Conflict detection and resolution using predicted aircraft trajectories

• US 9,053,634 B2
• Filed: 05/24/2013
• Issued: 06/09/2015
• Est. Priority Date: 05/25/2012
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Vilaplana, Miguel Angel, Valls Hernandez, Ernesto, de Blanes, Francisco Garcia, del Pozo de Poza, Isabel
• Primary Examiner(s): FREJD, RUSSELL WARREN
• Application Number:
  US13/902,672
• Publication Number:
  US 20130317734A1
• Time in Patent Office: 746 Days
• Field of Search: 701/120, 701/122, 701/301, 340/961
• US Class Current: 1/1
• CPC Class Codes: G06Q 10/047 Optimisation of routes or paths, e.g. travelling salesman problem
• CPC Class Codes: G08G 5/00 Traffic control systems for aircraft , e.g. air-traffic control [ATC]
• CPC Class Codes: G08G 5/0004 Transmission of traffic-related information to or from an aircraft airborne radio transmission systems in general H04B7/185; airborne wireless networks H04W84/06
• 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 5/0078 for monitoring traffic from the aircraft radar or analogous systems specially adapted for traffic control G01S13/91
• 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 5/04 Anti-collision systems
• 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

Abstract

A method of detecting conflicts between aircraft passing through managed airspace, and 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 computer-implemented method of managing airspace through which a plurality of aircraft are flying, comprising:

receiving, from the aircraft, user preferred aircraft intent data that unambiguously defines the user preferred trajectory of each aircraft;

calling an initial conflict detection procedure comprising;

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

comparing the user preferred trajectories so as to identify one or more conflicts between trajectories and to identify conflicted aircraft predicted to fly the identified conflicting trajectories;

calling an initial conflict resolution procedure comprising;

selecting one or more identified conflicts, characterising the selected conflict and responsively revising the user preferred aircraft intent data of one of the aircraft involved in the selected conflict in a way that should remove the conflict;

after calling the initial conflict resolution procedure, calling a further conflict detection procedure comprising;

calculating revised trajectories from the corresponding revised aircraft intent data;

comparing the user-preferred trajectories for aircraft not subject to revised aircraft intent data and revised trajectories for the aircraft subject to revised aircraft intent data so as to identify one or more conflicts between trajectories and to identify still-conflicted aircraft predicted to fly the identified conflicting trajectories; and

if conflicts are identified during the further conflict detection procedure, calling a further conflict resolution procedure,

wherein the further conflict resolution procedure comprises selecting one or more identified conflicts, characterising the selected conflict and responsively revising the user preferred aircraft intent data or revised aircraft intent data of one of the aircraft involved in the selected conflict in a way that should remove the conflict, and calling the further conflict detection procedure;

or

if no conflicts are identified during the further conflict detection procedure, continuing to the step of sending the revised aircraft intent;

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

managing the airspace by ordering at least one of the aircraft to alter course.

2. The method of claim 1, wherein the step of responsively revising the user preferred aircraft intent data or revised aircraft intent data in the initial or further conflict resolution procedure is performed by selecting a revision from a set of candidate resolution patterns.

3. The method of claim 2, wherein the step of responsively revising the user preferred aircraft intent data or revised aircraft intent data in the initial or further conflict resolution procedure further comprises:

storing each instance of revised aircraft intent data so as to form a first joint candidate resolution pattern when all conflicts have been removed;

repeating the steps of calling the initial conflict detection and resolution procedures and, if conflicts are found, calling the further conflict detection procedure so as to form at least a second joint candidate resolution pattern;

selecting one of the joint candidate resolution strategies; and

sending the revised aircraft intent data from the selected joint candidate resolution strategy to the corresponding conflicted aircraft.

4. The method of claim 3, comprising selecting one of the joint candidate resolution strategies according to an evaluation of the total change in path length or time of arrival of the revised trajectories for each joint candidate resolution strategy.

5. The method of claim 3, comprising selecting one of the joint candidate resolution strategies according to an evaluation of how each joint candidate resolution strategy distributes changes in trajectories between the aircraft or changes in time of arrival between the aircraft.

6. The method of claim 2, wherein the step of characterising the selected conflict in the initial or further conflict resolution procedure comprises determining the cause of the reduced separation between the conflicted aircraft, and revising the aircraft intent data comprises revising aircraft intent data to reverse the cause.

7. The method of claim 6, wherein the candidate resolution patterns include patterns that cause the aircraft intent data to be revised to cause at least one of:

an increase in altitude of one of the conflicted aircraft, a decrease in altitude of one of the conflicted aircraft, an increase in speed of one of the conflicted aircraft, a decrease in speed of one of the conflicted aircraft, an increase in path length of one of the conflicted aircraft optionally by adding one or more waypoints to the path, and a decrease in path length of one of the conflicted aircraft optionally by removing one or more waypoints from the path.

