A UAV collision avoidance method, device, computer equipment and storage medium
By receiving aircraft signals, screening targets and building a collision cone model, combined with adaptive strategies, the drone can effectively avoid collisions against dynamic aerial targets, solving the problems of poor results and high costs of traditional methods in dynamic environments.
Patent Information
- Application Number
- CN202210809157.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-07-11
- Publication Date
- 2024-12-31
- Estimated Expiration
- 2042-07-11
AI Technical Summary
The traditional drone collision avoidance method is not effective in temporarily setting up a no-fly zone and flying state, and the geographic fence technology is costly, making it difficult to achieve effective collision avoidance of dynamic aerial targets and no-fly zones.
By receiving the ADS-B signals transmitted by the aircraft, screening the aircraft targets, building a collision cone model, combining adaptive collision avoidance strategies to perform vertical and horizontal collision avoidance, achieving timely and efficient collision avoidance of dynamic air targets.
It improves the collision avoidance effect of dynamic aerial targets and dynamic no-fly zones, which is simple and fast, reduces the complexity of collision avoidance calculations, and is suitable for dynamic environments.
Smart Images
Figure CN115079722B_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of drone technology, and in particular to a drone collision avoidance method, device, computer equipment and storage medium. Background Art
[0002] Traditional collision avoidance methods are mostly based on drone geo-fencing technology. This technology requires the deployment of related equipment in advance and is not convenient for maneuvering, which results in its good effect for long-term stable low-altitude no-fly zones, but poor effect for temporarily established no-fly zones, aircraft in flight, etc. In addition, this technology requires obtaining geo-fence data released by an authoritative source before the drone flies before it can receive warning signals to achieve the collision avoidance function. This means that the geo-fence data received by the drone needs to be in a real-time updated state, otherwise the use effect cannot be guaranteed. In addition, geo-fence technology requires the deployment of a large number of related equipment, which makes the cost too high and is not conducive to large-scale use. Summary of the invention
[0003] In view of this, the object of the present invention is to provide a UAV collision avoidance method, device, computer equipment and storage medium, so as to improve the collision avoidance effect for dynamic aerial targets and dynamic no-fly zones.
[0004] A method for avoiding collision of an unmanned aerial vehicle, the method comprising:
[0005] Respectively receive and demodulate ADS-B signals transmitted by multiple aircraft to obtain positions and speeds of the multiple aircraft;
[0006] Screening the aircraft in the vertical direction according to the position, speed and preset vertical safety distance of each of the aircraft and the position and speed of the UAV to obtain a first candidate aircraft target;
[0007] Performing horizontal pre-screening on the first candidate aircraft targets according to the positions and speeds of each of the first candidate aircraft targets and the positions and speeds of the UAV to obtain second candidate aircraft targets;
[0008] According to the position of the UAV and the position and preset horizontal safety distance of each of the second candidate aircraft targets, a collision cone model of each of the second candidate aircraft targets is constructed respectively, and the relative speed of the UAV and the second candidate aircraft target on the XY two-dimensional plane is calculated, and the aircraft target is obtained by judging whether the relative speed falls within the collision cone model;
[0009] The UAV avoids collision with the aircraft target according to a preset adaptive collision avoidance strategy.
[0010] Preferably, the flight trajectory of each of the aircraft is obtained according to the position and speed of each of the aircraft, and the closest point between the aircraft and the drone is obtained according to the flight trajectory and the position and speed of the drone;
[0011] Calculate the relative speed of the aircraft and the UAV in the vertical direction at the closest point. When the relative speed in the vertical direction is greater than zero, the vertical distance corresponding to the closest point is the difference between the positions of the UAV and the corresponding aircraft in the vertical direction. When the relative speed in the vertical direction is greater than zero, the vertical distance corresponding to the closest point is zero.
[0012] The aircraft is screened in the vertical direction according to the vertical distance. When the vertical distance is less than a preset vertical safety distance of the aircraft, the corresponding aircraft is the first candidate aircraft target.
[0013] Preferably, the relative position of each of the first candidate aircraft targets and the drone is calculated according to the position of each of the first candidate aircraft targets and the position of the drone; the relative position is a relative position on an XY two-dimensional plane;
[0014] Calculating the relative speed of each of the first candidate aircraft targets and the drone according to the speed of each of the first candidate aircraft targets and the speed of the drone; the relative speed is the relative speed on the XY two-dimensional plane;
[0015] The aircraft is pre-screened horizontally according to the product of the relative position and the relative speed, and the first candidate aircraft targets whose products are less than zero are aggregated to obtain the second candidate aircraft targets.
[0016] Preferably, the bisector of the collision cone of each of the second candidate aircraft targets is obtained according to a line connecting the position of the drone and the position of each of the second candidate aircraft targets;
[0017] A horizontal relative distance is obtained according to the position of the UAV and the position of each of the second candidate aircraft targets, and a semi-apex angle of a collision cone of each of the second candidate aircraft targets is obtained according to the horizontal relative distance and a preset horizontal safety distance of each of the second candidate aircraft targets:
[0018]
[0019] Where θ(t) is the semi-apex angle of the collision cone at time t, R s is the preset horizontal safety distance, R T (t) is the horizontal relative distance at time t;
[0020] A collision cone model of each of the second candidate aircraft targets is constructed according to the horizontal relative distance, the bisector and the semi-vertex angle of the collision cone.
[0021] Preferably, the relative speed of the UAV and the second candidate aircraft target on the XY two-dimensional plane is calculated;
[0022] Solve the component coefficients of the relative velocity along the upper and lower boundaries of the collision cone model respectively:
[0023]
[0024]
[0025]
[0026] in, is the relative speed, c is the preset coefficient, is the unit vector of the upper boundary of the collision cone model, is the unit vector of the lower boundary of the collision cone model, a is the component coefficient of the relative velocity along the upper boundary of the collision cone model, and b is the component coefficient of the relative velocity along the lower boundary of the collision cone model;
[0027] The upper boundary and the lower boundary of the collision cone model are obtained by the position of the UAV and the semi-vertex angle of the collision cone;
[0028] When a positive solution exists for the component coefficient, the relative velocity falls within the collision cone model, and the corresponding second candidate aircraft target is the aircraft target.
