the delay absorption plan, and revise the planned flight trajectory of the flight in that segment; Step 5-3 includes the following steps: Step 5-3-1, correct the flight trajectory of the slightly delayed segment: In this case, flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] on the delay absorption plan number DlyProgmCode i,m,n If it is 1, only the speed adjustment strategy is used to absorb the flight delay, which will not cause the flight to deviate from the planned route; therefore, there is no need to adjust the flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] within the planned flight trajectory; Step 5-3-2, correct the flight trajectory of the medium-delayed segment: In this case, flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] on the delay absorption plan number DlyProgmCode i,m,n =2, a combination of yaw strategy and speed control strategy is used to absorb the flight delay; therefore, the flight Flt needs to be corrected according to the yaw strategy. i In the sub-segment [Pt i,m ,Pt i,n ] within the planned flight trajectory; Step 5-3-2-1: Correct the flight trajectory of the medium-delayed segment, including: Step 5-3-2-1-1, generate the yaw path: First, according to flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ]'s yaw strategy flag SegActionCho i,p,p+1 , filter sub-segments [Pt i,m ,Pt i,n ] all the effective segments of the yaw strategy within; Then, for any selected yaw strategy action segment [Pt i,x ,Pt i,y ], according to flight Flt i The yaw angle θ i Generate this segment [Pt i,x ,Pt i,y ]'s angular yaw flight path Step 5-3-2-1-2, divide the yaw path: For any effective segment of the yaw strategy selected in step 5-3-2-1-1 [Pt i,x ,Pt i,y ], first according to the flight Flt i On its corresponding equiangular yaw flight path Flight mileage and speed adjustment value DelayAbSpeedSug i,m,n , calculate flight Flt i On a conformal yaw fly-around path The flight duration in; then, with the parameter Span i Divide the step length into the equiangular yaw flight path according to the flight time ratio Generate a yaw fly-around path The trajectory points in for Any small segment divided in [Pt i,p ,Pt i,p+1 ], let SegActionCho i,p,p+1 =1 and SegSpeedCho i,p,p+1 =0; Step 5-3-2-1-3, replace the yaw path: For flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] within any yaw strategy action segment [Pt i,x ,Pt i,y ], yaw its angular orbital path The newly generated trajectory points are replaced by [Pt i,x ,Pt i,y ]; Waiting for sub-segment [Pt i,m ,Pt i,n After all the effective segments of the yaw strategy are processed, the flight Flt is completed. i In the sub-segment [Pt i,m ,Pt i,n ] within the planned flight trajectory correction; Step 5-3-2-2: Correct the flight trajectory of the medium negative delay segment, including: Step 5-3-2-2-1, generate the yaw path: First, according to flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] Each small segment [Pt i,p ,Pt i,p+1 ]'s yaw strategy flag SegActionCho i,p,p+1 , filter sub-segments [Pt i,m ,Pt i,n ] all the effective segments of the yaw strategy within the selected segment; then, for any effective segment of the yaw strategy [Pt i,x ,Pt i,y ], the starting point Pt i,x and the endpoint Pt i,y The direct flight path between the two routes is used as the deviated direct flight path for this segment. Step 5-3-2-2-2, divide the yaw path: For any effective segment of the yaw strategy selected in step 5-3-2-2-1 [Pt i,x ,Pt i,y ], first according to the flight Flt i On its corresponding yaw direct flight path Flight mileage and speed adjustment value DelayAbSpeedSug i,m,n , calculate flight Flt i On a deviated direct flight path The flight duration in; then, with the parameter Span i Divide the yaw and direct flight paths by the proportion of flight time for the step length Generate a yawed direct flight path The trajectory points in for Any small segment divided from [Pt i,p ,Pt i,p+1 ], let SegActionCho i,p,p+1 =1 and SegSpeedCho i,p,p+1 =0; Step 5-3-2-2-3, replace the yaw path: For flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] within any yaw strategy action segment [Pt i,x ,Pt i,y ], deviating it from the direct flight path The newly generated trajectory points are replaced by [Pt i,x ,Pt i,y ]; Waiting