CN114115312A - A real-time airborne automatic collision avoidance warning and decision-making method and system for avoidance - Google Patents
A real-time airborne automatic collision avoidance warning and decision-making method and system for avoidance Download PDFInfo
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Abstract
The invention discloses a real-time airborne automatic anti-collision warning and avoidance decision method and a system, wherein the method comprises the following steps: acquiring a predicted avoidance trajectory through an aircraft kinematics model according to the real-time position and attitude information of the carrier; the method comprises the steps of constructing a terrain scanning area shape according to the type of a predicted avoidance track, calculating the uncertain width of each sampling track point through position error information of a carrier and a preset uncertain track growth angle, constructing an external rectangular envelope through the uncertain widths of two adjacent frames, extracting the maximum terrain elevation in the envelope, and forming a terrain profile below the predicted avoidance track; constructing a risk level for evaluating the risk of the predicted avoidance trajectory, and carrying out priority ordering on the predicted avoidance trajectory; judging whether an alarm signal is generated or not, and if so, executing the predicted avoidance trajectory with the highest priority; otherwise, not executing; the system comprises: the avoidance decision module, the notification module and the execution avoidance module; the invention can effectively solve the problem that the capability of the carrier for safely avoiding the threatening terrain is limited.
Description
Technical Field
The invention relates to the technical field of intelligent aircrafts, in particular to a real-time airborne automatic anti-collision warning and avoidance decision method and system.
Background
An Automatic Ground Collision Avoidance System (AGCAS) is mainly used for airplanes, and is used for preventing controllable flight Ground Collision accidents through an Automatic Avoidance mechanism and protecting pilots and airplanes under the conditions of saturated tasks, disorientation or incapacity of the pilots. The operation principle of the AGCAS is that a predicted avoidance trajectory is established and compared with a lower topographic profile to judge whether a ground collision danger occurs or not, an alarm is given to a pilot in time, and a safe avoidance maneuver is automatically executed. The key to an automated ground collision avoidance system is the establishment of avoidance maneuvers and the extraction of the underlying terrain profile. The traditional avoidance trajectory adopts a standard vertical pull-up maneuver, the wings are firstly rolled to be horizontal, and the pull-up maneuver is carried out under the condition of doing a limit load factor. However, extreme pull-up maneuvers are not always the most effective avoidance strategy when an aircraft is exposed to threatening terrain, for example, a lower pull force may suffice to avoid the need in the face of a flat threatening terrain, and an excessive pull force may lose the aircraft's performance. In the face of a steep threatening terrain, safe avoidance of the front terrain may not be achieved even with extreme tension, in which case left-right lateral avoidance may be more effective. In addition, the extraction of the terrain profile depends on the aircraft position, and for each avoidance trajectory, due to navigation positioning errors, sensor errors, terrain data errors and the like, a certain uncertainty may exist in the actual predicted position, which will seriously affect the evaluation and judgment of the avoidance strategy. How to evaluate the performance of each avoidance strategy (including the probability of collision with the terrain, the safety degree of avoidance, the actual performance of the aircraft and the like) and give the priority order of the avoidance strategies greatly improves the performance of the vehicle in collision avoidance, and is also beneficial to popularization and application of the automatic collision avoidance system.
Therefore, how to provide a real-time airborne automatic collision avoidance warning and avoidance decision method and system is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides a real-time airborne automatic anti-collision warning and avoidance decision method and system, so as to solve the problem that the capability of a carrier to safely avoid threatening terrain is limited by adopting limit avoidance maneuver, circular external envelope and a last person standing avoidance strategy in the existing automatic anti-collision system.
