The invention relates to the technical field of flight control, in particular to a manned aerial vehicle and unmanned aerial vehicle cooperative operation conflict detection method in an urban scene, which comprises a strategic manned aerial vehicle and unmanned aerial vehicle conflict detection method, generating a minimum limit box of an unmanned aerial vehicle route and a manned aerial vehicle flight plan, and generating an unmanned aerial vehicle route R * tree; whether space overlapping exists between the minimum limit box MBB of the manned aerial vehicle flight plan and the unmanned aerial vehicle route R * tree is retrieved, and the unmanned aerial vehicle route influenced by the manned aerial vehicle flight plan is determined; according to the tactical-level manned aerial vehicle and unmanned aerial vehicle conflict detection method, whether a manned aerial vehicle space protection area conflicts with an unmanned aerial vehicle air route or not is calculated in real time based on the manned aerial vehicle space protection area and unmanned aerial vehicle basic static air route information in the manned aerial vehicle flight activity process. The operation efficiency of the manned aerial vehicle and the unmanned aerial vehicle in the low-altitude airspace can be improved, and the conflict risk is avoided.
本发明涉及飞行控制技术领域,具体涉及一种城市场景下有人机和无人机协同运行冲突检测方法,包括:战略级有人机无人机冲突检测方法,在有人机飞行活动前,基于无人机静态基础航路信息和有人机飞行计划信息,生成无人机航路和有人机飞行计划的最小限定箱,并生成无人机航路R*树;检索有人机飞行计划的最小限定箱MBB与无人机航路R*树是否存在空间重叠,确定有人机飞行计划所影响的无人机航路;战术级有人机无人机冲突检测方法,在有人机飞行活动进行中,基于有人机空间保护区和无人机基础静态航路信息,实时计算有人机空间保护区是否和无人机航路存在冲突。本发明可提升低空空域内有人机和无人机的运行效率,规避冲突风险。
Cooperative operation conflict detection method for manned aerial vehicle and unmanned aerial vehicle in urban scene
城市场景下有人机和无人机协同运行冲突检测方法
27.12.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Analysis on manned/unmanned aerial vehicle cooperative operation in antisubmarine warfare
DOAJ | 2018
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