The invention discloses an unmanned aerial vehicle anti-collision method and
system based on LoRa communication, and belongs to the technical field of
risk avoidance of multiple unmanned aerial vehicles. The method comprises the following steps: constructing an ad hoc
network communication architecture to realize flight state broadcast and synchronization; fusing the multi-
source data by adopting a space-
time alignment algorithm, and constructing a dynamic airspace situation map taking a
local machine as a center; calculating a time window and space overlapping probability of the predicted intersection; a multi-priority dynamic negotiation protocol is considered, and autonomous
decision making of the unmanned aerial vehicle cluster in a scene without a
central node is supported; and dynamically adjusting the flight path, speed and height through a collaborative
obstacle avoidance algorithm. Through a
spread spectrum modulation technology and an adaptive
power control mechanism, over-the-
horizon communication coverage of more than 10km level is realized; through fusion of a
kinematics prediction model and a
risk quantification algorithm,
millisecond identification and hierarchical response of collision threats are realized, a
global optimal avoidance strategy is achieved, communication
delay and calculation
bottleneck brought by centralized decision are effectively avoided, and the real-time collaborative
obstacle avoidance capability in a complex airspace is ensured.