High-concurrency entrance and departure intelligent management system and method for urban air transportation hub

Abstract

The embodiment of the invention discloses a high-concurrency entrance and departure intelligent management system and method for an urban air transportation hub. The system comprises a take-off and landing field, a communication module, a navigation module, a take-off and landing guiding module, a monitoring module and an intelligent processing module. Compared with the prior art, aiming at the problem of high conflict risk caused by high concurrent take-off and landing and high degree of freedom of a take-off and landing route, the system can carry out fine management on a take-off and landing field airspace. The optimal take-off and landing route airspace distribution plan can be provided according to the aircraft performance, the airspace distribution plan can be adjusted in time according to the demand change, the conflict risk can be pre-judged in time, and the solution can be calculated to guarantee the operation safety. In addition, through the combination of a management system, operation rules and auxiliary facilities, the entry and departure requirements of various aircraft performances can be met under the condition of the lowest communication load; and the complex planning problem can be solved in real time according to the dynamically changing traffic situation, so that the requirements of flexible adjustment and flight at any time can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of urban low-altitude air traffic management, and in particular to an intelligent management system and method for high-concurrency arrival and departure of an urban air traffic hub. Background Art

[0002] In the urban low-altitude air traffic scenario, the place where aircraft take off and land (hereinafter referred to as the take-off and landing field) is an important hub of the transportation network. Good management of the approach and departure of aircraft at the take-off and landing field (hereinafter referred to as approach and departure management) is of great significance to urban air traffic in many aspects, mainly including:

[0003] (1) In terms of safety, the area near the take-off and landing field is densely populated with aircraft and is the area with the highest probability of collision accidents.

[0004] (2) In terms of efficiency, the take-off and landing field is a key resource as a transportation hub. Good traffic management can significantly improve traffic efficiency.

[0005] (3) In terms of energy conservation and environmental protection, suitable entry and departure procedures for aircraft can help aircraft save a lot of energy.

[0006] In order to increase the throughput, multiple take-off and landing points are set up at the take-off and landing field. In order to reduce the complexity of entry and departure management, a combination of vertical take-off and landing and level flight is often used, such as Figure 1 Although this flying method avoids conflicts across flight levels, it consumes a lot of energy. For fixed-wing (tilt-rotor) aircraft, climbing or landing at a certain tilt angle above a safe altitude is an energy-saving takeoff and landing method, such as Figure 2 However, this method has many conflicts across flight altitude layers, high collision risks and high management difficulties in the case of intensive takeoffs and landings.

[0007] The complexity of the management of multiple concurrent take-offs and landings increases exponentially with the number of take-off and landing points. Manual management has a large computational load and a high risk of conflict. Summary of the invention

[0008] The purpose of the embodiments of the present invention is to provide an intelligent management system and method for high-concurrency arrivals and departures in an urban air traffic hub. In view of the problem that high-concurrency take-offs and landings and high degree of freedom of take-off and landing routes lead to high risk of conflict, the embodiments of the present invention can perform refined management of the take-off and landing field airspace.

[0009] To achieve the above-mentioned purpose, in a first aspect, an embodiment of the present invention provides a high-concurrency entry and departure intelligent management system for an urban air traffic hub, comprising a take-off and landing field, a communication module, a navigation module, a take-off and landing guidance module, a monitoring module and an intelligent processing module, wherein the take-off and landing field comprises a plurality of take-off and landing points, the communication module supports the communication between the entry and departure intelligent management system and the aircraft, the aircraft comprises a manned aircraft and an unmanned aircraft in an urban low-altitude air traffic scene; and improves the positioning accuracy of the aircraft, the navigation module is used to provide the position of the take-off and landing point to the aircraft;

[0010] The take-off and landing guidance module is used to guide the take-off and landing of the aircraft;

[0011] The monitoring module is used to obtain aircraft information in and around the take-off and landing field through active monitoring and controlled monitoring, and to conduct real-time monitoring of deviations from entry and departure procedures and illegal flight activities;

[0012] The intelligent processing module is used to perform approach and departure management, take-off and landing field airspace management, approach and departure procedure planning, real-time conflict detection and timely adjustment of approach and departure procedures.

