A method, device, equipment and storage medium for flight plan formulation
By processing weather data with varying confidence levels to generate target temperature and wind speed data, the method improves flight planning accuracy during periods of significant temperature and wind variation, ensuring a more representative and conservative estimation of fuel, time, and payload capacity.
Patent Information
- Application Number
- CN202311281244.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2023-09-28
- Publication Date
- 2025-07-15
- Estimated Expiration
- 2043-09-28
AI Technical Summary
In the prior art, the flight plan formulated using the average wind temperature value cannot represent the actual situation during periods where the temperature and wind speed change greatly, resulting in inaccurate calculation of oil volume, time and load capacity.
By obtaining the temperature and wind speed data of the specified area, performing data preprocessing, quantile values are taken according to different confidence levels, target temperature and wind speed data are generated, and a flight plan is formulated.
It improves the representativeness and conservatism of the flight plan, ensuring that the fuel volume, time and load capacity more accurately reflect actual conditions.
Smart Images
Figure CN117542228B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of aviation meteorology, and particularly to a method, device, equipment and storage medium for flight plan formulation. Background Art
[0002] When an airline opens a new route or uses a new aircraft type to fly an old route, it is necessary to make a flight plan in advance to predict the fuel quantity, time and payload capacity required for the new route or the new aircraft type to fly the old route. Since such flight plans need to be made one week or more in advance, and the fuel quantity, time and payload capacity calculated from the flight plan need to represent most of the future flight mission situations of the aircraft. The average high-altitude wind temperature data statistically counts the average wind speed, wind direction and temperature values of each longitude and latitude grid point and altitude layer in a certain historical time period, and the fuel quantity, time and payload capacity data calculated by using the wind temperature values to make the flight plan can represent the characteristics of the route and the capabilities of the aircraft type to a certain extent.
[0003] In the prior art, the average wind temperature value is used as the data representative value for a specific time period, specific geographical location and specific altitude layer. However, in reality, the high-altitude wind temperature data may be higher or lower than the average value. Therefore, the fuel quantity, time and payload capacity data calculated according to the average value may be larger or smaller, and it is impossible to determine whether they are conservative values or non-conservative values. For a time period with large changes in temperature, wind direction and wind speed, such as the alternation of autumn and winter, the alternation of spring and summer, etc., the average wind temperature value cannot represent most of the situations in this time period, and the calculated fuel quantity, time and payload capacity will also deviate greatly from the actual requirements, and the flight plan obtained therefrom is not representative. Summary of the Invention
[0004] The technical problem to be solved by the embodiments of the present invention is: to statistically count the wind temperature data with different confidence levels for a specific time period, perform conservative processing on the wind temperature data, ensure that the time, fuel quantity and payload capacity calculated from the flight plan formulated for the statistically counted wind temperature data are the most conservative, and select more representative wind temperature data to formulate the flight plan.
[0005] To solve the above technical problem, in a first aspect, an embodiment of the present invention provides a method for formulating a flight plan, including:
[0006] Obtain weather data of a specified area in a preset time period; wherein, the weather data includes a temperature data set and a wind speed data set;
[0007] Perform data preprocessing on the weather data;
[0008] Perform percentile value taking on the preprocessed temperature data set according to at least one preset temperature confidence level to generate at least one target temperature data of the specified area;
[0009] Performing quantile value extraction on the preprocessed wind speed data set according to at least one preset wind speed confidence level to generate at least one target wind speed data for the specified area;
[0010] Formulating a flight plan for the aircraft based on the target temperature data and the target wind speed data.
[0011] Further, the temperature confidence level includes a first temperature confidence level and a second temperature confidence level, and the first temperature confidence level is less than the second temperature confidence level; then, the performing quantile value extraction on the preprocessed temperature data set according to at least one preset temperature confidence level to generate at least one target temperature data for the specified area includes:
[0012] Performing quantile value extraction on the preprocessed temperature data set according to the first temperature confidence level to obtain a first target temperature data;
[0013] Performing quantile value extraction on the preprocessed temperature data set according to the second temperature confidence level to obtain a second target temperature data.
