Method and device for carrying out conflict detection on aircraft, and electronic equipment

Abstract

The invention provides a conflict detection method and device for aircrafts, electronic equipment and a non-instantaneous computer readable storage medium, the method is applied to a first aircraft, and the method comprises the following steps: acquiring flight data broadcasted by a second aircraft; calculating a distance interval of the first aircraft and the second aircraft at any time point and a time interval of the first aircraft and the second aircraft at any space point in a preset time period; when the distance interval is smaller than a preset distance interval threshold value and the time interval is smaller than a preset time interval threshold value, constructing a conflict range of the first aircraft; and performing clustering analysis on the first aircraft and the second aircrafts by using the conflict range so as to divide the second aircrafts conflicting with the first aircraft into the same cluster. According to the embodiment, the first aircraft constructs the conflict range of any two aircrafts according to the preset time interval threshold value and the distance interval threshold value, so that the aircrafts with conflicts are divided into the same cluster, and a data basis is provided for subsequent conflict resolution.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of low-altitude flight management, in particular to a method and device for conflict detection of aircraft, electronic equipment and non-transitory computer readable storage medium. BACKGROUND

[0002] At present, the management and service level of low-altitude is still in the information stage, and the development process of digitization, intelligentization, automation, autonomy and self-evolution has just begun. Low-altitude airspace contains broad application and prospect.

[0003] With the booming development of low-altitude economy mainly based on consumer-grade unmanned aerial vehicles, industrial-grade unmanned aerial vehicles, urban air traffic, navigable helicopters and other industries, new challenges are put forward for the traffic management and planning of low-altitude airspace. Therefore, it is necessary to provide a unified management technical solution for low-altitude aircraft to ensure the safe operation of low-altitude aircraft. SUMMARY

[0004] The present application provides a method and device for conflict detection of aircraft, electronic equipment and non-transitory computer readable storage medium to solve the problem of conflict detection of low-altitude aircraft in the prior art.

[0005] According to an aspect of the present application, a method for conflict detection of aircraft is provided, applied to a first aircraft, the method comprising:

[0006] obtaining flight data broadcast by a second aircraft;

[0007] calculating the distance interval at any time point and the time interval at any space point between the first aircraft and the second aircraft within a preset time period;

[0008] when the distance interval is less than a preset distance interval threshold and the time interval is less than a preset time interval threshold, constructing a conflict range of the first aircraft;

[0009] using the conflict range to perform cluster analysis on the first aircraft and the second aircraft to divide the second aircraft having conflict with the first aircraft into the same cluster.

[0010] According to some embodiments, the flight data includes position information, preset trajectory parameters and flight parameters.

[0011] According to some embodiments, calculating the distance interval at any time point and the time interval at any space point between the first aircraft and the second aircraft within a preset time period comprises:

[0012] calculating, according to the position information of the second aerial vehicle and using preset trajectory parameters, a distance interval between the first aerial vehicle and the second aerial vehicle at any time point within a preset time period;

[0013] calculating, according to the flight parameters and the distance interval, the time interval between the first aerial vehicle and the second aerial vehicle at any spatial point.

[0014] According to some embodiments, the conflict range is represented by a conflict graph, and when the distance interval is less than a preset distance interval threshold and the time interval is less than a preset time interval threshold, the conflict range of the first aerial vehicle is constructed, including:

[0015] When the distance interval is less than a preset distance interval threshold and the time interval is less than a preset time interval threshold, a separation edge is added between the first aerial vehicle and the second aerial vehicle to generate the conflict range.

[0016] According to some embodiments, the conflict graph is represented by an adjacency matrix or an adjacency list.

[0017] According to some embodiments, the first aerial vehicle and the second aerial vehicle are subjected to cluster analysis using the conflict range to divide the second aerial vehicles that have conflicts with the first aerial vehicle into the same cluster, including:

[0018] From any node of the conflict graph as a starting node, other nodes are traversed to mark other nodes connected with the starting node as the same cluster;

[0019] The traversal process is repeated for each node in the conflict graph until the nodes in the conflict graph that have conflicts with the first aerial vehicle are all marked.

[0020] According to some embodiments, from any node of the conflict graph as a starting node, other nodes are traversed to mark other nodes connected with the starting node as the same cluster, including:

[0021] From any node of the conflict graph as a starting node, other nodes are traversed using a depth-first search method or a breadth-first search method to mark other nodes connected with the starting node as the same cluster.

