Heterogeneous aircraft integrated operation risk assessment method based on airspace capacity

Abstract

The invention discloses a heterogeneous aircraft integrated operation risk assessment method based on airspace capacity, and the method comprises the steps: S1, decomposing a global operation airspace into K grid airspaces, and building a heterogeneous aircraft integrated operation airspace scene; s2, calculating the unstructured traffic operation risk of the heterogeneous aircrafts in the single grid airspace; s3, calculating the structured traffic operation risk of the heterogeneous aircrafts in the single grid airspace; s4, calculating the integrated operation overall risk of the heterogeneous aircrafts in the single grid airspace; and S5, calculating the operation risks of the K grid airspaces in the global airspace. According to the method, the evaluation time consumption of the integrated operation risk evaluation of the heterogeneous aircraft can be effectively shortened, and the robustness is improved while the risk evaluation calculation complexity is reduced.

Description

Technical Field

[0001] The present invention belongs to the field of civil aviation technology, and in particular relates to a risk assessment method for integrated operation of heterogeneous aircraft based on airspace capacity. Background Art

[0002] Under the same airspace capacity conditions, there is a big difference in the risk of air collision between unstructured traffic in the integrated operation area of ​​heterogeneous aircraft airspace and structured traffic based on corridors, grids, layered airspace, etc. Unstructured traffic is suitable for low-density operation of heterogeneous aircraft, taking into account efficient operation of airspace while maintaining a low risk of air collision; while structured traffic is more suitable for high-density operation of heterogeneous aircraft, and has higher requirements for air collision risk. The flight phases of integrated operation of heterogeneous aircraft airspace can be divided into three phases: climb, cruise, and descent. The risk of air collision in the cruise phase is mainly caused by the horizontal track deviation and maneuvering flight of heterogeneous aircraft. The risk of air collision in the climb and descent phases is mainly caused by the vertical track deviation and maneuvering flight of heterogeneous aircraft.

[0003] The physical model and its extensions require that heterogeneous aircraft be evenly distributed in the direction of the track, and operational risk assessment can be performed without relying on historical monitoring data; its advantage is that it quantifies the collision risk between heterogeneous aircraft evenly distributed in the airspace, and is more suitable for air collision risk analysis in unstructured traffic free flight scenarios, but is not suitable for analyzing the collision risk of heterogeneous aircraft operating in structured traffic along route routes, and lacks a quantitative description of the uncertainty caused by the performance of airborne CNS equipment.

[0004] The Reich-Marks model and its extensions require that the random deviations of the positions and velocities of heterogeneous aircraft are independent of each other, and establish conflict pairs, relying on historical monitoring data to estimate the collision probability of heterogeneous aircraft in a specified airspace or route for evaluation; its advantage is that it fully considers the uncertainty brought by the performance of airborne CNS equipment, and is more suitable for analyzing the collision risk of heterogeneous aircraft along routes, corridors or parallel routes in structured traffic, and the results of the mid-air collision risk analysis are less conservative than those of the gas model. However, the Reich-Marks model and its derived geometric model are still insufficient in analyzing the mid-air collision risk of heterogeneous aircraft in the vertical, lateral and longitudinal dimensions. Summary of the invention

[0005] In view of this, the purpose of the present invention is to propose a risk assessment method for the integrated operation of heterogeneous aircraft based on airspace capacity, which can effectively shorten the assessment time of the integrated operation risk assessment of heterogeneous aircraft, reduce the calculation complexity of risk assessment and improve its robustness.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] The present invention provides a method for risk assessment of integrated operation of heterogeneous aircraft based on airspace capacity, comprising:

[0008] Step S1, decompose the global airspace into K grid airspaces, and establish an airspace scenario for the integrated operation of heterogeneous aircraft;

[0009] Step S2, calculating the risk of heterogeneous aircraft in a single grid airspace under unstructured traffic operation, wherein, under unstructured traffic operation, heterogeneous aircraft fly freely in any airspace completely according to the path generated by the path planning algorithm;

[0010] Step S3, calculating the structured traffic operation risk of heterogeneous aircraft in a single grid airspace, wherein, under the structured traffic operation condition, the heterogeneous aircraft fly along the existing routes / routes in a specific airspace according to specific rules;

[0011] Step S4, calculating the overall risk of integrated operation of heterogeneous aircraft in a single grid airspace, wherein the overall risk of integrated operation represents the sum of the air risks of heterogeneous aircraft in all operation modes in a single grid airspace;

[0012] Step S5: Calculate the operational risks of K grid airspaces in the global airspace based on the integrated overall operational risk.

