Airplane air collision avoidance method and system referring to air rules

Abstract

The invention belongs to the technical field of flight control, and particularly relates to an aircraft air collision avoidance method and system referring to an air rule. The method comprises the following steps: performing trajectory prediction to obtain a first flight trajectory of a local aircraft under a first course angular rate control rule; performing trajectory prediction to obtain a second flight trajectory of the threatening aircraft; evaluating a collision risk according to the first flight trajectory and the second flight trajectory, and if there is a collision risk between the local aircraft and the threat aircraft, performing trajectory prediction to obtain a plurality of collision avoidance trajectories of the local aircraft under a third course angular rate control rule; the feasibility of each collision avoidance track is evaluated; if all the collision avoidance tracks are not feasible, the local machine executes the collision avoidance track generating the maximum Euclidean distance; if one collision avoidance track exists and is feasible, the local machine executes the collision avoidance track; and if a plurality of feasible collision avoidance tracks exist, the cost of the plurality of feasible collision avoidance tracks is calculated, and the local machine executes the collision avoidance track with the minimum cost.

Description

Technical Field

[0001] The present application belongs to the field of flight control technology, and in particular relates to an aircraft mid-air collision avoidance method and system with reference to air rules. Background Art

[0002] Ensuring that aircraft can maintain the current safety level and will not increase the risk to other users in the airspace is a necessary condition for aircraft to be approved to fly in non-segregated airspace. Detection and avoidance systems are key measures to reduce the risk of mid-air collisions, but current detection and avoidance systems usually focus on selecting the optimal avoidance route and lack consideration of existing civil aviation air rules.

[0003] Therefore, it is desired to have a technical solution to overcome or at least alleviate at least one of the above-mentioned defects of the prior art. Summary of the invention

[0004] The purpose of the present application is to provide an aircraft mid-air collision avoidance method and system with reference to air rules, so as to solve at least one problem existing in the prior art.

[0005] The technical solution of this application is:

[0006] The first aspect of the present application provides an aircraft mid-air collision avoidance method with reference to air rules, comprising:

[0007] Step 1: Obtain the position, heading angle and speed of the aircraft, and give the first heading angular rate control law of the aircraft, perform trajectory prediction according to the position, heading angle, speed and the first heading angular rate control law of the aircraft, and obtain the first flight trajectory;

[0008] Step 2: Obtain the position, heading angle and speed of the threat aircraft on the same horizontal plane as the aircraft, and give the second heading angular rate control law of the threat aircraft, perform trajectory prediction according to the position, heading angle, speed and second heading angular rate control law of the threat aircraft, and obtain the second flight trajectory;

[0009] Step 3: Evaluate the collision risk according to the first flight trajectory and the second flight trajectory. If there is a collision risk between the aircraft and the threat aircraft, proceed to the next step.

[0010] Step 4: Obtain the position, heading angle and speed of the aircraft, and give the third heading angular rate control law of the aircraft, perform trajectory prediction according to the position, heading angle, speed and the third heading angular rate control law of the aircraft, and obtain multiple collision avoidance trajectories;

[0011] Step 5: Evaluate the feasibility of each collision avoidance trajectory;

[0012] If all collision avoidance trajectories are not feasible, the aircraft executes the collision avoidance trajectory that produces the maximum Euclidean distance;

[0013] If there is a feasible collision avoidance trajectory, the aircraft will execute the collision avoidance trajectory;

[0014] If there are multiple feasible collision avoidance trajectories, proceed to the next step;

[0015] Step 6: Calculate the costs of multiple feasible collision avoidance trajectories, and execute the collision avoidance trajectory with the minimum cost.

[0016] In at least one embodiment of the present application, in step 1, the position, heading angle and speed of the aircraft are obtained, and a first heading angular rate control law of the aircraft is given, and trajectory prediction is performed according to the position, heading angle, speed and first heading angular rate control law of the aircraft to obtain a first flight trajectory, including:

[0017] Get the position, heading angle and speed of the aircraft;

[0018] Given the first heading angular rate control law of the aircraft:

[0019]

[0020] Among them, ω k is the heading angular rate of the aircraft at time k, K is the heading angular rate control gain coefficient, ψ k is the heading angle of the aircraft at time k, is the own aircraft’s heading;

[0021] According to the position, heading angle, speed and the first heading angle rate control law of the aircraft, the trajectory prediction is carried out, and the first flight trajectory is obtained as follows:

[0022] x k+1 =x k +v△tcosψ k

[0023] y k+1 =y k +v△tsinψ k

[0024] ψ k+1 =ψ k +△tω k

[0025] Among them, x k+1 is the x-axis coordinate of the machine at time k+1, x k is the x-axis coordinate of the machine at time k, y k+1 is the y-axis coordinate of the aircraft at time k+1, y kis the y-axis coordinate of the aircraft at time k, ψ k+1 is the heading angle of the aircraft at time k+1, ψ k is the heading angle of the aircraft at time k, v is the aircraft speed, △t is the time increment, ω k is the heading angular rate of the aircraft at time k.

