基于轨迹偏差改进算法的无人机飞行冲突评估

Unmanned Aerial Vehicle Flight Conflict Evaluation Based on Trajectory Deviation Modified Algorithm

以有人驾驶飞机改装的大型无人机开展计划飞行任务作为研究背景,根据飞行姿态、运行要素和空域运行结构等特征,完成了中低空空域内轨迹偏差算法模型的改进.运用改进模型分析计算,获得了基于导航定位精度下,飞行预设位置点与实际位置点的差异和分布趋势,结合ICAO(international civil aviation organization)设计的飞行标准,首次建立了在满足民航运行安全标准下,多机种大型飞机联合运行空域内的飞行冲突量化结果.计算结果表明:改进模型综合考虑了大型无人机在转弯及直线阶段的轨迹偏差,通过偏差数据建立模板评价飞行冲突态势,获得了联合运行空域内飞行器间安全值,推导空域密度,为机场及进离场阶段执行联合计划飞行任务,提供了科学规划的依据.

Large unmanned aerial vehicles(UAVs) modified by manned aircraft are used as the research background for planned flight missions,according to the characteristics of flight attitude,operational elements and airspace operational structure,the trajectory deviation algorithm model in the middle and low airspace is improved.Use the improved model to analyze and calculate,the difference and distribution trend of flight preset position points and actual position points are obtained based on navigation and positioning accuracy,combined with ICAO design flight standards,for the first time,the quantitative results of flight conflicts in the airspace of joint operation of multi-type large aircraft under the safety standard of civil aviation operation are established.The calculation results show that,the improved model comprehensively considers the trajectory deviation of large uav in the turning and straight flight stages,the deviation data is used to establish a template to evaluate the situation of flight conflict,the safety value between the aircraft in the airspace of joint operation is obtained,and the airspace density is deduced,in order to carry out joint flight missions near the airport,as well as arrived and departure stages,the scientific planning basis is provided.