A priority-based approach sequencing method

Abstract

The present invention relates to the technical field of approach procedure planning for vertical take-off and landing aircraft at airports, and provides an approach sorting method that takes priority into consideration. The method comprises the following steps: calculating the priority weight of the aircraft based on the power consumption of the aircraft and the type of cargo carried by the aircraft; constructing an approach sorting model that takes priority into consideration based on the AIR approach procedure; obtaining the three-dimensional approach trajectory of the aircraft based on the priority weight and the approach sorting model that takes priority into consideration; and obtaining the approach sequence of the aircraft based on the three-dimensional approach trajectory of the aircraft. The present invention proposes an AIR approach procedure by constructing an aircraft priority empowerment method, which is used to optimize the approach of the aircraft. It provides a reference for future vertical take-off and landing airport approach procedures that take priority into consideration, and reduces the average waiting time and average power consumption of the aircraft.

Description

Technical Field

[0001] The present invention relates to the technical field of approach procedure planning for vertical take-off and landing aircraft at an airport, and provides an approach sequencing method taking priority into consideration. Background Art

[0002] As eVTOL (electric Vertical Take-off and Landing) technologies continue to improve, research into supporting infrastructure is urgently needed to support future multi-eVTOL operations. eVTOLs are capable of hovering, vertical takeoff and landing, and flexible flight. Planning eVTOL approaches to airside airports will significantly improve eVTOL approach efficiency.

[0003] The existing vertical take-off and landing airport approach procedures mainly include BQA (branch-queuing approach), which approaches eVTOLs in a branching manner, but this method does not consider the approach of multiple eVTOLs under priority conditions. Summary of the Invention

[0004] The present invention aims to address at least one of the technical problems existing in the related art. To this end, it provides a priority-based approach sequencing method for optimizing aircraft approaches. This provides a reference for future priority-based approach procedures for vertical takeoff and landing airports, reducing average aircraft waiting time and average power consumption.

[0005] The present invention provides a priority-based approach sorting method, comprising:

[0006] S1: The priority weight of the aircraft is calculated based on the aircraft's power consumption and the type of cargo it carries;

[0007] S2: Based on the AIR approach procedures, a priority-based approach sequencing model is constructed;

[0008] S3: Obtaining a three-dimensional approach trajectory of the aircraft according to the priority weights and an approach sorting model that considers the priorities; and obtaining an approach sequence of the aircraft according to the three-dimensional approach trajectory of the aircraft.

[0009] According to a priority-based approach sorting method provided by the present invention, the priority weights include a power consumption priority weight and a load priority weight:

[0010]

[0011] in, For the The priority weight of each aircraft, is the aircraft ordinal number, , is the total number of aircraft, For the The power consumption priority weight of each aircraft, is the load parameter, For the The priority weight of the cargo carried by each aircraft.

[0012] According to a priority-based approach sorting method provided by the present invention, the calculation process of the power consumption priority weight includes:

[0013] S11: Calculate the power consumption of the aircraft:

[0014]

[0015] 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;

[0016] S12: The calculation process of classifying the power consumption of the aircraft to obtain the corresponding power consumption priority includes:

[0017]

[0018] in, It is the corresponding function between power consumption and power consumption priority.

[0019] According to a priority-based approach sorting method provided by the present invention, the cargo priority weights include:

[0020]

[0021] in, is the function corresponding to the load and load priority weight, For the The manned priority of each aircraft, For the The cargo priority of each aircraft.

[0022] According to a priority-based approach sorting method provided by the present invention, the AIR approach procedure is divided into: the approach of an aircraft at a 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 to the initial approach phase for the aircraft to wait within this ring.

[0023] According to a method for sorting approaches taking into account priorities provided by the present invention, establishing a model for sorting approaches taking into account priorities includes the following steps:

[0024] S10: Establish inflow constraints based on inflow data;

[0025] S20: establishing outflow constraints based on outflow data;

[0026] S30: Establishing operation constraints according to the operation time allocation;

[0027] S40: Solving and obtaining a priority-based approach sorting model based on the inflow constraint, outflow constraint, and operation constraint.

[0028] According to a priority-based approach sorting method provided by the present invention, the inflow constraint condition is:

[0029]

[0030]

[0031]

[0032]

[0033] in, The first The decision variables of an aircraft at the starting point and at time 0 are: The first Aircraft, in the Waiting point, 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 ticks, , 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.

[0034] According to a priority-based approach sorting method provided by the present invention, the outflow constraint condition is:

[0035]

[0036]

[0037] 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, at the landing point, The decision variables at time For time and The difference, The total landing time of the aircraft.

[0038] According to a priority-based approach sorting method provided by the present invention, the operation constraints are:

[0039]

[0040]

[0041] in, For waiting time, Waiting point and waiting points Is it connected? From the waiting point Fly to the holding point The time the aircraft spends.

