Conflict Detection Method for Cooperative Operation of Human-Piloted Aircraft and Unmanned Aerial Vehicle in Urban Scenes

Abstract

The present invention relates to the field of flight control technology, and particularly to a method for detecting conflicts in the collaborative operation of manned aircraft and unmanned aircraft in an urban scenario, including: a strategic-level conflict detection method for manned aircraft and unmanned aircraft. Before the flight activity of the manned aircraft, based on the static basic route information of the unmanned aircraft and the flight plan information of the manned aircraft, a minimum bounding box of the unmanned aircraft route and the manned aircraft flight plan is generated, and an R*-tree of the unmanned aircraft route is generated; retrieve whether there is a spatial overlap between the minimum bounding box MBB of the manned aircraft flight plan and the R*-tree of the unmanned aircraft route to determine the unmanned aircraft route affected by the manned aircraft flight plan; a tactical-level conflict detection method for manned aircraft and unmanned aircraft. During the flight activity of the manned aircraft, based on the spatial protection area of the manned aircraft and the basic static route information of the unmanned aircraft, it is calculated in real time whether there is a conflict between the spatial protection area of the manned aircraft and the unmanned aircraft route. The present invention can improve the operation efficiency of manned aircraft and unmanned aircraft in low-altitude airspace and avoid conflict risks.

Description

Technical Field

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

[0002] In recent years, the technology of unmanned aircraft has developed rapidly and has been widely used in fields such as aerial photography, logistics distribution, inspection, and security. However, with the rapid increase in the number of unmanned aircraft and the expansion of their application scope, the problem of sharing airspace resources has become increasingly prominent. The traditional isolated operation mode can no longer meet the requirements, and it is urgent to solve the problem of the collaborative operation of manned aircraft and unmanned aircraft.

[0003] Unmanned aircraft operators usually operate remotely, making it difficult to timely perceive and handle sudden situations during flight. In addition, the sensors and equipment equipped on unmanned aircraft are relatively limited and cannot comprehensively monitor the flight environment. Therefore, the flight safety of unmanned aircraft is a key and difficult issue in the development of unmanned aircraft. To achieve the safe and efficient operation of manned aircraft and unmanned aircraft in the same airspace, it is urgent to comprehensively innovate and improve in terms of technology, policies, regulations, and supervision mechanisms.

[0004] At present, the research on the collaborative operation of manned aircraft and unmanned aircraft at home and abroad is still in its infancy, especially in urban environments, lacking systematic research and technical standards. Formulating and improving industry standards and making breakthroughs in technology are the keys to ensuring the effective collaboration of unmanned aircraft and manned aircraft, so as to achieve the safe sharing and efficient utilization of airspace resources.

[0005] In recent years, with the development of the drone industry, the research on the calculation of the collision risk between drones and manned aircraft has gradually attracted attention. In 2017, according to the different drone allocations, the low-altitude shared airspace was divided into multiple sectors, a collision risk model between drones and manned aircraft was established, and a modified drone trajectory was designed to reduce the collision probability and sent to the drone operator. Yu Qingyuan classified drones according to the flight altitude layer, established the common classification connection between drones and manned aircraft, and elaborated on the key limiting conditions for drones to enter the airspace of manned aircraft, providing theoretical and technical support for the safe sharing of airspace between drones and manned aircraft. Zhang Xuejun proposed an algorithm based on dynamic artificial potential field (DAPF) to provide suggestions for real-time generation of collision-free reaction paths for unmanned aircraft flying in dynamic airspace. Gao Yang et al. processed general aviation aircraft and manned aircraft based on the Reich model, and evaluated the collision risk between general aviation aircraft and manned aircraft in the terminal area by combining the flight characteristics of manned aircraft and the reliability of the hybrid system constructed by humans, machines, environment, and management. Deng Li divided the relative motion between drones and manned aircraft into horizontal and vertical aspects, and calculated the relative distance between drones and manned aircraft in the two planes based on the characteristics of Brownian motion to judge the collision risk. Yang Min judged the interval in three directions of the aircraft, and obtained the minimum safety interval that should be maintained between the manned aircraft and the drone from the perspective of positioning and navigation errors, but only for the case of one drone and one manned aircraft.

