A Dynamic Intelligent Planning Method, Device and Medium for Aircraft Surface Taxiing Path

Abstract

The present invention relates to the field of aircraft command on the apron of civil aviation airports, and specifically discloses a dynamic intelligent planning method, device and medium for aircraft surface taxiing paths, including obtaining the scene configuration logic data and the flight numbers and position information of all aircraft; automatically calculating the standard route and the recommended route for the aircraft that needs route planning as the candidate routes. If the operator is not satisfied with the candidate routes, the operator can manually determine the necessary points of the manual route, and automatically calculate the manual route as the candidate route. After selecting the candidate route, click to confirm the waiting point and issue the route planning. By intelligently combining the algorithm to automatically generate the route and the manual confirmation operation steps, the present invention not only ensures the safety that the route planning must be checked by people, but also can quickly obtain the optimal route planning for each aircraft, thereby reducing the taxiing time of the aircraft and improving the taxiing scheduling efficiency.

Description

Technical Field

[0001] The present invention relates to the field of civil aviation airport surface aircraft command, and particularly to a dynamic intelligent planning method, device and medium for aircraft surface taxiing paths. Background Technique

[0002] With the rapid development of the modern aviation industry and the popularization of electronic information technology, the International Civil Aviation Organization (ICAO) has developed the "Advanced Surface Movement Guidance and Control System (A-SMGCS)" guidance manual. Subsequently, the Civil Aviation Administration of China has also issued the "Technical Requirements for Advanced Surface Movement Guidance and Control Automation System", and industry standards MH / T 4042-2014 and MH / T 4042-2023, which are used to guide the planning, design, development, construction, inspection and use of the activity guidance and control system for airport surface aircraft and vehicles.

[0003] The full English name of A-SMGCS is Advanced Surface Movement Guidance Control System, and its Chinese name is Advanced Surface Movement Guidance and Control System. It is a system that provides routing, guidance and surveillance, and then conducts control for aircraft and vehicles to maintain the published movement speed and at the same time maintain the required safety under all meteorological conditions that meet the airport visibility operation level; in order to improve airport operation efficiency, ensure operation safety and meet future airport operation requirements.

[0004] A-SMGCS is divided into 5 levels according to its ability level. Level 1: Monitoring expansion, adding air traffic control detection monitoring and procedures; Level 2: On the basis of the previous level, adding a safety net to protect the runway and taxiway and specified areas; Level 3: On the basis of the previous level, adding conflict detection; Level 4: On the basis of the previous level, adding conflict handling, path planning and guidance. In addition to automatically identifying potential conflicts of aircraft operating on the runway and taxiway and issuing warnings, the system can also plan taxiing routes and provide taxiing guidance; Level 5: No longer requires navigation lights to guide. Currently, the mainstream systems at home and abroad are generally at the second and third levels.

[0005] The MH / T 4042-2023 standard states that the routing function refers to the ability to assign driving routes, change destinations and routes to each aircraft and vehicle in the airport movement area. The realization of routing planning can be generated by automatic calculation or created by manual planning.

[0006] Currently, in domestic airports, the A-SMGCS used in air traffic control towers mainly has the following deficiencies:

[0007] 1) The A-SMGCS used in the air traffic control towers of some domestic airports does not yet have the function of route planning. For example, the imported Indra Navia NOVA9000 type A-SMGCS and A3000 type A-SMGCS in China;

[0008] 2) Some domestic A-SMGCS already have the function of route planning, but their route planning is realized by the way of point-selecting route points, and the management personnel and users lack an intuitive feeling for the route direction;

[0009] 3) The A-SMGCS of domestic airports basically uses vector base maps in dwg format or dxf format made by AutoCAD. Although the base map elements have layer stratification, due to the limitations of the dwg format or dxf format, there is no logical relationship between layers, and logical operations for route planning cannot be directly performed. It is necessary to further customize the surface configuration based on the base map in dwg format or dxf format; when the vector base map in dwg format or dxf format of the surface changes due to actual airport conditions, the logic of the surface configuration must be modified again, which is time-consuming and laborious;

[0010] 4) After the route planning of the A-SMGCS of domestic airports is completed, the operation steps for specifying the waiting points of aircraft operation are numerous, occupying a large amount of time of users (mainly referring to air traffic controllers in airport towers), resulting in a hasty and highly tense process of directing aircraft. Summary of the Invention

[0011] In order to overcome the problems of the lack of route planning function or low usability of the existing airport A-SMGCS system, the present invention provides a method, device and medium for dynamically and intelligently planning the taxiing path of aircraft on the surface.