[0013] Preferably, in step S1, establishing an airspace scenario for integrated operation of heterogeneous aircraft includes:

[0014] The heterogeneous aircraft integrated operation is divided into unstructured traffic operation and structured traffic operation;

[0015] For the airspace scenario of integrated operation of heterogeneous aircraft, the risk of integrated operation of heterogeneous aircraft is determined by calculating the probability of collision between heterogeneous aircraft and the number of first-party deaths caused by collision:

[0016] R mid-air =E(fatality|collision) ELOS ×f collision

[0017] Among them, R mid-air represents the risk of heterogeneous aircraft integrated operation, E (fatality|collision) ELOS represents the probability of a collision causing death, f collision Indicates the probability of a collision occurring after the collision avoidance system is operated;

[0018]

[0019] Among them, 1-P mit is the collision avoidance failure rate of the collision avoidance system, V collisionrepresents the area or volume where a collision may occur, B total is the volume of a single grid space, t represents the system running time, A exp Represents an adjustable constant, E(V r ) represents the average relative speed V between different aircraft r The expected value of , a measure of the relative speed of two vehicles relative to each other as they approach.

[0020] Preferably, step S2 comprises:

[0021] Set 1 to Nu aircraft and 1 to N g Aircraft in a single grid airspace B total Evenly distributed in the airspace, heading Evenly distributed, use V r,h represents the horizontal component of the average relative velocity, V r,u represents the vertical component of the average relative velocity, f collision_ug is the probability of fatality in the event of a collision in a completely unstructured traffic operation, E(fatality|collision) represents the expected probability of a fatal outcome in the event that a collision has occurred, and the risk F of completely unstructured traffic operations of heterogeneous aircraft in a single grid airspace is calculated by the following formula: fatality_ug_u :

[0022] F fatality_ug_u =E(fatality|collision)f collision_ug

[0023]

[0024] Among them, f collision_ug_u S represents the probability of fatal collision of heterogeneous aircraft in a single grid airspace in a completely unstructured traffic operation. h represents the horizontal cross-sectional area of ​​the UAV, S v represents the vertical cross-sectional area of ​​the UAV, E(V r,h ) represents the expected value of the relative speed of the two UAVs in the horizontal direction, E(V r，v ) represents the expected value of the relative velocity of the two UAVs in the vertical direction, |V i -V j | represents the absolute value of the relative speed between UAV i and UAV j;

[0025] Set N u Aircraft in a single grid airspace B total A corridor-like airspace B airway External uniform distribution, heading Uniform distribution, Nc Aircraft in corridor airspace B Airway Evenly distributed in the airspace, heading

[0026] Use B total -B airway Represents a single grid space B total Corridor-free airspace B airway The risk of partial unstructured traffic operation F of heterogeneous aircraft in a single grid airspace is calculated by the following formula: fatality_uc_u :

[0027] F fatality_uc_u =E(fatality|collision)f collision_uc

[0028]

[0029] Among them, f collision_uc represents the probability of fatality in the event of a collision in partially unstructured traffic operation, f collision_uc_u It represents the probability of fatality in the event of a collision between heterogeneous aircraft in a single grid airspace in partially unstructured traffic operations.

[0030] Preferably, step S3 includes:

[0031] Set N g Aircraft in B total -B airway The airspace is evenly distributed and the heading Uniform distribution; N u Aircraft in B airway Evenly distributed in the airspace, heading The risk F of partially structured traffic operation of heterogeneous aircraft in a single grid airspace is calculated by the following formula: fatality_ug_s :

[0032] F fatality_ug_s =E(fatality|collision)f collision_ug_s

[0033]

[0034] Among them, f collision_ug_s represents the probability of fatality in the event of a collision between heterogeneous aircraft in a single grid airspace in partially structured traffic operations;

[0035] Setting B airway The airspace is divided into N layers of different altitude layers. uk Aircraft and N ck Aircraft in Bairway Evenly distributed in the airspace, heading Uniform distribution; f collision_uc_layer_airway The probability of fatality in the event of a collision in the en-route phase is calculated by the following formula: fatality_uc_s_layer_airway :

[0036] F fatality_uc_s_layer_airway =E(fatality|collision)f collision_uc_layer_airway

[0037]