[0013] In a second aspect, the embodiment of the present application further provides a method for intelligent management of high-concurrency arrivals and departures in an urban air traffic hub, which is applicable to the aforementioned system and includes the following steps:

[0014] During the aircraft's arrival and departure process, the optimal arrival and departure procedures are formulated for the aircraft, and the take-off and landing guidance of the aircraft is achieved based on the navigation module and the take-off and landing guidance module;

[0015] During the aircraft's arrival and departure process, the monitoring module monitors illegal flight activities in real time, and adjusts the relevant aircraft arrival and departure procedures in real time to avoid conflicts when the aircraft deviates seriously from the plan;

[0016] During the aircraft's approach and departure process, approach and departure management, take-off and landing field airspace management, approach and departure procedure planning, real-time conflict detection and timely adjustment of approach and departure procedures are realized based on the intelligent processing module.

[0017] The implementation of the embodiment of the present invention has the following advantages:

[0018] (1) To address the problem of high conflict risk caused by frequent concurrent take-offs and landings and high freedom of take-off and landing routes, the system can provide refined management of the take-off and landing field airspace.

[0019] (2) It can provide the optimal airspace allocation plan for take-off and landing routes based on aircraft performance (supporting vertical take-off and landing and tilt take-off and landing at any angle), can adjust the airspace allocation plan in a timely manner according to changes in demand, and can timely predict conflict risks and calculate solutions to ensure operational safety.

[0020] (3) The system can serve not only various types of aircraft, but also unmanned and manned aircraft at the same time.

[0021] (4) Through the combination of management systems, operating rules, and auxiliary facilities, it can meet the entry and departure requirements of various aircraft performances under the condition of minimum communication load; it can also solve complex planning problems in real time according to the dynamically changing traffic situation, meeting the needs of flexible adjustment and flight at any time. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation of the present invention or the technical solution in the prior art, the drawings required for use in the specific implementation or the description of the prior art are briefly introduced below.

[0023] Figure 1 It is a schematic diagram of the combination of vertical take-off and landing and level flight;

[0024] Figure 2 It is a schematic diagram of the aircraft climbing or landing at a certain inclination angle above the safe altitude;

[0025] Figure 3 This is a structural diagram of a high-concurrency arrival and departure intelligent management system for an urban air traffic hub provided by an embodiment of the present invention;

[0026] Figure 4 and Figure 5 It is a schematic diagram of installing guide lights around the take-off and landing points;

[0027] Figure 6 It is a flow chart of a high-concurrency arrival and departure intelligent management method for an urban air traffic hub provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are 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 creative work are within the scope of protection of the present invention.

[0029] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0030] It should be noted that in order to address the problems of multiple take-off and landing points in a take-off and landing field, many concurrent take-off and landing aircraft, high risk of conflict, and difficulty in global coordination using only individual aircraft, the embodiments of the present invention propose an approach and departure management system and method based on high concurrency, which can achieve flexible take-off and landing of aircraft and efficient use of airspace safety.

[0031] Please refer to Figure 3 , is a high-concurrency arrival and departure intelligent management system for an urban air traffic hub provided by an embodiment of the present invention, including a take-off and landing field, a communication module, a navigation module, a take-off and landing guidance module, a monitoring module and an intelligent processing module.

[0032] The take-off and landing field provides a place for aircraft to take off and land, including multiple take-off and landing points; each take-off and landing point can park an aircraft. The take-off and landing points have various sizes and can support various types of aircraft, large, medium and small. In this embodiment, the aircraft include various types such as manned and unmanned.