[0012] The present invention provides a method for dynamically and intelligently planning the taxiing path of aircraft on the surface, including the following steps:

[0013] S1. Obtain the AMDB surface configuration logic data and obtain the flight numbers and position information of all aircraft within the jurisdiction; wherein, the AMDB surface configuration logic data includes the aircraft type restricted area and avoidance area of the surface;

[0014] S2. When it is detected that an aircraft is in the taxiing or push-back and start-up state and no route has been planned, execute step S3;

[0015] S3. Query the flight plan information according to the flight number corresponding to the aircraft, and obtain the standard route and start and end information of the aircraft through the flight plan information;

[0016] S4. According to the AMDB surface configuration logic data, the standard route and the start and end information, use the A* algorithm to calculate and obtain the recommended route, and use the recommended route and the standard route as the candidate routes;

[0017] S5. Display the information of the aircraft on the display interface, and display the surface map on the display interface according to the AMDB surface configuration logic data, and display the alternative routes for the user to select on the surface map;

[0018] S6. Detect whether the user confirms to select one of the alternative routes;

[0019] S71. Thus, according to the candidate route selected by the user, render the candidate on the scene map If so, the user selects a route, and set the display area within the first preset value around the alternative route as the perceivable area of the alternative route, and the user sets the waiting point by clicking on the perceivable area;

[0020] S72. Otherwise, set several mandatory points of the aircraft by clicking on the surface map, calculate the artificial route by using the A* algorithm according to the start and end information and several mandatory points, add the artificial route to the alternative routes, and return to step S5;

[0021] S8. Publish the alternative route and the waiting point selected by the user for the aircraft.

[0022] Preferably, step S8 specifically includes the following sub-steps:

[0023] S811. Detect whether the user confirms to submit the selected alternative route and the waiting point;

[0024] If so, publish the alternative route and the waiting point selected by the user for the aircraft, and return to step S1;

[0025] Otherwise, return to and execute step S5.

[0026] Preferably, the specific implementation sub-steps of step S8 are as follows:

[0027] S821. Update the published route information of the aircraft according to the selected alternative route and the waiting point by the user, and synchronize the route information to the electronic flight progress strip of the aircraft;

[0028] S822. Send the route information directly to the flight display in the aircraft cockpit through the ground-air data link.

[0029] Preferably, step S8 further includes the following sub-steps:

[0030] S823. Generate route voice information, and notify the pilot on the aircraft by inserting voice information in the ground-air communication.

[0031] Preferably, step S5 further includes the following sub-steps:

[0032] S51. Display the manually planned button on the display interface. When the user clicks the manually planned button, directly jump to execute step S72.

[0033] Preferably, for the said step S2, the specific sub-steps for its implementation are as follows:

[0034] S21. Display the surface map on the display interface according to the AMDB surface configuration logic data, and display the placards of each aircraft in real time at the positions of the corresponding aircraft on the surface map; wherein, the information of the aircraft is displayed in the placard.

[0035] S22. Detect whether the user clicks on one of the placards, and the aircraft corresponding to the placard is in the taxiing or push-back and engine start state.

[0036] If so, execute step S3.

[0037] Otherwise, return to step S1.

[0038] Preferably, for setting several waypoints of the aircraft on the surface map and calculating the manual route by using the A* algorithm according to the start and end information and several waypoints, it specifically includes the following sub-steps:

[0039] S721. The user sets several waypoints of the aircraft on the surface map by clicking.

[0040] S722. According to the start point and end point in the start and end information, and several waypoints, and based on the path distance between each point in the AMDB surface configuration logic data, divide the start point, several waypoints and end point into pairwise adjacent path points with the shortest path distance in turn.

[0041] S723. Use the A* algorithm to calculate the optimal route between each pairwise adjacent path point, and concatenate and merge the optimal routes between each path point in turn, and output it as the manual route.

