An aircraft landing scheduling method suitable for low-altitude economy

Abstract

The application discloses a kind of aircraft landing scheduling methods suitable for low-altitude economy, it is related to aircraft scheduling technical field, including: aircraft enters landing scene, all aircrafts receive each other and exchange data information;When one of the aircraft meets scheduling decision condition, landing scheduling decision is carried out;All aircrafts receive and confirm scheduling decision result, enter landing procedure starting point;The aircraft that has completed scheduling decision receives new aircraft information, and carries out new landing scheduling decision;The aircraft that has completed scheduling decision enters the scope of executing landing procedure, continues to execute original scheduling result;After all aircrafts receive new scheduling result, enter landing procedure.The application proposes by accurate scheduling decision and real-time dynamic adjustment, can effectively optimize aircraft in low-altitude airspace Landing sequence, time and path arrangement, this method not only improves the landing efficiency of aircraft, also ensures the safety and utilization of airspace.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft scheduling, and in particular to an aircraft landing scheduling method suitable for low-altitude economy. Background Art

[0002] As the low-altitude economy continues to develop, the number of aircraft in the low-altitude economy will gradually increase, and the landing pressure at airports will gradually increase. A large number of aircraft will land at airports, far exceeding the landing frequency of current civil aviation airports. This will pose a huge challenge to the aviation safety of airports. In addition, traditional landing procedures require air traffic control to sort and control the landing of aircraft, and the landing efficiency is very low. If the number of aircraft is large, the waiting time for landing will be too long, which the aircraft cannot bear. However, if the efficiency of airport landing is not increased, the development of the aircraft size in the low-altitude economy will be restricted. The present invention is a way to solve the efficiency of aircraft landing scheduling, which can improve the efficiency and safety of multiple aircraft landing at the same airport.

[0003] Now the landing procedure of the airport is basically carried out on a first-come, first-landed basis. Aircraft request to enter the airport in the order of approach procedures. The airport air traffic control arranges the aircraft to enter the approach procedure one by one, and then completes the landing. Other aircraft wait for the landing aircraft to complete the landing before landing. This poses a challenge to the endurance of the aircraft. However, the endurance of low-altitude aircraft is not as good as that of civil airliners, which restricts the number of aircraft and affects the development of the low-altitude economy. Summary of the Invention

[0004] In order to solve the above technical problems, a method for aircraft landing scheduling suitable for low-altitude economy is provided. This technical solution solves the above problems.

[0005] In order to achieve the above objects, the technical solution adopted by the present invention is:

[0006] An aircraft landing scheduling method applicable to low-altitude economy, comprising:

[0007] Aircraft enter the landing scene, and all aircraft receive and exchange data information with each other;

[0008] The scheduling decision of the aircraft is judged based on the scheduling algorithm. When one of the aircraft meets the scheduling decision conditions, the landing scheduling decision is made, and the other aircraft are locked and wait for the scheduling decision result;

[0009] All aircraft receive and confirm the dispatch decision results and enter the landing procedure starting point;

[0010] When a newly added aircraft enters the landing scene, the aircraft that has completed the scheduling decision receives the new aircraft information and makes a new landing scheduling decision;

[0011] Aircraft that have completed the scheduling decision enter the scope of executing the landing procedure and continue to execute the original scheduling result. Aircraft that have not entered the execution scope will participate in the landing scheduling decision again;

[0012] After all aircraft receive the new dispatch results, they confirm the execution of the new landing sequence and enter the landing procedure.

[0013] Preferably, the scheduling decision of the aircraft based on the scheduling algorithm is judged, and when one of the aircraft meets the scheduling decision conditions, a landing scheduling decision is made, and the other aircraft are locked and wait for the scheduling decision result, specifically including:

[0014] Receive status information. All aircraft continuously receive each other's status information, including position, speed, heading and expected landing time;

[0015] Each aircraft uses a preset scheduling algorithm to evaluate its current status based on its own and other aircraft's information to determine whether it meets the scheduling decision conditions. The scheduling decision conditions include the distance to the landing field, flight altitude, the current aircraft priority, and the preset landing interval and safety standards.

[0016] When an aircraft meets the scheduling decision conditions, it is identified as a candidate for landing and a scheduling decision request is broadcast. The aircraft that meets the scheduling decision conditions broadcasts its landing scheduling request to all other aircraft. The request information includes the aircraft's own identification information.

