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CN112489500A - Short-term flight conflict detection and avoidance method based on geometric view model - Google Patents

Short-term flight conflict detection and avoidance method based on geometric view model Download PDF

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CN112489500A
CN112489500A CN202011325780.9A CN202011325780A CN112489500A CN 112489500 A CN112489500 A CN 112489500A CN 202011325780 A CN202011325780 A CN 202011325780A CN 112489500 A CN112489500 A CN 112489500A
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丁洋
杨毅
李泽林
朱世名
谢如恒
丁辉
严勇杰
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CETC 28 Research Institute
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Abstract

本发明提供了一种基于几何视景模型的短期飞行冲突检测与避免方法，包括：建立飞行冲突检测模型；进行飞行冲突检测计算，结合飞行冲突计算参数，判断飞行冲突发生的可能性，并根据飞行器的相对飞行方向，判断飞行冲突所属类型；生成飞行冲突避免策略，根据飞行冲突预测时间与冲突类型，制定基于规则的冲突避免决策表，包括减速、加速、转向等飞行策略，并计算对应策略的实施参数；根据飞行器当前的飞行方向以及理想飞行方向的差值，确定飞行器的转向控制，计算飞行器下一时刻的飞行速度。本发明不仅能够有效检测飞行器的飞行冲突，而且其计算参数少、速度快，有效提升了大量飞行器的飞行冲突检测与避免效率。

Figure 202011325780

The present invention provides a short-term flight conflict detection and avoidance method based on a geometric visual model, comprising: establishing a flight conflict detection model; performing flight conflict detection and calculation, and combining flight conflict calculation parameters to determine the possibility of flight conflict, The relative flight direction of the aircraft, determine the type of flight conflict; generate a flight conflict avoidance strategy, according to the flight conflict prediction time and conflict type, formulate a rule-based conflict avoidance decision table, including deceleration, acceleration, steering and other flight strategies, and calculate the corresponding strategy According to the difference between the current flight direction of the aircraft and the ideal flight direction, the steering control of the aircraft is determined, and the flight speed of the aircraft at the next moment is calculated. The invention can not only effectively detect the flight conflict of the aircraft, but also has few calculation parameters and high speed, and effectively improves the flight conflict detection and avoidance efficiency of a large number of aircraft.

Figure 202011325780

Description

一种基于几何视景模型的短期飞行冲突检测与避免方法A Short-term Flight Conflict Detection and Avoidance Method Based on Geometric Vision Model

技术领域technical field

本发明属于空中交通管理领域，特别涉及一种基于几何视景模型的短期飞行冲突检测与避免方法。The invention belongs to the field of air traffic management, and particularly relates to a short-term flight conflict detection and avoidance method based on a geometric visual model.

背景技术Background technique

机载防撞系统是每架飞机飞行必不可少的航空电子设备。作为机载防撞系统的关键部分，飞行冲突检测与避免技术不断发展和完善。尤其是随着空中交通流量的持续增长，快速实用的飞行冲突检测与避免技术在最近几十年得到了越来越深入的研究，引起了国内外众多专家和学者的关注。目前，常用的飞行冲突检测方法主要分为概率法和几何法。常用的飞行冲突避免方法包括最优化方法、基于规则的冲突避免方法及基于力场的避免方法。国内外众多学者在这几类方法中提出了较多具体算法，这些算法的主要优点是能够处理复杂情况，但是计算量非常大，无法保证实时性。对于短期飞行冲突检测与避免来说，重点是利用机载设备监视到的数据，进行简单计算比对快速识别冲突并提出避免方案，计算效率要求较高，过于复杂的算法会影响计算效率，进而延误处置时机。Airborne collision avoidance systems are essential avionics for every aircraft flight. As a key part of the airborne collision avoidance system, the technology of flight collision detection and avoidance is constantly developing and improving. Especially with the continuous growth of air traffic flow, fast and practical flight conflict detection and avoidance technology has been more and more in-depth research in recent decades, which has attracted the attention of many experts and scholars at home and abroad. At present, the commonly used flight conflict detection methods are mainly divided into probability method and geometric method. Common flight conflict avoidance methods include optimization methods, rule-based conflict avoidance methods and force field-based avoidance methods. Many scholars at home and abroad have proposed many specific algorithms in these types of methods. The main advantage of these algorithms is that they can deal with complex situations, but the amount of calculation is very large and cannot guarantee real-time performance. For short-term flight conflict detection and avoidance, the focus is to use the data monitored by airborne equipment to perform simple calculation and comparison to quickly identify conflicts and propose avoidance plans. The computational efficiency is required to be high, and overly complex algorithms will affect the computational efficiency. Delay in disposal.

发明内容SUMMARY OF THE INVENTION

发明目的：本发明所要解决的技术问题是针对现有技术的不足，提供一种基于几何视景模型的短期飞行冲突检测与避免方法，包括如下步骤：Purpose of the invention: The technical problem to be solved by the present invention is to provide a short-term flight conflict detection and avoidance method based on a geometric visual model for the deficiencies of the prior art, including the following steps:

步骤1、计算短期飞行冲突检测参数；Step 1. Calculate short-term flight conflict detection parameters;

步骤2、飞行冲突检测；Step 2, flight conflict detection;

步骤3、生成飞行冲突避免策略；Step 3. Generate a flight conflict avoidance strategy;

步骤4、进行航线跟随计算。Step 4. Carry out the route following calculation.

其中，步骤1包括：Wherein, step 1 includes:

步骤1-1，定义待检测飞行器A与障碍飞行器B之间几何视景夹角φ和碰撞预测时间tc的二元组为短期飞行冲突检测参数；Step 1-1, define the two-tuple of the included angle φ of the geometric view between the aircraft A to be detected and the obstacle aircraft B and the collision prediction time t c as the short-term flight conflict detection parameter;

步骤1-2，计算飞行冲突预测时间；Step 1-2, calculate the flight conflict prediction time;

步骤1-3，计算几何视景夹角；Steps 1-3, calculate the included angle of the geometric view;

步骤1-4，计算几何视景夹角的微分。Steps 1-4, calculate the differential of the geometric viewing angle.

步骤1-2中，计算飞行冲突预测时间的公式如下：In steps 1-2, the formula for calculating the flight conflict prediction time is as follows:

Figure BDA0002794235120000021
Figure BDA0002794235120000021

Figure BDA0002794235120000022
Figure BDA0002794235120000022

Figure BDA0002794235120000023
Figure BDA0002794235120000023

D＝||pB-pA||-R，D=||p B -p A ||-R,

Figure BDA0002794235120000024
Figure BDA0002794235120000024

其中，

Figure BDA0002794235120000025
表示障碍飞行器B相对于待检测飞行器A的速度；
Figure BDA0002794235120000026
表示障碍飞行器B的运动速度；
Figure BDA0002794235120000027
表示待检测飞行器A的运动速度；
Figure BDA0002794235120000028
表示障碍飞行器B对待检测飞行器A的相对速度沿
Figure BDA0002794235120000029
方向的分量；
Figure BDA00027942351200000210
表示
Figure BDA00027942351200000211
的正交分解；
Figure BDA00027942351200000212
表示障碍飞行器B指向待检测飞行器A方向的单位向量；D表示障碍飞行器B与待检测飞行器A的距离；pA表示飞行器A的位置坐标；pB表示飞行器B的位置坐标；R表示障碍飞行器的估算半径。in,
Figure BDA0002794235120000025
Indicates the speed of obstacle aircraft B relative to aircraft A to be detected;
Figure BDA0002794235120000026
represents the movement speed of obstacle aircraft B;
Figure BDA0002794235120000027
Indicates the motion speed of the aircraft A to be detected;
Figure BDA0002794235120000028
Indicates the relative speed edge of the obstacle aircraft B to be detected by the aircraft A
Figure BDA0002794235120000029
the component of the direction;
Figure BDA00027942351200000210
express
Figure BDA00027942351200000211
Orthogonal decomposition of ;
Figure BDA00027942351200000212
Represents the unit vector of the obstacle aircraft B pointing in the direction of the aircraft A to be detected; D represents the distance between the obstacle aircraft B and the aircraft A to be detected; p A represents the position coordinates of the aircraft A; p B represents the position coordinates of the aircraft B; R represents the position coordinates of the obstacle aircraft Estimated radius.