[0026] In at least one embodiment of the present application, in step 2, the position, heading angle, and speed of the threat aircraft on the same horizontal plane as the aircraft are obtained, and a second heading angular rate control law of the threat aircraft is given, and trajectory prediction is performed according to the position, heading angle, speed, and second heading angular rate control law of the threat aircraft to obtain a second flight trajectory, including:

[0027] Obtain the position, heading angle and speed of the threat aircraft on the same horizontal plane as the aircraft;

[0028] The second heading angular rate control law of the given threat aircraft is: the heading angular rate ω′ of the threat aircraft at time k k is 0;

[0029] According to the position, heading angle, speed and the second heading angle rate control law of the threat aircraft, the trajectory is predicted to obtain the second flight trajectory:

[0030] x′ k+1 = x′ k +v′△tcosψ′ k

[0031] y′ k+1 =y′ k +v′△tsinψ′ k

[0032] ψ′ k+1 =ψ′ k +△tω′ k

[0033] Among them, x′ k+1 is the x-axis coordinate of the threat aircraft at time k+1, x′ k is the x-axis coordinate of the threat aircraft at time k, y′ k+1 is the y-axis coordinate of the threat aircraft at time k+1, y′ k is the y-axis coordinate of the threat aircraft at time k, ψ′ k+1 is the heading angle of the threatening aircraft at time k+1, ψ′ k is the heading angle of the threat aircraft at time k, v′ is the speed of the threat aircraft, △t is the time increment, ω′ k is the heading angular velocity of the threat aircraft at time k.

[0034] In at least one embodiment of the present application, in step three, evaluating the collision risk according to the first flight trajectory and the second flight trajectory includes:

[0035] According to the first flight trajectory and the second flight trajectory, the Euclidean distance between the aircraft and the threat aircraft at time k is calculated:

[0036]

[0037] △x k =x k -x′ k

[0038] △y k =y k -y′ k

[0039] Among them, δ k is the Euclidean distance between the aircraft and the threat aircraft at time k, x k is the x-axis coordinate of the machine at time k, y k is the y-axis coordinate of the aircraft at time k, x′ k is the x-axis coordinate of the threat aircraft at time k, y′ k is the y-axis coordinate of the threat aircraft at time k;

[0040] Determine whether the Euclidean distance between the aircraft and the threat aircraft at any time within the trajectory prediction interval T is less than the minimum safety gap δ min , if so, there is a risk of collision between the aircraft and the threatening aircraft.

[0041] In at least one embodiment of the present application, in step 4, the position, heading angle and speed of the aircraft are obtained, and the third heading angular rate control law of the aircraft is given, and trajectory prediction is performed according to the position, heading angle, speed and the third heading angular rate control law of the aircraft to obtain multiple collision avoidance trajectories, including:

[0042] Get the position, heading angle and speed of the aircraft;

[0043] The third heading angular rate control law of the given aircraft is:

[0044] ω k =K(ψ k -ψ-△ψ)

[0045] Among them, ω k is the heading angular rate of the aircraft at time k, K is the heading angular rate control gain coefficient, ψ k is the heading angle of the aircraft at time k, ψ is the heading of the aircraft, and △ψ is the heading angle deviation constant;

[0046] According to the position, heading angle, speed and the third heading angle rate control law of the aircraft, the trajectory prediction is carried out, and the collision avoidance trajectory is obtained as follows:

[0047] x k+1 =x k +v△tcosψ k

[0048] y k+1 =y k +v△tsinψ k

[0049] ψ k+1 =ψ k +△tω k

[0050] Among them, x k+1 is the x-axis coordinate of the machine at time k+1, x k is the x-axis coordinate of the machine at time k, y k+1 is the y-axis coordinate of the aircraft at time k+1, y k is the y-axis coordinate of the aircraft at time k, ψ k+1 is the heading angle of the aircraft at time k+1, ψ k is the heading angle of the aircraft at time k, v is the aircraft speed, △t is the time increment, ω k is the heading angular rate of the aircraft at time k;

[0051] The collision avoidance trajectories were obtained when the heading angle offset constant △ψ was -180°, -144°, -108°, -72°, -36°, 36°, 72°, 108°, and 144°, respectively, and 9 collision avoidance trajectories were obtained.

