Decision-making method for suggested landing sequence of arrival flights based on flight path operation

Abstract

The invention discloses an inbound flight suggested landing sequence decision-making method based on flight path operation, and the method comprises the steps: distributing a landing runway, an approach program and an approach program for a flight, and forming a complete planned air path; the comprehensive flight path information is analyzed, and waypoints which have flied in the planned route are identified; determining a starting waypoint BegPnt and an ending waypoint EndPnt of the flight to be flied; calculating the total plane projection distance of the to-be-flied air route of the flight from the starting air route point BegPnt to the ending air route point EndPnt; and comparing the total distances of the plane projections of all the flights to decide a flight landing sequence. The to-be-flied route starting point of the flight is corrected through a graph positioning method and an included angle positioning method, the calculation result of the to-be-flied distance is corrected, and the accuracy of the suggested landing sequence is improved; the jump of the flight sequence is suppressed through the distance change threshold, and the stability of the suggested landing sequence is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of air traffic management, and in particular relates to a method for deciding a landing sequence of incoming flights based on track operation. Background Art

[0002] The civil aviation operating environment is highly complex and time-varying, and the flight arrival management decision-making is always in an iterative process of continuous updating and adaptation. Existing relevant technical methods and application systems at home and abroad mainly focus on the management of the landing time of incoming flights and the research on flight delay allocation methods, but lack research on improving the accuracy of landing sequence based on track position, altitude, speed and heading.

[0003] The Chinese invention patent application number is CN 2023110682487, and the name is "A method for allocating conflict-free flight time slots based on trajectory operation". It discloses the generation of flight arrival time and auxiliary decision suggestions based on trajectory prediction data, and uploading them to the aircraft. After receiving the decision issued by the crew, the arrival time and auxiliary decision suggestions are calculated again based on the trajectory prediction data, and continuous consultation is maintained with the crew. This patent application is applicable to the time slot allocation when the trajectory operates according to the predetermined trajectory, but the time slots allocated in the case of deviation are very inaccurate, and the landing order is also inaccurate. It is necessary to coordinate with the crew to change the time slots and order multiple times, which adds workload to the crew.

[0004] At present, the existing sorting method for incoming flights uses the predicted transit time of waypoints to determine the landing order of incoming flights. In special circumstances such as severe weather or military activities, the actual flight trajectory of the flight deviates greatly from the predicted trajectory, and the predicted transit time of the waypoints cannot be accurately updated. The predicted transit time will only be accurately updated when the flight trajectory returns to the predicted route. This results in deviations in the predicted time of waypoints during the deviation, which affects the accuracy of the recommended landing order of incoming flights. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide a method for deciding the recommended landing order of incoming flights based on track operation, so as to solve the problem of inaccurate recommended landing order of incoming flights in the prior art. The present invention corrects the starting point of the route to be flown by the graphic positioning method and the angle positioning method, corrects the calculation result of the distance to be flown, and improves the accuracy of the recommended landing order; suppresses the jump of the flight order by the distance change threshold, and improves the stability of the recommended landing order.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] The method for deciding the landing order of incoming flights based on track operation of the present invention comprises the following steps:

[0008] 1) Allocate landing runways, approach procedures and approach procedures for flights to form a complete planned route;

[0009] 2) Analyze the comprehensive track information and identify the waypoints that have been flown in the planned route;

[0010] 3) Determine the starting waypoint BegPnt of the flight to be flown;

[0011] 4) Determine the end waypoint EndPnt of the flight to be flown;

[0012] 5) Calculate the total distance of the plane projection of the flight route from the starting waypoint BegPnt to the ending waypoint EndPnt;

[0013] 6) Compare the total distances of the plane projections of all flights calculated in step 5) to determine the landing order of the flights.