In order to achieve the purpose, the invention adopts the following technical scheme:
a real-time airborne automatic anti-collision warning and avoidance decision method comprises the following steps:
s1, obtaining a predicted avoidance track through an airplane kinematics model according to real-time position and attitude information of a carrier;
s2, constructing a terrain scanning area shape according to the predicted avoidance track type, calculating the uncertain width of each sampling track point through the position error information of a carrier and a preset uncertain track growth angle, constructing an external rectangular envelope through the adjacent two frames of uncertain widths, extracting the maximum terrain elevation in the envelope, and forming a terrain profile below the predicted avoidance track;
s3, according to the terrain threatening condition in the scanning area, the time from the current position of the airplane to the terrain threatening condition and flight prediction parameters, constructing a risk level for evaluating the risk of the predicted avoidance trajectory, and carrying out priority ranking on the predicted avoidance trajectory;
s4, judging whether an alarm signal is generated or not according to the ground collision condition of the predicted avoidance track and the terrain profile, and if the alarm is generated, executing the predicted avoidance track with the highest priority; otherwise, no such predicted avoidance trajectory is performed.
Preferably, the predicted avoidance trajectory includes: horizontal left turn LL, left turn climb CL, forward pull climb FC, right turn climb CR and horizontal right turn LR; the simplified state motion equation obtained by the three-degree-of-freedom approximation method is as follows:
wherein X is the instantaneous horizontal position of the carrier, Y is the lateral position, Z is the vertical position,
in order to be the horizontal velocity,
is the lateral velocity sum
Vertical velocity, V is ground velocity, chi is course angle, gamma is pitch angle, phi is roll angle, N iszIs a load factor;
by a load factor NzAnd controlling the type of the avoidance trajectory by a rolling angle phi, and obtaining the predicted avoidance trajectory through state recursion according to the predicted time and the state kinematics model.
Preferably, the specific contents of S2 include:
1) selecting the shape of a terrain scanning area according to the predicted avoidance trajectory type, wherein the terrain scanning area is trapezoidal under the condition of straight-line horizontal flight; under the condition of turning flight, the terrain scanning area is in a pipeline shape;
2) calculating the uncertain width UnWidth of each sampling track point according to the position error information output by the navigation system and the preset uncertain track increasing angle;
UnWidth＝σXY+DTPA*sin(α)
in the formula, σXYAn error value in the horizontal direction for the navigation solution; dTPAThe distance from the current track point to the initial position is the accumulated value between the track points; alpha is an uncertainty increasing angle of the prediction avoidance trajectory;
3) constructing an external rectangular envelope according to the uncertain width of two adjacent frames, extracting the maximum terrain elevation in the envelope, and forming a terrain profile below the predicted avoidance trajectory;
and (3) predicting the terrain profile below the avoidance track, except for the extracted terrain elevation, adding a terrain buffer height according to a vertical positioning error provided by a navigation system, and forming a terrain profile finally used for collision detection.
Preferably, the specific contents of S3 include:
1) according to the terrain threatening situation in the scanning area, the time from the current position of the airplane to the terrain threatening situation and flight prediction parameters, the occurrence degree O, the risk degree S and the improvement degree D for evaluating the predicted avoidance trajectory risk situation are constructed, wherein:
degree of occurrence O: according to the number N of topographic elevations exceeding the current predicted flight height in the predicted avoidance trajectory scanning areajAnd the total number of landforms in the area
The risk degree of the ground collision accident of the avoidance track is measured;
the risk degree S: according to the ratio of the prediction time when the predicted avoidance track collides with the threat terrain to the total time for completing the predicted avoidance track, the ratio is used as a measure for the danger degree S of the predicted avoidance track when the ground is collided;
the improvement degree D: forming a cut-out uncertain area according to the uncertainty of the current position, recording a course angle or a pitch angle of a track point corresponding to the cut-out uncertain area when no-threat terrain is cut out, and calculating a ratio of the corresponding angle variation to the current track overall angle variation to measure the safety improvement degree of the prediction avoidance track;
2) calculating utility values v, regret values R and perception utility values u of the prediction avoidance tracks under different load factors by taking the degree of improvement O, the degree of danger S and the degree of improvement D as independent variables x;
3) calculating the relative importance Q of the predicted avoidance trajectory according to the perception utility value u of each predicted avoidance trajectory and the aircraft performance parameters;
4) calculating a risk level according to the relative importance Q, and carrying out priority sequencing on the predicted avoidance trajectory; the smaller the Q value is, the lower the risk level is, and the higher the priority of the corresponding prediction avoidance trajectory is; conversely, the larger the Q value, the higher the risk level, and the lower the priority of the predicted avoidance trajectory.
