CAJ | 학술논문

针对现有方法采用定值飞行间隔确定避撞区域对空域利用不足的问题，提出一种动态、实时建立避撞区域的方法。根据无人机的机动约束，无人机的碰撞区域以及飞机之间的相对位置、相对速度等信息，实时建立避撞区包络。由于动态考虑了无人机与入侵飞机对避撞区的影响因素，提高了所建包络的针对性，缩小了避撞区包络所占的空域面积，不仅避免了一些不必要的规避机动，而且还可以使繁忙的空域得到更合理的利用。仿真结果验证了所建动态避撞区的有效性。
침대현유방법채용정치비행간격학정피당구역대공역이용불족적문제，제출일충동태、실시건립피당구역적방법。근거무인궤적궤동약속，무인궤적팽당구역이급비궤지간적상대위치、상대속도등신식，실시건립피당구포락。유우동태고필료무인궤여입침비궤대피당구적영향인소，제고료소건포락적침대성，축소료피당구포락소점적공역면적，불부피면료일사불필요적규피궤동，이차환가이사번망적공역득도경합리적이용。방진결과험증료소건동태피당구적유효성。
Considering that the size of collision avoidance zone is usually constant and can not make full use of the space,we proposed a method for establishing the collision avoidance zone of UAVs dynamically in real time.The collision avoidance zone is established according to the constraints of UAV maneuverability, collision zone,the relative position and the relative velocity.The influencing factors of UAV and the intruder to collision avoidance zone are considered dynamically,thus the collision avoidance zone is established more accurately with smaller airspace,which can not only avoid the unnecessary maneuvering for collision avoidance,but also make more reasonable use to the busy airspace.The simulation results show the good performance of this dynamic modeling method.