Collision probability real-time evaluation method based on finite-dimensional distribution

A technology with limited collision probability, applied in instruments, geometric CAD, computing, etc., can solve problems such as difficult to meet real-time performance and large amount of calculation

Active Publication Date: 2019-04-16
BEIHANG UNIV
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Problems solved by technology

The Monte Carlo method has a simple idea and accurate evaluat...

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  • Collision probability real-time evaluation method based on finite-dimensional distribution
  • Collision probability real-time evaluation method based on finite-dimensional distribution
  • Collision probability real-time evaluation method based on finite-dimensional distribution

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Embodiment Construction

[0116] The invention provides a real-time evaluation method of collision probability based on finite-dimensional distribution. Taking the study of multi-rotors avoiding other hovering or flying multi-rotors in a straight line in an airspace as an example, the specific implementation manner of the present invention will be further described. The following describes the process of evaluating the probability of multi-rotor mid-air collision according to the method mentioned in the present invention.

[0117] (1) The specific implementation steps of the method

[0118] Step 1: Establish multi-rotor control model and collision model

[0119] In order to establish a control model in the form of formula (1), first establish the ground coordinate system O g x g the y g z g . Choose a point O on the ground g As the origin of the coordinate system, O g z g The axis is perpendicular to the ground and points to the center of the earth, O g x g Axes are chosen arbitrarily in the...

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Abstract

The invention relates to a collision probability real-time evaluation method based on finite-dimensional distribution. The method comprises the following steps: 1, establishing a control model and a collision model of a to-be-evaluated system; 2, generating sampling points at equal time intervals according to the to-be-predicted time interval; 3, roulette is repeatedly carried out, and sampling points distributed at equal intervals according to probability are generated; 4, based on the control model of the to-be-evaluated system, finite-dimensional distribution of the centroid position is solved; And step 5, performing Cholesky decomposition on the covariance matrix with the finite-dimensional distribution of the centroid position to obtain a specific generation mode. 6, predicting the position of the obstacle rigid body and solving the filtered finite-dimensional distribution; 7, reconstructing the coefficient matrix to obtain a specific generation mode of filtered finite-dimensionaldistribution; And 8, independently generating the finite-dimensional distribution obtained in the step 7 for multiple times, and estimating the real probability by the collision frequency of the discrete points. And at the next evaluation decision moment, the algorithm returns to the step 6 to continue to calculate.

Description

technical field [0001] The invention relates to a real-time evaluation method of collision probability based on finite-dimensional distribution, which belongs to the field of safety evaluation. Background technique [0002] With the development of micro UAVs, the safety assessment of UAVs in low airspace is becoming more and more important, and multi-rotors are a typical representative of micro UAVs in recent years. Concerns about the safety performance of multi-rotors in the air have become a bottleneck for the further development of various applications of multi-rotors in densely populated areas. Among the many concerns about the safety performance of multi-rotors, its possible mid-air collisions, including collisions between multi-rotors and stationary obstacles such as tall buildings and trees, as well as collisions with other moving objects such as unmanned aerial vehicles in the airspace, obviously occupy an important position. status. Therefore, the anti-collision p...

Claims

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Application Information

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IPC IPC(8): G06F17/50
CPCG06F30/15G06F30/20Y02T90/00
Inventor 全权张贺鹏
Owner BEIHANG UNIV
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