自由航路空域航空器无冲突轨迹规划

doi:10.12305/j.issn.1001-506X.2025.06.18

摘要/Abstract

摘要：

空中交通流量的持续增长导致航路拥堵和空域资源紧张。为缓解空中管制员的工作压力, 提高空域的使用效率, 基于自由航路空域的背景, 提出无冲突轨迹规划的方法。建立一个多目标混合整数线性规划模型, 该模型的核心是生成飞行高度剖面满足离域协议高度, 并为冲突航空器找到最近、最优的中间改航点。将空域离散化为菱形, 以固定航向调整幅度并提高模型计算速度, 使用分层序列法求解多目标问题。以真实的空域结构和高于当前运行态势的交通流量, 生成具有连续交通流的场景样本。实验结果表明, 94.625%的样本可以在120 s内得到无冲突轨迹, 所提无冲突轨迹规划方法对于未来自由航路空域发展具有重要意义。

关键词: 自由航路空域, 无冲突轨迹规划, 空域离散化, 多目标混合整数线性规划

Abstract:

The continuous growth of air traffic has caused route congestion and airspace capacity constraints. To minimize the workload of air traffic controllers and enhance the efficiency of airspace utilization, a conflict-free trajectory planning approach specifically designed for the background of free route airspace is proposed. A multi-objective mixed integer linear programming (MILP) model is established, with the core objective of generating flight altitude profiles that meet the departure boundary altitude agreements and identifying the nearest and optimal intermediate waypoints for conflicting aircraft. The airspace is discretized into diamonds to set the heading adjustment range and improve the computational speed of the model, while a hierarchical sequence method is employed to solve the multi-objective problem. Scenarios with continuous traffic flow are generated using real airspace structures and traffic flow higher than the current operational situation. Experimental results show that 94.625% of the samples can achieve conflict-free trajectories within 120 seconds. The proposed conflict-free trajectory planning approach has significant implications for future development of free-route airspace.

Key words: free route airspace, conflict-free trajectory planning, airspace discretization, multi-objective mixed integer linear programming (MILP)

中图分类号:

TP18
V249

隋东, 崔晓冰, 周泽凯. 自由航路空域航空器无冲突轨迹规划[J]. 系统工程与电子技术, 2025, 47(6): 1899-1908.

Dong SUI, Xiaobing CUI, Zekai ZHOU. Conflict-free trajectory planning for aircraft in free route airspace[J]. Systems Engineering and Electronics, 2025, 47(6): 1899-1908.

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输入参数	输入参数含义	取值
Δh_max/m	航空器每次调高时的最大调高幅度	600
t_INT/s	离散化连续时域的时间间隔	30
t_C∈Z⁺/s	相邻两次调高所间隔时间的下限	120
t_P∈Z⁺/s	飞行高度剖面的调高时间窗宽度下限	60或120

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