Airplane air collision avoidance method and system with reference to air rules

Abstract

The application belongs to the technical field of flight control, and particularly relates to an aircraft mid-air collision avoidance method and system based on air rules. The method comprises the following steps: trajectory prediction is performed to obtain a first flight trajectory of the aircraft under a first heading angle rate control law; trajectory prediction is performed to obtain a second flight trajectory of a threat aircraft; collision risk is evaluated according to the first flight trajectory and the second flight trajectory; if the aircraft and the threat aircraft have collision risk, trajectory prediction is performed to obtain a plurality of collision avoidance trajectories of the aircraft under a third heading angle rate control law; the feasibility of each collision avoidance trajectory is evaluated; if all the collision avoidance trajectories are infeasible, the aircraft executes a collision avoidance trajectory with the largest Euclidean distance; if there is one feasible collision avoidance trajectory, the aircraft executes the collision avoidance trajectory; if there are a plurality of feasible collision avoidance trajectories, the cost of the plurality of feasible collision avoidance trajectories is calculated, and the aircraft executes a collision avoidance trajectory with the minimum cost.

Description

Technical Field

[0001] This application belongs to the field of flight control technology, and specifically relates to an aircraft air collision avoidance method and system that references air traffic rules. Background Technology

[0002] Ensuring that an aircraft can maintain its current safety level without increasing the risk to other users in the airspace is a prerequisite for its approval to fly in non-isolated airspace. Detection and avoidance systems are key measures to reduce the risk of mid-air collisions, but current detection and avoidance systems often focus on selecting the optimal avoidance route and lack consideration for existing civil aviation air traffic rules.

[0003] Therefore, it is desirable to have a technical solution to overcome or at least mitigate one of the aforementioned defects of the prior art. Summary of the Invention

[0004] The purpose of this application is to provide an aircraft air collision avoidance method and system that references air traffic rules to solve at least one problem existing in the prior art.

[0005] The technical solution of this application is:

[0006] The first aspect of this application provides an aircraft mid-air collision avoidance method referencing air traffic 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. Based on the position, heading angle, speed, and first heading angular rate control law of the aircraft, perform trajectory prediction to obtain the first flight trajectory.

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

[0009] Step 3: Assess the collision risk based on the first and second flight trajectories. If there is a collision risk between the aircraft and the threatening aircraft, proceed to the next step.

[0010] Step 4: Obtain the position, heading angle, and speed of the machine, and give the machine's third heading angle rate control law. Based on the machine's position, heading angle, speed, and third heading angle rate control law, perform trajectory prediction to obtain multiple collision avoidance trajectories.

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

[0012] If all collision avoidance trajectories are not feasible, the machine will execute the collision avoidance trajectory that produces the maximum Euclidean distance.

[0013] If a collision avoidance trajectory is feasible, the machine will execute that collision avoidance trajectory.

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

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

[0016] In at least one embodiment of this application, in step one, the position, heading angle, and velocity of the aircraft are obtained, and a first heading angular rate control law for the aircraft is given. Based on the position, heading angle, velocity, and the first heading angular rate control law, trajectory prediction is performed to obtain a first flight trajectory, including:

[0017] Obtain the machine's position, heading angle, and speed;

[0018] The first heading angular rate control law of this machine is as follows:

[0019]

[0020] Where, ω k Let ψ be the heading angular rate of the machine at time k, K be the heading angular rate control gain coefficient, and ψ be the heading angular rate control gain coefficient. k Let be the heading angle of the machine at time k. This is the heading of the aircraft;

[0021] Based on the aircraft's position, heading angle, speed, and the first heading angular rate control law, trajectory prediction is performed, resulting in the following first flight trajectory:

[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] Where, x k+1 Let x be the x-axis coordinate of the machine at time k+1. k Let x be the x-axis coordinate of the machine at time k, and y be the x-axis coordinate of the machine at time k. k+1 Let y be the y-axis coordinate of the local machine at time k+1. kLet ψ be the y-coordinate of the machine at time k. k+1 Let ψ be the heading angle of the machine at time k+1. k Let v be the heading angle of the machine at time k, v be the machine velocity, Δt be the time increment, and ω be the yaw angle. k Let be the heading angular rate of the machine at time k.

