摘要
近年来,无人机运输业迅猛发展,其飞行过程中的冲突探测与避撞问题成为亟需解决的关键问题。在无人机周围建立合理的三维空间模型,优化包括紧急避撞区域、一般避撞区域、监视及提前避撞区域的三级避撞区域系统,并利用ADS-B报文提供的无人机位置、速度等信息,基于无人机一般二维平面上的冲突探测与避撞算法,通过增加垂直方向上的冲突识别来改进冲突探测算法,对比调速、调向两种避让方案在各避撞区域的成功率。结果表明:改进算法能够在无人机数量大幅增加的情况下有效识别冲突无人机,同时采用先调速后调向的避让方案,使避撞成功率达到99.75%,为保障无人机的飞行安全提供有效策略。
In recent years,with the rapid development of UAV transportation industry,the problem of conflict detection and collision avoidance during its flight has become a key problem to be solved.A reasonable three-dimensional spatial model is established around the UAV,a three-level collision avoidance area system including emergency collision avoidance area,general collision avoidance area,surveillance and advance collision avoidance area is optimized,and the information such as UAV position and speed provided by ADS-B(automatic dependent surveillance-broadcast)messages is used,based on the general two-dimensional plane of UAV conflict detection and collision avoidance algorithm,and the conflict detection algorithm is improved by adding conflict recognition in the vertical direction,and the success rates of the two avoidance schemes,speed and direction,are compared in each collision avoidance region.The results show that the algorithm can effectively identify conflicting UAVs when the number of UAVs increases significantly,while the success rate of collision avoidance using the speed-then-direction avoidance strategy reaches 99.75%,providing an effective strategy for ensuring the flight safety of UAVs.
作者
杨姝
王一桦
YANG Shu;WANG Yihua(College of Air Traffic Management,Civil Aviation Flight University of China,Guanghan 618307,China)
出处
《航空工程进展》
CSCD
2022年第6期50-58,共9页
Advances in Aeronautical Science and Engineering
关键词
无人机
冲突探测
ADS-B
三级避撞
决策避让
UAV
conflict detection
ADS-B
three-stage collision avoidance
decision avoidance
