A multi-aircraft conflict detection and resolution method for 4-dimensional trajectory-based operation

Conflict Detection and Resolution(CDR) is the key to ensure aviation safety based on Trajectory Prediction(TP). Uncertainties that affect aircraft motions cause difficulty in an accurate prediction of the trajectory, especially in the context of four-dimensional(4D) Trajectory-Based Operation(4DTBO), which brings the uncertainty of pilot intent. This study draws on the idea of time geography, and turns the research focus of CDR from TP to an analysis of the aircraft reachable space constrained by 4D waypoint constraints. The concepts of space–time reachability of aircraft and space–time potential conflict space are proposed. A novel pre-CDR scheme for multiple aircraft is established. A key advantage of the scheme is that the uncertainty of pilot intent is accounted for via a Space-Time Prism(STP) for aircraft. Conflict detection is performed by verifying whether the STPs of aircraft intersect or not, and conflict resolution is performed by planning a conflict-free space–time trajectory avoiding intersection. Numerical examples are presented to validate the efficiency of the proposed scheme.     

结合跳点引导的无人机随机搜索避撞决策方法

针对无人机在城市空域环境和密集交通流下的避撞决策问题，提出马尔科夫决策过程（MDP）和蒙特卡洛树搜索（MCTS）算法对该问题进行建模求解。蒙特卡洛树搜索算法在求解过程中为保证实时性而使其搜索深度受限，容易陷入局部最优，导致在含有静态障碍的场景中无法实现避撞的同时保证全局航迹最优。因此结合跳点搜索算法在全局规划上的优势，建立离散路径点引导无人机并改进奖励函数来权衡飞行路线，在进行动态避撞的同时实现对静态障碍的全局避撞。经过多个实验场景仿真，其结果表明改进后的算法均能在不同场景中获得更好的性能表现。特别是在凹形限飞区空域仿真模型中，改进后的算法相对于原始的蒙特卡洛树搜索算法，其冲突概率降低了36%并且飞行时间缩短47.8%。     

从城市规划与发展角度对军民合用机场的反思——以济宁曲阜机场为例

以济宁曲阜机场为例,结合菏泽机场规划,说明了济宁曲阜机场存在机场位置与旅游景区位置发生偏离、对济宁城市空间扩展引导不足、限制菏泽机场规划、影响济宁综合交通枢纽建设以及机场容量无法满足旅客量增长等问题,这些问题具有一定的普遍意义,希望能促进规划和决策者对军民合用这一机场建设方式采取更为谨慎的态度.     

Distributed intelligent self-organized mission planning of multi-UAV for dynamic targets cooperative search-attack

This article studies the cooperative search-attack mission problem with dynamic targets and threats, and presents a Distributed Intelligent Self-Organized Mission Planning (DISOMP) algorithm for multiple Unmanned Aerial Vehicles (multi-UAV). The DISOMP algorithm can be divided into four modules: a search module designed based on the distributed Ant Colony Optimization (ACO) algorithm, an attack module designed based on the Parallel Approach (PA) scheme, a threat avoidance module designed based on the Dubins Curve (DC) and a communication module designed for information exchange among the multi-UAV system and the dynamic environment. A series of simulations of multi-UAV searching and attacking the moving targets are carried out, in which the search-attack mission completeness, execution efficiency and system suitability of the DISOMP algorithm are analyzed. The simulation results exhibit that the DISOMP algorithm based on online distributed down-top strategy is characterized by good flexibility, scalability and adaptability, in the dynamic targets searching and attacking problem.     

低空无人机路径规划算法综述

随着无人机技术的发展,无人机在低空的应用场景越来越多,复杂的低空环境对无人机路径规划算法提出了新的要求。本文总结了近年来常用的无人机路径规划算法,包括图搜索算法,线性规划算法,智能优化算法（遗传算法、粒子群算法、蚁群算法）,强化学习算法;对这些算法的原理、适用场景及其优缺点进行了归纳分析;并基于无人机发展现状对无人机路径规划算法进行了展望。     

车间生产计划与加工过程的集成系统MFAS

在自动化程度低的传统机械加工车间,由于生产计划与加工过程之间缺乏紧密的联系,使得计划对生产现场的管理与控制比较困难。目前开发的物流自动化系统ＭＦＡＳ（Ｍａｔｅ－ｒｉａｌＦｌｏｗｉｎｇＡｕｔｏｍａｔｉｃＳｙｓｔｅｍ）,以层次式的计划管理方法为基础,利用计算机网络和在线式立体仓库,将车间生产计划与加工过程有效地集成为一个整体。     

深空探测器动态约束规划中的外延约束过滤方法研究

随着深空探测任务的增加以及星上科学任务的日益复杂,深空探测器自主任务规划与调度技术成为研究的热点。在深空探测器任务特点与系统约束分析的基础上,将智能规划理论与约束可满足技术相结合,研究多层约束规划模型中约束的动态特征,设计了基于动态约束表的外延约束快速过滤算法,根据领域信息中活动间的冲突性特征来对新加入的活动进行分类和一致性检查。仿真结果表明:提出的算法能够有效地降低约束处理中无效的约束检查次数,降低问题处理过程中的算法回溯,提高规划效率和成功率。     

面向月球科研站任务的地月准实时遥操作模拟验证系统设计与关键技术研究

针对月球科研站任务地月遥操作需求和特点,设计地月准实时遥操作模拟验证系统,对其中的关键技术海量多尺度遥感数据环境感知、空地协同高精度定位、基于混合现实的预测仿真等进行了研究。提出了基于海量多尺度遥感数据的联合处理方法,环境感知数据融合可处理米级至厘米级环境感知结果;设计基于空地多运动平台协同定位的原型软件,空地协同地标约束下,定位精度不低于轨道器影像1个像素;开发了带有力觉反馈的预测仿真验证平台,在2~3 s变时延约束下可在仿真环境下协同演示遥操作过程,真实还原从端的遥操作作业场景,提高遥操作的执行效率和安全性。为地面人员的方案设计、操作手训练、故障处置等提供实时支持,为我国未来实施月球科研站任务筑牢基础。     

Mission-oriented cooperative 3D path planning for modular solar-powered aircraft with energy optimization

Modular Solar-Powered Aircraft(M-SPA) is a kind of High-Altitude Long-Endurance(HALE) aircraft which exploits the mission advantage of swarm UAV and the HALE advantage of large aspect-ratio SPA. M-SPA’s separated mode and combined mode give it the potential to maximize the mission efficiency with limited solar energy. In this paper, firstly, oriented by the mission of maximizing the cruise area, the overall design of the M-SPA is modeled, including the energy model, the aerodynamic model and the...     

面向时序InSAR的卫星任务规划框架设计

随着国内自主雷达卫星和差分干涉合成孔径雷达技术(D-InSAR)及衍生的时序InSAR技术的发展,以时间序列上重复观测为主的长周期形变监测的应用与日俱增。对遥感卫星地面任务规划系统来说,规划和管理大量有时序关联的重复任务,从而最大限度地满足观测要求,是提升以形变监测为使命的雷达卫星运控效率的关键。在综合考虑雷达差分干涉任务序列性、一致性、周期性特征的基础上,设计了一种面向雷达卫星时序InSAR类型任务的规划框架,旨在规划序列任务时,考虑序列整体特性,进行序列任务组间的冲突检测。基于此方法,对现有的地面任务规划系统进行了优化升级,验证了框架的有效性。结果证明:该方法可快速、自动进行序列任务冲突消解,可为长周期序列任务的规划和管理提供设计参考。