[0014] Furthermore, the step 1) specifically includes the following steps:

[0015] 11) Allocate landing runway: The air traffic management automation system obtains flight plans from the unified flight plan system of the civil aviation. The arrival management module provides arrival services for flights entering the terminal area airspace for landing and arranges the recommended landing sequence; matches landing runways for flights according to the take-off and landing operation mode of the airport runway and the aircraft model; when multiple runways are matched for landing, the runway is selected according to the operation strategy of allocating the nearest runway, the shortest flight time in the air, and the shortest taxiing time on the ground; the allocated landing runway constitutes the last waypoint of the planned route;

[0016] 12) Allocate arrival procedure and approach procedure: The arrival management module matches the arrival procedure and approach procedure for the incoming flight according to the route structure of the airspace approach route, the approach capability of the aircraft onboard equipment, and the aircraft model; expands the component waypoints of the arrival procedure and approach procedure to form part of the planned route, and together with the landing runway, constitutes a complete terminal area airspace planned route.

[0017] Furthermore, the step 2) specifically includes the following steps:

[0018] 21) Analyze comprehensive track information: obtain three types of radar monitoring source data, including air traffic control radar data, automatic dependent surveillance-broadcast data (ADS-B) and multi-point positioning data, and pre-process and fuse the data to analyze the track information to obtain the track latitude and longitude, altitude, speed and heading;

[0019] 22) Mark the waypoints that have been flown on the planned route: compare in real time whether the deviation between the longitude and latitude of the track and the longitude and latitude of the planned waypoints is within the allowable range. If the deviation is within the allowable range and the deviation between the track heading and the planned route heading is also within the allowable range, mark the waypoints that the flight has flown over; if the deviation is not within the allowable range, do not mark it; if the deviation between the track heading and the planned route heading is not within the allowable range, do not mark it.

[0020] Furthermore, the step 3) specifically includes the following steps:

[0021] 31) Preliminarily determine the starting waypoint based on the waypoint identification: take the first waypoint after the last identified waypoint that has been flown as the starting waypoint;

[0022] 32) Correction of the starting waypoint of the deviated flight: The flight flying according to the planned route uses the starting waypoint determined in step 31), and the flight that deviates from the route determines the starting waypoint through the graphic positioning method, as follows:

[0023] Traverse all waypoints of the planned route, find the last waypoint that has been flown and all subsequent waypoints that have not been flown, and sequentially form multiple directed line segments from two adjacent waypoints;

[0024] Take the directed line segment as the median of the rectangle, expand outward a rectangle with the length of the directed line segment as the length and 2*VSP (variable system parameter) as the width, and then take the two endpoints of the line segment as the center to expand to both sides a semicircle with a radius of VSP. The rectangle and the semicircle form a composite curve figure.

[0025] Convert the longitude and latitude of the track into coordinates and use mathematical methods to determine whether the track is within the composite curve graph. The judgment result is one of the following:

[0026] 321) If the track is not within any rectangle, go to step 33);

[0027] 322) If the track is within the rectangle and the track projection is between the two endpoints of the directed line segment, the end point of the directed line segment is selected as the starting waypoint and the process goes to step 4);

[0028] 323) The track is within the rectangle, and the track is projected on the reverse extension line of the directed line segment. The starting point of the directed line segment is selected as the starting waypoint, and the process goes to step 4);

[0029] 324) The flight path is within the rectangle and is projected onto the positive extension line of the directed line segment. The next waypoint after the end point of the directed line segment is selected as the flight start waypoint, and the process goes to step 4);

[0030] 325) If the flight path is within multiple rectangles, select the flight segment with the closest waypoint to the runway and expand the composite curve graph to determine the starting waypoint of the flight according to the method in step 322), step 323), and step 324), and proceed to step 4);

[0031] 33) The angle positioning method is used to further confirm the starting waypoint, specifically:

[0032] 331) Traverse all planned waypoints that have not been flown, and obtain the planned waypoint NearPnt closest to the track;

[0033] 332) A directed line segment 1 is formed with the track as the starting point and the planned waypoint NearPnt as the end point, and a directed line segment 2 is formed with the planned waypoint NearPnt as the starting point and the subsequent planned waypoint as the end point. The angle between directed line segment 1 and directed line segment 2 is calculated. If the angle is an obtuse angle, the next waypoint after the planned waypoint NearPnt is selected as the starting waypoint; otherwise, the planned waypoint NearPnt is selected as the starting waypoint of the flight.

