Conflict detection and resolution using predicted aircraft trajectories

• US 8,965,673 B2
• Filed: 05/24/2013
• Issued: 02/24/2015
• Est. Priority Date: 05/25/2012
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: del Pozo de Poza, Isabel
• Primary Examiner(s): Cheung, Mary
• Assistant Examiner(s): BERNS, MICHAEL ANDREW
• Application Number:
  US13/902,501
• Publication Number:
  US 20130332059A1
• Time in Patent Office: 641 Days
• Field of Search: 701/123, 701/120
• US Class Current: 701/123
• CPC Class Codes: G06Q 10/047 Optimisation of routes or paths, e.g. travelling salesman problem
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/0039 Modification of a flight plan
• CPC Class Codes: G08G 5/0043 Traffic management of multiple aircrafts from the ground G08G5/003 takes precedence; data processing specially designed for resource management, e.g. scheduling or allocating time, human or machine resources G06Q10/06
• CPC Class Codes: G08G 5/0082 for monitoring traffic from a ground station radar or analogous systems specially adapted for traffic control G01S13/91
• CPC Class Codes: G08G 5/0095 Aspects of air-traffic control not provided for in the other subgroups of this main group
• CPC Class Codes: G08G 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933
• CPC Class Codes: Y02T 50/80 Energy efficient operational measures, e.g. ground operations or mission management

Abstract

This disclosure is concerned with a method of detecting conflicts between aircraft passing through managed airspace, and to resolving the detected conflicts strategically. The method may include obtaining intended trajectories of aircraft through the airspace, detecting conflicts in the intended trajectories, forming a set of the conflicted aircraft, calculating one or more revised trajectories for the conflicted aircraft such that the conflicts are resolved, and advising the conflicted aircraft subject to revised trajectories of the revised trajectories.

Claims

1. A method of managing airspace through which a plurality of aircraft are flying, comprising:

obtaining user preferred aircraft intent data that describe unambiguously user preferred trajectories to be flown by each aircraft through the airspace;

obtaining a user preferred time of arrival for each aircraft;

calculating the user preferred trajectories from the user preferred aircraft intent data;

detecting one or more conflicts in the user preferred trajectories, and identifying the conflicted aircraft predicted to fly the detected conflicting trajectories;

revising the user preferred aircraft intent data of at least one of the conflicted aircraft to produce revised aircraft intent data having a corresponding revised trajectory;

for each revised trajectory, calculating a penalty function value, wherein the penalty cost function comprises a function of, for each of the plurality of aircraft, a corresponding revised flight duration, a corresponding fuel consumption, a corresponding user preferred value for flight duration, and a corresponding user preferred value for fuel consumption, and

further revising the revised aircraft intent data of at least one aircraft to produce a corresponding trajectory such that the penalty function values are distributed among the conflicted aircraft subject to revised trajectories more equitably or more fairly;

sending revised aircraft intent data to the corresponding conflicted aircraft; and

ordering a change of at least one of speed and direction of the corresponding conflicted aircraft.

2. A computer-implemented method of managing airspace through which a plurality of aircraft are flying, comprising:

obtaining user preferred aircraft intent data that describe unambiguously user preferred trajectories to be flown by each aircraft through the airspace;

obtaining a user preferred time of arrival for each aircraft;

calculating the user preferred trajectories from the user preferred aircraft intent data;

detecting one or more conflicts in the user preferred trajectories, and identifying the conflicted aircraft predicted to fly the detected conflicting trajectories;

revising the user preferred aircraft intent data of at least one of the conflicted aircraft to produce revised aircraft intent data having a corresponding revised trajectory;

for each revised trajectory, calculating a penalty function value from a time penalty arising from a difference between the user preferred time of arrival and the revised time of arrival of the revised trajectory;

obtaining a user preferred fuel consumption for each aircraft;

for each revised trajectory, calculating the penalty function value arising both from the time penalty and from a fuel penalty arising from a difference between the user preferred fuel consumption and the revised fuel consumption of the revised trajectory;

