Cooperative operation conflict detection method for manned aerial vehicle and unmanned aerial vehicle in urban scene

Abstract

The invention relates to the technical field of flight control, in particular to a manned aerial vehicle and unmanned aerial vehicle cooperative operation conflict detection method in an urban scene, which comprises a strategic manned aerial vehicle and unmanned aerial vehicle conflict detection method, generating a minimum limit box of an unmanned aerial vehicle route and a manned aerial vehicle flight plan, and generating an unmanned aerial vehicle route R * tree; whether space overlapping exists between the minimum limit box MBB of the manned aerial vehicle flight plan and the unmanned aerial vehicle route R * tree is retrieved, and the unmanned aerial vehicle route influenced by the manned aerial vehicle flight plan is determined; according to the tactical-level manned aerial vehicle and unmanned aerial vehicle conflict detection method, whether a manned aerial vehicle space protection area conflicts with an unmanned aerial vehicle air route or not is calculated in real time based on the manned aerial vehicle space protection area and unmanned aerial vehicle basic static air route information in the manned aerial vehicle flight activity process. The operation efficiency of the manned aerial vehicle and the unmanned aerial vehicle in the low-altitude airspace can be improved, and the conflict risk is avoided.

Description

Technical Field

[0001] The present invention relates to the field of flight control technology, and more specifically to a method for detecting conflicts in the coordinated operation of manned aircraft and unmanned aircraft in an urban scenario. Background Art

[0002] In recent years, drone technology has developed rapidly and is widely used in aerial photography, logistics distribution, inspection, security and other fields. However, with the surge in the number of drones and the expansion of their application scope, the problem of airspace resource sharing has become increasingly prominent. The traditional isolated operation mode can no longer meet the needs, and it is urgent to solve the problem of coordinated operation of manned and drones.

[0003] Drone operators usually operate through remote control, which makes it difficult to perceive and handle emergencies in flight in a timely manner. In addition, drones are equipped with limited sensors and equipment and cannot fully monitor the flight environment. Therefore, the flight safety of drones is a key and difficult issue in the development of drones. To achieve safe and efficient operation of manned and drones in the same airspace, it is urgent to carry out comprehensive innovation and improvement in technology, policies, regulations and regulatory mechanisms.

[0004] At present, the research on the coordinated operation of manned and unmanned aircraft is still in its infancy at home and abroad, especially in urban environments, lacking systematic research and technical standards. Formulating and improving industry standards and making breakthroughs in technology are the key to ensuring the effective coordination of unmanned aircraft and manned aircraft, thereby achieving safe sharing and efficient use of airspace resources.

[0005] In recent years, with the development of the UAV industry, research on the calculation of collision risks between UAVs and manned aircraft has gradually attracted attention. In 2017, according to the different allocation of UAVs, the low-altitude shared airspace was divided into multiple sectors, a collision risk model between UAVs and manned aircraft was established, and a modified UAV trajectory was designed to reduce the probability of collision and sent to the UAV operator. Yu Qingyuan classified UAVs according to the altitude layer used, established the common classification connection between UAVs and manned aircraft, and elaborated on the key restrictions for UAVs to enter the manned airspace, providing theoretical and technical support for the safe sharing of airspace between UAVs and manned aircraft. Zhang Xuejun proposed a dynamic artificial potential field (DAPF) algorithm to provide suggestions for the real-time generation of collision-free reaction paths for UAVs flying in dynamic airspace. Gao Yang et al. processed general aviation aircraft and manned aircraft based on the Reich model, and combined the flight characteristics of manned aircraft and the reliability of the hybrid system constructed by man, aircraft, environment and management to evaluate the collision risk between general aviation aircraft and manned aircraft in the terminal area. Deng Li divided the relative motion between drones and manned aircraft into two aspects: horizontal and vertical. Based on the characteristics of Brownian motion, he calculated the relative distance between drones and manned aircraft in two planes to determine the risk of collision. Yang Min determined the intervals of the aircraft in three directions and sought the minimum safe interval that manned aircraft and drones should maintain from the perspective of positioning and navigation errors, but this was limited to the case of one drone and one manned aircraft.

