Aviation control method based on four-dimensional space model

Abstract

The invention discloses an air traffic control method based on a four-dimensional space model, and the method comprises the steps: dividing the peripheral space of the earth through employing equal longitude difference, equal latitude difference, equal height difference and equal time difference on the basis of fully considering the performance of an aircraft and control regulations, constructing a space resource four-dimensional model and a corresponding four-dimensional data structure, setting four-dimensional data attribute bytes, and carrying out the calculation of the four-dimensional data attribute bytes. Flight path planning based on the model is realized by using a computer; the global and efficient air traffic control is realized, the airspace flow is improved, the problems of high manual deployment difficulty, low time efficiency and high safety risk of air route flight command are solved, and theoretical and technical support is provided for air traffic control automation.

Description

Technical Field

[0001] The present invention belongs to the technical field of aviation control methods, and relates to an aviation control method based on a four-dimensional space model. Background Art

[0002] The application of existing advanced communication, navigation and surveillance technologies, especially satellite navigation technology in aircraft and air traffic control, has enabled aircraft to arrive at their flight locations on time and controllers to grasp the accuracy of aircraft flight positions far beyond the requirements of air traffic control. This has laid the foundation for the realization of refined track-based air traffic control management.

[0003] Advanced airborne navigation equipment and its computing power enable aircraft to fly along any desired track within the coverage of navigation signals (RNAV capability), so that the flight path (route) can be planned arbitrarily as needed.

[0004] Existing flight control methods have two significant shortcomings: First, most flight routes involve crossing regions, and the existing regional management model struggles to coordinate multi-regional flight operations throughout the entire flight process. Second, limited manual coordination capabilities result in low airspace capacity and poor timeliness for conflict resolution, making it difficult to plan the large-scale, high-intensity, and sustained flight missions required in the future.

[0005] Equal longitude and latitude differences are used to divide the Earth's periphery, construct air routes, and manage aircraft flight activities. This has been studied and applied both at home and abroad. Summary of the Invention

[0006] The purpose of the present invention is to provide an aviation control method based on a four-dimensional space model, which solves the problems of great difficulty, low timeliness and high safety risk in manual allocation of route flight command.

[0007] The technical solution adopted by the present invention is an air traffic control method based on a four-dimensional space model. The specific operation is as follows: the outer space of the earth is segmented using equal longitude differences, equal latitude differences, equal altitude differences, and equal time differences, a four-dimensional space resource model and a corresponding four-dimensional data structure are constructed, and four-dimensional data attribute bytes are set; and flight paths are planned based on the four-dimensional space resource model. The specific operation steps are as follows: Step 1: Based on the geographic coordinate system, the Earth's surface is divided at the geographic center position P0 using equal longitude and latitude differences to construct a two-dimensional model. This two-dimensional model is used to describe the aircraft's two-dimensional flight path. Intersection points represent route checkpoints or intersection points. Lines connecting points to adjacent points describe flight segments. Multiple edges form the flight path. Step 2: Based on step 1, determine the most commonly used height H0 and construct a three-dimensional spatial grid model; based on the three-dimensional spatial grid model, construct a four-dimensional spatial model as follows: Construct a time axis at the intersection of the three-dimensional grid, divide the time into equal time differences ΔT, and construct a fourth-dimensional time queue. Each time queue member represents a data of the four-dimensional space model. Step 3: Construct a plane coordinate system and name the grid intersections; generate a spatial four-dimensional data source, clarify the properties of the spatial four-dimensional data source, and determine the flight direction on the grid as well as the ascent rate, descent rate, ascent height, and descent height during the ascent and descent phases; Step 4: Path planning based on the four-dimensional space model: Based on the basic elements of the flight application, starting from the route starting point, determine whether there is a conflict at the grid intersection point. Referencing the compass value, determine the route starting time, each passing point time, passing point altitude, and route flight altitude of the flight plan to form a conflict-free flight plan. The flight application is the basis for route planning and includes the following elements: application unit, priority level, route starting point, estimated route starting time, starting altitude, route altitude, route end point, and route end point altitude; The geographic center position P0 in step 1 uses 28 degrees north latitude and 104 degrees east longitude as the center point of modeling; the most commonly used height H0 = 7200 meters.

[0008] The method of constructing the four-dimensional space model in step 2 is as follows: Step 2.1: Use the speed regression algorithm to obtain the average flight speed of the aircraft ;

[0009] Where, is the usage percentage of the corresponding type of aircraft, ; is the average flight speed of the corresponding type of aircraft; Step 2.2: Based on the average flight speed of the aircraft Determine the standard mesh edge length Where, Δ T For the time interval, select 2min; Step 2.3: Determine the latitude change when dividing the grid

[0010] For height h The outer space of the earth at any point a is considered to have a sphere with the center o coincident with the center of the earth and a radius of The surface space of the sphere, R is the radius of the Earth; The meridian where point a is located is a semicircular arc connecting the North and South Poles. The circumference of the circle corresponding to this semicircular arc is:

[0011] When the spatial resources are gridded, the spherical range corresponding to each grid is very small, and the sphere can be approximately regarded as a plane, so the following formula is obtained:

[0012] Right now:

[0013] Where, is the latitude change value, the unit is radian rad; Step 2.3: Determine the longitude change when dividing the grid

[0014] The height of any point a is h The space at the latitude is considered as a sphere with the center at o' and the radius at the latitude. r , then:

[0015] Where, is latitude; Similarly, the sphere is approximately regarded as a plane, and for the horizontal edge S of the grid 纬 There is the following mathematical relationship:

[0016] Right now:

[0017] Where, is the longitude change value, the unit is radian rad; Step 2.4: Adjust the speed of other grids Based on the principle of equal longitude difference, according to the radius of the latitude circle r Hejingcha , get the horizontal length of the grid in different latitudes; For latitude The area where the Earth's outer height is h The horizontal edge of the grid at s' 纬 It is derived from the following formula:

[0018] but:

[0019] Where, The latitude is The radius of the latitude circle at ; Aircraft operating speed for: ; The same latitude grid S 纬 , the length will change at different heights, and the height increases by S 纬Growth, height reduction S 纬 shortened, in height Corresponding running speed for:

[0020] Same meridian grid , the length will also change at different heights, and the height increases Growth, height reduction shortened; the plane where the meridian is located must pass through the South Pole, the North Pole and the center of the earth. The meridian circumference at altitude is:

[0021] So at height The corresponding mesh edge length for:

[0022]

[0023] Adjust running speed for: .

[0024] Step 3 is as follows: Step 3.1: Construct a two-dimensional plane coordinate system, determine the number of longitudes and latitudes, the number of altitude layers, the time period, and the number of times; generate spatial four-dimensional data; Step 3.2: Determine the path planning guidelines; Step 3.3: Determine the properties of the spatial four-dimensional data source; Step 3.4: Determine the flight direction on the grid and the rate of ascent, rate of descent, ascent altitude, and descent altitude for the ascent and descent phases.

