An aircraft route calculation method based on route decomposition

Abstract

The application discloses an aircraft route calculation method based on route decomposition, comprising the following steps: obtaining route point data and aircraft navigation data of each flight phase in a route; comparing the height difference between two adjacent route points with the size of the route segment division threshold to determine the route segment type; calculating the route distance and heading of the climbing segment / descending segment, and the actual distance required for climbing / descending to the height of the end route point; comparing the size of the two, inserting the revised point required for the actual distance on the corresponding heading of the climbing segment, or inserting the descending point required for the actual distance on the corresponding heading of the descending segment, to obtain the route point coordinates, cumulative time, cumulative distance and cumulative fuel consumption of the new route segment; counting the output data of the current flight phase, and the output data of all flight phases in the route, to obtain the route planning result. The application makes the route calculation adaptable to different types of aircrafts without the aircraft system, and improves the generality and flexibility of the calculation method.

Description

Technical Field

[0001] The present invention relates to the technical field of route calculation, and in particular to an aircraft route calculation method based on route decomposition. Background Art

[0002] Currently, the aviation industry has an increasing demand for route planning and calculation. Especially with the continuous increase in global air traffic, efficient route calculation has become the key to ensuring flight safety and improving operational efficiency. However, existing route calculation methods have some significant problems and limitations:

[0003] Limitations of existing models: Currently, different aircraft models are typically equipped with dedicated route calculation models. While these models can effectively meet the needs of specific aircraft, their specialized nature prevents them from developing route calculation logic independent of the aircraft's own systems, making them incompatible across different aircraft models. This forces airlines and flight operators to maintain multiple calculation models, increasing the complexity of technical maintenance and management.

[0004] Standardization Needs: With the globalization of the aviation market, aviation cooperation between different countries and regions is becoming increasingly frequent. Against this backdrop, the lack of a unified route calculation standard has become a pressing issue. A universal route calculation technology could significantly reduce the coordination complexity of cross-border flights and improve the operational efficiency of international flights.

[0005] Therefore, how to provide an aircraft route calculation method based on route decomposition with high adaptability is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0006] In response to the above research status and existing problems, the present invention provides an aircraft route calculation method based on route decomposition. Through an abstract calculation model, the present invention enables route calculation to be independent of the aircraft system and adapt to different types of aircraft, thereby improving the versatility and flexibility of the calculation method.

[0007] The present invention provides a method for calculating an aircraft route based on route decomposition, wherein the route includes several flight phases, each of which includes several flight segments; the flight segment types include: a climb segment, a cruise segment, or a descent segment; the flight phases are obtained by dividing the flight phases using the end route point of the descent segment as a marker; and the method comprises the following steps:

[0008] S1: Acquire route point data for each flight phase of the route, as well as aircraft navigation data. The route point data includes: route point latitude and longitude, altitude, speed, and segment division threshold; the aircraft navigation data includes: mounting plan, navigation mode, aircraft real-time speed, aircraft real-time gross weight, aircraft real-time fuel level, and flight time;

[0009] S2: comparing the altitude difference between two adjacent route points with the flight segment division threshold to determine the flight segment types of all flight segments in the current flight phase;

[0010] S3: Calculate the route distance and heading between the starting waypoint and the ending waypoint in the climb segment / descent segment based on the segment type of the current segment in the current flight phase, and calculate the actual distance required to climb / descend to the altitude of the ending waypoint based on the aircraft navigation data; determine whether to insert a leveling point that meets the actual distance in the corresponding heading of the climb segment, or insert a descent point that meets the actual distance in the corresponding heading of the descent segment by comparing the route distance with the actual distance; if so, obtain the route point coordinates, accumulated time, accumulated distance, and accumulated fuel consumption of the new segment formed after the leveling point / descent point is inserted;

[0011] S4: After repeating S2-S3 operations for all segments in the current flight phase, the output data of the current flight phase is obtained, including: route point coordinates, cumulative time, cumulative distance and cumulative fuel consumption; the output data of all flight phases in the route are counted to obtain the route planning result.

[0012] Preferably, S2 comprises the following steps:

[0013] If the altitude difference between the subsequent route point and the previous route point is positive, and its absolute value is greater than or equal to the segment division threshold, then the current segment is a climb segment;

[0014] If the altitude difference between the subsequent route point and the previous route point is negative, and its absolute value is greater than or equal to the segment division threshold, the current segment is a descending segment;

[0015] If the altitude difference between the subsequent route point and the previous route point is positive / negative, and its absolute value is less than the segment division threshold, the current segment is a cruise segment.

[0016] Preferably, in S3, if the segment type of the current segment in the current flight phase is a climbing segment, the climbing segment calculation step includes:

[0017] Calculate the distance d1 and heading Dir1 between the starting route point and the ending route point in the climb segment; calculate the distance d required to climb to the altitude of the ending route point based on the aircraft navigation data 爬 ; Compare distance d1 with distance d 爬 Size:

[0018] If d1>d 爬 , then insert the leveling point into the heading Dir1 of the climb segment, and the distance from the starting route point to the leveling point is d 爬, the altitude of the leveling point is the altitude of the ending route point; the segment from the starting route point to the leveling point is the new climb segment, and the segment from the leveling point to the ending route point is the new cruise segment; or,

[0019] The distance from the end point to the leveling point is d 爬 , the altitude of the leveling point is the altitude of the starting route point; the segment from the starting route point to the leveling point is the new cruise segment, and the segment from the leveling point to the ending route point is the new climb segment;

[0020] Obtain the cumulative time, cumulative distance and cumulative fuel consumption of the new climb segment and the new cruise segment;

[0021] If d1<d 爬 , then insert a new ending route point into the heading Dir1 of the current segment, use the latitude and longitude of the new ending route point as the latitude and longitude of the ending route point, calculate the altitude of the new ending route point, and use it as the starting route point of the next adjacent segment, and obtain the cumulative time, cumulative distance, and cumulative fuel consumption of the current segment.

[0022] Preferably, in S3, if the segment type of the current segment in the current flight phase is a descent segment, the descent segment calculation step includes:

[0023] Calculate the distance d2 and heading Dir2 between the starting route point and the ending route point in the descent segment; calculate the distance d required to climb to the altitude of the ending route point based on the aircraft navigation data 降 ; Compare distance d2 with distance d 降 Size:

[0024] If d2>d 降 , then insert the descent point into the heading Dir2 of the descent segment, and the distance from the starting route point to the descent point is d 降 , the altitude of the descent point is the altitude of the end route point; the segment from the start route point to the descent point is the new descent segment, and the segment from the descent point to the end route point is the new cruise segment; or,

[0025] The distance from the end point to the descent point is d 降 , the altitude of the descent point is the altitude of the starting route point; the segment from the starting route point to the descent point is the new cruise segment, and the segment from the descent point to the end route point is the new descent segment;

[0026] Obtain the cumulative time, cumulative distance and cumulative fuel consumption of the new descent segment and the new cruise segment;

[0027] If d2<d 降 , then determine whether the previous adjacent segment is a cruise segment. If so, insert a descent point into the course of the previous adjacent segment. The height of the descent point is the height of the starting route point. The distance between the descent point and the ending route point is d 降The segment between the descent point and the end route point is the new descent segment, and the cumulative time, cumulative distance and cumulative fuel consumption of the new descent segment are obtained.

[0028] Preferably, if the calculated flight segments include the new cruise segment, the new cruise segment and its adjacent cruise segments are merged, and all the merged continuous cruise segments are used as the intermediate cruise segments.

[0029] Preferably, in S3, if the segment type of the current segment in the current flight phase is a descent segment, the descent segment calculation step includes:

[0030] Calculate the distance d2 and heading Dir2 between the starting route point and the ending route point in the descent segment; calculate the distance d required to climb to the altitude of the ending route point based on the aircraft navigation data 降 ; Compare distance d2 with distance d 降 Size:

[0031] If d2<d 降 , then determine whether the previous adjacent segment is an intermediate cruise segment. If so, insert a descent point into the course of the previous adjacent segment. The height of the descent point is the height of the starting route point. The distance between the descent point and the ending route point is d 降 The segment between the descent point and the end route point is the new descent segment, and the cumulative time, cumulative distance and cumulative fuel consumption of the new descent segment are obtained.

[0032] Preferably, if d2<d 降 , then in the step of determining whether the previous adjacent segment is a cruise segment:

[0033] If it is not a cruise segment, the route calculation is terminated and a user prompt is output;

[0034] If it is a cruise segment, calculate the sum of the distance between the starting route point and the ending route point of the previous adjacent segment and the distance d2, and compare the sum with the distance d 降 Size:

[0035] If the sum value > d 降 , then insert a descent point in the course of the previous adjacent segment, the height of the descent point is the height of the starting route point of the previous adjacent segment; the distance between the descent point and the ending route point of the current segment is d 降 The segment between the descent point and the end route point of the current segment is the new descent segment, and the segment between the start route point of the previous adjacent segment and the descent point is the new cruise segment; the accumulated time, accumulated distance, and accumulated fuel consumption of the new descent segment and the new cruise segment are obtained;

[0036] If the sum value = d 降, then the starting route point of the previous adjacent segment is the descent point, and the height of the descent point is the height of the starting route point of the previous adjacent segment; the distance between the descent point and the ending route point of the current segment is d 降 The segment between the descent point and the end route point of the current segment is a new descent segment; the accumulated time, accumulated distance and accumulated fuel consumption of the new descent segment are obtained;

[0037] If the sum value < d 降 , the route calculation is terminated and a user prompt is output.