[0006] It can be seen that the current research on the cooperation between manned aircraft and drones mainly focuses on the research of safety intervals based on fixed time or fixed distance, which can be mainly divided into two categories: one is the research based on empirical formulas and rules, and the other is the research based on mathematical models and simulation experiments. There is a lack of research on the minimum safety distance when drones and manned aircraft operate in a mixed manner. At the same time, there is also a lack of guidance on how to calculate and implement the safety interval based on collision risk. The rapid development of drones will inevitably pose new challenges to the existing safety interval standards. Therefore, the research on the minimum safety interval between drones and manned aircraft needs to be carried out urgently, and it is 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 conflict detection of cooperative operation of manned aircraft and drones in an urban scenario, which can improve the operation efficiency of manned aircraft and drones in low-altitude airspace and ensure the discovery and avoidance of conflict risks in the operation of manned aircraft and drones.

[0008] To achieve the above object, the present invention adopts the following technical solutions:

[0009] A method for conflict detection of cooperative operation of manned aircraft and drones in an urban scenario includes a strategic-level conflict detection method for manned aircraft and drones and a tactical-level conflict detection method for manned aircraft and drones;

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

[0011] Before the manned aircraft flight activity, based on the static basic route information of the unmanned aircraft, a series of minimum bounding boxes (MBBs) of the unmanned aircraft routes are generated, and an R*-tree of the unmanned aircraft routes is generated.

[0012] Based on the manned aircraft flight plan information, a minimum bounding box (MBB) of the manned aircraft flight plan is generated.

[0013] Retrieve whether there is a spatial overlap between the minimum bounding box (MBB) of the manned aircraft flight plan and the R*-tree of the unmanned aircraft routes, and determine the unmanned aircraft routes affected by the manned aircraft flight plan.

[0014] The tactical-level manned-unmanned aircraft conflict detection method includes: during the manned aircraft flight activity, based on the manned aircraft spatial protection area and the static basic route information of the unmanned aircraft, calculate in real time whether there is a conflict between the manned aircraft spatial protection area and the unmanned aircraft routes. If there is a conflict, an alarm message is provided to the pilot of the manned aircraft.

[0015] Furthermore, based on a series of straight route sets in the static basic route information of the unmanned aircraft, the minimum bounding box of the unmanned aircraft routes is obtained, which is represented by the coordinates of two points on the diagonal of a cuboid, and the coordinates of both points are composed of longitude, latitude and altitude. If the length of the static basic route of the unmanned aircraft exceeds a preset value, the static basic route of the unmanned aircraft is divided into multiple segments, and a minimum bounding box is generated separately for each segment.

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

[0017] Furthermore, the retrieval of whether there is a spatial overlap between the minimum bounding box (MBB) of the manned aircraft flight plan and the R*-tree of the unmanned aircraft routes includes:

[0018] Substitute the coordinates of the lower left corner point and the upper right corner point of the minimum bounding box of the manned aircraft flight plan into the R*-tree of the unmanned aircraft routes, and use the breadth-first or depth-first search method to traverse from the root node downwards. When the coordinates of the two corner points of the minimum bounding box of the manned aircraft flight plan fall within the rectangle defined by the leaf nodes in the R*-tree, it is considered that there is a spatial overlap between the manned aircraft flight plan and the unmanned aircraft routes.

[0019] Furthermore, in the tactical-level manned-unmanned aircraft conflict detection method, the manned aircraft spatial protection area is an ellipsoid, which consists of a collision area and an alarm area. Among them, the collision area is a cylinder, and the alarm area is the area inside the ellipsoid except the cylinder; the manned aircraft is located at the focal point of the long axis of the horizontal section ellipse.

[0020] Furthermore, the radius of the collision area ranges from 1300 m to 1400 m, and the vertical height ranges from 120 m to 150 m.