[0042] The present invention also provides a front-end device for dynamic intelligent planning of the taxiing path of an aircraft on the surface, which is used to display a graphical interface and respond to the operations of the user, and send and receive data to and from the back-end device, including a processor, a communication module, a display screen and an input component;

[0043] When the processor is running, it controls the display screen, the communication module and the input component to execute the following steps:

[0044] A1. The processor controls the display screen to display the information of all aircraft on its display interface, and display the surface map on the display interface according to the AMDB surface configuration logic data.

[0045] A2. The processor detects whether the user clicks on the information of a certain aircraft through the input component.

[0046] A31. If not, return to step A1;

[0047] A32. If so, send the information of the selected aircraft to the backend device through the communication module. The communication module receives the candidate routes of the aircraft fed back by the backend device and sends them to the processor;

[0048] A4. The processor renders the candidate routes for the user to select on the surface map and sets the display area within the first preset value range around the candidate routes as the perceivable area of the candidate routes;

[0049] A5. The processor detects whether the user confirms to select one of the candidate routes through the input component;

[0050] A61. If so, the processor waits for the user to set a waiting point on the perceivable area through the input component according to the selected candidate route. Thereafter, the communication module sends the selected candidate route and the waiting point to the backend device and returns to step A1;

[0051] A62. Otherwise, wait for the user to set several mandatory points of the aircraft on the surface map through the input component. Thereafter, the communication module sends the mandatory points to the backend device and sends the candidate routes fed back by the backend device to the processor, and returns to step A4.

[0052] The present invention also provides a backend device for dynamically and intelligently planning the taxiing path of an aircraft on the surface, which is used to process the planning request sent by the front-end device and feed back the planned route data, including: a server. When the server runs, the following steps are executed:

[0053] B1. Obtain the AMDB surface configuration logic data and obtain the flight numbers and position information of all aircraft within the jurisdiction; wherein, the AMDB surface configuration logic data includes the aircraft type restricted area and the avoidance area on the surface;

[0054] B2. Detect whether there is an aircraft in the taxiing or push-back and start-up state and no route has been planned;

[0055] B31. If not, return to step B2;

[0056] B32. If so, query the flight plan information according to the flight number corresponding to the aircraft, and obtain the standard route and the start and end information of the aircraft through the flight plan information;

[0057] B4. According to the AMDB surface configuration logic data, the standard route and the start and end information, use the A* algorithm to calculate and obtain the recommended route, and use the recommended route and the standard route as the candidate routes;

[0058] B5. Send the candidate routes to the front-end device and detect the feedback data of the front-end device;

[0059] B61. When the feedback data indicates that one of the candidate routes is selected and a waiting point is added to the candidate route, publish the candidate route selected by the user for the aircraft and the waiting point, and return to step B1;

[0060] B62. When the feedback data are several mandatory points, based on the start and end information and the several mandatory points, use the A* algorithm to calculate and obtain an artificial route, add the artificial route to the candidate routes, and return to step B5.

[0061] The present invention provides a computer-readable storage medium, which includes a stored computer program. When the computer program runs, it controls the device where the computer-readable storage medium is located to execute the above-mentioned dynamic intelligent planning method for the taxiing path of aircraft on the airport surface.

[0062] The beneficial effects of the present invention are as follows:

[0063] (1) By intelligently combining the algorithm for automatically generating routes and the manual confirmation operation steps, it not only ensures the safety that the route planning must be checked by humans, but also can quickly obtain the optimal route planning for each aircraft, thereby reducing the taxiing time of aircraft, improving the taxiing scheduling efficiency, and reducing the waste pollution caused by aircraft "traffic jams".

[0064] (2) By embedding the control method of this solution into the traditional airport surface control system, the level of the A-SMGCS system currently in use at the airport is improved, and the conflict handling, path planning, and guidance functions of aircraft and vehicles on the airport surface are further optimized. Description of the Drawings

[0065] The present invention will be further described and explained below in conjunction with the drawings of the specification, where:

[0066] Figure 1 is the flowchart of the method according to the first embodiment of the present invention;

[0067] Figure 2 is an example of the sign interface where the operation state label is in taxiing according to the second embodiment of the present invention;

[0068] Figure 3 is an example of the interface for rendering the standard route and the user-selected route type according to the second embodiment of the present invention;

[0069] Figure 4 is an example of rendering including mandatory points and artificial routes according to the second embodiment of the present invention. Detailed Embodiments

[0070] From the perspective of airport tower controllers, in order to achieve more convenient, flexible and user-friendly operations, a routing planning function at the A-SMGCS III level for air traffic control towers is developed, and an aircraft surface taxi routing planning method based on AMDB is realized.