[0017] Locked state signal: All other aircraft receiving information will automatically enter the "locked state" after monitoring the landing dispatch request of the aircraft that meets the dispatch decision conditions. In this state, other aircraft will not immediately adjust their heading and descent altitude, waiting for the confirmation result to be processed and maintaining a safe distance;

[0018] The dispatch system generates dispatch decision results based on current weather conditions, airport operating requirements and aircraft status, including confirming the landing order of aircraft that meet the dispatch decision conditions, the new landing order for other aircraft and broadcasting the dispatch results.

[0019] Preferably, the scheduling algorithm specifically includes:

[0020] Verify whether the aircraft's 4D trajectory data is missing. Each aircraft has an optimal arrival time, including the earliest arrival time and the latest arrival time. Aircraft with missing data will not be included in the aircraft landing scheduling method calculation;

[0021] Verify the correctness of the aircraft's four-dimensional trajectory data to ensure that the optimal arrival time is greater than or equal to the earliest arrival time, and the most appropriate arrival time is less than or equal to the latest arrival time. Incorrect aircraft data will not be included in the aircraft landing scheduling method calculation;

[0022] Establish a solution formula based on the algorithm requirements, and add up the optimal arrival times of all aircraft to obtain the optimal solution;

[0023] The formula for calculating the optimal arrival time of an aircraft is:

[0024] ,

[0025] Where, For the The optimal arrival time of an aircraft, is the sum of the optimal arrival times of all aircraft, is the total number of aircraft;

[0026] Establish constraints. The calculated optimal arrival time must be greater than or equal to the earliest arrival time and less than or equal to the latest arrival time. Then, sort the calculated optimal arrival times in ascending order. After sorting, the time after the adjacent optimal arrival time minus the time before must be greater than the set time length.

[0027] Based on the above solution formula and constraints, the data matrix is ​​input into the scheduling planning algorithm for solution. The optimal landing time and landing scheduling sequence are calculated. Once the calculation is completed, the scheduling results are sent to all participating aircraft and airport air traffic control for confirmation.

[0028] All aircraft involved in the dispatch and airport air traffic control confirm that all aircraft involved in the dispatch execute the dispatch results and land.

[0029] Preferably, the scheduling planning algorithm specifically includes:

[0030] Pre-sort the nodes by their most suitable arrival time value, and then sort the sorted nodes by their most suitable arrival time value from small to large, forming a bidirectional linked list, with the head of the chain pointing to the node with the smallest most suitable arrival time value;

[0031] The following operations are performed in a loop until it is determined that further sorting is impossible, sorting is successful, or timeout occurs. The operation steps are:

[0032] S1: Search for a local area with an interval conflict in the sorted linked list. If no interval conflict area is found, the entire arrangement sequence is moved to find the optimal solution for the sort order. Then the loop is exited and the function returns.

[0033] S2: If the first region with interval conflict is found in S1, use the head and tail pointers to point to the chain head and tail of this conflict domain respectively;

[0034] S3: Prioritizes expanding the distance from the end of the chain in the collision domain to turn the local collision domain into a non-collision domain.

[0035] S4: If S2 fails, start searching for a node that can be moved to the end of the local collision domain chain from the second-to-last node of the local collision domain. Once such a node is found, move its position in the linked list to the end of the current local collision domain chain and expand the distance outward.

[0036] S5: If S3 fails, switch to expanding the distance from the chain head of the collision domain outward to make the local collision domain become a non-collision domain;

[0037] S6: If S4 fails, try to find a node that can be moved to the head of the local collision domain chain starting from the second node of the local collision domain. If such a node is found, move its position in the linked list to the head of the current local collision domain chain and expand the distance outward;

[0038] S7: In the loop, record the number of loops. If the number of loops exceeds the maximum allowed number, exit the loop and consider the sorting to have failed. Alternatively, record the system time before entering the loop and read the system time during the loop to determine whether a timeout has occurred to determine whether the sorting has failed.

[0039] In the above loop, at most one move is performed each time, and the optimal arrival time value of the moved aircraft is modified accordingly. After the local interval conflict area is expanded, when a new interval conflict area is formed, the interval expansion is performed again for the chain head and chain tail of the conflict area.