8. The method of claim 7, wherein the step of responsively revising the user preferred aircraft intent data or revised aircraft intent data in the initial or further conflict resolution procedure is performed in a partially random manner.

9. The method of claim 8, wherein selecting a revision from a set of candidate resolution patterns comprises determining which of the patterns are suitable for removing the selected conflict, and selecting randomly one of the suitable patterns.

10. The method of claim 8, wherein selecting a revision from a set of candidate resolution patterns comprises determining which of the patterns are suitable for removing the selected conflict, selecting one of the suitable patterns and revising a parameter associated with the selected pattern by a random amount.

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

a computer apparatus;

a non-transitory computer readable medium comprising instructions stored thereon, that when executed by the computer apparatus, causes the computer apparatus to;

receive from the aircraft, user preferred aircraft intent data that unambiguously defines the user preferred trajectory of each aircraft;

call an initial conflict detection procedure comprising;

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

comparing the user preferred trajectories so as to identify one or more conflicts between trajectories and to identify conflicted aircraft predicted to fly the identified conflicting trajectories;

call an initial conflict resolution procedure comprising;

selecting one or more identified conflicts, characterising the selected conflict and responsively revising the user preferred aircraft intent data of one of the aircraft involved in the selected conflict in a way that should remove the conflict;

after the initial conflict resolution procedure, call a further conflict detection procedure comprising;

calculating revised trajectories from the corresponding revised aircraft intent data;

comparing the user-preferred trajectories for aircraft not subject to revised aircraft intent data and revised trajectories for the aircraft subject to revised aircraft intent data so as to identify one or more conflicts between trajectories and to identify still-conflicted aircraft predicted to fly the identified conflicting trajectories;

if conflicts are identified during the further conflict detection procedure, calling a further conflict resolution procedure, wherein the further conflict resolution procedure comprises selecting one or more identified conflicts, characterising the selected conflict and responsively revising the user preferred aircraft intent data or revised aircraft intent data of one of the aircraft involved in the selected conflict in a way that should remove the conflict, and calling the further conflict detection procedure;

or

if no conflicts are identified during the further conflict detection procedure, continuing to the step of sending the revised aircraft intent; and

send the revised aircraft intent data to the corresponding conflicted aircraft.

12. The system of claim 11, wherein responsively revising the user preferred aircraft intent data or revised aircraft intent data in the initial or further conflict resolution procedure, is performed by selecting a revision from a set of candidate resolution patterns.

13. The system of claim 12 wherein said non-transitory computer readable medium comprises further instructions, that when executed by the computer apparatus, causes the computer apparatus to perform the step of responsively revising the user preferred aircraft intent data or revised aircraft intent data in the initial or further conflict resolution procedure, wherein the step of responsively revising comprises:

storing each instance of revised aircraft intent data so as to form a first joint candidate resolution pattern when all conflicts have been removed;

repeating the steps of calling the initial conflict detection and resolution procedures and, if conflicts are found, calling the further conflict detection procedure so as to form at least a second joint candidate resolution pattern;

selecting one of the joint candidate resolution strategies; and

sending the revised aircraft intent data from the selected joint candidate resolution strategy to the corresponding conflicted aircraft.

14. The system of claim 13 wherein selecting one of the joint candidate resolution strategies comprises selecting according to an evaluation of the total change in path length or time of arrival of the revised trajectories for each joint candidate resolution strategy.

15. The system of claim 13 wherein selecting one of the joint candidate resolution strategies comprises selecting according to an evaluation of how each joint candidate resolution strategy distributes changes in trajectories between the aircraft or changes in time of arrival between the aircraft.

16. The system of claim 12 wherein the step of characterising the selected conflict in the initial or further conflict resolution procedure comprises determining the cause of the reduced separation between the conflicted aircraft, and revising the aircraft intent data comprises revising aircraft intent data to reverse the cause.

17. The system of claim 16 wherein the candidate resolution patterns include patterns that cause the aircraft intent data to be revised to cause at least one of:

an increase in altitude of one of the conflicted aircraft, a decrease in altitude of one of the conflicted aircraft, an increase in speed of one of the conflicted aircraft, a decrease in speed of one of the conflicted aircraft, an increase in path length of one of the conflicted aircraft optionally by adding one or more waypoints to the path, and a decrease in path length of one of the conflicted aircraft optionally by removing one or more waypoints from the path.