[0033] The communication module supports communication between the airport entry and exit management system and the aircraft, with two modes: direct communication and indirect communication via the urban air traffic system. The communication information mainly includes reservation information, real-time status information of the aircraft, real-time status information of the take-off and landing field, and entry and exit procedure information. The entry and departure procedure information is used to guide the aircraft to perform landing and take-off actions, including multiple key path points passed successively, as well as the time window and recommended speed for passing the path points.

[0034] The navigation module includes radio navigation and visual navigation. Radio navigation improves the positioning accuracy of the aircraft through differential positioning base stations and provides the aircraft with precise positioning coordinates of the take-off and landing points. Visual navigation identifies the location of the take-off and landing points through ground marking lines, symbols and numbers.

[0035] The take-off and landing guidance module includes a digital guidance unit and a light guidance unit. The digital guidance unit gives reminders and operational suggestions in the event of deviation from the entry and departure procedures. The light guidance unit displays the use status of the take-off and landing points and the deviation status of the aircraft by installing guidance lights around the take-off and landing points and controlling the lights to change color and light emission mode, thereby achieving guidance.

[0036] The monitoring module obtains information about aircraft in and around the take-off and landing field through active and passive monitoring, and conducts real-time detection of illegal flight activities.

[0037] The intelligent processing module includes functions such as entry and exit reservation, entry and exit procedure planning, real-time conflict detection, and real-time adjustment of entry and exit procedures.

[0038] Based on the architecture of the above entry and departure system, the following is a detailed description of the functions that can be achieved by the system:

[0039] 1. Site entry management

[0040] (1.1) The airport entry and departure management system publicly publishes and updates the take-off and landing point reservation and actual occupancy information in real time. The aircraft selects available resources and sends reservation information to the take-off and landing site in advance. The reservation information includes the aircraft's identity, model, estimated arrival time, altitude, direction, optimal take-off and landing tilt angle, parking time, etc. The airport entry and departure management system confirms the reservation.

[0041] (1.2) When an aircraft in flight is about to arrive at the take-off and landing field, it confirms the approach procedure with the approach and departure management system. The intelligent processing module of the approach and departure management system queries the reservation record based on the reservation information. Priority is given to aircraft with reservations, and approach procedure information is provided according to the reservation information and actual flight conditions. For aircraft without reservations, if there are available resources, resources are temporarily planned and approach procedure information is provided. The approach procedure information mainly contains the 4D track of the landing aircraft, including multiple 3D key path points and the time of passing the path points.

[0042] (1.3) During the aircraft approach process, the arrival and departure management system monitors the entire aircraft approach process. If the time window given by the approach procedure is missed, the reservation and the original approach procedure will be cancelled, and the aircraft will be required to re-execute step (1.2). If there is an aircraft that violates the approach procedure and affects the safety of other aircraft, the system will adjust the approach and departure procedures of the relevant aircraft, collect evidence and notify the air traffic management department.

[0043] (1.4) During the aircraft approach, the approach and departure management system assists the aircraft in precise landing and collision avoidance. The intelligent processing module provides real-time status information of surrounding aircraft, including the aircraft's identity, model, three-dimensional geographic coordinates, flight speed, approach and departure procedures, etc., to assist the aircraft in autonomous collision avoidance. At the same time, the intelligent processing module also provides digital guidance information, reminds the aircraft if it deviates from the approach procedure, and gives operational suggestions. In addition, the light guidance unit of the approach and departure management system also provides light guidance to achieve more visually intuitive guidance.

[0044] Specifically, intelligent lighting guidance can refer to Figure 4 and Figure 5 , guide lights (blue dots) are installed around the take-off and landing points (black circles or square parts in the figure below). The lights are distributed in a circular shape with equal spacing, embedded in the ground and flush with the surface, and emit light into the air. Each light has two colors, red and green. By adjusting the color and flashing of the light, the status of the take-off and landing point is displayed, and visual guidance of the take-off and landing flight area is achieved.