[0038] In the formula, cruise represents the cruising phase, climb / descent represents the climbing / descending phase;

[0039] In B airway1 With B airway2 Divide N layers into B in the airspace where routes intersect layer,k , each layer has N uk Aircraft and N ck The aircraft are evenly distributed and the route angle

[0040] Set f collision_uc_layer_intersection The probability of fatal collision in the crossing route phase is calculated by the following formula: fatality_uc_layer_intersection :

[0041] F fatality_uc_layer_intersection =E(fatality|collision)f collision_uc_layer_intersection

[0042]

[0043] The hierarchical structured traffic operation risk of heterogeneous aircraft in a single grid airspace is calculated by the following formula:

[0044] F fatality_uc_s_network =F fatality_uc_s_layer_airway +F fatality_uc_layer_intersection

[0045] Among them, F fatality_uc_s_network is the total risk of a single grid.

[0046] Preferably, step S4 comprises:

[0047] Use f grid f represents the collision frequency of heterogeneous aircraft integrated operation in a single grid airspace. collision，lIndicates the probability of death after collision at each layer, expressed as R grid R represents the risk of integrated operation of heterogeneous aircraft in a single grid airspace. mode,l Indicates the operating risks in different modes:

[0048]

[0049] Determine that the air risk of the integrated operation of heterogeneous aircraft in a single grid airspace is equal to the sum of the air risks under each preset operation mode;

[0050] Based on the collision frequency and risk of integrated operation of heterogeneous aircraft in a single grid airspace, the air risk of integrated operation of heterogeneous aircraft in a single grid airspace is calculated.

[0051] Preferably, step S4 comprises:

[0052] Use f global R represents the collision frequency of heterogeneous aircraft integrated operation in the global airspace composed of K grid airspaces. global Representing the risk of integrated operation of heterogeneous aircraft in the global airspace consisting of K grid airspaces, we have:

[0053]

[0054] Among them, f collision,k Represents the probability of fatal collision in each grid space, R grid,k Indicates the operational risks in different modes within each grid airspace;

[0055] Determine that the global air risk of the integrated operation of heterogeneous aircraft in the assessed airspace is equal to the sum of the air risks of the integrated operation of heterogeneous aircraft in each grid airspace;

[0056] According to the collision frequency and risk of integrated operation of heterogeneous aircraft in the global airspace, the operation risk of K grid airspaces in the global airspace is calculated.

[0057] The present invention has achieved at least the following beneficial effects:

[0058] 1. It can assess the integrated operation risk of unstructured traffic of heterogeneous aircraft under airspace capacity constraints, as well as the integrated operation risk of structured traffic of heterogeneous aircraft on layered one-way, intersecting routes and route networks. Compared with the traditional airspace operation risk assessment for specific traffic structures, the applicable assessment scope has been expanded and the versatility is better.

[0059] 2. The number of different types of heterogeneous aircraft accommodated in a given airspace is used to conduct airspace integrated operation risk assessment. Compared with the traditional gas model, the Reich-Marks model and its extensions, it has low computational complexity, shorter assessment time and stronger timeliness.

[0060] 3. Combining the respective advantages of the gas model and the Reich-Marks model, the mid-air collision volume of heterogeneous aircraft is constructed, and the airspace operation risk assessment is carried out by combining the airspace integrated operation traffic structure and the aircraft flight phase. Compared with the traditional airspace operation risk assessment, it is more robust.

[0061] Other advantages, objectives and features of the present invention will be described in the following description and will be apparent to those skilled in the art to some extent, or those skilled in the art may be taught from the practice of the present invention. The objectives and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to make the purpose, technical solution and beneficial effects of the present invention clearer, the present invention provides the following drawings for illustration:

[0063] Figure 1 It is a flowchart of the steps of a method for risk assessment of integrated operation of heterogeneous aircraft based on airspace capacity in an embodiment of the present invention;

[0064] Figure 2 This is a schematic diagram of an airspace scenario for integrated operation of heterogeneous aircraft in an embodiment of the present invention;

[0065] Figure 3 Schematic diagram of completely unstructured traffic operation of heterogeneous aircraft in a grid airspace in an embodiment of the present invention;

[0066] Figure 4 It is a schematic diagram of some unstructured traffic operations of heterogeneous aircraft in a grid airspace in an embodiment of the present invention;

[0067] Figure 5 It is a schematic diagram of partially structured traffic operation of heterogeneous aircraft in a grid airspace in an embodiment of the present invention;