[0014] Further, the wind speed confidence level includes a first wind speed confidence level and a second wind speed confidence level, and the first wind speed confidence level is less than the second wind speed confidence level; then, the performing quantile value extraction on the preprocessed wind speed data set according to at least one preset wind speed confidence level to generate at least one target wind speed data for the specified area includes:
[0015] Performing quantile value extraction on the preprocessed wind speed data set according to the first wind speed confidence level to obtain a first target wind speed data;
[0016] Performing quantile value extraction on the preprocessed wind speed data set according to the second wind speed confidence level to obtain a second target wind speed data.
[0017] Further, the performing data preprocessing on the weather data includes:
[0018] Performing time - segment processing on the weather data; wherein, the time - segment includes at least one of dividing by month, dividing by quarter, and dividing by half - year.
[0019] Further, after performing data preprocessing on the weather data, it further includes:
[0020] Sorting the preprocessed temperature data set from small to large;
[0021] Performing course decomposition on the preprocessed wind speed data set to generate head - wind and tail - wind data for each course;
[0022] Sort the headwind and tailwind data in each heading after decomposing the heading from large to small.
[0023] Further, formulating a flight plan for the aircraft according to the target temperature data and the target wind speed data includes:
[0024] Predict the flight data information of the aircraft according to the target temperature data and the target wind speed data; wherein, the flight data information includes the fuel amount, time required for the aircraft to fly, and the payload capacity of the aircraft;
[0025] Formulate a flight plan for the aircraft according to the flight data information.
[0026] To solve the above technical problem, in a second aspect, an embodiment of the present invention provides a flight plan formulation device, including:
[0027] A data acquisition module, configured to acquire weather data in a specified area during a preset time period; wherein, the weather data includes a temperature data set and a wind speed data set;
[0028] A data preprocessing module, configured to perform data preprocessing on the weather data;
[0029] A temperature quantile value-taking module, configured to perform quantile value-taking on the preprocessed temperature data set according to at least one preset temperature confidence level to generate at least one target temperature data of the specified area;
[0030] A wind speed quantile value-taking module, configured to perform quantile value-taking on the preprocessed wind speed data set according to at least one preset wind speed confidence level to generate at least one target wind speed data of the specified area;
[0031] A flight plan formulation module, configured to formulate a flight plan for the aircraft according to the target temperature data and the target wind speed data.
[0032] To solve the above technical problem, in a third aspect, an embodiment of the present invention provides an electronic device, including:
[0033] A memory, configured to store a computer program;
[0034] A processor, configured to execute the computer program;
[0035] Wherein, when the processor executes the computer program, it implements the flight plan formulation method described in any item of the first aspect above.
[0036] To solve the above technical problems, in a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and when the computer program is executed, the flight plan formulation method described in any one of the above first aspects is implemented.
[0037] Compared with the prior art, a flight plan formulation method, device, equipment and storage medium provided by an embodiment of the present invention have the following beneficial effects: obtaining a temperature data set and a wind speed data set of a specified area in a preset time period, and performing data preprocessing on the temperature data set and the wind speed data set; performing percentile value taking on the preprocessed temperature data set and wind speed data set according to preset temperature confidence and wind speed confidence to generate at least one target temperature data and at least one target wind speed data of the specified area, and formulating a flight plan for an aircraft according to the target temperature data and the target wind speed data. By introducing confidence to statistically analyze wind temperature data with different confidences in a specific time period, the wind temperature data is more representative, and the route payload capacity, time and fuel quantity calculated based on this are also more representative, which can include more actual situations and can also consider the wind temperature conditions on the route more conservatively. BRIEF DESCRIPTION OF THE DRAWINGS
[0038] In order to more clearly illustrate the technical features of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly introduced below. Obviously, the following described drawings are only some embodiments of the present invention, and those skilled in the art can obtain other drawings without creative efforts based on these drawings.
