本书围绕四维航迹运行中如何实现精准定时到达这一目标，全面阐述基于四维航迹运行的大型客机飞行引导技术，内容覆盖飞行计划航段解析、四维航迹规划和重规划、四维航迹飞行误差估计、基于四维航迹运行的飞行引导指令计算、飞行管理着陆系统（FLS）进近引导等飞行引导全过程。 本书共12 章，主要内容包括飞行计划航段解析和过渡路径的构建、基于航迹运行的四维航迹规划、四维航迹各个航路点的要求到达时间（RTA）分配、四维航迹冲突探测与消解、四维航迹飞行误差估计和误差管理策略研究、基于四维航迹运行的推力管理系统需求分析及架构设计、基于四维航迹运行的飞行引导指令计算、飞行管理着陆系统进近引导技术等飞行管理和飞行引导技术领域的前沿问题，对新一代飞行管理系统的研究具有参考价值。读者若要查询本书各章相关彩色插图，尤其是仿真结果彩色插图，可登录华信教育资源网（http://www.hxedu.com.cn）下载素材。 本书是作者团队10 年来从事飞行管理系统和飞行引导技术研究工作的总结，书中所阐述的理论方法基本上是经过预研项目和实际工程型号验证的，具有重要的理论意义和工程应用价值。本书可供从事飞行控制、飞行管理、飞行引导技术研究的工程技术人员和相关专业的硕士/博士研究生参考使用。

前 言 基于四维航迹运行是指，以飞机等航空器的四维（4D）航迹预测为基础，在空中交通管制部门（ATM）、航空公司运营通信系统（AOC）、飞机之间实时共享航迹动态信息，做出协同决策的运行模式。四维航迹运行是新一代空中交通管制系统的核心技术，基于四维航迹运行的飞行引导技术是实现基于航迹运行的关键技术，也是基于四维航迹运行的飞行管理系统（4D-FMS）的核心功能。4D-FMS 将飞行计划和航迹预测/规划相结合，利用机载性能数据库和导航数据库，结合飞机当前飞行状态进行四维航迹预测/规划，给出飞行引导指令控制飞机，使之按预定航迹精确地飞行，实现可定时到达的精确飞行引导。 本书围绕四维航迹运行中如何实现精准定时到达这一目标，全面阐述了基于四维航迹运行的大型客机飞行引导技术。全书共12 章，各章内容简述如下。 第1 章绪论，介绍飞行管理系统、基于航迹运行模式的概念和研究进展、基于四维航迹运行的飞行管理系统需求分析、基于四维航迹运行的飞行引导关键技术和飞行引导系统架构。第2 章地球模型及飞行引导参数计算，主要介绍飞行管理系统所用导航坐标系和大圆航线、等角航线等常用飞行引导参数的计算方法，为后文介绍航段/模态切换和飞行引导指令计算奠定基础。第3 章飞行计划航段的解析和过渡路径的构建，主要介绍飞行管理系统常用的导航数据库标准ARINC 424 中的飞行计划编码和存储方式，以及该标准规定的各航段定义所需数据和解析方式、飞行计划航段之间平滑过渡路径的构建方法，以此生成水平参考航迹。第4 章基于航迹运行的四维航迹规划，主要介绍飞机性能数据库的建立过程，以及考虑飞机性能限制、空管要求和气象条件影响的四维航迹规划过程、航迹参数预测和基于性能优化指标的航迹垂直剖面规划。第5 章四维航迹各个航路点的RTA 分配，主要包括空间气象网格数据预报和更新修正方法、基于伪航路点法的估计到达时间（ETA）计算、四维航迹RTA 序列初始分配、基于约束管理和松弛的四维航迹RTA 序列重分配等内容。第6 章四维航迹冲突探测与消解，主要包括四维航迹冲突探测、基于机动消解模式的 航迹冲突消解路径遗传算法等。第7 章四维航迹飞行误差估计和误差管理策略研究，主要介绍了四维航迹飞行误差定 义和所需导航性能（RNP）相关概念、基于多源信息融合算法的飞行位置误差估计、飞行技术误差估计、ETA 误差估计和误差管理策略研究。第8 章基于四维航迹运行的推力管理系统需求分析及架构设计，主要包括基于四维航 迹运行的推力管理系统需求分析和基于四维航迹运行的推力管理系统架构设计、基于四维航迹运行的大型客机飞行引导技术、基于四维航迹运行的推力管理系统功能实现及转换逻辑等。第9 章基于四维航迹运行的飞行引导指令计算，主要内容包括优化水平航段过渡路径、飞行引导过程中的模式管理、飞行引导指令计算等。第10 章飞行管理着陆系统（FLS）进近引导技术，主要内容包括FLS 进近引导技术简介、FLS 进近引导功能架构设计和关键技术、基于导航传感器完好性的FLS 进近能力判断、FLS 进近引导模式判断及转换逻辑、FLS 虚拟波束生成和FLS 进近引导指令计算等。第11 章基于四维航迹运行的大型客机飞行引导技术仿真验证系统设计，介绍了该仿真验证系统的功能架构、任务设计等内容。第12 章FLS 进近引导技术仿真验证，介绍了该仿真验证系统功能需求分析及总体框架设计、基于蒙特卡洛模型的FLS 进近引导技术仿真验证等内容。 本书是作者团队10 年来从事飞行管理系统和飞行引导技术研究工作的总结。在过去10 年，作者所在团队和航空工业615 所与618 所就飞行管理系统和飞行引导技术开展了深入合作，共同完成了两项民机专项项目研究。在此特别感谢615 所孙晓敏研究员、陈芳高级工程师、王丹高级工程师、齐林高级工程师、薛广龙高级工程师，以及618 所魏学东研究员、屈重君研究员、王祎敏研究员、祖肇梓高级工程师、王梓桐高级工程师、徐丽娜高级工程师为我们的研究提供的无私帮助；对以上两个研究所其他各位同仁给作者提供的支持一并表示诚挚感谢。 本书是作者团队集体工作的结晶，李广文撰写了第1～8 章，翟少博撰写了第10～12章，贾秋玲撰写了第9 章。除以上3 位作者外，过去10 年间，还有很多在本团队攻读硕/博士学位的研究生们为本书的撰写提供了素材，他们是倪静、张宁、庞寅、邵明强、惠辉辉、刘恒立、曹植、许博、马力、曹萱、黄天宇、黄彭辉、陈畅翀、张祥、李钊星、尹芝钰。在此感谢这些研究生们的辛勤付出。 本书响应当前我国机载航空电子核心设备关键技术研制需求，书中所阐述的理论方法基本上经过预研项目和实际工程型号验证，具有重要的理论意义和工程应用价值。本书对于推广飞行管理系统和飞行引导技术、提高我国航空装备研究水平、实现航空关键核心技术的自主可控具有重要意义。本书可供从事飞行控制、飞行管理技术研究的工程技术人员和硕士/博士研究生参考使用。 由于作者学识水平有限，书中缺点和不足在所难免，恳请读者批评指正。 作者 2022 年5 月

目 录 第1 章 绪论 ················································································································.1 1.1 飞行管理系统 ·····································································································.1 1.2 基于航迹的运行模式 ····························································································.2 1.2.1 概述 ·······································································································.3 1.2.2 研究进展 ·································································································.5 1.3 基于四维航迹运行的飞行管理系统需求分析 ······························································.8 1.4 基于四维航迹运行的飞行引导技术 ·········································································.10 1.4.1 基于四维航迹运行的飞行引导关键技术 ·························································.11 1.4.2 基于四维航迹运行的飞行引导系统架构 ·························································.12 第2 章 地球模型及引导参数计算 ···············································································.14 2.1 概述 ················································································································.14 2.2 导航坐标系的建立和引导参数的计算 ······································································.14 2.3 大圆航线及其引导参数的计算 ···············································································.16 2.3.1 大圆航线应飞航向（真航向） ·····································································.17 2.3.2 大圆航线侧偏距计算 ·················································································.18 2.3.3 大圆航程计算 ··························································································.18 2.3.4 大圆航线的正解 ·······················································································.19 2.3.5 大圆航线的反解 ·······················································································.19 2.4 等角航线及其引导参数的计算 ···············································································.20 2.4.1 等角航线的正解 ·······················································································.21 2.4.2 等角航线的反解 ·······················································································.22 2.4.3 等角航线侧偏距的计算 ··············································································.23 2.5 平面直角坐标系及其引导参数的计算 ······································································.24 2.5.1 经度和纬度方程 ·······················································································.24 2.5.2 平面直角坐标系中某一点的经度和纬度推算 ···················································.25 2.5.3 平面直角坐标系中的侧偏距计算 ··································································.26 本章小结 ·················································································································.26 第3 章 飞行计划航段的解析和过渡路径的构建 ······························································.27 3.1 概述 ················································································································.27 3.2 ARINC 424 中的飞行计划简介 ··············································································.27 3.3 ARINC 424 中的飞行计划编码和存储方式 ·······························································.28 3.4 ARINC 424 中的各个航段的定义、所需数据和解析算法 ·············································.31 3.4.1 AF 航段 ··································································································.31 3.4.2 CA 航段 ·································································································.32 3.4.3 CD 航段 ·································································································.33 3.4.4 CF 航段 ··································································································.34 3.4.5 CI 航段 ···································································································.35 3.4.6 CR 航段 ··································································································.35 3.4.7 DF 航段 ··································································································.36 3.4.8 FA 航段 ··································································································.37 3.4.9 FC 航段 ··································································································.37 3.4.10 FD 航段 ································································································.38 3.4.11 FM 航段 ································································································.38 3.4.12 HX 航段 ································································································.39 3.4.13 IF 航段 ·································································································.41 3.4.14 PI 航段 ·································································································.41 3.4.15 RF 航段 ································································································.43 3.4.16 TF 航段·································································································.43 3.4.17 VA 航段 ································································································.43 3.4.18 VI 航段 ·································································································.44 3.4.19 VM 航段 ·······························································································.44 3.4.20 VR 航段 ································································································.44 3.5 ARINC 424 中的各个航段的过渡路径构建 ·······························································.45 3.5.1 切线过渡 ································································································.45 3.5.2 45°截获过渡 ····························································································.49 3.5.3 方位截获过渡 ··························································································.51 3.5.4 直飞过渡 ································································································.52 3.5.5 进入等待过渡 ··························································································.55 3.5.6 圆弧截获过渡 ··························································································.59 3.6 ARINC 424 中的各个航段过渡时存在的特殊情况 ······················································.62 3.7 ARINC 424 中的各个航段的过渡路径 ·····································································.63 本章小结 ·················································································································.65 第4 章 基于航迹运行的四维航迹规划 ········································································.66 4.1 概述 ················································································································.66 4.2 四维航迹的关键概念及内容 ··················································································.66 4.3 四维航迹规划中的约束条件和影响因素 ···································································.67 4.3.1 性能限制 ································································································.67 4.3.2 空管要求 ································································································.68 4.3.3 气象条件的影响 ·······················································································.68 4.3.4 性能优化指标的选择 ·················································································.68 4.4 性能数据库的建立 ······························································································.69 4.4.1 基本飞行性能数据库的建立 ········································································.69 