[0045] Among them, the take-off and landing point status and the corresponding lighting mode are as follows:

[0046] Landing point not in use: all lights off

[0047] There is an aircraft parked at the take-off and landing point: All lights are solid red

[0048] The take-off and landing point is free and not planned to be used: All lights are on green

[0049] The aircraft at the take-off and landing point is about to take off: all lights are flashing red

[0050] The aircraft at the take-off and landing point is taking off: the heading direction is flashing green, and other lights are flashing red

[0051] The aircraft at the take-off and landing point is landing normally: the light in the direction of the aircraft is on green, and the other lights are on red

[0052] The aircraft at the take-off and landing point is landing, but deviates from the planned landing route: the light in the direction of the route is solid green, the light in the direction of the aircraft is flashing green, and the other lights are solid red.

[0053] 2. Departure Management

[0054] (2.1) Before taking off, the aircraft makes an appointment with the airport entry and departure management system. The appointment information includes the aircraft's identity, model, estimated take-off time, altitude, position, optimal take-off and landing tilt angle, parking time, etc. The airport entry and departure management system confirms the appointment.

[0055] (2.2) When the aircraft is about to take off, it confirms the departure procedure with the airport entry and departure management system. The intelligent processing module of the airport entry and departure management system queries the reservation record based on the reservation information. Priority is given to aircraft with reservations, and departure procedure information is provided according to the reservation information and actual flight conditions. For aircraft without reservations, if there are available resources, resources are temporarily planned and departure procedure information is provided. The departure procedure information mainly contains the 4D track of the takeoff aircraft, including multiple 3D key path points and the time of passing the path points.

[0056] (2.3) During the departure process, the arrival and departure management system monitors the entire arrival process of the aircraft. If the time window given by the departure procedure is missed, the reservation and the original departure procedure will be cancelled, and the aircraft will be required to re-execute step (2.2). If there is an aircraft that violates the departure procedure and affects the safety of other aircraft, the system will adjust the arrival and departure procedures of the relevant aircraft, collect evidence and notify the air traffic management department.

[0057] (2.4) During the departure process, the entry and departure management system assists the aircraft in taking off accurately and avoiding collisions. The intelligent processing module provides real-time status information of surrounding aircraft, including the aircraft's identity, model, three-dimensional geographic coordinates, flight speed, flight intention (short-term planned flight trajectory), etc., to assist the aircraft in autonomously avoiding collisions. At the same time, it provides digital guidance information and reminds the aircraft if it deviates from the departure procedure.

[0058] III. Refined Management of Take-off and Landing Airspace

[0059] First, the airspace of the take-off and landing field is divided into cubic grids. The side length of each grid ranges from 1 meter to 100 meters. It can be dynamically adjusted according to the aircraft traffic density.

[0060] Next, a 4-dimensional airspace occupancy array S (X, Y, Z, T) is generated to represent the occupancy of the cube grid. The first three dimensions of S, X, Y, and Z, represent the grid position, and the fourth dimension T represents time. The interval of time T is dynamically adjustable from 1 second to 10 seconds. Each cell in the array records the grid occupancy status, including the identity information and occupancy probability of the occupying aircraft.

[0061] The calculation formula of occupancy probability is:

[0062] G(Xx,Yy,Zz)

[0063] G is the distribution probability density function of the aircraft, and x, y, z represent the estimated position of the aircraft at time t = T. G can use a Gaussian function, in which case the formula is

[0064]

[0065] Among them, C0 is the coefficient, σ x σ y σ z They are the positioning errors of the aircraft in the three coordinate dimensions. In view of the differences in positioning accuracy of different aircraft, this method is used to achieve interval management based on aircraft performance.

[0066] After the aircraft reservation or approach and departure procedures are adjusted, the airspace occupancy array is modified according to the new and old flight 4D tracks.