[0029] Preferably, the method further comprises:
[0030] The sight angle between the UAV and each of the second candidate aircraft targets is calculated according to the position of each of the second candidate aircraft targets and the position of the UAV:
[0031]
[0032] Among them, λ(t) is the sight angle at time t, (x1, y1) is the position of the UAV on the XY two-dimensional plane, and (x2, y2) is the position of the aircraft on the XY two-dimensional plane;
[0033] Calculate the relative heading angle between the UAV and the second candidate aircraft target according to the relative speed:
[0034]
[0035] Among them, ψ rel(t) is the relative heading angle at time t, Vy is the vertical component of the relative velocity, and Vx is the horizontal component of the relative velocity;
[0036] When the absolute value of the difference between the sight angle and the relative heading angle is smaller than the collision cone half-apex angle, the corresponding candidate aircraft target is determined to be a dangerous target.
[0037] Preferably, the adaptive collision avoidance strategy includes a vertical collision avoidance strategy and a horizontal collision avoidance strategy;
[0038] According to the flight trajectory of each of the aircraft targets, calculating the estimated collision time between the UAV and the aircraft target when the UAV does not perform collision avoidance according to the flight trajectory;
[0039] The vertical relative distance between the UAV and the aircraft target is calculated according to the estimated collision time, the position and descent speed of the UAV, and the position and descent speed of the aircraft target:
[0040]
[0041] Where d is the vertical relative distance, t s is the estimated collision time, Vz0 is the descent speed of the UAV, z0 is the vertical component of the position of the UAV in three-dimensional space, z1 is the vertical component of the position of the dangerous target in three-dimensional space, and Vz1 is the descent speed of the aircraft target;
[0042] If the vertical relative distance is greater than the preset vertical safety distance of the aircraft target, selecting the vertical collision avoidance strategy to perform collision avoidance of the UAV with the aircraft target;
[0043] If the vertical relative distance is not greater than the preset vertical safety distance of the dangerous target, the horizontal collision avoidance strategy is used to avoid the collision of the drone with the aircraft target.
[0044] Preferably, the method further comprises:
[0045] Determining the priority of each of the dangerous targets according to the proximity of the relative speed of the aircraft target to the bisector of the collision cone model; the closer the relative speed of the aircraft target is to the bisector of the collision cone model, the higher the priority of the corresponding aircraft target;
[0046] The UAV adjusts the heading angle according to the priority of each of the aircraft targets, avoids each of the aircraft targets in turn, and completes the collision avoidance of the UAV with all the aircraft targets.
[0047] A UAV collision avoidance device, the device comprising:
[0048] A demodulation module, used to respectively receive and demodulate ADS-B signals transmitted by multiple aircraft to obtain positions and speeds of the multiple aircraft;
[0049] A vertical screening module, used to screen the aircraft in the vertical direction according to the position, speed and preset vertical safety distance of each of the aircraft and the position and speed of the UAV, to obtain a first candidate aircraft target;
[0050] a horizontal pre-screening module, configured to perform horizontal pre-screening on the first candidate aircraft targets according to the positions and speeds of each of the first candidate aircraft targets and the positions and speeds of the drone, to obtain second candidate aircraft targets;
[0051] a horizontal screening module, for constructing a collision cone model of each of the second candidate aircraft targets according to the position of the UAV and the position of each of the second candidate aircraft targets and a preset horizontal safety distance, calculating the relative speed of the UAV and the second candidate aircraft target on the XY two-dimensional plane, and obtaining the aircraft target by taking the relative speed falling within the collision cone model as the judgment standard;
[0052] The collision avoidance module is used to avoid the collision of the UAV with the aircraft target according to a preset adaptive collision avoidance strategy.
[0053] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:
[0054] Respectively receive and demodulate ADS-B signals transmitted by multiple aircraft to obtain positions and speeds of the multiple aircraft;
[0055] Screening the aircraft in the vertical direction according to the position, speed and preset vertical safety distance of each of the aircraft and the position and speed of the UAV to obtain a first candidate aircraft target;
[0056] Performing horizontal pre-screening on the first candidate aircraft targets according to the positions and speeds of each of the first candidate aircraft targets and the positions and speeds of the UAV to obtain second candidate aircraft targets;
[0057] According to the position of the UAV and the position and preset horizontal safety distance of each of the second candidate aircraft targets, a collision cone model of each of the second candidate aircraft targets is constructed respectively, and the relative speed of the UAV and the second candidate aircraft target on the XY two-dimensional plane is calculated, and the aircraft target is obtained by judging whether the relative speed falls within the collision cone model;
[0058] The UAV avoids collision with the aircraft target according to a preset adaptive collision avoidance strategy.
[0059] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps:
[0060] Respectively receive and demodulate ADS-B signals transmitted by multiple aircraft to obtain positions and speeds of the multiple aircraft;
[0061] Screening the aircraft in the vertical direction according to the position, speed and preset vertical safety distance of each of the aircraft and the position and speed of the UAV to obtain a first candidate aircraft target;
[0062] Performing horizontal pre-screening on the first candidate aircraft targets according to the positions and speeds of each of the first candidate aircraft targets and the positions and speeds of the UAV to obtain second candidate aircraft targets;
[0063] According to the position of the UAV and the position and preset horizontal safety distance of each of the second candidate aircraft targets, a collision cone model of each of the second candidate aircraft targets is constructed respectively, and the relative speed of the UAV and the second candidate aircraft target on the XY two-dimensional plane is calculated, and the aircraft target is obtained by judging whether the relative speed falls within the collision cone model;
[0064] The UAV avoids collision with the aircraft target according to a preset adaptive collision avoidance strategy.