[0039] Figure 1 is a schematic flowchart of a preferred embodiment of a flight plan formulation method provided by the present invention;
[0040] Figure 2 is a schematic structural diagram of a preferred embodiment of a flight plan formulation device provided by the present invention;
[0041] Figure 3 is a schematic structural diagram of a preferred embodiment of an electronic device provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
[0043] In a first aspect, an embodiment of the present invention provides a method for formulating a flight plan. Refer to Figure 1 As shown, it is a schematic flowchart of a preferred embodiment of a method for formulating a flight plan provided by the present invention.
[0044] As Figure 1 shown, the method includes the following steps:
[0045] S1: Obtain weather data of a specified area in a preset time period; wherein, the weather data includes a temperature data set and a wind speed data set;
[0046] S2: Perform data preprocessing on the weather data;
[0047] S3: Perform quantile value taking on the preprocessed temperature data set according to at least one preset temperature confidence level to generate at least one target temperature data of the specified area;
[0048] S4: Perform quantile value taking on the preprocessed wind speed data set according to at least one preset wind speed confidence level to generate at least one target wind speed data of the specified area;
[0049] S5: Formulate a flight plan for the aircraft according to the target temperature data and the target wind speed data.
[0050] Obtain weather data of a specified area in a preset time period; wherein, the weather data includes a temperature data set and a wind speed data set. Exemplarily, obtain weather data of the past ten years in the global scope, including a temperature data set and a wind speed data set. The weather data comes from the public data released by the Physical Sciences Laboratory of the National Oceanic and Atmospheric Administration of the United States. The data adopts the CF metadata standard and the NetCDF4 format, and is grid data of 2.5 degrees latitude × 2.5 degrees longitude. The included latitude and longitude range is 90N - 90S, 0E - 357.5E, and the included pressure altitude layer range is 17 pressure altitude layers (hPa): 1000, 925, 850, 700, 600, 500, 400, 300, 250, 200, 150, 100, 70, 50, 30, 20, 10. Perform data preprocessing on the obtained weather data, perform quantile value taking on the preprocessed temperature data set according to at least one preset temperature confidence level to generate at least one target temperature data of the specified area, perform quantile value taking on the preprocessed wind speed data set according to at least one preset wind speed confidence level to generate at least one target wind speed data of the specified area, and formulate a flight plan for the aircraft according to the target temperature data and the target wind speed data.
[0051] In summary, in the implementation of the present invention, by introducing confidence levels, the air temperature data with different confidence levels in a specific period is statistically analyzed. The air temperature data is more representative, and the route payload capacity, time, and fuel quantity calculated based on this are also more representative. More actual situations can be taken into account, and the air temperature conditions on the route can be considered more conservatively.
[0052] In a preferred embodiment, step S2 specifically includes:
[0053] Perform time - segmented processing on the weather data; wherein, the time - segmentation includes at least one of segmentation by month, segmentation by quarter, and segmentation by half - year.
[0054] Specifically, after performing data pre - processing on the weather data, it further includes:
[0055] Sort the pre - processed temperature data set from small to large;
[0056] Decompose the pre - processed wind speed data set by heading to generate the head - wind and tail - wind data for each heading;
[0057] Sort the head - wind and tail - wind data for each heading after heading decomposition from large to small.
[0058] Exemplarily, the weather data includes a temperature data set and a wind speed data set, which are data sets for each latitude - longitude point and each altitude layer globally. The temperature data set is divided into different time periods by month, quarter, and half - year respectively. The temperature data for each divided time period is sorted from small to large to obtain the sorted temperature data set for each latitude - longitude point, each altitude layer, and each time period; the wind speed data set is divided into different time periods by month, quarter, and half - year respectively. The wind speed data for each divided time period is decomposed by heading, and the wind speed data after heading decomposition is sorted from large to small to obtain the sorted wind speed data set for each latitude - longitude point, each altitude layer, each time period, and each heading.
