空间网格体系下基于GJK的空域冲突检测算法  

Research on Airspace Conflict Detection Algorithm Based on GJK in Spatial Grid System

作　　者：蔡明 万路军[1] 高志周 徐鑫宇 CAI Ming;WAN Lujun;GAO Zhizhou;XU Xinyu(ATC and Navigation College,Air Force Engineering University,Xi’an 710051 China)

机构地区：[1]空军工程大学空管领航学院,陕西西安710051

出　　处：《西华大学学报（自然科学版）》2022年第1期36-41,共6页Journal of Xihua University:Natural Science Edition

基　　金：国家自然科学基金(61703425);空中交通管理系统与技术国家重点实验室开放基金(SKLATM201906)资助课题。

摘　　要：空域之间的冲突检测是保障各类用空活动有序展开的关键环节。针对传统空域冲突检测方法存在计算效率低、空间解算复杂的问题,在GeoSOT网格体系下,提出一种基于Gilbert-Johnson-Keerthi算法(简称GJK算法)的空域冲突检测方法。首先,利用网格在时空二值计算上的优势,将空域进行网格化表达;其次,结合空域最小安全间隔,构建空域的安全包围盒,并将包围盒的网格编码集合转化为坐标集合;最后,利用GJK算法将两空域包围盒之间的相交检测转化为对闵可夫斯基差集与坐标原点的包含关系的判断。仿真结果表明:该算法能够对空域进行高效的冲突检测,为空域冲突检测提供了一种新的手段和实践思路。Conflict detection between airspaces is key to ensure the orderly implement of all kinds of air activities.In view of the disadvantages of the traditional spatial conflict detection methods,such as low computational efficiency and complex spatial calculations,this paper proposes a spatial conflict detection method based on Gilbert-Johnson-Keerthi algorithm(GJK algorithm)under the GeoSOT grid system.Firstly,grid is used to represent the spatial domain based on the advantage of grid in space-time binary calculation.Secondly,combined with the minimum safety interval in airspace,a safety bounding box in airspace is constructed,and the grid coding set of the bounding box is transformed into the set of coordinate points.Finally,GJK algorithm is used to transform the intersection detection between two special bounding boxes into the judgment of the inclusion relationship between the Minkowski difference set and the origin of coordinates.The simulation results show that this algorithm can effectively detect conflicts in airspace and provide a new technical means and practical ideas for airspace conflict detection.

关 键 词：GeoSOT GJK算法 闵可夫斯基差集 空域冲突检测 

分 类 号：V355[航空宇航科学与技术—人机与环境工程] TP391[自动化与计算机技术—计算机应用技术]