Preferably, the specific content of determining whether to generate the warning signal according to the ground collision condition between the predicted avoidance trajectory and the terrain profile in S4 includes:
the predicted ground collision condition of the avoidance track and the terrain profile is judged by comparing the predicted flight height of each track point with the profile elevation added with the terrain buffer height; if the predicted flight height of the track point is smaller than the profile elevation, the profile elevation of the terrain is a threatening terrain, and the risk of land collision exists; otherwise there is no risk of a crash.
A real-time airborne automatic anti-collision warning and avoidance decision making system comprises: the avoidance decision module, the notification module and the execution avoidance module;
the avoidance decision module is used for acquiring a predicted avoidance track through an airplane kinematic model according to the real-time position and attitude information of the carrier; constructing a terrain scanning area shape according to the predicted avoidance track type, calculating the uncertain width of each sampling track point through the position error information of the carrier and a preset uncertain track growth angle, constructing an external rectangular envelope through the uncertain widths of two adjacent frames, extracting the maximum terrain elevation in the envelope, and forming a terrain profile below the predicted avoidance track; constructing a risk level for evaluating the risk of the predicted avoidance trajectory according to the terrain threatening condition in the scanning area, the time from the current position of the airplane to the terrain threatening condition and flight prediction parameters, and carrying out priority sequencing on the predicted avoidance trajectory;
the notification module is used for judging whether an alarm signal is generated according to the ground collision condition of the predicted avoidance track and the terrain profile;
the execution avoidance module is used for judging whether to execute a prediction avoidance track according to whether the alarm signal is generated or not, and if so, executing the prediction avoidance track with the highest priority; otherwise, no such predicted avoidance trajectory is performed.
Preferably, the avoidance decision module comprises: the system comprises an aircraft avoidance trajectory prediction unit, a threat terrain identification unit, a collision detection unit and a multi-trajectory decision and risk assessment unit;
the aircraft avoidance trajectory prediction unit is used for predicting a flight trajectory according to real-time position and attitude information in the carrier flight process, and outputting parameters to the threat terrain identification unit, the collision detection unit and the multi-trajectory decision and risk assessment unit;
the threat terrain identification unit is used for receiving navigation error information, taking the predicted avoidance track provided by the aircraft avoidance track prediction unit as a center, constructing a scanning area containing navigation uncertainty and track uncertainty, and providing output parameters to the collision detection unit and the multi-track decision and risk assessment unit;
the collision detection unit is used for comparing the predicted avoidance track with a terrain profile, judging whether a ground collision risk exists or not, and recording the predicted ground collision time of the occurrence of the collision if the ground collision risk exists;
and the multi-track decision and risk evaluation unit is used for receiving the output data from each module, calculating risk evaluation parameters and perception utility values and providing safe and effective avoidance decisions for the airplane.
Preferably, the aircraft state unit provides real-time aircraft state parameters to the avoidance decision module, and the terrain unit provides terrain surrounding the flight, including terrain profile, to the avoidance decision module.
