FOUR-DIMENSIONAL ROUTE PLANNER

摘要

A route planner (110) uses a recursive algorithm to determine a lateral path, and an adaptive algorithm to determine a vertical path. The vertical path is adjusted based on hazard areas (120, Figs. 2, 3a and 3b) represented by horizontal polygons (Fig. 3a) having top and bottom altitudes. The route planner (110) attempts to find a route which meets a required time of arrival window. A route may be broken into multiple starting and ending points, with desired arrival times specified for each ending point.