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为了解决高飞行密度空域中具有多段航路的飞机中期冲突探测算法的精度较低和效率不高的问题,本文提出了一种新的中期冲突探测算法。将两飞机的航路重新划分为一系列航路片段,使得在每一个航路片段中没有航向和速度的变化。基于Prandini瞬时冲突概率的思想,计算所有航路片段的最大瞬时冲突概率,并取冲突概率中的最大者作为两架飞机整个航路冲突发生可能性的一个极端情况的度量。其中提出了基于预测位置空间离散化的新算法来求航路片段的瞬时冲突概率,对两飞机预测位置空间进行离散,然后根据位置预测误差概率密度函数以及两飞机的相遇几何来求瞬时冲突概率。仿真结果表明,相对于Prandini随机化算法,本文的冲突探测算法计算效率和计算精度更高,能够满足高密度飞行下条件下具有多段航路飞机的实时冲突探测的要求。
In order to solve the problem of low precision and low efficiency of medium-term collision detection algorithm with multi-flight path in high flight density airspace, a new medium-term collision detection algorithm is proposed in this paper. The routes of the two aircraft were reclassified as a series of route segments so that there was no change in heading and speed in each route segment. Based on the idea of Prandini instantaneous collision probability, the maximum instantaneous collision probability of all route segments is calculated and the largest one of the probability of collision is taken as an extreme measure of the possibility of collision of two airlines over the entire route. In this paper, a new algorithm based on the discretization of the predicted location space is proposed to find the instantaneous collision probability of the route segments and to discretize the predicted location space of the two aircraft. Then the instantaneous collision probability is obtained according to the probability density function of location prediction error and the encounter geometry between the two aircraft. The simulation results show that compared with Prandini randomization algorithm, the collision detection algorithm proposed in this paper has higher computational efficiency and higher computational accuracy, which can meet the requirements of real-time collision detection of multi-stage aircrafts under high-density flight conditions.