[0052] In at least one embodiment of the present application, in step 5, evaluating the feasibility of each of the collision avoidance trajectories includes:

[0053] According to each of the collision avoidance trajectories and the second flight trajectory, respectively calculating the Euclidean distance between the aircraft and the threat aircraft at time k;

[0054] Determine whether the Euclidean distance between the aircraft and the threat aircraft at any time within the trajectory prediction interval T is less than the minimum safety gap δ under the corresponding collision avoidance trajectory. min , if so, the collision avoidance trajectory is not feasible.

[0055] In at least one embodiment of the present application, in step 6, the cost of the collision avoidance trajectory is:

[0056] J(△ψ)=κ ψ △ψ 2 +κ p (△ψ-△ψp ) 2 +κ RoTA

[0057] Where J(△ψ) is the cost of the collision avoidance trajectory, κ ψ is the penalty coefficient for the heading angle deviation constant, κ p is the penalty coefficient for selecting the change of the heading angle deviation constant, △ψ p is the heading angle deviation constant of the collision avoidance trajectory selected at the last moment, κ RoTA It is the penalty coefficient for violating the right of passage of air rules.

[0058] In at least one embodiment of the present application, each penalty coefficient is determined as follows:

[0059] Penalty coefficient κ for heading angle deviation constant ψ Take the first fixed value;

[0060] The penalty coefficient κ for selecting the constant change of heading angle deviation p Take the second fixed value;

[0061] The penalty coefficient κ for violating the air traffic rules RoTA : When choosing left turn maneuver for collision avoidanceκ RoTA Take the third constant C, when the collision avoidance trajectory violates the air rules κ RoTA Take the fourth fixed value 10·C, otherwise κ RoTA Take 0.

[0062] The second aspect of the present application provides an aircraft air collision avoidance system that refers to air rules, which is installed on the aircraft, and includes:

[0063] Detection equipment, used to obtain the position, heading angle and speed of the threat aircraft on the same horizontal plane as the aircraft, and send the acquired threat aircraft data to the collision avoidance computer;

[0064] Navigation equipment, used to obtain the position, heading angle and speed of the aircraft, and send the acquired data to the collision avoidance computer;

[0065] A collision avoidance computer, for calculating a collision avoidance trajectory to be executed by the aircraft according to the aircraft air collision avoidance method with reference to air rules as described above, and sending a collision avoidance instruction to the controller;

[0066] The controller is used to control the aircraft to perform collision avoidance maneuvers according to collision avoidance instructions.

[0067] The invention has at least the following beneficial technical effects:

[0068] The aircraft mid-air collision avoidance method with reference to air rules in the present application has a simple recursive equation and does not require a large amount of computing resources; it does not require communication with the threatening aircraft and is applicable to air threat situations in all scenarios; it meets the provisions of air rules on the right of way in the airspace and does not adversely affect other users in the airspace or increase the probability of mid-air collisions. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 It is a flow chart of an aircraft mid-air collision avoidance method referring to air rules according to one embodiment of the present application;

[0070] Figure 2 This is a schematic diagram of the first air rule's provisions on communication rights in one implementation mode of the present application;

[0071] Figure 3 This is a schematic diagram of the second air rule for communication rights according to one embodiment of the present application;

[0072] Figure 4 It is a schematic diagram of the third air rule's provisions on communication rights in one implementation mode of the present application;

[0073] Figure 5 It is a schematic diagram of an aircraft mid-air collision avoidance system referring to air rules according to one embodiment of the present application.

[0074] in:

[0075] 101 - detection equipment; 102 - navigation equipment; 103 - collision avoidance computer; 104 - controller. DETAILED DESCRIPTION

[0076] In order to make the purpose, technical scheme and advantages of the implementation of this application clearer, the technical scheme in the embodiment of this application will be described in more detail below in conjunction with the drawings in the embodiment of this application. In the drawings, the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The described embodiments are part of the embodiments of this application, not all of them. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain this application, and should not be construed as limitations on this application. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. The embodiments of this application are described in detail below in conjunction with the drawings.

[0077] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the scope of protection of the present application.

[0078] The following is combined with Figures 1 to 5 This application is described in further detail.