[0022] According to some embodiments, before calculating the distance interval between the first aerial vehicle and the second aerial vehicle at any time point within a preset time period and the time interval between the first aerial vehicle and the second aerial vehicle at any spatial point, the method further includes clock synchronization and / or parameter unification with the second aerial vehicle.

[0023] According to some embodiments, before calculating the distance interval and the time interval between the first aircraft and the second aircraft at any time point and any space point within a preset time period, the method further comprises: performing consistency verification on the flight data.

[0024] According to an aspect of the present application, a device for detecting conflicts of aircraft is provided, which is installed on a first aircraft, and the device comprises:

[0025] a flight data acquisition unit configured to acquire flight data broadcast by a second aircraft;

[0026] an interval calculation unit configured to calculate a distance interval and a time interval between the first aircraft and the second aircraft at any time point and any space point within a preset time period;

[0027] a conflict graph construction unit configured to construct a conflict range of the first aircraft when the distance interval is less than a preset distance interval threshold and the time interval is less than a preset time interval threshold;

[0028] a cluster analysis unit configured to perform cluster analysis on the first aircraft and the second aircraft by using the conflict range, so as to divide the second aircrafts having conflicts with the first aircraft into a same cluster.

[0029] According to an aspect of the present application, an electronic device is provided, which comprises: a processor; a memory configured to store a computer program; and when the computer program is executed by the processor, the processor implements the method according to any one of the preceding embodiments.

[0030] According to an aspect of the present application, a non-transitory computer readable storage medium is provided, which stores computer readable instructions, and when the instructions are executed by a processor, the processor performs the method according to any one of the preceding embodiments.

[0031] According to the example embodiments of the present application, the first aircraft constructs conflict ranges of any two aircrafts according to preset time interval threshold and distance interval threshold, so as to divide the aircrafts having conflicts into a same cluster, thereby providing a data basis for subsequent conflict resolution. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows.

[0033] Figure 1 FIG. 1 shows a system architecture diagram of a device for detecting conflicts of aircrafts according to an example embodiment of the present application.

[0034] Figure 2A method flowchart of conflict detection for aircrafts is shown in accordance with an example embodiment of the present application.

[0035] Figure 3 A device block diagram of conflict detection for aircrafts is shown in accordance with an example embodiment of the present application.

[0036] Figure 4 An electronic device is shown in accordance with an example embodiment of the present application. DETAILED DESCRIPTION

[0037] Example embodiments now will be described more fully hereinafter with reference to the accompanying drawings. Example embodiments, however, can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the several views.

[0038] The described features, structures, or characteristics can be combined in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the technology can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In other instances, well-known structures, methods, devices, implementations, materials, and so forth have not been described in detail in order to avoid obscuring aspects of the technology.

[0039] The flow diagrams shown in the figures are merely examples and do not have to include all of the described steps or operations, nor do they have to be performed in the order described. For example, some operations can be performed in parallel, or some operations can be omitted, or other operations can be added, and the order of execution can vary from that shown.

[0040] The terms "first", "second", "third", etc., in the specification and claims of this application and in the above description of the drawings are used for distinguishing between similar objects and are not necessarily used to describe a particular sequential or chronological order. Also, the terms "comprises", "comprising", "includes", "including", "has", "having", "contains", "containing" or any other similar term are intended to encompass not only the presence of the stated features or components but also the presence of other features or components not listed. For example, a process, method, object, or device that comprises a list of steps or elements is not necessarily limited to only those steps or elements but can include other steps or elements not expressly listed or inherent to such process, method, object, or device.

[0041] With the rapid development of low-altitude flight technology, the various applications of low-altitude aircraft in urban environments are also increasing, including logistics, inspection, performance, etc. At the same time, with the increase of urban population, the demand for transportation and transportation is growing. As a new type of transportation tool, low-altitude aircraft needs to operate orderly in urban airspace.

[0042] In order to ensure the orderly flight of the unmanned aerial vehicle, it is necessary to detect the conflict of the low-altitude aircraft to prevent the flight safety of the low-altitude aircraft.