[0025] Step 3.1 is as follows: Step 3.1.1: Construct a 2D plane coordinate system With point O as the coordinate circle, the east direction is the direction of longitude change, defined as the x-axis; the south direction is the direction of latitude change, defined as the y-axis, and the height is the Z-axis of space connected by the line between the center of the earth and the intersection of the grid; point O is 73 degrees east longitude and 53 degrees north latitude; Step 3.1.2: Determine the number of longitude and latitude lines From longitude x0 to x n , using equal meridian difference Divide into n equal parts; number of warps ; From latitude y0 to latitude y m , using equal latitude differences Divided m Number of wefts ; Among them, [] means rounding; Step 3.1.3: Determine the number of levels The altitude layers are divided into two sections: 600m to 8400m, with a height difference of 300m as one altitude layer, for a total of 27 altitude layers; 8900m to 12500m, with a height difference of 300m as one altitude layer, for a total of 13 altitude layers; the two sections have a total of 40 altitude layers; For different altitudes express, ; Step 3.1.4: Determine the time period and number of times Take 24 hours as a time period T, the time interval For 2 minutes, the number of available times There are 720: , ; Step 3.1.5: Generate spatial 4D data Add height division to the two-dimensional plane coordinate system to form a three-dimensional model within the management scope, and then establish a time axis at the intersection of the grid. The time interval is divided to form a four-dimensional grid; The four-dimensional data set is represented as:

[0026] in, 、 、 、 Represents longitude, latitude, altitude and time respectively.

[0027] Step 3.2 is as follows: Define the two components of a compass in a two-dimensional plane coordinate system and , respectively pointing to the end point of the route at Axis and Direction on the axis, the compass uses the longitude of the start and end points Subscript and latitude Subscript to confirm; The compass needle in the direction of longitude change is defined as:

[0028] in, 、 are any two intersection points in the two-dimensional grid in the direction of longitude change; The compass needle in the direction of latitude change is defined as:

[0029] in, 、 are any two intersection points in the two-dimensional grid in the direction of latitude change; When the difference between the longitude subscripts of the end point and the starting point is a positive number, it means that the end point is on the right side of the starting point. The direction of the axis is consistent; if the difference between the subscripts is negative, it means that the end point is on the left side of the starting point, which is the same as The axes are in opposite directions; Similarly, if the difference between the latitude subscripts of the end point and the starting point is a positive number, it indicates that the end point is below the starting point and in the same direction as the y-axis; if the difference between the latitude subscripts is a negative number, it indicates that the end point is above the starting point and in the opposite direction of the y-axis. When the compass and Value , it means the starting point and end point of the route are the same or the route planning has reached the end point.

[0030] Step 3.3 is as follows: Three attribute bytes are added to each four-dimensional data to describe whether the data is available. The three attribute bytes are 、 and ; Attribute Bytes Describes whether the four-dimensional data is available. It consists of a three-digit binary number with values ​​of 000, 001, 010, 011, 100, 101, 110, and 111, for a total of 8 values. Attribute Bytes It is used to describe who is using the four-dimensional data, that is, which unit and which flight plan occupies it. Therefore, only when the data is determined as a passing point of a flight path during path planning, The value of is changed from 000 to 001, and the flight unit and flight plan number are assigned to ; Attribute Bytes Describes the priority level of the four-dimensional data user, consisting of a three-digit binary number, whose values ​​are: 000, 001, 010, 011, 100, 101, 110 and 111, a total of 8, with the lowest priority number being 000 and the highest being 111, and the priority numbers gradually increase from small to large; The four-dimensional data plus three byte attributes are seven-dimensional data. Its structure is represented by a structure point. The structure members include: longitude, latitude, altitude, time, attribute bytes , attribute bytes and attribute bytes It consists of seven items; it can be represented as an array: .

[0031] Step 3.4 is as follows: The flight direction is: even-numbered southeast, odd-numbered northwest, that is, the sides with even-numbered intersections fly east and south; the sides with odd-numbered intersections fly west and north; The intersections in the center of the grid are connected by four edges. The edge going out of the intersection is called the out-degree, and the edge coming into the intersection is called the in-degree of the intersection. At each grid intersection, an aircraft can only enter the point along the in-degree and leave the point along the out-degree. When flying along the grid edges, it can gain or lose altitude. The flight process of an aircraft route is divided into three phases: the ascending phase, the level flight phase and the descending phase. The optimal climb rate is used when planning the flight path. and the optimal descent rate ; A two-dimensional grid is used to describe the trajectory of an aircraft flying along the edge of the two-dimensional grid. The starting point of the route refers to the starting point of the route flight, and the flight altitude of this point is called the route starting altitude. ; The aircraft reaches an intersection point of the two-dimensional grid during the continuous ascent phase Flight distance An integer multiple of the length of the grid horizontal line , flight time It also happens to be the flight interval standard Integer multiples , so we have:

[0032] The flight altitude of the point is:

[0033] The aircraft arrives during the descent phase The height at point is: ; Where, is an intersection point where the aircraft reaches the 2D grid The flight distance, is the distance the aircraft flies from its starting point to its descent point; is the flight altitude in level flight; is the average flight speed of the aircraft.

[0034] Step 4 is as follows: Step 4.1: Input all flight applications and sort them from high to low according to their priority. Applications with the same priority will be sorted on a first-come, first-served basis, forming a queue with the highest priority down. Step 4.2: Determine whether the flight application queue is zero. If so, the allocation is completed and the flight plan list is output; Step 4.3: Take a flight application from the head of the flight application queue and delete it from the queue. The position of the subsequent flight application moves forward one position. Step 4.4: Determine the route's starting time; check whether the route's starting time member is empty. If so, there is no available starting time, the flight is dispatched, the flight application is canceled, and the process returns to step 4.2.

[0035] Step 4.5: If the route starting time member is not empty, take the first moment as the starting time, delete the member in the starting time member queue, and move the subsequent member position forward one; Step 4.6: Define a flight plan number using the application number of the application , j is the application number; Step 4.7: Determine the four-dimensional data of point P ; Determine the four-dimensional data based on the longitude, latitude, altitude and arrival time of point P; Step 4.8: Check the 4D data attribute bytes If the value of If the value is 001, it means that the 4D data is occupied by other flight plans. If this point is the starting point of the route, return to step 4.5 to reselect the starting time. If the attribute byte If the value is 000, the point is considered a point on the route and added to the flight plan. and modify the four-dimensional data The value is 001, and the numbers corresponding to the unit name and flight plan name are assigned to , the priority number of the application is assigned to ; Step 4.9: Determine whether the two-dimensional point is the end point of the route, that is, whether it satisfies If yes, the flight application is planned and the flight plan is output. ; If it is not the end point of the route, go to step 4.11.

