A Centralized Algorithm with Collision Avoidance for Trajectory Planning in Preflight Stage

Table 2

Based on the flight plan, the flow of flights passing through WADUK point in the same time period.

Flight number	Pass WADUK height	Speed	Point time through WADUK (UTC)	Flight number	Pass WADUK height	Speed	Point time through WADUK (UTC)
CCA1948	9800 m	840 km/h	7:30:24	CES2976	8900 m	848 km/h	8:05:27
CQH8888	10700 m	850 km/h	7:41:30	CSC8963	10700 m	780 km/h	8:05:45
CHB6235	10100 m	850 km/h	7:50:22	CES5475	8100 m	805 km/h	8:06:27
CCA4505	10100 m	800 km/h	7:53:08	CES5408	9500 m	845 km/h	8:06:30
CES5436	9500 m	0.78 M	7:53:09	CSN6277	8450 m	840 km/h	8:06:37
CES9715	9500 m	849 km/h	7:57:50	CUA5817	8900 m	857 km/h	8:15:53
CSZ8612	8500 m	0.78 Mach	7:58:36	CSH9412	10700 m	850 km/h	8:15:55
DKH1120	9500 m	847 km/h	8:00:14	CCA157	10100 m	0.78 M	8:19:07
CSC8629	10100 m	869 km/h	8:00:50	TBA9881	7500 m	839 km/h	8:25:20
CSZ9532	10100 m	759 km/h	8:01:31	CES9944	7500 m	736 km/h	8:29:50