The invention discloses a method for fusing an unmanned aerial vehicle into an airspace to fly together with other aircrafts under a flight path-based operation rule in the future, and particularly relates to a strategic 4D flight path planning method under the flight path-based operation rule, which comprises the following steps of establishing a discretization state equation of the unmanned aerial vehicle, establishing position constraints, speed constraints, acceleration constraints, obstacle constraints, and flight path point constraints which are key factors in the 4D flight path planningmodel, and establishing a mixed integer programming model by selecting a target function related to energy. The method is clear in modeling thought and convenient for practical application, and various commercial solvers can be adopted for solving in the practical application.
本发明公开了一种在未来基于航迹的运行规则下使无人机融入空域与其它飞行器共同飞行的方法,尤其是指一种基于航迹的运行规则下战略4D航迹规划的方法,该方法包括:对于无人机的离散化状态方程的建立,对于位置约束,速度约束,加速度约束,障碍约束,以及对于4D航迹规划中的关键因素:航路点约束的建立,通过选取与能量有关的目标函数,建立混合整数规划模型。该方法建模思想明确,且便于实际运用,在实际运用中可采用多种商业求解器进行求解。
Flight path-based unmanned aerial vehicle fusion airspace operation method
基于航迹的无人机融合空域运行方法
2021-01-22
Patent
Electronic Resource
Chinese
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