A risk assessment method for integrated operations of heterogeneous aircraft based on airspace capacity

Abstract

The present invention discloses a method for assessing the risk of integrated operations of heterogeneous aircraft based on airspace capacity, comprising: step S1, decomposing the global operating airspace into K grid airspaces to establish an airspace scenario for the integrated operations of heterogeneous aircraft; step S2, calculating the unstructured traffic operation risk of heterogeneous aircraft within a single grid airspace; step S3, calculating the structured traffic operation risk of heterogeneous aircraft within a single grid airspace; step S4, calculating the overall risk of integrated operations of heterogeneous aircraft within a single grid airspace; and step S5, calculating the operational risks of K grid airspaces within the global airspace. The present invention can effectively shorten the time required for risk assessment of integrated operations of heterogeneous aircraft, reduce the computational complexity of risk assessment, and improve its robustness.

Description

Technical Field

[0001] The present invention belongs to the field of civil aviation technology, and in particular relates to a method for risk assessment of integrated operations of heterogeneous aircraft based on airspace capacity. Background Art

[0002] Under conditions of equivalent airspace capacity, there is a significant difference in the mid-air collision risk between unstructured traffic in the integrated operation area of ​​heterogeneous aircraft airspace and structured traffic based on corridors, grids, and layered airspace. Unstructured traffic is suitable for low- to medium-density operations of heterogeneous aircraft, maintaining a low mid-air collision risk while also taking into account efficient airspace operations. Structured traffic, on the other hand, is more suitable for high-density operations of heterogeneous aircraft, which place higher demands on mid-air collision risk. The flight phases of integrated operations of heterogeneous aircraft airspace can be divided into three stages: climb, cruise, and descent. The mid-air collision risk during the cruise phase is mainly caused by horizontal track deviations and maneuvering of heterogeneous aircraft. The mid-air collision risk during the climb and descent phases is mainly caused by vertical track deviations and maneuvering of heterogeneous aircraft.

[0003] The physical model and its extensions require that heterogeneous aircraft be evenly distributed in the direction of the trajectory, and operational risk assessment can be performed without relying on historical monitoring data. Its advantage is that it quantifies the collision risk between evenly distributed heterogeneous aircraft in the airspace, and is more suitable for air collision risk analysis in unstructured traffic free flight scenarios. However, it is not suitable for analyzing the collision risk of heterogeneous aircraft operating in structured traffic along route routes, and lacks a quantitative description of the uncertainty brought about by the performance of onboard CNS equipment.

[0004] The Reich-Marks model and its extensions require that the random deviations of the positions and velocities of heterogeneous aircraft are independent of each other, and establish conflict pairs. They rely on historical monitoring data to estimate the collision probability of heterogeneous aircraft in a specified airspace or route for evaluation. Their advantage is that they fully consider the uncertainty brought about by the performance of onboard CNS equipment, and are more suitable for analyzing the collision risk of heterogeneous aircraft operating along routes, corridors or parallel routes in structured traffic. The results of the mid-air collision risk analysis are also less conservative than those of the gas model. However, the Reich-Marks model and its derived geometric models are still insufficient in analyzing the mid-air collision risk of heterogeneous aircraft in the vertical, lateral and longitudinal dimensions. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to propose a risk assessment method for the integrated operation of heterogeneous aircraft based on airspace capacity, which can effectively shorten the assessment time of the integrated operation risk assessment of heterogeneous aircraft, reduce the computational complexity of the risk assessment and improve its robustness.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] The present invention provides a method for risk assessment of heterogeneous aircraft integrated operations based on airspace capacity, comprising:

[0008] Step S1: Decompose the global airspace into K grid airspaces and establish an airspace scenario for the integrated operation of heterogeneous aircraft;

[0009] Step S2: Calculate the risk of heterogeneous aircraft operating in an unstructured traffic environment within a single grid airspace, wherein, in the unstructured traffic environment, heterogeneous aircraft are allowed to fly freely within any airspace completely following the paths generated by the path planning algorithm.

[0010] Step S3: Calculate the structured traffic operation risk of heterogeneous aircraft within a single grid airspace, where, under structured traffic operation conditions, heterogeneous aircraft fly along existing routes / airways in a specific airspace according to specific rules;

[0011] Step S4: Calculate the overall risk of integrated operations of heterogeneous aircraft in a single grid airspace, where the overall risk of integrated operations represents the sum of the air risks of heterogeneous aircraft in all operation modes in a single grid airspace;

[0012] Step S5: Calculate the operational risks of K grid airspaces in the global airspace based on the integrated overall operational risk.