[0043] Figure 1 A system architecture diagram for detecting conflicts of aircraft according to an example embodiment of the present application is shown in FIG. 1. Figure 1 The system shown in FIG. 1 includes a first aircraft 101 and a second aircraft 103. The first aircraft 101 obtains flight data from the second aircraft 103, and constructs a conflict graph of the first aircraft 101 according to a preset time interval threshold and a distance interval threshold, and divides the aircrafts with conflicts into the same cluster, thereby providing a data basis for subsequent conflict basis.

[0044] The specific embodiments according to the present application will be described in detail below with reference to the accompanying drawings.

[0045] Figure 2 A method flow chart for detecting conflicts of aircraft according to an example embodiment of the present application is shown in FIG. 2. Figure 2 The method shown in FIG. 2 includes steps S201, S203, S205 and S207. The following will take Figure 2 as an example to describe in detail a method for detecting conflicts of aircraft according to an example embodiment of the present application.

[0046] According to an embodiment of the present application, Figure 2 The method shown in FIG. 2 is applied to a first aircraft.

[0047] As shown in the figure, in step S201, flight data broadcasted by a second aircraft is obtained.

[0048] According to an embodiment of the present application, the second aircraft broadcasts flight data to aircrafts within a preset broadcast radius RR range by broadcasting. The flight data includes position information, preset trajectory parameters and flight parameters.

[0049] In specific embodiments, the position information includes the position information of the aircraft itself. In some embodiments, the position information of the aircraft itself is represented by the position coordinates (x, y, z) of the aircraft in three-dimensional space.

[0050] In other embodiments, the preset trajectory parameters include the 4D track points (including time and three-dimensional space position) of the aircraft along the preplanned flight within a preset time interval TT.

[0051] In some embodiments, the 4D waypoint is represented by the position coordinates (x i , y i , z i , t i ) of the aerial vehicle in the three-dimensional space. Wherein (x i , y i , z i ) represents the three-dimensional space position of the aerial vehicle at time t i , and time t i is any time between the current time t and t+TT.

[0052] In some embodiments, the flight parameter is a flight dynamic parameter of the aerial vehicle, including but not limited to speed, heading, acceleration, etc. In specific embodiments, the distance and time interval between any two aerial vehicles are calculated using the flight parameter.

[0053] In step S203, the distance interval between the first aerial vehicle and the second aerial vehicle at any time point and the time interval between the first aerial vehicle and the second aerial vehicle at any space point within a preset time period are calculated.

[0054] In order to ensure the consistency of time, according to the embodiments of the present application, before step S203, the first aerial vehicle and the second aerial vehicle need to be synchronized by a high-precision clock synchronization mechanism to ensure the consistency of time, so as to ensure that the calculation results of each aerial vehicle are the same when calculating the time interval.

[0055] In some embodiments, before step S203, the first aerial vehicle and the second aerial vehicle also need to unify the parameter settings. For example, the same distance interval threshold R, the same time interval threshold T, the same broadcast radius threshold RR, and the preset time period TT are used. In specific embodiments, these unified parameters can be preset when the aerial vehicle is manufactured, or configured uniformly by the ground control center.

[0056] In some embodiments, before step S203, after receiving the broadcast data of the second aerial vehicle, the first aerial vehicle also needs to perform information consistency verification. For example, check whether the format of the information is correct, whether the data is reasonable, etc. If the information is found to be inconsistent, the second aerial vehicle is required to rebroadcast the information in time.

[0057] According to the embodiments of the present application, the distance interval between the first aerial vehicle and the second aerial vehicle at any time point within a preset time period is calculated according to the position information of the second aerial vehicle and the preset trajectory parameters of the second aerial vehicle.

[0058] In some embodiments, the time interval between any two aerial vehicles at any space point is calculated according to the flight parameter and the distance interval.

[0059] In specific embodiments, according to the position information of the first and second aircrafts and the waypoint information, the distance distance and time interval between each other within a preset time period TT are calculated. Wherein, the calculation method of distance interval d is shown in formula (1).

[0060]

[0061] Wherein, is the three-dimensional space position of the first aircraft (denoted as A) at time i, is the three-dimensional space position of the second aircraft (denoted as B) at time j.

[0062] In some other embodiments, the time interval At is obtained by calculating the time difference of the corresponding flight trajectory points, as shown in formula (2).

[0063]

[0064] Wherein, is the time of the first aircraft A passing through the preset flight trajectory point at flight time i, is the time of the second aircraft B passing through the same flight trajectory point as the first aircraft A at flight time j.

