CN115903909A - Sensing and collision avoidance method and system for unmanned aerial vehicle - Google Patents
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Abstract
The invention discloses a sensing and collision avoidance method and system for an unmanned aerial vehicle, and relates to the technical field of an avionic system of the unmanned aerial vehicle. The unmanned aerial vehicle comprises an airborne monitoring device, an airborne DAA processor and an unmanned aerial vehicle system which are arranged in the unmanned aerial vehicle; the DAA ground control station comprises a ground DAA processor and a display and alarm system; the unmanned aerial vehicle is in communication connection with the DAA ground control station through a C2 link system; the invention obtains the position information, the speed information and the course information of the local machine and the invading machine by sensing and monitoring the real-time airspace, and carries out collision detection alarm calculation according to the information to obtain the alarm grade, the DAA ground control station sends an alarm to the remote pilot of the unmanned aerial vehicle according to the alarm grade, and the remote pilot can control the unmanned aerial vehicle to carry out collision avoidance maneuver in time.
Description
Technical Field
The invention relates to the technical field of an unmanned aerial vehicle avionics system, in particular to a sensing and collision avoidance method of an unmanned aerial vehicle.
Background
The remote control piloted vehicle (RPAS) is an unmanned vehicle (called an unmanned aerial vehicle for short) which enables a pilot to remotely control the vehicle on the ground through a DAA ground control station to realize semi-autonomous flight, and comprises three parts, namely the unmanned vehicle, the DAA ground control station and a remote pilot. With the rapid development of the unmanned aerial vehicle industry, the unmanned aerial vehicle plays a great role in various civil and military fields such as logistics distribution, agriculture and forestry operation, disaster relief, search and rescue and the like. At present, an air management system in China mainly aims at the operation of a manned aircraft, and a pilot of the unmanned aircraft is not on the aircraft, so that the unmanned aircraft does not have the 'seeing-avoiding' capability of the manned aircraft pilot, and the situation information of the surrounding airspace of the unmanned aircraft cannot be obtained and possible flight conflicts can not be avoided. Therefore, the unmanned aerial vehicle can not meet the operation requirement of the controlled airspace at present and is restricted to enter the airspace for operation. Along with the continuous expansion of unmanned aerial vehicle scale, flight demand increases sharply, and unmanned aerial vehicle integration national airspace system has become the inevitable trend of aviation industry development. If the unmanned aerial vehicle is operated in a manner of being integrated with the human-machine, the existing operation of the unmanned aerial vehicle cannot be threatened after the unmanned aerial vehicle enters a controlled airspace, and the overall safety of the airspace is not reduced. Therefore, the RPAS must have sensing and collision avoidance (DAA) capabilities, and provide spatial situation sensing and collision avoidance capabilities for itself.
In the prior art, a person mainly depends on an airborne collision avoidance system (TCAS) to ensure the safety of aerial operation. Since its widespread use in 1990, the TCAS system has been the only on-board system that has been able to generate a release strategy (RA) to date. However, as the unmanned aerial vehicle has numerous types, large performance difference among individuals and no opportunity to pilot, the operation characteristics of the unmanned aerial vehicle are greatly different from those of a human-machine: (1) The DAA control loop of the RPAS consists of an unmanned aircraft-C2 link-DAA ground control station-remote pilot, all parts are mutually cascaded and have input and output feedback, and the TCAS does not consider the problem; (2) TCAS implements on-board monitoring based on A/C/S mode transponders without consideration of non-cooperative aircraft and ground based monitoring (GBSS) data; (3) RA given by TCAS only comprises a mandatory strategy in the vertical direction, and does not have the generation capability of a suggested guiding strategy to adapt to the operation characteristics of the unmanned aerial vehicle.
Therefore, the differences make it inappropriate to directly use the TCAS system for the DAA of the unmanned aerial vehicle, and a large amount of research is conducted by foreign related research institutions, and a research group mainly based on the National Aeronautics and Space Administration (NASA) supports the RTCA to form the minimum operation performance standard (DO-365) of the DAA system based on the developed research, test and flight tests, and explains the minimum operation performance required by the DAA system of the unmanned aerial vehicle under the united states air-conditioning system. And at present, no mature unmanned aerial vehicle DAA solution is available in China.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the sensing and collision avoidance method and system of the unmanned aerial vehicle, which can effectively realize the maneuver of the unmanned aerial vehicle in collision avoidance.
