机场活动区免冲突路由计划关键技术研究
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摘要
机场活动区是航空器地面运行和机场特种车辆服务作业的重要场所。随着民用机场运行规模的扩大，机场构型日趋复杂，为防止航空器之间、航空器与地面车辆之间、车辆与车辆之间、活动目标与地面障碍物之间可能出现的碰撞，在当前CNS技术框架下，应首先对机场活动区内协作和非协作目标实施有效监视，进一步发展路由、引导、控制三大功能，以实现对高密度、低能见度及复杂条件下机场场面交通的有效管理与控制。机场活动区免冲突路由计划是实现上述功能升级的核心，其实质是在充分考虑机场场面运行限制和场面运行动态的基础上寻求自动化的无冲突路径分配方案，支持航空器安全、有序、迅速的移动。机场活动区免冲突路由计划关键技术包括滑行冲突探测、冲突解脱和路由等。论文对机场活动区滑行路网模型的建立方法，冲突探测和解脱算法，静态、动态路由模型及算法进行了研究。研究内容包括：
1.拓扑建模和Petri网建模两种路网建模。以矢量图为基础，通过提取、转换、添加属性信息建立机场活动区基本要素拓扑关系，提出机场活动区滑行路网拓扑模型的建立准则；运用Petri网对场面交通运输系统进行分析，在空中交通管理规则和机场活动区道路交通安全管理规则基础上，确定应符合的约束。
2.机场活动区滑行冲突探测建模。定义对头冲突、尾冲突和交叉道口冲突三种冲突类型；建立基于滑行时间约束的冲突探测算法，在等效滑行路径基础上，提出符合最小水平安全间隔的冲突探测模型。
3.机场活动区免冲突路由计划建模和算法研究。在符合航空器滑行时间约束、滑行安全间隔约束和滑行优先级约束条件下，建立机场活动区静态免冲突路由计划；对新进入的活动目标，按可选取的无冲突滑行路径方案，比较交叉道口临时等待和改变滑行路线产生的两种代价ε_w、ε_c，建立动态免冲突路由计划。
4.仿真验证。
上述成果能为场面监视引导控制系统（SMGCS）和智能塔台决策支持系统研制提供重要的理论支持。
The movement area of airport is the important place where aircrafts ground operationsand special vehicles service occurs. With the expansion of the scale of civilian airportoperations, airport configuration has become complex increasingly. In order to prevent theaircrafts, aircraft and ground vehicles, aircraft and obstacles from collision at any density,visibility and complex conditions, we should firstly implement effective surveillance onnon-cooperation and collaboration targets in movement area of airport, and further developfour basic functions: surveillance, control, route planning, and guidance based on the currentCNS technology. The essence of the anti-collision route planning is to seek the anti-collisionpath distribution solutions automatically based on the full consideration of the airportoperation limits and the dynamic position changes, by which to guarantee the safety of theaircraft and the efficient operation. The key technology includes the taxi conflict detecting,conflict resolution and route planning. This paper does some research on the taxi networkmodeling method, the algorithm of conflict detecting and resolution, and the algorithm ofstatic and dynamic route planning.
The main research work of the dissertation includes the following several respect:
1. The modeling methods of taxiway network based on topological model and Petri nets.Add attribute information while converting graphic data into vector data based on the formervector diagram. Define the standards and methods in topology modeling. Use Petri nets toanalysis transportation in the movement area of airport. Establish the constraints to avoid theoccurrence of collision in the movement area fully considering the rules of air traffic controland road traffic safety management in movement area of airport.
2. The conflict detecting methods during taxiing in the movement area of airport.Analyze the standard safe interval, define the different collision types, and build the conflictdetecting model based on the taxiing time constraints. This paper has pioneered the model ofconflict detection based on the minimum lateral interval based on equivalent taxi route.
3. The static and dynamic anti-collision route planning model in the movement area ofairport. This part, targeting at distributing the optimal route for each aircraft in the initial state,is directed to the analysis of the restricting factors and the establishment of a mathematicmodel. Then we built the dynamic route planning model to distribute the anti-collision routefor the aircraft getting into the taxi network in real time. The dynamic anti-collision routingplanning model can be built by comparing the costεwandεcof two schemes.
