Conflict detection and resolution using predicted aircraft trajectories

• US 9,858,825 B2
• Filed: 05/24/2013
• Issued: 01/02/2018
• 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): Khatib, Rami
• Assistant Examiner(s): Wiltey, Nicholas K
• Application Number:
  US13/902,697
• Publication Number:
  US 20130338910A1
• Time in Patent Office: 1,684 Days
• 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 5/045 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 method of managing airspace through which a plurality of aircraft are flying, comprising:

receiving, from the plurality of aircraft, user preferred aircraft intent data that unambiguously defines corresponding user preferred trajectories of each of the plurality of aircraft;

calling an initial global conflict detection procedure comprising;

calculating, by a processor, the corresponding user preferred trajectories from the user preferred aircraft intent data;

comparing the corresponding user preferred trajectories so as to identify one or more conflicts between trajectories to create a comparison; and

using the comparison of the corresponding user preferred trajectories to identify conflicted aircraft and to place each conflicted aircraft into one of a plurality of conflict dependent networks such that each conflict dependent network contains a set of all aircraft in conflict with each other, either directly or indirectly, such that each conflicted aircraft can be a member of one conflict dependent network only;

for each conflict dependent network, calling an initial conflict resolution procedure comprising;

revising the user preferred aircraft intent data of one or more of the conflicted aircraft of a corresponding conflict dependent network to produce revised aircraft intent data defining a corresponding revised trajectory configured to remove-conflicts from within the corresponding conflict dependent network;

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

commanding the corresponding conflicted aircraft to alter course to remove the conflicts.

2. The method of claim 1 further comprising, for each conflict dependent network, calling a local conflict detection procedure wherein the local conflict detection procedure comprises:

calculating the corresponding revised trajectories from the revised aircraft intent data; and

comparing the user-preferred trajectories from the aircraft in the corresponding conflict dependent network not subject to revised aircraft intent data and revised trajectories from the aircraft in the corresponding conflict dependent network subject to revised aircraft intent data so as to identify one or more conflicts and to identify the still-conflicted aircraft and,

if conflicts are identified, calling a further conflict resolution procedure,

wherein the further conflict resolution procedure comprises revising the user-preferred aircraft intent data of one or more of the still-conflicted aircraft of the corresponding conflict dependent network to produce revised aircraft intent data in a way that should remove conflicts from within the corresponding conflict dependent network, and calling a further local conflict detection procedure,

or

if conflicts are not identified, continuing to process the next conflict dependent network or, if all of the plurality of conflict dependent networks have been processed, calling a further global conflict detection process;

wherein the further global conflict detection process comprises;

calculating the corresponding revised trajectories from the revised aircraft intent data;

comparing the user-preferred trajectories from the aircraft not subject to revised aircraft intent data and revised trajectories from the aircraft subject to revised aircraft intent data so as to identify one or more conflicts between trajectories; and

if conflicts are detected, calling the local conflict resolution procedure, optionally after merging separate conflict dependent networks where a conflict arises between aircraft in the separate conflict dependent networks,

or

if no conflicts are detected, continuing to the step of sending the revised aircraft intent data to the corresponding conflicted aircraft.

3. The method of claim 2, wherein performing the initial conflict resolution procedure and any further conflict resolution procedures comprise processing the plurality of conflict dependent networks in turn in increasing order of the lateness of the earliest occurring conflict within the corresponding conflict dependent network.

4. The method of claim 3, wherein performing the initial conflict resolution procedure and any further conflict resolution procedures comprises selecting the earliest occurring conflict in the corresponding conflict dependent network and amending the aircraft intent data of one of the aircraft involved in that conflict, selecting the next earliest occurring conflict in the corresponding conflict dependent network and amending the aircraft intent data of one of the aircraft involved in the that conflict, and so on until all conflicts have been selected.

5. The method of claim 2 wherein the step of calling the initial conflict resolution procedure or any step of calling the further conflict resolution procedure comprises, for each of the plurality of conflict dependent networks:

selecting one or more identified conflicts from the corresponding conflict dependent network,

characterising the selected conflict, and

responsively revising the user-preferred aircraft intent data or the revised aircraft intent data of one of the aircraft involved in the selected conflict in a way that should remove the conflict.

