CN-121999650-A - Flight safety control method and system based on low-altitude risk directed network deduction

CN121999650ACN 121999650 ACN121999650 ACN 121999650ACN-121999650-A

Abstract

The invention relates to the technical field of low-altitude operation safety and risk assessment, and provides a flight safety control method and a flight safety control system based on low-altitude risk oriented network deduction, wherein the method comprises the steps of constructing a low-altitude risk oriented network, calculating avoidance intervals corresponding to a plurality of collision event layer nodes according to navigation performance errors and flight technical errors, and calculating the safety intervals of the plurality of collision event layer nodes according to the avoidance intervals; calculating a judging threshold value according to the safety interval, calculating a time delay accumulation result according to a time delay transfer and accumulation process in the low-altitude risk oriented network, deducing expected safety levels of a plurality of collision event layer nodes according to the judging threshold value and the time delay accumulation result, and outputting a safety level control scheme by controlling the reference time delay and the control safety interval according to the expected safety levels and the target expected safety level. The invention can deduce the expected safety level, and output the control scheme to enable the safety level to reach the target expected safety level, thereby improving the safety of low-altitude operation.

Inventors

WANG YANTAO
YANG LINSEN
YUAN YUJIE
SHI TONGYU

Assignees

中国民航大学

Dates

Publication Date: 20260508
Application Date: 20260409

Claims (9)

