The invention provides an unmanned aircraft route conflict detection method and system, electronic equipment and a storage medium. The method comprises the following steps: carrying out time overlapping judgment on each section of air route on every two aircrafts based on planned air route information; time slice alignment is realized for the airways with time overlapping through an interpolation method based on aircraft position prediction; the shortest space distance between the time slice same route sections of every two aircrafts is solved, and the time slice same route sections with the shortest space distance smaller than the safety distance are route sections possibly having conflicts; conflict detection is carried out on route sections where every two aircrafts possibly have conflicts through a three-dimensional speed obstacle method, and if conflicts exist, conflict time is calculated. According to the scheme provided by the invention, conflict early warning of the use of the planned airway space can be carried out when multiple underwater unmanned vehicles cooperatively execute tasks, and the collision risk caused by overlapped use spaces of the multiple vehicles in the same time period is avoided, so that the navigation safety and efficiency of the underwater vehicles are improved.
本发明提供一种无人航行器航路冲突检测方法、系统、电子设备及存储介质。其中,方法包括:基于规划航路信息对两两航行器进行每段航路的时间重叠判断;对时间有重叠的航路通过插值方法基于航行器位置预测,实现时间片对齐;求两两航行器时间片相同航路段的最短空间距离,最短空间距离小于安全距离的时间片相同航路段,即可能存在冲突的航路段;对两两航行器可能存在冲突的航路段利用三维速度障碍法进行冲突检测,若存在冲突,计算冲突时间。本发明提出的方案能够为水下多无人航行器协同执行任务时进行规划航路空间使用的冲突预警,避免多航行器同时段使用空间重叠引发碰撞风险,从而提高水下航行器的航行安全性和效率。
Unmanned aircraft route conflict detection method and system, electronic equipment and storage medium
一种无人航行器航路冲突检测方法、系统、电子设备及存储介质
2024-04-09
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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