[0013] Preferably, in step S1, establishing an airspace scenario for integrated operation of heterogeneous aircraft includes:

[0014] The integrated operation of heterogeneous aircraft is divided into unstructured traffic operation and structured traffic operation;

[0015] For the airspace scenario where heterogeneous aircraft are integrated, the risk of heterogeneous aircraft integrated operations is determined by calculating the probability of collisions between heterogeneous aircraft and the number of first-party fatalities caused by collisions:

[0016]

[0017] in, Indicates the risk of heterogeneous aircraft integration operations, represents the probability of fatality caused by a collision, Indicates the probability of a collision occurring after the collision avoidance system has been operated;

[0018]

[0019] in, is the collision avoidance failure rate of the collision avoidance system, Represents the area or volume where collisions may occur, is the volume of a single grid space, t represents the system running time, represents an adjustable constant, Indicates the average relative speed between different aircraft The expected value of , which measures the relative speed of two aircraft relative to each other as they approach.

[0020] Preferably, step S2 includes:

[0021] set up Aircraft and aircraft in a single grid airspace Evenly distributed in the airspace, heading Evenly distributed, use represents the horizontal component of the average relative velocity, represents the vertical component of the average relative velocity, is the probability of fatality in a collision in completely unstructured traffic, The expected probability of fatal outcome in the event of a collision is expressed as follows: :

[0022]

[0023]

[0024]

[0025] in, represents the probability of fatal collision of heterogeneous aircraft in a single grid airspace in completely unstructured traffic operation, represents the horizontal cross-sectional area of ​​the aircraft, represents the vertical cross-sectional area of ​​the aircraft, The expected value of the relative speed of the two aircraft in the horizontal direction, represents the expected value of the relative velocity of the two aircraft in the vertical direction, represents the absolute value of the relative speed between aircraft i and aircraft j;

[0026] set up aircraft in a single grid airspace A corridor-like airspace External uniform distribution, heading evenly distributed, Aircraft in corridor airspace Evenly distributed in the airspace, heading ;

[0027] use Represents a single grid space Corridor-type airspace The following formula is used to calculate the unstructured traffic operation risk of heterogeneous aircraft in a single grid airspace for other airspaces outside the single grid airspace: :

[0028]

[0029]

[0030]

[0031] in, represents the probability of fatality in the event of a collision in partially unstructured traffic operation, It represents the probability of fatality in the event of a collision between heterogeneous aircraft operating in partially unstructured traffic within a single grid airspace.

[0032] Preferably, step S3 includes:

[0033] set up Aircraft in The airspace is evenly distributed and the heading evenly distributed; Aircraft in Evenly distributed in the airspace, heading , the partial structured traffic operation risk of heterogeneous aircraft in a single grid airspace is calculated by the following formula: :

[0034]

[0035]

[0036]

[0037] in, represents the probability of fatality in the event of a collision between heterogeneous aircraft operating in partially structured traffic within a single grid airspace;

[0038] set up The airspace is divided into N layers of airspace with different altitude levels. Aircraft and Aircraft in Evenly distributed in the airspace, heading evenly distributed; The probability of fatality in the event of a collision in the en route phase is calculated by the following formula for the risk of layered one-way structured traffic operation of heterogeneous aircraft in a single grid airspace: :

[0039]

[0040]

[0041]

[0042]

[0043] Where, Indicates the cruising phase, Indicates the climb / descent phase;

[0044] exist Aircraft and Aircraft are evenly distributed, and the angle between the routes ;

[0045] set up The probability of fatal collision in the cross-route phase is calculated by the following formula to calculate the cross-route hierarchical structured traffic operation risk of heterogeneous aircraft in a single grid airspace: :

[0046]

[0047]

[0048]

[0049] The following formula is used to calculate the hierarchical structured traffic operation risk of heterogeneous aircraft in a single grid airspace:

[0050]

[0051] in, is the total risk of a single grid.

[0052] Preferably, step S4 includes:

[0053] use It represents the collision frequency of heterogeneous aircraft integrated operation in a single grid airspace, and is expressed as Indicates the probability of fatality after collision at each layer, Indicates the risk of integrated operation of heterogeneous aircraft in a single grid airspace, using Indicates the operating risks in different modes:

[0054]

[0055]

[0056] Determine that the air risk of the integrated operation of heterogeneous aircraft in a single grid airspace is equal to the sum of the air risks under each preset operation mode;

[0057] Based on the collision frequency and risk of integrated operation of heterogeneous aircraft in a single grid airspace, the air risk of integrated operation of heterogeneous aircraft in a single grid airspace is calculated.