[0036] Step 4.10: If If it is equal to one of the following four values: 010, 011, 100, and 101, it means that the node is unavailable. Cancel the flight application and return to step 4.2. Step 4.11: Follow the compass prompts, and If there is no available out-degree, proceed to step 4.13. If there is an available out-degree, select an edge from the out-degree of the point, find the next two-dimensional intersection, add 2 minutes to the arrival time, and calculate the flight altitude at that point 2 minutes later based on the altitude, ascent rate, or descent rate of the previous point. If the altitude is exactly at an altitude layer, a new four-dimensional data is constructed based on this, and return to step 4.8. If the height of the point is not the same altitude layer, it is considered that the point occupies two adjacent altitude layers at the same time, which constitutes two four-dimensional data. Check the two four-dimensional data separately. Value; if there is a If the value is not 000, the 2D point is unavailable. Go back to the previous 2D intersection point and return to step 4.9. Select another out-degree edge to find the next 2D point. Step 4.12: If two four-dimensional data If the values ​​are both 000, the two 4D data are paralleled into a route passing point and added to the flight plan If it is not the end point of the route, go to step 4.11; Step 4.13: If there is no outgoing edge, determine whether it is the route starting point. If so, cancel the application and return to step 4.3 to get the next application. If it is not the route starting point, return to the previous node and return to step 4.10. Step 4.14: Output a set of usable, conflict-free flight plans.

[0037] The beneficial effect of the present invention is that, by taking the performance of the management object (aircraft) and the control regulations (separation standards) as conditions, the present invention uses equal longitude differences, equal latitude differences, equal altitude differences and equal time differences to divide the outer space of the earth, constructs a four-dimensional conflict-free model of space resources, and plans the flight path based on this model, thereby realizing global and efficient aviation control, ensuring flight safety, improving airspace traffic, solving the problems of difficult manual allocation of route flight command, low timeliness and high safety risks, and providing theoretical and technical support for aviation control automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the structure of the geographic coordinate system of the present invention; Figure 2 It is a schematic diagram of the three-dimensional model structure of the present invention; Figure 3 This is the flight speed fitting diagram at flight altitude H=1800 meters; Figure 4 This is the flight speed fitting diagram at flight altitude H=4200 meters; Figure 5 This is the flight speed fitting diagram at flight altitude H=7200 meters; Figure 6 This is the flight speed fitting diagram at flight altitude H=9200 meters; Figure 7 This is a schematic diagram of the equal longitude and latitude difference subdivision of the present invention; Figure 8 It is the three-dimensional grid decomposition diagram of the present invention; Figure 9 Schematic diagram of the weft radius of the present invention; Figure 10 It is a schematic diagram of the research area of ​​the present invention; Figure 11 is the two-dimensional plane coordinate system of the present invention; Figure 12 It is a three-dimensional model of the management scope of the present invention; Figure 13 This is a schematic diagram of the grid flight direction of the present invention; Figure 14 It is a schematic diagram of three stages of route flight of the present invention. DETAILED DESCRIPTION

[0039] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] Example 1 Step 1: Determine the center point P0 and the most commonly used height H0 for segmentation modeling The same operating speed and spacing standards, but different latitudes and altitudes, will result in different constructed spatial grid models. The model established in this patent is primarily used for my country's air traffic control, requiring the determination of the modeling center point P0 and the most commonly used altitude H0.

[0041] Determine the center point P0 of the model: China's southernmost latitude is about 3 degrees, the northernmost latitude is about 53 degrees, the easternmost longitude is about 135 degrees, and the westernmost longitude is about 73 degrees, so 28 degrees north latitude and 104 degrees east longitude are selected as the center point of the segmentation modeling.

[0042] Determine the most commonly used height H0 for modeling: from Figure 2 As you can see, as altitude increases (away from the Earth's center), the mesh side length gradually increases; as altitude decreases, the mesh side length gradually decreases. Therefore, before building a model, you should first determine the most commonly used height for segmentation and modeling, H0, so that the constructed 3D model is most commonly used at this height.

[0043] At altitudes above the most commonly used altitude, the grid length gradually becomes longer as the altitude increases. It is necessary to increase the aircraft speed on the grid side to make the flight time of each side consistent with the interval standard. The same. At altitudes below the most commonly used altitude, the grid length gradually shortens as altitude decreases, requiring aircraft speeds to be reduced to maintain the same flight time and separation standards on each side. Coincidentally, as an aircraft increases in flight, air density decreases, reducing drag, and the same throttle opening speed increases; the opposite occurs as altitude decreases.

[0044] The most commonly used altitude, H0, is related to the controlled object. Low-altitude drones fly below 1,000 meters, helicopters below 3,000 meters, and civil aircraft typically fly between 600 and 12,500 meters. This patent uses civil aviation control as an example and selects the 7,200-meter altitude layer as the most commonly used altitude to construct the grid model.

[0045] Step 2: Determine the standard flight speed of the aircraft at the edge of the grid By obtaining a large amount of historical radar data of aircraft in the control area, the speed regression algorithm is used to obtain the average flight speed (as shown in Table 2), and then the closest speed is selected from Table 3 to determine the standard flight speed on the grid edge.

[0046] This invention explores technical ideas and verifies the feasibility of technical solutions. To this end, "FlightVariance" was selected as the source of flight data to fit the average flight speed, and subsequent research was carried out on this basis.

[0047] VariFlight's data includes information such as time, longitude and latitude, altitude, and speed. Each set of data is the historical data of a single aircraft flying from its departure airport to its destination airport along its route, meeting our flight data requirements.

[0048] The table below provides some of the flight data for flight CA1202 from Xi'an Xianyang International Airport to Beijing Daxing International Airport on May 18, 2024.

[0049] Table 1 Some actual flight data of VariFlight

[0050] Flight speed fitting analysis: Once we have the actual flight data for these flights, we can perform a fitting analysis of the flight speeds at different altitudes. To do this, we use Matlab programming to organize the flight speed data and fit a normal distribution based on the altitude information. This yields the mean μ and standard deviation σ of the flight speeds at different altitudes, as shown in the table below.

[0051] Table 2 Average flight speed at different altitudes

[0052] like Figures 3 to 6 The flight velocity images at some altitudes obtained by fitting the actual flight data are given.

[0053] Table 3 shows the corresponding relationship between the standard flight speed V from 30 km / h to 1200 km / h and the 2-minute flight distance.

[0054] Table 3 Correspondence between standard flight speed V and 2-minute flight distance

[0055] In Table 2, the fitted speed at an altitude of 7200 meters is 833.47 km / h. From Table 3, 840 km / h is the closest to it, so 840 km / h is selected as the standard flight speed for grid division, and the corresponding standard grid side length is 28 kilometers.

[0056] Step 3: Select the interval standard Currently, under radar control, civil aviation maintains a 20-kilometer longitudinal separation between aircraft on airways. As long as the separation between the preceding and following aircraft is greater than or equal to 20 kilometers, longitudinal safety separation is considered established. Given the previously selected standard flight speed of 840 km / h and a 2-minute flight distance of 28 kilometers, which is greater than 20 kilometers, the present invention uses a time interval ΔT of 2 minutes, which meets existing separation standards.