[0059] Specifically, the heading decomposition is to decompose each wind speed data for each degree on the 0 - 359 - degree heading to obtain the head - wind and tail - wind data for this time period on each heading. The tail - wind data is positive, and the head - wind data is negative. The larger the value, the stronger the tail - wind, and the smaller the value, the stronger the head - wind.
[0060] In a preferred embodiment, step S3 specifically includes:
[0061] The temperature confidence level includes a first temperature confidence level and a second temperature confidence level, and the first temperature confidence level is less than the second temperature confidence level; percentile values are taken from the preprocessed temperature data set according to the first temperature confidence level to obtain first target temperature data; percentile values are taken from the preprocessed temperature data set according to the second temperature confidence level to obtain second target temperature data.
[0062] Exemplarily, the first temperature confidence level can be set to 68%, indicating that there is a 68% probability that the predicted future temperature value is less than the temperature value of the 68% confidence level we selected, and the second temperature confidence level can be set to 85%, indicating that there is an 85% probability that the predicted future temperature value is less than the temperature value of the 85% confidence level we selected; percentile values are taken from the sorted temperature data set according to the first temperature confidence level to obtain first target temperature data for each longitude and latitude point, each altitude level, and each time period, and percentile values are taken from the sorted temperature data set according to the second temperature confidence level to obtain second target temperature data for each longitude and latitude point, each altitude level, and each time period.
[0063] In a preferred embodiment, step S4 specifically includes:
[0064] The wind speed confidence level includes a first wind speed confidence level and a second wind speed confidence level, and the first wind speed confidence level is less than the second wind speed confidence level; percentile values are taken from the preprocessed wind speed data set according to the first wind speed confidence level to obtain first target wind speed data; percentile values are taken from the preprocessed wind speed data set according to the second wind speed confidence level to obtain second target wind speed data.
[0065] Exemplarily, the first wind speed confidence level can be set to 68%, indicating that there is a 68% probability that the predicted future wind speed value is less than the wind speed value of the 68% confidence level we selected, and the second wind speed confidence level can be set to 85%, indicating that there is an 85% probability that the predicted future wind speed value is less than the wind speed value of the 85% confidence level we selected; percentile values are taken from the sorted wind speed data set according to the first wind speed confidence level to obtain first target wind speed data for each longitude and latitude point, each altitude level, and each time period, and percentile values are taken from the sorted wind speed data set according to the second wind speed confidence level to obtain second target wind speed data for each longitude and latitude point, each altitude level, and each time period.
[0066] In a preferred embodiment, step S5 specifically includes:
[0067] Predict the flight data information of the aircraft based on the target temperature data and the target wind speed data; wherein, the flight data information includes the fuel quantity, time required for the aircraft to fly, and the payload capacity of the aircraft; formulate a flight plan for the aircraft according to the flight data information.
[0068] Specifically, a flight plan formulated based on the fuel quantity, time required for the aircraft to fly, and the payload capacity of the aircraft can represent the characteristics of the route during this period and most of the situations of the aircraft's future flight mission execution.
[0069] In a second aspect, an embodiment of the present invention provides a flight plan formulation device. Refer to Figure 2 The following shows a schematic structural diagram of a preferred embodiment of a flight plan formulation device provided by the present invention.
[0070] As Figure 2 shown, the device includes:
[0071] A data acquisition module 21, configured to acquire weather data of a specified area during a preset time period; wherein, the weather data includes a temperature data set and a wind speed data set;
[0072] A data preprocessing module 22, configured to perform data preprocessing on the weather data;
[0073] A temperature quantile value-taking module 23, configured to perform quantile value-taking on the preprocessed temperature data set according to at least one preset temperature confidence level, and generate at least one target temperature data of the specified area;
[0074] A wind speed quantile value-taking module 24, configured to perform quantile value-taking on the preprocessed wind speed data set according to at least one preset wind speed confidence level, and generate at least one target wind speed data of the specified area;
[0075] A flight plan formulation module 25, configured to formulate a flight plan for the aircraft according to the target temperature data and the target wind speed data.