步骤1-3中，计算几何视景夹角，即计算飞行器的飞行方向与飞行员视野内的动态障碍飞行器存在的几何夹角φ，公式如下：In steps 1-3, calculate the geometric angle of view, that is, calculate the geometric angle φ between the flight direction of the aircraft and the dynamic obstacle aircraft in the pilot's field of view. The formula is as follows:

Figure BDA00027942351200000213
Figure BDA00027942351200000213

Figure BDA00027942351200000214
Figure BDA00027942351200000214

其中，

Figure BDA00027942351200000215
表示待检测飞行器A指向障碍飞行器B方向的单位向量；φ表示待检测飞行器A对障碍飞行器B的几何视景角。in,
Figure BDA00027942351200000215
Represents the unit vector of the aircraft A to be detected pointing in the direction of the obstacle aircraft B; φ represents the geometric viewing angle of the aircraft A to be detected to the obstacle aircraft B.

步骤1-4中，计算几何视景夹角的微分，用单位时间内φ的变化来近似表示，单位时间为飞行冲突检测计算时间步长，

Figure BDA00027942351200000216
表示飞行器的飞行方向与飞行员视野内的动态障碍飞行器存在的几何夹角微分，
Figure BDA00027942351200000217
具有符号，其为负数时表示障碍飞行器B先通过，为正数时表示待检测飞行器A先通过，求解几何视景夹角的公式如下：In steps 1-4, the differential of the included angle of the geometric view is calculated, which is approximated by the change of φ per unit time, and the unit time is the calculation time step of flight conflict detection,
Figure BDA00027942351200000216
It represents the differential of the geometric angle between the flight direction of the aircraft and the existence of the dynamic obstacle aircraft in the pilot's field of view,
Figure BDA00027942351200000217
It has a sign. When it is a negative number, it means that the obstacle aircraft B passes first, and when it is a positive number, it means that the aircraft A to be detected passes first. The formula for solving the angle of geometric view is as follows:

Figure BDA0002794235120000031
Figure BDA0002794235120000031

其中，T表示仿真单位时间步长。Among them, T represents the simulation unit time step.

步骤2包括：Step 2 includes:

步骤2-1、设定几何视景夹角微分的判断阈值γ为：Step 2-1. Set the judgment threshold γ of the differential angle of the geometric viewing angle as:

Figure BDA0002794235120000032
Figure BDA0002794235120000032

步骤2-2、进行飞行冲突判断；Step 2-2, carry out flight conflict judgment;

步骤2-3、进行冲突类型判断。Step 2-3, judge the conflict type.

步骤2-2包括：Steps 2-2 include:

当待检测飞行器A与障碍飞行器B之间几何视景夹角微分接近于0且冲突预测时间为正数时，判断飞行冲突即将发生，其判别公式为：When the differential of the geometric viewing angle between the aircraft A to be detected and the obstacle aircraft B is close to 0 and the conflict prediction time is a positive number, it is judged that a flight conflict is about to occur, and the judgment formula is:

Figure BDA0002794235120000033
Figure BDA0002794235120000033

其中，

Figure BDA0002794235120000034
表示判断待检测飞行器A与障碍飞行器B是否会发生飞行冲突的布尔量。in,
Figure BDA0002794235120000034
Indicates the Boolean value for judging whether the flight conflict between the aircraft A to be detected and the obstacle aircraft B will occur.

步骤2-3包括：不考虑垂直方向的相对运动，按照飞行器的相对飞行方向将民航飞行器之间的飞行冲突分为三种：正面冲突、侧面冲突、背面冲突，正面冲突的判断公式如下：Steps 2-3 include: regardless of the relative movement in the vertical direction, the flight conflicts between civil aviation aircraft are divided into three types according to the relative flight directions of the aircraft: frontal conflict, side conflict, and rear conflict. The judgment formula of frontal conflict is as follows:

Figure BDA0002794235120000035
Figure BDA0002794235120000035

Figure BDA0002794235120000036
Figure BDA0002794235120000036

Figure BDA0002794235120000037
Figure BDA0002794235120000037

其中θ表示判断待检测飞行器A与障碍飞行器B共线的阈值(一般取值为±5°)；ψ表示待检测飞行器A与障碍飞行器B的飞行方向夹角；

Figure BDA0002794235120000038
表示待检测飞行器A的飞行方向；
Figure BDA0002794235120000041
表示障碍飞行器B的飞行方向；RA、RB分别表示飞行器A、B的半径(本方法假设飞行器A、B半径相同)；D表示待检测飞行器A与障碍飞行器B之间的距离；where θ represents the threshold for judging that the aircraft A to be detected and the obstacle aircraft B are collinear (generally the value is ±5°); ψ represents the angle between the flight directions of the aircraft A to be detected and the obstacle aircraft B;
Figure BDA0002794235120000038
Indicates the flight direction of aircraft A to be detected;
Figure BDA0002794235120000041
Represents the flight direction of the obstacle aircraft B; R A and R B represent the radii of the aircraft A and B respectively (this method assumes that the radii of the aircraft A and B are the same); D represents the distance between the aircraft A to be detected and the obstacle aircraft B;

背面冲突的判断公式是：The judgment formula for back conflict is:

Figure BDA0002794235120000042
Figure BDA0002794235120000042

Figure BDA0002794235120000043
Figure BDA0002794235120000043

如果非正面冲突，并且非背面冲突，则判断为侧面冲突。If there is no frontal conflict and no rearward conflict, it is judged as a side conflict.

步骤3包括：Step 3 includes:

步骤3-1、生成飞行冲突避免策略(速度小于200km/h判定为低速，速度大于200km/h且小于900km/h判定为高速)：Step 3-1. Generate a flight conflict avoidance strategy (speed less than 200km/h is judged as low speed, and speed greater than 200km/h and less than 900km/h is judged as high speed):

当tcmin≤0.5s时：When t cmin ≤0.5s:

障碍飞行器B状态是低速，碰撞类型是正面冲突，策略为待检测飞行器A减速与转向；The state of obstacle aircraft B is low speed, the collision type is frontal conflict, and the strategy is to decelerate and turn the aircraft A to be detected;

障碍飞行器B状态是低速，碰撞类型是背面冲突，策略为待检测飞行器A减速与转向；The state of obstacle aircraft B is low speed, the collision type is rear collision, and the strategy is to decelerate and turn the aircraft A to be detected;

障碍飞行器B状态是低速，碰撞类型是侧面冲突，策略为待检测飞行器A减速与转向；The state of obstacle aircraft B is low speed, the collision type is side conflict, and the strategy is to decelerate and turn the aircraft A to be detected;

障碍飞行器B状态是高速，碰撞类型是正面冲突，策略为待检测飞行器A与障碍飞行器B同时减速与转向；The state of obstacle aircraft B is high speed, the collision type is frontal conflict, and the strategy is to decelerate and steer the aircraft A to be detected and the obstacle aircraft B at the same time;

障碍飞行器B状态是高速，碰撞类型是背面冲突，策略为待检测飞行器A与障碍飞行器B保持同速；The state of obstacle aircraft B is high speed, the collision type is rear collision, and the strategy is to maintain the same speed between the aircraft A to be detected and the obstacle aircraft B;

障碍飞行器B状态是高速，碰撞类型是侧面冲突，策略为随机选择待检测飞行器A或者障碍飞行器B进行减速；The state of obstacle aircraft B is high speed, the collision type is side conflict, and the strategy is to randomly select the aircraft A to be detected or the obstacle aircraft B to decelerate;

当0.5s＜tcmin≤3s时，障碍飞行器B状态是低速，碰撞类型是正面冲突，策略为待检测飞行器A转向；When 0.5s＜t cmin ≤3s , the state of obstacle aircraft B is low speed, the collision type is frontal conflict, and the strategy is the steering of aircraft A to be detected;

障碍飞行器B状态是低速，碰撞类型是背面冲突，策略为待检测飞行器A转向；The state of obstacle aircraft B is low speed, the collision type is rear collision, and the strategy is the steering of aircraft A to be detected;

障碍飞行器B状态是低速，碰撞类型是侧面冲突，策略为待检测飞行器A减速与转向；The state of obstacle aircraft B is low speed, the collision type is side conflict, and the strategy is to decelerate and turn the aircraft A to be detected;

障碍飞行器B状态是高速，碰撞类型是正面冲突，策略为待检测飞行器A与障碍飞行器B同时减速与转向；The state of obstacle aircraft B is high speed, the collision type is frontal conflict, and the strategy is to decelerate and steer the aircraft A to be detected and the obstacle aircraft B at the same time;

障碍飞行器B状态是高速，碰撞类型是背面冲突，策略为待检测飞行器A减速或者转向；The state of obstacle aircraft B is high speed, the collision type is rear collision, and the strategy is to decelerate or turn the aircraft A to be detected;