[0006] It can be seen that the current research on manned-UAV collaboration mainly focuses on the research on safety intervals based on fixed time or fixed distance, which can be mainly divided into two categories: one is based on empirical formulas and rules, and the other is based on mathematical models and simulation experiments. There is a lack of research on the minimum safety distance during mixed operation of manned and unmanned aircraft. At the same time, there is currently a lack of guidance on how to calculate and implement safety intervals based on collision risks. The rapid development of UAVs is bound to pose new challenges to the existing safety distance standards. Therefore, research on the minimum safety distance between UAVs and manned aircraft is urgent and of great significance to the development of the aviation industry. Summary of the invention

[0007] In view of this, the present invention provides a method for detecting conflicts in the collaborative operation of manned and unmanned aircraft in urban scenarios, which can improve the operating efficiency of manned and unmanned aircraft in low-altitude airspace and ensure the detection and avoidance of conflict risks in the operation of manned and unmanned aircraft.

[0008] In order to achieve the above object, the present invention adopts the following technical solution:

[0009] A method for detecting conflicts between manned and unmanned aircraft in coordinated operation in urban scenarios, including a strategic-level manned-unmanned aircraft conflict detection method and a tactical-level manned-unmanned aircraft conflict detection method;

[0010] Among them, the strategic-level manned-unmanned aircraft conflict detection method includes:

[0011] Before the manned aircraft flight activities, based on the static basic route information of the UAV, a series of minimum bounding boxes MBB of the UAV route are generated, and the UAV route R* tree is generated;

[0012] Based on the manned aircraft flight plan information, generate the minimum limit box MBB of the manned aircraft flight plan;

[0013] Check whether there is spatial overlap between the minimum bounding box MBB of the manned flight plan and the UAV route R* tree, and determine the UAV route affected by the manned flight plan;

[0014] The tactical-level manned-UAV conflict detection method includes: during manned flight activities, based on the manned aircraft space protection zone and the basic static route information of the UAV, real-time calculation of whether there is a conflict between the manned aircraft space protection zone and the UAV route, if there is a conflict, providing warning information to the manned aircraft pilot.

[0015] Furthermore, based on a series of straight line route sets in the UAV static basic route information, the minimum limit box of the UAV route is obtained, which is represented by the coordinates of two points on the diagonal of the rectangular parallelepiped, and the coordinates of the two points are composed of longitude, latitude and altitude; if the length of the UAV static basic route exceeds the preset value, the UAV static basic route is divided into multiple sections, and a minimum limit box is generated for each section separately.

[0016] Furthermore, based on the airspace usage range and flight altitude range in the manned aircraft flight plan, the minimum limit box of the manned aircraft flight plan is obtained, which is represented by the coordinates of two points on the diagonal of the minimum limit box rectangle, and the coordinates of the two points are composed of latitude, longitude and altitude.

[0017] Furthermore, the searching whether there is spatial overlap between the minimum limit box MBB of the manned aircraft flight plan and the unmanned aircraft route R* tree includes:

[0018] Substitute the coordinates of the lower left corner and upper right corner of the minimum limiting box of the manned flight plan into the UAV route R* tree, and use the breadth-first or depth-first search method to traverse from the root node downward. When the coordinates of the two corner points of the minimum limiting box of the manned flight plan fall within the rectangular range framed by the leaf node in the R* tree, it is considered that there is spatial overlap between the manned flight plan and the UAV route.

[0019] Furthermore, in the tactical-level manned-unmanned aircraft conflict detection method, the manned aircraft space protection zone is an ellipsoid, consisting of a collision zone and a warning zone, wherein the collision zone is a cylinder, and the warning zone is the area inside the ellipsoid excluding the cylinder; the manned aircraft is located at the focal position of the long axis of the horizontal section ellipse.