[0057] Example 2 Based on Example 1, step 4: determine the grid side length according to the spacing standard As shown in Table 3, if the aircraft's cruising speed is 900 km / h, the 2-minute flight distance is 30 km; if the cruising speed is 600 km / h, the 2-minute flight distance is 20 km. The same method can also be used to determine the 2-minute grid lengths corresponding to different speeds.

[0058] Determined running speed , time interval Then, the grid side length can be obtained and for:

[0059] The present invention takes 28 degrees north latitude and 104 degrees east longitude as the center point of the segmentation modeling, the commonly used altitude layer h is 7200 meters, the operating speed is 840 kilometers per hour, and the interval standard is 2 minutes. The grid side length is:

[0060] Example 3 Based on Example 2, Step 5: Determine the latitude change value when dividing the grid

[0061] When calculating the values, the aircraft flight speed and time interval standard are used as modeling elements to determine the grid edge length so that the aircraft flight time on each grid edge is consistent with the time interval standard, and then the values ​​of equal longitude and latitude differences are calculated; Equal latitudes are the use of the same latitude change value to determine the latitude of the grid, such as Figure 7 As shown, the latitudes are determined by equal latitude differences.

[0062] Before segmentation, we must first determine the center point and center height of the segmentation. The center point and the most commonly used height have been determined in the first step. Figure 8 As shown, point a is the center point (point a is the center point of the three-dimensional model, that is, the superposition of the two-dimensional center point p0 and the most commonly used height H0), its latitude is 28 degrees north, longitude is 104 degrees east, and the altitude is 7200 meters.

[0063] like Figure 8 As shown, for height h The outer space of the earth at point a can be regarded as a sphere with the center o coincident with the center of the earth and a radius of (R is the radius of the Earth) The surface space of a sphere.

[0064] The meridian where point a is located in the figure is a semicircular arc connecting the North and South Poles. The circumference of the circle corresponding to this meridian is:

[0065] When meshing spatial resources, the sphere corresponding to each grid is very small, and the sphere can be approximately regarded as a plane. Therefore, the following formula is used:

[0066] Right now:

[0067] Where, is the latitude change value (hereinafter referred to as latitude difference), the unit is radian (rad).

[0068] The radius of the earth R is equal to 6371 kilometers, and the commonly used altitude h is equal to 7200 meters. is equal to 28 kilometers, then :

[0069] 1 radian is equal to 57.2958 degrees. Step 6: Determine the longitude change when dividing the grid

[0070] like Figure 9As shown, the height of point a h The space at can be regarded as a sphere with the center at the center o' of the latitude circle and the radius r of the latitude circle. The radius of the earth is R, then:

[0071] Similarly, the sphere can be approximated as a plane. 纬 There is the following mathematical relationship:

[0072] Right now:

[0073] Where, is the change in longitude (hereinafter referred to as longitude difference), the unit is radian (rad).

[0074] North latitude y is equal to 28 degrees, cos28 is approximately equal to 0.8829, the radius of the earth R is equal to 6371 kilometers, and the commonly used altitude layer h is equal to 7200 meters, is equal to 28 kilometers, then :

[0075] Step 7: Adjust the speed of other meshes 1. Speed ​​adjustment corresponding to latitude change: from Figure 7 As can be seen in the figure, using equal meridians at the same altitude divides the parallels into segments of varying lengths, with the longest lengths at the equator and gradually decreasing toward the North and South Poles, indicating an uneven grid. From the model's center point, the grid parallels gradually lengthen toward lower latitudes. This requires increasing the aircraft's flight speed from the original standard speed of 840 km / h to ensure that the flight time along the lengthening parallels remains consistent with the standard separation ΔT. The opposite is true toward higher latitudes, where the grid parallels shorten, requiring an appropriate reduction in aircraft speed.

[0076] For other latitudes, based on the principle of equal longitude difference, the latitude radius r and longitude difference , and get the horizontal length of the grid in different latitudes.

[0077] For latitude The area where the Earth's outer height is h The horizontal edge of the grid at s' 纬 It is derived from the following formula:

[0078] but:

[0079] Running speed for:

[0080] 2. Speed ​​adjustment corresponding to altitude change: Figure 2 It can be seen that the same latitude grid S 纬 , the length will change at different heights, and the height will increase by S 纬 Growth, height reduction S 纬 shortened, in height Corresponding running speed for:

[0081] Same meridian grid , the length will also change at different heights, and the height will increase Growth, height reduction The plane of the meridian must pass through the South Pole, the North Pole and the center of the earth. The meridian circumference at altitude is:

[0082] So at height The corresponding mesh edge length for:

[0083]

[0084] Adjusted running speed for:

[0085] Step 8: Determine the height difference The flight altitude layer division in the control regulations is: from the standard pressure altitude of 600 meters to 8400 meters, every 300 meters is an altitude layer, 8400 meters to 8900 meters is a special altitude layer of 500 meters, and from 8900 meters to 12500 meters, every 300 meters is an altitude layer.

[0086] The altitude range studied in the present invention is from 600 meters to 12,500 meters, which is divided into two sections: 600 meters to 8,400 meters, with a height difference of 300 meters as one altitude layer; and 8,900 meters to 12,500 meters, with a height difference of 300 meters as one altitude layer.

[0087] Example 4 Based on Example 3, Step 9: Construct a plane coordinate system like Figure 10 As shown, the control area enclosed by oacb includes the territory of my country. The longitude corresponding to the ob side is x0, and the longitude corresponding to the ac side is x n; The latitude corresponding to the oa side is y0, and the latitude corresponding to the bc side is y m ; This area is a sphere and the grid lines are arcs. Since the research scope is still very small compared with the earth, the sphere is regarded as a plane and the arcs are regarded as straight lines.

[0088] With 0 (zero) as the coordinate point (73 degrees east longitude, 53 degrees north latitude), the east is the direction of longitude change (oa side), defined as the x-axis; the south is the direction of latitude change (ob side), defined as the y-axis, and the height is the Z-axis connecting the center of the earth and the intersection of the grid and pointing to the space. For the airspace jurisdiction area of ​​my country, the westernmost x0 is 73 degrees east longitude, and the northernmost y0 is 53 degrees north latitude. At the 7200-meter altitude layer, the area surrounded by oacb is divided using equal longitude and latitude differences to form a plane coordinate system such as Figure 11 shown.

[0089] Step 10: Naming Grid Intersections 1. Determine the number of warps Figure 11 Represents a certain altitude layer grid model, from longitude x0 to x n , using equal meridian difference Divide into n equal parts, its value is as follows:

[0090] 2. Determine the number of latitudes From latitude y0 to latitude y m , using equal latitude differences Divided into m parts, its value is as follows: ; In the formula, [] indicates rounding.

[0091] 3. Determine the number of altitude layers The altitude levels are divided into two sections: 600m to 8400m, with each level having a height difference of 300m, for a total of 27 levels; and 8900m to 12500m, with each level having a height difference of 300m, for a total of 13 levels. The two sections have a total of 40 levels.

[0092]

[0093] 4. Determine the time period and time number The longer the period, the larger the amount of data. When making a flight plan, the period can be appropriately extended or shortened as needed. The present invention preferably uses 24 hours as a time period T.

