基于冲突概率的低空自由飞行冲突检测算法

A Free Flight Conflict Detection Algorithm of Low-Altitude Airspace Based on Conflict Probability

针对低空自由飞行的临时机动性,基于Paielli算法中冲突概率的思想,提出一种适用于低空飞行的飞机冲突探测算法。算法考虑空间精度要求,加入时间维度,使Paielli算法中的扩展冲突域在相对运动方向上的不定积分变成与冲突时间相对应的有确定上下限的定积分,冲突的概率转化为对应于某一时刻的冲突域与联合航迹误差的交叉体积的积分。通过Cholesky分解和矩阵旋转等方式,实现了冲突概率模型的量化求解,能更准确地预测冲突发生的概率。

Considering the flexibility of the aircraft in low-altitude airspace,we put forward a flight conflict detection algorithm adaptable to the low-attitude airspace flight based on conflict probability .In the algorithm,the spatial precision and time parameters were taken into account,the indefinite integral of the extended conflict area in the direction of the relative motion of Paielli algorithm,is changed into a definite integral corresponding to the conflict time,which has determined upper and lower limits of integration .The conflict probability is transformed into the integral of the cross volume between the collision area and the joint track error corresponding to a certain moment .The quantization solution of the conflict probability model is realized by Cholesky factorization and matrix rotation,which is more accurate for the prediction of the conflict probability .