4.4.2 运行性能数据库的建立 ··············································································.71 4.5 四维航迹参数预测 ······························································································.75 4.5.1 地速 ······································································································.75 4.5.2 估计到达时间 ··························································································.76 4.5.3 燃油余量 ································································································.76 4.6 四维航迹规划和RTA 分配 ····················································································.76 4.6.1 水平航迹规划 ··························································································.77 4.6.2 基于性能优化指标的航迹垂直剖面规划 ·························································.84 4.6.3 基于航迹运行的四维航迹RTA 分配 ······························································.86 4.7 仿真算例 ··········································································································.86 本章小结 ·················································································································.90 第5 章 四维航迹各个航路点的RTA 分配 ···································································.91 5.1 概述 ················································································································.91 5.2 空间气象网格数据预报和更新修正 ·········································································.91 5.2.1 基于空间气象网格数据的航路气象预报 ·························································.92 5.2.2 基于多元回归方法和机载气象雷达数据的气象数据更新 ····································.93 5.2.3 气象预报值和气象回归预测值仿真结果对比 ···················································.95 5.3 基于伪航路点法的ETA 计算 ·················································································.97 5.3.1 基于伪航路点法的风场信息细化 ··································································.97 5.3.2 ETA 计算 ································································································.98 5.4 四维航迹RTA 序列初始分配 ···············································································.101 5.4.1 四维航迹RTA 序列初始分配流程 ·······························································.101 5.4.2 四维航迹RTA 序列初始分配仿真算例 ·························································.103 5.5 基于约束管理和松弛的四维航迹RTA 序列重分配 ····················································.105 5.5.1 四维航迹RTA 序列与飞机ETA 预测的冲突分析 ············································.106 5.5.2 四维航迹RTA 序列重分配问题描述和建模 ···················································.107 5.5.3 基于内点法的四维航迹RTA 序列重分配方法 ·················································.110 5.5.4 四维航迹RTA 序列重分配仿真算例 ·····························································.112 5.5.5 四维航迹RTA 序列重分配算法的局限性 ·······················································.113 本章小结 ················································································································.113 第6 章 四维航迹冲突探测与消解 ··············································································.114 6.1 概述 ···············································································································.114 6.2 四维航迹冲突探测 ·····························································································.114 6.2.1 四维航迹冲突探测的假设条件 ····································································.114 6.2.2 改进型Paielli 法的流程和算法 ····································································.117 6.2.3 四维航迹冲突探测仿真算例 ······································································.125 6.2.4 航迹航向变化的冲突探测方法 ···································································.127 6.2.5 航迹航向变化的冲突探测仿真算例 ·····························································.128 6.2.6 根据冲突概率确定冲突区 ·········································································.130 6.3 基于机动消解模式的航迹冲突消解路径遗传算法 ·····················································.131 6.3.1 机动消解模式和适应度函数的定义 ·····························································.131 6.3.2 机动消解模式的选择策略 ·········································································.135 6.3.3 基于遗传算法的冲突消解 ·········································································.136 6.3.4 冲突消解流程 ························································································.139 6.3.5 冲突消解仿真算例 ··················································································.141 本章小结 ···············································································································.143 第7 章 四维航迹飞行误差估计和误差管理策略研究 ·················································.144 7.1 概述 ··············································································································.144 7.2 四维航迹飞行误差的定义和RNP/ANP 的定义 ·························································.144 7.2.1 水平位置误差 ························································································.144 7.2.2 垂直位置误差 ························································································.145 7.2.3 时间误差 ······························································································.146 