Advanced sorting method considering priority

Abstract

The invention relates to the technical field of approach program planning of vertical take-off and landing aircrafts in an airport, and provides an approach sequencing method considering priorities. The method comprises the following steps: calculating the priority weight of an aircraft according to the power consumption of the aircraft and the loading type of the aircraft; according to an AIR approach program, constructing an approach ranking model considering priorities; according to the priority weight and an approach ranking model considering the priority, obtaining an approach three-dimensional trajectory of the aircraft; and according to the approaching three-dimensional trajectory of the aircraft, obtaining an approaching sequence of the aircraft. According to the method, an AIR approach program is provided by constructing an aircraft priority empowerment method, so that approach of the aircraft is optimized. Reference is provided for a vertical take-off and landing airport approach procedure considering the priority in the future, and the average waiting time and the average power consumption of the aircraft are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of approach procedure planning of vertical take-off and landing aircraft at airports, and provides an approach sequencing method considering priorities. Background Art

[0002] With the continuous improvement of the related technologies of eVTOL (electric Vertical Take-off and Landing aircraft), in order to cope with the future operation of multiple eVTOLs, it is urgent to carry out relevant research on its supporting infrastructure. eVTOL has the characteristics of being able to hover, take off and land vertically, and fly flexibly. How to plan the approach of eVTOL in the airside of a vertical take-off and landing airport will greatly improve the approach efficiency of eVTOL at the vertical take-off and landing airport.

[0003] The existing approach procedures for vertical take-off and landing airports mainly include BQA (branch-queuing approach). This method approaches eVTOLs in a branched manner, but this method does not consider the approach of multiple eVTOLs under the condition of priorities. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the related technologies. For this reason, the present invention provides an approach sequencing method considering priorities, which is used to optimize the approach of the aircraft. It provides a reference for the future approach procedure of vertical take-off and landing airports considering priorities, and reduces the average waiting time and average power consumption of the aircraft.

[0005] The present invention provides an approach sequencing method considering priorities, including: S1: Calculate the priority weight of the aircraft according to the power consumption of the aircraft and the type of goods carried by the aircraft; S2: Construct an approach sequencing model considering priorities according to the AIR approach procedure; S3: Obtain the three-dimensional approach trajectory of the aircraft according to the priority weight and the approach sequencing model considering priorities; obtain the approach order of the aircraft according to the three-dimensional approach trajectory of the aircraft.

[0006] According to the approach sequencing method considering priorities provided by the present invention, the priority weight includes a power consumption priority weight and a goods-carrying priority weight: Wherein, is the priority weight of the th aircraft, is the aircraft ordinal number, , is the total number of aircraft, is the power consumption priority weight of the th aircraft, is the load parameter, is the th aircraft's load priority weight.

[0007] According to an approach sequencing method considering priorities provided by the present invention, the calculation process of the power consumption priority weight includes: S11: Calculate the power consumption of the aircraft: Wherein, is the power consumption of the aircraft, is the mass of the aircraft, is the acceleration due to gravity, is the total number of propellers, is the air density, is the propeller diameter; S12: The calculation process of classifying according to the power consumption of the aircraft to obtain the corresponding power consumption priority includes: Wherein, is the corresponding function of power consumption and power consumption priority.

[0008] According to an approach sequencing method considering priorities provided by the present invention, the load priority weight includes: Wherein, is the corresponding function of load and load priority weight, is the th aircraft's passenger-carrying priority, is the th aircraft's load priority.

[0009] According to an approach sequencing method considering priorities provided by the present invention, the AIR approach procedure is divided into: when the aircraft approaches the takeoff and landing airport, it is divided into an initial approach stage, an intermediate approach stage and a final approach stage, and an intermediate transition loop is added in the initial approach stage for the aircraft to wait within this loop.

[0010] According to an approach sequencing method considering priorities provided by the present invention, the establishment of the approach sequencing model considering priorities includes the following steps: S10: Establish an inflow constraint condition according to the inflow data; S20: Establish an outflow constraint condition according to the outflow data; S30: Establish an operation constraint condition according to the operation time allocation; S40: According to the inflow constraint condition, the outflow constraint condition and the operation constraint condition, a priority-based approach sorting model is obtained by solving.

[0011] According to a priority-based approach sorting method provided by the present invention, the inflow constraint condition is: in, The first The decision variables of a vehicle at the starting point and at time 0 are: The first Aircraft, in Waiting point, at The decision variables at time is the waiting point sequence number, , is the total number of waiting points, is the time sequence number, , is the total number of time moments, , For the The set of corresponding points where the aircraft should appear, The first aircraft, in Gather at the waiting point, The decision variables at time The first aircraft, in Gather at the waiting point, The decision variables at time is the minimum time interval.