[0071] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying 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 the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0072] See Figure 1 , as the first implementation of the present invention, a dynamic intelligent planning method for aircraft surface taxi paths is disclosed, including the following steps:

[0073] S1. Obtain the AMDB surface configuration logic data and obtain the flight numbers and position information of all aircraft within the jurisdiction of the ground control seat; wherein, the AMDB surface configuration logic data includes the aircraft type restricted areas and avoidance areas on the surface, and the avoidance areas include areas such as non-stop construction areas and closed runway areas;

[0074] S2. When it is detected that an aircraft is in the taxi (TAX) or push-back and start-up (PHS) state and no routing has been planned, execute step S3;

[0075] S3. Query the flight plan information according to the flight number corresponding to the aircraft, and obtain the standard route and start and end information of the aircraft through the flight plan information;

[0076] S4. According to the AMDB surface configuration logic data, standard route and start and end information, use the A* algorithm to calculate and obtain the recommended route, and use the recommended route and the standard route as the candidate routes;

[0077] S5. Display the information of the aircraft on the display interface, and display the surface map on the display interface according to the AMDB surface configuration logic data, and display the candidate routes for the user to select on the surface map;

[0078] S6. Detect whether the user confirms to select one of the candidate routes;

[0079] S71. If so, render the selected candidate route on the surface map according to the candidate route selected by the user, and set the display area within the first preset value range around the candidate route as the perceptible area of the candidate route, and the user sets the waiting point by clicking on the perceptible area;

[0080] S72. Otherwise, perform manual route planning, that is, set several mandatory points for the aircraft on the surface map by clicking. Based on the start and end information and several mandatory points, use the A* algorithm to calculate and obtain the manual route, add the manual route to the candidate routes, and return to step S5;

[0081] S8. Publish the candidate route and waiting point selected by the user for the aircraft.

[0082] In this embodiment, the information of the aircraft is displayed on the display interface in the form of a sign showing the flight number, model, status, etc. of the aircraft.

[0083] In steps S6 to S72, if manual route planning is required, it means that the standard route and recommended route generated by the system calculation do not meet the user's requirements. Therefore, the user uses manual operation to generate a manual route, and the user makes a plan for the mandatory points of the route according to comprehensive factors such as the dynamics of other aircraft on the surface, the construction area, and the no-fly zone.

[0084] Since the line between two mandatory points is still calculated by the A* algorithm (optimal path algorithm) in the manual route planning method, whether the manual route is satisfactory still needs to be judged by the controller. Therefore, it is necessary to return to step S5 for the step of re-display and confirmation. If the manual route is not satisfactory, the mandatory points can be re-selected to re-plan the manual route.

[0085] This embodiment combines the intelligent generation of routes by the algorithm and the manual confirmation operation steps, which not only ensures the safety that the route planning must be checked by people, but also can quickly obtain the optimal route planning for each aircraft, thereby reducing the taxiing time of the aircraft, improving the taxiing scheduling efficiency, and reducing the waste pollution caused by aircraft "jams".

[0086] By embedding the control method of this solution into the traditional airport surface control system, the level of the A-SMGCS system in use at the airport is improved, and the conflict handling, path planning, and guidance functions of aircraft and vehicles on the airport surface are further optimized. In addition to automatically identifying potential conflicts of aircraft operating on the runway and taxiway and issuing warnings, the system can also plan taxi routes and provide taxi guidance.

[0087] See Figures 2 to 4 As the second embodiment of the present invention, the difference between this embodiment and the first embodiment is that step S8 of this embodiment specifically includes the following sub-steps:

[0088] S811. Detect whether the user (the controller who commands the aircraft to taxi, that is, the operator) confirms and submits the selected candidate route and waiting point;

[0089] If so, execute S821;

[0090] Otherwise, return to step S5.

[0091] S821. Update the published route information of the aircraft (on the server side) according to the candidate route selected by the user and the waiting point, and synchronize the route information to the electronic flight itinerary of the aircraft.