[0058] Preferably, step S4 includes:

[0059] use It represents the collision frequency of heterogeneous aircraft integrated operation in the global airspace composed of K grid airspaces, and is expressed as Expressing the risk of integrated operation of heterogeneous aircraft in the global airspace consisting of K grid airspaces, we have:

[0060]

[0061]

[0062] in, Indicates the probability of fatality after a collision in each grid airspace, Indicates the operational risks under different modes within each grid airspace;

[0063] Determine that the global air risk of the integrated operation of heterogeneous aircraft in the assessed airspace is equal to the sum of the air risks of the integrated operation of heterogeneous aircraft in each grid airspace;

[0064] According to the collision frequency and risk of integrated operation of heterogeneous aircraft in the global airspace, the operational risk of K grid airspaces in the global airspace is calculated.

[0065] The present invention has achieved at least the following beneficial effects:

[0066] 1. It can assess the operational risks of heterogeneous aircraft in unstructured traffic within airspace capacity constraints, as well as the operational risks of heterogeneous aircraft in structured traffic on layered one-way and intersecting routes and route networks. Compared with traditional airspace operational risk assessments targeting specific traffic structures, this system has a wider scope of application and greater versatility.

[0067] 2. Utilizing the number of heterogeneous aircraft types accommodated within a given airspace, this method performs integrated airspace operational risk assessment. Compared with traditional gas models, the Reich-Marks model, and its extensions, this method has lower computational complexity, shorter assessment time, and greater timeliness.

[0068] 3. Combining the respective advantages of the gas model and the Reich-Marks model, a heterogeneous aircraft mid-air collision volume is constructed. Airspace operation risk assessment is performed by combining the airspace integrated operation traffic structure and aircraft flight phase. Compared with traditional airspace operation risk assessment, it is more robust.

[0069] Other advantages, objectives and features of the present invention will be described in the following description and will be apparent to those skilled in the art to some extent, or those skilled in the art can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] In order to make the purpose, technical solutions and beneficial effects of the present invention more clear, the present invention provides the following drawings for illustration:

[0071] Figure 1 This is a flowchart of a method for risk assessment of integrated operations of heterogeneous aircraft based on airspace capacity in an embodiment of the present invention;

[0072] Figure 2 This is a schematic diagram of an airspace scenario for the integrated operation of heterogeneous aircraft in an embodiment of the present invention;

[0073] Figure 3 Schematic diagram of completely unstructured traffic operation of heterogeneous aircraft in a grid airspace in an embodiment of the present invention;

[0074] Figure 4 Schematic diagram of partial unstructured traffic operation of heterogeneous aircraft in a grid airspace in an embodiment of the present invention;

[0075] Figure 5 Schematic diagram of partially structured traffic operation of heterogeneous aircraft in a grid airspace in an embodiment of the present invention;

[0076] Figure 6 Schematic diagram of hierarchical one-way structured traffic operation of heterogeneous aircraft in a grid airspace according to an embodiment of the present invention;

[0077] Figure 7 Schematic diagram of hierarchical structured traffic operation of heterogeneous aircraft crossing routes in grid airspace according to an embodiment of the present invention. DETAILED DESCRIPTION

[0078] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0079] Aiming at the problems existing in the current gas model, Reich-Marks model and its extension in assessing the risk of heterogeneous aircraft integrated operation, a risk assessment method for heterogeneous aircraft integrated operation based on airspace capacity is proposed.

[0080] The present invention provides a risk assessment method for heterogeneous aircraft integrated operation based on airspace capacity, referring to Figure 1Based on the gridded decomposition of the global airspace capacity, the mid-air collision decoupling and estimation of the risk of heterogeneous aircraft integrated operations are carried out, including the following steps:

[0081] Step S1: Decompose the global airspace into K grid airspaces and establish an airspace scenario for the integrated operation of heterogeneous aircraft;

[0082] Step S2: Calculate the risk of heterogeneous aircraft operating in an unstructured traffic environment within a single grid airspace, wherein, in the unstructured traffic environment, heterogeneous aircraft are allowed to fly freely within any airspace completely following the paths generated by the path planning algorithm.

