无人机感知-规避系统安全区域动态决策方法

Dynamic decision-making method for safety region of sense and avoid system for unmanned aerial vehicle

为了解决无人机在空域交通中的感知-规避安全性需求问题,根据无人机的感知能力定义空域交通的安全边界,采用微分对策和生存能力理论对感知-规避问题进行描述和分析,提出一个理论框架和解决方案,给出了安全区域对无人机飞行策略和制导律的影响.只要无人机与冲突航线内的其他飞行器保持必要的间隔,所提出的方法就可采取有效的策略减小冲突航线上的不确定边界,并选择相应的规避决策调整航线,避免飞行冲突.

In order to resolve the safety requirement of unmanned aerial vehicle （UAV） sense and avoid system in the air traffic, some nested zones around the UAV according to its sensing capacity in the air traffic are defined. By using the differential game and the viability theory in this problem, the UAV sense and avoid problem based on these theory is defined and analyzed, and a theory framework and a solution scheme are proposed on the basis of the above work. As a conclusion, a flight strategy and guidance law associated with the safety zones is given. The uncertainty margin on other traffic intruder trajectories is reduced, by adopting some effective evasion maneuvers if only necessary separation with other aircrafts is held. Consequently, the flight trajectory is adjusted to avoid a flight conflict.