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

Abstract

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

CLC Number:

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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References 30

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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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Demarcation method of safety separation for multi-rotor UAV in free airspace

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