航空器地面滑行碰撞检测方法研究

Collision Detection Technology of Taxiing Aircrafts

为保证航空器地面滑行安全,提出一种碰撞冲突检测方法。从降低虚警率和实现碰撞检测的观点出发,首先,根据航空器外形及关键尺寸构造一个类似碰撞盒的多边形区域,形成核心保护区域——基层;以此为基础将基层向外扩大,形成运行保护层,保护层多边形与基层多边形对应边之间的距离为一个安全净距。考虑航空器在滑行中对地面空间占用的影响,将运行保护层沿机头方向前推至一个制动距离,定义可变多边形几何区域——告警层,用于碰撞检测;并降低检测算法的复杂度。运用实例演示航空器运动状态及位置参数的变化,然后通过编程对碰撞检测算法进行验证。结果表明,当2架航空器的告警层区域重叠时,其基层区域显示黑色并发出告警。

In order to ensure the safety of taxiing aircrafts, a collision detection method was worked out. From a reducing the false alarm rate and collision detection point of view, according to characteristics and critical dimensions of aircraft, a core protected polygonal area, basic layer was built, which is similar to a collision box. On this basis, the warning scope was expanded outward to build a protective layer. The dis- tance between basic layer and protective layer is a safety clearance. Considering the occupied space will change with aircraftg motion state, along with direction of head, the sides of head portion of protective lay- er were pushed a braking distance to build third conflict alert area, alert layer, for collision detection, and complexity of the detection algorithm has been reduced. Changes in the state of motion and location of air- craft were demonstrated through examples. Then, collision detection algorithm was verified by program- ming. A conclusion was drawn that when alert layers of two aircrafts have a common part, basic layers show black and alerting at the same time.