冲突探测与解脱机制下城市物流无人机自由飞行间隔研究

Urban Logistics Unmanned Aerial Vehicle Free Flight Separation ConsideringConflict Detection and Resolution Mechanism

聚焦自由飞行场景,为确保城市物流无人机运行安全,需要为无人机配备安全间隔。借鉴气体模型和位置误差概率模型,提出考虑冲突探测与解脱机制的无人机自由飞行间隔综合评估模型。首先应用气体模型评估无人机冲突发生频率;接着综合考虑空中交通特性、冲突探测与解脱机制、航线结构、空中交通服务能力,计算冲突发生时碰撞概率,得到总体碰撞概率。最后,对标安全目标水平,计算城市物流无人机自由飞行所需间隔。应用该模型,针对某运行空间无人机自由飞行场景,制定所需间隔。研究结果为城市物流无人机间隔标准制定提供可行方法,同时可用于指导冲突探测与解脱机制,降低突破间隔后碰撞概率。

In order to ensure the safe operation of urban logistics UAVs in the free flight scenario,the required separation for UAVs should be equipped.Gas model and position error probability model were adapted,and method for determining the free flight separation of UAVs covering conflict detection and resolution mechanism was proposed.Firstly,gas model was used to evaluate the conflict frequency of UAVs,and the collision probability when the conflict occurs were calculated by considering air traffic characteristics,conflict detection and resolution mechanism,route structure as well as air traffic service capability.Total collision probability was obtained by synthesizing the two values.Finally,the safety target level is benchmarked and the required separation for free flight of urban logistics UAV was calculated.Using this method,taking the free flight of UAV in a certain operating space as an example,the required separation was calculated.The research results provide a feasible method for the formulation of urban logistics UAV separation minima.The method can also be used to guide the CDR response mechanism to reduce the collision probability after the separation is breached.