[0065] In some other embodiments, the time interval At can also be calculated by formula (3).

[0066] At = d / (V A + V B ) (3)

[0067] Wherein, V A and V B are the current flight speeds of the first aircraft A and the second aircraft B, respectively.

[0068] In step S205, when the distance interval is less than the preset distance interval threshold and the time interval is less than the preset time interval threshold, the conflict range of the first aircraft is constructed.

[0069] In some embodiments, the conflict range can be represented in various forms, including but not limited to representing the conflict range by using a conflict graph. For example, when the calculated distance interval is less than the preset distance interval threshold and the calculated time interval is less than the preset time interval threshold, a conflict graph is generated by adding a separation edge between the first aircraft and the second aircraft. In specific embodiments, the conflict graph can be represented by an adjacency matrix or an adjacency list.

[0070] In specific embodiments, a distance interval threshold R and a time interval threshold T are set, when the distance interval d between the first aerial vehicle and the second aerial vehicle is less than R and the time interval At is less than T, it is considered that there is a potential conflict between the two aerial vehicles, and an edge is added between the two aerial vehicles in the conflict graph. The above process is repeated to compare all aerial vehicles within the preset radius RR of the first aerial vehicle, and finally a conflict graph is formed.

[0071] In some embodiments, the conflict graph can be represented by an adjacency matrix or an adjacency list in graph theory, to facilitate subsequent processing and analysis.

[0072] In specific embodiments, the adjacency matrix is a commonly used graph representation method, and for the conflict graph, the adjacency matrix is a two-dimensional matrix. Assuming that there are n aerial vehicles in the air, the adjacency matrix A is an n x n matrix, and each element A_ij in the matrix represents the conflict relationship between aerial vehicle i and aerial vehicle j.

[0073] In other embodiments, the conflict graph represented by the adjacency list is composed of an array and a linked list, where each element of the array corresponds to an aerial vehicle, and the linked list stores other aerial vehicles that have a conflict relationship with the aerial vehicle. For each aerial vehicle i, its adjacency list stores the numbers of all aerial vehicles j that have a conflict with it, and the adjacency list can be implemented by using data structures such as linked lists and dynamic arrays.

[0074] For example, the adjacency list of aerial vehicle i is {j1, j2, …, j k ,} which indicates that aerial vehicle i has a potential conflict with aerial vehicle j1, j2, …, j k .

[0075] In step S207, the first aerial vehicle and the second aerial vehicle are analyzed by clustering using the conflict range, so as to divide the second aerial vehicles that have a conflict with the first aerial vehicle into the same cluster.

[0076] Taking the conflict graph as an example, according to the embodiments of the present application, step S207 is to perform clustering analysis on the constructed conflict graph, so as to divide the aerial vehicle nodes that are connected with each other in the conflict graph into the same cluster.

[0077] In some embodiments, when performing clustering analysis, any node (for example, the first aerial vehicle node) of the conflict graph is taken as a starting node, and other nodes connected with the starting node are traversed, so as to mark the other nodes connected with the starting node as the same cluster; and the traversal process is repeated for each node in the conflict graph until all nodes in the conflict graph are executed.

[0078] In a specific embodiment, starting from any node of the conflict graph as a starting node, other nodes are traversed by using a depth-first search method or a breadth-first search method to mark other nodes connected with the starting node as the same cluster.

[0079] For example, starting from any node of the conflict graph, all aircraft nodes connected with the starting node are marked as the same cluster by using a depth-first search method or a breadth-first search method. This process is repeated until all aircraft nodes in the conflict graph are marked, and finally a conflict cluster that has a conflict with the first aircraft is obtained. Aircrafts in each cluster have potential conflicts, while aircrafts in different clusters satisfy the distance interval > the preset distance interval threshold R and the time interval > the preset time interval threshold T. The cluster result thus obtained can ensure that aircrafts in different clusters do not interfere with each other in the subsequent conflict resolution process, thereby improving the efficiency and accuracy of conflict resolution.

[0080] According to Figure 2 In the embodiment shown, the first aircraft constructs a conflict range of any two aircrafts according to the preset time interval threshold and distance interval threshold to divide the aircrafts having a conflict into the same cluster, thereby providing a data basis for subsequent conflict resolution.