[0040] Preferably, if a set of sorting sequences that meets the interval requirement is found through the above sorting, the position of the sequence is adjusted so that the sum of the absolute values ​​of the differences between the optimal arrival times of the scheduled aircraft in the sequence and their original optimal arrival times is minimized, and the final optimal arrival time is obtained.

[0041] Preferably, the position adjustment method specifically includes: subtracting the original optimal arrival time from the current optimal arrival time of each aircraft, summing the absolute values ​​of the obtained values ​​greater than or equal to zero and storing them in a variable posDeltaSum, and summing the absolute values ​​of the obtained values ​​less than zero and storing them in a variable negDeltaSum, and performing a loop operation until the difference between posDeltaSum and negDeltaSum is less than a set value.

[0042] Preferably, the cyclic operation process specifically includes:

[0043] B1: Calculate the maximum leftward movement range (maxLeftOffset) and maximum rightward movement range (maxRightOffset) of each aircraft's optimal arrival time based on its current optimal arrival time, earliest arrival time, and latest arrival time.

[0044] B2: Calculate the current optimal arrival time of each aircraft minus its original optimal arrival time scheduling value;

[0045] B3: Adds the absolute values ​​of values ​​less than zero in B2 to negDeltaSum, and adds the absolute values ​​greater than or equal to zero in B2 to posDeltaSum.

[0046] B4: Multiply negDeltaSum and posDeltaSum by the penalty factor. The penalty factors for being greater than or less than can be set.

[0047] B5: If negDeltaSum is greater than posDeltaSum, calculate the difference between negDeltaSum and posDeltaSum, calculate the overall right shift value based on the difference and the maxRightOffset limit, and right-shift the current optimal arrival time of each aircraft.

[0048] B6: If negDeltaSum is less than or equal to posDeltaSum, calculate the difference between negDeltaSum and posDeltaSum, calculate the overall left shift value based on the difference and the maxRightOffset limit, and shift the current optimal arrival time of each aircraft to the left.

[0049] Preferably, when the newly added aircraft enters the landing scene, the aircraft that has completed the scheduling decision receives the new aircraft information and makes a new landing scheduling decision, specifically including:

[0050] New aircraft access information, broadcasting its own position information, speed, heading, altitude, and estimated time of arrival status to the dispatch system and sharing it with other aircraft;

[0051] The aircraft that has completed the dispatch decision receives the information of the new aircraft. The aircraft that has completed the dispatch decision or the dispatch system will verify the validity and priority of the new aircraft;

[0052] Reassess landing conditions including landing sequence, safety spacing, routing, slots and availability, and conflict detection and resolution;

[0053] The dispatch system automatically checks whether there is a potential flight conflict between the new aircraft and existing aircraft. If there is a conflict, the system automatically adjusts it;

[0054] After completing the new scheduling decision, the scheduling system broadcasts the new result to all aircraft, including newly added aircraft and aircraft that have completed scheduling;

[0055] The new dispatch results include updated landing sequence, estimated landing time, and route change information;

[0056] All aircraft, including newly added aircraft and aircraft that have completed scheduling, respond according to the new scheduling decision. The aircraft adjust their flight altitude, speed, and heading and enter a new landing procedure.

[0057] Preferably, the landing sequence and scheduling decision specifically includes:

[0058] The system regenerates the landing sequence for the entire flight based on the current airspace and ground resources. Aircraft that have completed scheduling decisions will receive a new scheduling decision, including the new landing time and landing sequence, and the aircraft's route adjustment;

[0059] If the newly added aircraft has a higher priority, the system provides it with a faster landing opportunity, delaying and changing the scheduling plans of other aircraft.

[0060] Preferably, during the execution of a new scheduling decision, the system monitors the status of all aircraft and assesses potential conflicts in real time;

[0061] If new aircraft and other external factors occur, the system will dynamically reschedule and adjust the landing order and flight plan of the flights again. Once all aircraft have completed the adjustment according to the new scheduling order and decision, they will land smoothly according to the specified time and path. The aircraft that have completed landing will continue to execute the departure procedure, freeing up airspace and resources for other flights to use.