障碍飞行器B状态是高速，碰撞类型是侧面冲突，策略为待检测飞行器A与障碍飞行器B同时减速与转向；The state of obstacle aircraft B is high speed, the collision type is side conflict, and the strategy is to decelerate and steer the aircraft A to be detected and the obstacle aircraft B at the same time;

当tcmin＞3s时：障碍飞行器B状态是低速，碰撞类型是正面冲突，策略为待检测飞行器A转向；When t cmin > 3s: the state of obstacle aircraft B is low speed, the collision type is frontal conflict, and the strategy is the steering of aircraft A to be detected;

障碍飞行器B状态是低速，碰撞类型是背面冲突，策略为待检测飞行器A转向；The state of obstacle aircraft B is low speed, the collision type is rear collision, and the strategy is the steering of aircraft A to be detected;

障碍飞行器B状态是低速，碰撞类型是侧面冲突，策略为待检测飞行器A转向；The state of obstacle aircraft B is low speed, the collision type is side conflict, and the strategy is the steering of aircraft A to be detected;

障碍飞行器B状态是高速，碰撞类型是正面冲突，策略为待检测飞行器A与障碍飞行器B同时转向；The state of obstacle aircraft B is high speed, the collision type is frontal conflict, and the strategy is that the aircraft A to be detected and the obstacle aircraft B turn at the same time;

障碍飞行器B状态是高速，碰撞类型是背面冲突，策略为无反应；The state of obstacle aircraft B is high speed, the collision type is rear collision, and the strategy is no response;

障碍飞行器B状态是高速，碰撞类型是侧面冲突，策略为无反应；The obstacle aircraft B state is high speed, the collision type is side conflict, and the strategy is no response;

步骤3-2、计算冲突避免决策参数：Step 3-2. Calculate conflict avoidance decision parameters:

如果是减速运动，计算公式如下：If it is a deceleration motion, the calculation formula is as follows:

Figure BDA0002794235120000051
Figure BDA0002794235120000051

其中，vnew表示飞行器A下一帧的飞行速度；va表示飞行器A当前速度；tcmin表示最快发生的碰撞的预测时间；Among them, v new represents the flight speed of aircraft A in the next frame; v a represents the current speed of aircraft A; t cmin represents the predicted time of the fastest collision;

如果是加速运动，即飞行器在情况允许下，以最大飞行速度vmax(根据机型不同，如波音747最大飞行速度为960km/h)超越；If it is an accelerated motion, that is, the aircraft will exceed the maximum flight speed v max (depending on the model, for example, the maximum flight speed of Boeing 747 is 960km/h) when the situation allows;

如果是飞行方向调整，即飞行器通过左转或右转的方式，给其自身增加一个合适的角速度，其计算公式如下：If the flight direction is adjusted, that is, the aircraft will add a suitable angular velocity to itself by turning left or right. The calculation formula is as follows:

Figure BDA0002794235120000061
Figure BDA0002794235120000061

其中，

Figure BDA0002794235120000062
表示飞行器A下一帧的旋转角度；γ'表示理想旋转角度；
Figure BDA0002794235120000063
表示飞行器A每秒最大旋转角度；tcmin表示最快发生的碰撞的预测时间。in,
Figure BDA0002794235120000062
Represents the rotation angle of aircraft A in the next frame; γ' represents the ideal rotation angle;
Figure BDA0002794235120000063
represents the maximum rotation angle of aircraft A per second; t cmin represents the predicted time of the fastest collision.

步骤4包括：Step 4 includes:

步骤4-1、转向计算，即根据飞行器理想飞行方向与其实际飞行方向，计算其转向，分为如下三种情况：Step 4-1. Steering calculation, that is, calculating the steering according to the ideal flight direction of the aircraft and its actual flight direction, which can be divided into the following three situations:

第一种情况，当飞行器A所需要调整角度小于阈值(根据机型决定，如战斗机转向角速度阈值为20度每秒)时，即差向量长度较小，此时飞行器A能够在单帧内完成方向的调整，则航线飞行方向直接成为飞行器的下一帧A的飞行方向

Figure BDA0002794235120000064
In the first case, when the required adjustment angle of aircraft A is less than the threshold (determined according to the model, for example, the steering angular velocity threshold of a fighter jet is 20 degrees per second), that is, the length of the difference vector is small, at this time, aircraft A can complete the adjustment in a single frame If the direction is adjusted, the flight direction of the route will directly become the flight direction of the next frame A of the aircraft.
Figure BDA0002794235120000064

Figure BDA0002794235120000065
Figure BDA0002794235120000065

其中，

Figure BDA0002794235120000066
表示飞行器A的理想飞行方向；in,
Figure BDA0002794235120000066
Indicates the ideal flight direction of aircraft A;

第二种情况，当飞行器所需要调整角度大于阈值时，采用中间方向作为下一帧的运动方向

Figure BDA0002794235120000067
In the second case, when the required adjustment angle of the aircraft is greater than the threshold, the middle direction is used as the movement direction of the next frame
Figure BDA0002794235120000067

Figure BDA0002794235120000068
Figure BDA0002794235120000068

其中，

Figure BDA0002794235120000069
表示飞行器A的理想转向差向量，δ表示飞行器A的旋转系数，
Figure BDA00027942351200000610
表示飞行器A当前的实际飞行方向，in,
Figure BDA0002794235120000069
represents the ideal steering difference vector of aircraft A, δ represents the rotation coefficient of aircraft A,
Figure BDA00027942351200000610
Indicates the current actual flight direction of aircraft A,

第三种情况，当飞行器A的实际方向与理想方向夹角为钝角时，引入当前方向的正交向量参与其下一帧方向的计算：In the third case, when the angle between the actual direction and the ideal direction of aircraft A is an obtuse angle, the orthogonal vector of the current direction is introduced to participate in the calculation of its next frame direction:

Figure BDA00027942351200000611
Figure BDA00027942351200000611

其中，

Figure BDA00027942351200000612
表示飞行器A的当前方向的正交向量，
Figure BDA00027942351200000613
表示飞行器A的当前方向的X方向分解，
Figure BDA00027942351200000614
表示飞行器A的当前方向的Y方向分解，
Figure BDA00027942351200000615
表示飞行器A当前的实际飞行方向，
Figure BDA0002794235120000071
表示飞行器A的下一帧方向；in,
Figure BDA00027942351200000612
is an orthogonal vector representing the current direction of aircraft A,
Figure BDA00027942351200000613
X-direction decomposition representing the current direction of aircraft A,
Figure BDA00027942351200000614
Y-direction decomposition representing the current direction of aircraft A,
Figure BDA00027942351200000615
Indicates the current actual flight direction of aircraft A,
Figure BDA0002794235120000071
Indicates the direction of the next frame of aircraft A;

结合上述公式，飞行器下一帧的飞行方向

Figure BDA0002794235120000072
为：Combined with the above formula, the flight direction of the aircraft in the next frame
Figure BDA0002794235120000072
for:

Figure BDA0002794235120000073
Figure BDA0002794235120000073

式中：

Figure BDA0002794235120000074
表示飞行器A下一帧的飞行方向；β表示飞行器A的理想方向与实际方向夹角；
Figure BDA0002794235120000075
计算公式已在上文给出。where:
Figure BDA0002794235120000074
represents the flight direction of aircraft A in the next frame; β represents the angle between the ideal direction and the actual direction of aircraft A;
Figure BDA0002794235120000075
The calculation formula has been given above.

步骤4-2、运动速度控制，建立平面直角坐标系，横坐标轴为x轴，向右(向东)为正；纵坐标轴为y轴，向上(向北)为正，根据飞行器飞行方向在X、Y轴的分量，计算下一帧飞行速度，公式如下：Step 4-2, the movement speed control, establish a plane rectangular coordinate system, the abscissa axis is the x axis, and the right (eastward) is positive; the ordinate axis is the y axis, and the upward (north) is positive, according to the flight direction of the aircraft In the components of the X and Y axes, the flight speed of the next frame is calculated, and the formula is as follows:

Figure BDA0002794235120000076
Figure BDA0002794235120000076

其中，

Figure BDA0002794235120000077
表示飞行器A下一帧的运动方向的X分量，
Figure BDA0002794235120000078
表示飞行器A下一帧的运动方向的Y分量，
Figure BDA0002794235120000079
表示飞行器A向X方向的可达飞行速度，
Figure BDA00027942351200000710
表示飞行器A向Y方向的可达飞行速度。in,
Figure BDA0002794235120000077
represents the X component of the movement direction of aircraft A in the next frame,
Figure BDA0002794235120000078
represents the Y component of the movement direction of aircraft A in the next frame,
Figure BDA0002794235120000079
represents the achievable flight speed of aircraft A in the X direction,
Figure BDA00027942351200000710
Indicates the achievable flight speed of aircraft A in the Y direction.