In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:
the sensing and collision avoidance method of the unmanned aerial vehicle is provided, and comprises the following steps:
s1: setting an advanced guiding time interval [ B, T ], and judging whether the local machine conflicts with the invading machine in the advanced guiding time interval according to the position information, the speed information and the course information of the local machine and the invading machine;
s2: if not, the alarm level is 0, and the local machine maintains the course and the navigation speed; if yes, entering step S3;
s3: calculating the conflict time interval T between the local machine and the invader i ，T o ](ii) a According to the conflict time interval [ T i ，T o ]The position information, the speed information and the course information of the local machine and the invading machine in the system are matched with alarm levels which comprise an alarm level 1-an alarm level 3, and the alarm level information is transmitted to the DAA ground control station;
s4: and after receiving the warning grade information, the DAA ground control station conducts collision avoidance flight guidance.
Further, the judgment of the conflict comprises the steps of monitoring the vertical relative speed v of the intrusion machine and the local machine in the horizontal direction and the vertical direction z Perpendicular relative distance s z Horizontal relative velocity v and horizontal relative distance s;
the method for judging the conflict in the vertical direction comprises the following steps:
a1: when v is z =0, and a vertical relative distance s z Greater than the minimum vertical spacing H vert When the system is used, the system does not conflict with the invader in the vertical direction, and the system maintains the course and the navigation speed;
a2: when v is z =0, and a vertical relative distance s z Less than or equal to the minimum vertical spacing H vert Then the machine is perpendicular to the invaderConflict in direction and output [ t 1 ，t 2 ]Is [ B, T]；[t 1 ，t 2 ]A bump time interval in the vertical direction;
a3: when v is z Not equal to 0, and t 1 ' > T or T 2 If the' is less than B, the local machine does not conflict with the invading machine in the vertical direction, and the local machine maintains the course and the navigation speed;
when v is z Not equal to 0, and does not satisfy t 1 ' > T or T 2 If' B is less, the machine and the invader collide in the vertical direction and output [ t ] 1 ，t 2 ]Is [ max (B, t) 1 ')，min(T，t 2 ')]；
Wherein,
the method for judging the conflict in the horizontal direction comprises the following steps:
b1: when v =0, and the horizontal relative distance s is greater than the horizontal minimum spacing D hor When the system is used, the system does not conflict with the invader in the horizontal direction, and the system maintains the course and the navigation speed;
b2: when v =0, and the horizontal relative distance s is less than or equal to the horizontal minimum spacing D hor When the machine is in conflict with the invader in the horizontal direction, the machine outputs [ t ] in ，t out ]Is [0,T ]]；[t in ，t out ]A time interval for a bump in the horizontal direction;
b3: when v ≠ 0, and the horizontal relative distance s is less than or equal to the minimum interval D in the horizontal direction hor When the machine is in conflict with the invader in the horizontal direction, the machine outputs [ t ] in ，t out ]Is [0,min (T, T)]；
Wherein,
the two machines move to the horizontal butt jointTime required for approach, v ⊥ A normal vector that is a horizontal relative velocity vector;
b4: when v is not equal to 0, and the horizontal relative distance s is greater than the horizontal closest point D hor When the temperature of the water is higher than the set temperature,
if s.v. is more than or equal to 0 or b-4ac<0, the local machine does not conflict with the invading machine in the horizontal direction, and the local machine maintains the course and the navigation speed; output [ t ] in ，t out ]Is [0,T ]]；
Otherwise, the local machine and the invading machine conflict in the horizontal direction and output [ t ] in ，t out ]Is composed of
Wherein, a = v 2 ，b＝2(s·v)+THR t ·v 2 ，c＝s 2 +THR t ·(s·v)-D hor 2 ；THR t Is a set variable horizontal distance threshold.
