Conflict-Free Trajectory Optimization with Target Tracking and Conformance Monitoring

摘要

This paper proposes an optimization framework that computes conflict-free optimal trajectories in dense terminal airspace, while continuously monitoring trajectory conformance in an effort to improve predictability. The objective is to allow, as much as possible, continuous vertical trajectory profiles without impacting negatively on airspace capacity. Given automatic dependent surveillance-broadcast intent information, the future state of potential intruder aircraft are predicted, and this nominal trajectory is used as a constraint in the ownship trajectory optimization process. In it, a continuous multiphase optimal control problem is solved, taking into account spatial and temporal constraints. Additionally, a linearized Kalman filter keeps track of the target by estimating the deviations of its actual trajectory from its nominal trajectory, issuing a warning when an appropriate threshold is exceeded. This may be due to unexpected events, biases in the performance and weather models, wrong parameter assumptions, etc. An illustrative example is given, based on a computer simulation of two hypothetical trajectories in the Barcelona terminal maneuvering area. The results show how this framework resolves the problem of uncertainties in the trajectory predictions and results in a more efficient conflict resolution.