[0026] In at least one embodiment of this application, in step two, the position, heading angle, and velocity of a threatening aircraft on the same horizontal plane as the local aircraft are obtained, and a second heading angular rate control law for the threatening aircraft is given. Based on the position, heading angle, velocity, and the second heading angular rate control law of the threatening aircraft, trajectory prediction is performed to obtain a second flight trajectory, including:

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

[0028] The second heading angular rate control law for the threatening aircraft is: the heading angular rate ω′ of the threatening aircraft at time k. k =0;

[0029] Based on the position, heading angle, speed of the threatening aircraft, and the second heading angle rate control law, 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] Where, x′ k+1 To determine the x-axis coordinate of the threatening aircraft at time k+1, x′ k To determine the x-axis coordinate of the threatening aircraft at time k, y′ k+1 To determine the y-axis coordinate of the threatening aircraft at time k+1, y′ k To determine the y-axis coordinate of the aircraft at time k, ψ′ k+1 To threaten the heading angle of the aircraft at time k+1, ψ′ k Let v′ be the heading angle of the threatening aircraft at time k, v′ be the velocity of the threatening aircraft, Δt be the time increment, and ω′ be the speed of the threatening aircraft. k The angular rate of the aircraft at time k is the threat level.

[0034] In at least one embodiment of this application, step three, assessing the collision risk based on the first flight trajectory and the second flight trajectory, includes:

[0035] Based on the first flight trajectory and the second flight trajectory, calculate the Euclidean distance between the local aircraft and the threat aircraft at time k:

[0036]

[0037] △x k =x k -x′ k

[0038] △y k =y k -y′ k

[0039] Where, δ k x represents the Euclidean distance between the local aircraft and the threat aircraft at time k. k Let x be the x-axis coordinate of the machine at time k, and y be the x-axis coordinate of the machine at time k. k Let x' be the y-coordinate of the local machine at time k. k To determine the x-axis coordinate of the threatening aircraft at time k, y′ k The y-axis coordinate of the threatening 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 safe clearance δ. min If so, then there is a risk of collision between this aircraft and the threatening aircraft.

[0041] In at least one embodiment of this application, in step four, the position, heading angle, and velocity of the machine are obtained, and a third heading angular rate control law for the machine is given. Based on the machine's position, heading angle, velocity, and the third heading angular rate control law, trajectory prediction is performed to obtain multiple collision avoidance trajectories, including:

[0042] Obtain the machine's position, heading angle, and speed;

[0043] The third heading angular rate control law for this machine is as follows:

[0044] ω k =K(ψ) k -ψ-△ψ)

[0045] Where, ω k Let ψ be the heading angular rate of the machine at time k, K be the heading angular rate control gain coefficient, and ψ be the heading angular rate control gain coefficient. k Let ψ be the heading angle of the machine at time k, ψ be the heading of the machine, and Δψ be the constant of the heading angle offset.

[0046] Based on the aircraft's position, heading angle, speed, and third heading angular rate control law, trajectory prediction is performed, resulting in the collision avoidance trajectory:

[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] Where, x k+1 Let x be the x-axis coordinate of the machine at time k+1. k Let x be the x-axis coordinate of the machine at time k, and y be the x-axis coordinate of the machine at time k. k+1 Let y be the y-axis coordinate of the local machine at time k+1. k Let ψ be the y-coordinate of the machine at time k. k+1 Let ψ be the heading angle of the machine at time k+1. k Let v be the heading angle of the machine at time k, v be the machine velocity, Δt be the time increment, and ω be the yaw angle. k Let be the heading angular rate of the machine at time k;

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

[0052] In at least one embodiment of this application, step five, evaluating the feasibility of each of the said collision avoidance trajectories, includes:

[0053] Based on each collision avoidance trajectory and the second flight trajectory, calculate the Euclidean distance between the aircraft and the threatening aircraft at time k.

[0054] Determine whether, under the corresponding collision avoidance trajectory, 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 clearance δ. min If so, then the collision avoidance trajectory is not feasible.

[0055] In at least one embodiment of this application, in step six, 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 κ is the penalty coefficient for the constant heading angle deviation. p To apply the penalty coefficient for the constant change in the selected heading angle deviation, Δψ p κ is the constant of the heading angle offset of the collision avoidance trajectory selected in the previous moment. RoTA This is the penalty coefficient for violating air traffic rules and right-of-way.