[0034] Furthermore, the step 4) specifically includes the following steps:

[0035] 41) Find the end approach fix point in the planned route as the end approach fix point EndPnt: if there is no end approach fix point in the planned route, go to step 42); if there is an end approach fix point in the planned route, go to step 5);

[0036] 42) Find the intermediate approach fix point in the planned route as the end waypoint EndPnt: if there is no intermediate approach fix point in the planned route, go to step 43); if there is an intermediate approach fix point in the planned route, go to step 5);

[0037] 43) Select the adjacent waypoint in front of the landing runway in the planned route as the end waypoint EndPnt.

[0038] Furthermore, the step 5) specifically includes the following steps:

[0039] 51) Calculate the horizontal distance Distance1 of the flight segment to be flown: traverse all the waypoints of the planned route and calculate the horizontal distance Distance1 of all the segments between the starting waypoint BegPnt and the ending waypoint EndPnt as follows:

[0040]

[0041] Where BegNo indicates the sequence number of the starting waypoint BegPnt in the planned waypoints; EndNo indicates the sequence number of the ending waypoint EndPnt; distance(Pnt i,Pnt i+1 ) represents the horizontal distance between two adjacent waypoints constituting a flight segment. The calculation method is to convert the longitude and latitude of the waypoints into coordinates and then calculate the straight-line distance between the two points;

[0042] 52) Convert the altitude difference between flights into vertical distance Distance2: When the altitude difference between two flights is greater than one altitude layer, convert the altitude difference into vertical distance Distance2. The conversion formula is as follows:

[0043] Distance2=|Height m -Height n |*Parameter HD

[0044] Among them, Height m 、Height n The track heights of the two flights in the order to be decided, Parameter HD Indicates the conversion parameter of altitude difference to distance. The converted vertical distance Distance2 is superimposed on the distance of the high altitude flight.

[0045] 53) Convert the speed difference of the flights into the catching-up distance Distance3: When the speed difference between the two flights is greater than the threshold, convert the speed difference into the catching-up distance Distance3. The conversion formula is as follows:

[0046] Distance3=|Speed m -Speed n |*ParameterSD

[0047] Among them, Speed m 、Speed n The track speed of the two flights in the order to be decided, Parameter SD Indicates the conversion parameter of speed difference to distance. The converted catching-up distance Distance3 is added to the distance of the slow-speed flight;

[0048] 54) Calculate the total distance of the plane projection Distance as follows:

[0049]

[0050] Among them, Weight j Indicates the weight of the distance. The flight that has aligned with the runway and passed the end waypoint EndPnt has Weight1 = 0, indicating that the landing order is completely determined by the track altitude and speed.

[0051] Furthermore, the step 6) comprises the following steps:

[0052] 61) The flights that have not flown past the end waypoint EndPnt are arranged in landing order according to the total distance of the plane projection. Specifically, the flight with the smaller total distance of the plane projection is arranged to land first, and the flight with the larger total distance of the plane projection is arranged to land later. For flights with equal total distance of the plane projection, the flight with the lower track altitude will land first, and the flight with the higher track altitude will land later. When the difference in the total distance of the plane projection of two flights is greater than the distance change threshold, the landing order of the flights is changed, otherwise the original landing order is maintained.

[0053] 62) Flights that have passed the end waypoint EndPnt are arranged to land in order according to their track altitudes. Specifically, flights with lower track altitudes are arranged to land first, and flights with higher track altitudes are arranged to land later. Flights with the same track altitudes are arranged to land first according to the lower flight speed, and the higher flight speed is arranged to land later.

