多机会合下的机载防撞三维避撞策略研究

Research on the Collision Avoidance Strategies in Three Dimensional Space when Multiple Aircrafts Meeting

通过获取本机周围所有目标飞机的飞行数据,计算飞机两两之间的碰撞概率,由碰撞概率构造出碰撞矩阵,用碰撞矩阵描述当前所有飞机的碰撞态势值,并提出与碰撞矩阵相匹配的三维避撞策略,进而对飞机的机动策略进行分配,达到协作避撞的目的。仿真验证表明,飞机两两之间的碰撞概率经过动态调整最终收敛到0,碰撞矩阵行列式值随着避撞过程中策略执行而逐渐增大,经过4个阶段的动态调整,最终收敛到稳态,实现所有飞机安全避撞。

Calculate the collision probability between each of the aircraft through obtaining the surrounding aircrafts＇ fly data. The collision matrix was constructed and the situation value was described through determinant of the matrix. Then, the collision avoidance strategies in three dimensional space were put forward. Used the situation value to allot the strategy of each aircraft to obtain the aim of collision avoidance. Finally, the result of simulation indicated that the collision probability between each of the aircraft converged at zero, the determinant of the matrix increased to a fix value. All the aircrafts can obtain safe avoidance finally.