[0021] Furthermore, the vertical protection area range of the warning area is set to be the same as the lateral protection area range, and their radii are both R. The calculation formula for the warning area 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 ellipse in the horizontal section of the warning area, Ry is the distance in the short axis direction of the ellipse in the horizontal section of the warning area, Rz is the distance in the vertical axis direction of the ellipse in the vertical section of the warning area; t is the time from when the helicopter pilot discovers the warning to when the helicopter is controlled to perform corresponding evasive actions; 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 aircraft and UAV conflict detection method, the calculation process of whether there is a conflict between the manned aircraft space protection area and the UAV flight path includes:

[0027] Based on the basic static flight path information of the UAV, construct the minimum bounding box of the UAV flight path and generate the UAV flight path R*-tree;

[0028] Taking the midpoint of the manned aircraft space protection area as the center and the radius twice the horizontal major axis radius Rx of the ellipsoid as the radius, draw a spherical range; search through the R*-tree whether there is a spatial overlap between this spherical range and the UAV flight path R*-tree, and regard the UAV flight paths with spatial overlap as having potential conflict risks;

[0029] Perform conflict calculation on the UAV flight paths with potential conflict risks screened out and the manned aircraft space protection area, and judge whether the UAV flight path intersects with the manned aircraft space protection area.

[0030] Furthermore, the conflict calculation of the UAV flight paths with potential conflict risks screened out and the manned aircraft space protection area includes:

[0031] The range of the manned aircraft ellipsoidal space protection area 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 major axis direction of the ellipse in the horizontal section of the warning area, Ry is the distance in the minor axis direction of the ellipse in the horizontal section of the warning area, and Rz is the distance in the vertical axis direction of the ellipse in the vertical section of the warning area;

[0034] Assume that the coordinates of two points on the UAV flight path are (x1, y1, z1) and (x2, y2, z2), then the straight-line equation of this section of the flight path is:

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

[0036] On this straight-line flight path, sampling points are taken at a certain interval distance and substituted into the ellipsoidal equation for calculation; assume the coordinates of the sampling point are (x s , y s , z s ). Substitute the coordinates of the sampling point into the ellipse equation. If x s 2 / Rx 2 +y s 2 / Ry 2 +z s 2 / Rz 2 > 1, it means that this sampling point is outside the manned aircraft space protection area;

[0037] If x s 2 / Rx 2 +y s 2 / Ry 2 +z s 2 / Rz 2 ≤ 1, it means that this sampling point is within the manned aircraft space protection area, and it is regarded that there is a conflict between this UAV flight path and the manned aircraft space protection area.

[0038] Furthermore, the interval between sampling points on the straight-line flight path is not greater than Ry / 2.

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

[0040] The present invention conducts conflict detection for the collaborative operation of unmanned aerial vehicles (UAVs) and manned aircraft from two aspects: the strategic level and the tactical level. At the strategic level, before the flight activities of the manned aircraft, based on the flight plan information of the manned aircraft and the static basic route information of the UAVs, the Minimum Bounding Box (MBB) is used as the spatial data model for the UAV routes and the general aviation flight plans. By creating, inserting, deleting, and checking the spatial R* tree data structure, it is calculated whether there is an intersection and overlap between the spatial coordinates of the two, so as to judge the impact of the manned aircraft activity plan on the UAV routes. The UAV routes affected by the manned aircraft activities can be closed in advance to avoid conflicts between manned aircraft and UAVs strategically.

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

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0043] Figure 1 It is a flowchart of the method for conflict detection of the collaborative operation of manned aircraft and UAVs in the urban scenario provided by the present invention;

[0044] Figure 2 It is a schematic diagram of the straight route of the UAV;

[0045] Figure 3 It is a schematic diagram of the minimum bounding box of the UAV route;

[0046] Figure 4 It is a schematic diagram of the minimum bounding box of the manned aircraft flight plan;

[0047] Figure 5 It is an ellipsoidal schematic diagram of the spatial protection zone of the manned aircraft. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0049] As Figure 1 shown, the embodiments of the present invention disclose a method for detecting conflicts in the collaborative operation of manned aircraft and unmanned aircraft in an urban scenario, including a strategic-level method for detecting conflicts between manned aircraft and unmanned aircraft and a tactical-level method for detecting conflicts between manned aircraft and unmanned aircraft.