[0038] Preferably, if d1<d 爬 , then insert a new ending route point into the heading Dir1 of the climb segment, the latitude and longitude of the new ending route point are the latitude and longitude of the ending route point, calculate the altitude of the new ending route point, and use it as the starting route point of the next adjacent segment in the steps:

[0039] Calculate the sum of the distance between the new end route point and the end route point of the next adjacent segment and the distance d1, and compare the sum with the distance d 爬 Size:

[0040] If the sum value > d 爬 , then insert a leveling point in the course of the next adjacent segment, the altitude of the leveling point is the altitude of the end route point of the next adjacent segment; the distance between the leveling point and the starting route point of the current segment is d 爬 The segment between the leveling point and the end route point of the current segment is the first new climb segment, and the segment between the end route point of the next adjacent segment and the leveling point is the second new climb segment / new cruise segment / new descent segment; obtaining the cumulative time, cumulative distance, and cumulative fuel consumption of the new climb segment and the second new climb segment / new cruise segment / new descent segment;

[0041] If the sum value = d 爬 , then determine whether the next adjacent segment is a cruise segment: if the next adjacent segment is a cruise segment, the end route point of the next adjacent segment is the leveling point, and the altitude of the leveling point is the altitude of the end route point of the next adjacent segment; the distance between the leveling point and the starting route point of the current segment is d 爬 , changing the segment between the leveling point and the starting route point of the current segment to a new climb segment; obtaining the cumulative time, cumulative distance, and cumulative fuel consumption of the new climb segment; if the next adjacent segment is not a cruise segment, terminating the route calculation and outputting a user prompt;

[0042] If the sum value < d 爬, then insert a new ending route point into the heading Dir1 of the current segment, use the longitude and latitude of the new ending route point as the longitude and latitude of the ending route point of the current segment, calculate the altitude of the new ending route point, and use it as the starting route point of the next adjacent segment, and obtain the cumulative time, cumulative distance, and cumulative fuel consumption of the current segment.

[0043] The aircraft route calculation method based on route decomposition proposed in this invention has the following advantages over the prior art:

[0044] The present invention establishes an abstract route calculation model, which can perform calculations based on universal flight performance indicators and no longer depends on specific aircraft system parameters.

[0045] Improved versatility: The same set of calculation logic can be applied to many different types of aircraft, reducing the workload of repeated development. Improved calculation efficiency and accuracy

[0046] Improved calculation efficiency and accuracy: The aforementioned calculation model enables refined route calculations based on navigation parameters (such as speed, distance, altitude, and heading) and aircraft characteristics (such as weight, payload, and engine status). This efficient algorithm and model allows for rapid, real-time calculations of route time and fuel consumption, significantly improving efficiency and accuracy compared to traditional manual calculations or empirical estimates.

[0047] Enhanced flexibility: Route calculation is more flexible, making it easier to adapt to the needs of different aircraft types and supporting a wider range of route planning scenarios.

[0048] Optimizing Route Planning: The aforementioned computational model not only calculates route time and fuel consumption but also optimizes existing routes based on the results. For example, by adjusting flight speed, selecting more economical routes, or avoiding unfavorable geographical conditions, pilots can develop more rational and efficient flight plans, thereby reducing fuel consumption and flight costs, and improving system sustainability.

[0049] Providing Decision Support: The calculation model provides a scientific basis for flight route decision-making. By comparing flight time and fuel costs for different routes, speeds, and altitudes, it helps pilots select the optimal flight plan and maximize economic benefits. Furthermore, during flight, complex external factors can have uncertain impacts on flight routes. The route calculation model can predict and assess these uncertainties, helping pilots avoid the risk of collisions with mountains or insufficient fuel, ensuring flight safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only embodiments of the present invention. Those skilled in the art can also derive other drawings based on the provided drawings without inventive effort.

[0051] Figure 1 This is a flow chart of a method for calculating an aircraft route based on route decomposition provided by an embodiment of the present invention;

[0052] Figure 2 1 is a schematic diagram of a vertical cross-section of a flight route provided by an embodiment of the present invention;

[0053] Figure 3 This is a schematic diagram of a climb / descent segment provided by an embodiment of the present invention;

[0054] Figure 4 1 is a schematic diagram of flight phases provided by an embodiment of the present invention;

[0055] Figure 5 This is a schematic diagram of a climb-then-cruise segment provided by an embodiment of the present invention;

[0056] Figure 6 This is a schematic diagram of a cruise-then-climb segment provided by an embodiment of the present invention;

[0057] Figure 7 This is a schematic diagram of a cruise-then-descent segment provided by an embodiment of the present invention;

[0058] Figure 8 This is a schematic diagram of a descent-followed-cruise segment provided by an embodiment of the present invention;

[0059] Figure 9 This is a schematic diagram of a cruise segment provided by an embodiment of the present invention;

[0060] Figure 10 This is a single climb and descent process route calculation profile provided by an embodiment of the present invention. Figure 1 ;

[0061] Figure 11 This is a single climb and descent process route calculation profile provided by an embodiment of the present invention. Figure 2 ;

[0062] Figure 12 This is a single climb and descent process route calculation profile provided by an embodiment of the present invention. Figure 3 ;

[0063] Figure 13 This is a single climb and descent process route calculation profile provided by an embodiment of the present invention. Figure 4 ;

[0064] Figure 14 This is a single climb and descent process route calculation profile provided by an embodiment of the present invention. Figure 5 ;

[0065] Figure 15 This is a single climb and descent process route calculation profile provided by an embodiment of the present invention. Figure 6 ;

[0066] Figure 16 This is a single climb and descent process route calculation profile provided by an embodiment of the present invention. Figure 7 ;

[0067] Figure 17 This is a single climb and descent process route calculation profile provided by an embodiment of the present invention. Figure 8 ;

[0068] Figure 18 It is a route profile diagram of a continuous climb and descent process provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0069] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0070] An embodiment of the present invention provides an aircraft route calculation method based on route decomposition, wherein the route includes several flight phases, and the flight phase includes several flight segments; the flight segment types include: climbing segment, cruising segment or descending segment, such as Figure 2 As shown in the figure, the flight phases are divided into several stages with the end point of the descent phase as the mark. The execution steps are as follows:

[0071] S1: Obtain route point data for each flight phase of the route, as well as aircraft navigation data. The route point data includes: route point latitude and longitude, altitude, speed, and segment division threshold; the aircraft navigation data includes: mounting plan, navigation mode, aircraft real-time speed, aircraft real-time gross weight, aircraft real-time fuel level, and flight time;

[0072] S2: Compare the altitude difference between two adjacent route points with the flight segment division threshold to determine the flight segment type of all flight segments in the current flight phase;

[0073] S3: Calculate the route distance and heading between the starting waypoint and the ending waypoint in the climb / descent segment based on the segment type of the current segment in the current flight phase, and calculate the actual distance required to climb / descend to the altitude of the ending waypoint based on the aircraft navigation data; determine whether to insert a leveling point in the corresponding heading of the climb segment that meets the actual distance, or insert a descent point in the corresponding heading of the descent segment that meets the actual distance, by comparing the route distance with the actual distance; if so, obtain the waypoint coordinates, accumulated time, accumulated distance, and accumulated fuel consumption of the new segment formed after the leveling point / descent point is inserted;

[0074] S4: After repeating S2-S3 operations for all segments in the current flight phase, the output data of the current flight phase is obtained, including: route point coordinates, cumulative time, cumulative distance and cumulative fuel consumption; the output data of all flight phases in the route are counted to obtain the route planning result.

[0075] It should be noted that regarding the Stable Range threshold, when the absolute value of the altitude difference between two adjacent route points is greater than a certain threshold, the route calculation considers the segment between these two points to be a climb segment or a descent segment. When the absolute value of the altitude difference between two adjacent route points is less than a certain threshold, the route calculation considers the segment between these two points to be a cruise segment. This threshold is called the Stable Range threshold. The Stable Range threshold is the basis for determining whether a segment is a climb segment, a descent segment, or a cruise segment. The Stable Range threshold may vary for different segments. For example, the Stable Range threshold is 500 meters.

[0076] like Figure 3 As shown, in segment AB, when h B -h A ≥StableRange AB When 0≤h B -h A <StableRange AB , although the two waypoints are at different altitudes, segment AB is still considered a cruise segment, not a climb segment.

[0077] In the flight segment CD, when h C -h D ≥StableRange CD When 0≤h C -h D <StableRange CD When the altitude of the waypoint changes, the CD segment is still considered to be a cruising segment, not a descending segment.

[0078] It should be noted that a flight phase refers to a descent segment and the collection of all previous non-descent (climb or cruise) consecutive segments as a flight phase:

[0079] If a route does not have a descent segment, the entire route is considered one flight phase;

[0080] If the current route has a descent segment, then the period from the start of the route to the first descent segment (inclusive) is a complete flight phase; the period from the first descent segment (excluding the first descent segment) to the next descent segment (inclusive), and so on, is a completed flight phase. Figure 4 shown.

[0081] Segments A→D, D→F, and F→G are each a flight phase.

[0082] Since the altitude at the end of a descent segment cannot be adjusted, once a descent segment is calculated, the calculation of subsequent segments will not affect the results of the current descent segment or the previous segment. Therefore, the concept of flight phases is defined to break down the entire route calculation into several consecutive flight phases.

