Modeling method for unmanned aerial vehicle (UAV) dynamic emergency collision avoidance area

Abstract

The invention discloses a modeling method for an unmanned aerial vehicle (UAV) dynamic emergency collision avoidance area. The modeling method can be used for establishing an emergency collision avoidance area envelope when the UAV meets an intrusion aircraft. The method comprises the following steps of: firstly judging whether flight conflict is present between the UAV and the intrusion aircraft through a conflict detection algorithm, determining a power-driven of UAV emergency collision avoidance according to the flight course of the intrusion aircraft if the flight conflict is present between the aircrafts, establishing a UAV dynamic emergency collision avoidance area model equation by analyzing the emergency collision avoidance power-driven process, and obtaining the emergency collision avoidance area boundary value and the required collision avoidance power-driven time by resolving the model equation. According to the method, the flight information of the intrusion aircraft is acquired in real time, so that the UAV emergency collision avoidance area is dynamically established. The method can provide dual reference information, namely the shortest collision avoidance distance and the required collision avoidance power-driven time, and the collision avoidance success rate is guaranteed to the greatest degree; and moreover, the collision avoidance area envelope area is reduced, unnecessary airspace waste and collision avoidance power are avoided, and the method has high real-time property.

Description

technical field [0001] The invention relates to a modeling method for a dynamic emergency collision avoidance area of ​​an unmanned aerial vehicle, belonging to the technical field of flight safety. Background technique [0002] At present, UAVs have been widely used in military fields such as reconnaissance and surveillance, ground attack, and damage assessment, and they also have important application prospects in civilian fields such as forest fire prevention, geographic survey, and disaster monitoring. With the widespread application of UAVs, its requirements for airspace are becoming increasingly urgent. Since drones do not yet have the ability to perceive and avoid autonomously, drones cannot share open airspace with civil aviation aircraft at this stage. Therefore, how to improve the utilization of airspace through sharing on the premise of ensuring flight safety has become a new research hotspot. [0003] In this context, the United States and other developed count...

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Problems solved by technology

In the above method, it is usually necessary for the aircraft to have mutual communication capabilities, and the d

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