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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

王泽坤, 吴明功, 温祥西, 等 . 基于速度障碍法的飞行冲突解脱与恢复策略[J]. 北京航空航天大学学报, 2019, 45(7): 1294-1302. doi: 10.13700/j.bh.1001-5965.2018.0650
引用本文: 王泽坤, 吴明功, 温祥西, 等 . 基于速度障碍法的飞行冲突解脱与恢复策略[J]. 北京航空航天大学学报, 2019, 45(7): 1294-1302. doi: 10.13700/j.bh.1001-5965.2018.0650
WANG Zekun, WU Minggong, WEN Xiangxi, et al. Flight collision resolution and recovery strategy based on velocity obstacle method[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(7): 1294-1302. doi: 10.13700/j.bh.1001-5965.2018.0650(in Chinese)
Citation: WANG Zekun, WU Minggong, WEN Xiangxi, et al. Flight collision resolution and recovery strategy based on velocity obstacle method[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(7): 1294-1302. doi: 10.13700/j.bh.1001-5965.2018.0650(in Chinese)

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
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

Flight collision resolution and recovery strategy based on velocity obstacle method

Funds: 

National Natural Science Foundation of China 71801221

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

More Information
  • 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。

     

  • 图 1  安全保护区模型

    Figure 1.  Safety protection zone model

    图 2  速度障碍模型

    Figure 2.  Velocity obstacle model

    图 3  有时间约束的速度障碍模型

    Figure 3.  Velocity obstacle model with time constraints

    图 4  高度解脱

    Figure 4.  Elevation resolution

    图 5  速度解脱

    Figure 5.  Speed resolution

    图 6  飞机相对位置示意图

    Figure 6.  Schematic diagram of relative position of aircraft

    图 7  速度解脱航迹恢复

    Figure 7.  Track recovery with speed resolution

    图 8  航向解脱

    Figure 8.  Heading resolution

    图 9  航向解脱航迹恢复

    Figure 9.  Track recovery with heading resolution

    图 10  双机冲突解脱流程

    Figure 10.  Collision resolution process of two aircraft

    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)

    图 12  逆向飞行航向解脱(场景2)

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

    图 13  交叉飞行高度解脱(场景3)

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

    图 14  交叉飞行速度解脱(场景4)

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

    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
    (110, 200, 4.2) 90 700
    2 (200, 200, 4.2) 90 800 0.001
    (250, 200, 4.2) 270 800
    3 (0, 100, 4.2) 90 800 0.001
    (100, 0, 4.2) 0 800
    4 (0, 100, 4.2) 75 800 0.01
    (100, 0, 4.2) 15 800
    下载: 导出CSV

    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
    小速度解脱 大速度解脱
    1 同向 110 12.78 sl ER
    2 逆向 50 53.25 sl HR
    3 交叉 465.4 1 208.9 141.42 41.43 v1∉[600, 900] km/h & v1∉[600, 900] km/h ER
    4 交叉 631.3 609.8 141.42 32.22 v1∈[600, 900] km/h & v1∈[600, 900] km/h SR
    下载: 导出CSV

    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)
    下载: 导出CSV
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出版历程
  • 收稿日期:  2018-11-12
  • 录用日期:  2019-03-22
  • 刊出日期:  2019-07-20

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