[0094] From 0 o'clock to 24 o'clock, the time interval If the time is 2 minutes, there are 720 available times:

[0095] (indivual) Figure 11 The coordinate system plus the height division can form a three-dimensional model within the management range, such as Figure 12 shown.

[0096] Create a time axis at the intersection of the grid and use The time interval is divided into four-dimensional grids, and the constructed four-dimensional data set is expressed as:

[0097] Example 5 Based on Example 4, Step 11: Generate spatial 4D data The four-dimensional spatial model constructed using the above method is constructed according to certain rules. Through the four-layer loop in computer language, each data can be assigned a value. The value ranges of the four loop bodies are: Longitude range: 73 degrees to 135 degrees east longitude, longitude difference (radian).

[0098] Latitude range: 53 degrees north latitude to 3 degrees north latitude, latitude difference (radian).

[0099] Altitude range: standard pressure altitude 600m to 8400m, 8900m to 12500m, altitude difference 300 meters.

[0100] Time range: 24 hours as a time period, from 0:00 to 24:00, time interval For 2 minutes.

[0101] Step 12: Determine the Compass for Path Planning In step 9, a plane coordinate system is established for the two-dimensional intersection in the management airspace. In step 10, the four-dimensional data is named. The longitude of the first two dimensions in the four-dimensional data set expression is and latitude Represents the coordinates of a two-dimensional point.

[0102] Path planning in a two-dimensional model based on longitude and latitude is a process of starting from the route starting point (referred to as the starting point) and finding the route end point according to certain rules. In this search process, there is a compass pointing to the direction of the route end point (such as Figure 11 In a plane coordinate system, the two components of the compass can be defined and , respectively pointing to the end point of the route at Axis and The direction on the axis. A compass can use the longitude of the starting and ending points Subscript and latitude Subscript to confirm.

[0103] In the direction of longitude change ( Axis) is defined as:

[0104] In the direction of latitude change ( Axis) is defined as:

[0105] When the difference between the longitude subscripts of the end point and the starting point is a positive number, it means that the end point is on the right side of the starting point (the same as Axis direction), if the difference in subscripts is negative, it means the end point is to the left of the starting point (same as Similarly, if the difference between the latitude subscripts of the end point and the starting point is positive, it means the end point is below the starting point (in the same direction as the y-axis). If the difference between the latitude subscripts of the end point and the starting point is negative, it means the end point is above the starting point (in the opposite direction of the y-axis).

[0106] When the compass and The value of , it means that the starting point and end point of the route are the same, or the route planning has reached the end point.

[0107] like Figure 11 As shown, if the route origin for:

[0108] but: ,

[0109] Route end for:

[0110] but: ,

[0111] By the following formula: ;

[0112] Knowing that the destination is to the lower right of the starting point, the longitude increases by 2 grids and the latitude increases by 3 grids. The compass indicates the direction of the destination, which can be used to determine the preferred direction for finding the destination when planning the route later.

[0113] Step 13: Determine the properties of the spatial 4D data source Three attribute bytes are added to each four-dimensional data structure to describe whether the data is available, who is using it, and the priority level of the user. The three attribute bytes are 、 and .

[0114] (1) Attribute byte

[0115] This attribute byte describes whether the four-dimensional data is available. It consists of a three-digit binary number with values ​​of 000, 001, 010, 011, 100, 101, 110, and 111. There are 23=8 values ​​in total, as defined in Table 4.

[0116] Table 4 Attribute Bytes

[0117]

[0118] Four-dimensional data source attributes The default value is 000, indicating that the four-dimensional data (moment queue member) is idle and can be used; 001 indicates that the four-dimensional data is occupied. For unusable four-dimensional data, the last six attributes (except 000 and 001) are manually set later to determine the reason why the point is unusable. These points will be avoided during path planning.

[0119] (2) Attribute byte

[0120] The attribute byte is used to describe who is using the four-dimensional data (time queue members), that is, which unit and which flight plan occupies it. Therefore, only when the data is determined as a passing point of a flight path during path planning, The value of is changed from 000 to 001, and the flight unit and flight plan number are assigned to .

[0121] The byte length is a 16-bit binary number. The first 8 bits are the unit number and the last 8 bits are the flight plan number. The units together form the flight plan number. Their definitions are shown in Table 5.

[0122] Table 5 Attribute Bytes

[0123]

[0124] (3) Attribute byte

[0125] This attribute byte describes the priority level of the 4D data user. It consists of a three-digit binary number with values ​​of 000, 001, 010, 011, 100, 101, 110, and 111, for a total of 2³ = 8. The lowest priority level is 000, the highest is 111, and the priority levels increase gradually from small to large. The definition is shown in Table 6.

[0126] Table 6 Attribute Byte

[0127]

[0128] Four-dimensional data plus three byte attributes can be understood as seven-dimensional data. Its structure can be represented by a structure Struct point. The structure members include: longitude, latitude, altitude, time, attributes 、 and Consists of seven items.

[0129] Represented as an array: ; Step 14: Determine the Direction of Flight on the Grid When planning the flight path, it is stipulated that the aircraft can only fly along the edges of the two-dimensional grid and can ascend or descend. In order to prevent two aircraft from flying head-on on the same grid line, the present invention stipulates that the flight direction is "double southeast, single northwest", that is, the edges with even numbers (such as Figure 13 As shown, on the edges with odd numbers (0, 2, 4, 6...), you can fly eastward (east-west edge) and southward (north-south edge); on the edges with odd numbers (1, 3, 5...), you can fly westward (east-west edge) and northward (north-south edge).

[0130] Figure 13 The vertices and edges in the grid form a directed graph, where each edge is unidirectional. Points o, a, b, and c are connected by two edges. The other points along the four edges oa, ob, ac, and bc are connected by three edges. The intersections in the center of the grid are connected by four edges. The edges leaving an intersection are called the out-degree, and the edges entering the intersection are called the in-degree. At each grid intersection, an aircraft can only enter the point along the in-degree and leave it along the out-degree. When flying along a grid edge, an aircraft can either gain or lose altitude.

[0131] Step 15: Determine the rate of ascent, rate of descent, ascent altitude, and descent altitude 1. Determine the rate of ascent and descent The flight process of an aircraft route is divided into three stages: the ascending stage, the level flight stage and the descending stage. Figure 14As shown in Figure 1, during the level flight phase, the aircraft maintains a specific altitude and passes through each two-dimensional intersection point. During the ascent phase and descent phase, the climb rate and descent rate are determined respectively to calculate the altitude at which the two-dimensional intersection point is reached.

[0132] There are three types of climb and descent rates for various types of aircraft: maximum, minimum and optimal. The aircraft with the optimal climb and descent rates saves the most fuel. The present invention uses the optimal climb rate when planning the flight path. and the optimal descent rate .