[0050] Among them, the strategic-level method for detecting conflicts between manned aircraft and unmanned aircraft includes:

[0051] Before the flight activity of the manned aircraft, based on the static basic route information of the unmanned aircraft, a series of minimum bounding boxes (MBBs) of the unmanned aircraft routes are generated, and an R*-tree of the unmanned aircraft routes is generated.

[0052] Based on the flight plan information of the manned aircraft, a minimum bounding box (MBB) of the manned aircraft flight plan is generated.

[0053] Retrieve whether there is a spatial overlap between the minimum bounding box (MBB) of the manned aircraft flight plan and the R*-tree of the unmanned aircraft routes to determine the unmanned aircraft routes affected by the manned aircraft flight plan.

[0054] The tactical-level method for detecting conflicts between manned aircraft and unmanned aircraft includes: during the flight activity of the manned aircraft, based on the spatial protection area of the manned aircraft and the static basic route information of the unmanned aircraft, calculate in real time whether there is a conflict between the spatial protection area of the manned aircraft and the unmanned aircraft routes. If there is a conflict, an alarm message is provided to the pilot of the manned aircraft.

[0055] The following further explains the above steps.

[0056] 1. Strategic-level method for detecting conflicts between manned aircraft and unmanned aircraft.

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

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

[0059] 1) The minimum bounding box of the UAV flight path:

[0060] The static basic flight path information of UAVs in the urban environment is usually a set of straight flight paths, which can be represented by several nodes. The coordinates of each node consist of longitude, latitude, and altitude, as Figure 2 shown.

[0061] Based on a set of straight flight paths in the static basic flight path information of UAVs, the minimum bounding box of the UAV flight path is obtained, as Figure 3 shown, represented by the coordinates of two points on the diagonal of the cuboid. The coordinates of both points consist of longitude, latitude, and altitude; if the length of the static basic flight path of the UAV exceeds the preset value, the static basic flight path of the UAV is divided into multiple segments, and a minimum bounding box is generated separately for each segment.

[0062] 2) The minimum bounding box of the manned aircraft flight plan.

[0063] Based on the airspace usage range and flight altitude range in the manned aircraft flight plan, the minimum bounding box of the manned aircraft flight plan is obtained, as Figure 4 shown, represented by the coordinates of two points on the diagonal of the minimum bounding box cuboid. The coordinates of both points consist of longitude, latitude, and altitude.

[0064] 3) The R*-tree of the UAV flight path.

[0065] The R*-tree is a highly optimized spatial data structure mainly used for storing and indexing multi-dimensional spatial objects such as points, lines, rectangles, and polygons. The goal of the R*-tree is to improve query performance and spatial utilization rate, and it performs well in dealing with complex spatial data and is widely used in various fields that require efficient spatial data management and query.

[0066] In the strategic-level manned aircraft-UAV conflict calculation, based on the large-scale static data of the UAV flight path, a series of minimum bounding boxes of the UAV flight path can be generated, and the R*-tree of the UAV flight path is generated accordingly.

[0067] Based on the R*-tree of the UAV flight path and the minimum bounding box of the manned aircraft plan, by quickly retrieving the spatial occupancy relationship between the R*-tree and the minimum bounding box of the manned aircraft flight plan, the UAV flight paths affected by the manned aircraft plan can be determined. Before the manned aircraft activity starts, corresponding restriction measures are taken for the affected UAV flight paths, and the conflict between the manned aircraft and the UAV can be avoided at the strategic level to ensure the flight safety of manned aircraft.

[0068] Specifically, the steps for retrieving whether there is a spatial overlap between the minimum bounding box (MBB) of the manned aircraft flight plan and the R*-tree of the UAV route specifically include:

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

[0070] Before the start of manned aircraft activities, corresponding restriction measures are taken for the affected UAV routes (such as issuing a notice to close the UAV routes with conflicts). For example, issuing a notice to close the UAV routes with conflicts can avoid conflicts between manned aircraft and UAVs at the strategic level and ensure the flight safety of manned aircraft.