[0083] A complete route includes a starting point and a landing point, which are described as follows:

[0084] Starting point:

[0085] Because the aircraft takeoff process involves ground roll, takeoff, and takeoff climb, and the requirements for takeoff and departure vary from aircraft model to aircraft model and airport to airport, it is difficult to use a unified model and requirements to calculate takeoff performance parameters according to actual business processes. Therefore, the performance calculation of the takeoff process is simplified. The takeoff process can be divided into two parts: the pre-takeoff ground roll phase and the takeoff phase. The pre-takeoff ground roll phase includes processes such as start-up, warm-up, and taxiway roll, and considers the time and fuel consumption, but does not consider the run distance. The takeoff phase includes the entire process from brake release to completion of the takeoff climb, and time, distance, and fuel consumption must be considered. For large aircraft such as transport aircraft, when ground roll fuel consumption is high, both the pre-takeoff ground roll phase and the takeoff phase need to be considered. For small aircraft with low ground roll fuel consumption, only the takeoff phase needs to be considered.

[0086] During the route calculation process, the entire takeoff process of the aircraft from the airport is replaced by a route point with the attribute of starting point (represented by STTO point), and only the first point of the route can be the starting point.

[0087] Landing point:

[0088] Since the landing process involves approach, landing and ground roll, different aircraft models and different airports have different requirements for approach and landing. It is difficult to use a unified model and requirements to calculate the landing performance parameters according to the actual business process. Therefore, the landing performance calculation is simplified. The landing performance calculation is divided into two parts: the approach and landing segment and the ground roll segment after landing. The approach and landing segment refers to the process from the beginning of the aircraft's approach to the aircraft stopping on the runway or rolling off the runway. The approach and landing segment takes into account the time, distance and fuel consumption consumed by the flight. The ground roll segment refers to the process from the aircraft leaving the runway to the complete stop on the apron. The ground roll segment only considers time and fuel consumption, and does not consider the roll distance.

[0089] During the route calculation process, the entire landing process of the aircraft is replaced by a route point with the attribute of landing point (represented by LD point), and only the last point of the route can be the landing point.

[0090] In this embodiment, the basic principles to be followed in route calculation include:

[0091] When calculating routes, the following basic principles should be followed.

[0092] When adjusting the altitude of a waypoint, the altitude of the waypoint must not be lower than the elevation of the point.

[0093] The adjustment of the waypoint altitude is only allowed to lower the waypoint altitude, and it is not allowed to increase the waypoint altitude.

[0094] The height at the end of the descent process cannot be adjusted.

[0095] In a flight phase, if there is a climbing segment in the flight phase, it must be ensured that after climbing to the maximum altitude of the flight phase (i.e. Figure 4 The descent process can only be calculated after the height of point B in the figure is reached.

[0096] When calculating a flight phase, it is necessary to ensure that the terminal altitude of the descent process (i.e. Figure 4 Under the premise that the height of point D, F or G in the climbing process remains unchanged, the end point of the climbing process (i.e. Figure 4 The altitude of point B in the cruise process (i.e. Figure 4 If the height of the end point of the descent process cannot be guaranteed, the entire calculation process is terminated.

[0097] In one embodiment, the route calculation input data in S1 includes three parts: route point data, aircraft navigation data and other parameters.

[0098] The aircraft flight data is shown in Table 1, which mainly includes: empty weight, mounting scheme, flight time, drag coefficient, mounting weight, internal fuel weight, external fuel weight, other mission weight and total weight.

[0099] Table 1 Example of aircraft navigation data

[0100] Aircraft model Aircraft 1 Mounting solution 600 kg x 1 resistance 1 Empty weight 15,000 kg Mounted weight 800 kg Internal fuel weight 6,000 kg External fuel weight 0 kg Other mission weights 200 kg Gross weight 22,000 kg Climb mode Set speed climb Descent mode Set speed decreases Cruise mode Cruising at a given speed

[0101] Aircraft flight data parameters involved in route calculation include: flight mode, initial fuel load (the sum of internal and external fuel weights), payload configuration, drag coefficient, and gross aircraft weight. The payload configuration determines the aircraft's payload weight (generally the sum of the weight of the bomb and pylons) and whether external fuel tanks are installed (corresponding to the weight of external fuel). The drag coefficient is the additional drag coefficient for different external fuel configurations. Gross aircraft weight = empty weight + payload weight + internal fuel weight + external fuel weight + other mission weights. Generally, an aircraft's climb, descent, and cruise modes are all constrained by the aircraft's engine state. Climb modes may include fastest climb, climb at a given speed, and most economical climb, corresponding to different engine states (maximum speed, fixed speed, and minimum speed to guarantee climb). Cruise modes may include cruise at a given speed, long-range cruising, and long-distance cruising. Descent modes may include descent at a given speed and descent at maximum range. Different aircraft's climb, descent, and cruise modes are affected differently by factors such as the aircraft's weight and speed. The flight time at the start is the route departure date, in the format of **** / ****. During the flight segment calculation process, the flight time of each segment and flight phase will be recorded in real time.

[0102] The route point data are shown in Table 2, which mainly include: longitude (East longitude E, West longitude W), latitude (North latitude N, South latitude S), elevation, altitude, speed, temperature and flight distance of the route point.

[0103] Table 2 Route point data example table

[0104]

[0105] The longitude and latitude of a route point can be calculated using the distance formula between two points to obtain the horizontal distance between two adjacent route points in the route, i.e., the segment distance (which can be understood as an intermediate output parameter). The elevation of the route point is determined by the terrain data at the route point's location and is used to verify whether there is a risk of ground (or mountain) collision during flight. The temperature of the route point is determined by the meteorological data at the route point's location. If no meteorological data is available, the temperature calculation formula is used. The final output of the route includes the total distance, segment time (time period expressed in HH+mm+ss), arrival time (time period expressed in HH:mm:ss), segment fuel consumption (in kilograms), cumulative fuel consumption (in kilograms), and cumulative time (time period expressed in HH+mm+ss). In addition, when a segment is a custom segment, its segment time and segment fuel consumption are manually specified (in this case, route input data) and do not participate in the specific route calculation process. Only the total distance and cumulative time are accumulated and the remaining fuel is subtracted.

[0106] In one embodiment, S2 includes the following steps:

[0107] If the altitude difference between the next route point and the previous route point is positive and its absolute value is greater than or equal to the segment division threshold, the current segment is a climb segment;

[0108] If the altitude difference between the next route point and the previous route point is negative and its absolute value is greater than or equal to the segment division threshold, the current segment is a descending segment;

[0109] If the altitude difference between the next route point and the previous route point is positive / negative, and its absolute value is less than the segment division threshold, the current segment is a cruise segment.

[0110] In one embodiment, in S3, if the segment type of the current segment in the current flight phase is a climb segment, the climb segment calculation step includes:

[0111] Calculate the distance d1 and heading Dir1 between the starting route point and the ending route point in the climb segment; calculate the distance d required to climb to the altitude of the ending route point based on the aircraft navigation data 爬 ; Compare distance d1 with distance d 爬 Size:

[0112] If d1>d 爬 , then insert the leveling point into the heading Dir1 of the climb segment, and the distance from the starting route point to the leveling point is d 爬 , the altitude of the leveling point is the altitude of the ending route point; the segment from the starting route point to the leveling point is the new climb segment, and the segment from the leveling point to the ending route point is the new cruise segment; or,

[0113] The distance from the end point to the leveling point is d 爬, the altitude of the leveling point is the altitude of the starting route point; the segment from the starting route point to the leveling point is the new cruise segment, and the segment from the leveling point to the ending route point is the new climb segment;

[0114] Obtain the cumulative time, cumulative distance and cumulative fuel consumption of the new climb segment and the new cruise segment;

[0115] If d1<d 爬 , then insert the new end route point into the heading Dir1 of the current segment, use the latitude and longitude of the new end route point as the latitude and longitude of the end route point, calculate the altitude of the new end route point, and use it as the starting route point of the next adjacent segment, and obtain the cumulative time, cumulative distance and cumulative fuel consumption of the current segment.

[0116] In the specific implementation of this embodiment, when h B -h A ≥StableRange AB There are two possible climb behaviors for a climb segment: climb first and then cruise, and cruise first and then climb.

[0117] In the behavior mode of climbing first and then cruising, if Figure 5 As shown in the figure, for a climb segment A→B, there are three situations:

[0118] If the aircraft can climb to the altitude of point B in advance from point A, then insert the level-off point B1 on segment AB, and then cruise from B1 to point B;

[0119] The plane climbs from point A to point B exactly;

[0120] The aircraft cannot climb to the altitude of point B within the horizontal distance of the A→B segment. It can only fly from route point A to point B2, which is lower than the altitude of point B. At this time, point B is lowered to point B2, and point B2 is the starting point of the next segment.

[0121] In summary, the actual end point of a climb segment A→B is point B or point B2.

[0122] In the cruise-then-climb behavior mode, if Figure 6 As shown in the figure, for a climb segment A→B, there are three situations:

[0123] Insert transition point B1 on segment AB. The aircraft first cruises from point A to point B1, and then climbs from B1 to point B.

[0124] The plane climbs from point A to point B exactly;

[0125] The aircraft cannot climb to the altitude of point B within the horizontal distance of the A→B segment. It can only fly from route point A to point B2, which is lower than the altitude of point B. At this time, point B is lowered to point B2, and point B2 is the starting point of the next segment.

[0126] In summary, the actual end point of a climb segment A→B is point B or point B2.