[0058] In at least one embodiment of this application, the values ​​of each penalty coefficient are determined as follows:

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

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

[0061] Penalty coefficient κ for violations of right-of-way rules RoTA When choosing to make a left turn to avoid a collision, κ RoTA Take the third fixed value C, when the collision avoidance trajectory violates the air rules, κ RoTA Take the fourth constant value of 10 C, otherwise κ RoTA Take 0.

[0062] A second aspect of this application provides an aircraft air collision avoidance system referencing air traffic rules, installed on the aircraft, comprising:

[0063] The detection equipment is used to obtain the position, heading angle, and speed of threatening aircraft on the same horizontal plane as the local aircraft, and sends the obtained threatening aircraft data to the collision avoidance computer.

[0064] Navigation equipment is used to acquire the machine's position, heading angle, and speed, and then send the acquired data to a collision avoidance computer.

[0065] The collision avoidance computer is used to calculate the collision avoidance trajectory to be executed by the aircraft based on the aircraft air collision avoidance method of the reference air rules as described above, and to send collision avoidance instructions to the controller.

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

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

[0068] The air collision avoidance method for aircraft based on air traffic rules proposed in this application has a simple recursive equation that does not require a large amount of computational resources; it does not require communication with threatening aircraft and is applicable to all air threat scenarios; it meets the air traffic rules for right-of-way in the airspace and does not adversely affect other users in the airspace or increase the probability of air collisions. Attached Figure Description

[0069] Figure 1 This is a flowchart of an aircraft air collision avoidance method according to reference air traffic rules, one embodiment of this application;

[0070] Figure 2 This is a schematic diagram illustrating the first airspace rule for communication rights in one embodiment of this application;

[0071] Figure 3 This is a schematic diagram illustrating the second airspace rule for communication rights in one embodiment of this application;

[0072] Figure 4 This is a schematic diagram illustrating the third airspace rule for communication rights in one embodiment of this application;

[0073] Figure 5 This is a schematic diagram of an aircraft air collision avoidance system based on reference air traffic rules, according to one embodiment of this application.

[0074] in:

[0075] 101-Detection equipment; 102-Navigation equipment; 103-Collision avoidance computer; 104-Controller. Detailed Implementation

[0076] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0077] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this application.

[0078] The following is in conjunction with the appendix Figures 1 to 5 This application will be described in further detail.

[0079] The first aspect of this application provides an aircraft mid-air collision avoidance method referencing air traffic rules, such as... Figure 1 As shown, it includes the following steps:

[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. Based on the position, heading angle, speed, and first heading angular rate control law of the aircraft, perform trajectory prediction to obtain the first flight trajectory.

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

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

[0083] Step 4: Obtain the position, heading angle, and speed of the machine, and give the machine's third heading angle rate control law. Based on the machine's position, heading angle, speed, and third heading angle rate control law, perform trajectory prediction to obtain multiple collision avoidance trajectories.

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

[0085] If all collision avoidance trajectories are not feasible, the machine will execute the collision avoidance trajectory that produces the maximum Euclidean distance.

[0086] If a collision avoidance trajectory is feasible, the machine will execute that collision avoidance trajectory.

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

[0088] Step 6: Calculate the cost of multiple feasible collision avoidance trajectories, and execute the collision avoidance trajectory with the lowest cost on the local machine.

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

[0090] Obtain the machine's position, heading angle, and speed;

[0091] The first heading angular rate control law of this machine is as follows:

[0092]

[0093] Where, ω k Let ψ be the heading angular rate of the machine at time k, K be the heading angular rate control gain coefficient, and ψ be the heading angular rate control gain coefficient. k Let be the heading angle of the machine at time k. This is the heading of the aircraft;

[0094] Based on the aircraft's position, heading angle, speed, and the first heading angular rate control law, trajectory prediction is performed, resulting in the following first flight trajectory:

[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] Where, x k+1 Let x be the x-axis coordinate of the machine at time k+1. k Let x be the x-axis coordinate of the machine at time k, and y be the x-axis coordinate of the machine at time k. k+1 Let y be the y-axis coordinate of the local machine at time k+1. k Let ψ be the y-coordinate of the machine at time k. k+1 Let ψ be the heading angle of the machine at time k+1. k Let v be the heading angle of the machine at time k, v be the machine velocity, Δt be the time increment, and ω be the yaw angle. k Let be the heading angular rate of the machine at time k.