[0054] Beneficial effects of the present invention:

[0055] The present invention uses the graphic positioning method and the angle positioning method to determine the starting waypoint of the flight to be flown, thereby improving the accuracy of the calculation of the off-course flight. When calculating the total distance of the plane projection of the flight, the distance is calculated by using differentiated weight values ​​to distinguish the track position, and the distance is calculated by using differentiated weight values ​​to distinguish the altitude and speed, thus realizing a method for flexibly adjusting the influencing factors. The distance change threshold is used to suppress the change of the landing order of the flights, thereby improving the stability of the landing order. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 is a flow chart of the method of the present invention;

[0057] Figure 2 Schematic diagram of the airspace structure designated for the terminal area airspace approach procedure and approach procedure;

[0058] Figure 3 A schematic diagram for determining the flight starting waypoint using the graphic positioning method;

[0059] Figure 4 Schematic diagram of determining the starting waypoint of a flight using the angle positioning method. DETAILED DESCRIPTION

[0060] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with embodiments and drawings. The contents mentioned in the implementation modes are not intended to limit the present invention.

[0061] Reference Figure 1 As shown, a method for deciding the landing order of incoming flights based on track operation of the present invention comprises the following steps:

[0062] 1) Allocate landing runways, approach procedures and approach procedures for flights to form a complete planned route, which includes the following steps:

[0063] 11) Allocate landing runway: The air traffic management automation system obtains flight plans from the unified flight plan system of the civil aviation. The arrival management module AMAN (Arrival Management) provides arrival services for flights entering the terminal airspace for landing and arranges the recommended landing sequence; matches landing runways for flights according to the take-off and landing operation mode of the airport runway and the aircraft model; when multiple runways are matched for landing, the runway is selected according to the operation strategy of allocating the nearest runway, the shortest flight time in the air, and the shortest ground taxiing time; the allocated landing runway constitutes the last waypoint of the planned route;

[0064] 12) Allocate arrival and approach procedures: The arrival management module matches arrival and approach procedures for incoming flights according to the route structure of the airspace approach route, the approach capability of the aircraft onboard equipment, and the aircraft model; expand the waypoints that make up the arrival and approach procedures to form part of the planned route, and together with the landing runway, form a complete terminal airspace planned route; Figure 2 Taking the diagram as an example, for a flight flying into the terminal area from approach point 4, the planned waypoints include the waypoints EP0, EP1, EP2, EP3, EP4, EP5 of approach procedure 4, and the waypoints IAF2, IF2, FAF2 of the approach procedure. Finally, runway 2 is added to complete the planned route in the terminal area.

[0065] 2) Analyze the comprehensive track information and identify the waypoints that have been flown in the planned route, which specifically includes the following steps:

[0066] 21) Analyze comprehensive track information: obtain three types of radar monitoring source data, including air traffic control radar data, automatic dependent surveillance-broadcast data (ADS-B) and multi-lateration positioning data (MLAT), and pre-process and fuse the data to analyze the track information to obtain the track latitude and longitude, altitude, speed and heading;

[0067] 22) Mark the waypoints that have been flown on the planned route: compare in real time whether the deviation between the longitude and latitude of the track and the longitude and latitude of the planned waypoints is within the allowable range. If the deviation is within the allowable range and the deviation between the track heading and the planned route heading is also within the allowable range, mark the waypoints that the flight has flown over; if the deviation is not within the allowable range, do not mark it; if the deviation between the track heading and the planned route heading is not within the allowable range, do not mark it.

[0068] 3) Determine the starting waypoint BegPnt of the flight to be flown, which specifically includes the following steps:

[0069] 31) Preliminarily determine the starting waypoint based on the waypoint identification: take the first waypoint after the last identified waypoint that has been flown as the starting waypoint;

[0070] 32) Correct the starting waypoint of the deviated flight: The flight flying according to the planned route uses the starting waypoint determined in step 31), and the flight that deviates from the route determines the starting waypoint through the graphic positioning method; Figure 3 Take the diagram as an example. The flight starts to deviate after passing the waypoint EP0. The starting waypoint in the subsequent flight process needs to be confirmed by the following steps; details are as follows:

[0071] Traverse all the waypoints of the planned route, find the last waypoint that has been flown and all subsequent waypoints that have not been flown, and sequentially form multiple directed line segments from two adjacent waypoints; Figure 3 Taking the diagram as an example, the directed line segments include [EP0, EP1], [EP1, EP2], [EP2, EP3], etc.