[0127] In one embodiment, in S3, if the segment type of the current segment in the current flight phase is a descent segment, the descent segment calculation step includes:

[0128] Calculate the distance d2 and heading Dir2 between the starting route point and the ending route point in the descent segment; calculate the distance d required to climb to the altitude of the ending route point based on the aircraft navigation data 降 ; Compare distance d2 with distance d 降 Size:

[0129] If d2>d 降 , then insert the descent point into the heading Dir2 of the descent segment, and the distance from the starting route point to the descent point is d 降 , the altitude of the descent point is the altitude of the end route point; the segment from the start route point to the descent point is the new descent segment, and the segment from the descent point to the end route point is the new cruise segment; or,

[0130] The distance from the end point to the descent point is d 降 , the altitude of the descent point is the altitude of the starting route point; the segment from the starting route point to the descent point is the new cruise segment, and the segment from the descent point to the end route point is the new descent segment;

[0131] Obtain the cumulative time, cumulative distance and cumulative fuel consumption of the new descent segment and the new cruise segment;

[0132] If d2<d 降 , then determine whether the previous adjacent segment is a cruise segment. If so, insert a descent point into the course of the previous adjacent segment. The height of the descent point is the height of the starting route point. The distance between the descent point and the ending route point is d 降 The segment between the descent point and the end route point is the new descent segment, and the cumulative time, cumulative distance and cumulative fuel consumption of the new descent segment are obtained.

[0133] In the specific implementation of this embodiment, when h C -h D ≥StableRange CD When , the segment between these two points is considered a descent segment. There are two possible descent behaviors for a descent segment: cruise first and then descend, and descend first and then cruise.

[0134] In the cruise-first-then-descent behavior mode, if Figure 7As shown in the figure, for a descending segment C→D, there are three cases:

[0135] If the aircraft can descend to the altitude of point D in advance when it starts descending from point C, then insert the descent point C2, cruise from point C to point C2, and then descend from point C2 exactly to point D;

[0136] The plane flew from point C to point D exactly;

[0137] The aircraft cannot descend to the altitude of D within the horizontal distance of the C→D segment. Calculate the descent point C1 that can just descend to point D. If C1 is between route points B1 and C, descend directly from C1 to point C. Otherwise, descent cannot be guaranteed.

[0138] In summary, the actual end point of a descending segment C→D is point D.

[0139] In the behavior mode of descending first and then cruising, if Figure 8 As shown in the figure, for a descending segment C→D, there are three cases:

[0140] The aircraft can descend from point C to the altitude of point D in advance, insert transition point C2, descend from point C to point C2, and then cruise from C2 to point D;

[0141] The plane descends from point C to point D;

[0142] The aircraft cannot descend to altitude D within the horizontal distance of the C→D segment. Calculate the descent point C1 that can just descend to point D. If C1 is between the leveling point B1 and the route point C, descend directly from C1 to point C. Otherwise, descent cannot be guaranteed.

[0143] In summary, the actual end point of a descending segment C→D is point D.

[0144] In this embodiment, when 0≤h B -h C <StableRange BC When , the flight segment is considered to be a cruise process. Figure 9 As shown, segment B→C is a cruising segment.

[0145] In one embodiment, the flight performance model interface is used to calculate the aircraft's climb performance and the aircraft's descent performance, wherein both the aircraft's climb performance and the aircraft's descent performance are calculated based on altitude difference and distance.

[0146] The process of calculating the aircraft's climb performance based on altitude difference is:

[0147] The distance, time, and fuel consumption used by the aircraft to climb from the initial altitude to the specified altitude are calculated based on the climb mode, aircraft, and environmental parameters, as shown in Table 3.

[0148] Table 3 Input and output parameters of the interface for calculating climbing performance according to altitude difference

[0149]

[0150] The input parameters of the interface for calculating climb performance by altitude difference include: climb mode is the engine mode of the aircraft when climbing; gross weight is the gross weight of the aircraft at the initial altitude; starting altitude is the altitude when the aircraft starts climbing; ending altitude is the altitude to which the aircraft is expected to climb; speed is the flight speed of the aircraft during the climb; starting altitude temperature deviation and ending altitude temperature deviation are obtained from intelligence data obtained from local measurements; the error code in the interface output parameters indicates whether there are unreasonable parameters in the input data of the interface, such as the aircraft gross weight exceeding the actual maximum allowable weight of the aircraft, the speed during the climb exceeding the actual speed range of the aircraft, etc.; fuel consumption is the fuel consumed by the aircraft to climb from the starting altitude to the ending altitude; horizontal distance is the horizontal distance flown by the aircraft from the starting altitude to the ending altitude; and time is the time taken for the aircraft to climb from the starting altitude to the ending altitude.

[0151] The process for calculating the aircraft's climb performance by distance is:

[0152] The time, fuel consumption, and end altitude of a fixed horizontal distance climb are calculated based on the climb mode, aircraft, and environmental parameters, as shown in Table 4.

[0153] Table 4 Input and output parameters of the interface for calculating the climbing performance by distance

[0154]

[0155] The process of calculating the aircraft descent performance based on altitude difference is:

[0156] The distance, time and fuel consumption of the aircraft descending from the initial altitude to the specified altitude are calculated based on the descent mode, aircraft and environmental parameters.

[0157] Table 5 Input and output parameters of the interface for calculating descent performance according to height difference

[0158]

[0159] The process of calculating the aircraft descent performance by distance is:

[0160] The time, fuel consumption and final altitude of an aircraft descending a fixed horizontal distance are calculated based on the descent mode, aircraft and environmental parameters.

[0161] Table 6 Input and output parameters of the interface for calculating the climbing performance by distance

[0162]

[0163]

[0164] The process of calculating cruise performance by distance is:

[0165] The time, distance and fuel consumption of an aircraft during a fixed-distance cruise are calculated based on the cruise mode, aircraft and environmental status parameters.

[0166] Table 7 Input and output parameters of the cruise performance calculation interface based on distance

[0167]

[0168] In one embodiment, if the calculated flight segments include a new cruise segment, the new cruise segment is merged with its adjacent cruise segments, and all the merged continuous cruise segments are used as the intermediate cruise segment.

[0169] In one embodiment, in S3, if the segment type of the current segment in the current flight phase is a descent segment, the descent segment calculation step includes:

[0170] Calculate the distance d2 and heading Dir2 between the starting route point and the ending route point in the descent segment; calculate the distance d required to climb to the altitude of the ending route point based on the aircraft navigation data 降 ; Compare distance d2 with distance d 降 Size:

[0171] If d2<d 降 , then determine whether the previous adjacent segment is an intermediate cruise segment. If so, insert a descent point into the course of the previous adjacent segment. The height of the descent point is the height of the starting route point. The distance between the descent point and the ending route point is d 降 The segment between the descent point and the end route point is the new descent segment, and the cumulative time, cumulative distance and cumulative fuel consumption of the new descent segment are obtained.

[0172] In one embodiment, if d2<d 降 , then in the step of determining whether the previous adjacent segment is a cruise segment:

[0173] If it is not a cruise segment, the route calculation is terminated and a user prompt is output;

[0174] If it is a cruise segment, calculate the sum of the distance between the starting route point and the ending route point of the previous adjacent segment and the distance d2, and compare the sum with the distance d 降 Size:

[0175] If the sum value > d 降, then insert a descent point in the course of the previous adjacent segment, and the height of the descent point is the height of the starting route point of the previous adjacent segment; the distance between the descent point and the ending route point of the current segment is d 降 The segment between the descent point and the end route point of the current segment is the new descent segment, and the segment between the start route point of the previous adjacent segment and the descent point is the new cruise segment; the cumulative time, cumulative distance and cumulative fuel consumption of the new descent segment and the new cruise segment are obtained;

[0176] If the sum value = d 降 , then the starting route point of the previous adjacent segment is the descent point, and the height of the descent point is the height of the starting route point of the previous adjacent segment; the distance between the descent point and the end route point of the current segment is d 降 The segment between the descent point and the end point of the current segment is the new descent segment; the accumulated time, accumulated distance and accumulated fuel consumption of the new descent segment are obtained;

[0177] If the sum value < d 降 , the route calculation is terminated and a user prompt is output.

[0178] In one embodiment, if d1 < d 爬 , then insert the new ending route point into the heading Dir1 of the climb segment, and the longitude and latitude of the new ending route point are the longitude and latitude of the ending route point. Calculate the altitude of the new ending route point and use it as the starting route point of the next adjacent segment in the following steps:

[0179] Calculate the sum of the distance from the new end point to the end point of the next adjacent segment and the distance d1, and compare the sum with the distance d 爬 Size:

[0180] If the sum value > d 爬 , then a leveling point is inserted into the heading of the next adjacent segment, and the height of the leveling point is the height of the end route point of the next adjacent segment; the distance between the leveling point and the starting route point of the current segment is d 爬 The segment between the leveling point and the end route point of the current segment is the first new climb segment, and the segment between the end route point of the next adjacent segment and the leveling point is the second new climb segment / new cruise segment / new descent segment; the cumulative time, cumulative distance, and cumulative fuel consumption of the new climb segment and the second new climb segment / new cruise segment / new descent segment are obtained;

[0181] If the sum value = d 爬 , then determine whether the next adjacent segment is a cruise segment: if the next adjacent segment is a cruise segment, the end route point of the next adjacent segment is the leveling point, and the altitude of the leveling point is the altitude of the end route point of the next adjacent segment; the distance between the leveling point and the starting route point of the current segment is d 爬, change the segment between the level-off point and the starting route point of the current segment to a new climb segment; obtain the cumulative time, cumulative distance, and cumulative fuel consumption of the new climb segment; if the next adjacent segment is not a cruise segment, terminate the route calculation and output a user prompt;

[0182] If the sum value < d 爬 , then insert the new end route point into the heading Dir1 of the current segment. The longitude and latitude of the new end route point are the longitude and latitude of the end route point of the current segment. Calculate the altitude of the new end route point and use it as the starting route point of the next adjacent segment to obtain the cumulative time, cumulative distance, and cumulative fuel consumption of the current segment.