[0099] The aircraft air collision avoidance method based on air traffic rules of this application, in step two, obtains the position, heading angle, and velocity of a threatening aircraft on the same horizontal plane as the aircraft, and provides a second heading angular rate control law for the threatening aircraft. Based on the position, heading angle, velocity, and second heading angular rate control law of the threatening aircraft, trajectory prediction is performed to obtain a second flight trajectory, including:

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

[0101] The second heading angular rate control law for the threatening aircraft is: the heading angular rate ω′ of the threatening aircraft at time k. k =0;

[0102] Based on the position, heading angle, speed of the threatening aircraft, and the second heading angle rate control law, 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] Where, x′ k+1 To determine the x-axis coordinate of the threatening aircraft at time k+1, x′ k To determine the x-axis coordinate of the threatening aircraft at time k, y′ k+1 To determine the y-axis coordinate of the threatening aircraft at time k+1, y′ k To determine the y-axis coordinate of the aircraft at time k, ψ′ k+1 To threaten the heading angle of the aircraft at time k+1, ψ′ k Let v′ be the heading angle of the threatening aircraft at time k, v′ be the velocity of the threatening aircraft, Δt be the time increment, and ω′ be the speed of the threatening aircraft. k The angular rate of the aircraft at time k is the threat level.

[0107] The aircraft mid-air collision avoidance method based on the rules of the air in this application, in step three, assesses the collision risk based on the first flight trajectory and the second flight trajectory, including:

[0108] Based on the first and second flight trajectories, calculate the Euclidean distance between the aircraft and the threat aircraft at time k:

[0109]

[0110] △x k =x k -x′ k

[0111] △y k =y k -y′ k

[0112] Where, δ k x represents the Euclidean distance between the local aircraft and the threat aircraft at time k. k Let x be the x-axis coordinate of the machine at time k, and y be the x-axis coordinate of the machine at time k. k Let x' be the y-coordinate of the local machine at time k. k To determine the x-axis coordinate of the threatening aircraft at time k, y′ k The y-axis coordinate of the threatening 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 safe clearance δ. min If so, then there is a risk of collision between this aircraft and the threatening aircraft.

[0114] Based on the collision risk assessment results in step three, determine whether to execute the subsequent steps of collision avoidance trajectory prediction, assess the feasibility of collision avoidance trajectories, and calculate the cost of each collision avoidance trajectory.

[0115] The airborne collision avoidance method for aircraft based on air traffic rules in this application prioritizes collision avoidance trajectory prediction as a crucial component of the collision avoidance system. In most collision avoidance systems, the accuracy of the collision avoidance trajectory prediction and the determination of the avoidance maneuver scheme are critical factors determining the system's performance. The collision avoidance trajectory prediction uses the same kinematic equations as the flight trajectory prediction, but modifies the aircraft's heading angular rate control law. In step four, the aircraft's position, heading angle, and velocity are obtained, and the aircraft's third heading angular rate control law is given. Based on the aircraft's position, heading angle, velocity, and third heading angular rate control law, trajectory prediction is performed to obtain multiple collision avoidance trajectories, including:

[0116] Obtain the machine's position, heading angle, and speed;

[0117] The third heading angular rate control law for this machine is as follows:

[0118] ω k =K(ψ) k -ψ-△ψ)

[0119] Where, ω k Let ψ be the heading angular rate of the machine at time k, K be the heading angular rate control gain coefficient, and ψ be the heading angular rate control gain coefficient. kLet ψ be the heading angle of the machine at time k, ψ be the heading of the machine, and Δψ be the constant of the heading angle offset.

[0120] Based on the aircraft's position, heading angle, speed, and third heading angular rate control law, trajectory prediction is performed, resulting in the collision avoidance trajectory:

[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] Where, x k+1 Let x be the x-axis coordinate of the machine at time k+1. k Let x be the x-axis coordinate of the machine at time k, and y be the x-axis coordinate of the machine at time k. k+1 Let y be the y-axis coordinate of the local machine at time k+1. k Let ψ be the y-coordinate of the machine at time k. k+1 Let ψ be the heading angle of the machine at time k+1. k Let v be the heading angle of the machine at time k, v be the machine velocity, Δt be the time increment, and ω be the yaw angle. k Let be the heading angular rate of the machine at time k;

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

[0126] In this embodiment, the Euclidean distance calculation, performed in the same manner as in step three, is used to evaluate the feasibility of each collision avoidance trajectory. Step five, evaluating the feasibility of each collision avoidance trajectory, includes:

[0127] Based on each collision avoidance trajectory and the second flight trajectory, calculate the Euclidean distance between the local aircraft and the threat aircraft at time k.

