CN115064008A - Unmanned aerial vehicle runway conflict autonomous early warning system - Google Patents
Unmanned aerial vehicle runway conflict autonomous early warning system Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0073—Surveillance aids
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0004—Transmission of traffic-related information to or from an aircraft
- G08G5/0008—Transmission of traffic-related information to or from an aircraft with other aircraft
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0004—Transmission of traffic-related information to or from an aircraft
- G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/04—Anti-collision systems
Abstract
The invention provides an unmanned aerial vehicle runway conflict autonomous early warning system which has ADS-B broadcasting capability, ADS-B receiving capability, runway conflict autonomous early warning capability and conflict evasion capability. The invention can realize that the unmanned aerial vehicle can automatically and accurately sense the traffic situation of the airport scene, thereby realizing the autonomous early warning of the unmanned aerial vehicle on runway conflicts.
Description
Technical Field
The application relates to the field of fixed wing unmanned aerial vehicle runway control, in particular to an unmanned aerial vehicle runway conflict autonomous early warning system.
Background
In the next five years, the branch logistics unmanned aerial vehicle becomes a global competitive focus, which is also one of the important territories actively laid out and competed by enterprises at present. The future general airport is used as an unmanned aerial vehicle branch freight service station, not only accords with the take-off and landing requirements and the service guarantee requirements of a large-scale fixed-wing unmanned aerial vehicle, but also accords with the diversified profit innovation requirements of the general airport operation. However, the following hybrid operation of unmanned aerial vehicles and manned vehicles at general airports faces a plurality of difficult problems in safe operation. In view of the remote control characteristic of the large-scale fixed-wing unmanned aerial vehicle, the sensing capability of the large-scale fixed-wing unmanned aerial vehicle on the traffic situation of the airport surface is weak, and the real-time and accurate early warning on runway conflicts in the high-speed take-off and landing scene is one of the key difficulties of mixed operation.
The hybrid operation of the large unmanned aerial vehicle and the manned unmanned aerial vehicle at the airport is firstly established on the basis of the unification of monitoring means, and the communication one-network, the integration monitoring and the cooperative management and control are realized through the integration of communication means. ADS-B (Automatic Dependent Surveillance-Broadcast, Chinese is the Broadcast type Automatic relevant Surveillance) is an important Surveillance means for civil aviation transport airplanes and navigation airplanes, so that the large unmanned aerial vehicle has ADS-B Broadcast capability and is the necessary trend for fusion Surveillance. With the specification of the performance requirements of the ADS-B airborne equipment and the increasingly mature Beidou system, potential safety hazards caused by GPS failure are avoided, and based on the ADS-B IN (the aircraft has the capability of receiving ADS-B data of other surrounding aircrafts), the unmanned aerial vehicle can automatically and accurately sense the traffic situation of the airport scene, so that the autonomous early warning of runway conflicts by the unmanned aerial vehicle becomes possible.
Disclosure of Invention
In view of the above technical problems, an embodiment of the present invention provides an unmanned aerial vehicle runway conflict autonomous early warning system, which is used for solving at least one of the above technical problems.
The embodiment of the invention adopts the technical scheme that:
the embodiment of the invention provides an unmanned aerial vehicle runway conflict autonomous early warning system, which is deployed on a target unmanned aerial vehicle, and comprises the following components: an onboard controller and a storage medium storing a computer program;
the onboard controller is used for executing a computer program and executing the following steps:
s10, obtaining ADS-B broadcast information of n movable bodies in the set space area, wherein n is more than or equal to 1;
s20, when the corresponding target unmanned aerial vehicle is determined to be located in the runway conflict early warning area, the running state of the target unmanned aerial vehicle is obtained;
s30, when m movable bodies located in the runway conflict early warning area exist in the n movable bodies based on the obtained ADS-B broadcast information, obtaining the running states of the m movable bodies; m takes the value from 1 to n; s40, based on movable body i and target none in m movable bodiesDetermining early warning level W between movable body i and target unmanned aerial vehicle according to running state of man-machine and set runway conflict determination matrix table i Obtaining the early warning level set W ═ W 1 ，W 2 ，…，W i ，…，W m ) Wherein W is i ∈(D 1 ，D 2 ，…，D T )，D j For the set jth early warning level, the value of i is 1 to m, and T is the number of the set early warning levels;
the p-th row in the set runway conflict determination matrix table comprises (C) p1 ，C p2 ，…，C pq )，C pk For the early warning level determined based on the movable body in the operating state p and the target unmanned aerial vehicle in the operating state k, C pk ∈(D 1 ，D 2 ，…，D T ) (ii) a The values of p and k are 1 to q, and q is the number of running states;
s50, obtaining the early warning level W with the highest level in the W max ＝max(W 1 ，W 2 ，…，W m ) And executing the corresponding conflict avoidance strategy.