[0068] Figure 6 It is a schematic diagram of hierarchical one-way structured traffic operation of heterogeneous aircraft in a grid airspace in an embodiment of the present invention;

[0069] Figure 7 Schematic diagram of hierarchical structured traffic operation of heterogeneous aircraft crossing routes in grid airspace in an embodiment of the present invention. DETAILED DESCRIPTION

[0070] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0071] Aiming at the problems existing in the current gas model, Reich-Marks model and its extension in assessing the risk of heterogeneous aircraft integrated operation, a risk assessment method for heterogeneous aircraft integrated operation based on airspace capacity was proposed.

[0072] The present invention provides a risk assessment method for integrated operation of heterogeneous aircraft based on airspace capacity, referring to Figure 1 , based on the gridded decomposition of the global airspace capacity, the mid-air collision decoupling and estimation of the risk of heterogeneous aircraft integrated operation include the following steps:

[0073] Step S1, decompose the global airspace into K grid airspaces, and establish an airspace scenario for the integrated operation of heterogeneous aircraft;

[0074] Step S2, calculating the risk of heterogeneous aircraft in a single grid airspace under unstructured traffic operation, wherein, under unstructured traffic operation, heterogeneous aircraft fly freely in any airspace completely according to the path generated by the path planning algorithm;

[0075] Step S3, calculating the structured traffic operation risk of heterogeneous aircraft in a single grid airspace, wherein, under the structured traffic operation condition, the heterogeneous aircraft fly along the existing routes / routes in a specific airspace according to specific rules;

[0076] Step S4, calculating the overall risk of integrated operation of heterogeneous aircraft in a single grid airspace, wherein the overall risk of integrated operation represents the sum of the air risks of heterogeneous aircraft in all operation modes in a single grid airspace;

[0077] Step S5: Calculate the operational risks of K grid airspaces in the global airspace based on the integrated overall operational risk.

[0078] In a specific embodiment, the establishment of the integrated operation airspace scenario includes the following steps:

[0079] A1: The risk of integrated operation of heterogeneous aircraft is described by the probability of collision between heterogeneous aircraft and the number of first-party fatalities caused by the collision.

[0080] R mid-air =E(fatality|collision) ELOS ×f collision

[0081] A2: Traffic structure affects the relative speed between heterogeneous aircraft, and thus affects their collision probability. Figure 2, which leads to different aerial risks of drone operations under different traffic structures. The integrated operation of heterogeneous aircraft is divided into: unstructured traffic operation and structured traffic operation.

[0082]

[0083] A3: Under unstructured traffic operating conditions, heterogeneous aircraft can fly freely in any airspace, completely following the path generated by the path planning algorithm.

[0084] A4: Under structured traffic operation conditions, heterogeneous aircraft fly along existing routes / routes in a specific airspace (route network, etc.) according to specific rules (heading-altitude rules, etc.).

[0085] In a specific embodiment, the calculation of the risk of heterogeneous aircraft unstructured traffic operations in a single grid airspace includes the following steps:

[0086] B1: Heterogeneous aircraft operate in completely unstructured traffic in grid airspace, see Figure 3 .

[0087] Set 1 to N u Aircraft and 1~N g Aircraft in a single grid airspace B total Evenly distributed in the airspace, heading Evenly distributed, use V r, h is the horizontal component of the average relative velocity, V r,u represents the vertical component of the average relative velocity, f collision_ug is the probability of fatality in the event of a collision in a completely unstructured traffic operation, E(fatality|collision) represents the expected probability of a fatal outcome in the event that a collision has occurred, and the risk F of completely unstructured traffic operations of heterogeneous aircraft in a single grid airspace is calculated by the following formula: fatality_ug_u :

[0088] F fatality_ug_u =E(fatality|collision)f collision_ug

[0089]

[0090] Among them, f collision_ug_u S represents the probability of fatal collision of heterogeneous aircraft in a single grid airspace in a completely unstructured traffic operation. h represents the horizontal cross-sectional area of ​​the UAV, S v represents the vertical cross-sectional area of ​​the UAV, E(V r,h ) represents the expected value of the relative speed of the two UAVs in the horizontal direction, E(Vr，v ) represents the expected value of the relative velocity of the two UAVs in the vertical direction, |V i -V j | represents the absolute value of the relative speed between UAV i and UAV j;

[0091] B2: Heterogeneous aircraft operating in partially unstructured traffic in grid airspace, see Figure 4 .