[0183] The calculation process of the multi-segment combination is described below with a specific embodiment.

[0184] During the calculation process, when a flight phase involves both climbing and descending, the following conditions are preset:

[0185] The horizontal distance required for the climbing process is d1;

[0186] The horizontal distance required for the descent process is d2;

[0187] The horizontal distance between the start of the climb and the end of the descent is d3;

[0188] Among them, the climbing distance d1 is the climbing mode of the aircraft at the altitude of route point A when the "Climb by Altitude Difference" interface is called during the route calculation process: climb at a given speed; aircraft gross weight: 22,000 kg; starting altitude: 15 meters; end altitude: 8,000 meters; speed: 700 km / h; mounting plan: 600 kg x 1; drag coefficient: 1; starting altitude temperature deviation: 0°C; end altitude temperature deviation: 0°C; and then it is obtained that the aircraft needs to fly d1 distance (km) to climb from the altitude of 15 meters at route point A to the altitude of 8,000 meters at route point B, consume O1 fuel (kg), and take t1 (seconds); if the aircraft is in the segment If BC can complete the cruise flight, then the descent is calculated starting from route point C. At this time, the "Descent by Altitude Difference" interface is called to enter the descent mode at the altitude of route point C: given descent speed, aircraft gross weight: calculated; starting altitude: 8000 meters; ending altitude: 30 meters; speed: 700 km / h; mount solution: 600 kg x 1; drag coefficient: 1; starting altitude temperature deviation: 0°C; ending altitude temperature deviation: 0°C. It is then calculated that the aircraft needs to fly d2 distance (km) to descend from 8000 meters at route point C to 30 meters at route point D, consume O2 fuel (kg), and take t2 (seconds).

[0189] The horizontal distance d3 in the flight phase A→D = Dist AB +Dist BC +DistCD 。

[0190] Analyze in detail according to the following 8 cases:

[0191] As Figure 10 shown, when d1 + d2 < d3, the climbing and descending processes in the A→D flight phase can be completed. When d1 < Dist AB , the leveling point's longitude and latitude are obtained from the end point coordinate calculation formula (calculate the coordinates of another point based on the longitude, latitude, distance, and azimuth of the starting point), and the leveling point B1 is inserted on the AB flight segment;

[0192] When d2 < Dist CD , the descending point C2 is inserted on the CD flight segment. At this time, the entire flight process starts from point A, climbs along the AB flight segment heading, and climbs to the specified altitude at point B1. Then, it cruises from point B1 along the AB flight segment heading to point B,接着从B点开始沿BC航段航向巡航至C点,继续从C点沿CD航段航向巡航至C2点,最后从C2点开始沿CD航段航向下降,在D点下降到指定高度,至此整个飞行航段结束。表8展示航线的计算结果。continues to cruise from point B along the BC flight segment heading to point C, continues to cruise from point C along the CD flight segment heading to point C2, and finally descends from point C2 along the CD flight segment heading and descends to the specified altitude at point D, and thus the entire flight segment ends. Table 8 shows the calculation results of the flight route.

[0193] Table 8 Example Table of Flight Route Calculation Results 1]

[0194]

[0195]

[0196] As Figure 11 shown, when d1 + d2 < d3, the climbing and descending processes in the A→D flight phase can be completed. When d1 > Dist AB and d1 < Dist AB + Dist BC , the leveling point B1 is inserted on the BC flight segment; when d2 < Dist CD , the descending point C2 is inserted on the CD flight segment. At this time, the entire flight process starts from point A, climbs along the AB flight segment heading. When it reaches point B, it cannot climb to the specified altitude, so the altitude of point B is modified to the altitude of point B′. After passing point B′, it continues to climb along the BC flight segment heading and climbs to the specified altitude at point B1. Then, it cruises from point B1 along the BC flight segment heading to point C, cruises from point C along the CD flight segment heading to point C2, and finally descends from point C2 along the CD flight segment heading and descends to the specified altitude at point D.

[0197] As Figure 12 shown, when d1 + d2 < d3, the climbing and descending processes in the A→D flight phase can be completed. When d1 > Dist AB + Dist BC and d1 < Dist AB+Dist BC +Dist CD When d2 <= d3 - d1, leveling point B1 is inserted on the CD segment; when d2 <= d3 - d1, descent point C2 is inserted on the CD segment. At this time, the entire flight process starts from point A and climbs along the AB segment heading. When reaching point B, if it cannot climb to the specified altitude, the altitude of point B is modified to the altitude of point B'. After passing point B', continue to climb along the BC segment heading. When reaching point C, if it cannot climb to the specified altitude, the altitude of point C is modified to the altitude of point C'. After passing point C, continue to climb along the CD segment heading and finally climb to the specified altitude at point B1. Then cruise from point B1 along the CD segment heading to point C2, and start to descend along the CD segment heading from point C2 and descend to the specified altitude at point D.

[0198] As Figure 13-14 shown, when d1 + d2 > d3, the descent process in the A→D flight phase cannot be completed. At this time, only the climb from point A to the altitude of point B can be guaranteed, but the remaining distance (d3 - d1) cannot descend to the altitude of point D, and finally the calculation of the entire flight phase cannot be completed.

[0199] As Figure 15 shown, when d1 + d2 < d3, the climb and descent processes in the A→D flight phase can be completed. When d1 < Dist AB , leveling point B1 is inserted on the AB segment; when d2 > Dist CD and d2 < Dist CD +Dist BC , descent point C1 is inserted on the BC segment. The entire flight process starts from point A and climbs along the AB segment heading, climbs to the specified altitude at point B1, and then cruises to point B; cruises from point B along the BC segment heading to point C1; starts to descend along the BC segment heading from point C1 until descending to point C'; continues to descend along the CD segment heading from point C' and descends to the specified altitude at point D.

[0200] As Figure 16 shown, when d1 + d2 < d3, the climb and descent processes in the A→D flight phase can be completed. When d1 < Dist AB , leveling point B1 is inserted on the AB segment; when d2 > Dist CD +Dist BC and d2 < d3 - d1, descent point D1 is inserted on the AB segment.

[0201] At this time, the entire flight process starts from point A and climbs along the heading of the AB flight segment. It climbs to the specified altitude at point B1, and then cruises along the heading of the AB flight segment to point D1; it starts to descend along the heading of the AB flight segment from point D1, and when it reaches point B, it descends to the altitude of point B'; it continues to descend along the heading of the BC flight segment from point B', and when it reaches point C, it descends to the altitude of point C'; it continues to descend along the heading of the CD flight segment from point C', and finally descends to the specified altitude at point D.

[0202] As Figure 17 shown, when d1 + d2 < d3, the entire climbing and descending process in the A→D flight phase can be completed. d1 > Dist AB and d1 < Dist AB + Dist BC when, a leveling point B1 is inserted on the BC flight segment; d2 > Dist CD and d2 < d3 - d1, a descending point C1 is inserted on the BC flight segment.

[0203] At this time, the entire flight process starts from point A and climbs along the heading of the AB flight segment. When it reaches point B, it cannot climb to the specified altitude, so the altitude of point B is modified to the altitude of point B'. After passing point B', it continues to climb along the heading of the BC flight segment and climbs to the specified altitude at point B1; it cruises along the heading of the BC flight segment from point B1 to point C1; it starts to descend along the heading of the BC flight segment from point C1, and when it reaches point C, it descends to point C', adjusts the altitude of point C, and then continues to descend along the heading of the CD flight segment from C', and finally descends to the specified altitude at point D.

[0204] As Figure 18 shown, in the A→J flight phase, when the horizontal distance required for the descent process of the FG flight segment is longer than the horizontal distance of the FG flight segment, the distance for inserting the descending point can only exist in the cruise part of the D→G flight segment because it is necessary to ensure climbing to the highest altitude of the flight phase. It will not affect the calculation result of the A→D flight segment.

[0205] Similarly, when the horizontal distance required for the climbing process of the AB flight segment is longer than the horizontal distance of the AB flight segment, it can continue to climb on the BC and CD flight segments based on the actual climbing altitude at point B until it climbs to the expected altitude at point B; that is, when the current flight segment cannot climb to the specified altitude, it can continue to climb on the consecutive flight segments after this flight segment, and in the case where the current flight segment cannot descend to the specified altitude, it can only descend in advance in the consecutive cruise segments before this flight segment (it may be a cruise flight segment such as the EF flight segment, or the cruise segment after climbing to the expected altitude at point E in the DE flight segment), and finally ensure the altitude of the landing point (point G).

[0206] In the above embodiments, all climbing behaviors in the route calculation process are to climb first and then cruise, and all descending behaviors are to cruise first and then descend.

[0207] When calling the flight performance model interface for a four-way point route ( Figure 9 The specific steps for route planning are:

[0208] User-entered parameters include route point data (longitude, latitude, altitude, speed, temperature) and aircraft data (load plan, climb mode, cruise mode, and descent mode). Assume the aircraft's gross weight at takeoff is W initial , its initial fuel level is O initial , and the takeoff time is set to 2024 / 11 / 11 08:00:00. The climb / descent altitude threshold for all flight segments is 500 meters, with the takeoff time used as the reference time (i.e., zero hour).