[0042] According to a method for approach sorting considering priority provided by the present invention, the process for solving the approach sorting model considering priority is as follows:

[0043] S100: Calculate minimum priority loss :

[0044]

[0045]

[0046] in, is the minimum function, is a constraint condition;

[0047] S200: The landing order of the aircraft corresponding to the minimum priority loss is an approach sorting model considering priority.

[0048] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0049] The present invention provides a priority-based approach sorting method, which combines a priority weighting method with a constructed vertical take-off and landing airport approach process and sorting model to enable aircraft to approach in order of priority, so that high-priority aircraft approach first, thereby reducing their waiting time and power consumption.

[0050] The present invention takes into account the differences in aircraft models and aircraft cargo missions, and first constructs an aircraft priority empowerment method. Secondly, based on the priority of aircraft approach, an AIR approach procedure is proposed to optimize the aircraft's approach. Then, a vertical take-off and landing airport approach process and sequencing model is established to simulate the aircraft's approach in this procedure. Finally, the three-dimensional trajectory, operating power consumption and circling time during the aircraft's approach process are used as measurement indicators to analyze the AIR approach procedure. This provides a reference for future vertical take-off and landing airport approach procedures that consider priority.

[0051] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the present invention or 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0053] Figure 1 The present invention provides a flowchart of a priority-based approach sorting method.

[0054] Figure 2 It is a schematic diagram of the AIR approach procedure provided by the present invention.

[0055] Figure 3 It is a long line box diagram during waiting time according to an embodiment of the present invention. DETAILED DESCRIPTION

[0056] To make the purpose, 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 embodiments described are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0057] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment 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, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0058] The following combination Figures 1 to 3 The present invention is described.

[0059] Example

[0060] like Figure 1 As shown, Figure 1 A flowchart of a priority-based approach sorting method provided in an embodiment of the present invention includes the following steps:

[0061] S1: The priority weight of the aircraft is calculated based on the aircraft's power consumption and the type of cargo it carries;

[0062] S2: Based on the AIR approach procedures, a priority-based approach sequencing model is constructed;

[0063] S3: Obtaining a three-dimensional approach trajectory of the aircraft according to the priority weights and an approach sorting model that considers the priorities; and obtaining an approach sequence of the aircraft according to the three-dimensional approach trajectory of the aircraft.

[0064] Specifically, the priority weights include power consumption priority weights and load priority weights:

[0065]

[0066] in, For the The priority weight of each aircraft, is the aircraft ordinal number, , is the total number of aircraft, For the The power consumption priority weight of each aircraft, is the load parameter, For the The priority weight of the cargo carried by each aircraft.

[0067] Specifically, the calculation process of the power consumption priority weight includes:

[0068] S11: Calculate the power consumption of the aircraft:

[0069]

[0070] 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;

[0071] S12: Classify the aircraft according to their power consumption to obtain corresponding power consumption priority weights:

[0072]

[0073] in, is the corresponding function between power consumption and power consumption priority. Assume have p The higher the hovering power consumption of the aircraft, the higher the corresponding power consumption priority weight. As shown in Table 1:

[0074] Table 1 Power consumption priority weights

[0075]

[0076] Specifically, the calculation process of the load priority weight includes:

[0077]

[0078] in, is the function corresponding to the load and load priority weight, For the The manned priority of each aircraft, For the The priority of the aircraft's cargo. According to the value of the items or people loaded on the aircraft, they are classified. Assume have q class, for which the priority step is set toβ , which can be obtained as shown in Table 2:

[0079] Table 2 Cargo priority weights

[0080]

[0081] Specifically, the AIR approach procedure is divided into: the aircraft approaching the take-off and landing airport is divided into the initial approach phase, the intermediate approach phase and the final approach phase, and an intermediate transition ring is added to the initial approach phase for the aircraft to wait in this ring. Figure 2 As shown, Figure 2 Schematic diagram of the AIR approach procedure provided by the present invention. According to the eVTOL approach procedure, the eVTOL needs to move from the outer ring to the middle ring, then from the middle ring to the inner ring, and finally land on the vertical take-off and landing pad of the airport. The AIR approach procedure adds an intermediate transition ring between the outer ring and the middle ring. Its specific operating principle is that one eVTOL first enters the waiting point on the intermediate transition ring to wait, and then another eVTOL directly flies into the waiting point on the middle ring, thereby allowing the later eVTOL to overtake the earlier eVTOL.

[0082] Specifically, the establishment of the approach sorting model considering priority includes the following steps:

[0083] S10: Establish inflow constraints based on inflow data. The inflow constraints are:

[0084]

[0085]

[0086]

[0087]

[0088] in, The first The decision variables of an aircraft at the starting point and at time 0 are: The first Aircraft, in the Waiting point, 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 ticks, , 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.

[0089] The specific constraints are: the area where eVTOL does not enter the waiting ring is defined as point 0 in the model, and eVTOL should be based on the above assumptions. k eVTOLs should appear in the corresponding set D k Position, cannot appear in other directions; D k Is a direction, meaning k An eVTOL appears in the direction of the initial approach D k .

