低空自由飞行短期冲突探测算法

针对低空自由飞行航线自主的特点,提出了一种概率型的短期冲突探测算法。算法考虑导航误差、控制误差及风扰动引起的飞行器位置预测误差,建立了合理的误差模型,以计算短期内飞行器之间的瞬时冲突概率;采用坐标变换以及扩展冲突区域,提出了三维空间内机动飞行情况下,计算冲突概率的近似解析算法。通过与Paielli和Erzberger(PE)提出的近似算法及Monte Carlo仿真算法的比较,表明本文算法提高了计算冲突概率的准确性,且计算复杂性远远低于Monte Carlo算法,满足低空自由飞行的实时性要求,可实现复杂环境下的冲突探测。

Short-term conflict detection algorithm for free flight in low-altitude airspace

Considering the autonomous route of frce flight in low-altitude airspace,a probabilistic shortterm conflict detection algorithm is proposed.The trajectory prediction error caused by navigation error,control error and wind disturbance was taken into account.A reasonable error model was constructed to compute the conflict probability between aircraft in the short term.By using coordinate transformation and extending the conflict zone,an approximate analytical expression was presented to estimate the conflict probability of maneuvering flight in three-dimensional airspace.By comparison with Paielli and Erzberger (P&E) approximation algorithm and the Monte Carlo simulation algorithm,the presented algorithm was proved to increase the accuracy of conflict probability estimation and decrease the computational consumption.The result shows that this algorithm can reach the real-time requirement of free flight in low-altitude airspace and realize the conflict detection in complex environment.