6. The method of claim 5, wherein the step of responsively revising the user-preferred aircraft intent data or revised aircraft intent data is performed by selecting a revision from a set of candidate resolution patterns.

7. The method of claim 6, wherein the step of responsively revising the user-preferred aircraft intent data or revised aircraft intent data 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.

8. The method of claim 7, 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.

9. The method of claim 7, 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.

10. The method of claim 6, 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.

11. The method of claim 10, 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.

12. The method of claim 11, 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.

13. The method of claim 12, 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.

14. The method of claim 12, 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.

15. The method of claim 1 further comprising, for each of the plurality of conflict dependent network, calling a local conflict detection procedure, wherein the local conflict detection procedure comprises:

calculating the corresponding revised trajectories from the revised aircraft intent data; and

comparing the user-preferred trajectories from the aircraft in the corresponding conflict dependent network not subject to revised aircraft intent data and revised trajectories from the aircraft in the corresponding conflict dependent network subject to revised aircraft intent data so as to identify one or more conflicts and to identify the still-conflicted aircraft and,

if conflicts are identified, calling a further conflict resolution procedure,

wherein the further conflict resolution procedure comprises revising the user-preferred aircraft intent data of one or more of the still-conflicted aircraft of the corresponding conflict dependent network to produce revised aircraft intent data in a way that should remove conflicts from within corresponding conflict dependent network, and continuing to process the next conflict dependent network or, if all of the plurality of conflict dependent networks have been processed, calling a further global conflict detection process,

or

if conflicts are not identified, continuing to process the next conflict dependent network or, if all of the plurality conflict dependent networks have been processed, calling a further global conflict detection process;

wherein the further global conflict detection process comprises;

calculating the corresponding revised trajectories from the revised aircraft intent data;

comparing the user-preferred trajectories from the aircraft not subject to revised aircraft intent data and revised trajectories from the aircraft subject to revised aircraft intent data so as to identify one or more conflicts between trajectories; and

if conflicts are detected, calling the local conflict resolution procedure, optionally after merging separate conflict dependent networks where a conflict arises between aircraft in the separate conflict dependent networks,

or

if no conflicts are detected, continuing to the step of sending the revised aircraft intent data to the corresponding conflicted aircraft.

16. The method of claim 1 further comprising:

identifying conflicts between two aircraft from separate conflict dependent networks;

merging conflict dependent networks to which the two aircraft belong; and

thereafter calling a new round of local conflict procedures.

17. 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 plurality of aircraft, user preferred aircraft intent data that unambiguously defines the user preferred trajectory of each of the plurality of aircraft;

call an initial global conflict detection procedure comprising;

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

comparing the corresponding user preferred trajectories so as to identify one or more conflicts between trajectories to form a comparison;

use the comparison of the user preferred trajectories to identify conflicted aircraft and to place the conflicted aircraft into a plurality of conflict dependent networks such that each of the plurality of conflict dependent networks contains a set of all aircraft in conflict with each other, either directly or indirectly, such that each conflicted aircraft can be a member of one conflict dependent network only;

for each of the plurality conflict dependent networks, calling an initial conflict resolution procedure comprising;

revising the user preferred aircraft intent data of one or more of the conflicted aircraft of a corresponding conflict dependent network to produce revised aircraft intent data defining a corresponding revised trajectory configured to remove conflicts from within the conflict dependent network;

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

command the corresponding conflicted aircraft to alter course in a manner that removes the conflicts.

18. The system of claim 17 wherein said non-transitory computer readable medium comprises further instructions, that when executed by the computer apparatus, causes the computer apparatus to:

for each of the plurality of conflict dependent networks, call a local conflict detection procedure wherein the local conflict detection procedure comprises;

calculating the corresponding revised trajectories from the revised aircraft intent data; and

comparing the user-preferred trajectories from the aircraft in the corresponding conflict dependent network not subject to revised aircraft intent data and revised trajectories from the aircraft in the corresponding conflict dependent network subject to revised aircraft intent data so as to identify one or more conflicts and to identify the still-conflicted aircraft and,