4. The feasibility and practicability of the method are validated by design examplesbased on the presented models.
The research of this paper can provide theoretical support for SMGCS and theresearching on the intelligent assistant decision-making system for the tower.
1.拓扑建模和Petri网建模两种路网建模。以矢量图为基础，通过提取、转换、添加属性信息建立机场活动区基本要素拓扑关系，提出机场活动区滑行路网拓扑模型的建立准则；运用Petri网对场面交通运输系统进行分析，在空中交通管理规则和机场活动区道路交通安全管理规则基础上，确定应符合的约束。
2.机场活动区滑行冲突探测建模。定义对头冲突、尾冲突和交叉道口冲突三种冲突类型；建立基于滑行时间约束的冲突探测算法，在等效滑行路径基础上，提出符合最小水平安全间隔的冲突探测模型。
3.机场活动区免冲突路由计划建模和算法研究。在符合航空器滑行时间约束、滑行安全间隔约束和滑行优先级约束条件下，建立机场活动区静态免冲突路由计划；对新进入的活动目标，按可选取的无冲突滑行路径方案，比较交叉道口临时等待和改变滑行路线产生的两种代价ε_w、ε_c，建立动态免冲突路由计划。
4.仿真验证。
上述成果能为场面监视引导控制系统（SMGCS）和智能塔台决策支持系统研制提供重要的理论支持。
The movement area of airport is the important place where aircrafts ground operationsand special vehicles service occurs. With the expansion of the scale of civilian airportoperations, airport configuration has become complex increasingly. In order to prevent theaircrafts, aircraft and ground vehicles, aircraft and obstacles from collision at any density,visibility and complex conditions, we should firstly implement effective surveillance onnon-cooperation and collaboration targets in movement area of airport, and further developfour basic functions: surveillance, control, route planning, and guidance based on the currentCNS technology. The essence of the anti-collision route planning is to seek the anti-collisionpath distribution solutions automatically based on the full consideration of the airportoperation limits and the dynamic position changes, by which to guarantee the safety of theaircraft and the efficient operation. The key technology includes the taxi conflict detecting,conflict resolution and route planning. This paper does some research on the taxi networkmodeling method, the algorithm of conflict detecting and resolution, and the algorithm ofstatic and dynamic route planning.
The main research work of the dissertation includes the following several respect:
1. The modeling methods of taxiway network based on topological model and Petri nets.Add attribute information while converting graphic data into vector data based on the formervector diagram. Define the standards and methods in topology modeling. Use Petri nets toanalysis transportation in the movement area of airport. Establish the constraints to avoid theoccurrence of collision in the movement area fully considering the rules of air traffic controland road traffic safety management in movement area of airport.
2. The conflict detecting methods during taxiing in the movement area of airport.Analyze the standard safe interval, define the different collision types, and build the conflictdetecting model based on the taxiing time constraints. This paper has pioneered the model ofconflict detection based on the minimum lateral interval based on equivalent taxi route.
3. The static and dynamic anti-collision route planning model in the movement area ofairport. This part, targeting at distributing the optimal route for each aircraft in the initial state,is directed to the analysis of the restricting factors and the establishment of a mathematicmodel. Then we built the dynamic route planning model to distribute the anti-collision routefor the aircraft getting into the taxi network in real time. The dynamic anti-collision routingplanning model can be built by comparing the costεwandεcof two schemes.
4. The feasibility and practicability of the method are validated by design examplesbased on the presented models.
The research of this paper can provide theoretical support for SMGCS and theresearching on the intelligent assistant decision-making system for the tower.
引文
[1]亚历山大T.韦尔斯，机场规划与管理[M].北京：中国民航出版社，2004:7-14.
[2] Airport and Airpace Capacity/Delay Policy Analysis: FAA-APO-81-14. Wsahington, DC:FederalAviation Adminidtration，Office of Aviation Policy and Plans, December 1981.
[3] ICAO. Advanced Surface Movement Guidance and Control System (A-SMGCS)Manual, Doc9830-AN/452, 2004.
[4] Canadian Airport System Evaluation:Vancouver Airport Report AK-14-06-031 [J]. Transport Canada,Ottawa,Ontario,1981.