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

[0129] In the aircraft mid-air collision avoidance method based on the rules of flight of this application, the cost of the collision avoidance trajectory in step six 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 κ is the penalty coefficient for the constant heading angle deviation. p To apply the penalty coefficient for the constant change in the selected heading angle deviation, Δψ p κ is the constant of the heading angle offset of the collision avoidance trajectory selected in the previous moment. RoTA This is the penalty coefficient for violating air traffic rules and right-of-way.

[0132] In a preferred embodiment of this application, the values ​​of each penalty coefficient are determined as follows:

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

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

[0135] Penalty coefficient κ for violations of right-of-way rules RoTA When choosing to make a left turn to avoid a collision, κ RoTA Take the third fixed value C, when the collision avoidance trajectory violates the air rules, κ RoTA Take the fourth constant value of 10 C, otherwise κ RoTA Take 0.

[0136] It is understood that in this embodiment, the first and second fixed values ​​are both selected as smaller fixed values, and the third fixed value is selected as a larger fixed value.

[0137] The second aspect of this application provides an aircraft air collision avoidance system referencing air traffic rules, which is installed on the aircraft, such as... Figure 5 As shown, the system includes a detection device 101, a navigation device 102, a collision avoidance computer 103, and a controller 104. The detection device 101, navigation device 102, and controller 104 are all connected to the collision avoidance computer 103.

[0138] The reference air traffic control (RLC) aircraft air collision avoidance system of this application includes a detection device 101 comprising an electro-optical system and radar, used to acquire the position, heading angle, and velocity of a threatening aircraft on the same horizontal plane as the aircraft, and to send the acquired threatening aircraft data to a collision avoidance computer 103; a navigation device 102 comprising inertial components, used to acquire the position, heading angle, and velocity of the aircraft, and to send the acquired aircraft data to the collision avoidance computer 103; the collision avoidance computer 103 is used to calculate the collision avoidance trajectory to be executed by the aircraft according to the RLC aircraft air collision avoidance method, and to send a collision avoidance command to a controller 104; the controller 104 is used to control the aircraft to perform collision avoidance maneuvers according to the collision avoidance command.

[0139] The air collision avoidance system of this application, which references air traffic rules, includes a detection device 101 that can transmit the position, heading angle, and speed information of a threat aircraft on the same horizontal plane as the aircraft to a collision avoidance computer 103 via a bus. A navigation device 102 can also transmit the collected position, heading angle, and speed information of the aircraft itself to the collision avoidance computer 103 via a bus. The collision avoidance computer 103 receives the data from the detection device 101 and the navigation device 102, calculates the flight trajectories of the aircraft and the threat aircraft based on its built-in heading angle rate control law, and calculates multiple collision avoidance trajectories when there is a risk of collision between the aircraft and the threat aircraft. After evaluating feasibility and cost, it ultimately selects the collision avoidance trajectory to be executed by the aircraft and sends a collision avoidance command to the controller 104. If the controller 104 receives the collision avoidance command from the collision avoidance computer 103 via the bus, it initiates a collision avoidance maneuver; otherwise, it does not perform a collision avoidance maneuver.

[0140] It should be noted that the collision avoidance computer 103 is designed to operate only when there is a collision threat to the aircraft. When a collision threat exists, it rapidly calculates the optimal collision avoidance route after referencing air traffic rules. When there is no collision threat, it does not interfere with the normal execution of its tasks. The most important design principle of the collision avoidance computer 103 is to prevent collisions; that is, when there is a conflict between ensuring safety and complying with air traffic rules, the collision avoidance route that ensures safety is selected. For example, if only one of the nine collision avoidance trajectories calculated by the collision avoidance computer 103 is feasible but does not comply with air traffic rules, the collision avoidance computer 103 should still output the corresponding instruction for that feasible collision avoidance trajectory to the controller 104.

