考虑冗余距离的融合空域下无人机防撞研究  

Investigation of UAV collision avoidance strategies in fusion airspace with redundant distance parameters

作　　者：王莉莉[1] 闵幸兴 孟令航[1] 许皓星 WANG Lili;MIN Xingxing;MENG Linghang;XU Haoxing(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：《安全与环境学报》2025年第3期978-987,共10页Journal of Safety and Environment

基　　金：国家重点研发计划项目(2022YFB4300904);国家自然科学基金委员会与中国民用航空局联合资助项目(U1633124)。

摘　　要：针对融合空域内,无人机需对存在潜在冲突风险的有人机进行探测和解脱的问题,提出在无人机上安装广播式自动相关监视接收端(Automatic Dependent Surveillance-Broadcast IN,ADS-B IN)系统来接收有人机机载广播式自动相关监视发射端(Automatic Dependent Surveillance-Broadcast OUT,ADS-B OUT)系统发出的位置、航向等信息。从实际运行的安全角度出发,在以两架航空器半径之和构成的有人机球体保护区范围的基础上,引入ADS-B系统内数据接收处理及传输所产生的延迟距离。此外,考虑到当无人机位于有人机的尾流影响范围内时可能产生的不利影响,计算出前机诱导速度对后机产生的诱导滚转力矩,从而得到尾流影响下的安全距离,进一步调整有人机保护区的边界范围,建立两机之间的防撞模型。针对无人机在遇到潜在碰撞风险时的响应机制,根据最快解脱和最小机动原则,设置了二维平面下调整速度和航向的解脱方案,并在三维场景中,优化了传统的速度障碍法模型,进一步通过改变无人机的俯仰角来调整高度实现有效避让。为验证上述策略的有效性,最后设置仿真试验场景进行模拟试验,仿真结果满足最低间隔标准的要求,无人机防撞完成。This paper tackles the challenge of enabling Unmanned Aerial Vehicles(UAVs)to effectively detect and avoid manned aircraft in fusion airspace.To address this issue,we propose the integration of Automatic Dependent Surveillance-Broadcast IN(ADS-B IN)technology into UAV systems.This technology allows UAVs to receive crucial information such as position,heading,and other data transmitted from the ADS-B OUT broadcasts of manned aircraft.From a safety-focused operational standpoint,this study initiates by defining a protective sphere around manned aircraft,determined by the combined radii of both the manned and unmanned vehicles.Utilizing this model,we calculate the sequence of signal transmissions during successive positional updates.Additionally,we evaluate the time delays introduced by the data encoding,processing,and decoding phases of the ADS-B IN system,quantifying how these delays affect the redundancy of collision avoidance measures.Furthermore,the paper examines the effects of wake turbulence on UAVs operating within the influence range of manned aircraft.We calculate the induced wake turbulence velocity using a generation and dissipation model for wake turbulence.The resultant rolling moment coefficient is then used as an indicator of the severity of the wake vortex encountered by the UAV.By comparing the rolling moment coefficient to the maximum rolling moment that the UAV can withstand,the study determines a safe distance at which equilibrium is achieved.This allows for adjustments to be made in the protective zone radius around the manned aircraft.Consequently,a revised collision cone model is established for the interaction between the two aircraft.Based on this assessment,if the relative speed falls within the collision cone,a collision risk is confirmed.The protocol requires that the manned aircraft maintain its speed and heading,while the UAV proactively executes avoidance maneuvers.These maneuvers can be categorized into two types:(1)in a two-dimensional plane,the UAV adjusts its speed and heading to

关 键 词：安全工程 融合空域 无人机防撞 冲突解脱 冗余距离 

分 类 号：X949[环境科学与工程—安全科学]