[0067] 4. Entry and departure procedure planning

[0068] (4.1) Approach procedure planning method

[0069] The location where the aircraft arrives at the take-off and landing field is taken as the starting point. According to the aircraft model and arrival time, select the take-off and landing point that meets the aircraft model requirements and is idle as the alternative destination. According to the airspace occupancy array, select the unoccupied space grid, use the optimized shortest path search algorithm, calculate the best approach path, and select the destination.

[0070] (4.2) Departure procedure planning method

[0071] The location of the take-off and landing point of the aircraft is taken as the starting point. Multiple space grids in the direction of the aircraft's destination are taken as candidate end points. Unoccupied space grids are selected according to the airspace occupancy array, and the optimized shortest path search algorithm is used to calculate the best approach path and select the end point.

[0072] Compared with the traditional path search algorithm, the optimized shortest path search algorithm has three main differences. First, the speed change process is planned based on the speed of the starting and ending points and the performance of the aircraft. Second, during the shortest path search process, the minimum turning radius is calculated based on the speed and aircraft performance, and the spatial grids smaller than the minimum turning radius are not selected. Third, during the search process, the time change is calculated based on the speed and path, and the airspace occupancy array is updated according to the time change.

[0073] V. Monitoring of Deviations from Arrival and Departure Procedures and Illegal Flight Activities

[0074] According to the current time t, in the approach and departure procedures, find the path point P1 at the most recent time t1 in history and the recommended speed V1 at that point, as well as the path point P2 at the most recent time t2 in the future and the recommended speed V2 at that point, and calculate the current position P' and speed V' of the aircraft based on the above information. For example, the linear difference method is used for calculation, and the formula is

[0075]

[0076] Compare the current actual position P and speed V of the aircraft with the position P' and V' it should be at. If the deviation exceeds the deviation / violation threshold set by the system, a deviation / violation warning and correction suggestions will be issued. The deviation threshold is generally set according to the positioning error, and the violation threshold is generally set according to the aircraft safety interval.

[0077] 6. Real-time detection of conflict risks and conflict alarms

[0078] When the aircraft deviates from the approach and departure procedures, the trajectory of the aircraft is predicted based on the current state of the aircraft and the approach and departure procedures. The predicted trajectory is expressed in the form of probability distribution. According to the predicted trajectory probability distribution, the occupied space grid is searched in the airspace occupancy array. If there is an occupied grid, there is a conflict risk, and a conflict alarm is issued to the aircraft occupying the grid and the deviating aircraft.

[0079] It should be noted that in general approach and departure procedure planning and conflict detection, all aircraft occupying airspace must be compared pairwise, with a complexity of O(n 2). The method provided in this application can be calculated by looking up the table of airspace occupancy information, with a complexity of O(1), a shorter calculation time, and more conducive to flexible processing of changes.

[0080] The advantages of implementing the intelligent entry and departure management system provided by the embodiment of the present invention are as follows:

[0081] (1) To address the problem of high conflict risk caused by frequent concurrent take-offs and landings and high freedom of take-off and landing routes, the system can provide refined management of the take-off and landing field airspace.

[0082] (2) It can provide the optimal airspace allocation plan for take-off and landing routes based on aircraft performance (supporting vertical take-off and landing and tilt take-off and landing at any angle), can adjust the airspace allocation plan in a timely manner according to changes in demand, and can timely predict conflict risks and calculate solutions to ensure operational safety.

[0083] (3) The system can serve not only various types of aircraft, but also unmanned and manned aircraft at the same time.

[0084] (4) Through the combination of management systems, operating rules, and auxiliary facilities, it can meet the entry and departure requirements of various aircraft performances under the condition of minimum communication load; it can also solve complex planning problems in real time according to the dynamically changing traffic situation, meeting the needs of flexible adjustment and flight at any time.