[0072] Take the directed line segment as the median of the rectangle, expand outward a rectangle with the length of the directed line segment as the length and 2*VSP (variable system parameter) as the width, and then take the two endpoints of the line segment as the center to expand to both sides a semicircle with a radius of VSP. The rectangle and the semicircle form a composite curve figure.

[0073] Convert the longitude and latitude of the track into coordinates and use mathematical methods to determine whether the track is within the composite curve graph. The judgment result is one of the following:

[0074] 321) If the track is not within any rectangle, go to step 33);

[0075] 322) If the track is within the rectangle and the track projection is between the two endpoints of the directed line segment, the end point of the directed line segment is selected as the starting waypoint and the process goes to step 4);

[0076] 323) The track is within the rectangle, and the track is projected on the reverse extension line of the directed line segment. Select the starting point of the directed line segment as the starting waypoint and go to step 4); Figure 3 For example, when the track flies to the right semicircle, it is projected on the reverse extension line of the [EP0, EP1] directed line segment, and EP0 is selected as the starting waypoint;

[0077] 324) The flight path is within the rectangle and is projected onto the positive extension of the directed line segment. Select the next waypoint after the end point of the directed line segment as the flight start waypoint and proceed to step 4); Figure 3 For example, when the track flies to the left semicircle, it is projected on the positive extension line of the [EP0, EP1] directed line segment, and EP2 is selected as the starting waypoint;

[0078] 325) If the flight path is within multiple rectangles, the flight segment with the closest waypoint to the runway is selected to expand the composite curve graph, and the starting waypoint of the flight is determined according to the method in step 322), step 323), and step 324), and the process proceeds to step 4); Figure 3 For example, when the flight path flies to the left semicircle, it falls within the two compound curve figures expanding outwards from [EP0, EP1] and [EP1, EP2]. Since EP1 and EP2 are closer to the landing runway, it is only necessary to determine whether the flight path is within the compound curve figure expanding outwards from [EP1, EP2] according to the methods of step 322), step 323), and step 324.

[0079] 33) The angle positioning method is used to further confirm the starting waypoint, specifically:

[0080] 331) Traverse all planned waypoints that have not been flown, and obtain the planned waypoint NearPnt closest to the track;

[0081] 332) With the track as the starting point and the planned waypoint NearPnt as the end point, a directed line segment 1 is formed; with the planned waypoint NearPnt as the starting point and the subsequent planned waypoint as the end point, a directed line segment 2 is formed; the angle between directed line segment 1 and directed line segment 2 is calculated; if the angle is an obtuse angle, the next waypoint after the planned waypoint NearPnt is selected as the starting waypoint; otherwise, the planned waypoint NearPnt is selected as the starting waypoint of the flight; Figure 4 In the schematic diagram, the flight route deviates greatly from the planned route, and the track is not within any composite curve figure. When the track is at position 1, it is closest to the EP1 waypoint, so the track and EP1 are selected to form directed line segment 1, EP1 and the subsequent waypoint EP2 form directed line segment 2, and the angle between line segment 1 and line segment 2 is an acute angle, so EP1 is selected as the starting waypoint; when the track is at position 1', it is still closest to the EP1 waypoint, so the track and EP1 are selected to form directed line segment 1', EP1 and the subsequent waypoint EP2 form directed line segment 2, and the angle between line segment 1' and line segment 2 is an obtuse angle, so EP2 is selected as the starting waypoint.

[0082] 4) Determine the end waypoint EndPnt of the flight to be flown, which specifically includes the following steps:

[0083] 41) Find the end approach fix point in the planned route as the end approach fix point EndPnt: if there is no end approach fix point in the planned route, go to step 42); if there is an end approach fix point in the planned route, go to step 5);

[0084] 42) Find the intermediate approach fix point in the planned route as the end waypoint EndPnt: if there is no intermediate approach fix point in the planned route, go to step 43); if there is an intermediate approach fix point in the planned route, go to step 5);

[0085] 43) Select the adjacent waypoint in front of the landing runway in the planned route as the end waypoint EndPnt;

[0086] by Figure 2 For example, flights landing on runway 1 select the end approach fix point FAF1 as EndPnt; if the flight route does not include FAF1, the intermediate approach fix point IF1 is selected as EndPnt.