[0081] The above mainly describes the embodiments of the present application from the method aspect. Those skilled in the art should easily realize that, in combination with the operations or steps of each example described in the embodiments disclosed in the present application, the present application can be realized in the form of hardware or a combination of hardware and computer software. Those skilled in the art can use different ways to realize the described functions for each specific operation or method, and such realization shall not be considered beyond the scope of the present application.

[0082] The device embodiments of the present application are described below. For details not described in the device embodiments of the present application, reference can be made to the method embodiments of the present application.

[0083] Figure 3 A device block diagram for conflict detection of aircrafts according to an example embodiment of the present application is shown, as shown in Figure 3 The device is installed on the second aircraft.

[0084] According to the embodiments of the present application, Figure 3The apparatus shown includes a flight data acquisition unit 301, an interval calculation unit 303, a conflict range construction unit 305, and a clustering analysis unit 307. The flight data acquisition unit 301 is configured to acquire flight data broadcast by a second aircraft; the interval calculation unit 303 is configured to calculate a distance interval between the first aircraft and the second aircraft at any time point and a time interval between the first aircraft and the second aircraft at any space point within a preset time period; the conflict range construction unit 305 is configured to construct a conflict range of the first aircraft when the distance interval is less than a preset distance interval threshold and the time interval is less than a preset time interval threshold; and the clustering analysis unit 307 is configured to perform clustering analysis on the first aircraft and the second aircraft by using the conflict range, so as to divide the second aircrafts in conflict with the first aircraft into the same cluster.

[0085] Figure 4 An electronic device according to an example embodiment of the present application is shown. The electronic device 200 according to this embodiment of the present application will be described below with reference to Figure 4 Figure 4 The electronic device 200 shown is merely an example and should not impose any limitation on the functions and usage scope of the embodiments of the present application.

[0086] As shown in Figure 4 The electronic device 200 is in the form of a general computing device. The components of the electronic device 200 can include, but are not limited to, at least one processing unit 210, at least one storage unit 220, a bus 230 connecting different system components (including the storage unit 220 and the processing unit 210), a display unit 240, and the like.

[0087] The storage unit stores program codes which can be executed by the processing unit 210, so that the processing unit 210 performs the methods according to various example embodiments of the present application described in the present specification. For example, the processing unit 210 can perform the methods as described above.

[0088] The storage unit 220 can include a readable medium in the form of a volatile storage unit, such as a random access memory (RAM) 2201 and / or a cache memory unit 2202, and can further include a read-only memory (ROM) 2203.

[0089] The storage unit 220 can further include a program / utility 2204 having a set of program modules 2205, including but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which can include implementation of a network environment, alone or in some combination.

[0090] ​Bus 230 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0091] Electronic device 200 can also communicate with one or more external devices 300 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 200, and / or with any device that enables electronic device 200 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 250. Furthermore, electronic device 200 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 260. Network adapter 260 can communicate with other modules of electronic device 200 via bus 230. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0092] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. The technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, or network device, etc.) to execute the methods described above according to the embodiments of this application.

[0093] Software products may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example,, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0094] The computer readable storage medium can include a computer-readable medium in baseband or propagated as a carrier wave in a propagated signal, wherein the computer-readable medium bears computer readable code. Such a propagated signal can take a wide variety of forms including, but not limited to radio frequency signals, light signals, or any suitable combination thereof. The computer readable medium can be any medium that can be read by a computer, including but not limited to memory devices, optical storage devices, and any suitable combination thereof. The computer readable medium can be any medium that can be read by a computer, including but not limited to memory devices, optical storage devices, and any suitable combination thereof. The program code contained on the computer readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber cable, RF, and the like, or any suitable combination thereof.

[0095] The program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++, and the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's computing device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server. In the latter scenario, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computing device, such as through the Internet using an Internet Service Provider (ISP).

[0096] The above computer readable medium bears one or more programs, which when executed by the device, enable the computer readable medium to implement the foregoing functions.

[0097] Those skilled in the art can understand that the above modules can be distributed in the device according to the description of the embodiments, and can also be changed in one or more devices different from the embodiments. The modules of the above embodiments can be combined into one module, or can be further split into multiple sub-modules.

[0098] According to the embodiments of the present application, a computer program is provided, including computer programs or instructions, which when executed by a processor, can execute the above described method.