[0062] Compared with the prior art, the present invention has the following beneficial effects:

[0063] This patent uses an airborne algorithm to enable low-altitude aircraft to land at airports with high density and high frequency, thereby improving the operational efficiency of the airport and the safety of its landing. Since the centralized airport air traffic control performs landing scheduling, not only is the efficiency restricted, but the centralized single-point calculation also has reliability issues. The airborne calculation of this patent can make up for this problem. All aircraft equipped with this equipment landing at the airport can calculate the landing scheduling sequence of the entire scene. Even if there is a problem with one airborne device, other airborne devices can also perform calculation scheduling, effectively increasing the reliability of airport air traffic control scheduling. Low-altitude aircraft are large in size and will land at high density and high frequency, which far exceeds the landing density and frequency of ordinary civil airliners today. Since airport air traffic control dispatches based on a first-come, first-served basis, without considering the performance and endurance of various aircraft themselves, it is impossible to make the optimal landing dispatching and sorting plan, which greatly affects the landing efficiency and cannot meet the needs of high-density and high-frequency landings, restricting the development of the low-altitude economic scale. The landing dispatching algorithm of this patent can calculate the optimal landing dispatching plan results under the constraints of flight safety, thereby improving the airport's operating efficiency, enabling high-density and high-frequency landings, and ensuring aviation safety during the landing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 It is a step flow chart of the present invention;

[0065] Figure 2 This is a schematic diagram of the backward expansion of the collision domain interval. DETAILED DESCRIPTION

[0066] The following description is intended to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are merely examples, and those skilled in the art may conceive of other obvious variations.

[0067] Reference Figure 1 As shown, an aircraft landing scheduling method applicable to low-altitude economy includes:

[0068] Step 1: Aircraft enter the landing scene, and all aircraft receive and exchange data information with each other;

[0069] Step 2: Receive status information. All aircraft continuously receive each other's status information, including position, speed, heading, and expected landing time.

[0070] Each aircraft uses a preset scheduling algorithm to evaluate its current status based on its own and other aircraft's information to determine whether it meets the scheduling decision conditions. The scheduling decision conditions include the distance to the landing field, flight altitude, the current aircraft priority, and the preset landing interval and safety standards.

[0071] When an aircraft meets the scheduling decision conditions, it is identified as a candidate for landing and a scheduling decision request is broadcast. The aircraft that meets the scheduling decision conditions broadcasts its landing scheduling request to all other aircraft. The request information includes the aircraft's own identification information.

[0072] Locked state signal: All other aircraft receiving information will automatically enter the "locked state" after monitoring the landing dispatch request of the aircraft that meets the dispatch decision conditions. In this state, other aircraft will not immediately adjust their heading and descent altitude, waiting for the confirmation result to be processed and maintaining a safe distance;

[0073] The dispatch system generates dispatch decision results based on current weather conditions, airport operating requirements and aircraft status, including confirming the landing order of aircraft that meet the dispatch decision conditions, the new landing order for other aircraft and broadcasting the dispatch results.

[0074] Step 3: All aircraft receive and confirm the dispatch decision and proceed to the landing procedure starting point;

[0075] Step 4: The new aircraft accesses the system and broadcasts its position, speed, heading, altitude, and estimated time of arrival to the dispatch system, sharing this information with other aircraft.

[0076] The aircraft that has completed the dispatch decision receives the information of the new aircraft. The aircraft that has completed the dispatch decision or the dispatch system will verify the validity and priority of the new aircraft;

[0077] Reassess landing conditions including landing sequence, safety spacing, routing, slots and availability, and conflict detection and resolution;

[0078] The dispatch system automatically checks whether there is a potential flight conflict between the new aircraft and existing aircraft. If there is a conflict, the system automatically adjusts it;

[0079] The system regenerates the landing sequence for the entire flight based on the current airspace and ground resources. Aircraft that have completed scheduling decisions will receive a new scheduling decision, including the new landing time and landing sequence, and the aircraft's route adjustment;

[0080] If the newly added aircraft has a higher priority, the system provides it with a faster landing opportunity, delaying or changing the scheduling plans of other aircraft;

[0081] After completing the new scheduling decision, the scheduling system broadcasts the new result to all aircraft, including newly added aircraft and aircraft that have completed scheduling;

[0082] The new dispatch results include updated landing sequence, estimated landing time, and route change information;

[0083] All aircraft, including newly added aircraft and aircraft that have already completed scheduling, respond to the new scheduling decision by adjusting their flight altitude, speed, and heading and entering the new landing procedure;

[0084] During the execution of new scheduling decisions, the system monitors the status of all aircraft and assesses potential conflicts in real time;

[0085] If new aircraft and other external factors occur, the system will dynamically reschedule and adjust the landing order and flight plan of the flights again. Once all aircraft have completed the adjustment according to the new scheduling order and decision, they will land smoothly according to the specified time and path. The aircraft that have completed landing will continue to execute the departure procedure, freeing up airspace and resources for other flights to use.