[0141] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for aircraft mid-air collision avoidance referencing air traffic 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. Based on the position, heading angle, speed, and first heading angular rate control law of the aircraft, perform trajectory prediction to obtain the first flight trajectory. Step 2: Obtain the position, heading angle, and speed of the threatening aircraft on the same horizontal plane as the local aircraft, and give the second heading angle rate control law of the threatening aircraft. Based on the position, heading angle, speed, and second heading angle rate control law of the threatening aircraft, perform trajectory prediction to obtain the second flight trajectory. Step 3: Assess the collision risk based on the first and second flight trajectories. If there is a collision risk between the aircraft and the threatening aircraft, proceed to the next step. Step 4: Obtain the position, heading angle, and speed of the machine, and give the machine's third heading angle rate control law. Based on the machine's position, heading angle, speed, and third heading angle rate control law, perform trajectory prediction to obtain multiple collision avoidance trajectories. Step 5: Evaluate the feasibility of each of the described collision avoidance trajectories; If all collision avoidance trajectories are not feasible, the machine will execute the collision avoidance trajectory that produces the maximum Euclidean distance. If a collision avoidance trajectory is feasible, the machine will execute that collision avoidance trajectory. If multiple collision avoidance trajectories are feasible, proceed to the next step; Step 6: Calculate the cost of multiple feasible collision avoidance trajectories, and execute the collision avoidance trajectory with the lowest cost on the machine.

2. The aircraft mid-air collision avoidance method based on air traffic rules according to claim 1, characterized in that, In step one, the machine's position, heading angle, and velocity are obtained, and a first heading rate control law for the machine is given. Based on the machine's position, heading angle, velocity, and the first heading rate control law, trajectory prediction is performed to obtain the first flight trajectory, including: Obtain the machine's position, heading angle, and speed; The first heading angular rate control law of this machine is as follows: Where, ω k Let ψ be the heading angular rate of the machine at time k, K be the heading angular rate control gain coefficient, and ψ be the heading angular rate control gain coefficient. k Let be the heading angle of the machine at time k. This is the heading of the aircraft; Based on the aircraft's position, heading angle, speed, and the first heading angular rate control law, trajectory prediction is performed, resulting in the following first flight trajectory: x k+1 =x k +v△tcosψ k and k+1 / and k +v△tsinψ k ψ k+1 =ψ k +△tω k Where, x k+1 Let x be the x-axis coordinate of the machine at time k+1. k Let x be the x-axis coordinate of the machine at time k, and y be the x-axis coordinate of the machine at time k. k+1 Let y be the y-axis coordinate of the local machine at time k+1. k Let ψ be the y-coordinate of the machine at time k. k+1 Let ψ be the heading angle of the machine at time k+1. k Let v be the heading angle of the machine at time k, v be the machine velocity, Δt be the time increment, and ω be the yaw angle. k Let be the heading angular rate of the machine at time k.

3. The aircraft mid-air collision avoidance method based on air traffic rules according to claim 2, characterized in that, In step two, the position, heading angle, and velocity of the threatening aircraft on the same horizontal plane as the pilot are obtained. A second heading rate control law for the threatening aircraft is given. Based on the threatening aircraft's position, heading angle, velocity, and the second heading rate control law, trajectory prediction is performed to obtain the second flight trajectory, including: Obtain the position, heading angle, and speed of threat aircraft on the same horizontal plane as your own. The second heading angular rate control law for the threatening aircraft is: the heading angular rate ω′ of the threatening aircraft at time k. k =0; Based on the position, heading angle, speed of the threatening aircraft, and the second heading angle rate control law, 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 Where, x′ k+1 To determine the x-axis coordinate of the threatening aircraft at time k+1, x′ k To determine the x-axis coordinate of the threatening aircraft at time k, y′ k+1 To determine the y-axis coordinate of the threatening aircraft at time k+1, y′ k To determine the y-axis coordinate of the aircraft at time k, ψ′ k+1 To threaten the heading angle of the aircraft at time k+1, ψ′ k Let v′ be the heading angle of the threatening aircraft at time k, v′ be the velocity of the threatening aircraft, Δt be the time increment, and ω′ be the speed of the threatening aircraft. k The angular rate of the aircraft at time k is the threat level.

4. The aircraft mid-air collision avoidance method based on air traffic rules according to claim 3, characterized in that, Step three involves assessing the collision risk based on the first and second flight trajectories, including: Based on the first flight trajectory and the second flight trajectory, calculate the Euclidean distance between the local aircraft and the threat aircraft at time k: △x k =x k -x′ k △y k / and k -and' k Where, δ k x represents the Euclidean distance between the local aircraft and the threat aircraft at time k. k Let x be the x-axis coordinate of the machine at time k, and y be the x-axis coordinate of the machine at time k. k Let x' be the y-coordinate of the local machine at time k. k To determine the x-axis coordinate of the threatening aircraft at time k, y′ k The y-axis coordinate of the threatening 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 safe clearance δ. min If so, then there is a risk of collision between this aircraft and the threatening aircraft.