[0209] Before calculation, the distance d between route point A and point B is calculated according to the distance and direction formula between two points (see Table 3). AB 、Dir AB ; The distance d between route point B and point C BC 、Dir BC ; The distance d between route point C and point D CD 、Dir CD ; Calculate T according to the temperature calculation formula A 、T B 、T C and T D ; The data that need to be recorded in real time during the calculation process include: remaining climbing height h 剩 (The default value is 0, which is used only when calculating the climb segment), the total weight of the aircraft at the start of the intermediate cruise segment, the remaining fuel, the time, distance and fuel consumption of the cruise segment; the final output of the route calculation result is t 累 d 累 and O 累 ;

[0210] Calculation process of flight segment AB:

[0211] The altitude difference between route points A and B determines whether segment AB is a climb, cruise, or descent segment. There are three situations:

[0212] AB segment climb calculation:

[0213] The input and output data are shown in Table 3. If the output error code is not 0, the error prompt corresponding to the error code is output and the calculation is terminated. If the error code is 0, the difference between dAB and dc is determined; there are three cases:

[0214] When d AB >d 爬 When the aircraft can climb to the altitude of point B in segment AB, then in Dir AB Course direction and distance from point A d 爬Insert a leveling point at the horizontal distance, and output the longitude, latitude, altitude (altitude of point B), cumulative time of the aircraft flying to the leveling point (t 累 = t 爬 ), cumulative distance (d 累 = d 爬 ) and remaining fuel (O 初 - O 爬 ); Then, starting from the position of the leveling point, the aircraft starts to cruise until point B. If the error code is 0, the input and output data are shown in Table 7. Record the distance, time, and fuel consumption during the cruising stage after climbing in the flight segment AB, and the total weight and remaining fuel of the aircraft when it starts to cruise from the leveling point; At this point, the flight segment AB first climbs from point A to the leveling point, and then cruises from the leveling point to point B. At this time, the remaining climbing height h 剩 is 0;

[0215] When d AB < d climb, it means that the distance of the flight segment AB is not enough for the aircraft to climb to the altitude of point B. Then, recalculate the climb starting from point A. If the error code is 0, the input and output data are shown in Table 4; At this point, the entire flight segment AB climbs, and the remaining climbing height h 剩 is h B - h 爬′ ;

[0216] When d AB = d 爬 , it means that the distance of the AB flight segment just meets the requirement for the aircraft to climb from point A to the altitude of point B. At this time, there is no need to insert a leveling point (equivalent to the leveling point coinciding with the position of point B), and only output the cumulative time of the aircraft flying to point B (t 累 = t 爬 ), cumulative distance (d 累 = d AB ), and remaining fuel (O 初 - O 爬 ); At this point, the entire flight segment AB climbs, and the remaining climbing height h 剩 is 0;

[0217] Cruising calculation for the AB segment:

[0218] If the output error code is not 0, output the error prompt corresponding to the error code and terminate the calculation. If the error code is 0, the input and output data are shown in Table 7; At this point, the entire flight segment AB cruises;

[0219] Descending calculation for the AB segment:

[0220] The input and output data are shown in Table 5. If the output error code is not 0, output the error prompt corresponding to the error code and terminate the calculation. If the error code is 0, compare d AB and d 降 ; There are three cases:

[0221] When d AB >d 降 When , it means that the aircraft can descend to the altitude of point B in segment AB. Since the descent process is to cruise first and then descend, the distance d from point A to the descent point is obtained according to the iterative algorithm of the cruise distance before descent. 降前巡 , time t 降前巡 and fuel consumption 降前巡 Input and output data are shown in Table 8. The aircraft then begins to descend from the descent point until it reaches the altitude of point B. If the error code is 0, the input and output data are shown in Table 5. At this point, segment AB first cruises from point A to the descent point, and then descends from the descent point until it reaches point B.

[0222] When d AB <d 降 When the aircraft reaches the altitude of point B, the distance between segment AB and the aircraft is insufficient. In this case, the aircraft will be given priority to descend in advance by using the forward segment. However, since segment AB is the first segment of the route and there is no previous segment for early descent, the user will be prompted (unable to descend to the altitude of point B) and the route calculation will be terminated.

[0223] When d AB =d 降 When , it means that the distance of the aircraft in the flight segment AB is just enough for the aircraft to descend to the height of point B. At this time, there is no need to insert the descent point (equivalent to the descent point coinciding with the position of point A). It is only necessary to output the cumulative time of the aircraft when it flies to point B (t 累 =t 降 ), cumulative distance (d 累 =d AB ), remaining oil (O 初 -O 降 ); At this point, segment AB has completely descended and just reached the altitude of point B.

[0224] Segment BC calculation process:

[0225] The calculation of segment BC must be based on the completion of segment AB. In this case, we only need to consider the case where the preceding segment (AB) is a climb or cruise segment. (The descent of the AB segment is considered as a flight phase and its impact on segment BC is not considered.) The climb of the AB segment can be divided into two cases: climb first and then cruise, and full cruise. The following discussion is based on the three cases of the AB segment:

[0226] Calculation of BC segment during AB segment cruising:

[0227] When segment BC is a climb segment, the calculation process is the same as that of segment AB, and will not be repeated here.

[0228] When segment BC is a cruise segment, the calculation process is the same as that of segment AB, so it will not be repeated here.

[0229] When segment BC is a descending segment, the input and output data are shown in Table 5. If the output error code is not 0, the error prompt corresponding to the error code is output and the calculation is terminated. If the error code is 0, compare d BC and d 降 The size of; divided into three cases:

[0230] When d BC >d 降 When , it means that the aircraft can descend to the altitude of point C in segment BC. The calculation process of segment BC is the same as that of segment AB, which is cruise-first and then descend, and will not be repeated here.

[0231] When dB C <d 降 When the aircraft cannot descend to the altitude of point C in segment BC, it will first descend from the cruise segment in segment AB. Since segment AB is a full cruise segment, the entire segment AB can be used to calculate the descent from point B to point C. AB +d BC with d 降 There are two cases:

[0232] When d AB +d BC <d 降 If the aircraft starts descending from point A in advance, it cannot descend to the altitude of point C. In this case, the user is prompted (unable to descend to the altitude of point C) and the calculation is terminated.

[0233] When d AB +d BC >d 降 When the plane moves from point A to h B Start to descend, and eventually descend to the height of point C. At this time, the distance d from point A to the descent point is obtained by the iterative algorithm of the cruise distance before descent. 降前巡 (d 降前巡 Must be less than d AB , i.e., the AB segment cruises first and then descends); at this time, the input and output data are shown in Table 7. If the output error code is not 0, the error prompt corresponding to the error code is output and the calculation is terminated. If the error code is 0, the latitude and longitude of point A and the heading Dir are input. AB and the cruising distance before descent d 降前巡 , according to the calculation formula of the terminal coordinates (see Table 8), the latitude and longitude of the descent point are obtained. AB Course direction and distance from point A d 降前巡 Insert the horizontal distance into the descent point, and output the latitude and longitude of the descent point, altitude (altitude of point B), and the cumulative time of the aircraft flying to the descent point (t累 =t 降前巡 ), cumulative distance (d 累 =d 降前巡 ) and remaining oil volume (O 初 -O 降前巡 ); then the aircraft starts to descend from the descent point until it reaches point B. If the error code is 0, the input and output data are shown in Table 6. So far, segment AB first cruises from point A to the descent point, then descends from the descent point until it reaches point B. Then the actual height (h 降′ ) Descends all the way to point C. If the output error code is 0, the input and output data are shown in Table 5. At this point, segment AB first cruises from point A to the descent point, then descends from the descent point to point B, and then continues to descend from the actual descent altitude at point B to point C.

[0234] When d BC =d 降 When , it means that the distance of the aircraft in the flight segment BC is just enough for the aircraft to descend to the height of point C. At this time, there is no need to insert the descent point (equivalent to the descent point coinciding with the position of point B). It is only necessary to output the cumulative time of the aircraft when it flies to point C (t 累 =t AB +t 降 ), cumulative distance (d 累 =d AB +d BC ), remaining oil (O 初 -O AB -O 降 ); At this point, segment BC has completely descended and just dropped to the altitude of point C, and the calculation of segment BC is completed.

[0235] Calculation of BC segment when AB segment first climbs and then cruises:

[0236] When the preceding segment AB first climbs and then cruises, it means that the climb process of the AB segment has been completed. Then, in the calculation process of the BC segment, only the impact of the cruise segment after the climb in the AB segment on the BC segment needs to be considered. Previously, when calculating the AB segment, the parameters of the cruise segment were recorded, including t AB巡 d AB巡 , O AB巡 , the total weight of the aircraft when it starts cruising in the AB segment w AB巡 、Remaining oil amount O AB巡 , cumulative time t AB累 , cumulative fuel consumption O AB累 ;

[0237] When segment BC is a climb segment or a cruise segment, the calculation process is the same as that of segment BC during cruise in segment AB, and will not be repeated here.

