无人机冲突探测及解脱策略关键技术研究

Research on Key Technologies of UAV Conflict Detection and Resolution Strategy

在无人机运行环境数据及运行监视数据的支持下,针对无人机在运行过程中可能遭遇的危险,研究了基于线性外推法的飞行冲突预判算法,对无人机飞行冲突进行预警;并采用航迹刷新周期滑窗相关算法降低虚警概率;针对可能产生的飞行冲突,考虑无人机的性能限制,以冲突解脱所需最短时间为目标,给出一种最优解脱策略;对产生冲突的两架无人机,对比了垂直机动、航向调整、速度调整三种解脱策略.案例分析结果表明:采用垂直机动策略,冲突解脱所需最短时间为78.8s,采用航向调整策略,冲突解脱所需最短时间为195s,采用速度调整策略,冲突解脱所需最短时间为285s.可见,垂直机动解脱策略效果最优,水平方向上,航向调整策略优于地速调整策略.

With the support of UAV operation environment data and operation monitoring data, a flight conflict prediction algorithm based on linear extrapolation was studied to warn UAV flight conflicts in view of the possible dangers encountered by UAV during operation. The false alarm probability was reduced by using the track refresh periodic sliding window correlation algorithm. In view of the possible flight conflicts, considering the performance limitations of UAV, an optimal conflict resolution strategy was proposed with the shortest time required for conflict resolution as the goal.For the two UAVs in conflict, the three relief strategies of vertical maneuver, heading adjustment and speed adjustment were compared. The results show that the shortest time required for conflict resolution is 78.8s with vertical maneuver strategy, the shortest time required for conflict resolution is 195s with heading adjustment strategy, and the shortest time required for conflict resolution is 285s with speed adjustment strategy.It can be seen that the vertical maneuver release strategy has the best effect, and the heading adjustment strategy is superior to the ground speed adjustment strategy in the horizontal direction.