[0020] Furthermore, the radius of the collision zone is 1300m-1400m, and the vertical height is 120m-150m.

[0021] Furthermore, the vertical protection zone range of the warning zone is set to be consistent with the lateral protection zone range, and the radius is R. The calculation formula of the warning zone range is:

[0022] Rx=R+max(0,Vx)t

[0023] Ry=R+max(0,Vy)t

[0024] Rz=Ry

[0025] Among them, Rx is the distance in the long axis direction of the horizontal cross-section ellipse of the warning area, Ry is the distance in the short axis direction of the horizontal cross-section ellipse of the warning area, and Rz is the distance in the vertical axis direction of the vertical cross-section ellipse of the warning area; t is the time from the helicopter pilot discovering the warning to controlling the helicopter to perform the corresponding evasive action; Vx is the component speed of the manned aircraft in the horizontal longitudinal direction, and Vy is the component speed of the manned aircraft in the horizontal lateral direction.

[0026] Furthermore, in the tactical-level manned-unmanned aircraft conflict detection method, the calculation process of whether the manned aircraft space protection zone conflicts with the unmanned aircraft route includes:

[0027] Based on the basic static route information of the UAV, the minimum limit box of the UAV route is constructed, and the UAV route R* tree is generated;

[0028] Draw a spherical range with the midpoint of the manned space protection zone as the center and twice the radius of the horizontal major axis Rx of the ellipsoid as the radius; search the R* tree to see if the spherical range overlaps with the UAV route R* tree, and regard the UAV routes with spatial overlap as having potential conflict risks;

[0029] Conflict calculations are performed on the selected UAV routes with potential conflict risks and the manned aircraft space protection zone to determine whether the UAV routes intersect with the manned aircraft space protection zone.

[0030] Furthermore, the conflict calculation between the selected UAV routes with potential conflict risks and the manned aircraft space protection zone includes:

[0031] The range of the manned aircraft ellipsoidal space protection zone is expressed by the equation:

[0032] x 2 / Rx 2 +y 2 / Ry 2 +z 2 / Rz 2 =1

[0033] Wherein, Rx is the distance in the long axis direction of the ellipse of the horizontal section of the warning area, Ry is the distance in the short axis direction of the ellipse of the horizontal section of the warning area, and Rz is the distance in the vertical axis direction of the ellipse of the vertical section of the warning area;

[0034] Assuming that the coordinates of two points in the drone route are (x1, y1, z1) and (x2, y2, z2), the equation of the straight line of this route is:

[0035] (x-x1) / (x2-x1)=(y-y1) / (y2-y1)=(z-z1) / (z2-z1), x1≤x≤x2

[0036] On this straight route, sampling points are taken at a certain interval and substituted into the ellipsoid equation for calculation; assuming that the coordinates of the sampling points are (x s ,y s ,z s ), bring the sampling point coordinates into the ellipse equation, if x s 2 / Rx 2 +y s 2 / Ry 2 +z s 2 / Rz 2 >1, it means that the sampling point is outside the manned-machine space protection zone;

[0037] If x s 2 / Rx 2 +y s 2 / Ry 2 +z s 2 / Rz 2 ≤1, it means that the sampling point is within the manned aircraft space protection zone, and the UAV route is considered to conflict with the manned aircraft space protection zone.

[0038] Furthermore, the interval between sampling points on the straight route is no greater than Ry / 2.

[0039] It can be seen from the above technical solutions that, compared with the prior art, the present invention has the following beneficial effects:

[0040] The present invention performs conflict detection on the coordinated operation of UAVs and manned aircraft from both strategic and tactical levels. At the strategic level, before the manned aircraft flight activities, the minimum bounding box (MBB) is used as the spatial data model of the UAV route and the general flight plan based on the manned aircraft flight plan information and the UAV static basic route information. By creating, inserting, deleting and checking the spatial R* tree data structure, calculating whether there is an intersection and overlap between the spatial coordinates of the two indexes, the impact of the manned aircraft activity plan on the UAV route can be judged, and the UAV route affected by the manned aircraft activity can be closed in advance to strategically avoid the conflict between manned aircraft and UAV.

