自由空域下多旋翼无人机安全间隔标定方法

doi:10.12305/j.issn.1001-506X.2023.10.19

摘要/Abstract

摘要：

为确保低空空域内无人机的运行安全, 考虑多旋翼无人机的特点, 提出一种自由空域下多旋翼无人机安全间隔标定方法。首先, 以无人机机体圆柱的最小外接球作为无人机的碰撞盒, 利用无人机的位置信息、速度信息和位置误差信息, 基于三维高斯分布假设, 建立无人机空中碰撞概率模型; 然后, 根据自由空域的特点, 提出基于最大碰撞概率的无人机安全间隔标定方法。以经纬M600 Pro无人机为例, 将5%最大碰撞概率作为安全目标水平, 使用该方法得到的最小安全间隔分别为: 纵向间隔16 m, 横向间隔11 m, 垂直间隔6 m。据此, 可为多旋翼无人机安全间隔标准的制定提供理论依据。

关键词: 航空运输, 安全间隔标定, 碰撞概率, 多旋翼无人机, 自由空域

Abstract:

In order to ensure the safe operation of unmanned aerial vehicle (UAV) in the low-altitude airspace, this paper proposes a demarcation method of safety separation for multi-rotor UAV in free airspace in combination with the characteristics of multi-rotor UAV. Firstly, the smallest circumscribed sphere of the UAV body cylinder is used as the collision box of the UAV. A UAV mid-air collision probability model is established based on the position information, speed information, position error information and three-dimensional Gaussian distribution assumption. Secondly, according to the characteristics of free airspace, a demarcation method of safety separation based on the maximum collision probability is proposed. Taking the Matrice 600 Pro UAV as an example, when the safety target level is 5% of the maximum collision probability, the longitudinal, lateral, and vertical safety separations are 16 m, 11 m and 6 m respectively according to the proposed method. The proposed method can provide a theoretical basis for the formulation of safety separation standards for multi-rotor UAV.

Key words: air transportation, safety separation demarcation, collision probability, multi-rotor unmanned aerial vehicle (UAV), free airspace

中图分类号:

张洪海, 李博文, 刘皞, 钟罡, 费毓晗. 自由空域下多旋翼无人机安全间隔标定方法[J]. 系统工程与电子技术, 2023, 45(10): 3149-3156.

Honghai ZHANG, Bowen LI, Hao LIU, Gang ZHONG, Yuhan FEI. Demarcation method of safety separation for multi-rotor UAV in free airspace[J]. Systems Engineering and Electronics, 2023, 45(10): 3149-3156.

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技术参数	数值
外形尺寸(长×宽×高)	1 668 mm×1 518 mm×759 mm
悬停精度(GPS精度)	垂直: ±0.5 m, 水平: ±1.5 m
最大俯仰角度/(°)	25
最大上升速度/(m/s)	5
最大下降速度/(m/s)	3
最大水平飞行速度/(km/h)	65(无风环境)

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