低空无人机飞行冲突分类探测与差异解脱方法研究  

Research on classified detection and differential resolution method for UAV flight conflicts in low altitude airspace

作　　者：谢华[1] 苏方正 尹嘉男[2] 韩斯特 XIE Hua;SU Fangzheng;YIN Jianan;HAN Site(College of General Aviation and Flight,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;College of Civil Aviation,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学通用航空与飞行学院,南京210016 [2]南京航空航天大学民航学院,南京210016

出　　处：《安全与环境学报》2023年第9期3131-3142,共12页Journal of Safety and Environment

基　　金：国家自然科学基金项目(52002178,71971112);江苏省自然科学基金项目(BK20190416)。

摘　　要：针对低空空域这一民用无人机当前的主要活动空间,为解决低空无人机飞行冲突问题,保证无人机飞行安全,提出了一种无人机飞行冲突分类探测与差异解脱方法。首先,在分析无人机低空运行模式的基础上,从对头、交叉和追赶等视角构建低空无人机异质飞行冲突场景,设计了基于安全间隔的无人机飞行保护区,建立了基于改进速度障碍法的无人机飞行冲突探测方法;然后,采用调整高度、航向和速度的飞行调配思路,设计了无人机飞行冲突解脱策略及其适用条件,构建了以最小化冲突解脱时间成本为导向的无人机飞行冲突解脱策略最优配置规则及实施流程;最后,设计多种典型冲突场景对所提方法进行了仿真验证,并分析了时间约束的敏感性。仿真结果表明,所提方法可对低空空域内潜在的无人机飞行冲突进行有效探测,并实现异质冲突场景下解脱策略优先级的科学配置,最优解脱策略的求解时间可控制在2.5 s以下。研究成果可为提升低空空域系统内无人机运行安全管理水平提供依据。Unmanned Aerial Vehicles(UAVs)have been widely used in various fields nowadays,and the operation safety of UAVs has also put forward higher requirements.The current conflict resolution technology restricts the development of UAV flight safety and has become a critical issue that needs to be solved urgently.To solve the problem of flying conflict and guarantee the safety of UAVs,a method of classification,detection,and differential resolution of UAV flight conflict is proposed for low-altitude airspace,which is the main active space of civil UAVs.Firstly,based on the analysis of UAVs operating in low altitudes,an isomorphic flight conflicts scenario is constructed from head-on,crossover,and pursuit.A safe interval-based UAV flight protection zone is designed,and an improved speed-blocking method of UAV flight collision detection is established.Then the flight conflicts resolution strategy and its applicable conditions are created using the flight deployment idea of adjusting altitude,heading,and speed.The optimal configuration rules and implementation process of conflict resolution strategy aiming at minimizing the time cost of conflict resolution are constructed.At last,several typical conflict scenarios are designed to simulate and validate the proposed methods.Moreover,the sensitivity of time constraints is analyzed.The simulation results show that this method can detect potential UAV flight conflicts in low-altitude airspace.It can realize the scientific configuration of strategic priorities to different airspace conflicts and control the optimal solution in 2.5 seconds.The validity and practicality of the algorithm are verified.This paper gives UAVs conflict resolution coordinates and proposes the priority level of resolution strategy selection in specific conflict scenarios.It helps UAVs make reasonable decisions in the flight conflict resolution process,and improve the autonomous obstacle avoidance capability and ensure flight safety.The research results can provide the scientific basis for improving the op

关 键 词：安全系统学 无人机 冲突探测 冲突解脱 速度障碍法 敏感性分析 

分 类 号：X951[环境科学与工程—安全科学]