[0087] 5) Calculate the total distance of the plane projection of the flight route from the starting waypoint BegPnt to the ending waypoint EndPnt, which specifically includes the following steps:

[0088] 51) Calculate the horizontal distance Distance1 of the flight segment to be flown: traverse all the waypoints of the planned route and calculate the horizontal distance Distance1 of all the segments between the starting waypoint BegPnt and the ending waypoint EndPnt as follows:

[0089]

[0090] Where BegNo indicates the sequence number of the starting waypoint BegPnt in the planned waypoints; EndNo indicates the sequence number of the ending waypoint EndPnt; distance(Pnt i ,Pnt i+1 ) represents the horizontal distance between two adjacent waypoints constituting a flight segment. The calculation method is to convert the longitude and latitude of the waypoints into coordinates and then calculate the straight-line distance between the two points;

[0091] 52) Convert the flight altitude difference to vertical distance Distance2: When the altitude difference between two flights is greater than one altitude layer (300 meters), convert the altitude difference to vertical distance Distance2. The conversion formula is as follows:

[0092] Distance2=|Height m -Height n |*Parameter HD

[0093] Among them, Height m 、Height n The track heights of the two flights in the order to be decided, Parameter HD Indicates the conversion parameter of altitude difference to distance. The converted vertical distance Distance2 is superimposed on the distance of the high altitude flight.

[0094] 53) Convert the speed difference of the flights into the catching-up distance Distance3: When the speed difference between the two flights is greater than the threshold, convert the speed difference into the catching-up distance Distance3. The conversion formula is as follows:

[0095] Distance3=|Speedm -Speed n |*Parameter SD

[0096] Among them, Speed m 、Speed n The track speed of the two flights in the order to be decided, Parameter SD Indicates the conversion parameter of speed difference to distance. The converted catching-up distance Distance3 is added to the distance of the slow-speed flight;

[0097] 54) Calculate the total distance of the plane projection Distance as follows:

[0098]

[0099] Among them, Weight j Indicates the weight of the distance. The flight that has aligned with the runway and passed the end waypoint EndPnt has Weight1 = 0, indicating that the landing order is completely determined by the track altitude and speed.

[0100] 6) Compare the total distances of the plane projections of all flights calculated in step 5) to determine the landing order of the flights, which specifically includes the following steps:

[0101] 61) The flights that have not flown past the end waypoint EndPnt are arranged in landing order according to the total distance of the plane projection. Specifically, the flight with the smaller total distance of the plane projection is arranged to land first, and the flight with the larger total distance of the plane projection is arranged to land later. For flights with equal total distance of the plane projection, the flight with the lower track altitude will land first, and the flight with the higher track altitude will land later. When the difference in the total distance of the plane projection of two flights is greater than the distance change threshold, the landing order of the flights is changed, otherwise the original landing order is maintained.

[0102] 62) Flights that have passed the end waypoint EndPnt are arranged to land in order according to their track altitudes. Specifically, flights with lower track altitudes are arranged to land first, and flights with higher track altitudes are arranged to land later. Flights with the same track altitudes are arranged to land first according to the lower flight speed, and the higher flight speed is arranged to land later.

[0103] The present invention has many specific application paths. The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements can be made without departing from the principle of the present invention. These improvements should also be regarded as the protection scope of the present invention.

Claims

1. A method for deciding the landing order of incoming flights based on trajectory operation. It is characterized in that Here are the steps: 1) Allocate landing runways, approach procedures and approach procedures for flights to form a complete planned route; 2) Analyze the comprehensive track information and identify the waypoints that have been flown in the planned route; 3) Determine the starting waypoint BegPnt of the flight to be flown; 4) Determine the end waypoint EndPnt of the flight to be flown; 5) Calculate the total distance of the plane projection of the flight route from the starting waypoint BegPnt to the ending waypoint EndPnt; 6) Compare the total distances of the plane projections of all flights to determine the landing order of the flights.