[0041] At the tactical level, the concept of space protection zone UVR is introduced during manned flight activities. Based on the manned UVR and the basic static route information of unmanned aircraft, the conflicts between manned UVR and unmanned aircraft routes are calculated in real time, and warning information is provided to manned aircraft pilots. At the same time, restrictive measures are taken on the conflicting unmanned aircraft routes to ensure the safety of manned aircraft during flight. It is ensured that in large-scale airspace in the future, manned and unmanned aircraft can be integrated and operated in a normalized manner, helping to improve the operating efficiency in low-altitude airspace and ensuring the detection and avoidance of conflict risks in the operation of manned and unmanned aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0043] Figure 1 A flow chart of a method for detecting conflicts between manned and unmanned aircraft in coordinated operation in an urban scenario provided by the present invention;

[0044] Figure 2 This is a schematic diagram of the straight-line route of the UAV;

[0045] Figure 3 This is a schematic diagram of the minimum limiting box for the UAV route;

[0046] Figure 4 Schematic diagram of the minimum limit box for manned aircraft flight planning;

[0047] Figure 5 This is an ellipsoidal schematic diagram of the manned space protection zone. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] like Figure 1 As shown, the embodiment of the present invention discloses a method for detecting conflicts between coordinated operations of manned aircraft and unmanned aircraft in a market scenario, including a strategic-level manned-aircraft and unmanned aircraft conflict detection method and a tactical-level manned-aircraft and unmanned aircraft conflict detection method;

[0050] Among them, the strategic-level manned-unmanned aircraft conflict detection method includes:

[0051] Before the manned aircraft flight activities, based on the static basic route information of the UAV, a series of minimum bounding boxes MBB of the UAV route are generated, and the UAV route R* tree is generated;

[0052] Based on the manned aircraft flight plan information, generate the minimum limit box MBB of the manned aircraft flight plan;

[0053] Check whether there is spatial overlap between the minimum bounding box MBB of the manned flight plan and the UAV route R* tree, and determine the UAV route affected by the manned flight plan;

[0054] The tactical-level manned-UAV conflict detection method includes: during manned flight activities, based on the manned aircraft space protection zone and the basic static route information of the UAV, real-time calculation of whether there is a conflict between the manned aircraft space protection zone and the UAV route, if there is a conflict, providing warning information to the manned aircraft pilot.

[0055] The above steps are further explained below.

[0056] 1. Strategic-level manned-unmanned aircraft conflict detection method.

[0057] In strategic-level manned-unmanned aircraft conflict detection, it is necessary to calculate whether there is a conflict based on the manned aircraft flight plan information and the static basic route information of the unmanned aircraft. In urban scenarios, the spatial expressions of manned aircraft flight plan information and unmanned aircraft static basic route information are both irregular geometric objects. In indexing, the irregular geometric objects themselves are usually not indexed, but the minimum bounding box (MBB) is used as the key of the irregular geometric objects to construct a spatial index.

[0058] The minimum bounding box is the smallest cube that can completely contain a given object. The minimum bounding box must completely contain all points of the given object and be the smallest cube. Usually, the minimum bounding box is aligned with the coordinate axis.

[0059] 1) Minimum limit box for drone routes:

[0060] The static basic route information of UAVs in urban environments is usually a collection of a series of straight routes, which can be represented by several nodes. The coordinates of each node are composed of latitude, longitude and altitude, such as Figure 2 shown.

[0061] Based on a series of straight line routes in the static basic route information of the UAV, the minimum limit box of the UAV route is obtained, such as Figure 3 As shown, the coordinates of the two points on the diagonal of the cuboid are represented, and the coordinates of the two points are composed of longitude, latitude and altitude; if the length of the UAV static basic route exceeds the preset value, the UAV static basic route is divided into multiple sections, and a minimum limit box is generated for each section.