[0085] Based on the same inventive concept, the embodiment of the present invention also provides a high-concurrency arrival and departure intelligent management method for an urban air traffic hub, which is applicable to the aforementioned system, such as Figure 6 As shown, the method comprises the following steps:

[0086] S1, during the aircraft's arrival and departure process, formulate the optimal arrival and departure procedure for the aircraft, and guide the aircraft's take-off and landing based on the navigation module and take-off and landing guidance module;

[0087] S2, during the aircraft's approach and departure, the monitoring module monitors illegal flight activities in real time, and adjusts the relevant aircraft approach and departure procedures in real time to avoid conflicts when the aircraft seriously deviates from the plan;

[0088] S3, during the aircraft's approach and departure process, the intelligent processing module is used to realize approach and departure management, take-off and landing field airspace management, approach and departure procedure planning, real-time conflict detection and timely adjustment of approach and departure procedures.

[0089] The entry and exit management is as follows:

[0090] Receiving the entry and departure reservation information sent by the aircraft to the take-off and landing field; the entry and departure reservation information includes the aircraft's identity, model, estimated arrival time, altitude, direction, optimal take-off and landing tilt angle, and parking time;

[0091] Providing approach and departure procedure information based on the approach and departure reservation information; the approach and departure procedure information is used to guide the aircraft to perform landing and take-off actions, and the approach and departure procedure information is a 4D track of the landing / take-off aircraft, and the 4D track includes multiple 3D key path points and the time of passing the key path points;

[0092] Provide real-time status information of surrounding aircraft;

[0093] During the aircraft approach, the real-time status information includes the aircraft's identity, model, three-dimensional geographic coordinates, and flight speed;

[0094] During the departure process of the aircraft, the real-time status information includes the identity, model, three-dimensional geographic coordinates, flight speed and flight intention of the aircraft.

[0095] Specifically, the airspace management of take-off and landing fields includes:

[0096] Divide the airspace of the take-off and landing field into multiple cubic grids;

[0097] Generate a 4-dimensional airspace occupancy array S (X, Y, Z, T). Each cell in the array records the grid occupancy status, including the identity information and occupancy probability of the occupied aircraft. The first three dimensions of array S, X, Y, and Z, represent the grid position, and the fourth dimension, T, represents time.

[0098] The calculation formula for occupancy probability is:

[0099]

[0100] G is the probability density function of the aircraft distribution, x, y, z represent the estimated position of the aircraft at time t = T, C0 is the coefficient, σ x σ y σ z They are the positioning errors of the aircraft in the three coordinate dimensions.

[0101] Specifically, the entry and departure procedure planning is as follows:

[0102] The location where the aircraft arrives at the take-off and landing field is taken as the starting point. According to the aircraft model and arrival time, an idle take-off and landing point that meets the aircraft model requirements is selected as the candidate end point. According to the airspace occupancy array, an unoccupied space grid is selected. The optimized shortest path search algorithm is used to calculate the best approach path and select the end point.

[0103] The location of the aircraft's take-off and landing point is taken as the starting point, and multiple space grids in the direction of the aircraft's destination are taken as alternative end points. Unoccupied space grids are selected according to the airspace occupancy array, and the optimized shortest path search algorithm is used to calculate the best approach path and select the end point.

[0104] Specifically, real-time monitoring of deviations from entry and departure procedures and illegal flight activities is carried out, including:

[0105] According to the current time t, find the path point P1 at the most recent time t1 in history and the path point P2 at the most recent time t2 in the future in the entry and exit procedures, and the recommended speed V1 and V2 at P1;

[0106] Calculate the current position P' and speed V' of the aircraft based on the above information;

[0107] The current actual position P and speed V of the aircraft are compared with the position P' and V' where it should be. If the deviation exceeds the deviation / violation threshold set by the system, a deviation / violation warning and correction suggestion will be issued.

[0108] Specifically, real-time conflict detection is as follows:

[0109] When the aircraft deviates from the approach and departure procedures, the trajectory of the aircraft is predicted based on the current state of the aircraft and the approach and departure procedures;

[0110] According to the predicted trajectory probability distribution, find the occupied spatial grid in the spatial occupancy array;

[0111] If there is an occupied grid, there is a risk of conflict, and a conflict alarm is issued to the aircraft occupying the grid and the aircraft deviating from it.