[0083] Step S3: Calculate the structured traffic operation risk of heterogeneous aircraft within a single grid airspace, where, under structured traffic operation conditions, heterogeneous aircraft fly along existing routes / airways in a specific airspace according to specific rules;

[0084] Step S4: Calculate the overall risk of integrated operations of heterogeneous aircraft in a single grid airspace, where the overall risk of integrated operations represents the sum of the air risks of heterogeneous aircraft in all operation modes in a single grid airspace;

[0085] Step S5: Calculate the operational risks of K grid airspaces in the global airspace based on the integrated overall operational risk.

[0086] In a specific embodiment, establishing an integrated operational airspace scenario includes the following steps:

[0087] A1: The risk of integrated operations of heterogeneous aircraft is described by the probability of collision between heterogeneous aircraft and the number of first-party fatalities caused by the collision.

[0088]

[0089] A2: Traffic structure affects the relative speed between heterogeneous aircraft, and thus affects their collision probability. Figure 2 , which leads to different air risks of aircraft operations under different traffic structures. The integrated operation of heterogeneous aircraft is divided into: unstructured traffic operation and structured traffic operation.

[0090]

[0091] A3: Under unstructured traffic operating conditions, heterogeneous aircraft can fly freely in any airspace, completely following the path generated by the path planning algorithm.

[0092] A4: Under structured traffic operation conditions, heterogeneous aircraft fly along existing routes / routes in a specific airspace (route network, etc.) according to specific rules (heading-altitude rules, etc.).

[0093] In a specific embodiment, the calculation of the risk of heterogeneous aircraft unstructured traffic operations in a single grid airspace includes the following steps:

[0094] B1: Heterogeneous aircraft operate in completely unstructured traffic within grid airspace, refer to Figure 3 .

[0095] set up Aircraft and aircraft in a single grid airspace Evenly distributed in the airspace, heading Evenly distributed, use represents the horizontal component of the average relative velocity, represents the vertical component of the average relative velocity, is the probability of fatality in a collision in completely unstructured traffic, The expected probability of fatal outcome in the event of a collision is expressed as follows: :

[0096]

[0097]

[0098]

[0099] in, represents the probability of fatal collision of heterogeneous aircraft in a single grid airspace in completely unstructured traffic operation, represents the horizontal cross-sectional area of ​​the aircraft, represents the vertical cross-sectional area of ​​the aircraft, The expected value of the relative speed of the two aircraft in the horizontal direction, represents the expected value of the relative velocity of the two aircraft in the vertical direction, represents the absolute value of the relative speed between aircraft i and aircraft j;

[0100] B2: Heterogeneous aircraft operate in partially unstructured traffic within grid airspace, refer to Figure 4 .

[0101] set up aircraft in a single grid airspace A corridor-like airspace External uniform distribution, heading evenly distributed, Aircraft in corridor airspace Evenly distributed in the airspace, heading ;

[0102] use Represents a single grid space Corridor-type airspace The following formula is used to calculate the unstructured traffic operation risk of heterogeneous aircraft in a single grid airspace for other airspaces outside the single grid airspace: :

[0103]

[0104]

[0105]

[0106] in, represents the probability of fatality in the event of a collision in partially unstructured traffic operation, It represents the probability of fatality in the event of a collision between heterogeneous aircraft operating in partially unstructured traffic within a single grid airspace.

[0107] In a specific embodiment, the calculation of the risk of heterogeneous aircraft structured traffic operations in a single grid airspace includes the following steps:

[0108] C1: Heterogeneous aircraft operate in partially structured traffic within grid airspace, see Figure 5 .

[0109] set up Aircraft in The airspace is evenly distributed and the heading evenly distributed; Aircraft in Evenly distributed in the airspace, heading , the partial structured traffic operation risk of heterogeneous aircraft in a single grid airspace is calculated by the following formula: :

[0110]

[0111]

[0112]

[0113] in, represents the probability of fatality in the event of a collision between heterogeneous aircraft operating in partially structured traffic within a single grid airspace;

[0114] C2: Heterogeneous aircraft operate in a hierarchical, one-way structured traffic pattern within a gridded airspace. Figure 6 .

