CN-121979284-A - Unmanned aircraft autonomous conflict resolution method and device

CN121979284ACN 121979284 ACN121979284 ACN 121979284ACN-121979284-A

Abstract

The invention provides an unmanned aircraft autonomous conflict resolution method and device, and relates to the technical field of aircraft control, wherein the method comprises the steps of determining a first safety protection area of a current aircraft in a three-dimensional space grid based on a first current position and a first flight parameter of the current aircraft; the method comprises the steps of determining a second safety protection area of an adjacent aircraft in a three-dimensional space grid based on a second current position and a second flight parameter of the adjacent aircraft, calculating a relative movement trend between the current aircraft and the adjacent aircraft to obtain a trend value, determining a collision risk between the current aircraft and the adjacent aircraft based on the first safety protection area and the second safety protection area under the condition that the trend value is smaller than a preset threshold value, and performing collision resolution based on the collision risk. The unmanned aircraft autonomous conflict resolution method and device provided by the invention have the advantages that the efficiency and the instantaneity of the unmanned aircraft autonomous conflict resolution are improved.

Inventors

SHI BO
KANG LIN
ZHANG HAOBO
ZHOU ZHIYUAN
ZHANG YONG

Assignees

交控航空科技(深圳)有限公司

Dates

Publication Date: 20260505
Application Date: 20251211

Claims (10)

1. A method for autonomous conflict resolution of an unmanned aircraft, comprising: Determining a first safety protection area of a current aircraft in a three-dimensional space grid based on a first current position and a first flight parameter of the current aircraft, wherein the three-dimensional space grid is constructed based on a preset aircraft flight area; determining a second safety protection zone of an adjacent aircraft in a three-dimensional space grid based on a second current location of the adjacent aircraft and a second flight parameter; Calculating the relative motion trend between the current aircraft and the adjacent aircraft to obtain a trend value; Determining a collision risk between the current aircraft and the adjacent aircraft based on the first safety protection zone and the second safety protection zone if the trend value is less than a preset threshold; And carrying out conflict resolution based on the conflict risk, wherein the conflict resolution comprises triggering conflict early warning and executing an aircraft control instruction corresponding to the conflict early warning.
2. The unmanned aerial vehicle autonomous conflict resolution method of claim 1, wherein the determining step of the neighboring aerial vehicle comprises: Determining a preset number of adjacent grids adjacent to the current grid based on the current grid corresponding to the current aircraft in the three-dimensional space grid; one or more aircraft in the current grid and the adjacent grid are used as the adjacent aircraft.
3. The unmanned aerial vehicle autonomous conflict resolution method of claim 1, wherein the determining a first safety protection zone of a current aerial vehicle in a three-dimensional space grid based on a first current location of the current aerial vehicle and a first flight parameter comprises: determining a first horizontal protection zone of the current aircraft based on a horizontal maximum speed, a horizontal acceleration and a communication delay time of the current aircraft under the condition that the flight state of the current aircraft is a normal state; Determining a first vertical protection zone for the current aircraft based on a vertical upward maximum velocity, a vertical acceleration, and a communication delay time of the current aircraft; And obtaining a first safety protection area taking the first current position as a center based on the first horizontal protection area and the first vertical protection area.
4. The unmanned aerial vehicle autonomous conflict resolution method of claim 1, wherein the determining a first safety protection zone for a current aerial vehicle in a three-dimensional space grid based on a first current location of the current aerial vehicle and a first flight parameter further comprises: Determining a second horizontal protection zone of the aircraft based on the horizontal maximum speed and the disconnection time of the current aircraft in the case that the flight state of the current aircraft is the disconnection state; determining a second vertical protection zone of the aircraft based on a vertical downward maximum speed, a vertical upward maximum speed, the decoupling time, and a free fall speed of the aircraft; And obtaining a first safety protection area taking the first current position as a center based on the second horizontal protection area and the second vertical protection area.
5. The unmanned aerial vehicle autonomous conflict resolution method of claim 1, wherein the calculating the relative motion trend between the current aerial vehicle and the neighboring aerial vehicle to obtain a trend value comprises: calculating longitude differences, latitude differences and speed vector differences between the current aircraft and the adjacent aircraft; And carrying out dot product calculation based on the longitude difference value, the latitude difference value and the speed vector difference value to obtain the trend value.
6. The unmanned aerial vehicle autonomous conflict resolution method of claim 1, wherein the determining a risk of conflict between the current aerial vehicle and the neighboring aerial vehicle based on the first and second safety protection zones comprises: Determining a first predicted position of the current aircraft after a preset time period; determining a second predicted position of the adjacent aircraft after a preset time period; Updating the first safety protection area based on the first predicted position to obtain a third safety protection area taking the first predicted position as a center; Updating the second safety protection area based on the second predicted position to obtain a fourth safety protection area taking the second predicted position as the center; in the event that there is overlap between the third and fourth safety protection zones, determining that there is the risk of collision between the current aircraft and the neighboring aircraft.
7. An unmanned aircraft autonomous conflict resolution device, comprising: The system comprises a first determining module, a first safety protection area determining module and a second safety protection area determining module, wherein the first determining module is used for determining a first safety protection area of a current aircraft in a three-dimensional space grid based on a first current position and a first flight parameter of the current aircraft; A second determination module for determining a second safety protection zone of an adjacent aircraft in a three-dimensional space grid based on a second current location and a second flight parameter of the adjacent aircraft; The trend calculation module is used for calculating the relative motion trend between the current aircraft and the adjacent aircraft to obtain a trend value; the risk detection module is used for determining collision risks between the current aircraft and the adjacent aircraft based on the first safety protection area and the second safety protection area under the condition that the trend value is smaller than a preset threshold value; And the conflict resolution module is used for carrying out conflict resolution based on the conflict risk, wherein the conflict resolution comprises triggering conflict early warning and executing aircraft control instructions corresponding to the conflict early warning.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and running on the processor, wherein the processor implements the unmanned aerial vehicle autonomous conflict resolution method of any of claims 1 to 6 when the computer program is executed by the processor.
9. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the unmanned aerial vehicle autonomous conflict resolution method of any of claims 1 to 6.
10. A computer program product comprising a computer program which, when executed by a processor, implements the unmanned aerial vehicle autonomous conflict resolution method of any of claims 1 to 6.

