• 论文 •

### 基于速度障碍法的飞行冲突解脱与恢复策略

1. 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
• 收稿日期:2018-11-12 出版日期:2019-07-20 发布日期:2019-07-25
• 通讯作者: 温祥西 E-mail:wxxajy@163.com
• 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。
• 基金资助:
国家自然科学基金（71801221）；陕西省自然科学基础研究计划（2018JQ7004）

### Flight collision resolution and recovery strategy based on velocity obstacle method

WANG Zekun1,2, WU Minggong1,2, WEN Xiangxi1,2, JIANG Xurui3, GAO Yangyang4

1. 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
• Received:2018-11-12 Online:2019-07-20 Published:2019-07-25
• Supported by:
National Natural Science Foundation of China (71801221); Natural Science Basic Research Plan in Shaanxi Province of China (2018JQ7004)

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.