基于机动避撞策略的低空多旋翼无人机安全间隔计算模型

  • 陈运翔 ,
  • 赖庭峰 ,
  • 王致远 ,
  • 邹翔 ,
  • 赵嶷飞 ,
  • 张建平
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  • 1. 西南交通大学
    2. 中国民用航空总局第二研究所
    3. 中国民用航空飞行学院
    4. 中国民航大学

收稿日期: 2025-02-24

  修回日期: 2025-04-08

  网络出版日期: 2025-04-17

基金资助

国家重点研发计划课题;国家自然科学基金委民航联合基金重点项目;四川省重大科技专项“揭榜挂帅”项目

Safety separation calculation model for Multi-Rotor drones in low-altitude airspace based on avoidance strategy

  • CHEN Yun-Xiang ,
  • LAI Ting-Feng ,
  • WANG Zhi-Yuan ,
  • ZOU Xiang ,
  • ZHAO Yi-Fei ,
  • ZHANG Jian-Ping
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Received date: 2025-02-24

  Revised date: 2025-04-08

  Online published: 2025-04-17

摘要

低空空域无人机安全间隔,是保障低空无人机安全有序飞行,促进低空经济健康发展的基础前提。低空无人机以多旋翼构型为主,其安全间隔计算尚未充分考虑无人机机动避撞策略,主要问题在于现有模型针对两机机动避撞策略,无法适应多机复杂遭遇场景。本文以多旋翼无人机运动状态、相对速度、环境因素、导航位置误差、飞行技术误差和系统冗余等多种因素,结合遭遇场景建立了多旋翼无人机安全间隔计算模型。基于运动学原理和最近接近距离,本文推导了双机及多机遭遇时的避让间隔计算公式,通过构建多样化避撞策略,以仿真方法给出强风干扰、系统延迟时双机及多机避让间隔数值,最后给出多机遭遇不同接近率时的安全间隔。本文的工作可以为低空运行安全与间隔管理提供参考。

本文引用格式

陈运翔 , 赖庭峰 , 王致远 , 邹翔 , 赵嶷飞 , 张建平 . 基于机动避撞策略的低空多旋翼无人机安全间隔计算模型[J]. 航空学报, 0 : 1 -0 . DOI: 10.7527/S1000-6893.2025.31887

Abstract

The safety separation of drones in low-altitude airspace is a fundamental prerequisite for ensuring the safe and orderly flight of low-altitude drones and promoting the healthy development of the low-altitude economy. Low-altitude drones are predominantly multi-rotor in configuration, and the calculation of their safety separation has not yet fully taken into account the drone's maneu-ver collision avoidance strategies. The main issue lies in the fact that existing models, which are designed for two-aircraft ma-neuver collision avoidance strategies, cannot adapt to complex multi-aircraft encounter scenarios. This paper establishes a safety separation calculation model for multi-rotor drones by considering various factors such as the motion state of multi-rotor drones, relative velocity, environmental factors, navigation position errors, flight technical errors, and system redundancy, combined with encounter scenarios. Based on kinematic principles and the closest point of approach, this paper derives the calculation formulas for avoidance separation during both dual-aircraft and multi-aircraft encounters. By constructing diverse collision avoidance strategies, the paper provides numerical values for dual-aircraft and multi-aircraft avoidance separation under strong wind interference and system delays through simulation methods and finally presents the safety separation for multi-aircraft encounters at different approach rates. The work in this paper can serve as a reference for low-altitude operation safety and sepa-ration management.

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