According to the technical scheme, compared with the prior art, the invention discloses and provides a real-time airborne automatic anti-collision warning and avoidance decision method and system, the method is characterized in that a rectangular external envelope is introduced on the basis of a traditional automatic anti-collision system to extract a terrain profile, the risk level of an estimated avoidance track is constructed according to the terrain threatening condition in a scanning area, the time from the current position of an airplane to the terrain threatening condition and flight prediction parameters, the avoidance decisions are subjected to priority ranking, and when the terrain threatening condition exists, the avoidance decision with the highest priority is executed; the invention can improve the safety performance of the avoidance maneuver, thereby solving the problem that the capability of a carrier for safely avoiding threatening terrain is limited by adopting the limit avoidance maneuver, the circular external envelope and the avoidance strategy of 'one person stands' in the existing automatic anti-collision ground system. The system realizes the real-time airborne automatic anti-collision warning and avoidance decision system through programming, and realizes the avoidance flight trajectory prediction, the terrain scanning area construction and the avoidance trajectory priority sequencing through a computer processor.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a real-time airborne automatic anti-collision warning and avoidance decision system according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a real-time airborne automatic anti-collision warning and avoidance decision method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a terrain scanning area in a real-time airborne automatic anti-collision warning and avoidance decision method according to a real-time embodiment of the present invention;
fig. 4 is a flow chart of multi-track decision and risk assessment in a real-time airborne automatic anti-collision warning and avoidance decision method according to an embodiment of the present invention;
fig. 5 is a schematic view of calculating risk assessment parameters in a real-time airborne automatic anti-collision warning and avoidance decision method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a real-time airborne automatic anti-collision warning and avoidance decision system, which mainly comprises an input module 1, an avoidance decision module 2, a notification module 3 and an execution avoidance module 4 as shown in figure 1. The input module 1 is used as an input source of an automatic terrain collision avoidance system and mainly comprises an aircraft state unit 11 capable of providing aircraft state parameters and a terrain unit 12 providing terrain situations around the flight; the avoidance decision module 2 is used as a main part of the automatic anti-collision warning system and mainly comprises a flight avoidance trajectory prediction unit 21, a threat terrain recognition unit 22, a collision detection unit 23 and a multi-trajectory decision and risk assessment unit 24; the notification module 3 provides and records alarm information for the pilot; the execution avoidance module 4 is an execution module of an automatic terrain collision avoidance system, automatically executes the avoidance track selected by the system, and newly exchanges the control weight to the pilot after flying over the threatening terrain.
The aircraft avoidance trajectory prediction unit 21 is used for predicting flight trajectories of the 5 avoidance decisions in real time in the carrier flight process, input parameters of the aircraft avoidance trajectory prediction unit are provided by the aircraft state unit 11 in the input module 1, and output parameters of the aircraft avoidance trajectory prediction unit are provided for the threat terrain recognition unit 22, the collision detection unit 23 and the multi-trajectory decision and risk assessment unit 24.
And a threat terrain recognition unit 22 for receiving the navigation error information from the input module 1, constructing a scanning area containing navigation uncertainty and trajectory uncertainty by taking the predicted trajectory provided by the aircraft avoidance trajectory prediction unit 21 as a center, extracting a terrain profile below the predicted trajectory from the terrain unit 12 in the input module 1, and providing output parameters to a collision detection unit 23 and a multi-trajectory decision and risk assessment unit 24.
And the collision detection unit 23 compares the provided predicted track with the terrain profile, judges whether the ground collision risk exists or not, and records the predicted ground collision time of the collision if the ground collision risk exists.
And the multi-track decision and risk evaluation unit 24 receives the output data from each module, calculates risk evaluation parameters and perception utility values, and provides safe and effective avoidance decisions for the airplane.