本发明与现有技术相比，其显著优点如下：(1)利用机载ADS-B设备即可获取冲突检测所需的相关原始数据，计算简单，计算效率高；(2)基于规则的冲突避免方法，实施简单，可方便进行规则修改与扩展。Compared with the prior art, the present invention has the following significant advantages: (1) the relevant original data required for conflict detection can be obtained by using the airborne ADS-B equipment, the calculation is simple and the calculation efficiency is high; (2) the conflict based on the rules The avoidance method is simple to implement, and it is convenient to modify and expand the rules.

附图说明Description of drawings

下面结合附图和具体实施方式对本发明做更进一步的具体说明，本发明的上述和/或其他方面的优点将会变得更加清楚。The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, and the advantages of the above-mentioned and/or other aspects of the present invention will become clearer.

图1是飞行冲突检测模型示意图。Figure 1 is a schematic diagram of a flight conflict detection model.

图2是航空器飞行冲突避免轨迹示意图。FIG. 2 is a schematic diagram of an aircraft flight conflict avoidance trajectory.

图3是本发明方法流程图。Figure 3 is a flow chart of the method of the present invention.

具体实施方式Detailed ways

如图2、图3所示，本发明提供了一种基于几何视景模型的短期飞行冲突检测与避免方法，具体包含如下步骤：As shown in FIG. 2 and FIG. 3 , the present invention provides a short-term flight conflict detection and avoidance method based on a geometric visual model, which specifically includes the following steps:

步骤1、短期飞行冲突检测参数计算。建立飞行冲突检测模型，如图1所示。定义待检测飞行器A与障碍飞行器B之间几何视景夹角φ和碰撞预测时间tc的二元组为短期飞行冲突检测参数。结合飞行器A与B之间的相对运动关系，对飞行冲突检测参数进行计算，其具体计算步骤如下：Step 1. Calculation of short-term flight conflict detection parameters. A flight conflict detection model is established, as shown in Figure 1. The two-tuple that defines the angle φ of the geometric view between the aircraft A to be detected and the obstacle aircraft B and the collision prediction time t c is the short-term flight conflict detection parameter. Combined with the relative motion relationship between aircraft A and B, the flight conflict detection parameters are calculated. The specific calculation steps are as follows:

(1)飞行冲突预测时间计算：障碍飞行器B相对于待检测飞行器A的相对速度可以表示为：(1) Calculation of flight conflict prediction time: The relative speed of obstacle aircraft B relative to aircraft A to be detected can be expressed as:

Figure BDA0002794235120000081
Figure BDA0002794235120000081

式中：

Figure BDA0002794235120000082
表示障碍飞行器B相对于待检测飞行器A的速度；
Figure BDA0002794235120000083
表示障碍飞行器B的运动速度；
Figure BDA0002794235120000084
表示待检测飞行器A的运动速度。where:
Figure BDA0002794235120000082
Indicates the speed of obstacle aircraft B relative to aircraft A to be detected;
Figure BDA0002794235120000083
represents the movement speed of obstacle aircraft B;
Figure BDA0002794235120000084
Indicates the movement speed of the aircraft A to be detected.

将

Figure BDA0002794235120000085
按照
Figure BDA0002794235120000086
方向做正交分解，用其分量来求得碰撞预测时间tc，具体公式如下：Will
Figure BDA0002794235120000085
according to
Figure BDA0002794235120000086
The direction is orthogonally decomposed, and its components are used to obtain the collision prediction time t c . The specific formula is as follows:

Figure BDA0002794235120000087
Figure BDA0002794235120000087

Figure BDA0002794235120000088
Figure BDA0002794235120000088

D＝||pB-pA||-RD=||p B -p A ||-R

Figure BDA0002794235120000089
Figure BDA0002794235120000089

式中：

Figure BDA00027942351200000810
表示障碍飞行器B相对于待检测飞行器A的速度；
Figure BDA00027942351200000811
表示障碍飞行器B的运动速度；
Figure BDA00027942351200000812
表示待检测飞行器A的运动速度；
Figure BDA00027942351200000813
表示障碍飞行器B对待检测飞行器A的相对速度沿
Figure BDA00027942351200000814
方向的分量；
Figure BDA00027942351200000815
表示
Figure BDA00027942351200000816
的正交分解；
Figure BDA00027942351200000817
表示障碍飞行器B指向待检测飞行器A方向的单位向量；D表示障碍飞行器B与待检测飞行器A的距离；pA表示飞行器A的位置坐标；pB表示飞行器B的位置坐标；R表示障碍飞行器的估算半径。where:
Figure BDA00027942351200000810
Indicates the speed of obstacle aircraft B relative to aircraft A to be detected;
Figure BDA00027942351200000811
represents the movement speed of obstacle aircraft B;
Figure BDA00027942351200000812
Indicates the motion speed of the aircraft A to be detected;
Figure BDA00027942351200000813
Indicates the relative speed edge of the obstacle aircraft B to be detected by the aircraft A
Figure BDA00027942351200000814
the component of the direction;
Figure BDA00027942351200000815
express
Figure BDA00027942351200000816
Orthogonal decomposition of ;
Figure BDA00027942351200000817
Represents the unit vector of the obstacle aircraft B pointing in the direction of the aircraft A to be detected; D represents the distance between the obstacle aircraft B and the aircraft A to be detected; p A represents the position coordinates of the aircraft A; p B represents the position coordinates of the aircraft B; R represents the position coordinates of the obstacle aircraft Estimated radius.

(2)几何视景夹角计算：设飞行器的飞行方向与飞行员视野内的动态障碍飞行器存在几何夹角φ。本方法认为φ的时间微分为0或接近于0(考虑飞行器的体积)，则在不久的将来二者会发生冲突。其几何视景夹角计算公式如下：(2) Calculation of the included angle of geometrical view: It is assumed that there is a geometrical angle φ between the flight direction of the aircraft and the dynamic obstacle aircraft in the pilot's field of view. This method considers that the time differential of φ is 0 or close to 0 (considering the volume of the aircraft), then the two will conflict in the near future. The calculation formula of its geometric viewing angle is as follows:

Figure BDA0002794235120000091
Figure BDA0002794235120000091

Figure BDA0002794235120000092
Figure BDA0002794235120000092

式中：

Figure BDA0002794235120000093
表示待检测飞行器A指向障碍飞行器B方向的单位向量；φ表示待检测飞行器A对障碍飞行器B的几何视景角。where:
Figure BDA0002794235120000093
Represents the unit vector of the aircraft A to be detected pointing in the direction of the obstacle aircraft B; φ represents the geometric viewing angle of the aircraft A to be detected to the obstacle aircraft B.

(3)几何视景夹角微分计算：将几何视景夹角的微分用单位时间内φ的变化来近似表示，单位时间为飞行冲突检测计算时间步长。

Figure BDA0002794235120000094
具有符号，其为负数时表示障碍飞行器B先通过，为正数时表示待检测飞行器A先通过。基于以上条件，求解几何视景角的微分可用如下公式近似计算：(3) Differential calculation of the included angle of the geometric view: The differential of the included angle of the geometric view is approximated by the change of φ per unit time, and the unit time is the calculation time step of flight conflict detection.
Figure BDA0002794235120000094
With a sign, when it is a negative number, it means that the obstacle aircraft B passes first, and when it is a positive number, it means that the aircraft A to be detected passes first. Based on the above conditions, the differential of solving the geometric viewing angle can be approximated by the following formula:

Figure BDA0002794235120000095
Figure BDA0002794235120000095

式中：T表示仿真单位时间步长。In the formula: T represents the simulation unit time step.

步骤2：飞行冲突检测计算。结合步骤1计算得到的短期飞行冲突计算参数，进一步认定当tc＞0时，如果φ的微分接近于0，判断飞行冲突将会发生。根据飞行器的相对飞行方向，判断飞行冲突所属类型。其具体计算步骤如下：Step 2: Flight conflict detection calculation. Combined with the short-term flight conflict calculation parameters calculated in step 1, it is further determined that when t c >0, if the differential of φ is close to 0, it is judged that a flight conflict will occur. According to the relative flight direction of the aircraft, determine the type of flight conflict. The specific calculation steps are as follows:

(1)检测阈值计算：考虑到通常情况下较晚发生冲突的飞行器之间距离较远，影响较小，而即将发生冲突的飞行器之间距离较近，冲突的影响范围较大，设定几何视景夹角微分的判断阈值为：(1) Calculation of detection threshold: Considering that under normal circumstances, the aircrafts that conflict later are far apart and have less impact, while the aircraft that are about to conflict are close to each other, and the impact of the conflict is larger. The judgment threshold of the viewing angle differential is:

Figure BDA0002794235120000096
Figure BDA0002794235120000096

式中：γ表示几何视景夹角微分的判断阈值。In the formula: γ represents the judgment threshold of the differential angle of the geometric viewing angle.