1. The flight safety control method based on low-altitude risk directed network deduction is characterized by comprising the following steps of: S1, constructing a low-altitude risk directed network; S2, determining navigation performance errors of a plurality of collision event layer nodes based on a low-altitude risk directed network, calculating flight technical errors, calculating avoidance intervals corresponding to the plurality of collision event layer nodes according to total errors formed by the navigation performance errors and the flight technical errors, and calculating safety intervals of the plurality of collision event layer nodes according to the avoidance intervals corresponding to the plurality of collision event layer nodes; s3, calculating judgment thresholds of a plurality of collision events according to the safety intervals of the plurality of collision event layer nodes, wherein the calculation expression of the judgment thresholds of the plurality of collision events is as follows: Wherein, the For the decision threshold of the crash event layer node, For the safety interval of the crash event layer node, In order to approach the speed of the vehicle, For a centrality of collision event layer nodes in the low-altitude risk oriented network, A sum of centrality in the low-altitude risk oriented network for all crash event layer nodes; S4, calculating a time delay accumulation result according to a time delay transfer and accumulation process in the low-altitude risk directed network; S5, deducing expected safety levels of the plurality of collision event layer nodes according to the judgment threshold values of the plurality of collision events and the time delay accumulation results; S6, outputting a safety level control scheme by controlling the reference time delay and the control safety interval according to the expected safety levels of the plurality of collision event layer nodes and the target expected safety level.
2. The method for controlling flight safety based on low-altitude risk oriented network deduction according to claim 1, wherein the low-altitude risk oriented network is composed of a risk triggering layer, a risk identification layer, a decision handling layer and a plurality of nodes and a plurality of oriented edges in a collision event layer, the plurality of risk triggering layer nodes are used as low-altitude risk oriented network starting points, the plurality of collision event layer nodes are used as low-altitude risk oriented network ending points through the plurality of risk identification layer nodes and the decision handling layer nodes, when the plurality of oriented edges comprise the same node, the nodes are used as junction points, and the plurality of oriented edges are intersected at the junction points to form the low-altitude risk oriented network.
3. The method for controlling the flight safety based on low-altitude risk directed network deduction according to claim 1, wherein the step S2 comprises: s21, setting calculation parameters of a safety interval of a collision event layer node, wherein the calculation parameters comprise wind speed, speed of an aircraft, acceleration of the aircraft and turning radius of the aircraft; s22, determining navigation performance errors of the collision event layer nodes based on the low-altitude risk directed network; s23, calculating a flight technical error according to the wind speed, the speed of the aircraft and the acceleration of the aircraft; S24, calculating the total error of the aircraft according to the navigation performance error and the flight technique error of the collision event layer nodes, and calculating the total error of a plurality of collision event layer nodes according to the total error of the aircraft; s25, calculating avoidance intervals corresponding to the collision event layer nodes according to the total errors of the collision event layer nodes and the turning radius of the aircraft; S26, calculating safety intervals corresponding to the collision event layer nodes according to the avoidance intervals corresponding to the collision event layer nodes.
4. The method for controlling the flight safety based on low-altitude risk directed network deduction according to claim 2, wherein the step S4 comprises: Selecting a plurality of directed edges comprising a risk triggering layer node, a risk identification layer node, a decision handling layer node and a collision event layer node, wherein the directed edges take the risk triggering layer node as a starting point and the collision event layer node as an end point; The risk triggering layer nodes start from any time point in the time delay transmission and accumulation process, the time delay is continuously transmitted to any subsequent node along the directed edge according to the arrival rate of the triggering layer nodes, and the time delay is stopped when the transmission to the subsequent node is a collision piece layer node, each collision event layer node corresponds to one time delay accumulation result, and the time delay accumulation result is the sum of the time delays of a plurality of nodes on the directed edge where the collision event layer node is located.
5. The method for controlling the flight safety based on low-altitude risk directed network deduction according to claim 2, wherein the step S5 comprises: After repeating the delay transfer and accumulation process for a plurality of times, the flight time is increased; Comparing the judgment threshold values of a plurality of collision events with the delay accumulation results in each delay transmission and accumulation process; when the judging threshold value of the plurality of collision events is smaller than the time delay accumulation result, the occurrence times of the collision events corresponding to the plurality of collision event layer nodes are increased once; after repeating the time delay transfer and accumulation process a number of times the collision event occurs, the ratio of the total number of times the collision event occurs to the total time of flight is the frequency of occurrence of the plurality of collision event layer nodes, the frequency of occurrence of the plurality of collision event layer nodes being the expected safety level of the plurality of collision event layer nodes.
6. The low-altitude risk oriented network deduction-based flight safety control method according to claim 5, wherein the reference time delays and the stability factors of the nodes of the risk triggering layer, the risk identifying layer and the decision handling layer form time delays.
7. The method for controlling the flight safety based on low-altitude risk directed network deduction according to claim 2, wherein the step S6 comprises: Setting a target expected safety level; When the expected safety level of the plurality of collision event layer nodes does not meet the target expected safety level requirement, after the reference delay of the plurality of risk triggering layers, the risk identification layers and the decision handling layer nodes is controlled and the safety intervals of the plurality of collision event layer nodes are adopted, the expected safety level of the plurality of collision event layer nodes is deduced again, and when the expected safety level of the plurality of collision event layer nodes is deduced again, a control scheme is output when the set target expected safety level is met.
8. A low-altitude risk oriented network-derived flight safety control method in accordance with claim 7, wherein the desired safety level control scheme comprises two control schemes; The first control scheme is that the nodes except the collision event layer are selected as the first node, and if a plurality of nodes with the largest centrality value exist, the node with the smallest node number is selected; Removing the first node, selecting the node with the largest intermediate center value from the rest nodes, and if the node with the largest intermediate center value is the first selected node, sequentially selecting the node with the largest intermediate center value and the third largest intermediate center value until the node which is not repeated with the first node is selected as a second node; Removing the second node, selecting the node with the largest approximate centrality value from the rest nodes, and if the node with the largest approximate centrality value is any one of the two previous selected nodes, sequentially selecting the node with the second largest approximate centrality value and the third largest approximate centrality value until the node which is not repeated with the first node and the second node is selected as the third node; Controlling the reference time delay of the three nodes, and then deducing the expected safety level of the collision event layer node again; and a second control scheme is to increase the safety interval of the collision event layer node and then to deduce the expected safety level of the collision event layer node again.
9. A low-altitude risk oriented network-based derived flight safety control system configured to perform a low-altitude risk oriented network-based derived flight safety control method according to any one of claims 1 to 8, comprising: the building module builds a low-altitude risk oriented network; the safety interval calculation module is used for determining navigation performance errors of the plurality of collision event layer nodes and calculating flight technical errors based on the low-altitude risk directed network, calculating avoidance intervals corresponding to the plurality of collision event layer nodes according to total errors formed by the navigation performance errors and the flight technical errors, and calculating the safety intervals of the plurality of collision event layer nodes according to the avoidance intervals corresponding to the plurality of collision event layer nodes; A decision threshold calculation module that calculates decision thresholds for a plurality of crash events based on the safety intervals of the plurality of crash event layer nodes; the time delay accumulation result calculation module calculates a time delay accumulation result according to a time delay transmission and accumulation process in the low-altitude risk directed network; The deduction module deducts the expected safety level of the plurality of collision event layer nodes according to the judgment threshold values of the plurality of collision events and the time delay accumulation result; And the control scheme output module outputs a safety level control scheme by controlling the reference time delay and the control safety interval according to the expected safety levels of the plurality of collision event layer nodes and the target expected safety level.