Further, the method also comprises the summary processing in the vertical direction and the horizontal direction, and the summary processing method comprises the following steps:
c1: when A2 or A3 outputs [ t ] 1 ，t 2 ]Middle t 1 ＞t 2 If so, the local machine does not conflict with the invading machine in the horizontal direction, and the local machine maintains the course and the navigation speed;
c2: when A2 or A3 outputs [ t ] 1 ，t 2 ]Middle t 1 ＝t 2 And the horizontal relative distance s is greater than the minimum horizontal spacing D hor When the system is used, the system does not conflict with the invader in the horizontal direction, and the system maintains the course and the navigation speed;
c3: when A2 or A3 outputs [ t ] 1 ，t 2 ]Middle t 1 ＝t 2 And the horizontal relative distance s is less than or equal to the minimum horizontal spacing D hor Then the machine and the invaderConflict in the horizontal direction and output [ T i ，T o ]Is [ t ] 1 ，t 1 ]；
C4: when A2 or A3 outputs [ t ] 1 ，t 2 ]Middle t 1 ＜t 2 Then, the collision determination method in the horizontal direction as described in claim 2 is performed to obtain a horizontal determination output [ t in ，t out ]And finally output [ T i ，T o ]Is [ t ] in +t 1 ，t out +t 1 ]。
Further, the alarm level matching method comprises the following steps:
to H vert 、D hor And THR t Respectively setting a first threshold, a second threshold and a third threshold; obtaining a conflict time interval [ T ] i ，T o ]Inner H vert 、D hor And THR t A value; and memorize: h vert A value of f (H); d hor A value of f (D); THR t A value of f (T);
when f (H) is between its corresponding first and second threshold values, output k (H) =1; when f (H) is between its corresponding second and third threshold values, output k (H) =2; when f (H) is located on the side where its corresponding third threshold value is far from the second threshold value, output k (H) =3;
when f (D) is between its corresponding first and second threshold values, output k (D) =1; when f (D) is between its corresponding second and third threshold values, output k (D) =2; when f (D) is located on the side where its corresponding third threshold is far from the second threshold, k (D) =3;
when f (T) is between its corresponding first and second threshold values, output k (T) =1; when f (T) is between its corresponding second and third threshold values, output k (T) =2; when f (T) is located on the side where its corresponding third threshold value is far from the second threshold value, output k (T) =3;
the alarm level matching satisfies the following conditions:
wherein, the alarm level 1 is a prevention alarm, the alarm level 2 is a correction alarm, and the alarm level 3 is a danger alarm.
Further, the collision avoidance flight guidance method comprises the following steps:
d1: setting a steering step length and a lead time interval [ B, T ] in advance, simulating a plurality of operable directions of the local machine at the current time T according to the steering step length, scanning all the operable directions, and marking the operable directions which trigger alarm with the intrusion machine as a flight limiting range;
d2: will t i Marking the limited flight range of the operable direction of the local machine at the moment, and summarizing all the limited flight ranges to obtain the time interval [ B, T ] of the local machine in advance guidance]Total limited range of flight within;
t i ＝t+tstep·i；
wherein i is a natural number greater than 0, and t i ∈[B，T](ii) a tstep is a time step, and accel is the constant acceleration of the machine;
d3: and taking the complement of the total limit flight range and the unmanned aerial vehicle maneuvering performance limit range as a single collision avoidance guide range.
Further, the total limited flight range includes a limited flight range obtained by performing iterative calculation of steps D1-D2 on the horizontal heading, the horizontal velocity, the altitude, and the vertical velocity, respectively.
Further, when a plurality of intruders appear, the steps D1-D3 are respectively carried out on the plurality of intruders to obtain a plurality of single-machine collision avoidance guide ranges, and the intersection of all the single-machine collision avoidance guide ranges is taken as a final collision avoidance guide range; and the DAA ground control station or the remote pilot controls the unmanned aerial vehicle to carry out collision avoidance maneuver according to the final collision avoidance guidance range.
An unmanned aerial vehicle sensing and collision avoidance system comprises an airborne monitoring device, an airborne DAA processor and an unmanned aerial vehicle system, wherein the airborne monitoring device, the airborne DAA processor and the unmanned aerial vehicle system are arranged in an unmanned aerial vehicle; the DAA ground control station comprises a ground DAA processor and a display and alarm system; the unmanned aerial vehicle is in communication connection with the DAA ground control station through a C2 link system;
the airborne monitoring equipment can monitor other aircrafts around the unmanned aerial vehicle in real time, is in communication connection with the airborne DAA processor, and transmits the monitored flight path data of the other aircrafts to the airborne DAA processor;
the airborne DAA processor is also connected with the unmanned aerial vehicle system, executes conflict detection and alarm according to flight path data of other aircrafts and local data transmitted by the unmanned aerial vehicle system, namely steps S1-S3, and transmits alarm grade information to the DAA ground control station;
the ground DAA processor executes collision avoidance flight guidance according to the warning grade information, namely steps D1-D3, the ground DAA processor is connected with the display and alarm system, and the ground DAA processor transmits the flight guidance information to the display and alarm system;
the display and alarm system is interacted with a remote pilot through a visual interaction interface, and the remote pilot controls the unmanned aerial vehicle to carry out collision avoidance maneuver according to the flight guidance information.
Further, the DAA ground control station is provided with a monitoring control panel for providing a remote pilot with a port for controlling the ground DAA processor and the drone.
A portable storage medium for storing program instructions executable by a processor to implement the method of sensing and collision avoidance for a drone of any one of claims 1 to 7.