The unmanned aerial vehicle runway conflict autonomous early warning system provided by the embodiment of the invention can realize that the unmanned aerial vehicle can automatically and accurately sense the traffic situation of an airport scene, and further realize the autonomous early warning of the unmanned aerial vehicle on runway conflicts.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of communication between a general airport unmanned aerial vehicle and a manned hybrid operation;
fig. 2 is a frame diagram of an unmanned aerial vehicle runway conflict autonomous early warning system according to an embodiment of the present invention;
fig. 3 is a working schematic diagram of an unmanned aerial vehicle runway conflict autonomous early warning system provided by an embodiment of the present invention;
fig. 4 is a schematic view of an operating state.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The embodiment of the invention provides an unmanned aerial vehicle runway conflict autonomous early warning system which is deployed on a target unmanned aerial vehicle and used for enabling the unmanned aerial vehicle to realize runway conflict autonomous early warning.
In an embodiment of the invention, the drone is a large fixed wing drone. The concept of large fixed-wing drones may be prior art. Because the operation of the large-scale fixed-wing unmanned aerial vehicle is controlled by an unmanned aerial vehicle remote control console, the existing ground support scheduling of the airport is established on a local communication network, if an unmanned aerial vehicle communication control link is not integrated into the airport ground support scheduling network, one network communication of airport control centers, remote control consoles, unmanned aerial vehicles, manned machines and ground support resources can be lost, the inconsistency of various types of movable main bodies on the perception of airport scene traffic situation can cause potential safety hazards, and the operation efficiency under a mixed operation scene is reduced at the same time, so that the premise that the large-scale fixed-wing unmanned aerial vehicle realizes the autonomous early warning of runway conflict is to form one network of general airport mixed operation communication, as shown in figure 1. In fig. 1, an unmanned aerial vehicle, a manned vehicle, and an operation assurance vehicle broadcast information such as their own position, identity, status, and the like through an ADS-B link. The unmanned aerial vehicle also receives ADS-B information broadcasted by surrounding activity targets through an ADS-B IN technology, so that information such as the accurate position and the intention of a potential conflict object is obtained. And finally, a general airport mixed operation communication network is formed by fusing the conventional scheduling network of the general airport, the ground-air communication control network of the large-scale fixed wing unmanned aerial vehicle, the 5G-based cooperative control network and the ADS-B link.
The large-scale fixed wing unmanned aerial vehicle needs to have runway conflict autonomous early warning capability, and needs to be additionally provided with a novel airborne module, wherein the novel airborne module mainly comprises four capabilities, namely ADS-B broadcasting capability, ADS-B receiving capability, runway conflict autonomous early warning capability and conflict avoiding capability, as shown in figure 2. The novel airborne module sends processed ADS-B information of the unmanned aerial vehicle, aircraft/vehicle information with collision threats around, runway collision early warning information and collision avoidance actions which are automatically judged to the unmanned aerial vehicle remote control console through a communication network, and the unmanned aerial vehicle remote control console enhances the real-time performance, accuracy and consistency of airport surface traffic situation perception. Namely, the unmanned aerial vehicle runway conflict autonomous early warning system provided by the embodiment of the invention is provided with a novel airborne module.
Further, the system may include: an onboard controller and a storage medium storing a computer program. The novel on-board module may be deployed on an on-board controller.
Further, as shown in fig. 3 (with reference to fig. 2), the onboard controller is configured to execute a computer program to perform the following steps:
s10, obtaining ADS-B broadcast information of n movable bodies in the set space region, wherein n is larger than or equal to 1.