7.2.4 RNP/ANP 的定义 ····················································································.148 7.3 基于多源信息融合算法的飞行位置误差估计 ···························································.149 7.3.1 常用导航传感器的精度和组合方式 ·····························································.149 7.3.2 基于扩展卡尔曼滤波器的组合导航性能评估 ·················································.151 7.3.3 基于扩展卡尔曼滤波器的组合导航误差估计仿真算例 ·····································.154 7.4 航迹跟踪误差估计 ····························································································.156 7.4.1 飞机飞行动力学和运动学模型 ···································································.158 7.4.2 自动飞行控制系统架构及控制律设计 ··························································.159 7.4.3 风场模型 ······························································································.162 7.4.4 舵回路模型 ···························································································.164 7.4.5 航迹跟踪误差估计仿真算例 ······································································.165 7.5 ETA 误差估计 ··································································································.167 7.5.1 飞机性能限制 ························································································.168 7.5.2 飞行时间误差估计仿真算例 ······································································.169 7.6 误差管理策略研究 ····························································································.175 7.6.1 虚警率、漏警率和误差阈值的关系 ·····························································.175 7.6.2 误差管理阈值的确定方法 ·········································································.176 7.6.3 误差阈值设置算例 ··················································································.177 本章小结 ···············································································································.177 第8 章 基于四维航迹运行的推力管理系统需求分析及架构设计 ·······························.178 8.1 概述 ··············································································································.178 8.2 基于四维航迹运行的推力管理系统需求分析 ···························································.178 8.2.1 基于四维航迹运行的起飞段推力管理系统需求分析 ········································.178 8.2.2 基于四维航迹运行的爬升段推力管理需求分析 ··············································.180 8.2.3 基于四维航迹运行的巡航段推力管理系统需求分析 ········································.181 8.3 基于四维航迹运行的推力管理系统架构设计 ···························································.183 8.4 基于四维航迹运行的推力管理系统功能实现 ···························································.187 8.4.1 基于四维航迹运行的飞行剖面规划 ·····························································.187 8.4.2 基于四维航迹运行的推力指引值计算 ··························································.199 8.4.3 基于四维航迹运行的推力边界值计算 ··························································.202 8.4.4 推力等级设定 ························································································.204 8.5 基于四维航迹运行的推力管理系统功能转换逻辑 ·····················································.207 8.5.1 起飞段的推力管理系统功能转换逻辑 ··························································.208 8.5.2 爬升段的推力管理系统功能转换逻辑 ··························································.209 8.5.3 巡航段的推力管理系统功能转换逻辑 ···························································.211 8.5.4 下降段的推力管理系统功能转换逻辑 ··························································.213 本章小结 ···············································································································.213 第9 章 基于四维航迹运行的飞行引导指令计算 ························································.214 9.1 概述 ··············································································································.214 9.2 优化水平航段过渡路径 ······················································································.214 9.3 优化水平引导截获路径 ······················································································.217 9.4 基于性能模式优化垂直剖面 ················································································.218 9.5 处理高度限制和速度限制 ···················································································.221 9.6 考虑气象因素时的ETA 估算 ···············································································.224 9.7 特殊情况下的航迹重规划 ···················································································.225 9.7.1 飞行途中遭遇恶劣天气 ············································································.225 9.7.2 飞行途中遭遇航迹冲突 ············································································.226 9.8 飞行引导过程中的模式管理 ················································································.227 9.9 飞行引导指令计算 ····························································································.230 9.9.1 直线航段滚转角指令计算 ·········································································.231 9.9.2 圆弧航段滚转角指令计算 ·········································································.231 9.9.3 航迹目标高度指令计算 ············································································.232 9.9.4 目标垂直速率指令计算 ············································································.232 