[0092] Set N u Aircraft in a single grid airspace B total A corridor-like airspace B airway External uniform distribution, heading Uniform distribution, N c Aircraft in corridor airspace B Airway Evenly distributed in the airspace, heading

[0093] Use B total -B airway Represents a single grid space B total Corridor-free airspace B airway The risk of partial unstructured traffic operation F of heterogeneous aircraft in a single grid airspace is calculated by the following formula: fatality_uc_u :

[0094] F fatality_uc_u =E(fatality|collision)f collision_uc

[0095]

[0096] Among them, f collision_uc represents the probability of fatality in the event of a collision in partially unstructured traffic operation, f collision_uc_u It represents the probability of fatality in the event of a collision between heterogeneous aircraft in a single grid airspace in partially unstructured traffic operations.

[0097] In a specific embodiment, the calculation of the risk of structured traffic operation of heterogeneous aircraft in a single grid airspace includes the following steps:

[0098] C1: Heterogeneous aircraft operating in partially structured traffic in grid airspace, see Figure 5 .

[0099] Set N g Aircraft in B total -B airway The airspace is evenly distributed and the heading Uniform distribution; N u Aircraft in Bairway Evenly distributed in the airspace, heading The risk F of partially structured traffic operation of heterogeneous aircraft in a single grid airspace is calculated by the following formula: fatality_ug_s :

[0100] F fatality_ug_s =E(fatality|collision)f collision_ug_s

[0101]

[0102] Among them, f collision_ug_s represents the probability of fatality in the event of a collision between heterogeneous aircraft in a single grid airspace in partially structured traffic operations;

[0103] C2: Heterogeneous aircraft operate in hierarchical one-way structured traffic in grid airspace, see Figure 6 .

[0104] Setting B airway The airspace is divided into N layers of different altitude layers. uk Aircraft and N ck Aircraft in B airway Evenly distributed in the airspace, heading Uniform distribution; f collision_uc_layer_airway The probability of fatality in the event of a collision in the en-route phase is calculated by the following formula: fatality_uc_s_layer_airway :

[0105] F fatality_uc_s_layer_airway =E(fatality|collision)f collision_uc_layer_airway

[0106]

[0107] In the formula, cruise represents the cruising phase, climb / descent represents the climbing / descending phase;

[0108] In B airway1 With B airway2 Divide N layers into B in the airspace where routes intersect layer,k , each layer has N uk Aircraft and N ck The aircraft are evenly distributed and the route angle

[0109] C3: Heterogeneous aircraft cross-route hierarchical structured traffic operation in grid airspace, refer to Figure 7 .

[0110] Set fcollision_uc_layer_intersection The probability of fatal collision in the crossing route phase is calculated by the following formula: fatality_uc_layer_intersection :

[0111] F fatality_uc_layer_intersection =E(fatality|collision)f collision_uc_layer_intersection

[0112]

[0113] C4: Heterogeneous aircraft operating in a hierarchical structured route network within a grid airspace, see Figure 6 and Figure 7 The traffic structure combination shown uses the results of steps C2 and C3.

[0114] F fatality_uc_s_network =F fatality_uc_s_layer_airway +F fatality_uc_layer_intersection

[0115] In a specific embodiment, the overall risk calculation of the integrated operation of heterogeneous aircraft in a single grid airspace includes the following steps:

[0116] D1: The air risk of integrated operation of heterogeneous aircraft in a single grid airspace is equal to the sum of the air risks under each operation mode (the risks between each operation mode are independent).

[0117] D2:f grid The collision frequency of heterogeneous aircraft integrated operation in a single grid airspace, R grid Risks of integrated operations of heterogeneous aircraft within a single grid airspace.

[0118]

[0119] In a specific embodiment, the calculation of the operational risk of K grid airspaces in the global airspace includes the following steps:

[0120] E1: The global air risk of the integrated operation of heterogeneous aircraft in the assessed airspace is equal to the sum of the air risks of the integrated operation of heterogeneous aircraft in each grid airspace (the risks between each grid are independent)

[0121] E2:f global The collision frequency of heterogeneous aircraft integrated operation in the global airspace (K grid airspaces), R global Risks of integrated operation of heterogeneous aircraft in the global airspace (K grid airspaces):

[0122]

[0123] The method for assessing the integrated operation risk of heterogeneous aircraft based on airspace capacity of the present invention can assess the integrated operation risk of unstructured traffic of heterogeneous aircraft under the limitation of airspace capacity, as well as the integrated operation risk of structured traffic of heterogeneous aircraft in layered one-way, crossing routes and route network. Compared with the traditional airspace operation risk assessment for specific traffic structure, the applicable assessment scope is expanded and the versatility is better.