[0012] According to a priority-based approach sorting method provided by the present invention, the outflow constraint condition is: in, The first The aircraft is at the landing point. The decision variables at time The first The aircraft is at the landing point, The decision variables at time For the An aircraft, at the landing point, at the decision variable at time is the time instant minus the difference, is the total landing time of the aircraft.

[0013] According to an approach sequencing method considering priorities provided by the present invention, the operating constraint conditions are: Wherein, is the waiting time, is whether the waiting point and the waiting point are connected, is from the waiting point to fly to the waiting point the time taken by the aircraft.

[0014] According to an approach sequencing method considering priorities provided by the present invention, the process of solving the approach sequencing model considering priorities is: S100: Calculate the minimum priority loss : Wherein, is the minimum value function, is the constraint condition; S200: The landing sequence of the aircraft corresponding to the minimum priority loss is the approach sequencing model considering priorities.

[0015] One or more of the above technical solutions in the embodiments of the present invention have at least one of the following technical effects: An approach sequencing method considering priorities provided by the present invention, through the priority weight assignment method combined with the constructed approach process and sequencing model of the vertical takeoff and landing airport, can sort and approach the aircraft according to priorities, enabling high-priority aircraft to approach first, thereby reducing their waiting time and power consumption.

[0016] Considering different aircraft models and aircraft cargo tasks, the present invention first constructs a method for assigning priorities to aircraft. Secondly, for the priority of aircraft approach, an AIR approach procedure is proposed to optimize the approach of aircraft. Then, a vertical takeoff and landing airport approach process and sorting model are established to simulate the approach of aircraft in this procedure. Finally, during the approach process of the aircraft, three-dimensional flight tracks, operating power consumption, and hovering duration are used as measurement indicators to analyze the AIR approach procedure. Thereby, it provides a reference for the future vertical takeoff and landing airport approach procedure considering priorities.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a flowchart of an approach sorting method considering priorities provided by the present invention.

[0020] Figure 2 It is a schematic diagram of the AIR approach procedure provided by the present invention.

[0021] Figure 3 It is a box plot of the waiting duration in the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0023] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0024] The following is combined with Figures 1 to 3 to describe the present invention.

[0025] Embodiment As Figure 1 shown, Figure 1 is a flowchart of an approach sequencing method considering priorities provided by an embodiment of the present invention, including the following steps: S1: Calculate the priority weight of the aircraft according to the power consumption of the aircraft and the type of goods carried by the aircraft; S2: Construct an approach sequencing model considering priorities according to the AIR approach procedure; S3: Obtain the three-dimensional approach trajectory of the aircraft according to the priority weight and the approach sequencing model considering priorities; obtain the approach order of the aircraft according to the three-dimensional approach trajectory of the aircraft.

[0026] Specifically, the priority weight includes a power consumption priority weight and a goods-carrying priority weight: Among them, is the priority weight of the th aircraft, is the aircraft ordinal number, , is the total number of aircraft, is the power consumption priority weight of the th aircraft, is the goods-carrying parameter, is the goods-carrying priority weight of the th aircraft.

[0027] Specifically, the calculation process of the power consumption priority weight includes: S11: Calculate the power consumption of the aircraft: Among them, is the power consumption of the aircraft, is the mass of the aircraft, is the acceleration due to gravity, is the total number of propellers, is the air density, is the propeller diameter; S12: Classify according to the power consumption of the aircraft to obtain the corresponding power consumption priority weight: Among them, is the corresponding function of power consumption and power consumption priority. Assume there are p categories. The higher the hovering power consumption of the aircraft, the higher the corresponding power consumption priority weight is also. As shown in Table 1: Table 1 Power consumption priority weight

[0028] Specifically, the calculation process of the load priority weight includes: Among them, is the corresponding function of load and load priority weight, is the th aircraft's passenger-carrying priority, is the th aircraft's load priority. According to the different values of the items or people loaded on the aircraft, it is classified. Assume there are q categories. For this reason, the priority step size is set to β , so as to obtain as shown in Table 2: Table 2 Load priority weight

[0029] Specifically, the AIR approach procedure is divided into: when the aircraft approaches the takeoff and landing airport, it is divided into the initial approach stage, the intermediate approach stage and the final approach stage. In the initial approach stage, an intermediate transition loop is added for the aircraft to wait within this loop. As Figure 2 shown, Figure 2 is the schematic diagram of the AIR approach procedure provided by the present invention. According to the approach procedure of eVTOL, eVTOL needs to move from the outer loop to the middle loop, then from the middle loop to the inner loop, and finally land on the vertical takeoff and landing airport apron. The AIR approach procedure adds an intermediate transition loop between the outer loop and the middle loop. Its specific operation principle is that first an eVTOL enters the waiting point on the intermediate transition loop to wait, and then another eVTOL directly flies into the waiting point on the middle loop, so as to realize the later eVTOL's overtaking of the earlier eVTOL.