[0086] Step 5: Aircraft that have completed the scheduling decision enter the scope of executing the landing procedure and continue to execute the original scheduling result. Aircraft that have not entered the execution scope will participate in the landing scheduling decision again;

[0087] Step 6: After all aircraft receive the new dispatch results, they confirm the execution of the new landing sequence and enter the landing procedure;

[0088] Reference Figure 2 As shown in the figure, the five circles in each row represent the intervals between the optimal arrival time values ​​of the five aircraft. The black-filled circles are the conflict domains where interval conflicts exist. From top to bottom, the evolution process of the intervals between the optimal arrival time values ​​of the five aircraft is shown. This figure does not involve the situation where an aircraft needs to try to exchange because its latest arrival time value does not meet the conditions.

[0089] In summary, the advantages of the present invention are:

[0090] This method uses algorithm-based automatic scheduling decisions to arrange the optimal landing sequence for aircraft, ensuring that each aircraft lands at a reasonable interval and the most appropriate time. This is especially true in low-altitude economic environments, where the number of aircraft increases and airspace resources are scarce. This method can maximize the efficiency of airspace resource utilization and reduce unnecessary waiting time and landing conflicts.

[0091] The system continuously receives and exchanges real-time status information from aircraft, and uses pre-set safety standards and landing intervals to ensure that each aircraft maintains a safe distance during landing. This scheduling method effectively prevents the risk of collision between aircraft and ensures flight safety.

[0092] When a new aircraft enters the landing scenario, the system promptly receives flight information about the new flight and re-evaluates the landing order of all aircraft. If there is a conflict, the dispatch system automatically adjusts the existing landing plan to ensure the new flight enters smoothly and does not conflict with existing flights. This dynamic adjustment capability enables the system to adapt to the ever-changing flight environment and aircraft conditions.

[0093] This method uses a complex scheduling algorithm to optimize the landing time of aircraft and dynamically adjusts the landing order of aircraft based on four-dimensional trajectory data. This makes the scheduling process highly automated, reduces manual intervention, and improves the speed and accuracy of scheduling decisions.

[0094] The system continuously monitors the status of all aircraft and assesses potential flight conflicts in real time. If a conflict is detected, the system automatically adjusts to ensure all aircraft land smoothly according to the new landing order. This feature effectively reduces delays and safety risks caused by flight conflicts.

[0095] Through real-time information exchange and collaborative operations between aircraft, all aircraft participate in landing scheduling under the same scenario, preventing adjustments made by a single aircraft from affecting other aircraft. Each aircraft executes landings based on the new scheduling results, maximizing landing efficiency while ensuring safety.

[0096] This method can effectively connect with the airport's air traffic control system and ground resources to ensure the optimal coordination of landing sequences and ground resources, reduce ground waiting caused by improper air dispatch, and further improve the airport's operational efficiency.

[0097] The system can flexibly adjust the landing order according to the priority of the aircraft. High-priority aircraft can get landing opportunities in a shorter time, while low-priority aircraft will postpone or adjust their landing plans based on the overall scheduling situation. This priority scheduling mechanism ensures the rational allocation of resources and rapid response in emergency situations.

[0098] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions merely illustrate the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for aircraft landing scheduling suitable for low-altitude economy, characterized in that: Applicable to high-density and high-frequency landings of low-altitude aircraft, including: aircraft entering the landing scene, all aircraft receiving and exchanging data information with each other; The scheduling decision of the aircraft is judged based on the scheduling algorithm. When one of the aircraft meets the scheduling decision conditions, the landing scheduling decision is made, and the other aircraft are locked and wait for the scheduling decision result; All aircraft receive and confirm the dispatch decision results and enter the landing procedure starting point; When a newly added aircraft enters the landing scene, the aircraft that has completed the scheduling decision receives the new aircraft information and makes a new landing scheduling decision; Aircraft that have completed the scheduling decision enter the scope of executing the landing procedure and continue to execute the original scheduling result. Aircraft that have not entered the execution scope will participate in the landing scheduling decision again; After all aircraft receive the new dispatch results, they confirm the execution of the new landing sequence and enter the landing procedure.