[0079] The first aspect of the present application provides an aircraft mid-air collision avoidance method based on air rules, such as Figure 1 As shown, the following steps are included:

[0080] Step 1: Obtain the position, heading angle and speed of the aircraft, and give the first heading angular rate control law of the aircraft, perform trajectory prediction according to the position, heading angle, speed and the first heading angular rate control law of the aircraft, and obtain the first flight trajectory;

[0081] Step 2: Obtain the position, heading angle and speed of the threat aircraft on the same horizontal plane as the aircraft, and give the second heading angular rate control law of the threat aircraft, perform trajectory prediction according to the position, heading angle, speed and second heading angular rate control law of the threat aircraft, and obtain the second flight trajectory;

[0082] Step 3: Evaluate the collision risk based on the first flight trajectory and the second flight trajectory. If there is a collision risk between the aircraft and the threat aircraft, proceed to the next step.

[0083] Step 4: Obtain the position, heading angle and speed of the aircraft, and give the third heading angular rate control law of the aircraft, perform trajectory prediction according to the position, heading angle, speed and the third heading angular rate control law of the aircraft, and obtain multiple collision avoidance trajectories;

[0084] Step 5: Evaluate the feasibility of each collision avoidance trajectory;

[0085] If all collision avoidance trajectories are not feasible, the aircraft executes the collision avoidance trajectory that produces the maximum Euclidean distance;

[0086] If there is a feasible collision avoidance trajectory, the aircraft will execute the collision avoidance trajectory;

[0087] If there are multiple feasible collision avoidance trajectories, proceed to the next step;

[0088] Step 6: Calculate the costs of multiple feasible collision avoidance trajectories, and the local machine executes the collision avoidance trajectory with the minimum cost.

[0089] In the aircraft air collision avoidance method of the present application, the aircraft performs a collision avoidance maneuver and performs a flight mission according to its own first heading angular rate control law. In step 1, based on the aircraft's current position, heading angle, and speed, combined with the first heading angular rate control law, the aircraft's position and heading angle at the next moment can be predicted. Specifically, trajectory prediction is performed based on the aircraft's position, heading angle, speed, and the first heading angular rate control law to obtain a first flight trajectory, including:

[0090] Get the position, heading angle and speed of the aircraft;

[0091] Given the first heading angular rate control law of the aircraft:

[0092]

[0093] Among them, ω k is the heading angular rate of the aircraft at time k, K is the heading angular rate control gain coefficient, ψ k is the heading angle of the aircraft at time k, is the own aircraft’s heading;

[0094] According to the position, heading angle, speed and the first heading angle rate control law of the aircraft, the trajectory prediction is carried out, and the first flight trajectory is obtained as follows:

[0095] x k+1 =x k +v△tcosψ k

[0096] y k+1 =y k +v△tsinψ k

[0097] ψ k+1 =ψ k +△tω k

[0098] Among them, x k+1 is the x-axis coordinate of the machine at time k+1, x k is the x-axis coordinate of the machine at time k, y k+1 is the y-axis coordinate of the aircraft at time k+1, y k is the y-axis coordinate of the aircraft at time k, ψ k+1 is the heading angle of the aircraft at time k+1, ψ k is the heading angle of the aircraft at time k, v is the aircraft speed, △t is the time increment, ω k is the heading angular rate of the aircraft at time k.

[0099] The aircraft air collision avoidance method with reference to air rules of the present application, in step 2, obtains the position, heading angle and speed of the threat aircraft on the same horizontal plane as the aircraft, and gives a second heading angular rate control law of the threat aircraft, performs trajectory prediction according to the position, heading angle, speed and second heading angular rate control law of the threat aircraft, and obtains the second flight trajectory, including:

[0100] Obtain the position, heading angle and speed of the threat aircraft on the same horizontal plane as the aircraft;

[0101] The second heading angular rate control law of the given threat aircraft is: the heading angular rate ω′ of the threat aircraft at time k k is 0;

[0102] According to the position, heading angle, speed and the second heading angle rate control law of the threat aircraft, the trajectory is predicted to obtain the second flight trajectory:

[0103] x′ k+1 = x′ k +v′△tcosψ′ k

[0104] y′ k+1 =y′ k +v′△tsinψ′ k

[0105] ψ′ k+1 =ψ′ k +△tω′ k

[0106] Among them, x′ k+1 is the x-axis coordinate of the threat aircraft at time k+1, x′ k is the x-axis coordinate of the threat aircraft at time k, y′ k+1 is the y-axis coordinate of the threat aircraft at time k+1, y′ k is the y-axis coordinate of the threat aircraft at time k, ψ′ k+1 is the heading angle of the threatening aircraft at time k+1, ψ′ k is the heading angle of the threat aircraft at time k, v′ is the speed of the threat aircraft, △t is the time increment, ω′ k is the heading angular velocity of the threat aircraft at time k.