(2)飞行冲突判断：当待检测飞行器A与障碍飞行器B之间的几何视景夹角微分接近于0且冲突预测时间为正数时，二者会发生飞行冲突，因此飞行冲突检测的判别公式为：(2) Flight conflict judgment: when the differential angle of the geometric view between the aircraft A to be detected and the obstacle aircraft B is close to 0 and the conflict prediction time is a positive number, a flight conflict will occur between the two, so the judgment of flight conflict detection The formula is:

Figure BDA0002794235120000101
Figure BDA0002794235120000101

式中：

Figure BDA0002794235120000102
表示判断待检测飞行器A与障碍飞行器B是否会发生飞行冲突的布尔量。where:
Figure BDA0002794235120000102
Indicates the Boolean value for judging whether the flight conflict between the aircraft A to be detected and the obstacle aircraft B will occur.

(3)冲突类型判断：不考虑垂直方向的相对运动，按照其相对飞行方向将民航飞行器之间的飞行冲突分为三种：正面冲突、侧面冲突、背面冲突。按照飞行器之间的运动方向角度之差区分正面冲突与背面冲突，并考虑飞行器的体积，飞行方向的角度差在180度的θ邻域范围内判为正面冲突，则可以给出正面冲突的判断公式如下：(3) Judgment of conflict type: regardless of the relative movement in the vertical direction, the flight conflicts between civil aviation aircraft are divided into three types according to their relative flight directions: frontal conflict, side conflict, and rear conflict. Distinguish frontal conflict and rearward conflict according to the difference in the movement direction angles between the aircraft, and consider the volume of the aircraft. If the angle difference between the flight directions is within the θ neighborhood of 180 degrees, it is judged as a frontal conflict, and the judgment of a frontal conflict can be given. The formula is as follows:

Figure BDA0002794235120000103
Figure BDA0002794235120000103

Figure BDA0002794235120000104
Figure BDA0002794235120000104

Figure BDA0002794235120000105
Figure BDA0002794235120000105

式中：θ表示判断待检测飞行器A与障碍飞行器B共线的阈值(一般取值为±5°)；ψ表示待检测飞行器A与障碍飞行器B的飞行方向夹角；

Figure BDA0002794235120000106
表示待检测飞行器A的飞行方向；
Figure BDA0002794235120000107
表示障碍飞行器B的飞行方向；RA、RB表示飞行器A或B的半径(本方法假设飞行器A、B半径相同)；D表示待检测飞行器A与障碍飞行器B之间的距离；In the formula: θ represents the threshold for judging that the aircraft A to be detected and the obstacle aircraft B are collinear (generally the value is ±5°); ψ represents the angle between the flight direction of the aircraft A to be detected and the obstacle aircraft B;
Figure BDA0002794235120000106
Indicates the flight direction of aircraft A to be detected;
Figure BDA0002794235120000107
Represents the flight direction of the obstacle aircraft B; R A , R B represent the radius of the aircraft A or B (this method assumes that the radii of the aircraft A and B are the same); D represents the distance between the aircraft A to be detected and the obstacle aircraft B;

同上，背面冲突的判断公式是：Same as above, the formula for judging the conflict on the back is:

Figure BDA0002794235120000108
Figure BDA0002794235120000108

Figure BDA0002794235120000109
如果非正面冲突，并且非背面冲突，则判断为侧面冲突。
Figure BDA0002794235120000109
If there is no frontal conflict and no rearward conflict, it is judged as a side conflict.

步骤3：飞行冲突避免策略生成。根据飞行冲突预测时间与冲突类型判断，制定基于规则的冲突避免决策表，并计算对应的决策实施参数，其具体实施步骤如下：Step 3: Flight conflict avoidance strategy generation. According to the judgment of flight conflict prediction time and conflict type, formulate a rule-based conflict avoidance decision table, and calculate the corresponding decision implementation parameters. The specific implementation steps are as follows:

(1)飞行冲突避免决策生成。针对不同冲突预测时间以及冲突类型判断，制定基于规则的冲突避免决策表如下：(1) Flight conflict avoidance decision generation. For different conflict prediction time and conflict type judgment, the rule-based conflict avoidance decision table is formulated as follows:

表1飞行冲突避免决策表A(tcmin≤0.5s)Table 1 Flight conflict avoidance decision table A (t cmin ≤0.5s)

Figure BDA0002794235120000111
Figure BDA0002794235120000111

表2飞行冲突避免决策表B(0.5s＜tcmin≤3s)Table 2 Flight conflict avoidance decision table B (0.5s＜t cmin ≤3s )

Figure BDA0002794235120000112
Figure BDA0002794235120000112

表3飞行冲突避免决策表C(tcmin＞3s)Table 3 Flight conflict avoidance decision table C (t cmin > 3s)

Figure BDA0002794235120000113
Figure BDA0002794235120000113

(2)冲突避免决策参数计算。根据飞行器A的飞行方法，设定减速、转向等策略的计算公式如下：(2) Conflict avoidance decision parameter calculation. According to the flight method of aircraft A, the calculation formulas for setting strategies such as deceleration and steering are as follows:

减速运动：飞行器A在正常情况下会按照其理想速度行走，当其判断冲突即将发生时，会采取减速的办法，其公式如下：Deceleration movement: Under normal circumstances, aircraft A will walk at its ideal speed. When it judges that a conflict is about to occur, it will take a deceleration method. The formula is as follows:

Figure BDA0002794235120000114
Figure BDA0002794235120000114

式中：va表示飞行器A当前速度；tcmin表示最快发生的碰撞的预测时间。In the formula: va represents the current speed of aircraft A; t cmin represents the predicted time of the fastest collision.

加速运动：飞行器在情况允许下，以vmax超越。Accelerated motion: The aircraft will overtake by v max when the situation allows.

飞行方向调整：飞行器通过左转或右转的方式，给其自身增加一个合适的角速度。对于越快发生的碰撞，旋转的角速度

Figure BDA0002794235120000121
越大，设定角速度
Figure BDA0002794235120000122
的计算公式如下，其中
Figure BDA0002794235120000123
的方向应与
Figure BDA0002794235120000124
方向相反。Adjustment of flight direction: The aircraft can add a suitable angular velocity to itself by turning left or right. For faster collisions, the angular velocity of the rotation
Figure BDA0002794235120000121
The larger the value, the set angular velocity
Figure BDA0002794235120000122
The calculation formula is as follows, where
Figure BDA0002794235120000123
The direction should be the same as
Figure BDA0002794235120000124
In the opposite direction.

Figure BDA0002794235120000125
Figure BDA0002794235120000125

步骤4：转向控制计算。控制飞行器单帧的旋转率以及飞行速度，以生成更加平滑的飞行轨迹。即根据飞行器当前的飞行方向以及理想飞行方向的差值，确定飞行器的转向控制。分解飞行器运动方向的X轴与Y轴的速度场分量，计算飞行器下一时刻的飞行速度，其具体实施步骤如下：Step 4: Steering control calculation. Control the rotation rate and flight speed of the aircraft in a single frame to generate a smoother flight trajectory. That is, the steering control of the aircraft is determined according to the difference between the current flight direction of the aircraft and the ideal flight direction. Decompose the velocity field components of the X-axis and Y-axis of the aircraft movement direction, and calculate the flight speed of the aircraft at the next moment. The specific implementation steps are as follows:

(1)转向计算。飞行器正常情况下应沿着航线方向前进，根据其理想飞行方向与其实际飞行方向，计算其方向差向量为：(1) Steering calculation. Under normal circumstances, the aircraft should move along the route direction. According to its ideal flight direction and its actual flight direction, the direction difference vector is calculated as:

Figure BDA0002794235120000126
Figure BDA0002794235120000126

式中：

Figure BDA0002794235120000127
表示飞行器A的理想飞行方向；
Figure BDA0002794235120000128
表示飞行器当前的实际飞行方向。where:
Figure BDA0002794235120000127
Indicates the ideal flight direction of aircraft A;
Figure BDA0002794235120000128
Indicates the current actual flight direction of the aircraft.