9.9.5 目标速度指令计算 ··················································································.232 本章小结 ···············································································································.233 第10 章 飞行管理着陆系统进近引导技术 ·································································.234 10.1 概述 ············································································································.234 10.2 FLS 进近引导技术简介 ····················································································.234 10.3 FLS 进近引导功能架构设计和关键技术 ·······························································.235 10.3.1 FLS 进近引导功能架构 ···········································································.235 10.3.2 FLS 进近引导过程 ·················································································.236 10.3.3 FLS 进近引导过程的影响因素及关键技术分析 ·············································.238 10.4 基于导航传感器完好性的FLS 进近能力判断·························································.242 10.4.1 FLS 进近能力判断原理 ···········································································.242 10.4.2 基于卡尔曼滤波器残差的FLS 进近能力判断 ···············································.244 10.4.3 基于故障允许时间和阈值限制的FLS 进近能力判断 ······································.251 10.5 FLS 进近引导模式判断及转换逻辑 ·····································································.254 10.5.1 FLS 进近引导模式 ·················································································.254 10.5.2 FLS 进近引导模式的预位/截获/接通/断开条件 ·············································.255 10.5.3 不同进近方式下FLS 进近引导模式转换逻辑 ···············································.262 10.5.4 不同进近方式下FLS 进近引导模式的显示 ··················································.265 10.5.5 FLS 进近引导过程的信息显示 ··································································.268 10.6 基于导航数据库信息的FLS 虚拟波束生成 ····························································.271 10.7 基于空间几何关系的FLS 波束偏差计算 ·······························································.278 10.8 FLS 进近引导指令计算 ····················································································.282 本章小结 ···············································································································.286 第11 章 基于四维航迹运行的大型客机飞行引导技术仿真验证系统设计 ···················.287 11.1 概述 ·············································································································.287 11.2 仿真验证系统功能需求分析 ··············································································.287 11.3 仿真验证系统的功能架构 ·················································································.289 11.4 仿真验证系统的层次结构 ·················································································.293 11.5 仿真验证系统的任务设计 ·················································································.296 11.5.1 CDU 任务 ····························································································.296 11.5.2 四维航迹规划和预测任务 ········································································.296 11.5.3 精确四维飞行引导任务 ···········································································.304 11.5.4 飞行仿真任务 ·······················································································.307 11.6 仿真验证系统的网络结构 ·················································································.308 11.7 仿真验证系统的数据接口 ·················································································.309 本章小结 ···············································································································.309 第12 章 FLS 进近引导技术仿真验证系统 ································································.310 12.1 功能需求分析及总体框架设计 ···········································································.310 12.2 建模需求分析 ································································································.312 12.2.1 所需模型概述 ·······················································································.312 12.2.2 自动飞行控制系统模型 ···········································································.314 12.2.3 风场模型 ·····························································································.318 12.2.4 机场环境模型 ·······················································································.319 12.3 显示界面设计 ································································································.320 12.4 基于蒙特卡洛模型的FLS 进近引导技术仿真验证 ··················································.323 12.4.1 FLS 进近引导效果评估流程 ·····································································.324 12.4.2 FLS 进近引导效果评估指标 ·····································································.324 12.4.3 FLS 进近引导技术仿真场景及参数设置 ······················································.326 12.4.4 FLS 进近引导律设计 ··············································································.326 12.4.5 FLS 进近引导技术综合仿真验证 ·······························································.328 本章小结 ···············································································································.340 参考文献 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