[0099] The above describes the embodiments of the present application in detail, and the principles and implementation manners of the present application are described by using specific examples. The above description of the embodiments is only used to help understand the method of the present application and its core idea. Meanwhile, the changes or deformations made by the person skilled in the art according to the idea of the present application, based on the specific implementation manners and application scope of the present application, all belong to the protection scope of the present application. In summary, the content of the present specification should not be understood as a limitation on the present application.

[0100] The person skilled in the art can understand that the above modules can be distributed in the device according to the description of the embodiments, or can be changed or deformed in one or more devices different from the embodiments. The modules of the above embodiments can be combined into one module, or can be further split into multiple sub-modules.

[0101] The above describes the embodiments of the present application in detail, and the principles and implementation manners of the present application are described by using specific examples. The above description of the embodiments is only used to help understand the method of the present application and its core idea. Meanwhile, the changes or deformations made by the person skilled in the art according to the idea of the present application, based on the specific implementation manners and application scope of the present application, all belong to the protection scope of the present application. In summary, the content of the present specification should not be understood as a limitation on the present application.

Claims

1. A method for collision detection of an aircraft, applied to a first aircraft, characterized in that, The method includes: Acquire flight data broadcast by the second aircraft; Calculate the distance interval between the first aircraft and the second aircraft at any point in time and the time interval at any point in space within a preset time period; When the distance interval is less than a preset distance interval threshold and the time interval is less than a preset time interval threshold, the conflict range of the first aircraft is constructed; Cluster analysis is performed on the first and second aircraft using the conflict range to classify the second aircraft that conflict with the first aircraft into the same cluster.

2. The method according to claim 1, characterized in that, The flight data includes location information, preset trajectory parameters, and flight parameters.

3. The method according to claim 2, characterized in that, Calculating the distance interval between the first aircraft and the second aircraft at any point in time and the time interval at any point in space within a preset time period, including: Based on the position information of the second aircraft, and using preset trajectory parameters, the distance interval between the second aircraft and the first aircraft at any point in time is calculated within a preset time period. The time interval between the first aircraft and the second aircraft at any spatial point is calculated based on the flight parameters and the distance interval.

4. The method according to claim 1, characterized in that, The scope of the conflict is represented using a conflict diagram. When the distance interval is less than a preset distance interval threshold and the time interval is less than a preset time interval threshold, the conflict range of the first aircraft is constructed, including: When the distance interval is less than a preset distance interval threshold and the time interval is less than a preset time interval threshold, a separating edge is added between the first aircraft and the second aircraft to generate the conflict graph.

5. The method according to claim 4, characterized in that, The conflict graph is represented by an adjacency matrix or an adjacency list.

6. The method according to claim 5, characterized in that, Cluster analysis is performed on the first and second aircraft using the conflict range to group the second aircraft that conflict with the first aircraft into the same cluster, including: Starting from any node in the conflict graph, traverse the other nodes to mark the other nodes connected to the starting node as the same cluster; The traversal process is repeated for each node in the conflict graph until all nodes in the conflict graph that conflict with the first aircraft are marked.

7. The method according to claim 6, characterized in that, Starting from any node in the conflict graph, traverse the other nodes to mark all nodes connected to the starting node as belonging to the same cluster, including: Starting from any node in the conflict graph, other nodes are traversed using either a depth-first search or a breadth-first search method to mark other nodes connected to the starting node as belonging to the same cluster.

8. A device for collision detection of an aircraft, installed on a first aircraft, characterized in that, The device includes: The flight data acquisition unit is used to acquire flight data broadcast by the second aircraft. An interval calculation unit is used to calculate the distance interval between the first aircraft and the second aircraft at any time point and the time interval at any spatial point within a preset time period; A conflict range construction unit is used to construct the conflict range of the first aircraft when the distance interval is less than a preset distance interval threshold and the time interval is less than a preset time interval threshold. The clustering analysis unit is used to perform clustering analysis on the first aircraft and the second aircraft using the conflict range, so as to classify the second aircraft that conflict with the first aircraft into the same cluster.

9. An electronic device, characterized in that, include: processor; Memory, used to store computer programs; When the computer program is executed by the processor, the processor performs the method as described in any one of claims 1-7.

10. A non-transitory computer-readable storage medium having stored thereon computer-readable instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1-7.

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