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Istanbul Technical University Institute of Science İSTANBUL TECHNICAL UNIVERSITY ««« INSTITUTE OF SCIENCE AND TECHNOLOGY CONFLICT RESOLUTION IN AIR TRAFFIC CONTROL M.Sc. Thesis by Ömer Tayyip ÇALIŞKAN (504071122) Date of submission : 15 July 2010 Date of defence examination: 15 June 2010 Supervisor (Chairman) : Assoc. Prof. M. Turan SÖYLEMEZ (ITU) Members of the Examining Committee : Prof. Dr. Hakan TEMELTAŞ (ITU) Assoc. Prof. Gökhan İNALHAN (ITU) JUNE 2010 İSTANBUL TEKNİK ÜNİVERSİTESİ ««« FEN BİLİMLERİ ENSTİTÜSÜ HAVA TRAFİK KONTROLÜNDE ÇARPIŞMALARIN ÇÖZÜMLENMESİ YÜKSEK LİSANS TEZİ Ömer Tayyip ÇALIŞKAN (504071122) Tezin Enstitüye Verildiği Tarih : 15 Temmuz 2010 Tezin Savunulduğu Tarih : 15 Haziran 2010 Tez Danışmanı : Doç. Dr. M. Turan SÖYLEMEZ (İTÜ) Diğer Jüri Üyeleri : Prof. Dr. Hakan TEMELTAŞ (İTÜ) Doç. Dr. Gökhan İNALHAN (İTÜ) HAZİRAN 2010 FOREWORD I would like to express my deep appreciation and thanks for my advisor M. Turan Söylemez and other academic staff of ITU Control and Automation Engineering Department for their guidance almost in every step in perfection of this thesis. My friend Salih Sarıçam, who has been a great accompany since undergraduate in college, and my sister Betül, who encouraged me to achieve this by running my goals and creating free time for me, had substantial support in completion of this work. June 2010 Ömer Tayyip Çalışkan Control and Automation Engineering v vi TABLE OF CONTENTS Page ABBREVIATIONS ................................................................................................... ix LIST OF TABLES ..................................................................................................... xi LIST OF FIGURES .................................................................................................xiii SUMMARY ............................................................................................................... xv ÖZET ....................................................................................................................... xvii 1. INTRODUCTION .................................................................................................. 1 1.1 Aim ..................................................................................................................... 2 1.2 Outline of the thesis ............................................................................................ 3 2. AIRCRAFT MODEL ............................................................................................. 5 2.1 Aircraft geometry ............................................................................................... 6 2.2 Aerodynamic model ........................................................................................... 9 2.3 Engine model ...................................................................................................... 9 2.4 Noise model ...................................................................................................... 10 2.5 Flight model ...................................................................................................... 11 2.6 Fuel and weight planning ................................................................................. 12 3. AIRCRAFT TRAFFIC MANAGEMENT AND CONTROL SYSTEMS ...... 15 3.1 History of Air Traffic Control .......................................................................... 15 3.2 Air Traffic Controller functions ....................................................................... 18 3.3 Existing ATM models ...................................................................................... 21 3.4 Free flight ......................................................................................................... 25 3.4.1 Expected benefits of free flight ................................................................. 27 4. AIRCRAFT CONFLICT DETECTION AND RESOLUTION ...................... 29 4.1 Conflict detection and resolution process ......................................................... 30 4.2 Comparision of conflict detection and resolution modeling methods .............. 32 4.2.1 Comparision of methods ........................................................................... 33 4.2.2 Discussion ................................................................................................. 35 5. CONFLICT RESOLUTION WITH POTENTIAL FIELD METHOD .......... 37 5.1 Potential field method ....................................................................................... 37 5.1.1 Robot path planning with potential field method ...................................... 38 5.1.2 Problems with potential field method in robot path planning ................... 40 5.2 Application of potential field method to conflict resolution ............................ 41 5.2.1 Modeling the system ................................................................................. 42 5.3 Simulation results ............................................................................................. 43 5.3.1 Two aircraft conflict resolution ................................................................. 43 5.3.2 Cluster type conflict resolution ................................................................. 45 5.3.3 Conflict resolution with bad weather condition ........................................ 47 6. IMPROVED APPLICATION OF POTENTIAL FIELD METHOD ............. 49 6.1 Potential field method with angle restriction .................................................... 49 6.1.1 Angle restriction algorithm ....................................................................... 49 6.1.2 Simulation results ...................................................................................... 50 6.2 Potential field method with future estimation .................................................. 53 vii 6.2.1 Future estimation algorithm....................................................................... 53 6.2.2 Simulation results ...................................................................................... 53 7. CONCLUSIONS ................................................................................................... 59 REFERENCES ......................................................................................................... 63 APPENDICES ........................................................................................................... 67 CURRICULUM VITA ............................................................................................. 75 viii ABBREVIATIONS ATC : Air Traffic Control ATM : Air Traffic Management ATFM : Air Traffic Flow Management CDM : Collaborative Decision Making APU : Auxiliary Power Unit OEI : One Engine Inoperative NLR : National Lucht-en Ruimtevaartlaboratorium TSFC : Trust Specific Fuel Consumption NASA : National Aeronautics and Space Administration ANOPP : Aircraft Noise Prediction Program CAA : Civil Aeronautics Administration FAA : Federal Aviation Administration ASDE : Airport Surface Detection Equipment TRACON : Terminal Radar Control ARTCC : Air Route Traffic Control Center TMA : Traffic Management Advisor FAST : Final Approach Spacing Tool RTCA : Radio Technical Commission for Aeronautics FF : Free Flight IFR : Instrument Flight Rules VFR : Visual Flight Rules TCAS : Traffic Alert and Collosion Avoidance System CDTI : Cockpit Display of Traffic Information URET : User Request Evaluation Tool e.g. : Exempli Gratia FTA : Future Estimation Approach ix x LIST OF TABLES Page Table 2.1: Wetted area breakdown for the Boeing 777-300 (calculated) ................... 8 Table 3.1: History of civil aircraft conflicts [27]...................................................... 17 Table 3.2: Air traffic controller’s funtions and locations. ....................................... 21 Table 4.1: Comparision between conflict detection and resolution methods ........... 34 Table 5.1: Information af aircrafts in Example 2 (cluster type conflict) .................. 46 Table 5.2: Shortest distances between aircraft pairs ................................................. 46 Table 5.3: New shortest distances between aircraft pairs ......................................... 47 Table 6.1: Aircarfat’ data (angle restriction type) .................................................... 50 Table 6.2: Rotate angles of aircrafts without angle restriction. ................................ 51 Table 6.3: Aircraft’ data (proper to current air traffic) ............................................. 52 Table 6.4: Aircraft’ data (future estimation type ) .................................................... 54 Table 6.5: Minimum distances and arriving time of aircrafts (without future estimation) ............................................................................................... 55 Table 6.6: Minimum distances and arriving time of aircrafts (with future estimation) 56 Table 6.7: Aircraft’ data (current air traffic with future estimation) ........................ 56 Table 6.8: Comparison of arriving time of aircrafts (current air traffic) .................. 57 xi xii LIST OF FIGURES Page Figure 2.1: Multi-physics approach to aircraft flight performance. ............................ 5 Figure 2.2: Breakdown of the aircraft into system components. ................................ 6 Figure 2.3: Construction of airplane geometry from top view. ................................... 7 Figure 2.4: Construction of airplane geometry from side view. ................................. 7 Figure 2.5: Construction of airplane geometry from front view. ...............................
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