[5] Enrico Piazza,A-SMGCS Routing and Guidance Functions, Aerospace and Electronic SystemsMagazine[J],IEEE,2000.
[6] JW Smeltink, M. J. Soomer.An Optimisation Model for Airport Taxi Scheduling[J], The College ofInformation Sciences and Technology,2004.
[7] Marin, A., Airport Management: Taxi Planning, Annual of Operations Research, Vol. 143, 2006, pp.191–202.
[8] Visser, H. and Roling, P. Optimal Airport Surface Traffic Planning using Mixed Integer LinearProgramming, AIAA’s 3rd Annual Aviation Technology, Integration, and Operations (ATIO) Tech, Vol.November, 2003, pp. 17–19.
[9] VHL Cheng, GD Sweriduk. Process and Software Tools for Generating Airport Models to SupportOperation Analyses[J], AIAA Proceedings.[np],2009.
[10] VHL Cheng, Ay Seo, PP Lin. Embedded Fast-Time Simulation to Support Airport Surface OperationOptimization[J], AIAA Proceedings.[np],2009.
[11] B.Huang, F.B.Zhan, A shortest path algorithm with novel heuristics for dynamic transportationnetworks[J], International Journal of Geographical Information Science,2007:6(21).
[12]纪荣，韩松臣．基于GIS的机场场面路径优化算法的研究[J].南京航空航天大学学报，2005.1:71-77.
[13]张莹，胡明华等．航空器机场地面滑行时刻优化模型研究[J].中国民航飞行学院学报，2006.5(17).
[14]陈世林，胡明华等．SMS中基于冲突探测的滑行道轨迹预测算法研究[J]．四川大学学报，2008.6.
[15]王蕾．基于遗传禁忌算法的滑行路径优化[J]．中国电子商情，2010.2:127-132.
[16]尤杰，韩松臣．基于多Agent的机场场面最优滑行路径算法[J].交通运输工程学报，2009.1(9):109-112.
[17]王艳军，胡明华，苏炜．基于冲突回避的动态滑行路径算法[J]．西南交通大学学报，2009.6:933-939.
[18]刘长有，丛晓东．基于遗传算法的飞机滑行路径优化[J]．交通信息与安全，2009.3:6-8.
[19]朱新平，韩松臣，汤新民．A-SMGCS机场场面运行控制的Petri网建模[J]．武汉理工大学学报，2011.5：950-954.
[20]丁建立，李晓丽，李全福．基于改进蚁群协同算法的枢纽机场场面滑行道优化调度模型[J]．计算机应用，2010.4:1000-1003.
[21]李景文等．基于地理实体的面向对象矢量模型设计[J]．地理与地理信息科学.2008.4(24)：11-13.
[22]黄圣国,孙同江,吕兵.运输网络的最短有向路Petri网仿真算法.南京航空航天大学学报. 2002,34(2):121~125
[23]张威,谢晓妤,刘晔.基于Petri网的机场场面路径规划探讨[J].现代电子工程,2007 ,59-61
[24]潘国帅，任爱珠．基于矢量图的城市路网快速建模[J]．计算机工程，2003.3(29)：16-19.
[25]赵宾植,梁虹等．基于GIS的微观交通仿真路网数据模型[J]．云南大学学报，2009.31(S1)：227-233.
[26] Glaude Girault著，王生原，余鹏等译．系统工程Petri网-建模、验证与应用指南[M]．北京：电子工业出版社，2005.
[27]龚叶蓁．Petri网中的网状路径及其性能研究[D].西安建筑科技大学硕士学位论文．2009
[28]朱新平，汤新民，韩松臣.基于EHPN的A-SMGCS机场滑行道运行控制建模[J].交通运输工程学报，2010.4(10).
[29]王玉婷.先进机场场面活动引导与控制技术研究[D].南京航空航天大学硕士学位论文，2010.
[30]姜彬.基于时间Petri网的建模与分析[J].硅谷信息科学，2009.
[31] International Civil Aviation Organization. Air Traffic Services Planning Manual. Doc9426-AN/924 ,1984.
[32] Anagnostakis, I. and Clarke, J.-P., Runway Operations Planning: a two-stage solution methodology,Proceedings of the 36th Annual Hawaii International Conference on System Sciences, 2003.