2. The aircraft landing scheduling method applicable to low-altitude economy according to claim 1, characterized in that: The scheduling decision of the aircraft based on the scheduling algorithm is judged. When one of the aircraft meets the scheduling decision conditions, a landing scheduling decision is made, and the other aircraft are locked and wait for the scheduling decision result. Specifically, the following steps are performed: Receive status information. All aircraft continuously receive each other's status information, including position, speed, heading and expected landing time; Each aircraft uses a preset scheduling algorithm to evaluate its current status based on its own and other aircraft's information to determine whether it meets the scheduling decision conditions. The scheduling decision conditions include the distance to the landing field, flight altitude, the current aircraft priority, and the preset landing interval and safety standards. When an aircraft meets the scheduling decision conditions, it is identified as a candidate for landing and a scheduling decision request is broadcast. The aircraft that meets the scheduling decision conditions broadcasts its landing scheduling request to all other aircraft. The request information includes the aircraft's own identification information. Lock-on state signal: All other aircraft receiving information will automatically enter a "lock-on state" upon hearing the landing dispatch request from the aircraft that meets the dispatch decision conditions. In this state, other aircraft will not immediately adjust their heading or descent altitude, but will wait for the confirmation result to be processed and maintain a safe distance; The dispatch system generates dispatch decision results based on current weather conditions, airport operating requirements and aircraft status, including confirming the landing order of aircraft that meet the dispatch decision conditions, the new landing order for other aircraft and broadcasting the dispatch results.

3. The aircraft landing scheduling method applicable to low-altitude economy according to claim 2, characterized in that: The scheduling algorithm specifically includes: Establish a solution formula based on the algorithm requirements, and add up the optimal arrival times of all aircraft to obtain the optimal solution; The formula for calculating the optimal arrival time of an aircraft is: , Where, For the The optimal arrival time of an aircraft, is the sum of the optimal arrival times of all aircraft, is the total number of aircraft; Based on the above solution formula and constraints, the data matrix is ​​input into the scheduling planning algorithm for solution. The optimal landing time and landing scheduling sequence are calculated. Once the calculation is completed, the scheduling results are sent to all participating aircraft and airport air traffic control for confirmation. All aircraft involved in the dispatch and airport air traffic control confirm that all aircraft involved in the dispatch execute the dispatch results and land.

4. The aircraft landing scheduling method applicable to low-altitude economy according to claim 3, characterized in that: The scheduling planning algorithm specifically includes: Pre-sort the nodes by their most suitable arrival time value, and then sort the sorted nodes by their most suitable arrival time value from small to large, forming a bidirectional linked list, with the head of the chain pointing to the node with the smallest most suitable arrival time value; The following operations are performed in a loop until it is determined that further sorting is impossible, sorting is successful, or timeout occurs. The operation steps are: S1: Search for a local area with an interval conflict in the sorted linked list. If no local area with an interval conflict is found, the sort order is moved as a whole to find the optimal solution for the sort order. Then the loop is exited and the function returns. S2: If the first local region with interval conflict is found in S1, use the head and tail pointers to point to the chain head and chain tail of the local region with interval conflict respectively; S3: Prioritize expanding the distance from the end of the chain in the local area of ​​the interval conflict to the outside, so that the local area of ​​the interval conflict becomes a non-conflict domain; S4: If S2 fails, search for a node that can be shifted to the end of the chain of the local area of ​​the interval conflict, starting from the second-to-last node of the local area of ​​the interval conflict. If such a node is found, move its position in the linked list to the end of the chain of the local area of ​​the current interval conflict and expand the spacing outward. S5: If S3 fails, switch to expanding the distance from the chain head of the local area of ​​the interval conflict outward to make the local area of ​​the interval conflict become a non-conflicting domain; S6: If S4 fails, try to find a node that can be shifted to the head of the local area chain of the interval conflict starting from the second node of the local area of ​​the interval conflict. If such a node is found, move its position in the linked list to the head of the local area chain of the current interval conflict and expand the spacing outward. S7: In the loop, record the number of loops. If the number of loops exceeds the maximum allowed number, exit the loop and consider the sorting to have failed. You can also determine whether the sorting has failed by recording the system time before entering the loop and reading the system time in the loop to determine whether it has timed out.