根据飞行器当前的飞行方向以及理想飞行方向的差值，确定飞行器的转向控制，分为如下三种形式：According to the difference between the current flight direction of the aircraft and the ideal flight direction, the steering control of the aircraft is determined, which is divided into the following three forms:

1、当飞行器所需要调整角度很小时，即差向量长度较小，此时飞行器可在单帧内完成方向的调整，则航线飞行方向可直接成为飞行器的下一帧的飞行方向：1. When the required adjustment angle of the aircraft is very small, that is, the length of the difference vector is small, the aircraft can complete the direction adjustment in a single frame, and the flight direction of the route can directly become the flight direction of the aircraft in the next frame:

Figure BDA0002794235120000129
Figure BDA0002794235120000129

2、当飞行器所需要调整角度较大但为仍为锐角时，采用中间方向作为下一帧的运动方向：2. When the angle that the aircraft needs to adjust is large but still acute, the middle direction is used as the movement direction of the next frame:

Figure BDA00027942351200001210
Figure BDA00027942351200001210

式中：

Figure BDA00027942351200001211
表示飞行器A的理想转向差向量，δ表示飞行器A的旋转系数，
Figure BDA00027942351200001212
表示飞行器A当前的实际飞行方向。where:
Figure BDA00027942351200001211
represents the ideal steering difference vector of aircraft A, δ represents the rotation coefficient of aircraft A,
Figure BDA00027942351200001212
Indicates the current actual flight direction of aircraft A.

3、当飞行器的实际方向与理想方向夹角为钝角时，引入当前方向的正交向量参与其下一帧方向的计算：3. When the included angle between the actual direction and the ideal direction of the aircraft is an obtuse angle, the orthogonal vector of the current direction is introduced to participate in the calculation of the direction of the next frame:

Figure BDA0002794235120000131
Figure BDA0002794235120000131

其中，

Figure BDA0002794235120000132
表示飞行器A的当前方向的正交向量，
Figure BDA0002794235120000133
表示飞行器A的当前方向的X方向分解，
Figure BDA0002794235120000134
表示飞行器A的当前方向的Y方向分解，
Figure BDA0002794235120000135
表示飞行器A当前的实际飞行方向，
Figure BDA0002794235120000136
表示飞行器A的下一帧方向；in,
Figure BDA0002794235120000132
is an orthogonal vector representing the current direction of aircraft A,
Figure BDA0002794235120000133
X-direction decomposition representing the current direction of aircraft A,
Figure BDA0002794235120000134
Y-direction decomposition representing the current direction of aircraft A,
Figure BDA0002794235120000135
Indicates the current actual flight direction of aircraft A,
Figure BDA0002794235120000136
Indicates the direction of the next frame of aircraft A;

综上，飞行器下一帧的飞行方向为：In summary, the flight direction of the aircraft in the next frame is:

Figure BDA0002794235120000137
Figure BDA0002794235120000137

式中：

Figure BDA0002794235120000138
表示飞行器A下一帧的飞行方向；β表示飞行器A的理想方向与实际方向夹角；
Figure BDA0002794235120000139
计算公式已在上文给出。where:
Figure BDA0002794235120000138
represents the flight direction of aircraft A in the next frame; β represents the angle between the ideal direction and the actual direction of aircraft A;
Figure BDA0002794235120000139
The calculation formula has been given above.

(2)飞行速度控制：飞行器的速度由其飞行方向的X轴与Y轴的速度场分量决定。根据飞行方向在X、Y轴的分量，下一帧运动速度计算公式如下：(2) Flight speed control: The speed of the aircraft is determined by the speed field components of the X-axis and Y-axis of its flight direction. According to the components of the flight direction on the X and Y axes, the calculation formula of the motion speed of the next frame is as follows:

Figure BDA00027942351200001310
Figure BDA00027942351200001310

式中：

Figure BDA00027942351200001311
表示飞行器A下一帧的运动方向的X分量，
Figure BDA00027942351200001312
表示飞行器A下一帧的运动方向的Y分量，
Figure BDA00027942351200001313
表示飞行器A向X方向的可达飞行速度，
Figure BDA00027942351200001314
表示飞行器A向Y方向的可达飞行速度。where:
Figure BDA00027942351200001311
represents the X component of the movement direction of aircraft A in the next frame,
Figure BDA00027942351200001312
represents the Y component of the movement direction of aircraft A in the next frame,
Figure BDA00027942351200001313
represents the achievable flight speed of aircraft A in the X direction,
Figure BDA00027942351200001314
Indicates the achievable flight speed of aircraft A in the Y direction.

本发明提供了一种基于几何视景模型的短期飞行冲突检测与避免方法，具体实现该技术方案的方法和途径很多，以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。本实施例中未明确的各组成部分均可用现有技术加以实现。The present invention provides a short-term flight conflict detection and avoidance method based on a geometric visual model. There are many specific methods and approaches to realize the technical solution. The above are only the preferred embodiments of the present invention. It should be pointed out that for the technical field For those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can also be made, and these improvements and modifications should also be regarded as the protection scope of the present invention. All components not specified in this embodiment can be implemented by existing technologies.

Claims (10)