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

[0072] The tactical-level manned aircraft-UAV conflict calculation method aims to, during the manned aircraft flight activity, based on the manned aircraft spatial protection area (UVR) and the basic static route information of the UAV, calculate the conflict between the manned aircraft spatial protection area (UVR) and the UAV route in real time, provide warning information to the manned aircraft pilot, and at the same time take restriction measures for the conflicting UAV routes to ensure the safety during the manned aircraft flight process.

[0073] 1) Generation of the manned aircraft spatial protection area (UVR).

[0074] When manned aircraft and UAVs fly in coordination, in order to ensure the operation safety of manned aircraft, especially helicopters, the flight characteristics of helicopters must be considered. The lateral speed of a helicopter on the horizontal plane is the fastest, the lateral speed is slower, and the speed in the vertical direction is usually the slowest. These characteristics are particularly important for the planning of the manned aircraft protection area. Therefore, the manned aircraft spatial protection area is set as an ellipsoid, which consists of a collision area and a warning area. As Figure 5 shown, where the collision area is cylindrical and the warning area is the area inside the ellipsoid except for the cylindrical area; the manned aircraft is located at the focus of the long axis of the horizontal section ellipse.

[0075] In the definition of the Detect and Avoid (DAA) system, when the horizontal distance < 1389m and the vertical separation < 400ft, it means that an obvious collision is about to occur, and immediate maneuvering measures should be taken (for example: when two aircraft meet head-on at almost the same altitude, they should each turn right and maintain a separation of more than 500 meters from each other).

[0076] Specifically, the radius of the collision area is set to be 1300 m - 1400 m, and specifically it can be 1400 m. The vertical height is set to be 120 m - 150 m, and specifically it can be 150 m.

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

[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 major axis direction of the horizontal section ellipse of the warning area, Ry is the distance in the minor axis direction of the horizontal section ellipse of the warning area, Rz is the distance in the vertical axis direction of the vertical section ellipse of the warning area; t is the time from when the helicopter pilot discovers the warning to when the helicopter is controlled to perform corresponding evasive actions; 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 maneuverability and speed of the UAV are greater when moving forward than when moving backward. Therefore, the manned aircraft is located at the focal point of the ellipsoid of the warning area. Taking the midpoint of the ellipsoid as the origin of the coordinate system, the equation of the ellipsoid of the UVR warning area of the manned aircraft is: x 2 / Rx 2 +y 2 / Ry 2 +z 2 / Rz 2 = 1.

[0083] 2) Calculate the time interval.

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

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

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

[0087] Based on the basic static route information of the unmanned aerial vehicle (UAV), construct the minimum bounding box of the UAV route and generate the R*-tree of the UAV route;

[0088] Taking the midpoint of the manned aircraft's space protection area as the center and a radius of twice the horizontal major axis radius Rx of the ellipsoid, draw a spherical range; search through the R*-tree whether there is a spatial overlap between this spherical range and the R*-tree of the UAV route, and regard the UAV routes with spatial overlap as having potential conflict risks.

[0089] The present invention does not consider the real-time position of the UAV, which is a relatively strong conflict constraint determination. With the main purpose of protecting the manned aircraft, as long as there is a 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 the occupation of the UAV route.

[0090] 4) Conflict calculation.

[0091] Perform conflict calculation on the UAV routes with potential conflict risks screened out and the manned aircraft's space protection area to determine whether the UAV route intersects with the manned aircraft's space protection area. If there is an intersection, provide warning information to the pilot of the manned aircraft and take restrictive measures on the conflicting UAV routes, such as issuing notice information to close the route, to ensure the safety of the coordinated operation of the manned aircraft and the UAV.

