受限航路空域自主航迹规划与冲突管理技术

为了解决在基于航迹运行的空中交通管理自动化系统中人机意识同步的问题，以航路运行为对象，开展了面向受限空域的自主四维航迹（4DT）冲突探测与解脱（CD&R）技术研究。基于自由航线空域（FRA）环境，提出基于栅格的空域离散化处理与计算方法；在此基础上，提出受限空域自主航迹运行两阶段方法：阶段1运用可视图（VG）法和Dijkstra算法，实现了满足限制区约束的航空器期望航迹快速规划；阶段2提出航迹可达时空域模型及其图形化表达方法，并基于连续飞行动力学推导出了不同情况下的航空器位置更新模型，并采用局部冲突探测与解脱方法，以飞行距离最短为目标，实现航空器自主路径与速度联动规划，从而支撑空地、人机认知同步的无冲突四维航迹生成；最后，以中国西部典型空域为运行场景开展仿真实验，验证了所提方法的计算高效性和模型有效性，并对栅格尺寸和探测距离这2个关键参数进行了灵敏度分析。结果表明，所提方法能够支撑复杂空域高密度运行环境自主航迹运行，为推动自主空中交通系统发展提供了新思路和新方法。

Autonomous trajectory planning and conflict management technology in restricted airspace

To solve the problem of human-machine awareness synchronization in air traffic management automation systems based on trajectory operation, this study examines real-time autonomous 4D Trajectory (4DT) Conflict Detection and Resolution (CD&R) technology for restricted airspace with route operation as the research object. In Free Route Airspace (FRA) environment, a grid-based discrete processing and calculation method for airspace is proposed. Based on this, a two-stage method for autonomous trajectory operation in restricted airspace is presented. In stage one, the Visibility Graph (VG) method and Dijkstra algorithm are used to realize rapid planning of the desired aircraft trajectory meeting the constraints of the restricted area. In stage two, a spatio-temporal reachable space model and its graphical expression method are proposed. Aircraft position update models in different situations are derived according to continuous flight dynamics. The local CD&R method, aiming at the shortest flight distance, was adopted to realize the autonomous trajectory and speed linkage planning of the aircraft, thereby supporting the generation of conflict-free 4DT with air-ground and human-machine cognitive synchronization. Finally, simulation experiments using a typical airspace in western China as the operating scenario verify the computational efficiency and model validity of the proposed method. Sensitivity analyses are performed on two key parameters: grid size and detection distance. The results show that the proposed method can support autonomous trajectory operation in high-density operating environments in complex airspace, thus providing new ideas and methods for the promotion of autonomous air traffic system development.