In the embodiment of the present invention, the set spatial region may be determined based on a range of ADS-B broadcast information that can be received by the onboard controller. The n movable bodies are movable bodies except the target unmanned aerial vehicle, and comprise an aircraft, a vehicle and the like.
The onboard controller can acquire ADS-B broadcast information of n movable bodies in real time and store the ADS-B broadcast information in the memory.
And S20, acquiring the running state of the target unmanned aerial vehicle when the corresponding target unmanned aerial vehicle is determined to be located in the runway conflict early warning area. In the embodiment of the invention, the runway conflict early warning area refers to:
(1) within 1500 feet from the centerline of the runway, and
(2) within 3 nautical miles from the runway threshold and within 1000 feet above the airport elevation.
After the unmanned aerial vehicle enters the runway conflict early warning area, the runway conflict autonomous early warning function is automatically activated. Thereby avoiding unnecessary operational stress on the onboard equipment.
In embodiments of the present invention, determining whether a corresponding target drone is located within a runway conflict precaution area may belong to the prior art. The airborne controller can judge whether the target unmanned aerial vehicle is located in the runway conflict early warning area or not at set intervals. In the embodiment of the present invention, as shown in fig. 4, the operation states may include the following six operation states:
state 1: sliding to the Hold-line on the taxiway or stopping on the Hold-line;
state 2: entry/crossing a runway (misalignment of the runway);
state 3: taking off;
and 4: the distance from the runway entrance is less than 3 nautical miles;
and state 5: after landing, running and sliding on the runway;
and 6, state: stopping or sliding along the runway in a parallel fashion to the runway (i.e., aligning the runway).
In the embodiment of the invention, the operation state of the target unmanned aerial vehicle can be determined based on the sensing data acquired by the sensor arranged on the target unmanned aerial vehicle, and the specific determination mode can be the prior art in the field.
S30, when m movable bodies located in the runway conflict early warning area exist in the n movable bodies determined based on the acquired ADS-B broadcast information, acquiring the running states of the m movable bodies; m is 1 to n.
In the embodiment of the present invention, it may be prior art to determine whether there are movable bodies located in the runway conflict alert area in the n movable bodies based on the obtained ADS-B broadcast information and determine the operation states of the m movable bodies located in the runway conflict alert area.
In practical cases, m takes the value of 1 or 2, preferably 1.
S40, determining early warning level W between the movable body i and the target unmanned aerial vehicle based on the running states of the movable body i and the target unmanned aerial vehicle in the m movable bodies and the set runway conflict judgment matrix table i Obtaining the early warning level set W ═ W (W) 1 ，W 2 ，…，W i ，…，W m ) Wherein W is i ∈(D 1 ，D 2 ，…，D T )，D j The value of i is 1 to m for the set jth early warning level, and T is the number of the set early warning levels.
In the embodiment of the present invention, T ═ 5, that is, 5 warning levels may be included. In one exemplary embodiment, D 1 ，D 2 ，D 3 、D 4 And D 5 The system comprises a conflict-free risk, a traffic reminding function, a runway reminding function, a warning function and an alarm function, wherein the conflict-free risk, the traffic reminding function, the runway reminding function, the warning function and the alarm function are sequentially increased in level grade.
In the embodiment of the invention, the definitions of conflict-free risk, traffic reminding, runway reminding, warning and warning are respectively as follows:
the No collision Risk (No Conflict Risk, NCR) means that in a runway collision early warning area, a movable body (hereinafter sometimes referred to as other machine) and a target unmanned aerial vehicle (hereinafter sometimes referred to as local machine) do not have a collision Risk.
Traffic Indication (TI) means that in a runway collision early warning area, the collision risk between the machine and the machine does not occur immediately, but the collision risk is increased rapidly. The Runway Reminding (RSI) means that in a Runway conflict early warning area, a local airplane is waiting for takeoff on a Runway or approaches to prepare for landing, and the local airplane have the risk of immediate conflict but do not reach a certain threshold value.
The warning (warning, c) means that in a runway collision early warning area, the collision risk level of the aircraft and the local aircraft is increased to the point that the unmanned aircraft is required to execute a collision avoidance action, and the remote control console can adjust a collision avoidance scheme according to aircraft/vehicle information, collision early warning information and avoidance action which are sent by the unmanned aircraft and have collision threats.