The embodiment of the invention provides a real-time airborne automatic anti-collision warning and avoidance decision algorithm, which comprises the following steps as shown in figure 2:
s1: according to the position and posture information output by a navigation system, 5 avoidance tracks of horizontal Left turn (Level Left, LL), Left turn Climbing (clingbing Left, CL), Forward Climbing (Forward clinb, FC), Right turn Climbing (clingbing Right, CR) and horizontal Right turn (Level Right, LR) are predicted through an aircraft kinematics model;
specifically, the instantaneous horizontal position X, lateral position Y, vertical position Z and horizontal speed of the carrier provided by the airplane state module 11 in the input module 1
Lateral velocity
And vertical velocity
Ground speed V, heading angle χ, pitch angle γ, and roll angle φ. Introducing a load factor NzThe simplified five-state motion equation obtained by the three-degree-of-freedom approximation method is as follows:
by a load factor NzAnd controlling the type of the avoidance trajectory by the rolling angle phi, and obtaining 5 predicted avoidance trajectories through state recursion according to the predicted time and the simplified five-state kinematic model. And obtaining the predicted avoidance trajectory by state recursion, namely obtaining the position and the angle within certain prediction time according to the current speed and angular speed multiplied by sampling time so as to obtain the predicted avoidance trajectory.
S2: the method comprises the steps of constructing a terrain scanning area shape according to the type of an avoidance track, calculating the uncertain width of each track point through position error information output by a navigation system and a preset uncertain track growth angle, constructing an external rectangular envelope by two adjacent frames of uncertain widths, extracting the maximum terrain elevation in the envelope, and forming a terrain profile below a predicted track;
specifically, the extraction of the topographic profile below the track comprises the following steps:
step 1): selecting a terrain scanning shape according to the type of the avoidance track, wherein the terrain scanning area is trapezoidal under the condition of linear horizontal flight; under the condition of turning flight, the terrain scanning area is in a pipeline shape;
step 2): calculating the uncertain width UnWidth of each sampling track point according to the position error information output by the navigation system and a preset uncertain track increasing angle;
UnWidth＝σXY+DTPA*sin(α) (6)
in the formula, σXYAn error value in the horizontal direction for the navigation solution; dTPAThe distance from the current track point to the initial position is the accumulation between the track pointsProduct value; alpha is an uncertainty increasing angle of the predicted track;
step 3): constructing an external rectangular envelope according to the uncertain width of two adjacent frames, extracting the maximum terrain elevation in the envelope, and forming a terrain profile below the predicted track;
and (3) the terrain profile below the predicted track is added with the terrain buffer height according to the vertical positioning error provided by the navigation system except the extracted terrain elevation, so as to form the terrain profile finally used for collision detection.
To better illustrate the process of creating a terrain scanning area, a terrain scanning area creation diagram is shown in fig. 3. The prediction carrier carries out left turn avoidance decision, and predicts track points A according to a prediction track 221 provided by a flight avoidance track prediction 21iCentered by two adjacent frames AiAnd Ai-1The uncertain width UnWidth constructs an external rectangular envelope 222, and the maximum terrain elevation value in the external rectangular envelope 222 is extracted from the terrain data 12 in the input module 1 and used as a track point AiAnd (4) the elevation of the lower topographic profile, and the operation is carried out on all track points, so that a topographic profile curve below the predicted track can be obtained.
S3: constructing and evaluating the risk level of the avoidance trajectory according to the terrain threatening condition in the scanning area, the time from the current position of the airplane to the terrain threatening condition and flight prediction parameters, and carrying out priority ranking on the avoidance decision;
in step 3, the flow of the step of constructing and evaluating the avoidance trajectory risk level is shown in fig. 4, and the specific implementation process is as follows:
step 1): according to the terrain threatening condition in the scanning area, the time from the current position of the airplane to the terrain threatening condition and flight prediction parameters, the occurrence degree O, the risk degree S and the change degree D for evaluating the avoiding track risk condition are constructed, as shown in fig. 5, a risk evaluation parameter calculation schematic diagram is shown, specifically, the risk evaluation parameter calculation schematic diagram is
Degree of occurrence O: according to the number N of topographic elevations exceeding the current predicted flight height in the predicted track scanning areaj(HTH) and total number of landforms in the area
The risk degree of the ground collision accident of the avoidance track is measured, and the higher the occurrence degree is, the higher the risk of the ground collision of the prediction track is;
wherein j represents an avoidance decision sequence number; hTRepresenting the terrain height; h represents the predicted trajectory height.