[0124] The invention discloses a heterogeneous aircraft integrated operation risk assessment method based on airspace capacity, which utilizes the number of different types of heterogeneous aircraft accommodated in a given airspace to perform airspace integrated operation risk assessment. Compared with the traditional gas model, the Reich-Marks model and its extension, the method has low computational complexity, short assessment time and stronger timeliness.

[0125] The present invention provides a heterogeneous aircraft integrated operation risk assessment method based on airspace capacity, which combines the respective advantages of the gas model and the Reich-Marks model to construct the heterogeneous aircraft air collision volume, and combines the airspace integrated operation traffic structure with the aircraft flight phase to perform airspace operation risk assessment, which has better robustness than traditional airspace operation risk assessment.

[0126] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present invention.

Claims

1. A risk assessment method for integrated operation of heterogeneous aircraft based on airspace capacity, characterized in that: include: Step S1, decompose the global airspace into K grid airspaces, and establish an airspace scenario for the integrated operation of heterogeneous aircraft; Step S2, calculating the risk of heterogeneous aircraft in a single grid airspace under unstructured traffic operation, wherein, under unstructured traffic operation, heterogeneous aircraft fly freely in any airspace completely according to the path generated by the path planning algorithm; Step S3, calculating the structured traffic operation risk of heterogeneous aircraft in a single grid airspace, wherein, under the structured traffic operation condition, the heterogeneous aircraft fly along the existing routes / routes in a specific airspace according to specific rules; Step S4, calculating the overall risk of integrated operation of heterogeneous aircraft in a single grid airspace, wherein the overall risk of integrated operation represents the sum of air risks of heterogeneous aircraft in all operation modes in a single grid airspace; Step S5: Calculate the operational risks of K grid airspaces in the global airspace based on the integrated overall operational risk.

2. The method for risk assessment of heterogeneous aircraft integrated operations based on airspace capacity according to claim 1 is characterized in that: In step S1, establishing the airspace scenario for integrated operation of heterogeneous aircraft includes: The heterogeneous aircraft integrated operation is divided into unstructured traffic operation and structured traffic operation; For the airspace scenario of integrated operation of heterogeneous aircraft, the risk of integrated operation of heterogeneous aircraft is determined by calculating the probability of collision between heterogeneous aircraft and the number of first-party deaths caused by collision: R mid-air =+(fatality|collision) ELOS ×f collsion Among them, R mid-air represents the risk of integrated operation of heterogeneous aircraft, E (fatality|collision) ELOS represents the probability of a collision causing death, f collision Indicates the probability of a collision occurring after the collision avoidance system is operated; Among them, 1-P mit is the collision avoidance failure rate of the collision avoidance system, V collision represents the area or volume where a collision may occur, B total is the volume of a single grid space, t represents the system running time, A exp Represents an adjustable constant, E(V r ) represents the average relative speed V between different aircraft r The expected value of , a measure of the relative speed of two vehicles relative to each other as they approach.

3. The method for risk assessment of heterogeneous aircraft integrated operation based on airspace capacity according to claim 2 is characterized in that: The step S2 comprises: Set 1 to N u Aircraft and 1~N g Aircraft in a single grid airspace B total Evenly distributed in the airspace, heading Evenly distributed, use V r,h represents the horizontal component of the average relative velocity, V r,v represents the vertical component of the average relative velocity, f collision_ug is the probability of fatality in the event of a collision in a completely unstructured traffic operation, E(fatality|collision) represents the expected probability of a fatal outcome in the event that a collision has occurred, and the risk F of completely unstructured traffic operations of heterogeneous aircraft in a single grid airspace is calculated by the following formula: fatality_ug_u : F fatality_ug_u =E(fatality|collision)f collision_ug Among them, f collision_ug_u S represents the probability of fatal collision of heterogeneous aircraft in a single grid airspace in a completely unstructured traffic operation. h represents the horizontal cross-sectional area of ​​the UAV, S v represents the vertical cross-sectional area of ​​the UAV, E(V r,h ) represents the expected value of the relative speed of the two UAVs in the horizontal direction, E(V r,v ) represents the expected value of the relative velocity of the two UAVs in the vertical direction, |V i -V j | represents the absolute value of the relative speed between UAV i and UAV j; Set N y Aircraft in a single grid airspace B total A corridor-like airspace B airway External uniform distribution, heading Uniform distribution, N c Aircraft in corridor airspace B Airway Evenly distributed in the airspace, heading Use B total -B airway Represents a single grid space B total Corridor-free airspace B airway The risk of partial unstructured traffic operation F of heterogeneous aircraft in a single grid airspace is calculated by the following formula: fatality_uc_u : F fatality_uc_u =E(fatality|collision)f collision_uc Among them, f collision_uc represents the probability of fatality in the event of a collision in partially unstructured traffic operation, f collision_uc_u It represents the probability of fatality in the event of a collision between heterogeneous aircraft in a single grid airspace in partially unstructured traffic operations.