2. The method for deciding the recommended landing order of incoming flights based on track operation according to claim 1, It is characterized in that The step 1) specifically comprises the following steps: 11) Allocate landing runway: Obtain flight plans from the unified flight plan system of the civil aviation, provide arrival services for flights entering the terminal airspace for landing, and arrange the recommended landing sequence; match landing runways for flights according to the take-off and landing operation mode of the airport runway and the aircraft model; when multiple runways are matched for landing, select the runway based on the operation strategy of allocating the nearest runway, the shortest flight time in the air, and the shortest taxiing time on the ground; the allocated landing runway constitutes the last waypoint of the planned route; 12) Allocate approach and approach procedures: match approach and arrival procedures for incoming flights according to the route structure of the airspace approach route, the approach capability of the aircraft's onboard equipment, and the aircraft model; expand the waypoints that make up the approach and arrival procedures to form part of the planned route, and together with the landing runway, form a complete planned route for the terminal airspace.

3. The method for deciding the landing order of incoming flights based on track operation according to claim 1, It is characterized in that The step 2) specifically comprises the following steps: 21) Analyze comprehensive track information: obtain three types of radar monitoring source data, including air traffic control radar data, automatic dependent surveillance-broadcast data and multi-point positioning data, and pre-process and fuse the data to analyze the track information to obtain the track latitude and longitude, altitude, speed and heading; 22) Mark the waypoints that have been flown in the planned route: compare the deviation of the longitude and latitude of the track with the longitude and latitude of the planned waypoint in real time to see if it is within the allowable range. If the deviation is within the allowable range and the deviation of the track heading with the planned route heading is also within the allowable range, then mark the waypoint that the flight has flown over; If the deviation is not within the permissible range, no marking will be made; If the deviation between the track heading and the planned route heading is not within the permissible range, no mark will be made.

4. The method for deciding the recommended landing order of incoming flights based on track operation according to claim 1, It is characterized in that The step 3) specifically comprises the following steps: 31) Preliminarily determine the starting waypoint based on the waypoint identification: take the first waypoint after the last identified waypoint that has been flown as the starting waypoint; 32) Correcting the starting waypoint of the deviated flight: The flight flying according to the planned route uses the starting waypoint determined in step 31), and the flight that deviates from the route determines the starting waypoint by the graphic positioning method; 33) The angle positioning method is used to further confirm the starting waypoint.

5. According to claim 4, the method for deciding the recommended landing order of incoming flights based on track operation, It is characterized in that In step 32), the starting waypoint is determined by a graphic positioning method, as follows: Traverse all waypoints of the planned route, find the last waypoint that has been flown and all subsequent waypoints that have not been flown, and sequentially form multiple directed line segments from two adjacent waypoints; Take the directed line segment as the median of the rectangle, expand outward a rectangle with the length of the directed line segment as the length and 2*VSP as the width, and then take the two endpoints of the line segment as the center to expand to both sides a semicircle with a radius of VSP. The rectangle and the semicircle form a composite curve figure; Convert the longitude and latitude of the track into coordinates and use mathematical methods to determine whether the track is within the composite curve graph. The judgment result is one of the following: 321) If the track is not within any rectangle, go to step 33); 322) If the track is within the rectangle and the track projection is between the two endpoints of the directed line segment, the end point of the directed line segment is selected as the starting waypoint and the process goes to step 4); 323) The track is within the rectangle, and the track is projected on the reverse extension line of the directed line segment. The starting point of the directed line segment is selected as the starting waypoint, and the process goes to step 4); 324) The flight path is within the rectangle and is projected onto the positive extension line of the directed line segment. The next waypoint after the end point of the directed line segment is selected as the flight start waypoint, and the process goes to step 4); 325) If the flight path is within multiple rectangles, select the flight segment with the closest waypoint to the runway and expand the composite curve graph to determine the starting waypoint of the flight according to the methods in steps 322), 323), and 324), and proceed to step 4).