[0092] S822. Send the route information directly to the flight display in the aircraft cockpit through the ground-air data link.

[0093] S823. Generate route voice information, and notify the pilot on the aircraft by inserting the voice information into the ground-air communication.

[0094] The route plan issued by the controller for guiding the aircraft to taxi is displayed through voice and on the control interface inside the aircraft, so as to guide the aircraft to proceed according to the route plan.

[0095] The step S5 of this embodiment further includes the following sub-steps:

[0096] S51. Display a manual planning button on the display interface. If the user clicks the manual planning button, directly jump to execute step S72.

[0097] So as to directly initiate the function of manual route planning, and avoid the problem that manual route planning cannot be performed when there are many overlaps between the necessary points and the existing candidate routes.

[0098] The step S2 of this embodiment is specifically implemented as follows in sub-steps:

[0099] S21. Display the surface map on the display interface according to the AMDB surface configuration logic data, and display the placards of each aircraft at the position of the corresponding aircraft on the surface map in real time; wherein, the information of the aircraft is displayed in the placard.

[0100] S22. Detect whether the user clicks on one of the placards, and the aircraft corresponding to the placard is in the taxiing or push-back and start-up state.

[0101] If so, execute step S3.

[0102] Otherwise, return to step S1.

[0103] By adding the way of the user selecting the placard to determine whether to obtain the information of the aircraft and perform route calculation, the computing amount is saved and the response efficiency of the system is improved.

[0104] In the step S7 of this embodiment, it further includes the following sub-steps:

[0105] S721. The user sets several necessary points for the aircraft by clicking on the surface map.

[0106] S722. According to the starting point and ending point in the start and end information, as well as several mandatory points, and based on the path distances between each point in the AMDB scene configuration logic data, the starting point, several mandatory points, and the ending point are sequentially divided into pairwise adjacent path points with the shortest path distances.

[0107] S723. Use the A* algorithm to calculate the best route between each pairwise adjacent path point, and concatenate and merge the best routes between each path point in sequence, and output it as an artificial route.

[0108] By automatically sorting the mandatory points into a path according to the shortest route, and using the A* algorithm to calculate the optimal route from the starting point to the ending point and passing through each mandatory point, an artificial route can be automatically generated only based on the points selected by a few click operations, with convenient operation, high efficiency, and fast speed.

[0109] Figure 2 This is a schematic diagram of the aircraft sign display interface when the operating status flag in step S21 of this embodiment is in the taxi (TAX) state. Among them, CHH7804 20R is the flight number of the aircraft, A332 / M is the model of the aircraft, ZBAA is the airport identification, and TAX is the identification of the taxi state.

[0110] Figure 3 This is a schematic diagram of the display interface of the rendered standard route (white line) and the user-selected route type options (standard, recommended, artificial) in this embodiment.

[0111] Figure 4 This is an example of the rendering of mandatory points and artificial routes in this embodiment. In the figure, C, L7, B, T1, and A10 are all the names of mandatory points, and the "artificial" indicates that this route is an artificial route. In the figure, "CSN3354" indicates the real-time position of another aircraft. This schematic diagram includes the mandatory points (gray dots) clicked on the AM DB base map and the rendering (thick gray line) of the automatically generated artificial route on the AMDB base map, and it is the interface displayed after confirming that the user selects the artificial route as the candidate route in step S6.

[0112] In order to implement the 3-level route planning function of the A-SMGCS system and provide a more convenient, flexible, and user-friendly operation experience for users (controllers in the airport tower), the main innovation points of this solution are as follows:

[0113] 1. Provide the user with operation windows for three route types: standard route, recommended route, and artificial planning route in a centralized manner. The user can select the route type to observe the movement trajectories of different types of routes, which is convenient for the user to select the best route. If the standard route and the recommended route are not suitable, the user can switch to the artificial planning route and click on the map surface to form an artificially planned route.

