北京航空航天大学学报 ›› 2017, Vol. 43 ›› Issue (9): 1873-1881.doi: 10.13700/j.bh.1001-5965.2016.0687

• 论文 • 上一篇    下一篇

低空自由飞行短期冲突探测算法

刘洋, 向锦武, 罗漳平, 金万增   

  1. 北京航空航天大学 航空科学与工程学院, 北京 100083
  • 收稿日期:2016-08-25 出版日期:2017-09-20 发布日期:2017-01-06
  • 通讯作者: 向锦武,E-mail:xiangjw@buaa.edu.cn E-mail:xiangjw@buaa.edu.cn
  • 作者简介:刘洋,男,博士研究生;主要研究方向:飞行器轨迹优化与避撞;向锦武,男,博士,教授,博士生导师;主要研究方向:无人机系统、飞行动力学
  • 基金资助:
    国家“973”计划(2011CB707002)

Short-term conflict detection algorithm for free flight in low-altitude airspace

LIU Yang, XIANG Jinwu, LUO Zhangping, JIN Wanzeng   

  1. School of Aeronautic Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2016-08-25 Online:2017-09-20 Published:2017-01-06
  • Supported by:
    National Basic Research Program of China (2011CB707002)

摘要: 针对低空自由飞行航线自主的特点,提出了一种概率型的短期冲突探测算法。算法考虑导航误差、控制误差及风扰动引起的飞行器位置预测误差,建立了合理的误差模型,以计算短期内飞行器之间的瞬时冲突概率;采用坐标变换以及扩展冲突区域,提出了三维空间内机动飞行情况下,计算冲突概率的近似解析算法。通过与Paielli和Erzberger(P&E)提出的近似算法及Monte Carlo仿真算法的比较,表明本文算法提高了计算冲突概率的准确性,且计算复杂性远远低于Monte Carlo算法,满足低空自由飞行的实时性要求,可实现复杂环境下的冲突探测。

关键词: 自由飞行, 航迹预测, 冲突探测, 冲突概率, 布朗运动

Abstract: Considering the autonomous route of free flight in low-altitude airspace, a probabilistic short-term conflict detection algorithm is proposed. The trajectory prediction error caused by navigation error, control error and wind disturbance was taken into account. A reasonable error model was constructed to compute the conflict probability between aircraft in the short term. By using coordinate transformation and extending the conflict zone, an approximate analytical expression was presented to estimate the conflict probability of maneuvering flight in three-dimensional airspace. By comparison with Paielli and Erzberger (P&E) approximation algorithm and the Monte Carlo simulation algorithm, the presented algorithm was proved to increase the accuracy of conflict probability estimation and decrease the computational consumption. The result shows that this algorithm can reach the real-time requirement of free flight in low-altitude airspace and realize the conflict detection in complex environment.

Key words: free flight, trajectory prediction, conflict detection, conflict probability, Brownian motion

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