[0065] The above-mentioned unmanned aerial vehicle collision avoidance method, device, computer equipment and storage medium first receive and demodulate the ADS-B signals transmitted by multiple aircraft respectively to obtain the positions and speeds of multiple aircraft; then screen the aircraft in the vertical direction according to the position, speed and preset vertical safety distance of each aircraft and the position and speed of the unmanned aerial vehicle to obtain the first candidate aircraft target; then pre-screen the first candidate aircraft target horizontally according to the position and speed of each first candidate aircraft target and the position and speed of the unmanned aerial vehicle to obtain the second candidate aircraft target; then, according to the position of the unmanned aerial vehicle and the position and preset horizontal safety distance of each second candidate aircraft target, respectively construct a collision cone model of each second candidate aircraft target, calculate the relative speed of the unmanned aerial vehicle and the second candidate aircraft target on the XY two-dimensional plane, obtain the aircraft target with the relative speed falling into the collision cone model as the judgment standard, and perform collision avoidance of the unmanned aerial vehicle with the aircraft target according to the preset adaptive collision avoidance strategy. Most of the existing technologies determine whether to avoid collision based on whether the UAV enters the safe area of the aircraft. The present invention obtains the second candidate aircraft target through vertical screening and horizontal pre-screening, and then constructs a collision cone model of the second candidate aircraft target. Whether collision avoidance is needed is determined by whether the relative speed between the second candidate aircraft target and the UAV falls into the collision cone model. The calculation is simpler and faster, so that collision avoidance can be completed more timely and efficiently, and the deficiency of the traditional method in collision avoidance of dynamic aerial targets and dynamic no-fly zones is not good. BRIEF DESCRIPTION OF THE DRAWINGS
[0066] Figure 1 A schematic diagram of a flow chart of a method for avoiding collision of a UAV in one embodiment;
[0067] Figure 2 is a schematic diagram of a collision cone model in one embodiment;
[0068] Figure 3 is a schematic diagram of a cylindrical collision avoidance zone in one embodiment;
[0069] Figure 4 is a structural block diagram of a UAV collision avoidance device in one embodiment;
[0070] Figure 5 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION
[0071] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.
[0072] In one embodiment, Figure 1As shown, a method for avoiding collision of a UAV is provided, comprising the following steps:
[0073] Step 102, respectively receive and demodulate ADS-B signals transmitted by multiple aircraft to obtain positions and speeds of the multiple aircraft.
[0074] The ADS-B RF front-end receives the ADS-B signal of the aircraft, converts the signal into digital form, and then performs ADS-B baseband demodulation, mainly realizing frame header detection, confidence calculation, CRC error detection and correction, etc., to obtain the coded information of the ADS-B signal, and then performs protocol analysis, relying on the chip on the flight control platform to achieve decoding of the ADS-B coded information based on the data structure of the ADS-B signal, and obtain the position and speed information of the aircraft, that is, the position and speed of the aircraft. The ADS-B RF front-end reception and ADS-B baseband demodulation can be realized in the form of RF signal + baseband SOG chip or customized RF front-end + FPGA. The data provided by the real-time broadcast of the aircraft ADS-B system is used as the data source for the drone to establish the surrounding airspace model, which solves the problem of untimely and slow update of dynamic dangerous targets.
[0075] Step 104 , the aircraft are screened in the vertical direction according to the position, speed and preset vertical safety distance of each aircraft and the position and speed of the UAV to obtain the first candidate aircraft target.
[0076] During the flight of an aircraft and a UAV, there may be a moment when the distance between the aircraft and the UAV is the smallest. At this time, the position of the UAV is the closest point, and the vertical distance corresponding to the closest point is the minimum vertical distance between the aircraft and the UAV. By comparing the minimum vertical distance with the preset safety vertical distance of the aircraft, the first candidate aircraft target can be obtained. The minimum vertical distance corresponding to the first candidate aircraft target is less than the preset safety vertical distance.
[0077] Step 106 , performing horizontal pre-screening on the first candidate aircraft targets according to the positions and velocities of each first candidate aircraft target and the positions and velocities of the UAV, to obtain second candidate aircraft targets.
[0078] Before determining the aircraft target, a pre-screening of the aircraft using the velocity vector in the horizontal direction is added to reduce the number of aircraft to be traversed and calculated later, which greatly speeds up the screening process and ensures the timeliness of the UAV's collision avoidance.
[0079] Step 108, based on the position of the UAV and the position of each second candidate aircraft target and the preset horizontal safety distance, respectively construct a collision cone model of each second candidate aircraft target, calculate the relative speed of the UAV and the second candidate aircraft target on the XY two-dimensional plane, and obtain the aircraft target based on the relative speed falling within the collision cone model as the judgment standard.
[0080] The collision cone model is a quadrilateral with the position of the UAV and the position of the second candidate aircraft target as two vertices and the line connecting the two as the bisector. When the relative speed of the two falls within the quadrilateral, it can be determined that the corresponding second candidate aircraft target will collide with the UAV.
[0081] Step 110, the UAV avoids collision with the aircraft target according to a preset adaptive collision avoidance strategy.
