基于速度误差的物流无人机安全放行间隔标定方法  

Calibration Method of Safe Takeoff Interval for Logistics UAVs Based on Speed Error

作　　者：刘铭远 张兴俭 耿增显[1] LIU Ming-yuan;ZHANG Xing-jian;GENG Zeng-xian(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：《科学技术与工程》2025年第9期3959-3967,共9页Science Technology and Engineering

基　　金：国家重点研发计划(2022YFB4300904);中央高校基本科研业务费(XJ2023002201)。

摘　　要：为了满足未来无人机(unmanned aerial vehicle,UAV)大量运行需求,在符合安全目标水平的基础上,以效率最高为目标,为无人机制定安全放行间隔。根据无人机的运行速度误差特征,综合考虑爬升阶段和巡航阶段的运行特征,分析了同航路运行、交叉航路运行和航路网运行3种场景中的放行安全问题,并分别建立了碰撞风险评估模型,结合蒙特卡洛仿真提出了一种放行间隔标定方法。最后以实际运行物流无人机为例,将10^(-7)最大碰撞概率作为目标安全水平进行验证,分析确定了3种运行场景中的最小安全放行间隔。结果表明:同航路安全放行间隔T为122 s,交叉航路安全放行间隔T与两个起飞点距交叉点距离差值D相关,并满足T=(D±1199.97)/14(T≥0),航路网系统4个起飞点之间的安全放行间隔分别为158、86、0和0 s。该方法可以为无人机运行企业进行放行间隔管理提供参考。In order to meet the large number of future unmanned aerial vehicle(UAV)operation requirements,the safe takeoff interval for UAVs was formulated on the basis of conforming to the safety target level and aiming at the highest efficiency.According to the operating speed error characteristics of UAVs,taking into account the operating characteristics of the climb phase and cruise phase,the takeoff safety problems in three scenarios of same route operation,cross route operation and route network operation were analyzed,a collision risk assessment model was established respectively,and a calibration method for the takeoff interval was proposed in combination with Monte Carlo simulation.Finally,taking the actual operation of logistics UAVs as an example,the 10^(-7)maximum collision probability was taken as the target safety level for verification,and the minimum safe takeoff interval in the three operation scenarios was analyzed and determined.The results show that the safe takeoff interval of the same route T is 122 s,the safe takeoff interval T of the cross route is related to the difference D between the distance of two takeoff points from the intersection point and satisfies T=(D±1199.97)/14(T≥0),and the safe takeoff intervals between the four takeoff points of the airway network system are 158,86,0,and 0 s,respectively.The method can provide a reference for the UAV operation enterprises to carry out takeoff interval management.

关 键 词：物流无人机 速度误差 碰撞风险 蒙特卡洛仿真 安全放行间隔 

分 类 号：X949[环境科学与工程—安全科学] V279[航空宇航科学与技术—飞行器设计]