基于速度障碍法的飞行冲突解脱与恢复策略

王泽坤; 吴明功; 温祥西; 蒋旭瑞; 高阳阳

doi:10.13700/j.bh.1001-5965.2018.0650

基于速度障碍法的飞行冲突解脱与恢复策略

doi: 10.13700/j.bh.1001-5965.2018.0650

王泽坤^{1, 2},
吴明功^{1, 2},
温祥西^{1, 2, ,},
蒋旭瑞³,
高阳阳⁴

1.
空军工程大学空管领航学院, 西安 710051
2.
国家空管防相撞技术重点实验室, 西安 710051
3.
中国人民解放军94116部队, 和田 848000
4.
中国人民解放军93175部队, 长春 130051

基金项目:

国家自然科学基金 71801221

陕西省自然科学基础研究计划 2018JQ7004

详细信息

作者简介:
王泽坤男, 硕士研究生。主要研究方向:冲突探测与解脱

吴明功男, 教授, 硕士生导师。主要研究方向:空中交通管理、管制指挥与安全

温祥西男, 博士, 讲师。主要研究方向:冲突探测与解脱

蒋旭瑞男, 硕士。主要研究方向:冲突探测与解脱

高阳阳男, 硕士。主要研究方向:航空兵指挥自动化

通讯作者:
温祥西, E-mail: wxxajy@163.com

中图分类号: V355.1
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- 被引次数: 0
出版历程
- 收稿日期: 2018-11-12
- 录用日期: 2019-03-22
- 网络出版日期: 2019-07-20

Flight collision resolution and recovery strategy based on velocity obstacle method

WANG Zekun^{1, 2},
WU Minggong^{1, 2},
WEN Xiangxi^{1, 2
, ,},
JIANG Xurui³,
GAO Yangyang⁴

1.
Air Traffic Control and Navigation College, Air Force Engineering University, Xi'an 710051, China
2.
National Key Laboratory of Air Traffic Collision Prevention, Xi'an 710051, China
3.
Unit 94116 of the PLA, Hetian 848000, China
4.
Unit 93175 of the PLA, Changchun 130051, China

Funds:

National Natural Science Foundation of China 71801221

Natural Science Basic Research Plan in Shaanxi Province of China 2018JQ7004

More Information

Corresponding author: WEN Xiangxi, E-mail: wxxajy@163.com

摘要

摘要:
针对飞行中的冲突解脱和航迹恢复问题，在速度障碍法模型的基础上提出了一种几何优化的方法，并对这个问题进行了严格的数学描述。首先根据飞机之间的相对位置和速度关系，确定其冲突类型，以及是否满足各解脱策略的条件，选取相应的解脱策略，待冲突解脱完成后，飞机恢复至原航线飞行。然后通过几何分析，理论推导，该模型能够有效解决飞行冲突，并且具体给出冲突解脱和航迹恢复的位置。最后在仿真中，所提方法根据不同场景能够自主选择冲突解脱策略，结果显示该方法简单高效，并且在航迹恢复过程中不引入新的飞行冲突。
- 速度障碍 /
- 空中交通管制 /
- 冲突探测 /
- 冲突解脱 /
- 航迹恢复 /
- 几何优化算法
Abstract:
A geometric optimization algorithm is proposed based on velocity obstacle method to solve the problem of flight collision resolution and track recovery. We gave a rigorous mathematical description of the problem. Firstly, according to the relative position and speed relationship between the aircraft, the collision type and whether the conditions of each release strategy are met are determined, and the corresponding resolution strategy is adopted. After the collision was resolved, the plane resumed its flight on the original route. The model can effectively solve flight collision through geometric analysis and theoretical derivation. In addition, the track recovery point and the parameter solving process involved are given in detail. Finally, in the simulation, the algorithm chooses the collision resolution strategy independently according to different scenes. The results show that this method is simple and efficient, and the track recovery redirects the ownership to its original target waypoint without introducing new flight collision.
- velocity obstacles /
- air traffic control /
- collision detection /
- collision resolution /
- track recovery /
- geometric optimization algorithm

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图 1 安全保护区模型

Figure 1. Safety protection zone model

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图 2 速度障碍模型

Figure 2. Velocity obstacle model

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图 3 有时间约束的速度障碍模型

Figure 3. Velocity obstacle model with time constraints

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图 4 高度解脱

Figure 4. Elevation resolution

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图 5 速度解脱

Figure 5. Speed resolution

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图 6 飞机相对位置示意图

Figure 6. Schematic diagram of relative position of aircraft

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图 7 速度解脱航迹恢复

Figure 7. Track recovery with speed resolution

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图 8 航向解脱

Figure 8. Heading resolution

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图 9 航向解脱航迹恢复

Figure 9. Track recovery with heading resolution

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图 10 双机冲突解脱流程

Figure 10. Collision resolution process of two aircraft

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图 11 同向飞行高度解脱(场景1)

Figure 11. Elevation resolution for the same track of flight (Scene 1)

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图 12 逆向飞行航向解脱(场景2)

Figure 12. Heading resolution for opposite track of flight (Scene 2)

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图 13 交叉飞行高度解脱(场景3)

Figure 13. Elevation resolution for cross track of flight (Scene 3)

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图 14 交叉飞行速度解脱(场景4)

Figure 14. Speed resolution for cross track of flight (Scene 4)

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表 1 位置信息

Table 1. Position information

场景	起点/km	航向/(°)	速度/(km·h^-1)	仿真步长/h
1	(0, 200, 4.2)	90	800	0.001
1	(110, 200, 4.2)	90	700	0.001
2	(200, 200, 4.2)	90	800	0.001
2	(250, 200, 4.2)	270	800	0.001
3	(0, 100, 4.2)	90	800	0.001
3	(100, 0, 4.2)	0	800	0.001
4	(0, 100, 4.2)	75	800	0.01
4	(100, 0, 4.2)	15	800	0.01

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表 2 策略选取

Table 2. Strategy selection

场景	类型	冲突解脱所需速度/(km·h^-1)		间隔s/km	距离l/km	判断	冲突解脱方式
场景	类型	小速度解脱	大速度解脱	间隔s/km	距离l/km	判断	冲突解脱方式
1	同向			110	12.78	s≥l	ER
2	逆向			50	53.25	s＜l	HR
3	交叉	465.4	1 208.9	141.42	41.43	v′₁∉[600, 900] km/h & v″₁∉[600, 900] km/h	ER
4	交叉	631.3	609.8	141.42	32.22	v′₁∈[600, 900] km/h & v″₁∈[600, 900] km/h	SR

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表 3 飞行状态改变点

Table 3. Flight state change point

场景	冲突解脱点/km	航迹恢复点/km	切入原航迹点/km
1	(778.4, 200, 4.2)	(960.8, 200, 4.5)	(983.2, 200, 4.2)
2	(200, 200, 4.2)	(226.5, 211.3, 4.2)	(253, 200, 4.2)
3	(71.2, 100, 4.2)	(110.4, 100, 4.5)	(132.8, 100, 4.2)
4	(88.3, 123.7, 4.2)	(132.8, 135.6, 4.2)	(200.1, 153.6, 4.2)

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