[0082] The above-mentioned UAV collision avoidance method first receives and demodulates the ADS-B signals emitted by multiple aircraft respectively to obtain the positions and speeds of multiple aircraft, and uses the data provided by the real-time broadcast of the aircraft ADS-B system as the data source for the UAV to establish the surrounding airspace model, thereby solving the problem of untimely update of dynamic targets; then, the aircraft are screened in the vertical direction according to the position, speed and preset vertical safety distance of each aircraft and the position and speed of the UAV to obtain the first candidate aircraft target; then, the first candidate aircraft target is pre-screened horizontally according to the position and speed of each first candidate aircraft target and the position and speed of the UAV to obtain the second candidate aircraft target; then, the first candidate aircraft target is pre-screened horizontally according to the position and speed of each first candidate aircraft target and the position and speed of the UAV to obtain the second candidate aircraft target; The position and speed of the aircraft target and the position and speed of the drone are used to perform horizontal pre-screening on the first candidate aircraft target to obtain the second candidate aircraft target. A pre-screening using the velocity vector in the horizontal direction is added here to reduce the number of aircraft in subsequent traversal calculations, so as to speed up the screening. Then, according to the position of the drone and the position of each second candidate aircraft target and the preset horizontal safety distance, a collision cone model of each second candidate aircraft target is constructed respectively, and the relative speed of the drone and the second candidate aircraft target on the XY two-dimensional plane is calculated. The aircraft target is obtained by taking the relative speed falling into the collision cone model as the judgment standard, and the drone avoids the aircraft target according to the preset adaptive collision avoidance strategy. The present invention gradually screens and prioritizes aircraft targets in the order of vertical screening, horizontal pre-screening and horizontal screening, and constructs a collision cone model of a second candidate aircraft target. Whether collision avoidance is needed is determined by whether the relative speed between the second candidate aircraft target and the UAV falls into the collision cone model. The calculation is simpler and faster, so that collision avoidance can be completed more timely and efficiently, and then the collision avoidance of aircraft targets can be completed in an orderly manner, which makes up for the deficiency of poor collision avoidance effect on dynamic aerial targets and dynamic no-fly zones in traditional methods.
[0083] Preferably, the aircraft are screened vertically according to the position, speed and preset vertical safety distance of each aircraft and the position and speed of the UAV to obtain the first candidate aircraft target, including:
[0084] The flight trajectory of each aircraft is obtained according to the position and speed of each aircraft, the closest point between the aircraft and the UAV is obtained according to the flight trajectory and the position and speed of the UAV, and the relative speed of the aircraft and the UAV in the vertical direction at the closest point is calculated.
[0085] When the relative speed in the vertical direction is greater than zero, the vertical distance corresponding to the closest point is the difference between the vertical positions of the UAV and the corresponding aircraft. That is, if Vz ≥ 0, then
[0086] d min =|z2-z1|
[0087] When the relative velocity in the vertical direction is greater than zero, the vertical distance corresponding to the closest point is zero, that is, if Vz < 0, then
[0088] d min =0
[0089] Aircraft are screened vertically based on the vertical distance. When the vertical distance is less than the preset vertical safety distance of the aircraft, the corresponding aircraft is the first candidate aircraft target.
[0090] Preferably, the relative position of each first candidate aircraft target and the drone is calculated according to the position of each first candidate aircraft target and the position of the drone, and the relative position is the relative position D = (x2-x1, y2-y1) on the XY two-dimensional plane; the relative speed of each first candidate aircraft target and the drone is calculated according to the speed of each first candidate aircraft target and the speed of the drone, and the relative speed is the relative speed V = (Vx2-Vx1, Vy2-Vy1) on the XY two-dimensional plane.
[0091] The aircraft are pre-screened horizontally according to the product of relative position and relative speed, and the first candidate aircraft targets whose product is less than zero are summarized to obtain the second candidate aircraft targets.
[0092] The basis for horizontal pre-screening is:
[0093] S=D·V
[0094] If S ≥ 0, it means that the aircraft and the UAV are gradually moving away or maintaining the same distance. If S < 0, it means that the relationship between the aircraft and the UAV needs to be further determined by subsequent horizontal screening.
[0095] Preferably, according to the position of the UAV and the position and preset horizontal safety distance of each second candidate aircraft target, a collision cone model of each second candidate aircraft target is constructed respectively, including:
[0096] Obtaining a bisector of a collision cone of each second candidate aircraft target according to a line connecting the position of the UAV and the position of each second candidate aircraft target;
[0097] The horizontal relative distance is obtained according to the position of the UAV and the position of each second candidate aircraft target, and the semi-vertex angle of the collision cone of each second candidate aircraft target is obtained according to the horizontal relative distance and the preset horizontal safety distance of each second candidate aircraft target:
[0098]
[0099] Where θ(t) is the semi-apex angle of the collision cone at time t, R s is the preset horizontal safety distance, R T (t) is the horizontal relative distance at time t;
[0100] The collision cone model of each second candidate aircraft target is constructed according to the horizontal relative distance, the bisector and the semi-vertex angle of the collision cone.
[0101] like Figure 2 As shown, a schematic diagram of the collision cone model is provided. It can be seen that the XY coordinate system is constructed with the drone as the origin, the drone is located at point A, the aircraft is located at point C, AC is the bisector of the collision cone model, θ is the semi-vertex angle of the collision cone model, AB is perpendicular to BC, AD is perpendicular to DC, and AD and AB are the upper and lower boundaries of the collision cone model, respectively.
[0102] Preferably, the relative speed between the UAV and the second candidate aircraft target on the XY two-dimensional plane is calculated, and the aircraft target is obtained by taking whether the relative speed falls within the collision cone model as a judgment criterion, including:
[0103] When the relative speed V falls within the collision cone ABCD, if a timely collision avoidance strategy is not adopted, the minimum distance between the drone and the aircraft during flight will be less than the safe distance R. s At this time, it is considered that the UAV and the civil aircraft have collided; when the relative speed V of the UAV and the aircraft coincides with the boundary AB or AD of the collision cone ABCD, the minimum distance between the UAV and the aircraft during the flight is exactly the safety distance R s When V falls outside the collision cone, the minimum distance between the drone and the aircraft will always be greater than the safety distance R s , at which point it is assumed that a collision will not occur.
[0104] Therefore, it is sufficient to detect whether the relative velocity V falls within the collision cone.