[0114] 2. Implement an aircraft surface taxi routing planning method based on the Airport Map Database (AMDB). The AMDB constructs the configuration of the airport surface in layers. The same type of layers has a hierarchical relationship, and there are simple logical relationships between layers, but the logical relationship of the surface configuration still cannot be directly defined. Since the AMDB data is relatively precise in measuring the surface and data (points, lines, and surfaces), the present invention calculates the logical relationship between configurations through the operation of AMDB data, and the program software calculates and automatically finds the logical relationship between configurations. When the underlying map data of the surface AMDB changes, only need to run the program again to re-find the logical relationship of the surface configuration. Due to the precision of AMDB data, at the intersection of the surface, it is no longer the "point" logic in academia. The intersection is composed of diamond-shaped crossing lines, and the calculation of the route does not need to adopt the "node-edge" directed graph model, avoiding the problem of inaccurate calculation of the route length by the "node-edge" directed graph model (treating the intersection as a point will cause the distance to become shorter). The road network relationship of the surface is all described by lines, and the A* (A Star) algorithm can be used for route calculation. The computational complexity of the A* algorithm is moderate, and it can quickly calculate the recommended (shortest) route.

[0115] 3. When performing A-SMGCS route planning in this embodiment, the perceivable area of the path is calculated in real time. By sensing whether the position of the operation point is on the taxi path, it is judged whether to set a waiting point: when the operation point is on the taxi path, it is an operation to set a waiting point, otherwise it is a necessary point for manual path planning or other operations on the drawing. This intelligent sensing method minimizes the number of controller operations because it does not require adding a waiting point setting locking operation, saving more valuable time for busy air traffic control commands.

[0116] As the third implementation of the present invention, the difference between this embodiment and the first embodiment is that this embodiment adopts a front-end and back-end program separation design of the browser front-end and server back-end. Therefore, the hardware is divided into the collaborative interaction operation of the front-end device and the back-end device (server).

[0117] Specifically, this embodiment discloses a front-end device for dynamically and intelligently planning the taxi path of an aircraft, which is used to display a graphical interface and respond to user operations, and send and receive data to and from the back-end device, including a processor, a communication module, a display screen, and an input component;

[0118] When the processor is running, it controls the display screen, communication module, and input component to perform the following steps:

[0119] A1. The processor controls the display screen to display the information of all aircraft on its display interface, and display the surface map on the display interface according to the AMDB surface configuration logic data;

[0120] A2. The processor detects whether the user selects the information of a certain aircraft through the input component;

[0121] A31. If not, return to step A1;

[0122] A32. If so, send the information of the selected aircraft to the backend device through the communication module. The communication module receives the alternative routes of the aircraft fed back by the backend device and sends them to the processor;

[0123] A4. The processor renders the alternative routes for the user to select on the surface map and sets the display area within the first preset value range around the alternative routes as the perceivable area of the alternative routes;

[0124] A5. The processor detects whether the user confirms to select one of the alternative routes through the input component;

[0125] A61. If so, the processor waits for the user to set a waiting point on the perceivable area through the input component according to the selected alternative route. Then, the communication module sends the selected alternative route and the waiting point to the backend device and returns to step A1;

[0126] A62. Otherwise, wait for the user to set several necessary points of the aircraft on the surface map through the input component. Then, the communication module sends the necessary points to the backend device and sends the alternative routes fed back by the backend device to the processor, and returns to step A4.

[0127] The front-end device of this embodiment runs a user interface program such as a general browser program for route planning applications to provide network address access to route planning functions.

[0128] In addition, this embodiment also discloses a backend device for dynamically and intelligently planning the taxiing path of an aircraft on the surface, which is used to process the planning requests sent by the front-end device and feedback the planned route data. The backend device is specifically a server, a server array composed of multiple sets of servers, or a cloud server, or any combination thereof. When the backend device runs, it performs the following steps:

[0129] B1. Obtain the AMDB surface configuration logic data and obtain the flight numbers and position information of all aircraft within the jurisdiction; among them, the AMDB surface configuration logic data includes the aircraft type restricted area and the avoidance area on the surface;

[0130] B2. Detect whether there is an aircraft in the taxiing or push-back and start-up state and no route has been planned;

[0131] B31. If not, return to step B2;

[0132] B32. As such, query the flight plan information based on the flight number corresponding to the aircraft, and obtain the standard route and start / end information of the aircraft through the flight plan information;

[0133] B4. Based on the AMDB surface configuration logic data, standard route, and start / end information, use the A* algorithm to calculate and obtain a recommended route, and use the recommended route and the standard route as candidate routes;

[0134] B5. Send the candidate routes to the front-end device and detect the feedback data of the front-end device;

[0135] B61. When the feedback data indicates that one of the candidate routes is selected and a waiting point is added to the candidate route, publish the selected candidate route of the aircraft and the waiting point, and return to step B1;

[0136] B62. When the feedback data is a number of mandatory points, based on the start / end information and the number of mandatory points, use the A* algorithm to calculate and obtain an artificial route, add the artificial route to the candidate routes, and return to step B5.