Description

Unmanned aircraft autonomous conflict resolution method and device Technical Field The invention relates to the technical field of unmanned aircraft control, in particular to an unmanned aircraft autonomous conflict resolution method and device. Background With the continuous increase of the number of unmanned aircrafts in a low-altitude airspace, the airspace use density is continuously improved, and particularly in complex environments such as cities, industrial parks and the like, the risk of flight conflict among unmanned aircrafts is obviously increased. In the prior art, unmanned aerial vehicle conflict detection and avoidance technology mainly depends on centralized management or global scanning, however, under the current high-frequency and multi-machine collaborative operation background, the defects that on one hand, the centralized management depends on manual judgment and intervention, the degree of automation is low, so that the unmanned aerial vehicle conflict resolution efficiency is low, on the other hand, the global scanning generally depends on a global calculation model, when facing a large-scale concurrent flight mission, the calculation amount is large, the response delay is high, the real-time requirement is difficult to meet, and most models lack comprehensive consideration on factors such as unmanned aerial vehicle communication state and dynamic performance, particularly under the condition that unmanned aerial vehicles are in a non-linkage or communication interruption, the safety interval cannot be dynamically adjusted, so that the conflict detection precision is reduced, and further the conflict resolution cannot be timely performed. Disclosure of Invention The invention provides a method and a device for resolving autonomous conflict of an unmanned aerial vehicle, which are used for solving the technical problems of poor efficiency and poor instantaneity of resolving autonomous conflict of the unmanned aerial vehicle in the prior art. The invention provides an unmanned aircraft autonomous conflict resolution method, which comprises the following steps: Determining a first safety protection area of a current aircraft in a three-dimensional space grid based on a first current position and a first flight parameter of the current aircraft, wherein the three-dimensional space grid is constructed based on a preset aircraft flight area; determining a second safety protection zone of an adjacent aircraft in a three-dimensional space grid based on a second current location of the adjacent aircraft and a second flight parameter; Calculating the relative motion trend between the current aircraft and the adjacent aircraft to obtain a trend value; Determining a collision risk between the current aircraft and the adjacent aircraft based on the first safety protection zone and the second safety protection zone if the trend value is less than a preset threshold; And carrying out conflict resolution based on the conflict risk, wherein the conflict resolution comprises triggering conflict early warning and executing an aircraft control instruction corresponding to the conflict early warning. According to the unmanned aircraft autonomous conflict resolution method provided by the invention, the determining steps of the adjacent aircraft comprise: Determining a preset number of adjacent grids adjacent to the current grid based on the current grid corresponding to the current aircraft in the three-dimensional space grid; one or more aircraft in the current grid and the adjacent grid are used as the adjacent aircraft. According to the autonomous conflict resolution method of the unmanned aerial vehicle provided by the invention, the first safety protection area of the current aerial vehicle in the three-dimensional space grid is determined based on the first current position and the first flight parameter of the current aerial vehicle, and the method comprises the following steps: determining a first horizontal protection zone of the current aircraft based on a horizontal maximum speed, a horizontal acceleration and a communication delay time of the current aircraft under the condition that the flight state of the current aircraft is a normal state; Determining a first vertical protection zone for the current aircraft based on a vertical upward maximum velocity, a vertical acceleration, and a communication delay time of the current aircraft; And obtaining a first safety protection area taking the first current position as a center based on the first horizontal protection area and the first vertical protection area. According to the autonomous conflict resolution method of the unmanned aerial vehicle provided by the invention, the first safety protection area of the current aerial vehicle in the three-dimensional space grid is determined based on the first current position and the first flight parameter of the current aerial vehicle, and the method further comprises the following steps: Determining a