[0062] 2) Minimum limit box for manned aircraft flight plan.

[0063] Based on the airspace usage range and flight altitude range in the manned flight plan, the minimum limit box of the manned flight plan is obtained, such as Figure 4 As shown, the coordinates of the two points on the diagonal of the minimum limiting box cuboid are represented, and the coordinates of the two points are composed of latitude, longitude and altitude.

[0064] 3) UAV route R* tree.

[0065] R* tree is a highly optimized spatial data structure, mainly used to store and index multidimensional spatial objects, such as points, lines, rectangles and polygons. The goal of R* tree is to improve query performance and space utilization, and it performs well in processing complex spatial data. It is widely used in various fields that require efficient spatial data management and query.

[0066] In the strategic-level manned-UAV conflict calculation, based on the large-scale UAV route basic static data, a series of UAV route minimum limit boxes can be generated to generate the UAV route R* tree.

[0067] Based on the UAV route R* tree and the minimum limit box of the manned aircraft plan, the UAV route affected by the manned aircraft plan can be determined by quickly retrieving the spatial occupancy relationship between the R* tree and the minimum limit box of the manned aircraft flight plan. Before the manned aircraft activity begins, appropriate restriction measures can be taken on the affected UAV routes to avoid conflicts between manned and UAVs at the strategic level and ensure the flight safety of manned aircraft.

[0068] Specifically, the steps of searching whether the minimum bounding box MBB of the manned aircraft flight plan and the UAV route R* tree have spatial overlap include:

[0069] Substitute the coordinates of the lower left corner and upper right corner of the minimum limiting box of the manned flight plan into the UAV route R* tree, and use the breadth-first or depth-first search method to traverse from the root node downward. When the coordinates of the two corner points of the minimum limiting box of the manned flight plan fall within the rectangular range framed by the leaf node in the R* tree, it is considered that there is spatial overlap between the manned flight plan and the UAV route.

[0070] Before manned aircraft activities begin, corresponding restrictive measures should be taken on the affected drone routes (such as issuing a notice to close the conflicting drone routes). By issuing a notice to close the conflicting drone routes, conflicts between manned and drones can be avoided at the strategic level and the flight safety of manned aircraft can be guaranteed.

[0071] 2. Tactical-level manned-unmanned aircraft conflict detection method.

[0072] The tactical-level manned-UAV conflict calculation method aims to calculate the conflict between the manned-aircraft space protection zone UVR and the UAV route in real time based on the manned-aircraft space protection zone UVR and the basic static route information of the UAV during manned-aircraft flight activities, provide warning information to the manned-aircraft pilots, and take restrictive measures on the conflicting UAV routes to ensure the safety of manned-aircraft flights.

[0073] 1) Generation of UVR in manned space protection areas.

[0074] When manned aircraft and unmanned aerial vehicles fly together, in order to ensure the safety of manned aircraft, especially helicopters, the flight characteristics of helicopters must be considered. The lateral speed of a helicopter is the fastest on the horizontal plane, the lateral speed is slower, and the vertical speed is usually the slowest. These characteristics are particularly important for the planning of manned aircraft protection areas. Therefore, the manned aircraft space protection area is set to an ellipsoid shape, which consists of a collision zone and a warning zone, such as Figure 5 As shown, the collision zone is cylindrical, the warning zone is the area outside the cylinder in the ellipsoid; the manned aircraft is located at the focal position of the long axis of the horizontal section ellipse.

[0075] In the definition of the Sense and Avoidance System (DAA), when the horizontal distance is <1389m and the vertical spacing is <400ft, it indicates that a clear collision is imminent and maneuvering measures should be taken immediately (for example, when two aircraft meet head-on at almost the same altitude, they should each evade to the right and maintain a distance of more than 500 meters between each other).