[0105] Whether the relative velocity falls within the collision cone model is determined by determining whether the component coefficients of the relative velocity along the upper and lower boundaries of the collision cone model have positive solutions:
[0106]
[0107]
[0108]
[0109] in, is the relative speed, c is the preset coefficient, is the unit vector of the upper boundary of the collision cone model, is the unit vector of the lower boundary of the collision cone model, a is the component coefficient of the relative velocity along the upper boundary of the collision cone model, and b is the component coefficient of the relative velocity along the lower boundary of the collision cone model.
[0110] When a positive solution exists for the component coefficient, the relative speed falls within the collision cone model, and the corresponding second candidate aircraft target is the aircraft target. If the relative speed of the aircraft target is closer to the bisector of the collision cone model, the corresponding aircraft target has a higher priority.
[0111] However, this method has limitations. From the above equation, it can be concluded that when the relative distance between the drone and the aircraft is equal to the safety distance, the method will fail.
[0112] Therefore, a method for calculating the collision probability by obtaining the angle through geometric relationship for screening is provided in the following embodiment:
[0113] like Figure 2 As shown, the angle between the speed of the UAV and the X-axis (i.e., the east of the UAV) is the heading angle of the UAV. It can be seen that the heading angle changes with the direction of the speed; the angle between the speed of the second candidate aircraft target and the X-axis is the heading angle of the second candidate aircraft target;
[0114] The aircraft's sight angle can be obtained based on the position, speed and heading angle of the UAV and the position, speed and heading angle of the second candidate aircraft target:
[0115]
[0116] Wherein, λ(t) is the sight angle at time t, (x0, y0) is the position of the UAV on the XY two-dimensional plane, V is the speed of the UAV, ψ(t) is the heading angle of the UAV at time t, (x1, y1) is the position of the second candidate aircraft target on the XY two-dimensional plane, V1 is the speed of the second candidate aircraft target, and ψ1(t) is the heading angle of the second candidate aircraft target at time t;
[0117] The relative heading angle between the UAV and each second candidate aircraft target is calculated according to the speed and heading angle of each second candidate aircraft target and the speed and heading angle of the UAV:
[0118]
[0119] Among them, ψ rel (t) is the relative heading angle at time t, such as Figure 3 As shown, ψ rel (t) is the angle between the relative velocity and the X-axis,
[0120] When the absolute value of the difference between the sight angle and the relative heading angle is less than the semi-apex angle of the collision cone, the corresponding second candidate aircraft target is determined to be the aircraft target:
[0121] |λ(t)-ψ rel (t)|=|ε(t)|<θ(t)
[0122] The absolute value of the difference between the sight angle and the relative heading angle is Figure 3 From the angle between the relative speed and the line connecting the positions of the UAV and the second candidate aircraft target, it can be seen that when the absolute value of the difference between the line of sight angle and the relative heading angle, that is, |ε(t)|, is less than the semi-apex angle of the collision cone, it can be judged that the relative speed falls into the collision cone. Correspondingly, if no collision avoidance measures are taken, the UAV will collide with the aircraft target.
[0123] The priority of each dangerous target can be determined according to the absolute value of the difference. This method is simple to calculate and is applicable to various flight situations.
[0124] After simplifying the above formula, we can get:
[0125]
[0126] Among them, λ(t) is the sight angle at time t, (x1, y1) is the position of the UAV on the XY two-dimensional plane, and (x2, y2) is the position of the aircraft on the XY two-dimensional plane;
[0127]
[0128] Among them, ψ rel (t) is the relative heading angle at time t, Vy is the vertical component of the relative velocity, and Vx is the horizontal component of the relative velocity.
[0129] In one embodiment, for different types of aircraft, such as Figure 3As shown in the figure, a cylindrical collision avoidance zone is constructed with its position as the center, the horizontal safety distance as the radius, and the vertical safety distance as the height. This zone is the closest flight distance allowed for the drone to the aircraft. Once it may be less than this distance during the flight, it is considered that the drone will affect the normal flight of the aircraft. The size of the drone is smaller than that of aircraft such as passenger planes, so when modeling, the drone can be considered as a point. In order to facilitate analysis and collision avoidance maneuvers, the aircraft position information based on the geodetic coordinate system received in the ADS-B signal is converted to the earth-centered earth-fixed system, and the unit conversion is performed to ensure the consistency of the calculation unit.
[0130] When an aircraft enters the range of the drone's ADS-B signal receiver, the drone begins to screen targets. If it finds a dangerous target, it will sound an alarm, prompting the operator to avoid collision. However, when the dangerous target reaches the minimum maneuvering distance and the operator has not yet taken action, the drone's internal processing program will perform a collision avoidance maneuver to keep the drone away from the dangerous target. When the dangerous target leaves the drone's original flight trajectory, the drone will autonomously fly back to the drone's original target route or target position.
[0131] For the design of proximity distance / minimum maneuvering distance, different distances are set for different aircraft. To ensure sufficient maneuvering time and distance, the normal flight speed of this type of aircraft is selected as the basis for calculation to ensure that the UAV has at least 200 seconds of maneuvering time.
[0132] The flight trajectory is obtained by calculating the position and speed information of the aircraft, and the minimum distance between the drone and the aircraft is obtained by combining the position and speed information of the drone. It is determined whether the minimum value is less than the safe distance of the aircraft. If it is less, it is marked as a dangerous target. Due to the structural characteristics of the cylindrical collision avoidance zone, both horizontal and vertical directions need to be calculated at the same time.