[0133] During the ascent phase, the aircraft uses the optimal climb rate When an aircraft reaches the next two-dimensional intersection, its altitude is often not at a specific level. In this case, it can be considered to occupy two adjacent levels. For example, if an aircraft is at an altitude of 3700 meters when it reaches a two-dimensional intersection, it can be considered to occupy the 3600 and 3900 levels. Other aircraft flying at altitudes less than or equal to 3300 meters or greater than or equal to 4200 meters do not conflict with this aircraft at any altitude.

[0134] Similarly, during the descent phase, the aircraft uses the optimal descent rate When reaching the next two-dimensional intersection, its altitude is often not a specific altitude layer, and it can be considered to occupy two adjacent altitude layers.

[0135] 2. Determine the ascent and descent heights The grid model studied in this invention is used to describe the trajectory of an aircraft flying along the edge of a two-dimensional grid. The starting point of the route refers to the starting point of the route flight (not the take-off airport). This point has a certain flight altitude called the route starting altitude. .

[0136] like Figure 14 As shown, the aircraft reaches When the point (an intersection of the two-dimensional grid) is An integer multiple of the length of the grid horizontal line , flight time It also happens to be the flight interval standard Integer multiple of (flight time of one grid edge) , so we have:

[0137] The flight altitude of the point is:

[0138] like Figure 14 As shown, the aircraft reaches The height at point is:

[0139] Example 6 Based on Example 5, step 16: model-based path planning Path planning is to concretize each element in the flight application. That is, based on the basic elements of the flight application, starting from the route starting point, determine whether there is a conflict when reaching the grid intersection, and refer to the compass value to determine the route starting time, each passing point (grid intersection) time, passing point altitude, route flight altitude, etc. of the flight plan, to form an executable conflict-free flight plan.

[0140] Flight application is the basis of route planning, and its elements include: applicant unit, priority level, route starting point, expected route starting time, starting altitude, route expected altitude and route end point.

[0141] Estimated route departure time is a time period, such as 8:10 to 8:20, and the member with the estimated route departure time is After route planning, the specific take-off time must be determined, such as 8:12 (an integer multiple of 2).

[0142] The flight direction of each edge is specified in the two-dimensional model (e.g. Figure 13 ), represented by the out-degree and in-degree of the intersection. Four-dimensional data describes the time resources at a point in three-dimensional space, with a time jump occurring every two minutes (ΔT). Model-based path planning is about creating an executable flight plan for a flight request based on the model's resources.

[0143] When an aircraft travels from one intersection (point C) along the 3D grid edge to the next intersection (point D) at a specific time jump, it should arrive at the next time jump point (4D data) of point D. The value of the attribute bytes in this 4D data determines whether this point can be considered a component of the route. 4D data is unique (specific). Only one aircraft can pass through each 4D data point (time jump point). This means that each 4D data point can only be assigned to one flight plan. This constraint ensures that there is no conflict at this point.

[0144] After a flight application successfully passes the path planning, a four-dimensional data queue is constructed from the starting point through multiple grid intersections to the end point of the route. This queue is a conflict-free flight plan. Multiple deployed flight plans constitute a flight plan list.

[0145] Flight conflict allocation is divided into three types: pre-flight allocation, pre-flight allocation and in-flight allocation.

[0146] (1) Pre-flight deployment: Pre-flight allocation is the basis for flight conflict allocation and is the first allocation of flight requests. It is mainly completed in the following steps: 1. Enter the flight application (all flight applications); 2. All flight applications are sorted from high to low according to their priority. Applications with the same priority are sorted on a first-come, first-served basis, forming a queue from high to low priority. 3. Check whether the flight application queue is zero. If so, the deployment is completed and the flight plan list is output.

[0147] 4. Take a flight application from the head of the flight application queue and delete it from the queue. The position of the subsequent flight application moves forward one position. 5. Determine the route's departure time. Check if the route's departure time member is empty. If so, there is no available departure time. The flight is dispatched, the flight request is canceled, and the process returns to step 3.

[0148] 6. If the route's starting time member is not empty, take the first time as the starting time and delete it from the starting time member queue. The position of the subsequent member is moved forward one position. 7. Define a flight plan number using the application number of the application , j is the application number.

[0149] 8. Determine the four-dimensional data of the point ; Determine the four-dimensional data based on the longitude, latitude, altitude of the point (the starting point of the route is the starting point altitude) and arrival time (the starting point of the route is the starting time).

[0150] 9. Check the 4D data attribute bytes The value of (as shown in Table 4). If the value is 001, it means that the 4D data is occupied by other flight plans. If this point is the starting point of the route, return to step 6 and reselect the starting time. 10. If the attribute byte If the value is 000, the point is considered a point on the route and added to the flight plan. and modify the four-dimensional data The value is 001, and the number corresponding to the unit name and flight plan name is assigned to , the priority number of the application is assigned to ; 11. Determine whether the two-dimensional point is the end point of the route ( ), if yes, the flight application planning is completed and the flight plan is output If it is not the end point of the route, go to step 13.

[0151] 12. If If the value is equal to one of the four (010, 011, 100, and 101), it means that the network point is unavailable. Cancel the flight application and return to 3.

[0152] 13. Follow the compass prompts ( and ), if there is no available out-degree, go to step 16; if the point has an available out-degree, select an edge from the out-degree of the point, find the next two-dimensional intersection, add 2 minutes (the flight time of one edge) to the arrival time, and calculate the flight altitude at the point 2 minutes later based on the altitude and ascent rate (or descent rate) of the previous point. If the altitude is exactly at an altitude layer, a new four-dimensional data is constructed based on this, and go back to step 9; 14. If the height of the point is not the same altitude layer, it is considered that the point occupies two adjacent altitude layers at the same time, which constitutes two four-dimensional data. Check the two four-dimensional data separately. Value; if there is a If the value is not 000, the 2D point is unavailable, so go back to the previous 2D intersection, return to 11, select another out-degree edge, and find the next 2D point. 15. If two four-dimensional data If the values ​​are both 000, the two 4D data are paralleled into a route passing point and added to the flight plan If it is not the end point of the route, go to 13.

[0153] 16. If there is no outgoing edge, determine whether it is the starting point of the route. If so, cancel the application and return to step 4 to get the next application. If it is not the starting point of the route, return to the previous node and return to step 13.

[0154] 17. Output a set of usable, conflict-free flight plans.

[0155] (2) Pre-flight preparation: Pre-flight deployment is based on pre-deployment. Due to weather or other reasons, the application elements have changed and the flight application needs to be rescheduled, thus forming a new flight plan. It is a minority of flight applications. Most other pre-deployed flight plans cannot be changed.

[0156] For flight applications that require re-routing (to distinguish them from previous flight applications, flight applications that require re-routing are called re-applications), complete the following steps: 1. Re-applications based on their priority level Sort them to form an application queue from high to low.

[0157] 2. Take an application from the application queue and set the application priority Reduce to 000, then enter pre-allocation 5 and perform flight path planning. Until the last re-application planning is completed.

[0158] (3) In-flight deployment (also called temporary deployment): During the flight plan implementation process, due to emergency or temporary needs, a temporary flight application must be route planned and a conflict-free flight plan must be given.