[0112] It should be noted that the specific workflow of the embodiment of this method can be found in the aforementioned system embodiment section, which will not be repeated here.

[0113] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A high-concurrency entry and departure intelligent management system for an urban air traffic hub, comprising a take-off and landing field, a communication module, a navigation module, a take-off and landing guidance module, a monitoring module and an intelligent processing module, wherein the take-off and landing field comprises a plurality of take-off and landing points, and the communication module supports the communication between the entry and departure intelligent management system and the aircraft, characterized in that: The aircraft includes manned aircraft and unmanned aircraft in the urban low-altitude air traffic scene; the navigation module is used to provide the aircraft with the location of the take-off and landing points and improve the positioning accuracy of the aircraft; The take-off and landing guidance module is used to guide the take-off and landing of the aircraft; The monitoring module is used to obtain aircraft information in and around the take-off and landing field through active monitoring and controlled monitoring, and to conduct real-time monitoring of deviations from entry and departure procedures and illegal flight activities; The intelligent processing module is used to perform approach and departure management, take-off and landing field airspace management, approach and departure procedure planning, real-time conflict detection and timely adjustment of approach and departure procedures.

2. The system according to claim 1, characterized in that The navigation module includes: The radio navigation unit is used to improve the positioning accuracy of the aircraft through the differential positioning base station and provide the aircraft with the precise positioning coordinates of the take-off and landing points; Visual navigation unit, used to identify the location of take-off and landing points through ground marking lines, symbols and numbers.

3. The system according to claim 1, characterized in that The take-off and landing guidance module comprises: A digital guidance unit is used to provide digital guidance information; during the aircraft approach, the digital guidance information is used to remind the aircraft if it deviates from the approach procedure and give operational suggestions; during the aircraft departure, the digital guidance information is used to remind the aircraft if it deviates from the departure procedure; The lighting guidance unit includes a plurality of guidance lamps installed around the take-off and landing point. The guidance lamps are distributed in a circular shape with equal intervals, embedded in the ground and flush with the surface, and emit light into the air. Each of the lamps has red and green colors. By adjusting the light color and flashing of the guidance lamps, the status of the take-off and landing point is displayed, thereby realizing visual guidance of the take-off and landing flight zone.

4. The system according to claim 1, characterized in that The intelligent processing module performs entry and departure management, specifically: Receiving the entry and departure reservation information sent by the aircraft to the take-off and landing field; the entry and departure reservation information includes the aircraft's identity, model, estimated arrival time, altitude, direction, optimal take-off and landing tilt angle, and parking time; Providing approach and departure procedure information based on the approach and departure reservation information; the approach and departure procedure information is used to guide the aircraft to perform landing and take-off actions, and the approach and departure procedure information is a 4D track of the landing / take-off aircraft, and the 4D track includes multiple 3D key path points and the time of passing the key path points; Provide real-time status information of surrounding aircraft; During the aircraft approach, the real-time status information includes the aircraft's identity, model, three-dimensional geographic coordinates, and flight speed; During the departure process of the aircraft, the real-time status information includes the identity, model, three-dimensional geographic coordinates, flight speed and flight intention of the aircraft.

5. The system according to claim 1, wherein: The intelligent processing module performs take-off and landing airspace management, specifically: Divide the airspace of the take-off and landing field into multiple cubic grids; Generate a 4-dimensional airspace occupancy array S (X, Y, Z, T). Each cell in the array records the grid occupancy status, including the identity information and occupancy probability of the occupied aircraft. The first three dimensions of array S, X, Y, and Z, represent the grid position, and the fourth dimension, T, represents time. The calculation formula for occupancy probability is: G is the probability density function of the aircraft distribution, x, y, z represent the estimated position of the aircraft at time t = T, C0 is the coefficient, σ x σ y σ z They are the positioning errors of the aircraft in the three coordinate dimensions.

