The invention discloses an unmanned aerial vehicle conflict detection and anti-collision method and system based on a fusion airspace, and the method comprises the following steps: 1, building a protection region model of a manned aerial vehicle; 2, potential collision risk judgment of the unmanned aerial vehicle and the manned vehicle is carried out; and 3, when the ADS-B detects that a potential collision risk exists between the unmanned aerial vehicle and the manned aerial vehicle, the unmanned aerial vehicle adopts a corresponding maneuvering strategy to perform conflict resolution. According to the method, the fastest maneuvering strategy is selected, the original route is slightly deviated, and in order to reduce the extra conflict risk caused by large maneuvering as much as possible, the model considers the minimum speed and course angle variation during conflict resolution and track recovery; conflict resolution is carried out under the conditions of reducing maneuvering of the unmanned aerial vehicle and ensuring overall safety of the unmanned aerial vehicle and the manned aerial vehicle as much as possible, and the effect is good.
本发明公开了一种基于融合空域的无人机冲突探测与防撞方法及系统,其中,方法包括如下步骤:步骤1:建立有人机的保护区模型;步骤2:无人机和有人机存在潜在的碰撞风险判定;步骤3:当ADS‑B探测到无人机和有人机之间存在潜在的碰撞风险时,无人机采取相应的机动策略进行冲突解脱。本申请考虑选择最快速的机动策略,以及较少地偏离原航线,并且为了尽量减少大幅机动所带来的额外冲突风险,模型在冲突解脱和恢复航迹时考虑最小的速度和航向角的改变量,尽量在减小无人机机动并保证无人机和有人机整体安全的情况下进行冲突解脱,效果较好。
Unmanned aerial vehicle conflict detection and collision avoidance method and system based on fusion airspace
一种基于融合空域的无人机冲突探测与防撞方法及系统
2024-03-12
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Flight collision risk assessment method for unmanned aerial vehicle in fusion airspace
European Patent Office | 2021
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