[0107] In the aircraft air collision avoidance method referring to air rules of the present application, in step 3, the collision risk is evaluated according to the first flight trajectory and the second flight trajectory, including:

[0108] According to the first flight trajectory and the second flight trajectory, the Euclidean distance between the aircraft and the threat aircraft at time k is calculated:

[0109]

[0110] △x k =x k -x′ k

[0111] △y k =y k -y′ k

[0112] Among them, δ k is the Euclidean distance between the aircraft and the threat aircraft at time k, x k is the x-axis coordinate of the machine at time k, y k is the y-axis coordinate of the aircraft at time k, x′ k is the x-axis coordinate of the threat aircraft at time k, y′ k is the y-axis coordinate of the threat aircraft at time k;

[0113] Determine whether the Euclidean distance between the aircraft and the threat aircraft at any time within the trajectory prediction interval T is less than the minimum safety gap δ min , if so, there is a risk of collision between the aircraft and the threatening aircraft.

[0114] According to the collision risk assessment result in step 3, it is determined whether to execute the collision avoidance trajectory prediction in the subsequent steps, evaluate the feasibility of the collision avoidance trajectory, and calculate the cost of each collision avoidance trajectory.

[0115] In the aircraft air collision avoidance method based on air rules of the present application, collision avoidance trajectory prediction is a key link in the collision avoidance system. In most collision avoidance systems, the accuracy of collision avoidance trajectory prediction and the determination of avoidance maneuvering schemes are important factors that determine the pros and cons of the system. The collision avoidance trajectory prediction uses the same kinematic equations as the flight trajectory prediction, but changes the heading angular velocity control law of the aircraft. In step 4, the position, heading angle, and speed of the aircraft are obtained, and the third heading angular velocity control law of the aircraft is given. Trajectory prediction is performed based on the position, heading angle, speed, and third heading angular velocity control law of the aircraft to obtain multiple collision avoidance trajectories, including:

[0116] Get the position, heading angle and speed of the aircraft;

[0117] The third heading angular rate control law of the given aircraft is:

[0118] ω k =K(ψ k -ψ-△ψ)

[0119] Among them, ω k is the heading angular rate of the aircraft at time k, K is the heading angular rate control gain coefficient, ψ kis the heading angle of the aircraft at time k, ψ is the heading of the aircraft, and △ψ is the heading angle deviation constant;

[0120] According to the position, heading angle, speed and the third heading angle rate control law of the aircraft, the trajectory prediction is carried out, and the collision avoidance trajectory is obtained as follows:

[0121] x k+1 =x k +v△tcosψ k

[0122] y k+1 =y k +v△tsinψ k

[0123] ψ k+1 =ψ k +△tω k

[0124] Among them, x k+1 is the x-axis coordinate of the machine at time k+1, x k is the x-axis coordinate of the machine at time k, y k+1 is the y-axis coordinate of the aircraft at time k+1, y k is the y-axis coordinate of the aircraft at time k, ψ k+1 is the heading angle of the aircraft at time k+1, ψ k is the heading angle of the aircraft at time k, v is the aircraft speed, △t is the time increment, ω k is the heading angular rate of the aircraft at time k;

[0125] The collision avoidance trajectories were obtained when the heading angle offset constant △ψ was -180°, -144°, -108°, -72°, -36°, 36°, 72°, 108°, and 144°, respectively, and 9 collision avoidance trajectories were obtained.

[0126] In this embodiment, the Euclidean distance calculation is performed in the same manner as in step 3 to evaluate whether each collision avoidance trajectory is feasible. In step 5, the feasibility of each collision avoidance trajectory is evaluated, including:

[0127] According to each collision avoidance trajectory and the second flight trajectory, the Euclidean distance between the own aircraft and the threat aircraft at time k is calculated respectively;

[0128] Determine whether the Euclidean distance between the aircraft and the threat aircraft at any time within the trajectory prediction interval T is less than the minimum safety gap δ under the corresponding collision avoidance trajectory min , if so, the collision avoidance trajectory is not feasible.

