基于路径规划的无人机飞行冲突解脱技术

摘要

When the UAV and manned aircraft operating in the same airspace,flight conflicts may occur at any time. It is important for UAV to find a reliable flight conflict resolution technology to ensure the operation safety. Therefor, a grid airspace environment based on regular triangle is constructed, which mends the shortage that cross grid environment not suitable for dynamic path planning. The principle of space partition is introduced to enhance the optimization performance of ant colony algorithm and improve the path planning ability effectively. Combining with the operation principle of ADS-B system,and in the bases of revised ADS-B information according to the theory of Kalman filtering,the technical plan of conflict sense is designed. Based on the technology of real-time path re-planning, UAV’s flight conflict resolution could be achieved finally. Simulation results demonstrate the validity of the conflict resolution technology,and could support the theory reference for UAV’s airspace operation technology in the future.%在无人机与有人机共用空域时，随时可能发生飞行冲突，应当有一种可靠的冲突解脱技术，保证无人机的空域运行安全。为此，构建了基于正三角形栅格法的空域运行环境，改进了以往十字栅格环境规划动态路径的缺陷；提出了基于空间分割的改进蚁群算法，提高了算法的寻优性能与路径规划能力。最后结合ADS-B系统的工作原理，在利用卡尔曼滤波对ADS-B信息进行修正的基础上，设计了无人机冲突感知的技术方案，并用实时的路径重规划技术实现飞行冲突的解脱。最终的仿真实验验证了飞行冲突解脱技术方案的有效性，可为未来无人机的空域运行技术提供一定的理论参考。