[0238] When segment BC is a descending segment, there are also two cases:

[0239] When d BC > d 降 , the situation of calculating the BC segment during the cruise of the AB segment is the same as that described here, and will not be elaborated further;

[0240] When d BC < d 降 , it means that the aircraft cannot descend to the altitude of point C during the BC segment. At this time, it is preferred to borrow the cruise segment from the AB segment for descent. Since there is a cruise segment after the climb of the AB segment, the cruise segment after the climb of the AB segment can be used for the descent calculation from the altitude of point B to the altitude of point C. Then, judge d AB巡 + d BC and d 降 . There are two situations:

[0241] When d AB巡 + d BC < d descent, it means that even if the aircraft starts to descend in advance from the leveling point of the AB segment, it cannot descend to the altitude of point C. At this time, a user prompt (unable to descend to the altitude of point C) is given to terminate the calculation;

[0242] When d AB巡 + d BC > d descent, it means that the aircraft starts to descend from the leveling point of the AB segment at h B and can finally descend to the altitude of point C. At this time, the calculation process is the same as that of calculating the BC segment during the cruise of the AB segment, and will not be elaborated further;

[0243] The situation of calculating the BC segment during the full climb of the AB segment:

[0244] When the previous flight segment AB climbs fully, it means that the climb process of the AB segment may not be completed. Then, by judging whether h AB remaining is greater than 0, consider whether to continue climbing in the BC segment. In addition, the fuel consumption O AB , cumulative time t AB , and cumulative fuel consumption O AB of the aircraft at the end of the AB segment are recorded during the calculation of AB

[0245] When h AB剩 > 0, it means that AB climbs fully and has not climbed to the altitude of point B. Then, the BC segment continues to climb from the actual altitude of point B. At this time, if the error code is 0, the input and output data are shown in Table 3. Compare d BC and d 爬 . There are three situations:

[0246] If d BC > d 爬 it means that the aircraft can climb from the altitude h 爬′ of point B to the expected altitude h B; Refer to the AB segment climb calculation;

[0247] When segment BC is a climb segment, the calculation process is the same as that of segment AB, and will not be repeated here. When segment BC is a cruise segment, the calculation process is the same as that of segment AB, and will not be repeated here. When segment BC is a descent segment, if the output error code is not 0, the input and output data are shown in Table 5, and the comparison of d BC -d 爬 and d 降 The size of the product is divided into three cases:

[0248] When d BC -d 爬 >d 降 When , it means that the aircraft can descend to the altitude of point C in segment BC. The calculation process of segment BC is the same as that of segment AB, which is cruise-first and then descend, and will not be repeated here.

[0249] When d BC -d 爬 <d 降 When the aircraft cannot descend to the altitude of point C in segment BC, the preceding segment AB is climbing all the way, and there is no available cruise segment for early descent. Therefore, the descent process of segment BC cannot be completed, and the user is prompted (unable to descend to the altitude of point C), and the calculation is terminated.

[0250] When d BC -d 爬 =d 降 When , it means that the distance of the aircraft in the flight segment BC is just enough for the aircraft to descend to the height of point C. At this time, there is no need to insert the descent point (equivalent to the descent point coinciding with the position of point B). It is only necessary to output the cumulative time of the aircraft when it flies to point C (t 累 =t AB +t 降 ), cumulative distance (d 累 =d AB +d BC ), remaining oil (O 初 -O AB -O 降 ); At this point, segment BC has completely descended and just dropped to the altitude of point C, and the calculation of segment BC is completed.

[0251] If d BC <d 爬 When the distance of segment BC is not enough for the aircraft to leave point B h 爬′ Climb to the expected altitude h at point B B , then recalculate the climb from point B, refer to the climb calculation of section AB, which will not be repeated here;

[0252] When d BC =d 爬When , it means that the distance of BC segment is just enough for the aircraft to climb from point B (hclimb′) to point C (hB). Refer to the calculation of AB segment climb, which will not be repeated here. Then determine the height of point B (h B ) and the height of point C (h C ) size. If the BC segment is a cruise segment, the BC segment calculation ends. If the BC segment is a climb segment or a descent segment, there is no extra distance in the BC segment for climbing or descending. The user is prompted (unable to climb / descend to the altitude of point C) and the calculation is terminated.

[0253] When h AB剩 =0, indicating that AB climbs throughout the entire process and just reaches the height of point B. The calculation of the BC segment is divided into three cases:

[0254] When the BC segment is a climb segment or a cruise segment, the calculation process is the same as that of the BC segment during the AB segment cruise, and will not be repeated here.

[0255] When segment BC is a descending segment, there are also three cases:

[0256] When d BC >d 降 The calculation process of the BC segment is the same as that of the AB segment during cruising, so it will not be repeated here.

[0257] When d BC <d 降 When the aircraft cannot descend to the altitude of point C in segment BC, it will first use the cruise segment to descend in segment AB. Since segment AB is a climb throughout, segment AB cannot be used for advance descent calculation. At this time, the descent process of segment BC cannot be completed, and the user will be prompted (unable to descend to the altitude of point C), and the calculation will be terminated.

[0258] When d BC =d 降 The calculation process of the BC segment at this time is the same as that of the BC segment during AB segment cruising, and will not be repeated here.

[0259] Segment CD calculation process;

[0260] The calculation process of flight segment CD refers to the calculation process of flight segment BC.

[0261] A special case needs to be considered. For the intermediate cruise segment, that is, the process of calculating the early descent, it must be in a series of continuous cruise segments (which can be the cruise segment after climbing or the entire cruise segment), and the segment before the descent segment must be an intermediate cruise segment, otherwise it is impossible to descend in advance. During the route calculation process, every time an intermediate cruise segment is calculated, the aircraft gross weight, remaining fuel, accumulated time, accumulated distance, accumulated fuel consumption and the distance of the cruise segment at the beginning of the intermediate cruise segment are recorded in a specific set so that it can be used for early descent when the distance of the subsequent descent segment is not enough for descent. The following details the iterative algorithm for the cruise segment distance before descent:

[0262] Assume that when the nth leg of the route is descending, when d n <d 降 When the flight distance d n The descent schedule cannot be met and an early descent is required. If there are m consecutive intermediate cruise segments before the nth segment of the route, and the segment where the mth intermediate cruise segment is located is the n-1th segment of the route, there is an intermediate cruise segment as follows:

[0263] Set A = {1, 2, 3, …, m};

[0264] Each element in the set A has the following known data: the total weight W of the aircraft at the starting position of the mth intermediate cruise segment m初 、Remaining oil amount O m剩 , cumulative time t m累 , cumulative distance d m累 , cumulative fuel consumption O m累 And the distance d of the middle patrol section m ;

[0265] The distance d in the nth leg n Based on the last intermediate cruise segment m in set A, the distance of the intermediate cruise segment is accumulated one by one to the next segment, that is, d 总 =d n +d m ; Each time the accumulation is performed, the descent is recalculated from the starting position of the current intermediate cruise segment. That is, if the error code is 0, the input and output data are shown in Table 5. Compare the size of d total and d drop. When d n +d m >=d 降 When d n +d m <d 降 ; Accumulate the distance of the previous intermediate cruise segment in sequence, that is, d 总 =d n +d m +d m-1+…+d x (n>m>x>0); until the interface of descending by height difference is called and d is satisfied 总 >=d 降 When the distance of the intermediate cruise segments is no longer accumulated, it is assumed that the early descent can be satisfied in the xth intermediate cruise segment. Then, the descent is calculated from the xth intermediate cruise segment to the mth intermediate cruise segment in the order of their descent. The specific calculation process is as follows:

[0266] The total weight of the aircraft at the starting position of the xth intermediate cruise segment is W x初 、Remaining oil amount O x剩 , cumulative time t x累 , cumulative distance d x累 , cumulative fuel consumption O x累 ;

[0267] Then, starting from the starting position of the xth intermediate cruise segment, the aircraft will first descend and then cruise. The flight performance model interface will be called to descend according to the altitude difference. The input and output data are shown in Table 5. If the error code is 0, the remaining cruising distance (d 总 -d 降old ) The amount of fuel consumed, call the flight performance model interface according to the distance cruise, input and output data are shown in Table 7, if the error code is 0, then get a new aircraft gross weight, that is, W x初 -O 巡old ; That is to simulate the process of cruising first and then descending. The aircraft first cruises d 巡old Under the premise of distance, call the flight performance model interface to call the altitude difference descent interface. The input and output data are shown in Table 5. If the error code is 0, judge d 降new with d 降old The difference (when d 降old -d 降new The difference is less than the set maximum error value d error , usually 50 meters, it is considered that under the same gross weight, the aircraft descends from the starting position first and then cruises to meet the descent requirements). There are two situations:

[0268] When d 降old -d 降new <=d error When the cruising distance before descent is obtained, 巡old ;Cruise time before output drops t 巡old , cruising distance d 巡old and cruise fuel consumption 巡old ,end the calculation process;

[0269] When d 降old -d 降new >d error The descent distance d calculated by the first simulation of the cruise and then descent process is降new Get a new cruising distance (d 总 -d 降new ), at the same initial total weight (W x初 ), the process of cruising first and then descending is simulated again, that is, the aircraft is first calculated to cruise from the starting position of the xth intermediate cruise segment d 总 -d 降new Distance, call the flight performance model interface to cruise by distance, input and output data are shown in Table 7. If the error code is 0, a new aircraft gross weight is obtained, i.e. W x初 -O 巡new′ Then calculate the descent process after cruising, call the flight performance model interface to call the altitude difference descent interface, input and output data are shown in Table 5, if the error code is 0, compare d 降new′ and d 降new until d is satisfied 降new -d 降new′ <=d error When (there is an assignment relationship here, that is, d 降old =d 降new and d 降new =d 降new′ , the judgment condition has always been d 降old -d 降new >d error ), and finally get the cruise parameter d before descent 巡new′ , time t 巡new′ and fuel consumption 巡new′ ; End the calculation process.

[0270] The above iterative algorithm is essentially based on the premise of the same initial gross weight of the aircraft and the same total distance. It first calculates the intermediate process of descending and then cruising to obtain the data of the cruise segment (distance and fuel consumption). On this basis, it then calculates the descent process to achieve the purpose of cruising first and then descending. Then, the calculation process of the aircraft cruising and then descending is simulated again. When the error between the newly obtained descent distance and the last calculated descent distance in each simulation of cruising and then descending is within the allowable range, the calculation result is considered valid and the result of the last cruise and then descending calculation process is output.