[33] Smeltink, J. W., Soomer, M. J., de Waal, P. R., and van der Mei, R. D., An Optimisation Model forAirport Taxi Scheduling, Elsevier Science, Vol. n/a, 2004, pp. n/a.
[34] A.Kovacs, E.Nemeth, K.M.hangos.Modeling and Optinization of Runway Traffic Flow UsingColoured Petri Nets[J],ICCA2005,WA2-1.1：881-886.
[35] Y. Cheng. Solving push-out conflicts in apron taxiways of airports by a network-based simulation,Computers ind. Engng, vol. 34, pp.351-369, 1998.
[36] Gillian Keith,Arthur Richards.Optimization of Taxiway Routing and Runway Scheduling[J],AmericanInstitute of Aeronautics and Astronautics,2007.
[37] Yi-Shen Huang.TaHsiang Chung, Modelling and analysis of air traffic control systems usinghierarchicaltimed coloured Petri nets. Transactions of the Institute of Measurement andControl,2011.1(33):30-49.
[38] Yuvraj Gaipal, P.L.Abad. Multi-ant colony system for a vehicle routing problem withbackhauls[J].European Journal of Operational Research,2009:102-117.
[39]汤新民，王玉婷，韩松臣.基于DEDS的A-SMGCS航空器动态滑行路径规划[J].系统工程与技术，2010.12(32).
[40]朱新平，汤新民，韩松臣.基于DES监控理论的滑行道对头冲突控制策略[J].西南交通大学学报，2011.4(46).
[41]高国政.基于蚁群算法的航空器地面滑行研究[J].山东交通科技，2011(1):24-27.
[42] http://baike.baidu.com/view/539346.htm.
[43] http://baike.baidu.com/view/45853.htm#2.
[44]胡运权，郭耀煌，运筹学教程[M].北京：清华大学出版社，2007.
[2] Airport and Airpace Capacity/Delay Policy Analysis: FAA-APO-81-14. Wsahington, DC:FederalAviation Adminidtration，Office of Aviation Policy and Plans, December 1981.
[3] ICAO. Advanced Surface Movement Guidance and Control System (A-SMGCS)Manual, Doc9830-AN/452, 2004.
[4] Canadian Airport System Evaluation:Vancouver Airport Report AK-14-06-031 [J]. Transport Canada,Ottawa,Ontario,1981.
[5] Enrico Piazza,A-SMGCS Routing and Guidance Functions, Aerospace and Electronic SystemsMagazine[J],IEEE,2000.
[6] JW Smeltink, M. J. Soomer.An Optimisation Model for Airport Taxi Scheduling[J], The College ofInformation Sciences and Technology,2004.
[7] Marin, A., Airport Management: Taxi Planning, Annual of Operations Research, Vol. 143, 2006, pp.191–202.
[8] Visser, H. and Roling, P. Optimal Airport Surface Traffic Planning using Mixed Integer LinearProgramming, AIAA’s 3rd Annual Aviation Technology, Integration, and Operations (ATIO) Tech, Vol.November, 2003, pp. 17–19.
[9] VHL Cheng, GD Sweriduk. Process and Software Tools for Generating Airport Models to SupportOperation Analyses[J], AIAA Proceedings.[np],2009.
[10] VHL Cheng, Ay Seo, PP Lin. Embedded Fast-Time Simulation to Support Airport Surface OperationOptimization[J], AIAA Proceedings.[np],2009.
[11] B.Huang, F.B.Zhan, A shortest path algorithm with novel heuristics for dynamic transportationnetworks[J], International Journal of Geographical Information Science,2007:6(21).
[12]纪荣，韩松臣．基于GIS的机场场面路径优化算法的研究[J].南京航空航天大学学报，2005.1:71-77.
[13]张莹，胡明华等．航空器机场地面滑行时刻优化模型研究[J].中国民航飞行学院学报，2006.5(17).
[14]陈世林，胡明华等．SMS中基于冲突探测的滑行道轨迹预测算法研究[J]．四川大学学报，2008.6.
[15]王蕾．基于遗传禁忌算法的滑行路径优化[J]．中国电子商情，2010.2:127-132.
[16]尤杰，韩松臣．基于多Agent的机场场面最优滑行路径算法[J].交通运输工程学报，2009.1(9):109-112.
