一个鲁棒性冲突解脱轨迹规划模型

针对固定航路飞行条件下高密度运行空域多航空器实时冲突解脱轨迹规划问题，为了获取高空风场数值及增强航空器冲突解脱轨迹的鲁棒性，根据航空器的运行状态构建了高空风场线性和非线性滤波模型.采用模型预测控制理论，通过将预测模型的校正过程转化为高空风场数值的滤波过程，在给各航空器设定解脱优先权重及考虑两类解脱变量物理约束条件的前提下，从航空器的动态协同特性出发，构造能够反映控制输入量优劣的指标函数，提出一种能够适应空域环境变化的冲突解脱航迹在线滚动规划方案.算例分析表明，所提出的在线解脱轨迹规划方案可行有效.

The Planning of Robust Conflict Resolution Trajectory

In order to obtain high altitude wind field value and enhance the robustness of the aircraft conflict resolution, the wind field linear and nonlinear filtering model are formulated according to the running state of the high altitude aircraft focusing on the real- time conflict resolution trajectory planning problems under the condition of fixed routes and high density airspace. Starting from the dynamic collaborative features of aircrafts, the aircraft online rolling conflict resolution trajectory planning scheme is proposed. The trajectory planning model is formulated through setting priority weights to each aircraft based on model predictive control theory and linear & nonlinear wind filter model. The constraint conditions include airway space constraint and aircraft performance constraint. The optimization cost function is put forward to reflect the control inputs and the presented optimization model can adapt to the state change of airspace. Besides, the wind filter model is taken as calibration process of aircraft motion forecast model. The experimental results show the effectiveness of the proposed aircraft trajectory online rolling planning model.