[0159] In principle, temporary deployment cannot affect the implementation of other existing flight plans, so the priority of temporary flight applications is They are all reduced to 000, and the planned flight plans are generally not the optimal ones.

[0160] Sometimes flight requests require a higher priority, but they should be handled with caution because when planning the flight path, the attributes of the intersection of the two-dimensional grid are found. When the value of is 001 (occupied by other plans, such as Plan A), and the intersection of the two-dimensional grid When the level is lower than the re-application priority level, Plan A will be discontinued.

Claims

1. An air traffic control method based on a four-dimensional space model, characterized by: Use equal longitude difference, equal latitude difference, equal height difference and equal time difference to divide the outer space of the earth, build a four-dimensional model of space resources and the corresponding four-dimensional data structure, and set the four-dimensional data attribute bytes; A flight path is planned based on the four-dimensional model of space resources.

2. The air traffic control method based on the four-dimensional space model according to claim 1, characterized in that: The specific steps are as follows: Step 1: Based on the geographic coordinate system, the Earth's surface is divided at the geographic center position P0 using equal longitude and latitude differences to construct a two-dimensional model. The two-dimensional model is used to describe the two-dimensional flight path of the aircraft. The intersection points represent route checkpoints or intersection points. The lines connecting points to adjacent points describe the flight segments. Multiple edges form the flight path. Step 2: Based on step 1, determine the most commonly used height H0 and construct a three-dimensional spatial grid model; based on the three-dimensional spatial grid model, construct a four-dimensional spatial model as follows: Construct a time axis at the intersection of the three-dimensional grid, divide the time into equal time differences ΔT, and construct a fourth-dimensional time queue. Each time queue member represents a data of the four-dimensional space model. Step 3: Construct a plane coordinate system, name the grid intersection points, generate a spatial four-dimensional data source, clarify the properties of the spatial four-dimensional data source, and determine the flight direction on the grid as well as the ascent rate, descent rate, ascent height, and descent height during the ascent and descent phases; Step 4: Path planning based on the four-dimensional space model: Based on the basic elements of the flight application, starting from the route starting point, determine whether there is a conflict when reaching the grid intersection point, and refer to the compass value to determine the route starting time, each passing point time, passing point altitude, and route flight altitude of the flight plan; Form a conflict-free flight plan; The flight application is the basis for path planning and includes the following elements: application unit, priority level, route starting point, estimated route starting time, starting altitude, route altitude, route end point and route end point altitude.

3. The air traffic control method based on the four-dimensional space model according to claim 2, characterized in that: The geographic center position P0 described in step 1 is selected at 28 degrees north latitude and 104 degrees east longitude as the center point of modeling; the most commonly used height H0 = 7200 meters.

4. The air traffic control method based on the four-dimensional space model according to claim 2, characterized in that: The method of constructing the four-dimensional space model in step 2 is as follows: Step 2.1: Use the speed regression algorithm to obtain the average flight speed of the aircraft ; Where, is the usage percentage of the corresponding type of aircraft, ; is the average flight speed of the corresponding type of aircraft; Step 2.2: Based on the average flight speed of the aircraft Determine the standard mesh edge length Where, Δ T For the time interval, select 2min; Step 2.3: Determine the latitude change when dividing the grid For height h The outer space of the earth at any point a is considered to have a sphere with the center o coincident with the center of the earth and a radius of The surface space of the sphere, R is the radius of the Earth; The meridian where point a is located is a semicircular arc connecting the North and South Poles. The circumference of the circle corresponding to this semicircular arc is: When the spatial resources are gridded, the spherical range corresponding to each grid is very small, and the sphere can be approximately regarded as a plane, so the following formula is obtained: Right now: Where, is the latitude change value, the unit is radian rad; Step 2.3: Determine the longitude change when dividing the grid The height of any point a is h The space at the latitude is considered as a sphere with the center at o' and the radius at the latitude. r , then: Where, is latitude; Similarly, the sphere is approximately regarded as a plane, and for the horizontal edge S of the grid 纬 There is the following mathematical relationship: Right now: Where, is the longitude change value, the unit is radian rad; Step 2.4: Adjust the speed of other grids Based on the principle of equal longitude difference, according to the radius of the latitude circle r Hejingcha , get the horizontal length of the grid in different latitudes; For latitude The area where the Earth's outer height is h The horizontal edge of the grid at s' 纬 It is derived from the following formula: but: Where, The latitude is The radius of the latitude circle at ; Aircraft operating speed for: ; The same latitude grid S 纬 , the length will change at different heights, and the height increases by S 纬 Growth, height reduction S 纬 shortened, in height Corresponding running speed for: Same meridian grid , the length will also change at different heights, and the height increases Growth, height reduction shortened; the plane where the meridian is located must pass through the South Pole, the North Pole and the center of the earth. The meridian circumference at the altitude is: So at height The corresponding mesh edge length for: Adjust running speed for: .

5. The air traffic control method based on the four-dimensional space model according to claim 4, characterized in that: Step 3 is as follows: Step 3.1: Construct a two-dimensional plane coordinate system, determine the number of longitudes and latitudes, the number of altitude layers, the time period, and the number of times; generate spatial four-dimensional data; Step 3.2: Determine the path planning guidelines; Step 3.3: Determine the properties of the spatial four-dimensional data source; Step 3.4: Determine the flight direction on the grid and the rate of ascent, rate of descent, ascent altitude, and descent altitude for the ascent and descent phases.

6. The air traffic control method based on the four-dimensional space model according to claim 5, characterized in that: Step 3.1 is as follows: Step 3.1.1: Construct a 2D plane coordinate system With point O as the coordinate circle, the east direction is the direction of longitude change, defined as the x-axis; the south direction is the direction of latitude change, defined as the y-axis, and the height is the Z-axis of space connected by the line between the center of the earth and the intersection of the grid; point O is 73 degrees east longitude and 53 degrees north latitude; Step 3.1.2: Determine the number of longitude and latitude lines From longitude x0 to x n , using equal meridian difference Divide into n equal parts; number of warps ; From latitude y0 to latitude y m , using equal latitude differences Divided m Number of wefts ; Among them, [] means rounding; Step 3.1.3: Determine the number of levels The altitude layers are divided into two sections: 600m to 8400m, with a height difference of 300m as one altitude layer, for a total of 27 altitude layers; 8900m to 12500m, with a height difference of 300m as one altitude layer, for a total of 13 altitude layers; the two sections have a total of 40 altitude layers; For different altitudes express, ; Step 3.1.4: Determine the time period and number of times Take 24 hours as a time period T, the time interval For 2 minutes, the number of available times There are 720: , ; Step 3.1.5: Generate spatial 4D data Add height division to the two-dimensional plane coordinate system to form a three-dimensional model within the management scope, and then establish a time axis at the intersection of the grid. The time interval is divided to form a four-dimensional grid; The four-dimensional data set is represented as: in, 、 、 、 Represents longitude, latitude, altitude and time respectively.