4. The method for risk assessment of heterogeneous aircraft integrated operation based on airspace capacity according to claim 3 is characterized in that: The step S3 comprises: Set N g Aircraft in B total -B airway The airspace is evenly distributed and the heading Uniform distribution; N u Aircraft in B airway Evenly distributed in the airspace, heading The risk F of partially structured traffic operation of heterogeneous aircraft in a single grid airspace is calculated by the following formula: fatality_ug_s : F fatality_ug_s =E(fatality|collision)f collision_ug_s Among them, f collision_ug_s It represents the probability of fatality in the event of a collision between heterogeneous aircraft in a single grid airspace in partially structured traffic operations; Setting B airway The airspace is divided into N layers of different altitude layers. uk Aircraft and N ck Aircraft in B airway Evenly distributed in the airspace, heading Uniform distribution; f collision_uc_layer_airway The probability of fatality in the event of a collision in the en-route phase is calculated by the following formula: fatality_uc_s_layer_airway : F fatality_uc_s_layer_airway =E(fatality|collision)f collision_uc_layer_airway In the formula, cruise represents the cruising phase, climb / descent represents the climbing / descending phase; In B airway1 With B airway2 Divide N layers into B in the airspace where routes intersect layer,k , each layer has N uk Aircraft and N ck The aircraft are evenly distributed and the route angle Set f collision_uc_layer_intersection The probability of fatal collision in the crossing route phase is calculated by the following formula: fatality_uc__layer_intersection : F fatality_uc__layer_intersection =E(fatality|collision)f collision_uc_layer_intersection The hierarchical structured traffic operation risk of heterogeneous aircraft in a single grid airspace is calculated by the following formula: F fatality_uc_s_network =F fatality_uc_s_layer_airway +F fatality_uc__layer_intersection Among them, F fatality_uc_s_network is the total risk of a single grid.

5. The method for risk assessment of heterogeneous aircraft integrated operations based on airspace capacity according to claim 1 is characterized in that: The step S4 comprises: Use f grid The collision frequency of heterogeneous aircraft integrated operation in a single grid airspace is represented by f collision,l Indicates the probability of death after collision at each layer, expressed as R grid R represents the risk of integrated operation of heterogeneous aircraft in a single grid airspace. mode,l Indicates the operating risks in different modes: Determine that the air risk of the integrated operation of heterogeneous aircraft in a single grid airspace is equal to the sum of the air risks under each preset operation mode; Based on the collision frequency and risk of integrated operation of heterogeneous aircraft in a single grid airspace, the air risk of integrated operation of heterogeneous aircraft in a single grid airspace is calculated.

6. The method for risk assessment of heterogeneous aircraft integrated operation based on airspace capacity according to claim 1 is characterized in that: The step S4 comprises: Use f global R represents the collision frequency of heterogeneous aircraft integrated operation in the global airspace composed of K grid airspaces. global Representing the risk of integrated operation of heterogeneous aircraft in the global airspace consisting of K grid airspaces, we have: Among them, f collision,k Represents the probability of fatal collision in each grid space, R grid,k Indicates the operational risks in different modes within each grid airspace; Determine that the global air risk of the integrated operation of heterogeneous aircraft in the assessed airspace is equal to the sum of the air risks of the integrated operation of heterogeneous aircraft in each grid airspace; According to the collision frequency and risk of integrated operation of heterogeneous aircraft in the global airspace, the operation risk of K grid airspaces in the global airspace is calculated.

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