further revising the revised aircraft intent data of at least one aircraft to produce a corresponding trajectory such that the penalty function values are distributed among the conflicted aircraft subject to revised trajectories more equitably or more fairly;

obtaining a cost index for each aircraft that indicates a preferred weighting between incurring a time penalty or a fuel penalty;

for each revised trajectory, calculating the penalty function value as a weighted combination of the time penalty and the fuel penalty, weighted according to the associated cost index;

sending revised aircraft intent data to the corresponding conflicted aircraft;

obtaining a latest time of arrival and a maximum fuel consumption deemed acceptable for each aircraft; and

for each revised trajectory, calculating a relative penalty function value from a ratio of the penalty function value and a saturated penalty function value,

wherein the saturated penalty function value is calculated from a weighted combination of a maximum time penalty and a maximum fuel penalty, weighted according to the cost index, and

wherein the maximum time penalty arises from a difference between the latest time of arrival and the revised time of arrival of the revised trajectory, and the maximum fuel penalty arises from a difference between the maximum fuel consumption and the revised fuel consumption of the revised trajectory;

wherein the step of further revising the revised aircraft intent data of at least one aircraft to produce a corresponding trajectory is performed such that it is the relative penalty function values that are distributed among the conflicted aircraft subject to revised trajectories more fairly; and

ordering a change of at least one of speed and direction of the conflicted aircraft.

3. The method of claim 2, wherein the step of further revising the revised aircraft intent data of at least one aircraft comprises selecting the aircraft with the greatest relative penalty function value, and repeating multiple times the step of further revising the revised aircraft intent data by selecting aircraft by decreasing order of size of their relative penalty function values.

4. The method of claim 2, wherein each of the aircraft is associated with an airline, and the method comprises:

for each airline, calculating an airline relative penalty function value as a combination of the individual relative penalty function values of the aircraft with revised aircraft intent data associated with that airline; and

wherein the step of further revising the revised aircraft intent data of at least one aircraft comprises selecting an aircraft from the airline with the greatest airline relative penalty function value, and repeating multiple times the step of further revising the revised aircraft intent data by selecting aircraft from other airlines in decreasing order of the size of their airline relative penalty function values.

5. The method of claim 4, further comprising:

obtaining aircraft weighting data comprising a weighting factor for each aircraft that indicates the relative importance of each aircraft to an airline; and

wherein the step of further revising the revised aircraft intent data of at least one aircraft comprises selecting the aircraft with the greatest combination of weighting factor and aircraft relative penalty function value from the airline with the greatest airline relative penalty function value, and then performing further iterations by selecting aircraft in decreasing order of the size of the combination of their weighting factor and their aircraft relative penalty function value from the airline with next highest airline relative penalty function.

6. An airspace management system to deconflict trajectories of a plurality of aircraft comprising one of manned aircraft, unmanned aircraft, and combinations thereof, the airspace management system comprising:

an airborne automation system comprising flight management logic and trajectory computation infrastructure, the airborne automation system in communication with the plurality of aircraft;

a ground-based automation system comprising traffic management logic and trajectory computation infrastructure, the ground-based automation system in communication with the plurality of aircraft;

a corresponding aircraft intent, stored on a non-transitory computer readable storage medium, for each of the plurality of aircraft associated with the airspace management system;

a computer configured to calculate a penalty cost function, wherein the penalty cost function comprises a function of, for each of the plurality of aircraft, a corresponding revised flight duration, a corresponding fuel consumption, a corresponding user preferred value for flight duration, and a corresponding user preferred value for fuel consumption, wherein the computer is further configured to revise the corresponding aircraft intent of at least one aircraft to produce a corresponding trajectory such that the penalty function values are distributed among conflicted aircraft subject to revised trajectories more equitably or more fairly; and

a communication system in communication with the computer and configured to provide communication with the plurality of aircraft, the airborne automation system, and the ground-based automation system, and to communicate to one or more of the plurality of aircraft revised trajectories.