[0090] S20: Establish outflow constraint conditions based on outflow data. The outflow constraint conditions are:

[0091]

[0092]

[0093] in, The first The aircraft, at the landing point, The decision variables at time The first The aircraft, at the landing point, The decision variables at time For the The aircraft, at the landing point, The decision variables at time For time and The difference, The total landing time of the aircraft.

[0094] The specific constraints are: in all discrete times, the eVTOL should stay on the apron for only one unit of time, and two different eVTOLs should ensure that they are in the same place before landing. time interval.

[0095] S30: Establishing operation constraints according to the operation time allocation. The operation constraints are:

[0096]

[0097]

[0098] in, For waiting time, Waiting point and waiting points Is it connected? From the waiting point Fly to the holding point The time the aircraft spends.

[0099] The specific constraint is: among all nodes, it should appear at most one node in each time period, so as to avoid appearing at multiple nodes at one moment. Time, or according to the moving time matrix and the adjacency matrix Move to another waiting point.

[0100] S40: Calculate the minimum priority loss based on the inflow constraint, outflow constraint, and operation constraint. :

[0101]

[0102]

[0103] in, is the minimum function, is a constraint condition.

[0104] The aircraft landing order corresponding to the minimum priority loss is the approach sorting model considering priority. In the embodiment of the present invention, the Gurobi solver is used to process the model in Python programming language, so that it can be used to solve the approach sorting model considering priority.

[0105] In the embodiment of the present invention, a three-dimensional drawing software is used to determine the three-dimensional approach trajectory of the aircraft; and the approach sequence of the aircraft is obtained according to the three-dimensional approach trajectory of the aircraft.

[0106] The experimental results of the embodiment of the present invention are as follows Figure 3 As shown, Figure 3 This is a long line box diagram of the waiting time of the embodiment of the present invention. The specific data is shown in Table 3:

[0107] Table 3 Aircraft waiting time and power consumption

[0108]

[0109] The priority weighting method proposed in the present invention, combined with the constructed vertical take-off and landing airport approach process and sorting model, can enable eVTOLs to approach in order of priority, so that high-priority eVTOLs approach first, thereby reducing their waiting time and power consumption.

[0110] Through mathematical analysis of the constructed model, it was found that in the vertical take-off and landing airport approach procedure under the AIR approach procedure, the second-highest priority and high-priority eVTOLs can reduce the waiting time by an average of 115.1 seconds compared with the low-priority and medium-priority eVTOLs, while also reducing the average power consumption by 2446.5 kW.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

[0112] 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 portion can be implemented using dedicated logic; the software portion can be stored in a memory and executed by an appropriate instruction execution system such as a microprocessor or dedicated hardware. Those skilled in the art will understand that the above-mentioned devices and methods can be implemented using computer-executable instructions and / or contained 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.

[0113] In addition, although the operations of the method of the present disclosure are described in a particular order in the accompanying drawings, this does not require or imply that these operations must be performed in this particular order, or that all the operations shown must be performed to achieve the desired result. On the contrary, the steps depicted in the flow chart can change the order of execution. Additionally or alternatively, certain steps can be omitted, multiple steps can be combined into one step, and / or one step can be decomposed into multiple steps. 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 a device described above can be further divided into being embodied by multiple devices.

[0114] 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 is intended 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 aircraft's power consumption and the type of cargo it carries; S2: Based on the AIR approach procedures, a priority-based approach sequencing model is constructed; S3: Obtaining a three-dimensional approach trajectory of the aircraft based on the priority weights and an approach sorting model that takes priority into account; and obtaining an approach order of the aircraft based on the three-dimensional approach trajectory of the aircraft. Establishing the approach sorting model that takes priority into account includes the following steps: S10: Establish inflow constraints based on inflow data. The inflow constraints are: in, The first The decision variables of an aircraft at the starting point and at time 0 are: The first Aircraft, in the Waiting point, 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 ticks, , For the The corresponding point set where the aircraft should appear, is the aircraft ordinal number, , is the total number of aircraft, 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; S20: establishing outflow constraints based on outflow data; S30: Establishing operation constraints according to the operation time allocation; S40: Based on the inflow constraint condition, the outflow constraint condition, and the operation constraint condition, a priority-based approach sorting model is obtained. The process of solving the priority-based approach sorting model is as follows: S100: Calculate minimum priority loss : in, For the The priority weight of each aircraft, 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.

2. The priority-based approach sorting method according to claim 1, characterized in that: The priority weights include power consumption priority weights and load priority weights: in, For the The power consumption priority weight of each aircraft, is the load parameter, For the The priority weight of the cargo carried by 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 aircraft according to their power consumption 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 manned 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 5, characterized in that: The outflow constraint conditions are: in, The first The aircraft, at the landing point, The decision variables at time The first The aircraft, at the landing point, The decision variables at time For the The aircraft, at the landing point, The decision variables at time For time and The difference, The total landing time of the aircraft.

7. The priority-based approach sorting method according to claim 6, characterized in that: The operating constraints are: in, For waiting time, Waiting point and waiting points Is it connected? From the waiting point Fly to the holding point The time the aircraft spends.

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