[0030] Specifically, the establishment of the approach sequencing model considering priorities includes the following steps: S10: Establish an inflow constraint condition according to the inflow data. The inflow constraint condition is: Where is the decision variable of the th aircraft in the approach procedure, at the starting point, and at the 0th moment, is the decision variable of the th aircraft in the approach procedure, at the waiting point, and at the th moment, is the waiting point ordinal number, , is the total number of waiting points, is the time step ordinal number, , is the total number of time steps, , is the set of corresponding points where the th aircraft should appear, is the decision variable of the th aircraft in the approach procedure, at the waiting point set, and at the th moment, is the decision variable of the th aircraft in the approach procedure, at the waiting point set, and at the th moment, is the minimum time interval.

[0031] Specifically, the constraint condition is: In the model, the area where the eVTOL has not entered the waiting loop is defined as point 0. The eVTOL should appear at the corresponding set k position of the D k th eVTOL as assumed and cannot appear in other directions; D k is a direction, meaning that the k th eVTOL appears in the direction D k at the initial approach.

[0032] S20: Establish an outflow constraint condition according to the outflow data. The outflow constraint condition is: Among them, is the decision variable of the th aircraft in the approach procedure, at the landing point, at the th moment, is the decision variable of the th aircraft in the approach procedure, at the landing point, at the th moment, is the decision variable of the th aircraft, at the landing point, at the th moment, is the time difference between time instant and , is the total landing time of the aircraft.

[0033] Specifically, the constraint conditions are as follows: At all discrete times, the eVTOL should only stay at the apron for one unit of time, and two different eVTOLs should ensure a time interval before landing.

[0034] S30: Establish operating constraint conditions according to the operating time allocation. The operating constraint conditions are as follows: Among them, is the waiting time, is whether waiting point and waiting point are connected, is the time taken for the aircraft to fly from waiting point to waiting point .

[0035] Specifically, the constraint conditions are as follows: Among all nodes, it should appear in at most one node in each time period to avoid appearing in multiple nodes at one moment. It means that when the eVTOL is at a certain node, its next moment is either waiting at this node for time, or moving to another waiting point according to the movement time matrix and the adjacency matrix .

[0036] S40: Solve and calculate the minimum priority loss according to the inflow constraint conditions, inflow constraint conditions, and operating constraint conditions: Among them, is the minimum value function, is the constraint condition.

[0037] The landing sequence of the aircraft corresponding to the minimum priority loss is the approach sorting model considering priorities. In the embodiments of the present invention, the Gurobi solver is used to process the model through Python programming language, so as to solve the approach sorting model considering priorities.

[0038] In the embodiments of the present invention, a three-dimensional drawing software is used to determine the three-dimensional approach trajectory of the aircraft; according to the three-dimensional approach trajectory of the aircraft, the approach sequence of the aircraft is obtained.

[0039] The experimental results of the embodiments of the present invention are as Figure 3 shown, Figure 3 is the box plot of the waiting time line of the embodiments of the present invention. The specific data is shown in Table 3: Table 3 Waiting time and power consumption of aircraft

[0040] The priority weight assignment method proposed by the present invention, combined with the constructed approach process and sorting model of the vertical takeoff and landing airport, can enable eVTOL to sort and approach according to priorities, so that the high-priority eVTOL can approach first, thereby reducing its waiting time and power consumption.

[0041] Through the mathematical analysis of the constructed model, it is found that in the approach procedure of the vertical takeoff and landing airport under the AIR approach procedure, the second-highest priority and high-priority eVTOL can reduce the average waiting time by 115.1 s compared with the low-priority and medium-priority eVTOL, and at the same time can reduce the average power consumption by 2446.5 kw.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

[0043] It should be noted that the embodiments of the present disclosure can be implemented by hardware, software, or a combination of software and hardware. The hardware part can be implemented using dedicated logic: the software part can be stored in a memory and executed by a suitable instruction execution system such as a microprocessor or dedicated design hardware. Those skilled in the art can understand that the above-mentioned devices and methods can be implemented using computer-executable instructions and / or included in processor control code, for example, such code is provided on a programmable memory or a data carrier such as an optical or electronic signal carrier.