The risk degree S: according to the ratio of the prediction time when the predicted track collides with the threat terrain to the total time for completing prediction of the avoidance track, the ratio is used as the risk degree S for measuring the ground collision of the avoidance track, and the larger the risk degree is, the closer the threat terrain is to the airplane is, and the higher the ground collision risk is;
wherein j represents the avoidance decision sequence number, CTimeRepresenting the predicted time at which the predicted trajectory collides with the threat terrain, ATimeThe total time is predicted for the trajectory.
The improvement degree D: according to the uncertainty of the current position, a cut-out uncertain region 223 shown in fig. 2 is formed, a course angle or a pitch angle of a track point corresponding to the cut-out uncertain region when no-threat terrain exists is recorded, the ratio of the corresponding angle variation to the overall angle variation of the track is calculated to measure the safety improvement degree of the avoidance track, and the higher the improvement degree is, the smaller the risk of the collision is represented, and the safer the corresponding predicted track is.
Wherein j represents an avoidance decision sequence number; k represents a predicted time; first represents the prediction starting time; last represents the predicted termination time; the pull-up climb decision θ represents a pitch angle, and the left-right horizontal and left-right climb decisions θ represent heading angles.
Step 2): calculating utility values v, regret values R and perception utility values u of each avoidance decision under different load factors by taking the degree of improvement O, the degree of danger S and the degree of improvement D as independent variables x, wherein the specific calculation formula is as follows
Wherein j represents an avoidance decision sequence number; i represents the number of sampling sequences of the current load factor; x is the utility value obtained by the ideal decision (ideally, we want to avoid the decision with the degree of occurrence O equal to 0, the degree of risk S equal to 0, and the degree of improvement D equal to 1); v (-) is a utility function which is a monotonically increasing concave function, and typically employs a power function v (x) xθAs a utility function, theta is a risk avoidance coefficient of the decision, and reflects a risk attitude (theta is more than 0 and less than 1) during the decision, and the smaller theta is, the higher the risk avoidance degree is; r (-) is the regret-euphoric function R (x) ═ 1-e(-δ·x)Is also a monotonically increasing concave function when
The value of regret indicates the value of the regret when decision j is selected.
Step 3): calculating the relative importance Q of the avoidance decision according to the perception utility value of each avoidance track and the aircraft performance parameters, wherein the specific calculation formula is shown as follows
Wherein j represents an avoidance decision sequence number; u represents the perceived utility value and subscripts O, S, D represent the degree of occurrence, risk, and improvement, respectively.
Step 4): and calculating risk levels according to the relative importance Q, and carrying out priority ranking on the avoidance decisions. The smaller the Q value is, the lower the corresponding risk level is, and the higher the priority of avoidance decision is; conversely, a higher Q value corresponds to a higher risk level, and a lower avoidance decision priority. For convenience of representation, the risk level of each avoidance trajectory is defined by percentage, and the specific calculation formula is as follows
Wherein j is an avoidance decision sequence number; qjThe relative importance of the avoidance decision of category j;
the maximum value of the relative importance of all avoidance decisions.
S4: judging whether an alarm signal is generated according to the predicted collision condition of the flight trajectory and the terrain profile, and if the alarm is generated, executing avoidance maneuver with the highest priority; otherwise, no avoidance maneuvers are performed.