The beneficial effects of the invention are as follows:
1. the invention obtains the position information, the speed information and the course information of the local machine and the invading machine by sensing and monitoring the real-time airspace, and carries out collision detection alarm calculation according to the information to obtain the alarm grade, the DAA ground control station sends an alarm to the remote pilot of the unmanned aerial vehicle according to the alarm grade, and the remote pilot can control the unmanned aerial vehicle to carry out collision avoidance maneuver in time.
2. When the collision risk is that the unmanned aerial vehicle loses the safety interval, the DAA ground control station can perform collision resolution guide calculation, give real-time collision avoidance guide information to the remote pilot, and assist the remote pilot to control the aircraft to perform maneuvering operation so as to avoid air collision.
3. Setting three alarm types with different risk levels and corresponding thresholds, realizing early warning of conflict, and effectively relieving the risk that early conflict develops into air short-distance collision; in the middle and later periods of conflict, when the unmanned aerial vehicle safety interval is failed, a collision avoidance guidance strategy is given in time, an algorithm takes an aircraft dynamics model and a DAA loop model of 'man-machine-loop' into consideration, and three-dimensional collision avoidance strategies of a horizontal layer and a vertical layer are calculated, so that more flexible maneuvering guidance which is not too violent compared with TCAS is realized.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic diagram of an algorithm flow of a collision detection and alarm part;
fig. 3 is a schematic structural view of an unmanned aerial vehicle sensing and collision avoidance system.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined by the appended claims, and all changes that can be made by the invention using the inventive concept are intended to be protected.
As shown in fig. 1, a method for sensing and collision avoidance of an unmanned aerial vehicle includes the following steps:
s1: setting lead-ahead time interval [ B, T ]]B is more than or equal to 0 and less than T, the position information and the speed information of the local machine and the position information and the speed information of the invading machine are preprocessed to obtain the vertical relative speed v between the local machine and the invading machine z Vertical relative distance s z Judging whether the local machine conflicts with the invading machine within the lead time interval or not according to the horizontal relative speed v and the horizontal relative distance s;
s2: if not, the alarm level is 0, and the local machine maintains the course and the navigation speed; if yes, entering step S3;
s3: calculating the conflict time interval T between the local machine and the invader i ，T o ](ii) a According to the conflict time interval [ T i ，T o ]The position information, the speed information and the course information of the local machine and the invading machine in the system are matched with alarm levels, the alarm levels comprise alarm level 1-alarm level 3, and the alarm level information is transmitted to the DAA ground control station;
s4: and after receiving the warning grade information, the DAA ground control station performs collision avoidance flight guidance.
The whole method comprises a collision detection and alarm part and a collision avoidance guiding part, wherein the collision detection and alarm part is shown in figure 2 and comprises the steps of S1-S3, the judgment of the collision comprises the steps of judging in the horizontal direction and the vertical direction, and the vertical relative speed v of the intrusion machine and the local machine is obtained through monitoring z Perpendicular relative distance s z Horizontal relative velocity v and horizontal relative distance s;
the method for judging the conflict in the vertical direction comprises the following steps:
a1: when v is z =0, and a vertical relative distance s z Greater than the minimum vertical spacing H vert Time, output [ t 1 ，t 2 ]Is [ T, B]Since B is greater than or equal to 0 and less than T, i.e., [ T, B ]]If not, the local machine does not conflict with the invading machine in the vertical direction, and the local machine maintains the course and the navigation speed;
a2: when v is z =0, and a vertical relative distance s z Less than or equal to the minimum vertical spacing H vert Then the machine and the invader collide in the vertical direction and output [ t ] 1 ，t 2 ]Is [ B, T]；[t 1 ，t 2 ]A bump time interval in the vertical direction;
a3: when v is z Not equal to 0, and t 1 ' > T or T 2 If the' is less than B, the local machine does not conflict with the invading machine in the vertical direction, and the local machine maintains the course and the navigation speed;
when v is z Not equal to 0, and does not satisfy t 1 ' > T or T 2 '＜BWhen the machine is in conflict with the invader in the vertical direction, the machine outputs [ t ] 1 ，t 2 ]Is [ max (B, t) 1 ')，min(T，t 2 ')]；
Wherein,
the method for judging the conflict in the horizontal direction comprises the following steps:
b1: when v =0, and the horizontal relative distance s is greater than the horizontal minimum spacing D hor When the system is used, the system does not conflict with the invader in the horizontal direction, and the system maintains the course and the navigation speed;
b2: when v =0, and the horizontal relative distance s is less than or equal to the horizontal minimum spacing D hor When the machine is in conflict with the invader in the horizontal direction, the machine outputs [ t ] in ，t out ]Is [0,T ]]；[t in ，t out ]A conflict time interval in the horizontal direction;
b3: when v ≠ 0, and the horizontal relative distance s is less than or equal to the minimum interval D in the horizontal direction hor When the machine is in conflict with the invader in the horizontal direction, the machine outputs [ t ] in ，t out ]Is [0,min (T, T)]；
Wherein,
the time required for the two machines to move to the horizontal closest point of approach, v ⊥ A normal vector that is a horizontal relative velocity vector;
b4: when v ≠ 0, and the horizontal relative distance s is greater than the horizontal closest point D hor When the utility model is used, the water is discharged,
if s.v. is more than or equal to 0 or b-4ac<0, the local machine does not conflict with the invading machine in the horizontal direction, and the local machine maintains the course and the navigation speed; output [ t ] in ，t out ]Is [0,T ]]；
Otherwise, the local machine and the invading machine conflict in the horizontal direction and output [ t in ，t out ]Is composed of
Wherein, a = v 2 ，b＝2(s·v)+THR t ·v 2 ，c＝s 2 +THR t ·(s·v)-D hor 2 ；THR t Is a set variable horizontal distance threshold.