[0129] In the aircraft air collision avoidance method based on air rules of the present application, in step 6, the cost of the collision avoidance trajectory is:

[0130] J(△ψ)=κ ψ △ψ 2 +κ p (△ψ-△ψ p ) 2 +κ RoTA

[0131] Where J(△ψ) is the cost of the collision avoidance trajectory, κ ψ is the penalty coefficient for the heading angle deviation constant, κ p is the penalty coefficient for selecting the change of the heading angle deviation constant, △ψ p is the heading angle deviation constant of the collision avoidance trajectory selected at the last moment, κ RoTA It is the penalty coefficient for violating the right of passage of air rules.

[0132] In the preferred implementation of the present application, the value of each penalty coefficient is as follows:

[0133] Penalty coefficient κ for heading angle deviation constant ψ Take the first fixed value;

[0134] The penalty coefficient κ for selecting the constant change of heading angle deviation p Take the second fixed value;

[0135] The penalty coefficient κ for violating the air traffic rules RoTA : When choosing left turn maneuver for collision avoidanceκ RoTA Take the third constant C, when the collision avoidance trajectory violates the air rules κ RoTA Take the fourth fixed value 10·C, otherwise κ RoTA Take 0.

[0136] It can be understood that, in this embodiment, the first constant and the second constant are both selected as smaller constants, and the third constant is selected as a larger constant.

[0137] A second aspect of the present application provides an aircraft air collision avoidance system that refers to air rules. The aircraft air collision avoidance system that refers to air rules is installed on the aircraft. Figure 5 As shown, it includes a detection device 101, a navigation device 102, an anti-collision computer 103 and a controller 104. The detection device 101, the navigation device 102 and the controller 104 are all connected to the anti-collision computer 103.

[0138] The aircraft air collision avoidance system with reference to air rules of the present application, the detection device 101 includes an optoelectronic system and a radar, which is used to obtain the position, heading angle and speed of the threat aircraft on the same horizontal plane as the aircraft, and send the acquired threat aircraft data to the collision avoidance computer 103; the navigation device 102 includes inertial components, which is used to obtain the position, heading angle and speed of the aircraft, and send the acquired data of the aircraft to the collision avoidance computer 103; the collision avoidance computer 103 is used to calculate the collision avoidance trajectory executed by the aircraft according to the aircraft air collision avoidance method with reference to air rules, and send a collision avoidance instruction to the controller 104; the controller 104 is used to control the aircraft to implement a collision avoidance maneuver according to the collision avoidance instruction.

[0139] In the aircraft air collision avoidance system with reference to air rules of the present application, the detection device 101 can send the detected position, heading angle and speed information of the threat aircraft on the same horizontal plane as the aircraft to the collision avoidance computer 103 through the bus, and the navigation device 102 can send the collected position, heading angle and speed information of the aircraft to the collision avoidance computer 103 through the bus. The collision avoidance computer 103 can receive the data sent by the detection device 101 and the navigation device 102, and calculate the flight trajectory of the aircraft and the threat aircraft according to the built-in heading angle rate control law, and calculate multiple collision avoidance trajectories when there is a risk of collision between the aircraft and the threat aircraft, and finally select the collision avoidance trajectory executed by the aircraft by evaluating the feasibility and cost, and send a collision avoidance instruction to the controller 104. If the controller 104 receives the collision avoidance instruction sent by the collision avoidance computer 103 through the bus, it will start the collision avoidance maneuver, otherwise it will not perform the collision avoidance maneuver.

[0140] It should be noted that the anti-collision computer 103 is designed to work only when the aircraft is threatened with a collision. When the aircraft is threatened with a collision, it quickly calculates the optimal collision avoidance route after referring to the air rules, and does not interfere with the normal execution of the aircraft's mission when there is no collision threat. The most important principle in the design of the anti-collision computer 103 is that no collision occurs, that is, when ensuring safety and meeting air rules conflict, a collision avoidance route that ensures safety is selected. For example, when only one of the nine collision avoidance trajectories calculated by the anti-collision computer 103 is feasible but does not meet air rules, the anti-collision computer 103 should still output the corresponding instruction of the feasible collision avoidance trajectory to the controller 104.