6. The system according to claim 5, characterized in that The intelligent processing module executes the entry and departure procedure planning, specifically: The location where the aircraft arrives at the take-off and landing field is taken as the starting point. According to the aircraft model and arrival time, an idle take-off and landing point that meets the aircraft model requirements is selected as the candidate end point. According to the airspace occupancy array, an unoccupied space grid is selected. The optimized shortest path search algorithm is used to calculate the best approach path and select the end point. The location of the aircraft's take-off and landing point is taken as the starting point, and multiple space grids in the direction of the aircraft's destination are taken as alternative end points. Unoccupied space grids are selected according to the airspace occupancy array, and the optimized shortest path search algorithm is used to calculate the best approach path and select the end point.

7. The system according to claim 1, characterized in that The monitoring module performs real-time monitoring of deviations from entry and departure procedures and illegal flight activities, specifically: According to the current time t, find the path point P1 at the most recent time t1 in history and the path point P2 at the most recent time t2 in the future in the entry and exit procedures, and the recommended speed V1 and V2 at P1; Calculate the current position P' and speed V' of the aircraft based on the above information; The current actual position P and speed V of the aircraft are compared with the position P' and V' where it should be. If the deviation exceeds the deviation / violation threshold set by the system, a deviation / violation warning and correction suggestion will be issued.

8. The system according to claim 7, characterized in that The intelligent processing module performs real-time conflict detection, specifically: When the aircraft deviates from the approach and departure procedures, the trajectory of the aircraft is predicted based on the current state of the aircraft and the approach and departure procedures; According to the predicted trajectory probability distribution, find the occupied spatial grid in the spatial occupancy array; If there is an occupied grid, there is a risk of conflict, and a conflict alarm is issued to the aircraft occupying the grid and the aircraft deviating from it.

9. A high-concurrency arrival and departure intelligent management method for an urban air traffic hub, characterized in that: The method is applicable to the system according to any one of claims 1 to 8, comprising the following steps: During the aircraft's arrival and departure process, the optimal arrival and departure procedures are formulated for the aircraft, and the take-off and landing guidance of the aircraft is achieved based on the navigation module and the take-off and landing guidance module; During the aircraft's arrival and departure, the monitoring module monitors flight activities in real time and adjusts the relevant aircraft's arrival and departure procedures in real time to avoid conflicts if the aircraft deviates seriously from the plan; During the aircraft's approach and departure process, approach and departure management, take-off and landing field airspace management, approach and departure procedure planning, real-time conflict detection and timely adjustment of approach and departure procedures are realized based on the intelligent processing module.

10. The method according to claim 9, characterized in that The entry and exit management is realized based on the intelligent processing module, specifically: Receiving the entry and departure reservation information sent by the aircraft to the take-off and landing field; the entry and departure reservation information includes the aircraft's identity, model, estimated arrival time, altitude, direction, optimal take-off and landing tilt angle, and parking time; Providing approach and departure procedure information based on the approach and departure reservation information; the approach and departure procedure information is used to guide the aircraft to perform landing and take-off actions, and the approach and departure procedure information is a 4D track of the landing / take-off aircraft, and the 4D track includes multiple 3D key path points and the time of passing the key path points; Provide real-time status information and digital guidance information of surrounding aircraft; During the aircraft approach, the real-time status information includes the aircraft's identity, model, three-dimensional geographic coordinates, and flight speed; During the departure of the aircraft, the real-time status information includes the aircraft's identity, model, three-dimensional geographic coordinates, flight speed and flight intention; During the aircraft approach, the digital guidance information is used to remind the aircraft if it deviates from the approach procedure and give operational suggestions; During the aircraft departure process, the digital guidance information is used to provide a reminder when the aircraft deviates from the departure procedure.

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