To adequately manage the growing demand for air mobility services, air traffic control systems must increase the density of aircraft in air space, which necessarily implies reducing the separation among them. This work deals with the use of runway approach procedures based on Dubins trajectories, as well as their 4D tracking by aircraft. A method is proposed to define a fictitious aircraft that will describe Dubins trajectories generating a 4D reference, and two tracking mechanisms (basic and improved) following this reference, which can be used by real (flyable) aircraft. These mechanisms have been evaluated in the Málaga airport (Spain), which has a high traffic density during the seasonal period. Simulation results verify their correct operation and high tracking accuracy.
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