7. A computer for managing airspace through which a plurality of aircraft are flying, the computer comprising:

a processor;

a bus connected to the processor;

a communication system configured to communicate with the plurality of aircraft;

a non-transitory computer readable storage medium storing code which, when executed by the processor, performs a method, the code comprising;

computer usable program code for obtaining user preferred aircraft intent data that describe unambiguously user preferred trajectories to be flown by each aircraft through the airspace;

computer usable program code for obtaining a user preferred time of arrival for each aircraft;

computer usable program code for calculating the user preferred trajectories from the user preferred aircraft intent data;

computer usable program code for detecting one or more conflicts in the user preferred trajectories, and identifying the conflicted aircraft predicted to fly the detected conflicting trajectories;

computer usable program code for revising the user preferred aircraft intent data of at least one of the conflicted aircraft to produce revised aircraft intent data having a corresponding revised trajectory;

computer usable program code for, for each revised trajectory, calculating a penalty function value, wherein the penalty cost function comprises a function of, for each of the plurality of aircraft, a corresponding revised flight duration, a corresponding fuel consumption, a corresponding user preferred value for flight duration, and a corresponding user preferred value for fuel consumption, and

computer usable program code for further revising the revised aircraft intent data of at least one aircraft to produce a corresponding trajectory such that the penalty function values are distributed among the conflicted aircraft subject to revised trajectories more equitably or more fairly; and

computer usable program code for sending revised aircraft intent data to the corresponding conflicted aircraft.

8. The computer of claim 7, wherein the code further comprises:

computer usable program code for obtaining a latest time of arrival and a maximum fuel consumption deemed acceptable for each aircraft; and

computer usable program code for, for each revised trajectory, calculating a relative penalty function value from a ratio of the penalty function value and a saturated penalty function value,

wherein the saturated penalty function value is calculated from a weighted combination of a maximum time penalty and a maximum fuel penalty, weighted according to the cost index, and

wherein the maximum time penalty arises from a difference between the latest time of arrival and the revised time of arrival of the revised trajectory, and the maximum fuel penalty arises from a difference between the maximum fuel consumption and the revised fuel consumption of the revised trajectory; and

wherein the computer usable program code for revising the revised aircraft intent data of at least one aircraft to produce a corresponding trajectory is performed such that it is the relative penalty function values that are distributed among the conflicted aircraft subject to revised trajectories more fairly.

9. The computer of claim 8, wherein the computer usable program code for further revising the revised aircraft intent data of at least one aircraft comprises computer usable program code for selecting the aircraft with the greatest relative penalty function value, and computer usable program code for repeating multiple times the step of further revising the revised aircraft intent data by selecting aircraft by decreasing order of size of their relative penalty function values.

10. The computer of claim 8, wherein each of the aircraft is associated with an airline, and wherein the code further comprises:

computer usable program code for, for each airline, calculating an airline relative penalty function value as a combination of the individual relative penalty function values of the aircraft with revised aircraft intent data associated with that airline; and

wherein the computer usable program code for further revising the revised aircraft intent data of at least one aircraft comprises computer usable program code for selecting an aircraft from the airline with the greatest airline relative penalty function value, and computer usable program code for repeating multiple times the step of further revising the revised aircraft intent data by selecting aircraft from other airlines in decreasing order of the size of their airline relative penalty function values.

11. The computer of claim 10, wherein the code further comprises:

computer usable program code for obtaining aircraft weighting data comprising a weighting factor for each aircraft that indicates the relative importance of each aircraft to an airline; and

wherein the computer usable program code for further revising the revised aircraft intent data of at least one aircraft comprises computer usable program code for selecting the aircraft with the greatest combination of weighting factor and aircraft relative penalty function value from the airline with the greatest airline relative penalty function value, and computer usable program code for then performing further iterations by selecting aircraft in decreasing order of the size of the combination of their weighting factor and their aircraft relative penalty function value from the airline with next highest airline relative penalty function.