Modeling method of unmanned aerial vehicle collision model based on four dimensional coordinate

Abstract

The invention relates to a model method of an unmanned aerial vehicle collision model based on a four dimensional coordinate. The method includes the following steps that initial parameter informationof an unmanned aerial vehicle and an invasion vehicle is acquired; relative movement situation of the unmanned aerial vehicle and the invasion vehicle is determined, the invasion vehicle without thepossibility of invasion is excluded; coordinates of the closest points in the movement trajectory of the unmanned aerial vehicle and invasion vehicle and time required to reach the closest point respectively are calculated; the shortest distance between the unmanned aerial vehicle and invasion vehicle is calculated; the shortest distance between the unmanned aerial vehicle and invasion vehicle iscompared with the data of an unmanned aerial vehicle collision box, the collision possibility of the invasion vehicle is judged; and the initial parameter information and historical parameter information of the unmanned aerial vehicle and the invasion vehicle are four dimensional coordinate information including three dimensional space positions and velocity. The data is updated and analyzed in real time by adopting a four dimensional coordinate analysis method with real-time velocity added. It is avoided that a defect of speed differences between the unmanned aerial vehicles is not consideredin the prior art, and the result shows that the method is more suitable for the unmanned aerial vehicle and has strong feasibility.

Description

technical field [0001] The invention relates to the technical field of low-altitude airspace monitoring, in particular to a modeling method for a collision model of an unmanned aerial vehicle based on four-dimensional coordinates. Background technique [0002] With the gradual opening of my country's low-altitude airspace, the flow of air flight is increasing day by day, especially the number of drones for various purposes is increasing. It has become an important trend for the development of drones to perform tasks in the common airspace of multiple drones. With the wide application of UAVs, low-altitude flight airspace is increasingly congested. The implementation of free flight can improve the utilization of airspace resources and solve the problem of airspace congestion. [0003] However, the possibility of collisions during the free flight of UAVs is also increasing. Free flight frequently faces safety accidents such as UAV collisions and crashes. UAVs share airspace wi...

AI Technical Summary

Problems solved by technology

[0005] Since the existing UAV collision model only analyzes the distance between UAVs to establish a collision model, it does not take into account the speed difference between UAVs, and the analysis results are far from the actual flight collision situation.

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