[0092] Specifically, the steps of performing conflict calculation on the UAV routes with potential conflict risks screened out and the manned aircraft's space protection area include:

[0093] Express the range of the ellipsoidal space protection area of the manned aircraft with the equation:

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

[0095] Among them, Rx is the distance in the major axis direction of the horizontal section ellipse of the warning area, Ry is the distance in the minor axis direction of the horizontal section ellipse of the warning area, and Rz is the distance in the vertical axis direction of the vertical section ellipse of the warning area;

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

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

[0098] On this straight flight path, sampling points are taken at certain interval distances and substituted into the ellipsoidal equation for calculation. Considering the accuracy of the calculation, the interval of sampling points on the straight flight path is not greater than Ry / 2. Assume the coordinates of the sampling point are (x s , y s , z s ). Substitute the coordinates of the sampling point into the elliptical equation. If x s 2 / Rx 2 + y s 2 / Ry 2 + z s 2 / Rz 2 > 1, it means that this sampling point is outside the scope of the manned aircraft space protection area;

[0099] If x s 2 / Rx 2 + y s 2 / Ry 2 + z s 2 / Rz 2 ≤ 1, it means that this sampling point is within the scope of the manned aircraft space protection area, and it is regarded that there is a conflict between the UAV flight path and the manned aircraft space protection area.

[0100] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and reference can be made to the description in the method part for relevant parts.

[0101] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can 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 these embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A conflict detection method for the collaborative operation of manned aircraft and unmanned aircraft in an urban scenario, characterized in that, It includes a strategic-level manned-unmanned aircraft conflict detection method and a tactical-level manned-unmanned aircraft conflict detection method; Among them, the strategic-level manned-unmanned aircraft conflict detection method includes: Before the manned aircraft flight activity, based on the static basic route information of the unmanned aircraft, a series of minimum bounding boxes (MBBs) of the unmanned aircraft routes are generated, and an R*-tree of the unmanned aircraft routes is generated; Based on the manned aircraft flight plan information, a minimum bounding box (MBB) of the manned aircraft flight plan is generated; Retrieve whether there is a spatial overlap between the minimum bounding box (MBB) of the manned aircraft flight plan and the R*-tree of the unmanned aircraft routes, and determine the unmanned aircraft routes affected by the manned aircraft flight plan; The tactical-level manned-unmanned aircraft conflict detection method includes: during the manned aircraft flight activity, based on the manned aircraft spatial protection area and the basic static route information of the unmanned aircraft, calculate in real time whether there is a conflict between the manned aircraft spatial protection area and the unmanned aircraft routes. If there is a conflict, an alarm message is provided to the manned aircraft pilot; In the tactical-level manned-unmanned aircraft conflict detection method, the manned aircraft spatial protection area is an ellipsoid, which consists of a collision area and an alarm area. Among them, the collision area is a cylinder, and the alarm area is the area inside the ellipsoid except the cylinder; the manned aircraft is located at the focal point of the long axis of the horizontal section ellipse; In the tactical-level manned-unmanned aircraft conflict detection method, the calculation process of whether there is a conflict between the manned aircraft spatial protection area and the unmanned aircraft routes includes: Based on the basic static route information of the unmanned aircraft, construct a minimum bounding box of the unmanned aircraft routes and generate an R*-tree of the unmanned aircraft routes; Taking the midpoint of the manned aircraft spatial protection area as the center and the radius of 2 times the horizontal major axis radius Rx of the ellipsoid as the radius, draw a spherical range; search through the R*-tree whether there is a spatial overlap between this spherical range and the R*-tree of the unmanned aircraft routes, and regard the unmanned aircraft routes with spatial overlap as having potential conflict risks; Perform a conflict calculation on the selected unmanned aircraft routes with potential conflict risks and the manned aircraft spatial protection area to determine whether the unmanned aircraft routes intersect with the manned aircraft spatial protection area.

2. The method for conflict detection of collaborative operation of manned aircraft and unmanned aircraft in an urban scenario according to claim 1, characterized in that Based on a series of straight route sets in the static basic route information of the unmanned aircraft, obtain the minimum bounding box of the unmanned aircraft routes, which is represented by the coordinates of two points on the diagonal of the cuboid. The coordinates of both points consist of longitude, latitude, and altitude; if the length of the static basic route of the unmanned aircraft exceeds the preset value, the static basic route of the unmanned aircraft is divided into multiple segments, and a minimum bounding box is generated separately for each segment.

