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针对低空自由飞行航线自主的特点,提出了一种概率型的短期冲突探测算法。算法考虑导航误差、控制误差及风扰动引起的飞行器位置预测误差,建立了合理的误差模型,以计算短期内飞行器之间的瞬时冲突概率;采用坐标变换以及扩展冲突区域,提出了三维空间内机动飞行情况下,计算冲突概率的近似解析算法。通过与Paielli和Erzberger(P&E)提出的近似算法及Monte Carlo仿真算法的比较,表明本文算法提高了计算冲突概率的准确性,且计算复杂性远远低于Monte Carlo算法,满足低空自由飞行的实时性要求,可实现复杂环境下的冲突探测。
In view of the characteristics of free flight at low altitude, a probabilistic short-term collision detection algorithm is proposed. The algorithm considers the navigation error, the control error and the aircraft position prediction error caused by the wind disturbance, establishes a reasonable error model to calculate the instantaneous collision probability between the aircraft in a short period of time. By using the coordinate transformation and extending the collision area, Approximate analytic algorithm for calculating collision probability in flight. Compared with the approximate algorithm proposed by Paielli and Erzberger (P & E) and the Monte Carlo simulation algorithm, this algorithm shows that the proposed algorithm improves the accuracy of calculating the collision probability and the computational complexity is far lower than that of the Monte Carlo algorithm to meet the real-time Sexual requirements for conflict detection in complex environments.