无人机空中冲突探测与避撞研究

近年来,无人机运输业迅猛发展,其飞行过程中的冲突探测与避撞问题成为亟需解决的关键问题。在无人机周围建立合理的三维空间模型,优化包括紧急避撞区域、一般避撞区域、监视及提前避撞区域的三级避撞区域系统,并利用ADS-B 报文提供的无人机位置、速度等信息,基于无人机一般二维平面上的冲突探测与避撞算法,通过增加垂直方向上的冲突识别来改进冲突探测算法,对比调速、调向两种避让方案在各避撞区域的成功率。结果表明：改进算法能在无人机数量大幅增加的情况下有效识别冲突无人机,同时采用先调速后调向的避让方案,避撞成功率达到99.75%,可为保障无人机的飞行安全提供有效策略。

Research on Air Conflict Detection and Collision Avoidance of UAV

With the gradual opening of China"s low-altitude airspace, UAVs are increasingly used in various fields. Facing the rapid growth of flight flow, there is an urgent need to improve the safety of UAV operations, the key of which is to solve the problem of collision avoidance and early warning in UAV flights. In this paper, we establish a reasonable spatial model around the UAV, determines the conflict detection algorithm based on the longitude, latitude and altitude information of the UAV provided by the ADS-B message, screens the UAVs with conflicts in the horizontal and vertical directions, and selects the avoidance strategy of adjusting speed and heading. Through Matlab simulation experiments, the results show that the algorithm can effectively screen out conflicting UAVs and can perform three-level avoidance for them, which provides an effective guarantee for the flight safety of UAVs.