1.一种基于几何视景模型的短期飞行冲突检测与避免方法，其特征在于，包括如下步骤：1. a short-term flight conflict detection and avoidance method based on geometric visual model, is characterized in that, comprises the steps: 步骤1、计算短期飞行冲突检测参数；Step 1. Calculate short-term flight conflict detection parameters; 步骤2、飞行冲突检测；Step 2, flight conflict detection; 步骤3、生成飞行冲突避免策略；Step 3. Generate a flight conflict avoidance strategy; 步骤4、进行航线跟随计算。Step 4. Carry out the route following calculation. 2.根据权利要求1所述的方法，其特征在于，步骤1包括：2. The method according to claim 1, wherein step 1 comprises: 步骤1-1，定义待检测飞行器A与障碍飞行器B之间几何视景夹角φ和碰撞预测时间tc的二元组为短期飞行冲突检测参数；Step 1-1, define the two-tuple of the included angle φ of the geometric view between the aircraft A to be detected and the obstacle aircraft B and the collision prediction time t c as the short-term flight conflict detection parameter; 步骤1-2，计算飞行冲突预测时间；Step 1-2, calculate the flight conflict prediction time; 步骤1-3，计算几何视景夹角；Steps 1-3, calculate the included angle of the geometric view; 步骤1-4，计算几何视景夹角的微分。Steps 1-4, calculate the differential of the geometric viewing angle. 3.根据权利要求2所述的方法，其特征在于，步骤1-2中，计算飞行冲突预测时间的公式如下：3. method according to claim 2 is characterized in that, in step 1-2, the formula that calculates flight conflict prediction time is as follows:
Figure FDA0002794235110000011
Figure FDA0002794235110000011
Figure FDA0002794235110000012
Figure FDA0002794235110000012
Figure FDA0002794235110000013
Figure FDA0002794235110000013
 D＝||pB-pA||-R，D=||p B -p A ||-R,
Figure FDA0002794235110000014
Figure FDA0002794235110000014
 其中，
Figure FDA0002794235110000015
表示障碍飞行器B相对于待检测飞行器A的速度；
Figure FDA0002794235110000016
表示障碍飞行器B的运动速度；
Figure FDA0002794235110000017
表示待检测飞行器A的运动速度；
Figure FDA0002794235110000018
表示障碍飞行器B对待检测飞行器A的相对速度沿
Figure FDA0002794235110000019
方向的分量；
Figure FDA00027942351100000110
表示
Figure FDA00027942351100000111
的正交分解；
Figure FDA00027942351100000112
表示障碍飞行器B指向待检测飞行器A方向的单位向量；D表示障碍飞行器B与待检测飞行器A的距离；pA表示飞行器A的位置坐标；pB表示飞行器B的位置坐标；R表示障碍飞行器的估算半径。in,
Figure FDA0002794235110000015
Indicates the speed of obstacle aircraft B relative to aircraft A to be detected;
Figure FDA0002794235110000016
represents the movement speed of obstacle aircraft B;
Figure FDA0002794235110000017
Indicates the motion speed of the aircraft A to be detected;
Figure FDA0002794235110000018
Indicates the relative speed edge of the obstacle aircraft B to be detected by the aircraft A
Figure FDA0002794235110000019
the component of the direction;
Figure FDA00027942351100000110
express
Figure FDA00027942351100000111
Orthogonal decomposition of ;
Figure FDA00027942351100000112
Represents the unit vector of the obstacle aircraft B pointing in the direction of the aircraft A to be detected; D represents the distance between the obstacle aircraft B and the aircraft A to be detected; p A represents the position coordinates of the aircraft A; p B represents the position coordinates of the aircraft B; R represents the position coordinates of the obstacle aircraft Estimated radius. 4.根据权利要求3所述的方法，其特征在于，步骤1-3中，计算几何视景夹角，即计算飞行器的飞行方向与飞行员视野内的动态障碍飞行器存在的几何夹角φ，公式如下：4. method according to claim 3, is characterized in that, in step 1-3, calculates the geometrical angle of view angle, namely calculates the geometrical angle φ that the flight direction of the aircraft and the dynamic obstacle aircraft in the pilot's field of vision exist, formula as follows:
Figure FDA0002794235110000021
Figure FDA0002794235110000021
Figure FDA0002794235110000022
Figure FDA0002794235110000022
 其中，
Figure FDA0002794235110000023
表示待检测飞行器A指向障碍飞行器B方向的单位向量；φ表示待检测飞行器A对障碍飞行器B的几何视景角。in,
Figure FDA0002794235110000023
Represents the unit vector of the aircraft A to be detected pointing in the direction of the obstacle aircraft B; φ represents the geometric viewing angle of the aircraft A to be detected to the obstacle aircraft B. 5.根据权利要求4所述的方法，其特征在于，步骤1-4中，计算几何视景夹角的微分，用单位时间内φ的变化来近似表示，单位时间为飞行冲突检测计算时间步长，
Figure FDA0002794235110000024
表示飞行器的飞行方向与飞行员视野内的动态障碍飞行器存在的几何夹角微分，
Figure FDA0002794235110000025
具有符号，其为负数时表示障碍飞行器B先通过，为正数时表示待检测飞行器A先通过，求解几何视景夹角的公式如下：5. method according to claim 4, is characterized in that, in step 1-4, calculates the differential of the angle of view of geometry, is approximated by the change of φ per unit time, and the unit time is the flight conflict detection calculation time step long,
Figure FDA0002794235110000024
It represents the differential of the geometric angle between the flight direction of the aircraft and the existence of the dynamic obstacle aircraft in the pilot's field of view,
Figure FDA0002794235110000025
It has a sign. When it is a negative number, it means that the obstacle aircraft B passes first, and when it is a positive number, it means that the aircraft A to be detected passes first. The formula for solving the angle of geometric view is as follows:
Figure FDA0002794235110000026
Figure FDA0002794235110000026
 其中，T表示仿真单位时间步长。Among them, T represents the simulation unit time step. 6.根据权利要求5所述的方法，其特征在于，步骤2包括：6. The method according to claim 5, wherein step 2 comprises: 步骤2-1、设定几何视景夹角微分的判断阈值γ为：Step 2-1. Set the judgment threshold γ of the differential angle of the geometric viewing angle as:
Figure FDA0002794235110000027
Figure FDA0002794235110000027
 步骤2-2、进行飞行冲突判断；Step 2-2, carry out flight conflict judgment; 步骤2-3、进行冲突类型判断。Step 2-3, judge the conflict type. 7.根据权利要求6所述的方法，其特征在于，步骤2-2包括：7. The method according to claim 6, wherein step 2-2 comprises: 当待检测飞行器A与障碍飞行器B之间几何视景夹角微分接近于0且冲突预测时间为正数时，判断飞行冲突即将发生，其判别公式为：When the differential of the geometric viewing angle between the aircraft A to be detected and the obstacle aircraft B is close to 0 and the conflict prediction time is a positive number, it is judged that a flight conflict is about to occur, and the judgment formula is:
Figure FDA0002794235110000031
Figure FDA0002794235110000031
 其中，
Figure FDA0002794235110000032
表示判断待检测飞行器A与障碍飞行器B是否会发生飞行冲突的布尔量。in,
Figure FDA0002794235110000032
Indicates the Boolean value for judging whether the flight conflict between the aircraft A to be detected and the obstacle aircraft B will occur. 8.根据权利要求7所述的方法，其特征在于，步骤2-3包括：不考虑垂直方向的相对运动，按照飞行器的相对飞行方向将民航飞行器之间的飞行冲突分为三种：正面冲突、侧面冲突、背面冲突，正面冲突的判断公式如下：8. The method according to claim 7, wherein step 2-3 comprises: regardless of relative movement in the vertical direction, the flight conflicts between civil aviation aircraft are divided into three types according to the relative flight directions of the aircraft: frontal conflicts , side conflict, back conflict, and the judgment formula for frontal conflict are as follows:
Figure FDA0002794235110000033
Figure FDA0002794235110000033
Figure FDA0002794235110000034
Figure FDA0002794235110000034
Figure FDA0002794235110000035
Figure FDA0002794235110000035
 其中θ表示判断待检测飞行器A与障碍飞行器B共线的阈值；ψ表示待检测飞行器A与障碍飞行器B的飞行方向夹角；
Figure FDA0002794235110000036
表示待检测飞行器A的飞行方向；
Figure FDA0002794235110000037
表示障碍飞行器B的飞行方向；RA、RB分别表示飞行器A、B的半径；D表示待检测飞行器A与障碍飞行器B之间的距离；Among them, θ represents the threshold for judging that the aircraft A to be detected and the obstacle aircraft B are collinear; ψ represents the angle between the flight directions of the aircraft A to be detected and the obstacle aircraft B;
Figure FDA0002794235110000036
Indicates the flight direction of aircraft A to be detected;
Figure FDA0002794235110000037
Represents the flight direction of obstacle aircraft B; R A and R B represent the radii of aircraft A and B respectively; D represents the distance between aircraft A to be detected and obstacle aircraft B; 背面冲突的判断公式是：The judgment formula for back conflict is:
Figure FDA0002794235110000038
Figure FDA0002794235110000038
Figure FDA0002794235110000039
Figure FDA0002794235110000039
