无人机飞行紧急避撞目标区检测仿真研究

Simulation Study on Flight Emergency Collision Avoidance Target Zone Detection for UAVs

研究三维空间中无人机飞行紧急避撞目标区检测问题,可提高无人机飞行安全水平。当前的飞行避撞目标区静态检测方法对空域利用不足,而动态检测方法只是在水平面内进行理论推导验证而致使实用性较低。针对上述问题,提出了基于无人机三维空间机动轨迹的紧急避撞目标区检测方法,根据无人机自身的机动能力,采用航空器质点动力学与运动学方程,解算出三维空间中无人机机动轨迹。结合入侵机飞行信息构建两机距离函数,并检测出避撞成功时入侵机距无人机的最近位置,建立避撞目标区包络。仿真计算结果表明了改进方法的有效性,提高了空域利用率,同时具有较高实用性。

The paper studied the problem of flight emergency collision avoidance target zone detection for UAVs in three -dimensional space. A new flight emergency collision avoidance target zone detection method based on the emergency avoidance track of UAVs in the three - dimensional space was proposed when the current flight collision avoidance target zone static detection method was under - utilization of airspace and the dynamic detection method was only deduced and verification in the horizontal plane, which took the advantage of particle dynamics and kinematics equation to obtain emergency avoidance track according to the mobility of UAV, construct the distance function of two aircrafts combined with the intrusion flight information, and detect the nearest intrusion＇s position away from UAVs with successful collision avoidance. Then we established emergency avoidance target zone envelope. The simulation results show that this method is effective, and it improves the utilization of airspace and has high practicability.