TIME OPTIMAL MANAGEMENT BY SEVERAL AIRCRAFT FLOWS IN POINT-MERGE SCHEMES 1

Transcription

1 TIME OPTIMAL MANAGEMENT BY SEVERAL AIRCRAFT FLOWS IN POINT-MERGE SCHEMES 1 S.I. Kumkov, S.G. Pyatko, M.M. Ovchinnikov World ATM Congress 2016 Madrid, Spain, March 08 10, 2016 The Frequentis Aviation Arena 1 Supported by RFBR Grant and by NITA Llc Contract; N.N. Krasovskii Institute of Mathematics and Mechanics, UrB RAS, Ekaterinburg, Russia, kumkov@imm.uran.ru; NITA Llc., Sankt-Petersburg, Russia.

2 Topics of presentation 1. References 2. Aim of investigations 3. Standard ideology of merging the aircraft flows 4. Merging aircraft flows in point-merge schemes 5. Main problems and possible solutions of merging in pointmerge schemes 6. Conclusions 7. Demonstration: computer simulation of merging in two point-merge schemes with different conditions 2

3 References [1] Images for merge point. [2] Point Merge Integration of Arrival Flows Enabling Extensive RNAV Application and Continuous Descent. Operation Services and Environment Definition. Report, July Eurocontrol Experimental Center, Bretignysur-Orge. document/eec/report/2008/003pointmergeosedv2.0.pdf [3] Air Traffic Management Technology Demonstration 1 (ATD 1). NASA Report FS ARC. [4] Point Merge: improving and harmonising arrival operations with existing technology. [5] Point Merge in Paris ACC. 3

4 References [6] Point Merge System - new regulations for air traffic at Oslo. [7] Point merge a new approach to air traffic control at Dublin // EOLAS Magazine, February, 2012 [8] IRISH AVIATION AUTHORITY POINT MERGE - ICAO. [9] Boursier L., Favennec B., Hoffman E.,Trzmiel A., Vergne F., and K. Zeghal. Merging Arrival Flows without Heading Instructions // Proceedings of the USA/Europe Air Traffic Management R&D Seminar, Barcelona, Spain, July [10] Dan Ivanescu, Chris Shaw, Constantine Tamvaclis (EUROCONTROL Experimental Centre, Bretigny sur Orge, France), Tarja Kettunen (ISA Software, Paris, France). Models of Air Traffic Merging Techniques: Evaluatin Performance of Point Merge. 4

5 Aim of investigations The global aim: creation of the Traffic Manager Adviser algorithms and software for computer complexes of advanced automated systems for control of merging the aircraft flows arriving at airport of landing. Investigations were performed on the basis of practically meaning versions of point-merge schemes and trajectories of aircrafts motions on approach and in aerodrome zones [1 10]. 5

6 Problem of merging aircraft flows x, km ( N) Landing queue 10 Merge point: MP LOISE (! at the same altitude H mrg ) z, km ( E) ANITA Flow 1 BELLA BONNY HELEN GLORY 30 arrv arrv? t t > arrv arrv? t t > arrv? t arrv t > 1 2 mrg 1 3 mrg 2 3 mrg DENIS DOLLY BIDDY 40 DORIS ( H 2 ) Flow 2 Flow 3 ALINA ( H 3 ) 6

7 Standard technology delay (holding) on schemes of the trombone type x, km ( N) Landing queue 10 Merge point: MP LOISE (! at the same altitude H mrg ) z, km ( E) ANITA Flow 1 Delay scheme BETTY BELLA BONNY HELEN GLORY 30 DENIS 40 arrv arrv? t t > arrv arrv? t t > arrv? t arrv t > 1 2 mrg 1 3 mrg 2 3 mrg Delay scheme 2 ( H 2 ) Delay scheme 3 ( ) H 3 DORIS 50 DOLLY 60 BIDDY 70 FUNNY 80 ( H 2 ) Flow 2 Flow 3 ( H 3 ) ALINA 7

8 Standard simple scheme. Aggravated situation under two flows merging. Manual managing and its difficulties. t 1 enter Flow 1 H ANITA H BELLA ANITA H BELLA 1 del H BELLA arrv? t arrv t > 1 2 mrg BETTY H BELLA BELLA H BONNY t 2 enter Flow 2 H BIDDY 2 del BONNY H BIDDY Merge point (! at the same altitude H mrg ) H ALINA BIDDY ALINA H BIDDY NAINA 8

9 Possible exclusion of inducted conflict situations by a special two-level trombone (NITA Llc.) t enter H ANITA Back turn with descending to H BONNY Lower shoulder Back turn at the altitude H BELLA ANITA H BELLA H BONNY Upper shoulder H H BONNY t arrive BETTY H BELLA BELLA H BONNY BONNY 9

10 Possible exclusion of the inducted conflict situations by preliminary holding scheme: special advanced two-level anteverted trombone (NITA Llc.) as a step to the point-merge scheme on approach trajectories t enter H ANITA ANITA Back turn with descending to H BONNY Lower shoulder H BONNY Return onto the trace at H H BELLA 3 BETTY BONNY H Upper shoulder Partial turn at the altitude H 4 H BONNY BELLA DOLLY 1 45 : 60 BELLA 2 Point of return t arrive BONNY H BONNY 10