[0137] The back-end device runs a service program for aircraft surface taxiing route planning based on AMDB. The functions of the service program include: responding to network address access of the front-end route planning application, responding to front-end route planning calculations, responding to route publishing, and loading AMDB configuration road network logic, etc.

[0138] The present invention also discloses a terminal device, including an input / output device (such as a touch screen, or common peripheral devices such as a display + mouse, etc.), a processor, and a storage device. The storage device is used to store one or more programs; when one or more programs are executed by the processor, the processor controls the input / output device to implement the above-mentioned dynamic intelligent planning method for aircraft surface taxiing paths. The processor referred to in this solution 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. The processor is the control center of the test device, and connects various parts of the entire test device through various interfaces and lines.

[0139] The storage device can be used to store computer programs and / or modules. By running or executing the computer programs and / or modules stored in the storage device, and by calling the data stored in the storage device, the processor can implement various functions of the terminal device. The storage device mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function, etc.; the data storage area can store data created according to the use of the terminal device, etc. In addition, the storage device can include high-speed random access memory, and can also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices.

[0140] Among them, if the modules / units integrated in the aircraft surface taxi path dynamic intelligent planning device are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above-mentioned embodiment methods of the present invention, it can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in at least one computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc.

[0141] It should be noted that the above-described embodiments of the devices and apparatuses are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

Claims

1. A method for dynamic intelligent planning of aircraft taxiing paths, characterized in that: include: S1. Acquire AMDB scene configuration logic data, and obtain flight numbers and location information of all aircraft within the jurisdiction; wherein the AMDB scene configuration logic data includes the aircraft type restriction area and avoidance area of ​​the scene; S2. When it is detected that an aircraft is in a taxiing or push-out and driving state and no route is planned, execute step S3; S3. Query the flight plan information according to the flight number corresponding to the aircraft, and obtain the standard route and start and end information of the aircraft through the flight plan information; S4. According to the AMDB scene configuration logic data, standard routes and start and end information, the A* algorithm is used to calculate and obtain the recommended route, and the recommended route and the standard route are used as candidate routes; S5. Displaying the information of the aircraft on the display interface, displaying a scene map according to the AMDB scene configuration logic data on the display interface, and displaying a candidate route for the user to select on the scene map; S6, detecting whether the user confirms to select one of the routes to be selected; S71, if yes, render the candidate route on the scene map according to the candidate route selected by the user, and set the display area within the first preset value range around the candidate route as the perceptible area of ​​the candidate route, and the user sets the waiting point by clicking on the perceptible area; S72, otherwise, set several points that the aircraft must pass through on the scene map by clicking, and use the A* algorithm to calculate and obtain an artificial route based on the start and end information and the several points that must pass through, add the artificial route to the candidate routes, and return to step S5; S8. Publish the candidate routes and waiting points selected by the user for the aircraft.

2. The method for dynamic intelligent planning of aircraft taxiing paths according to claim 1, characterized in that: The step S8 specifically includes the following sub-steps: S811, detecting whether the user confirms to submit the selected candidate routes and waiting points; If yes, publish the candidate route and waiting point selected by the user for the aircraft, and return to step S1; Otherwise, return and execute step S5.

3. The method for dynamic intelligent planning of aircraft taxiing paths according to claim 1, characterized in that: The specific implementation steps of step S8 are as follows: S821. Update the published route information of the aircraft according to the candidate route and the waiting point selected by the user, and synchronize the route information to the electronic process list of the aircraft; S822. Send routing information directly to the flight display in the aircraft cockpit via the ground-to-air data link.

4. The method for dynamic intelligent planning of aircraft taxiing paths according to claim 3, characterized in that: The step S8 also includes the following sub-steps: S823. Generate routing voice information, and insert the routing information into the ground-to-air call to inform the pilot on the aircraft.