5. The aircraft landing scheduling method applicable to low-altitude economy according to claim 4, characterized in that: If a set of sorting sequences that meets the interval requirements is found through the above sorting, the position of the sequence is adjusted so that the sum of the absolute values ​​of the differences between the optimal arrival time of each aircraft in the sequence after scheduling and its original optimal arrival time is minimized, and the final optimal arrival time is obtained.

6. The aircraft landing scheduling method applicable to low-altitude economy according to claim 5, characterized in that: The position adjustment method specifically includes: subtracting the original optimal arrival time from the current optimal arrival time of each aircraft, summing the absolute values ​​of the obtained values ​​greater than or equal to zero in the variable posDeltaSum, and summing the absolute values ​​of the obtained values ​​less than zero in the variable negDeltaSum, and performing a loop operation until the difference between posDeltaSum and negDeltaSum is less than a set value.

7. The aircraft landing scheduling method applicable to low-altitude economy according to claim 6, characterized in that: The cyclic operation process specifically includes: B1: Calculate the maximum leftward movement range (maxLeftOffset) and maximum rightward movement range (maxRightOffset) of each aircraft's optimal arrival time based on its current optimal arrival time, earliest arrival time, and latest arrival time. B2: Calculate the current optimal arrival time of each aircraft minus its original optimal arrival time scheduling value; B3: Adds the absolute values ​​of values ​​less than zero in B2 to negDeltaSum, and adds the absolute values ​​greater than or equal to zero in B2 to posDeltaSum. B4: Multiply negDeltaSum and posDeltaSum by the penalty factor. The penalty factors for being greater than or less than can be set. B5: If negDeltaSum is greater than posDeltaSum, calculate the difference between negDeltaSum and posDeltaSum, calculate the overall right shift value based on the difference and the maxRightOffset limit, and right-shift the current optimal arrival time of each aircraft. B6: If negDeltaSum is less than or equal to posDeltaSum, calculate the difference between negDeltaSum and posDeltaSum, calculate the overall left shift value based on the difference and the maxRightOffset limit, and shift the current optimal arrival time of each aircraft to the left.

8. The aircraft landing scheduling method applicable to low-altitude economy according to claim 7, characterized in that: When the newly added aircraft enters the landing scene, the aircraft that has completed the scheduling decision receives the new aircraft information and makes a new landing scheduling decision, specifically including: New aircraft access information, broadcasting its own position information, speed, heading, altitude, and estimated time of arrival status to the dispatch system and sharing it with other aircraft; The aircraft that has completed the dispatch decision receives the information of the new aircraft. The aircraft that has completed the dispatch decision or the dispatch system will verify the validity and priority of the new aircraft; Reassess landing conditions including landing sequence, safety spacing, routing, slots and availability, and conflict detection and resolution; The dispatch system automatically checks whether there is a potential flight conflict between the new aircraft and existing aircraft. If there is a conflict, the system automatically adjusts it; After completing the new scheduling decision, the scheduling system broadcasts the new result to all aircraft, including newly added aircraft and aircraft that have completed scheduling; The new dispatch results include updated landing sequence, estimated landing time, and route change information; All aircraft, including newly added aircraft and aircraft that have completed scheduling, respond according to the new scheduling decision. The aircraft adjust their flight altitude, speed, and heading and enter a new landing procedure.

9. The aircraft landing scheduling method applicable to low-altitude economy according to claim 8, characterized in that: The landing sequence and scheduling decisions specifically include: The system regenerates the landing sequence for the entire flight based on the current airspace and ground resources. Aircraft that have completed scheduling decisions will receive a new scheduling decision, including the new landing time and landing sequence, and the aircraft's route adjustment; If the newly added aircraft has a higher priority, the system provides it with a faster landing opportunity, delaying and changing the scheduling plans of other aircraft.

10. The aircraft landing scheduling method applicable to low-altitude economy according to claim 9, characterized in that: During the execution of new scheduling decisions, the system monitors the status of all aircraft and assesses potential conflicts in real time; If new aircraft and other external factors occur, the system will dynamically reschedule and adjust the landing order and flight plan of the flights again. Once all aircraft have completed the adjustment according to the new scheduling order and decision, they will land smoothly according to the specified time and path. The aircraft that have completed landing will continue to execute the departure procedure, freeing up airspace and resources for other flights to use.

Images