[17]王艳军，胡明华，苏炜．基于冲突回避的动态滑行路径算法[J]．西南交通大学学报，2009.6:933-939.
[18]刘长有，丛晓东．基于遗传算法的飞机滑行路径优化[J]．交通信息与安全，2009.3:6-8.
[19]朱新平，韩松臣，汤新民．A-SMGCS机场场面运行控制的Petri网建模[J]．武汉理工大学学报，2011.5：950-954.
[20]丁建立，李晓丽，李全福．基于改进蚁群协同算法的枢纽机场场面滑行道优化调度模型[J]．计算机应用，2010.4:1000-1003.
[21]李景文等．基于地理实体的面向对象矢量模型设计[J]．地理与地理信息科学.2008.4(24)：11-13.
[22]黄圣国,孙同江,吕兵.运输网络的最短有向路Petri网仿真算法.南京航空航天大学学报. 2002,34(2):121~125
[23]张威,谢晓妤,刘晔.基于Petri网的机场场面路径规划探讨[J].现代电子工程,2007 ,59-61
[24]潘国帅，任爱珠．基于矢量图的城市路网快速建模[J]．计算机工程，2003.3(29)：16-19.
[25]赵宾植,梁虹等．基于GIS的微观交通仿真路网数据模型[J]．云南大学学报，2009.31(S1)：227-233.
[26] Glaude Girault著，王生原，余鹏等译．系统工程Petri网-建模、验证与应用指南[M]．北京：电子工业出版社，2005.
[27]龚叶蓁．Petri网中的网状路径及其性能研究[D].西安建筑科技大学硕士学位论文．2009
[28]朱新平，汤新民，韩松臣.基于EHPN的A-SMGCS机场滑行道运行控制建模[J].交通运输工程学报，2010.4(10).
[29]王玉婷.先进机场场面活动引导与控制技术研究[D].南京航空航天大学硕士学位论文，2010.
[30]姜彬.基于时间Petri网的建模与分析[J].硅谷信息科学，2009.
[31] International Civil Aviation Organization. Air Traffic Services Planning Manual. Doc9426-AN/924 ,1984.
[32] Anagnostakis, I. and Clarke, J.-P., Runway Operations Planning: a two-stage solution methodology,Proceedings of the 36th Annual Hawaii International Conference on System Sciences, 2003.
[33] Smeltink, J. W., Soomer, M. J., de Waal, P. R., and van der Mei, R. D., An Optimisation Model forAirport Taxi Scheduling, Elsevier Science, Vol. n/a, 2004, pp. n/a.
[34] A.Kovacs, E.Nemeth, K.M.hangos.Modeling and Optinization of Runway Traffic Flow UsingColoured Petri Nets[J],ICCA2005,WA2-1.1：881-886.
[35] Y. Cheng. Solving push-out conflicts in apron taxiways of airports by a network-based simulation,Computers ind. Engng, vol. 34, pp.351-369, 1998.
[36] Gillian Keith,Arthur Richards.Optimization of Taxiway Routing and Runway Scheduling[J],AmericanInstitute of Aeronautics and Astronautics,2007.
[37] Yi-Shen Huang.TaHsiang Chung, Modelling and analysis of air traffic control systems usinghierarchicaltimed coloured Petri nets. Transactions of the Institute of Measurement andControl,2011.1(33):30-49.
[38] Yuvraj Gaipal, P.L.Abad. Multi-ant colony system for a vehicle routing problem withbackhauls[J].European Journal of Operational Research,2009:102-117.
[39]汤新民，王玉婷，韩松臣.基于DEDS的A-SMGCS航空器动态滑行路径规划[J].系统工程与技术，2010.12(32).
[40]朱新平，汤新民，韩松臣.基于DES监控理论的滑行道对头冲突控制策略[J].西南交通大学学报，2011.4(46).
[41]高国政.基于蚁群算法的航空器地面滑行研究[J].山东交通科技，2011(1):24-27.
[42] http://baike.baidu.com/view/539346.htm.
[43] http://baike.baidu.com/view/45853.htm#2.
[44]胡运权，郭耀煌，运筹学教程[M].北京：清华大学出版社，2007.