非合作大型UAVs飞行冲突预测方法研究

Research on flight conflict prediction method for non-cooperative large unmanned aerial vehicles

为降低非合作大型无人机(UAVs)之间的碰撞风险,首先在分析大型UAVs运行方式的基础上,提出基于UAVs运行管理平台的非合作大型UAVs飞行冲突预测机制和程序;然后建立基于UAVs飞行状态数据的飞行冲突预测模型,分别预测水平和垂直2个方向上的飞行冲突,进而判断是否存在飞行冲突,并分析冲突告警阈值,防止UAVs地面站过晚收到告警信息;最后利用3架UAVs实时飞行状态数据实例分析模型并验证该模型的可行性。结果表明:所提的冲突预测机制和程序可以实现非合作大型UAVs之间的冲突预测和预警;冲突预测模型可以准确判断是否存在飞行冲突并计算飞行冲突发生的时间。

In order to reduce risk of collision between non-cooperative large UAVs,firstly,in light of analysis on their operation mode,predication mechanism and procedure of flight conflict based on UAVs operation and management platform were proposed.Secondly,a conflict prediction model building on UAVs flight state data was proposed,which predicted conflicts in both horizontal and vertical directions and determined whether there would be a conflict.And then warning threshold was analyzed to prevent too late reception of alarm information by UAVs ground station.Finally,real-time flight status data of 3 UAVs were used to analyze and verify the model.The results show that the proposed mechanism and program can realize prediction and early warning between non-cooperative large UAVs,and the prediction model can accurately determine whether there is a flight conflict as well as calculate when it will happen.