[0115] set up The airspace is divided into N layers of airspace with different altitude levels. Aircraft and Aircraft in Evenly distributed in the airspace, heading evenly distributed; The probability of fatality in the event of a collision in the en route phase is calculated by the following formula for the risk of layered one-way structured traffic operation of heterogeneous aircraft in a single grid airspace: :

[0116]

[0117]

[0118]

[0119]

[0120] Where, Indicates the cruising phase, Indicates the climb / descent phase;

[0121] exist Aircraft and Aircraft are evenly distributed, and the angle between the routes ;

[0122] C3: Heterogeneous aircraft cross-route hierarchical structured traffic operation in grid airspace, refer to Figure 7 .

[0123] set up The probability of fatal collision in the cross-route phase is calculated by the following formula to calculate the cross-route hierarchical structured traffic operation risk of heterogeneous aircraft in a single grid airspace: :

[0124]

[0125]

[0126]

[0127] C4: Heterogeneous aircraft operating in a hierarchical structured route network within a grid airspace, see Figure 6 and Figure 7 The traffic structure combination shown uses the results of steps C2 and C3.

[0128]

[0129] In a specific embodiment, the overall risk calculation for the integrated operation of heterogeneous aircraft in a single grid airspace includes the following steps:

[0130] D1: The air risk of integrated operations of heterogeneous aircraft in a single grid airspace is equal to the sum of the air risks under each operation mode (the risks of each operation mode are independent).

[0131] D2: Collision frequency of heterogeneous aircraft integrated operations in a single grid airspace, Risks of integrated operations of heterogeneous aircraft within a single grid airspace.

[0132]

[0133]

[0134] In a specific embodiment, the calculation of the operational risk of K grid airspaces in the global airspace includes the following steps:

[0135] E1: The global air risk of the integrated operation of heterogeneous aircraft in the assessed airspace is equal to the sum of the air risks of the integrated operation of heterogeneous aircraft in each grid airspace (the risks of each grid are independent)

[0136] E2: The collision frequency of heterogeneous aircraft integrated operations in the global airspace (K grid airspaces), Risks of integrated operations of heterogeneous aircraft in the global airspace (K grid airspaces):

[0137]

[0138]

[0139] The present invention provides a heterogeneous aircraft integrated operation risk assessment method based on airspace capacity, which can assess the integrated operation risk of unstructured traffic of heterogeneous aircraft under airspace capacity constraints, as well as the integrated operation risk of structured traffic of heterogeneous aircraft in layered one-way, crossing routes and route networks. Compared with traditional airspace operation risk assessment targeting specific traffic structures, the applicable assessment scope is expanded and the versatility is better.

[0140] The present invention provides a heterogeneous aircraft integrated operation risk assessment method based on airspace capacity. The method uses the number of different types of heterogeneous aircraft accommodated in a given airspace to perform airspace integrated operation risk assessment. Compared with traditional gas models, Reich-Marks models and their extensions, the method has low computational complexity, shorter assessment time and stronger timeliness.

[0141] The present invention proposes a heterogeneous aircraft integrated operation risk assessment method based on airspace capacity, which combines the respective advantages of the gas model and the Reich-Marks model to construct the heterogeneous aircraft mid-air collision volume, and combines the airspace integrated operation traffic structure and the aircraft flight phase to perform airspace operation risk assessment. Compared with traditional airspace operation risk assessment, it has better robustness.

[0142] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present invention.

Claims

1. A risk assessment method for integrated operations of heterogeneous aircraft based on airspace capacity, characterized by: include: Step S1: Decompose the global airspace into K grid airspaces and establish an airspace scenario for the integrated operation of heterogeneous aircraft; Step S2: Calculate the risk of heterogeneous aircraft operating in an unstructured traffic environment within a single grid airspace, wherein, in the unstructured traffic environment, heterogeneous aircraft are allowed to fly freely within any airspace completely following the paths generated by the path planning algorithm. Step S3: Calculate the structured traffic operation risk of heterogeneous aircraft within a single grid airspace, where, under structured traffic operation conditions, heterogeneous aircraft fly along existing routes / airways in a specific airspace according to specific rules; Step S4: Calculate the overall risk of the integrated operation of heterogeneous aircraft in a single grid airspace, where the overall risk of the integrated operation is the sum of the risk of heterogeneous aircraft in unstructured traffic operation and the risk of structured traffic operation in a single grid airspace; Step S5: Calculate the operational risks of K grid airspaces in the global airspace based on the integrated overall operational risk; In step S1, establishing an airspace scenario for integrated operations of heterogeneous aircraft includes: The integrated operation of heterogeneous aircraft is divided into unstructured traffic operation and structured traffic operation; For the airspace scenario where heterogeneous aircraft are integrated, the risk of heterogeneous aircraft integrated operations is determined by calculating the probability of collisions between heterogeneous aircraft and the number of first-party fatalities caused by collisions: in, Indicates the risk of heterogeneous aircraft integration operations, represents the probability of fatality caused by a collision, Indicates the probability of a collision occurring after the collision avoidance system has been operated; in, is the collision avoidance failure rate of the collision avoidance system, Represents the area or volume where collisions may occur, is the volume of a single grid space, t represents the system running time, represents an adjustable constant, Indicates the average relative speed between different aircraft The expected value of , which measures the relative speed of two aircraft relative to each other as they approach.