[0141] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for avoiding aircraft collision in the air by referring to air rules, characterized in that: include: Step 1: Obtain the position, heading angle and speed of the aircraft, and give the first heading angular rate control law of the aircraft, perform trajectory prediction according to the position, heading angle, speed and the first heading angular rate control law of the aircraft, and obtain the first flight trajectory; Step 2: Obtain the position, heading angle and speed of the threat aircraft on the same horizontal plane as the aircraft, and give the second heading angular rate control law of the threat aircraft, perform trajectory prediction according to the position, heading angle, speed and second heading angular rate control law of the threat aircraft, and obtain the second flight trajectory; Step 3: Evaluate the collision risk according to the first flight trajectory and the second flight trajectory. If there is a collision risk between the aircraft and the threat aircraft, proceed to the next step. Step 4: Obtain the position, heading angle and speed of the aircraft, and give the third heading angular rate control law of the aircraft, perform trajectory prediction according to the position, heading angle, speed and the third heading angular rate control law of the aircraft, and obtain multiple collision avoidance trajectories; Step 5: Evaluate the feasibility of each collision avoidance trajectory; If all collision avoidance trajectories are not feasible, the aircraft executes the collision avoidance trajectory that produces the maximum Euclidean distance; If there is a feasible collision avoidance trajectory, the aircraft will execute the collision avoidance trajectory; If there are multiple feasible collision avoidance trajectories, proceed to the next step; Step 6: Calculate the costs of multiple feasible collision avoidance trajectories, and execute the collision avoidance trajectory with the minimum cost.

2. The method for avoiding collisions in the air with reference to air rules according to claim 1, characterized in that: In step 1, the position, heading angle and speed of the aircraft are obtained, and the first heading angular rate control law of the aircraft is given. According to the position, heading angle, speed and the first heading angular rate control law of the aircraft, trajectory prediction is performed to obtain the first flight trajectory, including: Get the position, heading angle and speed of the aircraft; Given the first heading angular rate control law of the aircraft: Among them, ω k is the heading angular rate of the aircraft at time k, K is the heading angular rate control gain coefficient, ψ k is the heading angle of the aircraft at time k, ψ is the heading of the aircraft; According to the position, heading angle, speed and the first heading angle rate control law of the aircraft, the trajectory is predicted and the first flight trajectory is obtained as follows: x k+1 =x k +v△tcosψ k and k+1 =and k +v△tsinψ k ψ k+1 =ψ k +△tω k Among them, x k+1 is the x-axis coordinate of the machine at time k+1, x k is the x-axis coordinate of the machine at time k, y k+1 is the y-axis coordinate of the aircraft at time k+1, y k is the y-axis coordinate of the aircraft at time k, ψ k+1 is the heading angle of the aircraft at time k+1, ψ k is the heading angle of the aircraft at time k, v is the aircraft speed, △t is the time increment, ω k is the heading angular rate of the aircraft at time k.

3. The method for avoiding collisions in the air with reference to air rules according to claim 2, characterized in that: In step 2, the position, heading angle and speed of the threat aircraft on the same horizontal plane as the aircraft are obtained, and the second heading angular rate control law of the threat aircraft is given. According to the position, heading angle, speed and the second heading angular rate control law of the threat aircraft, trajectory prediction is performed to obtain the second flight trajectory, including: Obtain the position, heading angle and speed of the threat aircraft on the same horizontal plane as the aircraft; The second heading angular rate control law of the given threat aircraft is: the heading angular rate ω′ of the threat aircraft at time k k is 0; According to the position, heading angle, speed and the second heading angle rate control law of the threat aircraft, the trajectory is predicted to obtain the second flight trajectory: x′ k+1 =x′ k +v′△tcosψ′ k and' k+1 =y′ k +v′△tsinψ′ k ψ′ k+1 =ψ′ k +△tω′ k Among them, x′ k+1 is the x-axis coordinate of the threat aircraft at time k+1, x′ k is the x-axis coordinate of the threat aircraft at time k, y′ k+1 is the y-axis coordinate of the threat aircraft at time k+1, y′ k is the y-axis coordinate of the threat aircraft at time k, ψ′ k+1 is the heading angle of the threatening aircraft at time k+1, ψ′ k is the heading angle of the threat aircraft at time k, v′ is the speed of the threat aircraft, △t is the time increment, ω′ k is the heading angular velocity of the threat aircraft at time k.

4. The method for avoiding collisions in the air with reference to air rules according to claim 3, characterized in that: In step three, evaluating the collision risk according to the first flight trajectory and the second flight trajectory includes: According to the first flight trajectory and the second flight trajectory, the Euclidean distance between the aircraft and the threat aircraft at time k is calculated: △x k =x k -x′ k △and k =and k -and' k Among them, δ k is the Euclidean distance between the aircraft and the threat aircraft at time k, x k is the x-axis coordinate of the machine at time k, y k is the y-axis coordinate of the aircraft at time k, x′ k is the x-axis coordinate of the threat aircraft at time k, y′ k is the y-axis coordinate of the threat aircraft at time k; Determine whether the Euclidean distance between the aircraft and the threat aircraft at any time within the trajectory prediction interval T is less than the minimum safety gap δ min , if so, there is a risk of collision between the aircraft and the threatening aircraft.

