Research Article
A Centralized Algorithm with Collision Avoidance for Trajectory Planning in Preflight Stage
Table 1
CCA1532 waypoint parameters.
| | Key point | Latitude and longitude coordinates | Forecast speed (km/h) | Predicted height (m) | Forecast past time (UTC) | Real-time pass (UTC) | Real-time height (m) | Real-time speed (km/h) |
| | OGOMO | 105.005000E | 29.851667N | 815 | 7500 | 4:55:15 | 4:55:15 | 6749 | 770 | | GAO | 106.188333E | 29.810000N | 870 | 10100 | 5:06:05 | 5:04:50 | 8876 | 910 | | WHA | 114.203333E | 29.781667N | 870 | 10100 | 6:03:50 | 6:04:25 | 10670 | 896 | | MADUK | 118.105000E | 30.718333N | 755 | 6300 | 6:29:53 | 6:29:52 | 10092 | 860 | | P282 | 119.366667E | 30.616667N | 755 | 6300 | 6:38:54 | 6:35:58 | 8879 | 849 | | SASAN | 120.320000E | 30.590000N | 755 | 6300 | 6:45:01 | 6:43:02 | 6310 | 715 | | EKIMU | 121.110000E | 30.351667N | 755 | 4500 | 6:51:20 | 6:50:06 | 144 | 637 |
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