7. The air traffic control method based on the four-dimensional space model according to claim 6, characterized in that: Step 3.2 is as follows: Define the two components of a compass in a two-dimensional plane coordinate system and , respectively pointing to the end point of the route at Axis and Direction on the axis, the compass uses the longitude of the start and end points Subscript and latitude Subscript to determine; The compass needle in the direction of longitude change is defined as: in, 、 They are any end point and starting point in the two-dimensional grid in the direction of longitude change; The compass needle in the direction of latitude change is defined as: in, 、 They are any end point and starting point in the two-dimensional grid in the direction of latitude change; When the difference between the longitude subscripts of the end point and the starting point is a positive number, it means that the end point is on the right side of the starting point. The direction of the axis is consistent; if the difference between the subscripts is negative, it means that the end point is on the left side of the starting point, which is the same as The axes are in opposite directions; Similarly, if the difference between the latitude subscripts of the end point and the starting point is a positive number, it indicates that the end point is below the starting point and in the same direction as the y-axis; if the difference between the latitude subscripts is a negative number, it indicates that the end point is above the starting point and in the opposite direction of the y-axis. When the compass and Value , it means the starting point and end point of the route are the same or the route planning has reached the end point.

8. The air traffic control method based on the four-dimensional space model according to claim 7, characterized in that: Step 3.3 is as follows: Three attribute bytes are added to each four-dimensional data to describe whether the data is available. The three attribute bytes are 、 and ; Attribute Bytes Describes whether the four-dimensional data is available. It consists of a three-digit binary number with values ​​of 000, 001, 010, 011, 100, 101, 110, and 111, for a total of 8 values. Attribute Bytes It is used to describe who is using the four-dimensional data, that is, which unit and which flight plan occupies it. Therefore, only when the data is determined as a passing point of a flight path during path planning, The value of is changed from 000 to 001, and the flight unit and flight plan number are assigned to ; Attribute Bytes Describes the priority level of the four-dimensional data user, consisting of a three-digit binary number, whose values ​​are: 000, 001, 010, 011, 100, 101, 110 and 111, a total of 8, with the lowest priority number being 000 and the highest being 111, and the priority numbers gradually increase from small to large; The four-dimensional data plus three byte attributes are seven-dimensional data. Its structure is represented by a structure point. The structure members include: longitude, latitude, altitude, time, attribute bytes , attribute bytes and attribute bytes It consists of seven items; it can be represented as an array: .

9. The aviation control method based on the four-dimensional space model according to claim 8, characterized in that: Step 3.4 is as follows: The flight direction is: even-numbered southeast, odd-numbered northwest, that is, the side with an even-numbered intersection flies toward the southeast and south; the side with an odd-numbered intersection flies toward the west and north; The intersections in the center of the grid are connected by four edges. The edge going out of the intersection is called the out-degree, and the edge coming into the intersection is called the in-degree of the intersection. At each grid intersection, an aircraft can only enter the point along the in-degree and leave the point along the out-degree. When flying along the grid edges, it can gain or lose altitude. The flight process of an aircraft route is divided into three phases: the ascending phase, the level flight phase and the descending phase. The optimal climb rate is used when planning the flight path. and the optimal descent rate ; A two-dimensional grid is used to describe the trajectory of an aircraft flying along the edge of the two-dimensional grid. The starting point of the route refers to the starting point of the route flight, and the flight altitude of this point is called the route starting altitude. ; The aircraft reaches an intersection point of the two-dimensional grid during the continuous ascent phase Flight distance An integer multiple of the length of the grid horizontal line , flight time It also happens to be the flight interval standard Integer multiples , so we have: The flight altitude of the point is: The aircraft arrives during the descent phase The height at point is: ； Where, is an intersection point where the aircraft reaches the 2D grid The flight distance, is the distance the aircraft flies from its starting point to its descent point; Flight altitude in level flight; is the average flight speed of the aircraft.

10. The aviation control method based on the four-dimensional space model according to claim 2, characterized in that: Step 4 is as follows: Conflict-free flight planning includes three types: pre-flight allocation, pre-flight allocation, and in-flight allocation. Pre-flight allocation is the basis for flight conflict allocation, as follows: Step 4.1: Input all flight applications and sort them from high to low according to their priority. Applications with the same priority will be sorted on a first-come, first-served basis, forming a queue with the highest priority down. Step 4.2: Determine whether the flight application queue is zero. If so, the allocation is completed and the flight plan list is output; Step 4.3: Take a flight application from the head of the flight application queue and delete it from the queue. The position of the subsequent flight application moves forward one position. Step 4.4: Determine the route departure time; check whether the route departure time member is empty. If so, it means there is no available departure time, the allocation is completed, the flight application is canceled, and the process returns to step 4.

2. Step 4.5: If the route starting time member is not empty, take the first moment as the starting time, delete the member in the starting time member queue, and move the subsequent member position forward one; Step 4.6: Define a flight plan number using the application number of the application , j is the application number; Step 4.7: Determine the four-dimensional data of point P ; Determine the four-dimensional data based on the longitude, latitude, altitude and arrival time of point P; Step 4.8: Check the 4D data attribute bytes If the value of If the value is 001, it means that the 4D data is occupied by other flight plans. If this point is the starting point of the route, return to step 4.5 to reselect the starting time. If the attribute byte If the value is 000, the point is considered a point on the route and added to the flight plan. and modify the four-dimensional data The value is 001, and the numbers corresponding to the unit name and flight plan name are assigned to , the priority number of the application is assigned to ; Step 4.9: Determine whether the two-dimensional point is the end point of the route, that is, whether it satisfies If yes, the flight application is planned and the flight plan is output. ;If it is not the end point of the route, go to step 4.11; Step 4.10: If If it is equal to one of the following four values: 010, 011, 100, and 101, it means that the node is unavailable. Cancel the flight application and return to step 4.

2. Step 4.11: Follow the compass prompts, and If there is no available out-degree, proceed to step 4.

13. If there is an available out-degree, select an edge from the out-degree of the point, find the next two-dimensional intersection, add 2 minutes to the arrival time, and calculate the flight altitude at that point 2 minutes later based on the altitude, ascent rate, or descent rate of the previous point. If the altitude is exactly at an altitude layer, a new four-dimensional data is constructed based on this, and return to step 4.

8. If the height of the point is not the same altitude layer, it is considered that the point occupies two adjacent altitude layers at the same time, which constitutes two four-dimensional data. Check the two four-dimensional data separately. Value; if there is a If the value is not 000, the 2D point is unavailable. Go back to the previous 2D intersection point and return to step 4.

9. Select another out-degree edge to find the next 2D point. Step 4.12: If two four-dimensional data If the values ​​are both 000, the two 4D data are paralleled into a route passing point and added to the flight plan If it is not the end point of the route, go to step 4.11; Step 4.13: If there is no outgoing edge, determine whether it is the route starting point. If so, cancel the application and return to step 4.3 to get the next application. If it is not the route starting point, return to the previous node and return to step 4.

10. Step 4.14: Output a set of usable, conflict-free flight plans.

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