for sub-segment [Pt i,m ,Pt i,n After all the effective segments of the yaw strategy are processed, the flight Flt is completed. i In the sub-segment [Pt i,m ,Pt i,n ] within the planned flight trajectory correction; Step 5-3-3, correct the flight trajectory of the long-delayed segment: In this case, flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] on the delay absorption plan number DlyProgmCode i,m,n If it is 3, a circling strategy is used to absorb the flight delay, and there is no need to adjust the flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] within the planned flight trajectory; Step 5-4, correct the estimated time of the track point: due to the correction of the planned flight trajectory, the flight Flt i In [Pt i,m ,Pt i,n ], the estimated passing time of each trajectory point will deviate. This step starts from Pt i,m Start by correcting flight Flt i In the sub-segment [Pt i,m ,Pt i,n ] Each trajectory point Pt i,p Estimated time of elapsed time (ETO) i,p , the correction formula is: Step 5-5, allocate flight segment delay: Based on step 5-3, allocate flight segment delay according to the sub-segment [Pt i,m ,Pt i,n The delay absorption scheme adopted on the flight is to absorb the delay SegDelay on the sub-segment i,m,n Allocate to each small segment [Pt i,p ,Pt i,p+1 ], the calculation formula is as follows: Step 5-6, calculate the recommended transit time of the track point: for the sub-segment [Pt i,m ,Pt i,n Any trajectory point Pt within i,p , initialize the calculation of the time CTO i,p ,satisfy: According to the flight segment delay allocation result in step 5-5, the trajectory point Pt i,p Calculated point delay CalPtDelay i,p The calculation formula satisfies: Track point Pt i,p Calculate the time CTO i,p The calculation formula satisfies: CTO i,p =ETO i,p +CalPtDelay i,p (37) Steps 5-7, generate reference flight trajectory: When each sub-segment generated in steps 2-5 [Pt i,m ,Pt i,n After completing steps 5-2 to 5-6, the planned flight trajectory PtList i As flight Flt i The reference flight trajectory, and let RefPtList i =PtList i ; After the flight Flt i After the reference flight trajectory is generated, the planned flight trajectory of the flight is restored, and PtList i =IniPtList i .

8. The method according to claim 7, characterized in that Step 6 includes the following steps: Step 6-1, define the following variables: RefPos i :Indicates flight Flt i The reference track at the current system time SysTime; Rds(RefPos i ):Indicates the reference track RefPos i radius; PrecRes i,j :Indicates flight Flt i At the trajectory point Pt i,j The handover accuracy limit at a point refers to the upper limit of the absolute value of the deviation between the actual transit time of the flight at that trajectory point and the sorted transit time; Step 6-2, generate reference track position: First, according to flight Flt i Reference flight path RefPtList i Calculate the time of each track point and filter the flight Flt under the current system time SysTime i In the reference flight trajectory RefPtList i The reference segment in which ? Let [Pt i,r ,Pt i,r+1 ] is the current system time SysTime under flight Flt i In the reference flight trajectory RefPtList i The reference segment in , then the following conditions must be met: Then, due to RefPtList i The estimated time interval between adjacent trajectory points in the trajectory does not exceed the parameter Span i , this step estimates the flight Flt proportionally i Reference track RefPos at the current system time SysTime i location information; Reference track RefPos i Latitude Lat(RefPos i ) is calculated as: Reference track RefPos i Longitude Lon(RefPos i ) is calculated as: Step 6-3, generate the radius of the reference track: Let [Pt i,t ,Pt i,t+1 ] is the current system time SysTime under flight Flt i In the reference flight trajectory RefPtList i The actual flight segment in , must meet the following conditions: From Pt i,t+1 Start by adding the RefPtList i Find flight Flt in the queue i The subsequent flight trajectory point is from Pt i,t+1 The nearest sorting point, denoted as Pt i,s , and satisfies SeqMark i,s ==1; then the reference track RefPos i The radius satisfies: Rds(RefPos i )=PrecRes i,s (40).

Images