[0133] Assume the initial position of the drone is (x1, y1, z1) and the speed is (Vx1, Vy1, Vz1); the initial position of the aircraft is (x2, y2, z2) and the speed is (Vx2, Vy2, Vz2). The calculation steps are as follows:
[0134] 1) Calculate relative speed
[0135] (Vx, Vy, Vz) = (Vx2-Vx1, Vy2-Vy1, Vz2-Vz1)
[0136] V=(Vx,Vy,Vz)
[0137] 2) Calculate the minimum vertical distance
[0138] If Vz ≥ 0, then
[0139] dmin =|z2-z1|
[0140] If Vz<0, then
[0141] d min =0
[0142] 3) Calculate the minimum horizontal distance
[0143] First, get the projection of the aircraft's flight trajectory on the XY plane based on the relative speed
[0144] x=x2+Vxt
[0145] y=y2+Vyt
[0146] Right now
[0147]
[0148] The function expression of trajectory projection is:
[0149] Vy×x-Vx×y+Vx×y2-Vy×x2=0
[0150] According to the general definition of a straight line Ax+By+C=0, we get:
[0151] A=Vy
[0152] B=Vx
[0153] C=Vx×y2-Vy×x2
[0154] Formula for distance from point to line Calculate the minimum horizontal distance:
[0155]
[0156] 4) Targets are screened by comparing the minimum vertical distance and the minimum horizontal distance with the minimum safety distance.
[0157] After the screening is completed, dangerous targets are ranked according to the principle of the closer the more dangerous, in preparation for collision avoidance maneuvers.
[0158] In one embodiment, the adaptive collision avoidance strategy includes a vertical collision avoidance strategy and a horizontal collision avoidance strategy;
[0159] According to the flight trajectory of each aircraft target, the estimated collision time between the UAV and the aircraft target when the UAV does not perform collision avoidance is calculated based on the flight trajectory. According to the estimated collision time, the position and descent speed of the UAV, and the position and descent speed of the aircraft target, the vertical relative distance between the UAV and the aircraft target is calculated:
[0160]
[0161] Where d is the vertical relative distance, t s is the estimated collision time, Vz0 is the descent speed of the UAV, z0 is the vertical component of the position of the UAV in three-dimensional space, z1 is the vertical component of the position of the dangerous target in three-dimensional space, and Vz1 is the descent speed of the aircraft target;
[0162] If the vertical relative distance is greater than the preset vertical safety distance of the aircraft target, the vertical collision avoidance strategy is selected to avoid the collision of the UAV with the aircraft target. The vertical descent speed is increased on the basis of the original horizontal speed of the UAV, and the UAV maneuvers downward in an inclined straight line to achieve the purpose of staying away from the dangerous target. After the vertical collision avoidance strategy is implemented, the UAV will regain its altitude and reach the target position.
[0163] If the vertical relative distance is not greater than the preset vertical safety distance of the aircraft target, the horizontal collision avoidance strategy is used to avoid the UAV from colliding with the aircraft target. Progressive calculation is used to achieve horizontal collision avoidance. In the case of a large number of aircraft targets, the UAV gradually calculates each aircraft target, adjusts the heading angle of the speed while maneuvering, until all aircraft targets are avoided. After the aircraft target leaves, it will directly calculate the direction and distance between the current position and the original target position, change the heading angle, and maneuver to the target position. Using progressive calculation to plan the route avoids the problem of long calculation time caused by using traditional UAV route planning algorithms such as genetic algorithms.
[0164] Since the vertical collision avoidance maneuver requires a short maneuvering distance and less time, the vertical collision avoidance strategy is selected when both collision avoidance strategies can achieve collision avoidance; when the aircraft target cannot meet the vertical collision avoidance conditions, the UAV adopts the horizontal collision avoidance strategy. The vertical priority and vertical and horizontal mixed maneuvering route scheme avoids the problems of large maneuvering distance and complex calculations brought about by a single collision avoidance scheme, further reduces the overall calculation time, makes the collision avoidance method simpler and more efficient, and also makes the collision avoidance scheme more reliable. The collision avoidance design's autonomous return to original position function ensures that the UAV can still perform the original mission normally after completing the collision avoidance, solving the problem of discontinuous UAV flight missions.
[0165] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.
[0166] In one embodiment, Figure 4 As shown, a UAV collision avoidance device is provided, comprising: a demodulation module, a vertical screening module, a horizontal pre-screening module, a horizontal screening module and a collision avoidance module, wherein:
[0167] A demodulation module is used to respectively receive and demodulate the ADS-B signals transmitted by multiple aircraft to obtain the positions and speeds of the multiple aircraft;
[0168] A vertical screening module is used to screen the aircraft in the vertical direction according to the position, speed and preset vertical safety distance of each aircraft and the position and speed of the UAV to obtain the first candidate aircraft target;
[0169] A horizontal pre-screening module, used for performing horizontal pre-screening on the first candidate aircraft targets according to the positions and speeds of each first candidate aircraft target and the position and speed of the UAV, to obtain second candidate aircraft targets;
[0170] A horizontal screening module is used to construct a collision cone model of each second candidate aircraft target according to the position of the UAV and the position of each second candidate aircraft target and a preset horizontal safety distance, calculate the relative speed of the UAV and the second candidate aircraft target on the XY two-dimensional plane, and obtain the aircraft target based on the relative speed falling within the collision cone model as the judgment standard;
[0171] The collision avoidance module is used to avoid collisions between the UAV and the aircraft target according to a pre-set adaptive collision avoidance strategy.
[0172] In one embodiment, the vertical screening module is further used to obtain the flight trajectory of each aircraft according to the position and speed of each aircraft, and obtain the closest point of approach between the aircraft and the drone according to the flight trajectory and the position and speed of the drone;
[0173] Calculate the relative speed of the aircraft and the UAV in the vertical direction at the closest point of approach. When the relative speed in the vertical direction is greater than zero, the vertical distance corresponding to the closest point of approach is the difference between the vertical positions of the UAV and the corresponding aircraft. When the relative speed in the vertical direction is greater than zero, the vertical distance corresponding to the closest point of approach is zero.
[0174] Aircraft are screened vertically based on the vertical distance. When the vertical distance is less than the preset vertical safety distance of the aircraft, the corresponding aircraft is the first candidate aircraft target.