5. The aircraft mid-air collision avoidance method based on air traffic rules according to claim 4, characterized in that, In step four, the machine's position, heading angle, and velocity are obtained, and a third heading rate control law is given. Based on the machine's position, heading angle, velocity, and the third heading rate control law, trajectory prediction is performed to obtain multiple collision avoidance trajectories, including: Obtain the machine's position, heading angle, and speed; The third heading angular rate control law for this machine is as follows: Where, ω k Let ψ be the heading angular rate of the machine at time k, K be the heading angular rate control gain coefficient, and ψ be the heading angular rate control gain coefficient. k Let be the heading angle of the machine at time k. The heading is the machine's heading, and △ψ is the heading angle offset constant. Based on the aircraft's position, heading angle, speed, and third heading angular rate control law, trajectory prediction is performed, resulting in the collision avoidance trajectory: x k+1 =x k +v△tcosψ k and k+1 / and k +v△tsinψ k ψ k+1 =ψ k +△tω k Where, x k+1 Let x be the x-axis coordinate of the machine at time k+1. k Let x be the x-axis coordinate of the machine at time k, and y be the x-axis coordinate of the machine at time k. k+1 Let y be the y-axis coordinate of the local machine at time k+1. k Let ψ be the y-coordinate of the machine at time k. k+1 Let ψ be the heading angle of the machine at time k+1. k Let v be the heading angle of the machine at time k, v be the machine velocity, Δt be the time increment, and ω be the yaw angle. k Let be the heading angular rate of the machine at time k; The collision avoidance trajectories were obtained when the heading angle offset constant Δψ was -180°, -144°, -108°, -72°, -36°, 36°, 72°, 108°, and 144°, respectively, resulting in 9 collision avoidance trajectories.

6. The aircraft mid-air collision avoidance method based on air traffic rules according to claim 5, characterized in that, Step five involves evaluating the feasibility of each collision avoidance trajectory, including: Based on each collision avoidance trajectory and the second flight trajectory, calculate the Euclidean distance between the aircraft and the threatening aircraft at time k. Determine whether, under the corresponding collision avoidance trajectory, 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 clearance δ. min If so, then the collision avoidance trajectory is not feasible.

7. The aircraft mid-air collision avoidance method based on air traffic rules according to claim 6, characterized in that, In step six, 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 κ is the penalty coefficient for the constant heading angle deviation. p To apply the penalty coefficient for the constant change in the selected heading angle deviation, Δψ p κ is the constant of the heading angle offset of the collision avoidance trajectory selected in the previous moment. RoTA This is the penalty coefficient for violating air traffic rules and right-of-way.

8. The aircraft mid-air collision avoidance method based on air traffic rules according to claim 7, characterized in that, The values ​​for each penalty coefficient are determined as follows: The penalty coefficient κ for the constant heading angle deviation ψ Take the first constant value; The penalty coefficient κ for the constant change of the selected heading angle deviation p Take the second constant value; Penalty coefficient κ for violations of right-of-way rules RoTA When choosing to make a left turn to avoid a collision, κ RoTA Take the third fixed value C, when the collision avoidance trajectory violates the air rules, κ RoTA Take the fourth constant value of 10 C, otherwise κ RoTA Take 0.

9. An aircraft air collision avoidance system referencing air traffic rules, installed on the aircraft, characterized in that, include: The detection device (101) is used to obtain the position, heading angle and speed of the threatening aircraft on the same horizontal plane as the local machine, and to send the obtained threatening aircraft data to the collision avoidance computer (103); The navigation device (102) is used to obtain the position, heading angle and speed of the local machine, and send the obtained local data to the collision avoidance computer (103); The collision avoidance computer (103) is used to calculate the collision avoidance trajectory executed by the aircraft in the air collision avoidance method based on the reference air traffic rules according to any one of claims 1 to 8, and to send a collision avoidance command to the controller (104); The controller (104) is used to control the machine to perform collision avoidance maneuvers according to the collision avoidance command.

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