导弹/无人机异构集群自主碰撞预警方法研究

Research on Autonomous Collision Warning for Heterogeneous Missile/UAV Cluster

针对飞行于不同空域范围、不同轨迹特点的导弹/无人机异构集群协同工作时的碰撞预警与规避问题,给出了一种基于碰撞概率的异构无人飞行器自主碰撞预警方法。以导弹和无人机导航信息为输入,以通信数据链和弹/机上信息处理能力为依托,进行位置速度信息和误差解算、信息传输、初步筛选、轨迹预报与误差演化、接近分析、碰撞概率计算等操作,得到后续飞行中可能发生的碰撞事件及其对应的碰撞概率值。构建了由1枚近程地对地战术弹道导弹和4架编队中高空长航时无人机组成的集群场景,进行了算例分析,结果表明所提出的方法可有效提高无人飞行器碰撞预警准确性和协同飞行安全性。

Aiming at the problem of collision warning and avoidance when heterogeneous missile/UAV cluster cooperative operation which flights in different airspace and has different trajectory characteristics, an autonomous collision warning method for the heterogeneous missile/UAV cluster based on collision probability is proposed. Taking the missiles and UAVs navigation information as inputs, communication data link and information processing capability on board as support, the position/velocity information and error calculation,information transmission, preliminary filter, trajectory prediction and error evolution, close approach analysis,collision probability calculation, etc. are carried out to obtain the possible collision events and corresponding collision probability values in the subsequent flight. A cluster scenario consisting of a short-range ground-toground tactical ballistic missile and four medium/high altitude long endurance UAVs is constructed and analyzed. The results show that this method can effectively improve the collision warning accuracy and the cooperative flight safety of missiles and UAVs.