6. The method for deciding the landing order of incoming flights based on track operation according to claim 5, It is characterized in that The step 33) specifically includes: 331) Traverse all planned waypoints that have not been flown, and obtain the planned waypoint NearPnt closest to the track; 332) A directed line segment 1 is formed with the track as the starting point and the planned waypoint NearPnt as the end point, and a directed line segment 2 is formed with the planned waypoint NearPnt as the starting point and the subsequent planned waypoint as the end point. The angle between directed line segment 1 and directed line segment 2 is calculated. If the angle is an obtuse angle, the next waypoint after the planned waypoint NearPnt is selected as the starting waypoint; otherwise, the planned waypoint NearPnt is selected as the starting waypoint of the flight.

7. The method for deciding the landing order of incoming flights based on track operation according to claim 1, It is characterized in that The step 4) specifically comprises the following steps: 41) Find the end approach fix point in the planned route as the end approach fix point EndPnt: if there is no end approach fix point in the planned route, go to step 42); if there is an end approach fix point in the planned route, go to step 5); 42) Find the intermediate approach fix point in the planned route as the end waypoint EndPnt: if there is no intermediate approach fix point in the planned route, go to step 43); if there is an intermediate approach fix point in the planned route, go to step 5); 43) Select the adjacent waypoint in front of the landing runway in the planned route as the end waypoint EndPnt.

8. The method for deciding the landing order of incoming flights based on track operation according to claim 1, It is characterized in that The step 5) specifically comprises the following steps: 51) Calculate the horizontal distance of the flight segment to be flown 1 : Traverse all waypoints of the planned route and calculate the horizontal distance Distance of all segments between the starting waypoint BegPnt and the ending waypoint EndPnt 1 ,as follows: Where BegNo indicates the sequence number of the starting waypoint BegPnt in the planned waypoints; EndNo indicates the sequence number of the ending waypoint EndPnt; distance(Pnt i ,Pnt i+1 ) represents the horizontal distance between two adjacent waypoints constituting a flight segment. The calculation method is to convert the longitude and latitude of the waypoints into coordinates and then calculate the straight-line distance between the two points; 52) Convert the flight altitude difference into vertical distance Distance 2 : When the altitude difference between two flights is greater than one altitude layer, convert the altitude difference into vertical distance Distance 2 , the conversion formula is as follows: Distance 2 =|Height m -Height n |*Parameter HD Among them, Height m 、Height n The track heights of the two flights in the order to be decided, Parameter HD Indicates the conversion parameter of height difference to distance, the vertical distance after conversion is Distance 2 Superimpose distance to high altitude flights; 53) Convert the flight speed difference into the catching-up distance 3 : When the speed difference between two flights is greater than the threshold, the speed difference is converted into the pursuit distance Distance 3 , the conversion formula is as follows: Distance 3 =|Speed m -Speed n |*Parameter SD Among them, Speed m 、Speed n The track speed of the two flights in the order to be decided, Parameter SD The conversion parameter representing the speed difference to distance, the converted catching-up distance Distance 3 Superimposed on the distance of the low-speed flight; 54) Calculate the total distance of the plane projection Distance as follows: Among them, Weight j Indicates the weight of the distance. The flight that has flown past the end waypoint EndPnt aligned with the runway takes the Weight 1 =0, indicating that the landing order is determined entirely by the track altitude and speed.

9. The method for deciding the landing order of incoming flights based on track operation according to claim 1, It is characterized in that The step 6) comprises the following steps: 61) The flights that have not flown past the end waypoint EndPnt are arranged in landing order according to the total distance of the plane projection. Specifically, the flight with the smaller total distance of the plane projection is arranged to land first, and the flight with the larger total distance of the plane projection is arranged to land later. For flights with equal total distance of the plane projection, the flight with the lower track altitude will land first, and the flight with the higher track altitude will land later. When the difference in the total distance of the plane projection of two flights is greater than the distance change threshold, the landing order of the flights is changed, otherwise the original landing order is maintained. 62) Flights that have passed the end waypoint EndPnt are arranged to land in order according to their track altitudes. Specifically, flights with lower track altitudes are arranged to land first, and flights with higher track altitudes are arranged to land later. Flights with the same track altitudes are arranged to land first according to the lower flight speed, and the higher flight speed is arranged to land later.

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