The method also comprises the summary processing of the vertical direction and the horizontal direction, and the summary processing method comprises the following steps:
c1: when A2 or A3 outputs [ t ] 1 ，t 2 ]Middle t 1 ＞t 2 I.e., [ t ] 1 ，t 2 ]If not, the local machine does not conflict with the invading machine in the horizontal direction, and the local machine maintains the course and the navigation speed;
c2: when A2 or A3 outputs [ t ] 1 ，t 2 ]Middle t 1 ＝t 2 And the horizontal relative distance s is greater than the minimum horizontal spacing D hor Time, output [ t 1 ，t 2 ]Is [ T, B]Since B is more than or equal to 0 and less than T, i.e., [ T, B%]If not, the local machine does not conflict with the invading machine in the horizontal direction, and the local machine maintains the course and the navigation speed;
c3: when A2 or A3 outputs [ t ] 1 ，t 2 ]Middle t 1 ＝t 2 And the horizontal relative distance s is less than or equal to the minimum horizontal spacing D hor Then the local machine and the invading machine conflict in the horizontal direction and output [ T i ，T o ]Is [ t ] 1 ，t 1 ]；
C4: when A2 or A3 outputs [ t ] 1 ，t 2 ]Middle t 1 ＜t 2 Then, the method of judging a collision in the horizontal direction as set forth in claim 2 is performed to obtain a horizontal judgment output [ t ] in ，t out ]And finally output [ T i ，T o ]Is [ t ] in +t 1 ，t out +t 1 ]。
The alarm grade matching method comprises the following steps:
to H vert 、D hor And THR t Respectively setting a first threshold, a second threshold and a third threshold; obtaining a conflict time interval [ T ] i ,T o ]Inner H vert 、D hor And THR t A value; and memorize: h vert A value of f (H); d hor A value of f (D); THR t A value of f (T);
when f (H) is between its corresponding first and second threshold values, output k (H) =1; when f (H) is between its corresponding second and third threshold values, output k (H) =2; when f (H) is located on the side of its corresponding third threshold value away from the second threshold value, output k (H) =3;
when f (D) is between its corresponding first and second threshold values, output k (D) =1; when f (D) is between its corresponding second and third threshold values, output k (D) =2; when f (D) is located on the side where its corresponding third threshold value is distant from the second threshold value, output k (D) =3;
when f (T) is between its corresponding first and second threshold values, output k (T) =1; when f (T) is between its corresponding second and third threshold values, output k (T) =2; when f (T) is located on the side where its corresponding third threshold value is far from the second threshold value, output k (T) =3;
the alarm level matching satisfies the following conditions:
wherein, the alarm level 1 is a prevention alarm, the alarm level 2 is a correction alarm, and the alarm level 3 is a danger alarm.
The collision avoidance flight guidance method of the collision avoidance guidance part comprises the following steps:
d1: setting a steering step length and a lead time interval [ B, T ] in advance, simulating a plurality of operable directions of the local machine at the current time T according to the steering step length, scanning all the operable directions, and marking the operable directions which trigger alarm with the intrusion machine as a flight limiting range;
d2: will t i Marking the limited flight range of the operable direction of the local machine at the moment, and summarizing all the limited flight ranges to obtain the time interval [ B, T ] of the local machine in advance guidance]Total limited range of flight within;
t i ＝t+tstep·i；
wherein i is a natural number greater than 0, and t i ∈[B，T](ii) a tstep is a time step, and accel is the constant acceleration of the machine;
d3: and taking the complement of the total limit flight range and the unmanned aerial vehicle maneuvering performance limit range as a single collision avoidance guide range.
