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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

刘洋, 向锦武, 罗漳平, 等 . 低空自由飞行短期冲突探测算法[J]. 北京航空航天大学学报, 2017, 43(9): 1873-1881. doi: 10.13700/j.bh.1001-5965.2016.0687
引用本文: 刘洋, 向锦武, 罗漳平, 等 . 低空自由飞行短期冲突探测算法[J]. 北京航空航天大学学报, 2017, 43(9): 1873-1881. doi: 10.13700/j.bh.1001-5965.2016.0687
LIU Yang, XIANG Jinwu, LUO Zhangping, et al. Short-term conflict detection algorithm for free flight in low-altitude airspace[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(9): 1873-1881. doi: 10.13700/j.bh.1001-5965.2016.0687(in Chinese)
Citation: LIU Yang, XIANG Jinwu, LUO Zhangping, et al. Short-term conflict detection algorithm for free flight in low-altitude airspace[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(9): 1873-1881. doi: 10.13700/j.bh.1001-5965.2016.0687(in Chinese)

低空自由飞行短期冲突探测算法

doi: 10.13700/j.bh.1001-5965.2016.0687
基金项目: 

国家“973”计划 2011CB707002

详细信息
    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

    通讯作者:

    向锦武, E-mail:xiangjw@buaa.edu.cn

  • 中图分类号: V328.5

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

Funds: 

National Basic Research Program of China 2011CB707002

More Information
  • 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。

     

  • 图 1  低空自由飞行的保护区

    Figure 1.  Protection zone of aircraft for free flight in low-altitude airspace

    图 2  二维平面冲突概率计算示意图

    Figure 2.  Schematic diagram of calculation of conflict probability in two-dimensional plane

    图 3  三维空间冲突概率计算示意图

    Figure 3.  Schematic diagram of calculation of conflict probability in three-dimensional airspace

    图 4  直线相向飞行结果比较

    Figure 4.  Result comparison of straight toward flight

    图 5  二维情况转弯机动飞行结果比较

    Figure 5.  Result comparison of turning maneuver flight in two-dimensional case

    图 6  三维情况爬升转弯机动飞行结果比较

    Figure 6.  Result comparison of climbing turning maneuver flight in three-dimensional case

    表  1  3种算法计算时间比较

    Table  1.   Computation time comparison among three algorithms

    算法 计算时间/ms
    直线相向飞行 转弯机动飞行 三维机动飞行
    Monte Carlo仿真算法 7.039×103 7.039×103 1.047×104
    P&E近似算法 0.06 0.48
    本文算法 2.58 2.58 3.72
    下载: 导出CSV
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出版历程
  • 收稿日期:  2016-08-25
  • 录用日期:  2016-11-18
  • 刊出日期:  2017-09-20

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