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

Table 3

Flight plan information.

Number	Flight number	Airway	Starting point (latitude and longitude)	Initial point time (UTC)	Time to reach MADUK (UTC)	Height (m)	Speed (m/s)	Course
A	CSC8629	B213	112.990070E 30.631215N	7:52:41	8:00:50	10100	241	86°
B	CSZ9532	A581	113.185000E 30.216667N (GUGAM)	7:52:41	8:01:31	10100	219	61°