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

doi:10.7527/S1000-6893.2025.31887

Abstract

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 for promoting the healthy development of the low-altitude economy. Low-altitude drones are predominantly of multi-rotor configurations， and the calculation of their safety separation has not yet fully taken into account the drone’s maneuver collision avoidance strategies. The main issue lies in the fact that existing models， designed for two-aircraft maneuver collision avoidance strategies， cannot adapt to complex multi-aircraft encounter scenarios. Based on 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. Using 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. Moreover， 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. Finally， the safety separation for multi-aircraft encounters at different approach rates are presented， providing a reference for low-altitude operation safety and separation management.

Key words: avoidance strategy, low-altitude airspace, multi-rotor drones, safety separation, collision probability, target level of safety

CLC Number:

V355

Yunxiang CHEN, Jianping ZHANG, Zhiyuan WANG, Xiang ZOU, Yifei ZHAO, Tingfeng LAI. Safety separation calculation model for multi-rotor drones in low-altitude airspace based on avoidance strategy[J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(11): 531887.

Figures/Tables 20

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Table 1

Table 2

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Table 3

Simulation experiment results of dual aircrafts avoidance interval

参数	实验1	实验2	实验3	实验4	实验5
无人机1速度/（m·s^-1）	2	4	6	8	10
无人机2速度/（m·s^-1）	2	4	6	8	10
无人机1最大转弯角/（°）	30	30	30	30	30
无人机1最大转弯率/（（°）·s^-1）	162.26	81.13	54.09	40.56	32.45
无人机1转弯半径/m	0.706 239	2.824 955	6.356 15	11.299 8	17.655 97
无人机2最大转弯角/（°）	25	25	25	25	25
无人机2最大转弯率/（（°）·s^-1）	128.79	64.39	42.93	32.2	25.76
无人机2转弯半径/m	0.889 779	3.559 115	8.008 01	14.236 5	22.244 47
PCA设置/m	14.68	15.15	15.63	16.12	16.62
机动避让间隔d_avoid/m	15.44	18.18	22.46	28.25	35.57
避让间隔均值 $μ$ /m	24.18
避让间隔标准差 $σ$	7.23

Table 3

Table 4

Simulation experiment results of three-aircrafts avoidance interval

参数	实验1	实验2	实验3	实验4	实验5
无人机1速度/（m·s^-1）	2	4	6	8	10
无人机2速度/（m·s^-1）	2	4	6	8	10
无人机3速度/（m·s^-1）	2	4	6	8	10
无人机1最大转弯角/（°）	30	30	30	30	30
无人机1最大转弯率/（（°）·s^-1）	162.26	81.13	54.09	40.56	32.45
无人机1转弯半径/m	0.706 239	2.824 955	6.356 15	11.299 82	17.655 97
无人机2最大转弯角/（°）	25	25	25	25	25
无人机2最大转弯率/（（°）·s^-1）	25.76	64.39	42.93	32.2	25.76
无人机2转弯半径/m	0.889 779	3.559 115	8.008 008	14.236 46	22.244 47
无人机3最大转弯角/（°）	30	30	30	30	30
无人机3最大转弯率/（（°）·s^-1）	162.26	81.13	54.09	40.56	32.45
无人机3转弯半径/m	0.706 239	2.824 955	6.356 15	11.299 82	17.655 97
PCA设置/m	14.68	15.15	15.63	16.12	16.62
避让间隔d_avoid/m	15.42	18.11	22.29	27.96	35.11
避让间隔均值 $μ$ /m	23.78
避让间隔标准差 $σ$	7.07

Table 4

Table 5

Table 6

Table 7

Table 8

Calculation of safety interval between two unmanned aerial vehicles

避让间隔均值 $μ$ /m	避让间隔标准差 $σ$	接近率/（m·s^-1）	系统延迟时间/s	操纵员反应时间/s	航迹刷新时间/s	安全间隔/m	碰撞风险（计算Z值后查询正态分布表）	是否接受安全目标水平（ $1.5 × 10 - 8$ ）
24.18	7.23	4	3.4	5.2	2	42.4	Z=2.52/约0.56%概率碰撞	不可接受
		8				84.8	Z=5.87/约0概率碰撞	可接受
		12				127.2	Z=8.39/约0概率碰撞	可接受
		16				169.6	Z=14.26/约0概率碰撞	可接受
		20				212	Z=20.1/约0概率碰撞	可接受

Table 8

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状态	无人机速度/（m·s^-1）	风速/（m·s^-1）	延迟时间/s	飞行技术误差/m	导航精度误差/m	系统总误差/m
1	2	8	0.3	11.484 353 74	9.14	14.677 533 2
2	4	8	0.3	12.084 353 74	9.14	15.151 607 35
3	6	8	0.3	12.684 353 74	9.14	15.634 334 97
4	8	8	0.3	13.284 353 74	9.14	16.124 938 89
5	10	8	0.3	13.884 353 74	9.14	16.622 721 76
6	12	8	0.3	14.484 353 74	9.14	17.120 504 63

Safety separation calculation model for multi-rotor drones in low-altitude airspace based on avoidance strategy

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速度/（m·s^-1）	2	4	6	8	10	12
转弯率/（（°）·s^-1）	128.79	64.39	42.93	32.20	25.76	21.46
爬升率/（m·s^-1）	4
下降率/（m·s^-1）	3.5

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