[0076] Specifically, the radius of the collision zone is 1300m-1400m, specifically 1400m, and the vertical height is 120m-150m, specifically 150m.

[0077] Considering that the longitudinal speed of a helicopter during flight is usually significantly lower than its lateral speed, in order to simplify the setting of the protection zone, the vertical protection zone range of the warning zone is set to be consistent with the lateral protection zone range, and their radii are both R. The calculation formula for the warning zone range is:

[0078] Rx=R+max(0,Vx)t

[0079] Ry=R+max(0,Vy)t

[0080] Rz=Ry

[0081] Among them, Rx is the distance in the long axis direction of the horizontal cross-section ellipse of the warning area, Ry is the distance in the short axis direction of the horizontal cross-section ellipse of the warning area, and Rz is the distance in the vertical axis direction of the vertical cross-section ellipse of the warning area; t is the time from the helicopter pilot discovering the warning to controlling the helicopter to perform the corresponding evasive action; Vx is the component speed of the manned aircraft in the horizontal longitudinal direction, and Vy is the component speed of the manned aircraft in the horizontal lateral direction.

[0082] Considering the operating characteristics of the helicopter, the manned aircraft has greater maneuverability and speed when moving forward than when moving backward, so the manned aircraft is located at the focal point of the warning area ellipsoid. Taking the midpoint of the ellipsoid as the origin of the coordinate system, the equation of the manned aircraft UVR warning area ellipsoid is: 2 / Rx 2 +y 2 / Ry 2 +z 2 / Rz 2 =1.

[0083] 2) Calculate the time interval.

[0084] The time interval for calculating conflicts between tactical manned and unmanned aircraft should comprehensively consider the performance of communication, navigation and monitoring facilities (communication, navigation and monitoring facilities, such as VHF radio, navigation facilities such as Beidou navigation station, and monitoring facilities such as primary and secondary radars), as well as the UVR reserve time for manned aircraft. Considering that the speed of radar antenna in air traffic control is usually not higher than 15r / min, the conflict calculation interval should be no less than 4s.

[0085] 3) Screening of routes of drones with potential conflict risks.

[0086] In order to narrow the calculation scope and avoid conflicts in calculating all UAV routes, the UAV routes that may have conflicts can be screened before calculation.

[0087] Based on the basic static route information of the UAV, the minimum limit box of the UAV route is constructed, and the UAV route R* tree is generated;

[0088] A spherical range is drawn with the midpoint of the manned space protection zone as the center and twice the radius Rx of the horizontal major axis of the ellipsoid as the radius. The R* tree is used to search whether the spherical range has spatial overlap with the UAV route R* tree, and UAV routes with spatial overlap are regarded as having potential conflict risks.

[0089] The present invention does not consider the real-time position of the UAV. It is a relatively strong conflict constraint judgment with the main purpose of protecting manned aircraft. As long as there is spatial overlap between the manned aircraft and the UAV route, it is considered necessary to notify the UAV to avoid risks until the manned aircraft releases its occupation of the UAV route.

[0090] 4) Conflict calculation.

[0091] The conflict calculation is performed on the selected UAV routes with potential conflict risks and the manned aircraft space protection zone to determine whether the UAV route intersects with the manned aircraft space protection zone. If there is an intersection, a warning message is provided to the manned aircraft pilot, and restrictive measures are taken on the conflicting UAV route, such as issuing a notice of route closure, to ensure the safety of the coordinated operation of manned and UAVs.

