The invention discloses an unmanned aerial vehicle dynamic collision risk monitoring model based on track conformity, and particularly relates to the technical field of unmanned aerial vehicle dynamic collision risk monitoring models, comprising the following steps: S1, proposing a track conformity concept; s2, performing normal regression and homogeneous inspection on the historical flight path data to determine the conformity of the three-dimensional flight path of the unmanned aerial vehicle; s3, constructing an unmanned aerial vehicle collision box by taking the size of the unmanned aerial vehicle and the three-dimensional track conformity as parameters; and S4, constructing a collision probability model of the unmanned aerial vehicle in any encounter scene. The unmanned aerial vehicle collision risk model is constructed based on flight path conformity, and unmanned aerial vehicle supervision rules can be simplified; the model is a universal collision risk model and is irrelevant to an unmanned aerial vehicle meeting scene; the minimum safety interval standard can be determined by combining the required target safety level in the operation area, and the opportunity of conflict resolution can be reversed by considering the actuation delay of the unmanned aerial vehicle system.
本发明公开了一种基于航迹符合性的无人机动态碰撞风险监控模型,具体涉及无人机动态碰撞风险监控模型技术领域,包括以下步骤:S1:提出航迹符合性概念;S2:对历史航迹数据进行正态回归和齐次检验,确定无人机三维航迹符合性;S3:以无人机尺寸和三维航迹符合性为参数,构建无人机碰撞盒;S4:构建无人机在任意相遇场景下的碰撞概率模型。本发明中的无人机碰撞风险模型基于航迹符合性构建,有利于简化无人机监管规则;是一种通用碰撞风险模型,与无人机相遇场景无关;结合运行区域内的所需目标安全水平能够确定最小安全间隔标准,考虑无人机系统作动延迟可以倒退冲突解脱的时机。
Unmanned aerial vehicle dynamic collision risk monitoring model based on flight path conformity
一种基于航迹符合性的无人机动态碰撞风险监控模型
2024-05-31
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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