[0175] In one embodiment, the horizontal pre-screening module is further used to calculate the relative position of each first candidate aircraft target and the drone according to the position of each first candidate aircraft target and the position of the drone; the relative position is the relative position on the XY two-dimensional plane;
[0176] Calculating the relative speed of each first candidate aircraft target and the UAV according to the speed of each first candidate aircraft target and the speed of the UAV; the relative speed is the relative speed on the XY two-dimensional plane;
[0177] The aircraft are pre-screened horizontally according to the product of relative position and relative speed, and the first candidate aircraft targets whose products are less than zero are summarized to obtain the second candidate aircraft targets.
[0178] In one embodiment, the horizontal screening module is further used to obtain the bisector of the collision cone of each second candidate aircraft target according to the line connecting the position of the drone and the position of each second candidate aircraft target;
[0179] The horizontal relative distance is obtained according to the position of the UAV and the position of each second candidate aircraft target, and the semi-vertex angle of the collision cone of each second candidate aircraft target is obtained according to the horizontal relative distance and the preset horizontal safety distance of each second candidate aircraft target:
[0180]
[0181] Where θ(t) is the semi-apex angle of the collision cone at time t, R s is the preset horizontal safety distance, R T (t) is the horizontal relative distance at time t;
[0182] Constructing a collision cone model of each second candidate aircraft target according to the horizontal relative distance, the bisector and the semi-vertex angle of the collision cone;
[0183] Calculate the relative speed between the UAV and the second candidate aircraft target on the XY two-dimensional plane;
[0184] Solve the component coefficients of the relative velocity along the upper and lower boundaries of the collision cone model separately:
[0185]
[0186]
[0187]
[0188] in, is the relative speed, c is the preset coefficient, is the unit vector of the upper boundary of the collision cone model, is the unit vector of the lower boundary of the collision cone model, a is the component coefficient of the relative velocity along the upper boundary of the collision cone model, and b is the component coefficient of the relative velocity along the lower boundary of the collision cone model;
[0189] The upper and lower boundaries of the collision cone model are obtained by the position of the UAV and the semi-vertex angle of the collision cone;
[0190] When there is a positive solution for the component coefficient, the relative velocity falls within the collision cone model, and the corresponding second candidate aircraft target is the aircraft target.
[0191] In one embodiment, the collision avoidance module is further used to calculate the estimated collision time of the drone with the aircraft target when the drone does not perform collision avoidance according to the flight trajectory of each aircraft target;
[0192] Based on the estimated collision time, the position and descent speed of the UAV, and the position and descent speed of the aircraft target, calculate the vertical relative distance between the UAV and the aircraft target:
[0193]
[0194] Where d is the vertical relative distance, t s is the estimated collision time, Vz0 is the descent speed of the UAV, z0 is the vertical component of the position of the UAV in three-dimensional space, z1 is the vertical component of the position of the dangerous target in three-dimensional space, and Vz1 is the descent speed of the aircraft target;
[0195] If the vertical relative distance is greater than the preset vertical safety distance of the aircraft target, a vertical collision avoidance strategy is selected to avoid collision between the UAV and the aircraft target;
[0196] If the vertical relative distance is not greater than the preset vertical safety distance of the dangerous target, a horizontal collision avoidance strategy is used to avoid collision between the drone and the aircraft target.
[0197] For the specific definition of the UAV collision avoidance device, please refer to the definition of the UAV collision avoidance method above, which will not be repeated here. Each module in the above-mentioned UAV collision avoidance device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.
[0198] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 5As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the position and speed data of the drone and the aircraft. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a drone collision avoidance method is implemented.
[0199] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.
[0200] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method in the above embodiment when executing the computer program.
[0201] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method in the above embodiment are implemented.
[0202] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
[0203] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0204] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.
Claims
1. A method for avoiding collision of an unmanned aerial vehicle, characterized in that: The method comprises: Respectively receive and demodulate ADS-B signals transmitted by multiple aircraft to obtain positions and speeds of the multiple aircraft; Screening the aircraft in the vertical direction according to the position, speed and preset vertical safety distance of each of the aircraft and the position and speed of the UAV to obtain a first candidate aircraft target; Performing horizontal pre-screening on the first candidate aircraft targets according to the positions and speeds of each of the first candidate aircraft targets and the positions and speeds of the UAV to obtain second candidate aircraft targets; According to the position of the UAV and the position and preset horizontal safety distance of each of the second candidate aircraft targets, a collision cone model of each of the second candidate aircraft targets is constructed respectively, and the relative speed of the UAV and the second candidate aircraft target on the XY two-dimensional plane is calculated, and the aircraft target is obtained by judging whether the relative speed falls within the collision cone model; Avoiding collision of the drone with the aircraft target according to a preset adaptive collision avoidance strategy; According to the position of the UAV and the position and preset horizontal safety distance of each of the second candidate aircraft targets, a collision cone model of each of the second candidate aircraft targets is constructed respectively, including: Obtaining a bisector of a collision cone of each of the second candidate aircraft targets according to a line connecting the position of the UAV and the position of each of the second candidate aircraft targets; A horizontal relative distance is obtained according to the position of the UAV and the position of each of the second candidate aircraft targets, and a semi-apex angle of a collision cone of each of the second candidate aircraft targets is obtained according to the horizontal relative distance and a preset horizontal safety distance of each of the second candidate aircraft targets: in, for The half-apex angle of the collision cone at time , To preset horizontal safety distance, for Horizontal relative distance at the moment; A collision cone model of each of the second candidate aircraft targets is constructed according to the horizontal relative distance, the bisector and the semi-vertex angle of the collision cone.