[0092] Specifically, the step of calculating the conflict between the selected UAV routes with potential conflict risks and the manned aircraft space protection zone includes:

[0093] The range of the manned aircraft ellipsoidal space protection zone is expressed by the equation:

[0094] x 2 / Rx 2 +y 2 / Ry 2 +z 2 / Rz 2 =1

[0095] Wherein, Rx is the distance in the long axis direction of the ellipse of the horizontal section of the warning area, Ry is the distance in the short axis direction of the ellipse of the horizontal section of the warning area, and Rz is the distance in the vertical axis direction of the ellipse of the vertical section of the warning area;

[0096] Assuming that the coordinates of two points in the drone route are (x1, y1, z1) and (x2, y2, z2), the equation of the straight line of this route is:

[0097] (x-x1) / (x2-x1)=(y-y1) / (y2-y1)=(z-z1) / (z2-z1), x1≤x≤x2

[0098] On this straight route, sampling points are taken at a certain interval and substituted into the ellipsoid equation for calculation; considering the accuracy of calculation, the interval of sampling points on the straight route is not greater than Ry / 2. Assume that the coordinates of the sampling points are (x s ,y s ,z s ), bring the sampling point coordinates into the ellipse equation, if x s 2 / Rx 2 +y s 2 / Ry 2 +z s 2 / Rz 2 >1, it means that the sampling point is outside the manned-machine space protection zone;

[0099] If x s 2 / Rx 2 +y s 2 / Ry 2 +z s 2 / Rz 2 ≤1, it means that the sampling point is within the manned aircraft space protection zone, and the UAV route is considered to conflict with the manned aircraft space protection zone.

[0100] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0101] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for detecting conflicts between manned and unmanned aircraft in urban scenarios, characterized in that: It includes strategic-level manned-unmanned aircraft conflict detection methods and tactical-level manned-unmanned aircraft conflict detection methods; Among them, the strategic-level manned-unmanned aircraft conflict detection method includes: Before the manned aircraft flight activities, based on the static basic route information of the UAV, a series of minimum bounding boxes MBB of the UAV route are generated, and the UAV route R* tree is generated; Based on the manned aircraft flight plan information, generate the minimum limit box MBB of the manned aircraft flight plan; Check whether there is spatial overlap between the minimum bounding box MBB of the manned flight plan and the UAV route R* tree, and determine the UAV route affected by the manned flight plan; The tactical-level manned-UAV conflict detection method includes: during manned flight activities, based on the manned aircraft space protection zone and the basic static route information of the UAV, real-time calculation of whether there is a conflict between the manned aircraft space protection zone and the UAV route, if there is a conflict, providing warning information to the manned aircraft pilot.

2. The method for detecting conflicts between manned and unmanned aircraft in coordinated operation in urban scenarios according to claim 1 is characterized in that: Based on a series of straight line route sets in the UAV static basic route information, the minimum limit box of the UAV route is obtained, which is represented by the coordinates of two points on the diagonal of the cuboid, and the coordinates of the two points are composed of longitude, latitude and altitude; if the length of the UAV static basic route exceeds the preset value, the UAV static basic route is divided into multiple sections, and a minimum limit box is generated for each section.

3. The method for detecting conflicts between manned and unmanned aircraft in coordinated operation in urban scenarios according to claim 1, characterized in that: Based on the airspace usage range and flight altitude range in the manned aircraft flight plan, the minimum limit box of the manned aircraft flight plan is obtained, which is represented by the coordinates of two points on the diagonal of the minimum limit box rectangle. The coordinates of the two points are composed of latitude, longitude and altitude.

4. The method for detecting conflicts between manned and unmanned aircraft in coordinated operation in urban scenarios according to claim 1, characterized in that: The step of retrieving whether the minimum bounding box MBB of the manned aircraft flight plan overlaps with the unmanned aircraft route R* tree includes: Substitute the coordinates of the lower left corner and upper right corner of the minimum limiting box of the manned flight plan into the UAV route R* tree, and use the breadth-first or depth-first search method to traverse from the root node downward. When the coordinates of the two corner points of the minimum limiting box of the manned flight plan fall within the rectangular range framed by the leaf node in the R* tree, it is considered that there is spatial overlap between the manned flight plan and the UAV route.

5. The method for detecting conflicts between manned and unmanned aircraft in coordinated operation in urban scenarios according to claim 1, characterized in that: In the tactical-level manned-unmanned aircraft conflict detection method, the manned aircraft space protection zone is an ellipsoid, consisting of a collision zone and a warning zone, wherein the collision zone is a cylinder, and the warning zone is the area outside the cylinder in the ellipsoid; the manned aircraft is located at the focal position of the long axis of the horizontal section ellipse.