2. The method for risk assessment of heterogeneous aircraft integrated operations based on airspace capacity according to claim 1 is characterized in that: The step S2 comprises: set up Aircraft and aircraft in a single grid airspace Evenly distributed in the airspace, heading Evenly distributed, use represents the horizontal component of the average relative velocity, represents the vertical component of the average relative velocity, The expected probability of fatal outcome in the event of a collision is expressed as follows: : in, represents the probability of collision between heterogeneous aircraft in a single grid airspace in completely unstructured traffic operations, The expected value of the relative speed of the two aircraft in the horizontal direction, represents the expected value of the relative velocity of the two aircraft in the vertical direction, represents the absolute value of the relative speed between aircraft i and aircraft j; set up aircraft in a single grid airspace A corridor-like airspace External uniform distribution, heading evenly distributed, Aircraft in corridor airspace Evenly distributed in the airspace, heading ; use Represents a single grid space Corridor-type airspace The following formula is used to calculate the unstructured traffic operation risk of heterogeneous aircraft in a single grid airspace for other airspaces outside the single grid airspace: : in, It represents the probability of collision between heterogeneous aircraft in a single grid airspace during partially unstructured traffic operations.

3. The method for risk assessment of heterogeneous aircraft integrated operations based on airspace capacity according to claim 2 is characterized in that: The step S3 comprises: set up Aircraft in The airspace is evenly distributed and the heading evenly distributed; Aircraft in Evenly distributed in the airspace, heading , the partial structured traffic operation risk of heterogeneous aircraft in a single grid airspace is calculated by the following formula: : in, represents the probability of collision between heterogeneous aircraft in a single grid airspace during partially structured traffic operations, represents the expected probability of a fatal outcome if a collision has already occurred; set up The airspace is divided into N layers of airspace with different altitude levels. Aircraft and Aircraft in Evenly distributed in the airspace, heading evenly distributed; To express the probability of collision during the en route phase, the risk of layered one-way structured traffic operation of heterogeneous aircraft in a single grid airspace is calculated by the following formula: : Where, Indicates the cruising phase, Indicates the climb / descent phase; exist Aircraft and Aircraft are evenly distributed, and the angle between the routes ; set up To calculate the probability of collision during the crossing route phase, the cross-route hierarchical structured traffic operation risk of heterogeneous aircraft in a single grid airspace is calculated using the following formula: : The following formula is used to calculate the hierarchical structured traffic operation risk of heterogeneous aircraft in a single grid airspace: in, The traffic operation risk of heterogeneous aircraft in a single grid airspace is hierarchically structured in the route network within the grid airspace.

4. The method for risk assessment of heterogeneous aircraft integrated operations based on airspace capacity according to claim 1, characterized in that: The step S4 comprises: use It represents the collision frequency of heterogeneous aircraft integrated operation in a single grid airspace, and is expressed as Indicates the probability of collision at each layer, using Indicates the risk of integrated operation of heterogeneous aircraft in a single grid airspace, using Indicates the operating risks in different modes: Based on the collision frequency and risk of integrated operation of heterogeneous aircraft in a single grid airspace, the air risk of integrated operation of heterogeneous aircraft in a single grid airspace is calculated.

5. The method for risk assessment of heterogeneous aircraft integrated operations based on airspace capacity according to claim 1, characterized in that: The step S4 comprises: use It represents the collision frequency of heterogeneous aircraft integrated operation in the global airspace composed of K grid airspaces, and is expressed as Expressing the risk of integrated operation of heterogeneous aircraft in the global airspace consisting of K grid airspaces, we have: in, Indicates the probability of collision in each grid space, Indicates the operational risks under different modes within each grid airspace; According to the collision frequency and risk of integrated operation of heterogeneous aircraft in the global airspace, the operational risk of K grid airspaces in the global airspace is calculated.

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