The total limited flight range comprises the limited flight range obtained by respectively carrying out the iterative calculation of the steps D1-D2 on the horizontal course, the horizontal speed, the altitude and the vertical speed. The steps D1-D2 are respectively executed on the horizontal course, the horizontal speed, the altitude and the vertical speed, all the obtained limited flight ranges are collected, and the limited flight ranges in the horizontal direction and the vertical direction can be obtained. When a plurality of intruders appear, the steps D1-D3 are respectively carried out on the intruders to obtain a plurality of single-machine collision avoidance guide ranges, and the intersection of all the single-machine collision avoidance guide ranges is taken as a final collision avoidance guide range; and the DAA ground control station or the remote pilot controls the unmanned aerial vehicle to carry out collision avoidance maneuver according to the final collision avoidance guidance range.
As shown in fig. 3, an unmanned aerial vehicle sensing and collision avoidance system includes an onboard monitoring device, an onboard DAA processor and an unmanned aerial vehicle system built in an unmanned aerial vehicle; the DAA ground control station comprises a ground DAA processor and a display and alarm system; the unmanned aerial vehicle is in communication connection with the DAA ground control station through a C2 link system; the C2 link system includes airborne equipment disposed in the drone and ground control station equipment disposed in the DAA ground control station.
The airborne monitoring equipment comprises a TCAS II active monitoring system, an automatic dependent surveillance ADS-B and an air-air radar ATAR, and can monitor other aircrafts around the unmanned aerial vehicle in real time; the airborne monitoring equipment is in communication connection with the airborne DAA processor, and transmits the monitored flight path data of other aircrafts to the airborne DAA processor; the airborne DAA processor comprises a track management module and an alarm guide processing module (En Route), and meanwhile, the airborne DAA processor can be optionally added with a Terminal area alarm guide processing module (Terminal) for enhancing the alarm guide performance;
the airborne DAA processor is also connected with the unmanned aerial vehicle system, executes conflict detection and alarm, namely steps S1-S3, according to the flight path data of other aircrafts and the local data transmitted by the unmanned aerial vehicle system, and transmits alarm grade information to the DAA ground control station; the unmanned aerial vehicle system comprises a main navigation system module and a flight management system module (FMS), and meanwhile, a flight control system module (FCS) can be optionally added to the unmanned aerial vehicle system and used for enhancing the capability of controlling the flight of the unmanned aerial vehicle.
The ground DAA processor executes collision avoidance flight guidance according to the warning grade information, namely steps D1-D3, the ground DAA processor is connected with the display and alarm system, and the ground DAA processor transmits the flight guidance information to the display and alarm system; the DAA ground control station is provided with a monitoring control panel for providing a remote pilot with a port for controlling the ground DAA processor and the drone.
The display and alarm system is interacted with the remote pilot through a visual interaction interface, and the remote pilot controls the unmanned aerial vehicle to carry out collision avoidance maneuver according to the flight guidance information. The display and alarm system is also provided with a voice alarm system, and voice interaction is carried out between the display and alarm system and a remote pilot through the voice alarm system.
A portable storage medium for storing program instructions executable by a processor to implement the method of sensing and collision avoidance for a drone of any one of claims 1 to 7.
Claims (10)
1. A sensing and collision avoidance method of an unmanned aerial vehicle is characterized in that: the method comprises the following steps:
s1: setting an advanced guiding time interval [ B, T ], and judging whether the local machine conflicts with the invading machine in the advanced guiding time interval according to the position information, the speed information and the course information of the local machine and the invading machine;
s2: if not, the alarm level is 0, and the local machine maintains the course and the navigation speed; if yes, entering step S3;
s3: calculating the conflict time interval T between the local computer and the invading computer i ，T o ](ii) a According to the conflict time interval [ T i ，T o ]The position information, the speed information and the course information of the local machine and the invading machine in the system are matched with alarm levels, the alarm levels comprise alarm level 1-alarm level 3, and the alarm level information is transmitted to the DAA ground control station;
s4: and after receiving the warning grade information, the DAA ground control station conducts collision avoidance flight guidance.