[0044] In addition, although the operations of the method of the present disclosure are described in a specific order in the drawings, this does not require or imply that these operations must be performed in that specific order, or that all of the shown operations must be performed to achieve the desired result. On the contrary, the order of execution of the steps depicted in the flowchart can be changed. Additionally or alternatively, certain steps can be omitted, multiple steps can be combined into one step for execution, and / or one step can be decomposed into multiple steps for execution. It should also be noted that the features and functions of two or more devices according to the present disclosure can be embodied in one device. Conversely, the features and functions of one device described above can be further divided and embodied by multiple devices.

[0045] Although the present disclosure has been described with reference to several specific embodiments, it should be understood that the present disclosure is not limited to the specific embodiments disclosed. The present disclosure aims to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A priority-based approach sorting method, characterized in that: The following steps are involved: S1: The priority weight of the aircraft is calculated based on the power consumption of the aircraft and the type of cargo it carries; S2: Based on the AIR approach procedure, a priority approach sequencing model is constructed; S3: obtaining a three-dimensional approach trajectory of the aircraft according to the priority weight and the approach sorting model considering the priority; and obtaining an approach sequence of the aircraft according to the three-dimensional approach trajectory of the aircraft.

2. The priority-based approach sorting method according to claim 1, characterized in that: The priority weights include power consumption priority weights and cargo priority weights: in, For the The priority weight of each aircraft, is the aircraft number, , is the total number of aircraft, For the The power consumption priority weight of each aircraft, is the load parameter, For the The cargo priority weight of each aircraft.

3. The priority-based approach sorting method according to claim 2, characterized in that: The calculation process of the power consumption priority weight includes: S11: Calculate the power consumption of the aircraft: in, is the power consumption of the aircraft, is the mass of the aircraft, is the acceleration due to gravity, is the total number of propellers, is the air density, is the propeller diameter; S12: Classify the power consumption of the aircraft to obtain corresponding power consumption priority weights: in, It is the corresponding function between power consumption and power consumption priority.

4. The priority-based approach sorting method according to claim 2, characterized in that: The calculation process of the load priority weight includes: in, is the function corresponding to the load and load priority weight, For the The manning priority of each aircraft, For the The cargo priority of each aircraft.

5. The priority-based approach sorting method according to claim 1, characterized in that: The AIR approach procedure is divided into: the aircraft approaching the take-off and landing airport is divided into an initial approach phase, an intermediate approach phase and a final approach phase. An intermediate transition ring is added in the initial approach phase for the aircraft to wait in the intermediate transition ring.

6. The priority-based approach sorting method according to claim 3, characterized in that: The approach sorting model considering the priority is established including the following steps: S10: establishing inflow constraint conditions according to inflow data; S20: establishing outflow constraint conditions according to outflow data; S30: Establishing operation constraints according to the operation time allocation; S40: According to the inflow constraint condition, the outflow constraint condition and the operation constraint condition, a priority-based approach sorting model is obtained by solving.

7. The priority-based approach sorting method according to claim 6, characterized in that: The inflow constraint condition is: in, The first The decision variables of a vehicle at the starting point and at time 0 are: The first Aircraft, in Waiting point, at The decision variables at time is the waiting point sequence number, , is the total number of waiting points, is the time sequence number, , is the total number of time moments, , For the The corresponding point set where the aircraft should appear, The first aircraft, in Gather at the waiting point, The decision variables at time The first aircraft, in Gather at the waiting point, The decision variables at time is the minimum time interval.

8. The priority-based approach sorting method according to claim 7, characterized in that: The outflow constraint condition is: in, The first The aircraft is at the landing point, The decision variables at time The first The aircraft is at the landing point, The decision variables at time For the The aircraft is at the landing point, The decision variables at time For time and The difference, It is the total landing time of the aircraft.

9. The priority-based approach sorting method according to claim 8, characterized in that: The operating constraints are: in, For waiting time, For waiting point and waiting point Is it connected? From the waiting point Fly to the holding point The time the aircraft spends.

10. The priority-based approach sorting method according to claim 9, characterized in that: The process of solving the approach ranking model considering priority is: S100: Calculate minimum priority loss : in, is the minimum function, is a constraint condition; S200: The landing order of the aircraft corresponding to the minimum priority loss is an approach sorting model considering priority.

Images