The invention has the advantages that: for the existing automatic anti-collision system, extra hardware cost is not required to be added, the risk assessment of the predicted avoidance track can be realized only by upgrading the algorithm and introducing a multi-track decision and risk assessment module, and safe and effective avoidance suggestions are provided for the carrier according to the priority sequence of the avoidance decision, so that the capability of the carrier for safely avoiding the threat terrain is improved.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media capable of storing program codes, such as a removable Memory device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, and an optical disk.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A real-time airborne automatic anti-collision warning and avoidance decision method is characterized by comprising the following steps:
s1, obtaining a predicted avoidance track through an airplane kinematics model according to real-time position and attitude information of a carrier;
s2, constructing a terrain scanning area shape according to the predicted avoidance track type, calculating the uncertain width of each sampling track point through the position error information of a carrier and a preset uncertain track growth angle, constructing an external rectangular envelope through the adjacent two frames of uncertain widths, extracting the maximum terrain elevation in the envelope, and forming a terrain profile below the predicted avoidance track;
s3, according to the terrain threatening condition in the scanning area, the time from the current position of the airplane to the terrain threatening condition and flight prediction parameters, constructing a risk level for evaluating the risk of the predicted avoidance trajectory, and carrying out priority ranking on the predicted avoidance trajectory;
s4, judging whether an alarm signal is generated or not according to the ground collision condition of the predicted avoidance track and the terrain profile, and if the alarm is generated, executing the predicted avoidance track with the highest priority; otherwise, no such predicted avoidance trajectory is performed.
2. The method of claim 1, wherein the predicting the avoidance trajectory comprises: horizontal left turn LL, left turn climb CL, forward pull climb FC, right turn climb CR and horizontal right turn LR; the simplified state motion equation obtained by the three-degree-of-freedom approximation method is as follows:
wherein X is the instantaneous horizontal position of the carrier, Y is the lateral position, Z is the vertical position,
in order to be the horizontal velocity,
is the lateral velocity sum
Vertical velocity, V is ground velocity, chi is course angle, gamma is pitch angle, phi is roll angle, N iszIs a load factor;
by a load factor NzAnd controlling the type of the avoidance trajectory by a rolling angle phi, and obtaining the predicted avoidance trajectory through state recursion according to the predicted time and the state kinematics model.
3. The method for warning and avoiding a collision in an airborne automatic system according to claim 1, wherein the details of S2 include:
1) selecting the shape of a terrain scanning area according to the predicted avoidance trajectory type, wherein the terrain scanning area is trapezoidal under the condition of straight-line horizontal flight; under the condition of turning flight, the terrain scanning area is in a pipeline shape;
2) calculating the uncertain width UnWidth of each sampling track point according to the position error information output by the navigation system and the preset uncertain track increasing angle;
UnWidth＝σXY+DTPA*sin(α)
in the formula, σXYAn error value in the horizontal direction for the navigation solution; dTPAThe distance from the current track point to the initial position is the accumulated value between the track points; alpha is an uncertainty increasing angle of the prediction avoidance trajectory;
3) constructing an external rectangular envelope according to the uncertain width of two adjacent frames, extracting the maximum terrain elevation in the envelope, and forming a terrain profile below the predicted avoidance trajectory;
and (3) predicting the terrain profile below the avoidance track, except for the extracted terrain elevation, adding a terrain buffer height according to a vertical positioning error provided by a navigation system, and forming a terrain profile finally used for collision detection.
4. The method for warning and avoiding a collision in an airborne automatic system according to claim 1, wherein the details of S3 include:
1) according to the terrain threatening situation in the scanning area, the time from the current position of the airplane to the terrain threatening situation and flight prediction parameters, the occurrence degree O, the risk degree S and the improvement degree D for evaluating the predicted avoidance trajectory risk situation are constructed, wherein:
degree of occurrence O: according to the number N of topographic elevations exceeding the current predicted flight height in the predicted avoidance trajectory scanning areajAnd the total number of landforms in the area
The risk degree of the ground collision accident of the avoidance track is measured;
the risk degree S: according to the ratio of the prediction time when the predicted avoidance track collides with the threat terrain to the total time for completing the predicted avoidance track, the ratio is used as a measure for the danger degree S of the predicted avoidance track when the ground is collided;
the improvement degree D: forming a cut-out uncertain area according to the uncertainty of the current position, recording a course angle or a pitch angle of a track point corresponding to the cut-out uncertain area when no-threat terrain is cut out, and calculating a ratio of the corresponding angle variation to the current track overall angle variation to measure the safety improvement degree of the prediction avoidance track;
2) calculating utility values v, regret values R and perception utility values u of the prediction avoidance tracks under different load factors by taking the degree of improvement O, the degree of danger S and the degree of improvement D as independent variables x;
3) calculating the relative importance Q of the predicted avoidance trajectory according to the perception utility value u of each predicted avoidance trajectory and the aircraft performance parameters;
4) calculating a risk level according to the relative importance Q, and carrying out priority sequencing on the predicted avoidance trajectory; the smaller the Q value is, the lower the risk level is, and the higher the priority of the corresponding prediction avoidance trajectory is; conversely, the larger the Q value, the higher the risk level, and the lower the priority of the predicted avoidance trajectory.
