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面向空中威胁的无人机动态碰撞区建模与分析

刘畅 王宏伦 姚鹏 雷玉鹏

刘畅, 王宏伦, 姚鹏, 等 . 面向空中威胁的无人机动态碰撞区建模与分析[J]. 北京航空航天大学学报, 2015, 41(7): 1231-1238. doi: 10.13700/j.bh.1001-5965.2014.0497
引用本文: 刘畅, 王宏伦, 姚鹏, 等 . 面向空中威胁的无人机动态碰撞区建模与分析[J]. 北京航空航天大学学报, 2015, 41(7): 1231-1238. doi: 10.13700/j.bh.1001-5965.2014.0497
LIU Chang, WANG Honglun, YAO Peng, et al. Modeling and analysis of dynamic collision region for UAV avoiding aerial intruders[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(7): 1231-1238. doi: 10.13700/j.bh.1001-5965.2014.0497(in Chinese)
Citation: LIU Chang, WANG Honglun, YAO Peng, et al. Modeling and analysis of dynamic collision region for UAV avoiding aerial intruders[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(7): 1231-1238. doi: 10.13700/j.bh.1001-5965.2014.0497(in Chinese)

面向空中威胁的无人机动态碰撞区建模与分析

doi: 10.13700/j.bh.1001-5965.2014.0497
基金项目: 国家自然科学基金(61175084); 创新研究团队基金(IRT13004)
详细信息
    作者简介:

    刘畅(1984—),女,吉林长春人,博士研究生,changbuaa@163.com

    通讯作者:

    王宏伦(1970—),男,教授,陕西蓝田人,hl_wang_2002@126.com,主要研究方向为无人机自主控制、管理与智能决策技术等.

  • 中图分类号: V328.3;TP273

Modeling and analysis of dynamic collision region for UAV avoiding aerial intruders

  • 摘要: 针对现有方法一般是基于时间或距离的定值来确定碰撞区域的问题,提出了一种基于入侵机和无人机(UAV)运动信息的无人机动态碰撞区建模方法.首先,根据无人机与入侵机的运动状态、两机之间的最小安全距离等信息,通过几何方法得出无人机不采取任何规避机动时两机将发生碰撞区域的解析表达式,即无机动碰撞区数学模型;其次,考虑无人机的机动能力约束,计算了无人机采取最大过载转弯机动(左转或右转)时两机恰好避免碰撞发生的边界,即最大机动碰撞区数学模型;在此基础上,提出了不可规避区的概念;进而定义了安全飞行包络,它是无人机能够规避入侵机威胁的分界线;最后通过理论和仿真结合分析了影响各区域的主要因素.仿真与分析结果表明所建碰撞区不仅可以帮助无人机选择规避机动方式,而且能够帮助无人机判定常规避撞机动是否失败,并使无人机及时采取最大过载转弯机动,对无人机安全避撞决策具有实际参考价值.

     

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出版历程
  • 收稿日期:  2014-08-07
  • 修回日期:  2014-11-20
  • 刊出日期:  2015-07-20

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