if conflicts are identified, calling a further conflict resolution procedure,

wherein the further conflict resolution procedure comprises revising the user-preferred aircraft intent data of one or more of the still-conflicted aircraft of the corresponding conflict dependent network to produce revised aircraft intent data in a way that should remove conflicts from within the corresponding conflict dependent network, and calling a further local conflict detection procedure,

or

if conflicts are not identified, continuing to process the next conflict dependent network or, if all of the plurality of conflict dependent networks have been processed, calling a further global conflict detection process;

wherein the further global conflict detection process comprises;

calculating the corresponding revised trajectories from the revised aircraft intent data;

comparing the user-preferred trajectories from the aircraft not subject to revised aircraft intent data and revised trajectories from the aircraft subject to revised aircraft intent data so as to identify one or more conflicts between trajectories; and

if conflicts are detected, calling the local conflict resolution procedure, optionally after merging separate conflict dependent networks where a conflict arises between aircraft in the separate conflict dependent networks,

or

if no conflicts are detected, continuing to the step of sending the revised aircraft intent data to the corresponding conflicted aircraft.

19. The system of claim 18 wherein performing the initial conflict resolution procedure and any further conflict resolution procedures comprise processing the corresponding conflict dependent networks in turn in increasing order of the lateness of the earliest occurring conflict within the corresponding conflict dependent network.

20. The system of claim 17 wherein said non-transitory computer readable medium comprises further instructions, that when executed by the computer apparatus, causes the computer apparatus to:

for each of the plurality of conflict dependent networks, call a local conflict detection procedure, wherein the local conflict detection procedure comprises;

calculating the corresponding revised trajectories from the revised aircraft intent data; and

comparing the user-preferred trajectories from the aircraft in a corresponding conflict dependent network not subject to revised aircraft intent data and revised trajectories from the aircraft in the corresponding conflict dependent network subject to revised aircraft intent data so as to identify one or more conflicts and to identify the still-conflicted aircraft and,

if conflicts are identified, calling a further conflict resolution procedure,

wherein the further conflict resolution procedure comprises revising the user-preferred aircraft intent data of one or more of the still-conflicted aircraft of the corresponding conflict dependent network to produce revised aircraft intent data in a way that should remove conflicts from within the conflict dependent network, and continuing to process the next conflict dependent network or, if all of the plurality of conflict dependent networks have been processed, calling a further global conflict detection process,

or

if conflicts are not identified, continuing to process the next conflict dependent network or, if all of the plurality of conflict dependent networks have been processed, calling a further global conflict detection process;

wherein the further global conflict detection process comprises;

calculating the corresponding revised trajectories from the revised aircraft intent data;

comparing the user-preferred trajectories from the aircraft not subject to revised aircraft intent data and revised trajectories from the aircraft subject to revised aircraft intent data so as to identify one or more conflicts between trajectories; and

if conflicts are detected, calling the local conflict resolution procedure, optionally after merging separate conflict dependent networks where a conflict arises between aircraft in the separate conflict dependent networks,

or

if no conflicts are detected, continuing to the step of sending the revised aircraft intent data to the corresponding conflicted aircraft.

21. A non-transitory computer readable medium having stored thereon a computer program for managing airspace through which a plurality of aircraft are flying, the computer program comprising instructions that when executed by a computer apparatus causes the computer apparatus to:

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

call an initial global conflict detection procedure comprising;

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

comparing the corresponding user preferred trajectories so as to identify one or more conflicts between trajectories to form a comparison;

use the comparison of the user preferred trajectories to identify conflicted aircraft and to place the conflicted aircraft into a plurality of conflict dependent networks such that each of the plurality of conflict dependent network contains a set of all aircraft in conflict with each other, either directly or indirectly, such that each conflicted aircraft can be a member of one conflict dependent network only;

for each conflict dependent network, calling an initial conflict resolution procedure comprising;

revising the user preferred aircraft intent data of one or more of the conflicted aircraft of a corresponding conflict dependent network to produce revised aircraft intent data defining a corresponding revised trajectory configured to remove conflicts from within the corresponding conflict dependent network;

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

command the corresponding conflicted aircraft to alter course in a manner that removes the conflicts.