Description

Flight safety control method and system based on low-altitude risk directed network deduction Technical Field The invention relates to the technical field of low-altitude operation safety and risk assessment, in particular to a flight safety control method and system based on low-altitude risk directed network deduction. Background The novel aircrafts such as unmanned plane, eVTOL (electric vertical take-off and landing aircrafts) are widely applied to the application fields of low-altitude logistics, urban air traffic, emergency rescue and the like. However, the low-altitude space environment has dynamics, complexity and uncertainty, and covers multiple challenges such as mixed operation of various aircrafts, dense obstacle distribution, variable meteorological conditions, electromagnetic environment interference and the like, and the low-altitude operation safety risk prevention and control becomes a core bottleneck for restricting the development of the industry. The existing low-altitude risk analysis is limited by a multi-dependency static model, is limited by local analysis of single risk types such as air collision, ground collision and the like, fails to systematically describe a full-chain transmission path from triggering, identifying and processing risks to evolving into collision events, lacks the construction capability of a hierarchical and networked risk evolution system, cannot fully cover complex risk association of low-altitude operation, is free of a standard multi-error fusion scheme in calculation of a safety interval, fails to effectively integrate navigation performance errors of equipment and facilities and flight technical errors in the flight process, causes the safety interval to be set to lack of accuracy, is difficult to adapt to safety requirements of different collision scenes, is free of consideration of delay transmission and accumulation effects of each link in the risk evolution process, is free of a quantification method combining delay factors and safety decisions, cannot output expected safety levels in an intuitive and comparable mode, stays in a qualitative description or a post-traceability layer, is difficult to realize pre-judgement in advance, is free of a single safety control scheme aiming at critical links of risk evolution, is free of a reference delay control strategy based on node characteristics, is free of dynamic adjustment of safety interval margin is not established, and the low-altitude operation safety level is high-efficient. Disclosure of Invention The present invention is directed to solving at least one of the technical problems existing in the related art. Therefore, the invention provides a flight safety control method and a flight safety control system based on low-altitude risk directed network deduction, which can deduct the expected safety level, output a control scheme to enable the safety level to reach the target expected safety level, and improve the low-altitude operation safety. The invention provides a flight safety control method based on low-altitude risk directed network deduction, which comprises the following steps: S1, constructing a low-altitude risk directed network; S2, determining navigation performance errors of a plurality of collision event layer nodes based on a low-altitude risk directed network, calculating flight technical errors, calculating avoidance intervals corresponding to the plurality of collision event layer nodes according to total errors formed by the navigation performance errors and the flight technical errors, and calculating safety intervals of the plurality of collision event layer nodes according to the avoidance intervals corresponding to the plurality of collision event layer nodes; s3, calculating judgment thresholds of a plurality of collision events according to the safety intervals of the plurality of collision event layer nodes, wherein the calculation expression of the judgment thresholds of the plurality of collision events is as follows: Wherein, the For the decision threshold of the crash event layer node,For the safety interval of the crash event layer node,In order to approach the speed of the vehicle,For a centrality of collision event layer nodes in the low-altitude risk oriented network,A sum of centrality in the low-altitude risk oriented network for all crash event layer nodes; S4, calculating a time delay accumulation result according to a time delay transfer and accumulation process in the low-altitude risk directed network; S5, deducing expected safety levels of the plurality of collision event layer nodes according to the judgment threshold values of the plurality of collision events and the time delay accumulation results; S6, outputting a safety level control scheme by controlling the reference time delay and the control safety interval according to the expected safety levels of the plurality of collision event layer nodes and the target expected safety level. The low-altitude