基于柔性四维航迹预测的无人机动态围栏规划

UAV Dynamic Geofence Planning Method Based on Flexible Four- dimensional Trajectory Prediction

针对固定翼无人机动态地理围栏规划问题,提出一种考虑航迹随机性的规划方法。根据已知的无人机飞行计划,在基于无人机平滑转弯的前提下,预测了其水平轨迹、高度剖面和速度剖面。考虑无人机在航段上飞行时速度的随机性,采用蒙特卡洛仿真方法,验证了平均地速服从正态分布的规律。结合无人机在航段上平均地速的分布规律,计算每个规划时刻的空间位置范围,将此空间范围作为无人机在该规划时刻的动态地理围栏。通过建立案例仿真,得到无人机在该航段上平均飞行时间的预测结果为0.322 h,同时对比了基于速度范围的动态地理围栏规划方法与考虑航迹随机性的动态地理围栏规划方法的空域利用效率的差异,结果表明后者相对于前者大约节省15%的空域资源。

Aiming at the problem of dynamic geofence planning for fixed wing unmanned aerial vehicles,a planning method that considers the randomness of the trajectory is proposed.First,the horizontal trajectory,height profile and velocity profile are predicted based on the known drone flight plan and the smooth turn of the drone.Then considering the randomness of the speed of the UAV flying on the flight segment,Monte Carlo simulation method is used to verify the law that the average ground speed obeys the normal distribution.Combined with the distribution law of the average ground speed of the drone on the flight segment,the spatial position range of each planning moment is calculated,and this spatial extent is used as the dynamic geofence of the drone at the planning moment.Finally,by establishing case simulation,the prediction result of the average flight time of the UAV on the flight segment is 0.322h,and the dynamic geo fence planning method based on the speed range and the dynamic geo fence planning method considering the randomness of the track are compared.The difference in airspace utilization efficiency indicates that the latter saves about 15% of airspace resources relative to the former.