2. The unmanned aerial vehicle sensing and collision avoidance method of claim 1, wherein: the judgment of the conflict comprises the steps of monitoring the vertical relative speed v of the local machine and the invading machine in the horizontal direction and the vertical direction z Vertical relative distance s z Horizontal relative velocity v and horizontal relative distance s;
the method for judging the conflict in the vertical direction comprises the following steps:
a1: when v is z =0, and a vertical relative distance s z Greater than the minimum vertical spacing H vert When the system is used, the system does not conflict with the invader in the vertical direction, and the system maintains the course and the navigation speed;
a2: when v is z =0, and a vertical relative distance s z Less than or equal to the minimum vertical spacing H vert Then the local machine and the invading machine conflict in the vertical direction and output [ t ] 1 ，t 2 ]Is [ B, T]；[t 1 ，t 2 ]A bump time interval in the vertical direction;
a3: when v is z Not equal to 0, and t 1 ' > T or T 2 If' < B, the local machine does not conflict with the invading machine in the vertical direction, and the local machine maintains the course and the navigation speed;
when v is z Not equal to 0, and does not satisfy t 1 ' > T or T 2 If' B is less, the machine and the invader collide in the vertical direction and output [ t ] 1 ，t 2 ]Is [ max (B, t) 1 ')，min(T，t 2 ')]；
Wherein,
the method for judging the conflict in the horizontal direction comprises the following steps:
b1: when v =0, and the horizontal relative distance s is greater than the horizontal minimum spacing D hor When the system is used, the system does not conflict with the invader in the horizontal direction, and the system maintains the course and the navigation speed;
b2: when v =0, and the horizontal relative distance s is less than or equal to the horizontal minimum spacing D hor When the machine is in conflict with the invader in the horizontal direction, the machine outputs [ t ] in ，t out ]Is [0,T ]]；[t in ，t out ]A time interval for a bump in the horizontal direction;
b3: when v ≠ 0, and the horizontal relative distance s is less than or equal to the minimum interval D in the horizontal direction hor When the machine is in conflict with the invader in the horizontal direction, the machine outputs [ t ] in ，t out ]Is [0,min (T, T)]；
Wherein,
the time required for the two machines to move to the horizontal closest point of approach, v ⊥ A normal vector that is a horizontal relative velocity vector;
b4: when v ≠ 0, and levelThe relative distance s is greater than the horizontal closest point D hor When the utility model is used, the water is discharged,
if s.v. is more than or equal to 0 or b-4ac<0, the local machine does not conflict with the invading machine in the horizontal direction, and the local machine maintains the course and the navigation speed; output [ t ] in ，t out ]Is [0,T ]]；
Otherwise, the local machine and the invading machine conflict in the horizontal direction and output [ t ] in ，t out ]Is composed of
Wherein, a = v 2 ，b＝2(s·v)+THR t ·v 2 ，c＝s 2 +THR t ·(s·v)-D hor 2 ；THR t Is a set variable horizontal distance threshold.
3. The unmanned aerial vehicle sensing and collision avoidance method of claim 2, wherein: the method also comprises the summary processing in the vertical direction and the horizontal direction, and the summary processing method comprises the following steps:
c1: when A2 or A3 outputs [ t ] 1 ，t 2 ]Middle t 1 ＞t 2 If so, the local machine does not conflict with the invading machine in the horizontal direction, and the local machine maintains the course and the navigation speed;
c2: when A2 or A3 outputs [ t ] 1 ，t 2 ]Middle t 1 ＝t 2 And the horizontal relative distance s is greater than the minimum interval D in the horizontal direction hor When the vehicle is running, the vehicle does not conflict with the invader in the horizontal direction, and the vehicle maintains the course and the navigation speed;
c3: when A2 or A3 outputs [ t ] 1 ，t 2 ]Middle t 1 ＝t 2 And the horizontal relative distance s is less than or equal to the minimum interval D in the horizontal direction hor Then the machine is inConflict occurs in the horizontal direction of the invader, and [ T ] is output i ，T o ]Is [ t ] 1 ，t 1 ]；
C4: when A2 or A3 outputs [ t ] 1 ，t 2 ]Middle t 1 ＜t 2 Then, the collision determination method in the horizontal direction as described in claim 2 is performed to obtain a horizontal determination output [ t in ，t out ]And finally output [ T i ，T o ]Is [ t ] in +t 1 ，t out +t 1 ]。
4. The unmanned aerial vehicle sensing and collision avoidance method of claim 1, wherein: the alarm grade matching method comprises the following steps:
to H vert 、D hor And THR t Respectively setting a first threshold, a second threshold and a third threshold; obtaining a conflict time interval [ T ] i ，T o ]Inner H vert 、D hor And THR t A value; and memorize: h vert A value of f (H); d hor A value of f (D); THR t A value of f (T);
when f (H) is between its corresponding first and second threshold values, output k (H) =1; when f (H) is between its corresponding second and third threshold values, output k (H) =2; when f (H) is located on the side where its corresponding third threshold value is far from the second threshold value, output k (H) =3;
when f (D) is between its corresponding first and second threshold values, output k (D) =1; when f (D) is between its corresponding second and third threshold values, output k (D) =2; when f (D) is located on the side where its corresponding third threshold is far from the second threshold, k (D) =3;
when f (T) is between its corresponding first and second threshold values, output k (T) =1; when f (T) is between its corresponding second and third threshold values, output k (T) =2; when f (T) is located on the side where its corresponding third threshold value is far from the second threshold value, output k (T) =3;
the alarm level matching satisfies the following:
wherein, the alarm level 1 is a prevention alarm, the alarm level 2 is a correction alarm, and the alarm level 3 is a danger alarm.