3. The conflict detection method for collaborative operation of manned aircraft and unmanned aircraft in an urban scenario according to claim 1, wherein Based on the airspace usage range and flight altitude range in the manned aircraft flight plan, obtain the minimum bounding box of the manned aircraft flight plan, which is represented by the coordinates of two points on the diagonal of the minimum bounding box cuboid. The coordinates of both points consist of longitude, latitude, and altitude.

4. The method for conflict detection of collaborative operation of manned aircraft and unmanned aircraft in an urban scenario according to claim 1, characterized in that, The retrieval of whether there is a spatial overlap between the minimum bounding box (MBB) of the manned aircraft flight plan and the R*-tree of the unmanned aircraft routes includes: Substitute the coordinates of the lower left corner point and the upper right corner point of the minimum bounding box of the manned aircraft flight plan into the R*-tree of the unmanned aircraft routes, and use the breadth-first or depth-first search method to traverse from the root node downwards. When the coordinates of the two corner points of the minimum bounding box of the manned aircraft flight plan fall within the rectangular range defined by the leaf nodes in the R*-tree, it is considered that there is a spatial overlap between the manned aircraft flight plan and the unmanned aircraft routes.

5. The method for conflict detection of collaborative operation of manned aircraft and unmanned aircraft in an urban scenario according to claim 1, characterized in that The radius of the collision area ranges from 1300m to 1400m, and the vertical height ranges from 120m to 150m.

6. The method for conflict detection of collaborative operation of manned aircraft and unmanned aircraft in an urban scenario according to claim 1, characterized in that Set the vertical protection area range of the warning area to be the same as the lateral protection area range, and their radii are both R. The calculation formula for the warning area range is: Rx = R + max(0, Vx)t; Ry = R + max(0, Vy)t; Rz = Ry; Where, Rx is the distance in the long axis direction of the ellipse in the horizontal section of the warning area, Ry is the distance in the short axis direction of the ellipse in the horizontal section of the warning area, Rz is the distance in the vertical axis direction of the ellipse in the vertical section of the warning area; t is the time from when the helicopter pilot discovers the warning to when the helicopter is controlled to perform corresponding avoidance actions; Vx is the component velocity of the manned aircraft in the horizontal longitudinal direction, and Vy is the component velocity of the manned aircraft in the horizontal lateral direction.

7. The method for conflict detection of collaborative operation of manned aircraft and unmanned aircraft in an urban scenario according to claim 1, characterized in that The conflict calculation of the selected UAV routes with potential conflict risks and the manned aircraft space protection area includes: The range of the ellipsoidal space protection area of the manned aircraft is expressed by the equation: x 2 / Rx 2 +y 2 / Ry 2 +z 2 / Rz 2 = 1; Where, Rx is the distance in the long axis direction of the ellipse in the horizontal section of the warning area, Ry is the distance in the short axis direction of the ellipse in the horizontal section of the warning area, Rz is the distance in the vertical axis direction of the ellipse in the vertical section of the warning area; Assume that the coordinates of two points on the UAV route are (x1, y1, z1) and (x2, y2, z2), then the straight line equation of this section of the route is: (x - x1) / (x2 - x1) = (y - y1) / (y2 - y1) = (z - z1) / (z2 - z1), x1 ≤ x ≤ x2; On this section of the flight path, sampling points are taken at certain intervals and substituted into the ellipsoidal equation for calculation. Assuming the coordinates of the sampling point are (x s , y s , z s ), substituting the coordinates of the sampling point into the elliptical 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 range of the manned aircraft 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 scope of the manned aircraft space protection area, and it is regarded that there is a conflict between the UAV route and the manned aircraft space protection area.

8. The method for conflict detection of collaborative operation of manned aircraft and unmanned aircraft in urban scenarios according to claim 7, characterized in that The interval of the sampling points on the straight line route is not greater than Ry / 2.

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