 如果非正面冲突，并且非背面冲突，则判断为侧面冲突。If there is no frontal conflict and no rearward conflict, it is judged as a side conflict. 9.根据权利要求8所述的方法，其特征在于，步骤3包括：9. The method according to claim 8, wherein step 3 comprises: 步骤3-1、生成飞行冲突避免策略：Step 3-1. Generate a flight conflict avoidance strategy: 当tcmin≤0.5s时：When t cmin ≤0.5s: 障碍飞行器B状态是低速，碰撞类型是正面冲突，策略为待检测飞行器A减速与转向；The state of obstacle aircraft B is low speed, the collision type is frontal conflict, and the strategy is to decelerate and turn the aircraft A to be detected; 障碍飞行器B状态是低速，碰撞类型是背面冲突，策略为待检测飞行器A减速与转向；The state of obstacle aircraft B is low speed, the collision type is rear collision, and the strategy is to decelerate and turn the aircraft A to be detected; 障碍飞行器B状态是低速，碰撞类型是侧面冲突，策略为待检测飞行器A减速与转向；The state of obstacle aircraft B is low speed, the collision type is side conflict, and the strategy is to decelerate and turn the aircraft A to be detected; 障碍飞行器B状态是高速，碰撞类型是正面冲突，策略为待检测飞行器A与障碍飞行器B同时减速与转向；The state of obstacle aircraft B is high speed, the collision type is frontal conflict, and the strategy is to decelerate and steer the aircraft A to be detected and the obstacle aircraft B at the same time; 障碍飞行器B状态是高速，碰撞类型是背面冲突，策略为待检测飞行器A与障碍飞行器B保持同速；The state of obstacle aircraft B is high speed, the collision type is rear collision, and the strategy is to maintain the same speed between the aircraft A to be detected and the obstacle aircraft B; 障碍飞行器B状态是高速，碰撞类型是侧面冲突，策略为随机选择待检测飞行器A或者障碍飞行器B进行减速；The state of obstacle aircraft B is high speed, the collision type is side conflict, and the strategy is to randomly select the aircraft A to be detected or the obstacle aircraft B to decelerate; 当0.5s＜tcmin≤3s时，障碍飞行器B状态是低速，碰撞类型是正面冲突，策略为待检测飞行器A转向；When 0.5s＜t cmin ≤3s , the state of obstacle aircraft B is low speed, the collision type is frontal conflict, and the strategy is the steering of aircraft A to be detected; 障碍飞行器B状态是低速，碰撞类型是背面冲突，策略为待检测飞行器A转向；The state of obstacle aircraft B is low speed, the collision type is rear collision, and the strategy is the steering of aircraft A to be detected; 障碍飞行器B状态是低速，碰撞类型是侧面冲突，策略为待检测飞行器A减速与转向；The state of obstacle aircraft B is low speed, the collision type is side conflict, and the strategy is to decelerate and turn the aircraft A to be detected; 障碍飞行器B状态是高速，碰撞类型是正面冲突，策略为待检测飞行器A与障碍飞行器B同时减速与转向；The state of obstacle aircraft B is high speed, the collision type is frontal conflict, and the strategy is to decelerate and steer the aircraft A to be detected and the obstacle aircraft B at the same time; 障碍飞行器B状态是高速，碰撞类型是背面冲突，策略为待检测飞行器A减速或者转向；The state of obstacle aircraft B is high speed, the collision type is rear collision, and the strategy is to decelerate or turn the aircraft A to be detected; 障碍飞行器B状态是高速，碰撞类型是侧面冲突，策略为待检测飞行器A与障碍飞行器B同时减速与转向；The state of obstacle aircraft B is high speed, the collision type is side conflict, and the strategy is to decelerate and steer the aircraft A to be detected and the obstacle aircraft B at the same time; 当tcmin＞3s时：障碍飞行器B状态是低速，碰撞类型是正面冲突，策略为待检测飞行器A转向；When t cmin > 3s: the state of obstacle aircraft B is low speed, the collision type is frontal conflict, and the strategy is the steering of aircraft A to be detected; 障碍飞行器B状态是低速，碰撞类型是背面冲突，策略为待检测飞行器A转向；The state of obstacle aircraft B is low speed, the collision type is rear collision, and the strategy is the steering of aircraft A to be detected; 障碍飞行器B状态是低速，碰撞类型是侧面冲突，策略为待检测飞行器A转向；The state of obstacle aircraft B is low speed, the collision type is side conflict, and the strategy is the steering of aircraft A to be detected; 障碍飞行器B状态是高速，碰撞类型是正面冲突，策略为待检测飞行器A与障碍飞行器B同时转向；The state of obstacle aircraft B is high speed, the collision type is frontal conflict, and the strategy is that the aircraft A to be detected and the obstacle aircraft B turn at the same time; 障碍飞行器B状态是高速，碰撞类型是背面冲突，策略为无反应；The state of obstacle aircraft B is high speed, the collision type is rear collision, and the strategy is no response; 障碍飞行器B状态是高速，碰撞类型是侧面冲突，策略为无反应；The obstacle aircraft B state is high speed, the collision type is side conflict, and the strategy is no response; 步骤3-2、计算冲突避免决策参数：Step 3-2. Calculate conflict avoidance decision parameters: 如果是减速运动，计算公式如下：If it is a deceleration motion, the calculation formula is as follows:
Figure FDA0002794235110000051
Figure FDA0002794235110000051
 其中，vnew表示飞行器A下一帧的飞行速度；va表示飞行器A当前速度；tcmin表示最快发生的碰撞的预测时间；Among them, v new represents the flight speed of aircraft A in the next frame; v a represents the current speed of aircraft A; t cmin represents the predicted time of the fastest collision; 如果是加速运动，即飞行器在情况允许下，以最大飞行速度vmax超越；If it is an accelerated motion, that is, the aircraft will overtake at the maximum flight speed v max under conditions permitting; 如果是飞行方向调整，即飞行器通过左转或右转的方式，给其自身增加一个合适的角速度，其计算公式如下：If the flight direction is adjusted, that is, the aircraft will add a suitable angular velocity to itself by turning left or right. The calculation formula is as follows:
Figure FDA0002794235110000052
Figure FDA0002794235110000052
 其中，
Figure FDA0002794235110000053
表示飞行器A下一帧的旋转角度；γ'表示理想旋转角度；
Figure FDA0002794235110000054
表示飞行器A每秒最大旋转角度；tcmin表示最快发生的碰撞的预测时间。in,
Figure FDA0002794235110000053
Represents the rotation angle of aircraft A in the next frame; γ' represents the ideal rotation angle;
Figure FDA0002794235110000054
represents the maximum rotation angle of aircraft A per second; t cmin represents the predicted time of the fastest collision. 10.根据权利要求9所述的方法，其特征在于，步骤4包括：10. The method according to claim 9, wherein step 4 comprises: 步骤4-1、转向计算，即根据飞行器理想飞行方向与其实际飞行方向，计算其转向，分为如下三种情况：Step 4-1. Steering calculation, that is, according to the ideal flight direction of the aircraft and its actual flight direction, calculate its steering, which is divided into the following three situations: 第一种情况，当飞行器A所需要调整角度小于阈值时，即差向量长度较小，此时飞行器A能够在单帧内完成方向的调整，则航线飞行方向直接成为飞行器A的下一帧的飞行方向
Figure FDA0002794235110000055
In the first case, when the required adjustment angle of aircraft A is less than the threshold, that is, the length of the difference vector is small, and aircraft A can complete the direction adjustment in a single frame, then the flight direction of the flight route directly becomes the direction of the next frame of aircraft A. flight direction
Figure FDA0002794235110000055
Figure FDA0002794235110000056
Figure FDA0002794235110000056
 其中，
Figure FDA0002794235110000057
表示飞行器A的理想飞行方向；in,
Figure FDA0002794235110000057
Indicates the ideal flight direction of aircraft A; 第二种情况，当飞行器A所需要调整角度大于阈值时，采用中间方向作为下一帧的运动方向
Figure FDA0002794235110000058
In the second case, when the required adjustment angle of aircraft A is greater than the threshold, the middle direction is used as the movement direction of the next frame
Figure FDA0002794235110000058
Figure FDA0002794235110000061
Figure FDA0002794235110000061
 其中，
Figure FDA0002794235110000062
表示飞行器A的理想转向差向量，δ表示飞行器A的旋转系数，
Figure FDA0002794235110000063
表示飞行器A当前的实际飞行方向，in,
Figure FDA0002794235110000062
represents the ideal steering difference vector of aircraft A, δ represents the rotation coefficient of aircraft A,
Figure FDA0002794235110000063
Indicates the current actual flight direction of aircraft A, 第三种情况，当飞行器A的实际方向与理想方向夹角为钝角时，引入当前方向的正交向量参与其下一帧方向的计算：In the third case, when the angle between the actual direction and the ideal direction of aircraft A is an obtuse angle, the orthogonal vector of the current direction is introduced to participate in the calculation of its next frame direction:
Figure FDA0002794235110000064
Figure FDA0002794235110000064
 其中，
Figure FDA0002794235110000065
表示飞行器A的当前方向的正交向量，
Figure FDA0002794235110000066
表示飞行器A的当前方向的X方向分解，
Figure FDA0002794235110000067
表示飞行器A的当前方向的Y方向分解，
Figure FDA0002794235110000068
表示飞行器A当前的实际飞行方向，
Figure FDA0002794235110000069
表示飞行器A的下一帧方向；in,
Figure FDA0002794235110000065
is an orthogonal vector representing the current direction of aircraft A,
Figure FDA0002794235110000066
X-direction decomposition representing the current direction of aircraft A,
Figure FDA0002794235110000067
Y-direction decomposition representing the current direction of aircraft A,
Figure FDA0002794235110000068
Indicates the current actual flight direction of aircraft A,
Figure FDA0002794235110000069
Indicates the direction of the next frame of aircraft A; 飞行器下一帧的飞行方向
Figure FDA00027942351100000610
为：The flight direction of the aircraft in the next frame
Figure FDA00027942351100000610
for:
Figure FDA00027942351100000611
Figure FDA00027942351100000611
 式中：
Figure FDA00027942351100000612
表示飞行器A下一帧的飞行方向；β表示飞行器A的理想方向与实际方向夹角；where:
Figure FDA00027942351100000612
represents the flight direction of aircraft A in the next frame; β represents the angle between the ideal direction and the actual direction of aircraft A; 步骤4-2、运动速度控制，建立平面直角坐标系，横坐标轴为x轴，向右为正；纵坐标轴为y轴，向上为正,根据飞行器飞行方向在X、Y轴的分量，计算下一帧飞行速度，公式如下：Step 4-2, the movement speed control, establish a plane rectangular coordinate system, the abscissa axis is the x axis, and the right is positive; the ordinate axis is the y axis, and the upward is positive. According to the components of the aircraft flight direction in the X and Y axes, Calculate the flight speed of the next frame, the formula is as follows:
Figure FDA00027942351100000613
Figure FDA00027942351100000613
 其中，
Figure FDA00027942351100000614
表示飞行器A下一帧的运动方向的X分量，
Figure FDA00027942351100000615
表示飞行器A下一帧的运动方向的Y分量，
Figure FDA00027942351100000616
表示飞行器A向X方向的可达飞行速度，
Figure FDA00027942351100000617
表示飞行器A向Y方向的可达飞行速度。in,
Figure FDA00027942351100000614
represents the X component of the movement direction of aircraft A in the next frame,
Figure FDA00027942351100000615
represents the Y component of the movement direction of aircraft A in the next frame,
Figure FDA00027942351100000616
represents the achievable flight speed of aircraft A in the X direction,
Figure FDA00027942351100000617
Indicates the achievable flight speed of aircraft A in the Y direction.
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