[0076] In a preferred embodiment, the data preprocessing module 22 includes:
[0077] A time period processing unit, configured to perform time period processing on the weather data; wherein, the time period includes at least one of division by month, division by quarter, and division by half year.
[0078] Specifically, after performing data preprocessing on the weather data, it further includes:
[0079] Sorting the preprocessed temperature data set from small to large;
[0080] Decomposing the preprocessed wind speed data set into headings, and generating headwind and tailwind data for each heading;
[0081] Sorting the headwind and tailwind data for each heading after heading decomposition from large to small.
[0082] In a preferred embodiment, the temperature quantile value-taking module 23 includes:
[0083] The temperature confidence level includes a first temperature confidence level and a second temperature confidence level, and the first temperature confidence level is less than the second temperature confidence level; the preprocessed temperature data set is subjected to quantile value-taking according to the first temperature confidence level to obtain first target temperature data; the preprocessed temperature data set is subjected to quantile value-taking according to the second temperature confidence level to obtain second target temperature data.
[0084] In a preferred embodiment, the wind speed quantile value-taking module 24 includes:
[0085] The wind speed confidence level includes a first wind speed confidence level and a second wind speed confidence level, and the first wind speed confidence level is less than the second wind speed confidence level; the preprocessed wind speed data set is subjected to quantile value-taking according to the first wind speed confidence level to obtain first target wind speed data; the preprocessed wind speed data set is subjected to quantile value-taking according to the second wind speed confidence level to obtain second target wind speed data.
[0086] In a preferred embodiment, the flight plan formulation module 25 includes:
[0087] Predict the flight data information of the aircraft according to the target temperature data and the target wind speed data; wherein, the flight data information includes the fuel quantity, time required for aircraft flight, and the payload capacity of the aircraft; formulate an aircraft flight plan according to the flight data information.
[0088] It should be noted that a flight plan formulation device provided in an embodiment of the present invention can implement all the processes of the flight plan formulation method described in any of the above embodiments. The functions and achieved technical effects of each module and unit in the device are respectively the same as those of the flight plan formulation described in the above embodiments, and will not be elaborated here.
[0089] In a third aspect, an embodiment of the present invention provides an electronic device, see Figure 3 shown in the structural schematic diagram of a preferred embodiment of an electronic device provided by the present invention.
[0090] As Figure 3 shown, the device includes:
[0091] A memory 31 for storing a computer program;
[0092] A processor 32 for executing the computer program;
[0093] Wherein, when the processor 32 executes the computer program, it implements the flight plan formulation method described in any of the above embodiments.
[0094] Exemplarily, the computer program may be divided into one or more modules / units, and the one or more modules / units are stored in the memory 31 and executed by the processor 32 to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program in the electronic device.
[0095] The so-called processor 32 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.
[0096] The memory 31 may be used to store the computer program and / or modules. By running or executing the computer program and / or modules stored in the memory 31, and by invoking the data stored in the memory 31, the processor 32 realizes various functions of the electronic device. The memory 31 may mainly include a program storage area and a data storage area. Among them, the program storage area may store an operating system, application programs required for at least one function (such as a sound playback function, an image playback function, etc.); the data storage area may store data created according to the use of the mobile phone (such as audio data, phone book, etc.). In addition, the memory 31 may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.
[0097] It should be noted that the above-mentioned electronic device includes, but is not limited to, a processor and a memory. Those skilled in the art can understand that Figure 3 The structural schematic diagram is only an example of the above-mentioned electronic device, and does not constitute a limitation on the electronic device. It may include more components than shown in the figure, or combine some components, or have different components.
[0098] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed, the flight plan making method described in any of the above embodiments is implemented.
[0099] The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto. It should be pointed out that for those skilled in the art, several equivalent obvious variations and / or equivalent substitutions can be made without departing from the technical principles of the present invention. These obvious variations and / or equivalent substitutions should also be regarded as the protection scope of the present invention.