5. The method for dynamic intelligent planning of aircraft taxiing paths according to claim 1, characterized in that: The step S5 also includes the following sub-steps: S51. Display a manual planning button on the display interface. When the user clicks the manual planning button, the process directly jumps to step S72.

6. The method for dynamic intelligent planning of aircraft taxiing paths according to claim 1, characterized in that: The specific implementation steps of step S2 are as follows: S21, displaying a scene map on a display interface according to the AMDB scene configuration logic data, and displaying a sign of each aircraft at a position corresponding to the aircraft on the scene map in real time; wherein the sign displays information of the aircraft; S22, detecting whether the user clicks on one of the signs, and whether the aircraft corresponding to the sign is in a taxiing or push-out and driving state; If yes, execute step S3; Otherwise, return to step S1.

7. The method for dynamic intelligent planning of aircraft taxiing paths according to claim 1, characterized in that: The method of setting a plurality of necessary points of the aircraft by clicking on the scene map and obtaining an artificial route by using the A* algorithm based on the start and end information and the plurality of necessary points is specifically divided into the following steps: S721. The user sets several points that the aircraft must pass by by clicking on the scene map; S722, according to the starting point and the end point in the start and end information, and the several necessary points, and according to the path distance between the points in the AMDB scene configuration logic data, the starting point, the several necessary points and the end point are divided into two adjacent path points with the shortest path distance in sequence; S723, using the A* algorithm to calculate the best route between each pair of adjacent path points, and combining the best routes between the path points in series, and outputting them as manual routes.

8. A front-end device for dynamic intelligent planning of aircraft taxiing paths, used to display a graphical interface and respond to user operations, and to send and receive data to a back-end device, characterized in that: Includes processor, communication module, display screen and input components; When the processor is running, it controls the display screen, the communication module and the input component to perform the following steps: A1. The processor controls the display screen to display all aircraft information on its display interface, and displays the scene map on the display interface according to the AMDB scene configuration logic data; A2. The processor detects whether the user selects information of a certain aircraft through the input component; A31, if not, return to step A1; A32. If yes, the information of the selected aircraft is sent to the back-end device through the communication module. The communication module receives the candidate route of the aircraft fed back by the back-end device and sends it to the processor. A4. The processor renders a candidate route for the user to select on the scene map, and sets a display area within a first preset value range around the candidate route as a perceptible area of ​​the candidate route; A5, the processor detects whether the user confirms to select one of the candidate routes through the input component; A61. If yes, the processor waits for the user to set a waiting point on the perceptible area through the input component according to the candidate route selected by the user, and then the communication module sends the selected candidate route and the waiting point to the backend device, and returns to step A1; A62. Otherwise, wait for the user to set several necessary points for the aircraft on the scene map through the input component. After that, the communication module sends the necessary points to the back-end device and sends the candidate routes fed back by the back-end device to the processor, and returns to step A4.

9. A back-end device for dynamic intelligent planning of aircraft taxiing paths, used to process planning requests sent by front-end devices and feed back planned route data, characterized in that: include: The server, when running, performs the following steps: B1. Acquire AMDB scene configuration logic data, and obtain flight numbers and location information of all aircraft within the jurisdiction; wherein the AMDB scene configuration logic data includes the aircraft type restriction area and avoidance area of ​​the scene; B2. Check whether there are any aircraft in taxiing or push-out and start-up status, and no route is planned; B31, if not, return to step B2; B32. If yes, query the flight plan information according to the flight number corresponding to the aircraft, and obtain the standard route and start and end information of the aircraft through the flight plan information; B4. According to the AMDB scene configuration logic data, standard routes and start and end information, the A* algorithm is used to calculate and obtain the recommended route, and the recommended route and the standard route are used as candidate routes; B5. Send the selected route to the front-end device and detect the feedback data of the front-end device; B61. When the feedback data indicates that one of the candidate routes is selected and a waiting point is added to the candidate route, the candidate route and the waiting point selected by the user for the aircraft are published, and the process returns to step B1. B62. When the feedback data is a number of necessary points, the A* algorithm is used to calculate and obtain an artificial route based on the start and end information and the number of necessary points, and the artificial route is added to the candidate routes, and the process returns to step B5.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the aircraft surface taxi path dynamic intelligent planning method according to any one of claims 1 to 7.

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