基于几何关系的无人机低空飞行冲突探测与解脱策略  

Detection and resolution strategy of UAV low-altitude conflict based on geometric relations

作　　者：岳仁田[1] 马赵飞 YUE Rentian;MA Zhaofei(College of Air Traffic Management,Civil Aviation University of China,Tianjin 300300,China)

机构地区：[1]中国民航大学空中交通管理学院,天津300300

出　　处：《中国安全科学学报》2023年第5期112-120,共9页China Safety Science Journal

基　　金：中央高校基本科研业务费项目(3122022103)。

摘　　要：为保障多旋翼无人机(UAV)在低空空域的飞行安全,提出一种UAV低空飞行冲突探测模型和冲突解脱策略。首先,根据UAV当前的广播式自动相关监视(ADS-B)数据,使用基于交互式多模型容积卡尔曼滤波算法(IMM-CKF)预测下一阶段的航迹,筛选出潜在的冲突对象;其次,根据飞行保护区的特点,构建双机的轴对齐包围盒(AABB);然后,使用三维碰撞检测模型判断双机是否发生冲突,提出同向同角度(SOSA)飞行冲突解脱策略;最后,构造4种常见的冲突场景,利用所提算法检测飞行冲突,分情况采用SOSA组合解脱策略和传统解脱策略(如调高法、调向法、调速法)解脱飞行冲突。结果表明:采用基于AABB包围盒的飞行冲突检测方法可在0.02 s内快速检测冲突,采用SOSA组合解脱策略较传统解脱策略可以将绕飞增加距离减小至小于直飞距离的5%。该冲突探测方法实时性较强,解脱策略操作复杂度较低,且在冲突解脱过程中支付距离花费较小。In order to ensure the flight safety of multi-rotor UAVs in low-altitude airspace,a conflict detection model and conflict resolution strategy for UAV low-altitude flights were proposed.According to the current Automatic Dependent Surveillance-Broadcast(ADS-B)data of the UAV,the interactive multi-model volumetric Kalman filtering algorithm(IMM-CKF)was used to predict the trajectory of the next stage,and the potential conflict objects were screened.According to the characteristics of the flight protection area,the AABB bounding boxes of the two aircrafts are constructed,and the three-dimensional collision detection algorithm was used to judge whether the two aircraft conflict,and SOSA flight conflict resolution strategy was proposed.Finally,four common conflict scenarios were constructed.The proposed algorithm was used to detect flight conflict.The SOSA combined resolution strategy and the traditional resolution strategy,such as the height adjustment method,the direction adjustment method and the speed adjustment method were used to resolve the flight conflict according to the situation.The results show that the flight conflict detection method based on the AABB bounding box can quickly detect conflicts within 0.02 s,and the use of SOSA combined resolution strategy can reduce the increase of the flying distance to less than 5%of the direct flight distance compared with the traditional resolution strategy.The conflict detection method is robust in real time,the complexity of the resolution strategy operation is low,and the payment distance is small during the conflict resolution process.

关 键 词：几何关系 无人机(UAV) 低空飞行 冲突探测 解脱策略 同向同角度(SOSA) 

分 类 号：X949[环境科学与工程—安全科学]