无人机的自主飞行是无人机相关研究的重点方向,如何在复杂环境中快速分析环境,并规划一条安全可行的路径,是该方向的研究目标。针对传统路径搜索算法存在的路径不平滑问题,采用三阶B样条曲线进行预规划航迹。在欧式有符号距离函数(Eucli...无人机的自主飞行是无人机相关研究的重点方向,如何在复杂环境中快速分析环境,并规划一条安全可行的路径,是该方向的研究目标。针对传统路径搜索算法存在的路径不平滑问题,采用三阶B样条曲线进行预规划航迹。在欧式有符号距离函数(Euclidean Signed Distance Functions, ESDF)地图提供的梯度信息的基础上,分别在平滑、碰撞和可行性上设计约束方程,实现轨迹动态重规划。针对路径动态更新中,时间间隔变化产生的控制点不再符合约束的问题,采用各向异性曲线拟合方法,实现时间再分配,保障在动态更新路径的过程中,新产生的路径与原路径相似且具有同样的可行性。实验证明,该算法实现了无人机的自主路径规划与优化,能够进行动态避障,面对复杂环境具有鲁棒性。展开更多
With the increasing civil aviation passengers and the rapid development of aviation logistics,the study on remotely piloted operation(RPO)mode has received extensive attention.RPO mode constructs the piloting decision...With the increasing civil aviation passengers and the rapid development of aviation logistics,the study on remotely piloted operation(RPO)mode has received extensive attention.RPO mode constructs the piloting decisionmaking mode which involves the tripartite collaboration among airborne automatic/autonomous system,remote ground-based crews and air traffic control.In this paper,we describe the organizing architecture for commercial remotely piloted aircraft(CRPA)system and its components.Compared with the current operation mode,the new air-ground collaborative decision-making mode has been established with six different situations based on the type of the flight and the condition of the remote pilot.Taking airport surface operation as an experimental example,we model the airport surface operation process and compare the advantages and disadvantages between RPO mode and the current dual-pilot mode from the perspectives of time and operation coverage,and draw conclusions that RPO mode can basically cover the flight operations of the dual-pilot,improve the accuracy of pilot operations and greatly reduce response time by 48%in pre-flight inspection.The above research would be the foundation for the RPO development of commercial aircraft in China.展开更多
Micro-behavior of pilots is one of the most remarkable aspects in flight safety research domain.The study of pilot’s micro-behavior and its function are of great significance to enhance active safety warnings of flig...Micro-behavior of pilots is one of the most remarkable aspects in flight safety research domain.The study of pilot’s micro-behavior and its function are of great significance to enhance active safety warnings of flight and evaluation of flight cadets.Based on the cognitive process of pilots,this paper explores the meanings and contents of previous research on the pilot’s micro-behavior.The history and research status of pilot’s micro-behavior are briefly introduced from the perspective of their psychology,physiology and physics.The current reviews mainly include the pilot’s characteristic,multi-information fusion,integrated cognitive and humanization about controlling environment,etc.The several methods of these studies are discussed,and the mechanisms,experimental contents and applicable conditions of pilot’s physiological,psychological and physical characteristics are analyzed.Meanwhile,the advantages and shortcomings of the existing research results are pointed out and analyzed.Combined with flight simulation experiment,the internal mechanism of pilot is explained.Furthermore,with the latest research in the modern flight field,and also from the specialization of application,the diversification of methodologies and the depth of investigation are provided,as well as the development trend of pilot’s micro-behavior analysis in the future.展开更多
文摘无人机的自主飞行是无人机相关研究的重点方向,如何在复杂环境中快速分析环境,并规划一条安全可行的路径,是该方向的研究目标。针对传统路径搜索算法存在的路径不平滑问题,采用三阶B样条曲线进行预规划航迹。在欧式有符号距离函数(Euclidean Signed Distance Functions, ESDF)地图提供的梯度信息的基础上,分别在平滑、碰撞和可行性上设计约束方程,实现轨迹动态重规划。针对路径动态更新中,时间间隔变化产生的控制点不再符合约束的问题,采用各向异性曲线拟合方法,实现时间再分配,保障在动态更新路径的过程中,新产生的路径与原路径相似且具有同样的可行性。实验证明,该算法实现了无人机的自主路径规划与优化,能够进行动态避障,面对复杂环境具有鲁棒性。
基金supported by the National Program on Key Basic Research Project (No. 2014CB744903)the National Natural Science Foundation of China(Nos. 61973212,61673270)+3 种基金the Shanghai Industrial Strengthening Project (No. GYQJ-2017-5-08)the Shanghai Science and Technology Committee Research Project (No. 17DZ1204304)the Civil Aviation Pre-Research ProjectsShanghai Engineering Research Center of Civil Aircraft Flight Testing.
文摘With the increasing civil aviation passengers and the rapid development of aviation logistics,the study on remotely piloted operation(RPO)mode has received extensive attention.RPO mode constructs the piloting decisionmaking mode which involves the tripartite collaboration among airborne automatic/autonomous system,remote ground-based crews and air traffic control.In this paper,we describe the organizing architecture for commercial remotely piloted aircraft(CRPA)system and its components.Compared with the current operation mode,the new air-ground collaborative decision-making mode has been established with six different situations based on the type of the flight and the condition of the remote pilot.Taking airport surface operation as an experimental example,we model the airport surface operation process and compare the advantages and disadvantages between RPO mode and the current dual-pilot mode from the perspectives of time and operation coverage,and draw conclusions that RPO mode can basically cover the flight operations of the dual-pilot,improve the accuracy of pilot operations and greatly reduce response time by 48%in pre-flight inspection.The above research would be the foundation for the RPO development of commercial aircraft in China.
基金supported by the Funding for Outstanding Doctoral Dissertation in NUAA (No. BCXJ19-10)Postgraduate Research and Practice Innovation Program of Jiangsu Province(No. KYCX19_0196)Nanjing University of Aeronautics and Astronautics PhD short-term visiting scholar project(No. 190637DF07).
文摘Micro-behavior of pilots is one of the most remarkable aspects in flight safety research domain.The study of pilot’s micro-behavior and its function are of great significance to enhance active safety warnings of flight and evaluation of flight cadets.Based on the cognitive process of pilots,this paper explores the meanings and contents of previous research on the pilot’s micro-behavior.The history and research status of pilot’s micro-behavior are briefly introduced from the perspective of their psychology,physiology and physics.The current reviews mainly include the pilot’s characteristic,multi-information fusion,integrated cognitive and humanization about controlling environment,etc.The several methods of these studies are discussed,and the mechanisms,experimental contents and applicable conditions of pilot’s physiological,psychological and physical characteristics are analyzed.Meanwhile,the advantages and shortcomings of the existing research results are pointed out and analyzed.Combined with flight simulation experiment,the internal mechanism of pilot is explained.Furthermore,with the latest research in the modern flight field,and also from the specialization of application,the diversification of methodologies and the depth of investigation are provided,as well as the development trend of pilot’s micro-behavior analysis in the future.