6. The method for detecting conflicts between manned and unmanned aircraft in coordinated operation in urban scenarios according to claim 5, characterized in that: The radius of the collision zone is 1300m-1400m, and the vertical height is 120m-150m.

7. The method for detecting conflicts between manned and unmanned aircraft in coordinated operation in urban scenarios according to claim 5, characterized in that: The vertical protection zone of the warning zone is set to be consistent with the lateral protection zone, and the radius is R. The calculation formula of the warning zone is: Rx=R+max(0,Vx)t; Ry=R+max(0,Vy)t; Rz=Ry; Among them, Rx is the distance in the long axis direction of the horizontal cross-section ellipse of the warning area, Ry is the distance in the short axis direction of the horizontal cross-section ellipse of the warning area, and Rz is the distance in the vertical axis direction of the vertical cross-section ellipse of the warning area; t is the time from the helicopter pilot discovering the warning to controlling the helicopter to perform the corresponding evasive action; Vx is the component speed of the manned aircraft in the horizontal longitudinal direction, and Vy is the component speed of the manned aircraft in the horizontal lateral direction.

8. The method for detecting conflicts between manned and unmanned aircraft in coordinated operation in urban scenarios according to claim 5, characterized in that: In the tactical-level manned-unmanned aircraft conflict detection method, the calculation process of whether the manned aircraft space protection zone conflicts with the unmanned aircraft route includes: Based on the basic static route information of the UAV, the minimum limit box of the UAV route is constructed, and the UAV route R* tree is generated; Draw a spherical range with the midpoint of the manned space protection zone as the center and twice the radius of the horizontal major axis Rx of the ellipsoid as the radius; search the R* tree to see if the spherical range overlaps with the UAV route R* tree, and regard the UAV routes with spatial overlap as having potential conflict risks; Conflict calculations are performed on the selected UAV routes with potential conflict risks and the manned aircraft space protection zone to determine whether the UAV routes intersect with the manned aircraft space protection zone.

9. The method for detecting conflicts between manned and unmanned aircraft in coordinated operation in urban scenarios according to claim 8, characterized in that: The conflict calculation of the selected UAV routes with potential conflict risks and the manned aircraft space protection zone includes: The range of the manned aircraft ellipsoidal space protection zone is expressed by the equation: x 2 / Rx 2 +y 2 / Ry 2 +z 2 / Rz 2 =1; Wherein, Rx is the distance in the long axis direction of the ellipse of the horizontal section of the warning area, Ry is the distance in the short axis direction of the ellipse of the horizontal section of the warning area, and Rz is the distance in the vertical axis direction of the ellipse of the vertical section of the warning area; Assuming that the coordinates of two points in the drone route are (x1, y1, z1) and (x2, y2, z2), the equation of the straight line of this route is: (x-x1) / (x2-x1)=(y-y1) / (y2-y1)=(z-z1) / (z2-z1), x1≤x≤x2; On this straight route, sampling points are taken at a certain interval and substituted into the ellipsoid equation for calculation; assuming that the coordinates of the sampling points are (x s ,y s ,z s ), bring the sampling point coordinates into the ellipse equation, if x s 2 / Rx 2 +y s 2 / Ry 2 +z s 2 / Rz 2 >1, it means that the sampling point is outside the manned space protection area; If x s 2 / Rx 2 +y s 2 / Ry 2 +z s 2 / Rz 2 ≤1, it means that the sampling point is within the manned aircraft space protection zone, and the UAV route is considered to conflict with the manned aircraft space protection zone.

10. The method for detecting conflicts between manned and unmanned aircraft in coordinated operation in urban scenarios according to claim 9, characterized in that: The interval between sampling points on a straight route shall not exceed Ry / 2.

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