11 Structure of a merge-point scheme for each flow Horizontal zone of turn onto the starting barrier Starting barrier of descending on fan Waiting arc Conic surface of the fan L y L V Final point MP z x MP hp - D 5 D Markers 4 D 3 for visual check D 2 D of longitudinal 1 separation Altitude of enter h wa Enter point Projection of waiting arc 11

12 Structure of a merge-point scheme for two flows y Horizontal zone of turn onto the starting barrier of fan II Starting barrier of descending on fan II Horizontal zone of turn onto the starting barrier of fan I Starting barrier of descending on fan I Flow I Waiting arc I Waiting arc II Altitude of enter I Fan II L II h I Fan I L I EP I FP II MP z Flow II x MP hp D 5 D Markers 4 D 3 for visual check D 2 D of longitudinal separation 1 Altitude of enter II h II FP I EP II 12

13 { Profile of two-fan scheme for merging two flows y Starting barrier of descending on fan II Waiting arc II MP y MP Trajectory of descending on fan I - II - I Trajectory of descending on fan II L II L I 2 r 1,2 I 1 II Starting barrier of descending on fan I Trajectory of turn h I h II Trajectory of turn Altitude of enter I Altitude of enter II Waiting arc I x MP hp Markers for visual check of longitudinal separation 13

14 Building non-conflict queue on the two-fan point-merge scheme. Reliable algorithmic and visual check of longitudinal separation Flow II 1 Altitude of enter II 4 EP II Markers for visual check 4 2 r 3,4 3 > D Waiting arc II Starting barrier of descending on fan II 5 2 r 1,2 r > D 2,3 x > D R3,4>> D and different altitudes 1 3 Flow I Altitude of enter I EP I Waiting arc I Starting barrier of descending on fan I 14

15 Structure of a model complicated five-fan point-merge scheme for merging five (seven) flows Model five-fan point-merge scheme N for processing five main flows and x, km two ones with missed landings and approaches E Flow Waiting arcs: FUNNY WA5 for Flow WA4 for Flow 4 Flow 2 WA2 for Flows 2 and !? WA3 for Flows 3 and BETTY 3-3 WA1 1 for Flow !? For missed 2-2 approaches Flow Flow 4 ALINA Flow 7 DORIS NELLY Flow 1 Flow 3 BONNY HELEN DOLLY Flow 6 For missed landings MP (0, 0) km L1 L3 L2 LOISE BELLA ADELL Flow 4 ANITA Flow 5 JANNY LILLY FRANY Flow 2 z, km L4 L5 L6 RW 15

16 Standard model of aircraft controllable motion x = V cos θ cos ψ, z = V cos θ sin ψ, y = V sin θ, V = au 1, ψ = bu 2 /V, θ = cu 3 /V, a = const, u 1 1, b = const, u 2 1, c = const, u 3 1, where x, z, y are coordinates in the ATM system; ψ is the heading; θ is the velocity angle; V is the spacial velocity; a is an admissible value of the longitudinal acceleration of aircraft; u 1 is the control in the longitudinal channel; b is the maximal value of the lateral acceleration; u 2 is the control in the lateral channel; c is is the maximal value of the vertical acceleration; u 3 is the control in the vertical channel. 16

17 Criteria of control (management) It is necessary to provide: obligatory guarantee of the safe longitudinal time interval τ mrg between aircrafts on their trajectories and at the mergepoint; minimization of delay time of each aircraft from the instant of the control beginning till passage of the merge-point with maximal density of the landing queue; desirable: minimization of summary time-on-control of all aircrafts managed groups in flows to be merged. 17

18 Problem formulation It is formulated in the following engineering form: to calculate and implement the minimal-necessary value of delay (or acceleration) for each aircraft in each flow that constructively guarantees the maximal density of the merged flow under obligatory satisfaction of the safe longitudinal time-interval τ mrg between aircrafts in the landing queue. 18

19 The main approach to manage the aircraft merging. Special forecast of instants of arriving at the merge point in a model three flows scheme 0 Flow 1... (1) (2) (3) (4) (12) (13) (14) (15) nom t arive 0 Flow 2... (1) (2) (3) (4) (12) (13) (14) (15) nom t arive 0 Flow 3... (1) (2) (3) (4) (12) (13) (14) (15) nom t arive Forecast assembly... 0 with conflicts nom t arive 19

20 Non-conflict merged queue 0 Flow 1 input nom t arrive 0 (1) (2) (3) (4) (12) (13) (14) (15) 0 delayed Flow 2 input del t arrive nom t arrive 0 delayed... (1) (2) (3) (4) (12) (13) (14) (15) del t arrive Flow 3 input nom t arrive delayed Merged flow (landing queue) without conflicts. Delayed instants in queue mrg (1) (2) (3) (4) (12)(13) (14) (15) numbers del t arrive del t arrive 20

21 Special procedures for non-conflict merging computation of minimal necessary delays in the preliminary holding zones or by acceleration/deceleration of aircrafts; computation of minimal necessary delays on the waiting arcs; managing the cases of aircrafts with priority (alarm or urgent ones); changing the aircraft sequence in the queue for minimization of their time of arriving to the merge-point. 21

22 END of PRESENTATION: Demonstration of work of algorithms for aircraft flows merging. 1. Alarm.avi with input density of 24 aircraft/hour. 2. Model04.avi with input density of 25 aircraft/hour. 22