[0271] The above is a detailed introduction to the aircraft route calculation method based on route decomposition provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only intended to help understand the method and core concept of the present invention. At the same time, for those skilled in the art, based on the concept of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A method for calculating an aircraft route based on route decomposition, characterized in that: The route includes several flight phases, each of which includes several flight segments; the segment types include: a climb segment, a cruise segment, or a descent segment; the flight phases are divided into the several flight phases using the end route point of the descent segment as a marker; and the following steps are included: S1: Acquire route point data for each flight phase of the route, as well as aircraft navigation data. The route point data includes: route point latitude and longitude, altitude, speed, and segment division threshold; the aircraft navigation data includes: mounting plan, navigation mode, aircraft real-time speed, aircraft real-time gross weight, aircraft real-time fuel level, and flight time; S2: comparing the altitude difference between two adjacent route points with the flight segment division threshold to determine the flight segment types of all flight segments in the current flight phase; S3: Calculate the route distance and heading between the starting waypoint and the ending waypoint in the climb segment / descent segment based on the segment type of the current segment in the current flight phase, and calculate the actual distance required to climb / descend to the altitude of the ending waypoint based on the aircraft navigation data; determine whether to insert a leveling point that meets the actual distance in the corresponding heading of the climb segment, or insert a descent point that meets the actual distance in the corresponding heading of the descent segment by comparing the route distance with the actual distance; if so, obtain the route point coordinates, accumulated time, accumulated distance, and accumulated fuel consumption of the new segment formed after the leveling point / descent point is inserted; S4: After repeating S2-S3 operations for all segments in the current flight phase, the output data of the current flight phase is obtained, including: route point coordinates, cumulative time, cumulative distance and cumulative fuel consumption; the output data of all flight phases in the route are counted to obtain the route planning result.

2. The method for calculating an aircraft route based on route decomposition according to claim 1, characterized in that: The S2 comprises the following steps: If the altitude difference between the subsequent route point and the previous route point is positive, and its absolute value is greater than or equal to the segment division threshold, then the current segment is a climb segment; If the altitude difference between the subsequent route point and the previous route point is negative, and its absolute value is greater than or equal to the segment division threshold, the current segment is a descending segment; If the altitude difference between the subsequent route point and the previous route point is positive / negative, and its absolute value is less than the segment division threshold, the current segment is a cruise segment.

3. The method for calculating an aircraft route based on route decomposition according to claim 1, characterized in that: In S3, if the segment type of the current segment in the current flight phase is a climb segment, the climb segment calculation step includes: Calculate the distance d1 and heading Dir1 between the starting route point and the ending route point in the climb segment; calculate the distance d required to climb to the altitude of the ending route point based on the aircraft navigation data 爬 ; Compare distance d1 with distance d 爬 Size: If d1>d 爬 , then insert the leveling point into the heading Dir1 of the climb segment, and the distance from the starting route point to the leveling point is d 爬 , the altitude of the leveling point is the altitude of the ending route point; the segment from the starting route point to the leveling point is the new climb segment, and the segment from the leveling point to the ending route point is the new cruise segment; or, The distance from the end point to the leveling point is d 爬 , the altitude of the leveling point is the altitude of the starting route point; the segment from the starting route point to the leveling point is the new cruise segment, and the segment from the leveling point to the ending route point is the new climb segment; Obtain the cumulative time, cumulative distance and cumulative fuel consumption of the new climb segment and the new cruise segment; If d1<d 爬 , then insert a new ending route point into the heading Dir1 of the current segment, use the latitude and longitude of the new ending route point as the latitude and longitude of the ending route point, calculate the altitude of the new ending route point, and use it as the starting route point of the next adjacent segment, and obtain the cumulative time, cumulative distance, and cumulative fuel consumption of the current segment.

4. The method for calculating an aircraft route based on route decomposition according to claim 1, characterized in that: In S3, if the segment type of the current segment in the current flight phase is a descent segment, the descent segment calculation step includes: Calculate the distance d2 and heading Dir2 between the starting route point and the ending route point in the descent segment; calculate the distance d required to climb to the altitude of the ending route point based on the aircraft navigation data 降 ; Compare distance d2 with distance d 降 Size: If d2>d 降 , then insert the descent point into the heading Dir2 of the descent segment, and the distance from the starting route point to the descent point is d 降 , the altitude of the descent point is the altitude of the end route point; the segment from the start route point to the descent point is the new descent segment, and the segment from the descent point to the end route point is the new cruise segment; or, The distance from the end point to the descent point is d 降 , the altitude of the descent point is the altitude of the starting route point; the segment from the starting route point to the descent point is the new cruise segment, and the segment from the descent point to the end route point is the new descent segment; Obtain the cumulative time, cumulative distance and cumulative fuel consumption of the new descent segment and the new cruise segment; If d2<d 降 , then determine whether the previous adjacent segment is a cruise segment. If so, insert a descent point into the course of the previous adjacent segment. The height of the descent point is the height of the starting route point. The distance between the descent point and the ending route point is d 降 The segment between the descent point and the end route point is the new descent segment, and the cumulative time, cumulative distance and cumulative fuel consumption of the new descent segment are obtained.

5. The method for calculating an aircraft route based on route decomposition according to claim 3 or 4, characterized in that: If the calculated flight segments include the new cruise segment, the new cruise segment is merged with its adjacent cruise segments, and all the merged continuous cruise segments are used as the intermediate cruise segments.

6. The method for calculating an aircraft route based on route decomposition according to claim 5, characterized in that: In S3, if the segment type of the current segment in the current flight phase is a descent segment, the descent segment calculation step includes: Calculate the distance d2 and heading Dir2 between the starting route point and the ending route point in the descent segment; calculate the distance d required to climb to the altitude of the ending route point based on the aircraft navigation data 降 ; Compare distance d2 with distance d 降 Size: If d2<d 降 , then determine whether the previous adjacent segment is an intermediate cruise segment. If so, insert a descent point into the course of the previous adjacent segment. The height of the descent point is the height of the starting route point. The distance between the descent point and the ending route point is d 降 The segment between the descent point and the end route point is the new descent segment, and the cumulative time, cumulative distance and cumulative fuel consumption of the new descent segment are obtained.

7. The method for calculating an aircraft route based on route decomposition according to claim 4, characterized in that: If d2<d 降 , then in the step of determining whether the previous adjacent segment is a cruise segment: If it is not a cruise segment, the route calculation is terminated and a user prompt is output; If it is a cruise segment, calculate the sum of the distance between the starting route point and the ending route point of the previous adjacent segment and the distance d2, and compare the sum with the distance d 降 Size: If the sum value > d 降 , then insert a descent point in the course of the previous adjacent segment, the height of the descent point is the height of the starting route point of the previous adjacent segment; the distance between the descent point and the ending route point of the current segment is d 降 The segment between the descent point and the end route point of the current segment is the new descent segment, and the segment between the start route point of the previous adjacent segment and the descent point is the new cruise segment; the accumulated time, accumulated distance, and accumulated fuel consumption of the new descent segment and the new cruise segment are obtained; If the sum value = d 降 , then the starting route point of the previous adjacent segment is the descent point, and the height of the descent point is the height of the starting route point of the previous adjacent segment; the distance between the descent point and the ending route point of the current segment is d 降 The segment between the descent point and the end route point of the current segment is a new descent segment; the accumulated time, accumulated distance and accumulated fuel consumption of the new descent segment are obtained; If the sum value < d 降 , the route calculation is terminated and a user prompt is output.

8. The method for calculating an aircraft route based on route decomposition according to claim 3, characterized in that: If d1<d 爬 , then insert a new ending route point into the heading Dir1 of the climb segment, the latitude and longitude of the new ending route point are the latitude and longitude of the ending route point, calculate the altitude of the new ending route point, and use it as the starting route point of the next adjacent segment in the steps: Calculate the sum of the distance between the new end route point and the end route point of the next adjacent segment and the distance d1, and compare the sum with the distance d 爬 Size: If the sum value > d 爬 , then insert a leveling point in the course of the next adjacent segment, the altitude of the leveling point is the altitude of the end route point of the next adjacent segment; the distance between the leveling point and the starting route point of the current segment is d 爬 The segment between the leveling point and the end route point of the current segment is the first new climb segment, and the segment between the end route point of the next adjacent segment and the leveling point is the second new climb segment / new cruise segment / new descent segment; obtaining the cumulative time, cumulative distance, and cumulative fuel consumption of the new climb segment and the second new climb segment / new cruise segment / new descent segment; If the sum value = d 爬 , then determine whether the next adjacent segment is a cruise segment: if the next adjacent segment is a cruise segment, the end route point of the next adjacent segment is the leveling point, and the altitude of the leveling point is the altitude of the end route point of the next adjacent segment; the distance between the leveling point and the starting route point of the current segment is d 爬 , the segment between the level-off point and the starting route point of the current segment is the new climb segment; Obtaining the cumulative time, cumulative distance, and cumulative fuel consumption of the new climb segment; if the next adjacent segment is not a cruise segment, terminating the route calculation and outputting a user prompt; If the sum value < d 爬 , then insert a new ending route point into the heading Dir1 of the current segment, use the longitude and latitude of the new ending route point as the longitude and latitude of the ending route point of the current segment, calculate the altitude of the new ending route point, and use it as the starting route point of the next adjacent segment, and obtain the cumulative time, cumulative distance, and cumulative fuel consumption of the current segment.

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