基于电子格栅的无人机防冲突研究

Research on Anti-conflict of UAV Based on Electronic Grid

为解决无人机与移动目标物的潜在冲突,利用全球卫星定位系统(GPS)动态载波相位测量技术获取无人机与移动目标物的相对位置后,以无人机和移动目标物的几何中心点为中心建立椭球形初始电子格栅,在此基础上考虑操纵者反应时间、无人机避让所需时间、飞行的距离和GPS的定位精度,完善电子格栅。通过建立的移动物体电子格栅可以限定无人机的飞行范围,在两电子格栅相接触时立即做出避让,以避免无人机与移动目标物发生冲突。

In order to solve the potential conflicts between Unmanned Aerial Vehicle （UAV） and the moving target,this paper uses the Global Positioning System （GPS） dynamic carrier phase measurement tech nology to obtain the relative position of the UAV and the moving target, then establishes the ellipsoidal initial electronic grid through geometric center of the UAV and the moving target. The paper also considers the operator＇s reaction time, the time required for avoidance, the flight distance, and the positioning accuracy of GPS to perfect the electronic grid. The established moving object electronic grid can define the flight range of the UAV, and immediately avoid the conflicts when two electronic grids are in contact, thereby preventing the UAV from colliding with the moving target.