5. The unmanned aerial vehicle sensing and collision avoidance method of claim 1, wherein: the collision avoidance flight guidance method comprises the following steps:
d1: setting a steering step length and a lead time interval [ B, T ] in advance, simulating a plurality of operable directions of the local machine at the current time T according to the steering step length, scanning all the operable directions, and marking the operable directions which trigger alarm with the intrusion machine as a flight limiting range;
d2: will t i Marking the limited flight range of the operable direction of the local machine at the moment, and summarizing all the limited flight ranges to obtain the time interval [ B, T ] of the local machine in advance guidance]Total limited range of flight within;
t i ＝t+tstep·i；
wherein i is a natural number greater than 0, and t i ∈[B，T](ii) a tstep is a time step, and accel is the constant acceleration of the machine;
d3: and taking the complement of the total limit flight range and the unmanned aerial vehicle maneuvering performance limit range as a single collision avoidance guide range.
6. The unmanned aerial vehicle sensing and collision avoidance method of claim 5, wherein: and the total limited flight range comprises the limited flight range obtained by respectively carrying out iterative calculation of the steps D1-D2 on the horizontal course, the horizontal speed, the altitude and the vertical speed.
7. The unmanned aerial vehicle sensing and collision avoidance method according to claim 5, wherein: when a plurality of intruders appear, the steps D1-D3 are respectively carried out on the intruders to obtain a plurality of single-machine collision avoidance guide ranges, and the intersection of all the single-machine collision avoidance guide ranges is taken as a final collision avoidance guide range; and the DAA ground control station or the remote pilot controls the unmanned aerial vehicle to carry out collision avoidance maneuver according to the final collision avoidance guidance range.
8. An unmanned aerial vehicle sensing and collision avoidance system for performing the unmanned aerial vehicle sensing and collision avoidance method of any one of claims 1-7, characterized by: the unmanned aerial vehicle comprises an airborne monitoring device, an airborne DAA processor and an unmanned aerial vehicle system which are built in the unmanned aerial vehicle; the system also comprises a DAA ground control station, wherein the DAA ground control station comprises a ground DAA processor and a display and alarm system; the unmanned aerial vehicle is in communication connection with the DAA ground control station through a C2 link system;
the airborne monitoring equipment can monitor other aircrafts around the unmanned aerial vehicle in real time, is in communication connection with the airborne DAA processor, and transmits the monitored flight path data of the other aircrafts to the airborne DAA processor;
the airborne DAA processor is also connected with the unmanned aerial vehicle system, and executes conflict detection and alarm according to track data of other aircrafts and local data transmitted by the unmanned aerial vehicle system, namely steps S1-S3, and transmits alarm grade information to the DAA ground control station;
the ground DAA processor executes collision avoidance flight guidance according to the warning grade information, namely steps D1-D3, is connected with the display and alarm system and transmits the flight guidance information to the display and alarm system;
the display and alarm system is interacted with a remote pilot through a visual interaction interface, and the remote pilot controls the unmanned aerial vehicle to carry out collision avoidance maneuver according to the flight guidance information.
9. The unmanned aerial vehicle perception and collision avoidance system of claim 8, wherein: the DAA ground control station is provided with a monitoring control panel for providing a remote pilot with a port for controlling the ground DAA processor and the drone.
10. A removable storage medium, comprising: the mobile storage medium is used for storing program instructions, and the program instructions can be executed by a processor to implement the unmanned aerial vehicle sensing and collision avoidance method according to any one of claims 1 to 7.
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