5. The method as claimed in claim 1, wherein the step of determining whether to generate the warning signal according to the predicted avoidance trajectory and the terrain profile in step S4 comprises:
the predicted ground collision condition of the avoidance track and the terrain profile is judged by comparing the predicted flight height of each track point with the profile elevation added with the terrain buffer height; if the predicted flight height of the track point is smaller than the profile elevation, the profile elevation of the terrain is a threatening terrain, and the risk of land collision exists; otherwise there is no risk of a crash.
6. A real-time airborne automatic anti-collision warning and avoidance decision making system is characterized by comprising: the avoidance decision module, the notification module and the execution avoidance module;
the avoidance decision module is used for acquiring a predicted avoidance track through an airplane kinematic model according to the real-time position and attitude information of the carrier; constructing a terrain scanning area shape according to the predicted avoidance track type, calculating the uncertain width of each sampling track point through the position error information of the carrier and a preset uncertain track growth angle, constructing an external rectangular envelope through the uncertain widths of two adjacent frames, extracting the maximum terrain elevation in the envelope, and forming a terrain profile below the predicted avoidance track; constructing a risk level for evaluating the risk of the predicted avoidance trajectory according to the terrain threatening condition in the scanning area, the time from the current position of the airplane to the terrain threatening condition and flight prediction parameters, and carrying out priority sequencing on the predicted avoidance trajectory;
the notification module is used for judging whether an alarm signal is generated according to the ground collision condition of the predicted avoidance track and the terrain profile;
the execution avoidance module is used for judging whether to execute a prediction avoidance track according to whether the alarm signal is generated or not, and if so, executing the prediction avoidance track with the highest priority; otherwise, no such predicted avoidance trajectory is performed.
7. The method of claim 6, wherein the avoidance decision module comprises: the system comprises an aircraft avoidance trajectory prediction unit, a threat terrain identification unit, a collision detection unit and a multi-trajectory decision and risk assessment unit;
the aircraft avoidance trajectory prediction unit is used for predicting a flight trajectory according to real-time position and attitude information in the carrier flight process, and outputting parameters to the threat terrain identification unit, the collision detection unit and the multi-trajectory decision and risk assessment unit;
the threat terrain identification unit is used for receiving navigation error information, taking the predicted avoidance track provided by the aircraft avoidance track prediction unit as a center, constructing a scanning area containing navigation uncertainty and track uncertainty, and providing output parameters to the collision detection unit and the multi-track decision and risk assessment unit;
the collision detection unit is used for comparing the predicted avoidance track with a terrain profile, judging whether a ground collision risk exists or not, and recording the predicted ground collision time of the occurrence of the collision if the ground collision risk exists;
and the multi-track decision and risk evaluation unit is used for receiving the output data from each module, calculating risk evaluation parameters and perception utility values and providing safe and effective avoidance decisions for the airplane.
8. The method of claim 6, further comprising an input module, wherein the input module comprises an aircraft state unit and a terrain unit, wherein the aircraft state unit provides real-time aircraft state parameters to the avoidance decision module, and wherein the terrain unit provides terrain surrounding the flight, including terrain profile, to the avoidance decision module.
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