2. The method according to claim 1, characterized in that The aircraft are screened in the vertical direction according to the position, speed and preset vertical safety distance of each of the aircraft and the position and speed of the UAV to obtain a first candidate aircraft target, including: Obtaining the flight trajectory of each of the aircraft according to the position and speed of each of the aircraft, and obtaining the closest point between the aircraft and the drone according to the flight trajectory and the position and speed of the drone; Calculate the relative speed of the aircraft and the UAV in the vertical direction at the closest point. When the relative speed in the vertical direction is greater than zero, the vertical distance corresponding to the closest point is the difference between the positions of the UAV and the corresponding aircraft in the vertical direction. When the relative speed in the vertical direction is greater than zero, the vertical distance corresponding to the closest point is zero. The aircraft is screened in the vertical direction according to the vertical distance. When the vertical distance is less than a preset vertical safety distance of the aircraft, the corresponding aircraft is the first candidate aircraft target.
3. The method according to claim 1, characterized in that The first candidate aircraft targets are horizontally pre-screened according to the positions and speeds of each of the first candidate aircraft targets and the positions and speeds of the UAV to obtain second candidate aircraft targets, including: Calculating the relative position of each of the first candidate aircraft targets and the drone according to the position of each of the first candidate aircraft targets and the position of the drone; the relative position is a relative position on an XY two-dimensional plane; Calculating the relative speed of each of the first candidate aircraft targets and the drone according to the speed of each of the first candidate aircraft targets and the speed of the drone; the relative speed is the relative speed on the XY two-dimensional plane; The aircraft is pre-screened horizontally according to the product of the relative position and the relative speed, and the first candidate aircraft targets whose products are less than zero are aggregated to obtain the second candidate aircraft targets.
4. The method according to claim 1, characterized in that Calculating the relative speed of the UAV and the second candidate aircraft target on the XY two-dimensional plane, and obtaining the aircraft target by taking whether the relative speed falls within the collision cone model as a judgment criterion, including: Calculating the relative speed of the UAV and the second candidate aircraft target on the XY two-dimensional plane; Solve the component coefficients of the relative velocity along the upper and lower boundaries of the collision cone model respectively: in, is the relative speed, is the preset coefficient, is the unit vector of the upper boundary of the collision cone model, is the unit vector of the lower boundary of the collision cone model, is the component coefficient of the relative velocity along the upper boundary of the collision cone model, is the component coefficient of the relative velocity along the lower boundary of the collision cone model; The upper boundary and the lower boundary of the collision cone model are obtained by the position of the UAV and the semi-vertex angle of the collision cone; When a positive solution exists for the component coefficient, the relative velocity falls within the collision cone model, and the corresponding second candidate aircraft target is the aircraft target.
5. The method according to claim 1, characterized in that The method further comprises: The sight angle between the UAV and each of the second candidate aircraft targets is calculated according to the position of each of the second candidate aircraft targets and the position of the UAV: in, for The visual angle of the moment, is the position of the drone on the XY two-dimensional plane, is the position of the aircraft on the XY two-dimensional plane; The relative heading angle between the UAV and the second candidate aircraft target is calculated according to the relative speed: in, for The relative heading angle at time, is the vertical component of the relative velocity, is the horizontal component of relative velocity; When the absolute value of the difference between the sight angle and the relative heading angle is smaller than the collision cone half-apex angle, the corresponding candidate aircraft target is determined to be a dangerous target.
6. The method according to claim 5, characterized in that The adaptive collision avoidance strategy includes a vertical collision avoidance strategy and a horizontal collision avoidance strategy; The UAV avoids the collision with the aircraft target according to a preset adaptive collision avoidance strategy, including: According to the flight trajectory of each of the aircraft targets, calculating the estimated collision time between the UAV and the aircraft target when the UAV does not perform collision avoidance according to the flight trajectory; The vertical relative distance between the UAV and the aircraft target is calculated according to the estimated collision time, the position and descent speed of the UAV, and the position and descent speed of the aircraft target: in, is the vertical relative distance, To estimate the collision time, is the descent speed of the drone, is the vertical component of the drone’s position in three-dimensional space, is the vertical component of the position of the dangerous target in three-dimensional space, is the descent speed of the aircraft target; If the vertical relative distance is greater than the preset vertical safety distance of the aircraft target, selecting the vertical collision avoidance strategy to perform collision avoidance of the UAV with the aircraft target; If the vertical relative distance is not greater than the preset vertical safety distance of the dangerous target, the horizontal collision avoidance strategy is used to avoid the collision of the drone with the aircraft target.
7. A UAV collision avoidance device, characterized in that: The device comprises: A demodulation module, used to respectively receive and demodulate ADS-B signals transmitted by multiple aircraft to obtain positions and speeds of the multiple aircraft; A vertical screening module, used to screen the aircraft in the vertical direction according to the position, speed and preset vertical safety distance of each of the aircraft and the position and speed of the UAV, to obtain a first candidate aircraft target; a horizontal pre-screening module, configured to perform horizontal pre-screening on the first candidate aircraft targets according to the positions and speeds of each of the first candidate aircraft targets and the positions and speeds of the drone, to obtain second candidate aircraft targets; a horizontal screening module, for constructing a collision cone model of each of the second candidate aircraft targets according to the position of the UAV and the position of each of the second candidate aircraft targets and a preset horizontal safety distance, calculating the relative speed of the UAV and the second candidate aircraft target on the XY two-dimensional plane, and obtaining the aircraft target by taking the relative speed falling within the collision cone model as the judgment standard; A collision avoidance module, used for avoiding the collision of the UAV with the aircraft target according to a preset adaptive collision avoidance strategy; The horizontal screening module is further used to obtain the bisector of the collision cone of each second candidate aircraft target according to the line connecting the position of the drone and the position of each second candidate aircraft target; obtain the horizontal relative distance according to the position of the drone and the position of each second candidate aircraft target, and obtain the semi-vertex angle of the collision cone of each second candidate aircraft target according to the horizontal relative distance and the preset horizontal safety distance of each second candidate aircraft target: in, for The half-apex angle of the collision cone at time , To preset horizontal safety distance, for The horizontal relative distance at the moment; and constructing a collision cone model of each of the second candidate aircraft targets according to the horizontal relative distance, the bisector and the semi-vertex angle of the collision cone.
8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.