Claims
1. A method for formulating a flight plan, characterized in that, Including: Obtain weather data of a specified area within a preset time period; wherein, the weather data includes a temperature data set and a wind speed data set; Perform data preprocessing on the weather data; Perform percentile value extraction on the preprocessed temperature data set according to at least one preset temperature confidence level to generate at least one target temperature data of the specified area; Perform percentile value extraction on the preprocessed wind speed data set according to at least one preset wind speed confidence level to generate at least one target wind speed data of the specified area; Formulate a flight plan for the aircraft according to the target temperature data and the target wind speed data; The temperature confidence level includes a first temperature confidence level and a second temperature confidence level, and the first temperature confidence level is less than the second temperature confidence level; The wind speed confidence level includes a first wind speed confidence level and a second wind speed confidence level, and the first wind speed confidence level is less than the second wind speed confidence level; The formulating a flight plan for the aircraft according to the target temperature data and the target wind speed data includes: Predict flight data information of the aircraft according to the target temperature data and the target wind speed data; wherein, the flight data information includes the fuel quantity, time required for aircraft flight, and the payload capacity of the aircraft; Formulate a flight plan for the aircraft according to the flight data information.
2. The flight plan formulation method according to claim 1, characterized in that, The performing percentile value extraction on the preprocessed temperature data set according to at least one preset temperature confidence level to generate at least one target temperature data of the specified area includes: Perform percentile value extraction on the preprocessed temperature data set according to the first temperature confidence level to obtain a first target temperature data; Perform percentile value extraction on the preprocessed temperature data set according to the second temperature confidence level to obtain a second target temperature data.
3. The flight plan formulation method according to claim 1, wherein The performing percentile value extraction on the preprocessed wind speed data set according to at least one preset wind speed confidence level to generate at least one target wind speed data of the specified area includes: Perform percentile value extraction on the preprocessed wind speed data set according to the first wind speed confidence level to obtain a first target wind speed data; Perform percentile value extraction on the preprocessed wind speed data set according to the second wind speed confidence level to obtain a second target wind speed data.
4. The flight plan formulation method according to claim 1, characterized in that The performing data preprocessing on the weather data includes: Perform sub-period processing on the weather data; wherein, the sub-period includes at least one of monthly division, quarterly division, and semi-annual division.
5. The flight plan formulation method according to claim 1, after performing data preprocessing on the weather data, further including: Sort the preprocessed temperature data set from small to large; Perform course decomposition on the preprocessed wind speed data set to generate headwind and tailwind data for each course; Sort the headwind and tailwind data for each course after course decomposition from large to small.
6. A flight plan formulation device, including: A data acquisition module, configured to acquire weather data of a specified area within a preset time period; wherein, the weather data includes a temperature data set and a wind speed data set; A data preprocessing module, configured to perform data preprocessing on the weather data; A temperature quantile value-taking module, configured to perform quantile value-taking on the preprocessed temperature data set according to at least one preset temperature confidence level, and generate at least one target temperature data for the specified area; A wind speed quantile value-taking module, configured to perform quantile value-taking on the preprocessed wind speed data set according to at least one preset wind speed confidence level, and generate at least one target wind speed data for the specified area; A flight plan formulation module, configured to formulate a flight plan for an aircraft according to the target temperature data and the target wind speed data; The temperature confidence level includes a first temperature confidence level and a second temperature confidence level, and the first temperature confidence level is less than the second temperature confidence level; The wind speed confidence level includes a first wind speed confidence level and a second wind speed confidence level, and the first wind speed confidence level is less than the second wind speed confidence level; The flight plan formulation module is further configured to: Predict flight data information of the aircraft according to the target temperature data and the target wind speed data; wherein, the flight data information includes the fuel quantity, time required for the aircraft to fly, and the payload capacity of the aircraft; Formulate a flight plan for the aircraft according to the flight data information.
7. An electronic device, characterized in that, Comprising: A memory, configured to store a computer program; A processor, configured to execute the computer program; Wherein, when the processor executes the computer program, the flight plan formulation method according to any one of claims 1 to 5 is implemented.
8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed, the flight plan formulation method according to any one of claims 1 to 5 is implemented.
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