5. The method for avoiding collisions in the air with aircrafts according to claim 4, characterized in that: In step 4, the position, heading angle and speed of the aircraft are obtained, and the third heading angular rate control law of the aircraft is given. According to the position, heading angle, speed and the third heading angular rate control law of the aircraft, trajectory prediction is performed to obtain multiple collision avoidance trajectories, including: Get the position, heading angle and speed of the aircraft; The third heading angular rate control law of the given aircraft is: Among them, ω k is the heading angular rate of the aircraft at time k, K is the heading angular rate control gain coefficient, ψ k is the heading angle of the aircraft at time k, is the own-machine heading, △ψ is the heading angle deviation constant; According to the position, heading angle, speed and the third heading angle rate control law of the aircraft, the trajectory prediction is carried out, and the collision avoidance trajectory is obtained as follows: x k+1 =x k +v△tcosψ k and k+1 =and k +v△tsinψ k ψ k+1 =ψ k +△tω k Among them, x k+1 is the x-axis coordinate of the machine at time k+1, x k is the x-axis coordinate of the machine at time k, y k+1 is the y-axis coordinate of the aircraft at time k+1, y k is the y-axis coordinate of the aircraft at time k, ψ k+1 is the heading angle of the aircraft at time k+1, ψ k is the heading angle of the aircraft at time k, v is the aircraft speed, △t is the time increment, ω k is the heading angular rate of the aircraft at time k; The collision avoidance trajectories were obtained when the heading angle offset constant △ψ was -180°, -144°, -108°, -72°, -36°, 36°, 72°, 108°, and 144°, respectively, and 9 collision avoidance trajectories were obtained.

6. The method for avoiding collisions in the air with aircrafts according to claim 5, characterized in that: In step 5, the feasibility of each collision avoidance trajectory is evaluated, including: According to each of the collision avoidance trajectories and the second flight trajectory, respectively calculating the Euclidean distance between the aircraft and the threat aircraft at time k; Determine whether the Euclidean distance between the aircraft and the threat aircraft at any time within the trajectory prediction interval T is less than the minimum safety gap δ under the corresponding collision avoidance trajectory. min , if so, the collision avoidance trajectory is not feasible.

7. The method for avoiding aircraft collision in the air by referring to air rules according to claim 6, characterized in that: In step 6, the cost of the collision avoidance trajectory is: J(△ψ)=κ ψ △ψ 2 +k p (△ψ-△ψ p ) 2 +k RoTA Where J(△ψ) is the cost of the collision avoidance trajectory, κ ψ is the penalty coefficient for the heading angle deviation constant, κ p is the penalty coefficient for selecting the change of the heading angle deviation constant, △ψ p is the heading angle deviation constant of the collision avoidance trajectory selected at the last moment, κ RoTA It is the penalty coefficient for violating the right of passage of air rules.

8. The method for avoiding collisions in the air with reference to air rules according to claim 7, characterized in that: The values ​​of each penalty coefficient are as follows: Penalty coefficient κ for heading angle deviation constant ψ Take the first fixed value; The penalty coefficient κ for selecting the constant change of heading angle deviation p Take the second fixed value; The penalty coefficient κ for violating the air traffic rules RoTA : When choosing left turn maneuver for collision avoidanceκ RoTA Take the third constant C, when the collision avoidance trajectory violates the air rules κ RoTA Take the fourth fixed value 10·C, otherwise κ RoTA Take 0.

9. An aircraft air collision avoidance system that refers to air rules, installed on the aircraft, characterized in that: include: A detection device (101) is used to obtain the position, heading angle and speed of a threat aircraft on the same horizontal plane as the aircraft, and send the obtained threat aircraft data to an anti-collision computer (103); A navigation device (102) is used to obtain the position, heading angle and speed of the aircraft, and send the obtained data of the aircraft to the collision avoidance computer (103); an anti-collision computer (103), configured to calculate a collision avoidance trajectory executed by the aircraft according to the aircraft air collision avoidance method with reference to air rules according to any one of claims 1 to 8, and to send a collision avoidance instruction to a controller (104); The controller (104) is used to control the aircraft to implement a collision avoidance maneuver according to the collision avoidance instruction.

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