Warning (w) means that in a runway collision early warning area, the collision risk level of the unmanned plane and the local plane is raised to require the unmanned plane to immediately execute a collision avoidance action.
Further, in the embodiment of the present invention, the p-th row in the set runway conflict determination matrix table includes (C) p1 ，C p2 ，…，C pq )，C pk For the early warning rank that the portable body corresponds when running state j and target unmanned aerial vehicle are running state k, C pk ∈(D 1 ，D 2 ，…，D T ) (ii) a p and k take values from 1 to q, q being the number of operating states. In one embodiment of the present invention, q is 6.
Further, in the embodiment of the present invention, the early warning level in the 1 st row of the set runway conflict determination matrix table satisfies:
C 11 ＝D 1 ；C 12 ＝C 13 ＝C 14 ＝C 15 ＝C 16 ＝D 2 。
that is to say:
(1) if the other machine is in the state 1 and the own machine is in the state 1, the corresponding early warning level C 11 Is D 1 I.e. without risk of collision.
(2) If the other machine is in the state 1 and the other machine is in any state from the state 2 to the state 6, the corresponding early warning level is D 2 Namely a traffic alert.
Further, the early warning level in row 2 of the set runway conflict determination matrix table satisfies:
C 21 ＝C 22 ＝D 2 ；C 23 ∈{D 1 ，D 5 }；C 24 ∈{D 1 ，D 2 ，D 3 ，D 4 ，D 5 }；C 25 ∈{D 1 ，D 5 }；C 26 ∈{D 1 ，D 3 }；
wherein, be in state 2 and target unmanned aerial vehicle in the condition of state 3 at movable body:
if the movable body is located in front of the target drone on the runway in chronological order, then C 23 ＝D 5 。
If the movable body is located behind the target drone on the runway in chronological order, C 23 ＝D 1 。
Under the condition that movable body is in state 2 and target unmanned aerial vehicle is in state 4:
if the movable body is located in front of the target drone on the runway in chronological order, C if the distance of the target drone or the movable body from the runway threshold is greater than a first set distance L1 24 ＝D 2 . In an exemplary embodiment of the invention, L1 ═ 2 NM.
If the movable body is located chronologically in front of the target drone on the runway, C if the target drone or the movable body is at a distance less than the first set distance L1 from the runway threshold but reaches the runway threshold at a time greater than the first set time t1 24 ＝D 3 . In the embodiment of the present invention, t1 is preferably 35 s.
If the movable body is located chronologically in front of the target drone on the runway, C if the time for the target drone or the movable body to reach the runway threshold is less than a first set time t1 24 ＝D 4 。
If the movable body is located in front of the target drone on the runway in chronological order, C if the time for the target drone or the movable body to reach the runway threshold is less than a second set time t2 24 ＝D 5 (ii) a t2 < t 1; in the present embodiment, t2 is 15 s.
If the movable body is located behind the target drone on the runway in chronological order, C 24 ＝D 1 ；
Under the condition that movable body is in state 2 and target unmanned aerial vehicle is in state 5:
if the movable body is located in front of the target drone on the runway in chronological order, then C 25 ＝D 5 。
If the movable body is located behind the target drone on the runway in chronological order, C 25 ＝D 1 。
Under the condition that movable body is in state 2 and target unmanned aerial vehicle is in state 6:
if the movable body is located in front of the target drone on the runway in chronological order, thenC 26 ＝D 3 。
If the movable body is located behind the target drone on the runway in chronological order, C 26 ＝D 1 。
Further, the early warning level in row 3 of the set runway conflict determination matrix table satisfies:
C 31 ∈{D 1 ，D 3 }，C 32 ∈{D 1 ，D 5 }，C 33 ∈{D 2 ，D 5 }，C 34 ∈{D 2 ，D 3 ，D 4 ，D 5 }，C 35 ∈{D 1 ，D 5 }，C 36 ∈{D 3 ，D 5 }。
wherein, be in state 3 and target unmanned aerial vehicle under the condition of state 1 at portable body:
if the movable body and the target unmanned aerial vehicle are in a junction state, C 31 ＝D 3 。
If the movable body and the target unmanned aerial vehicle are not in an intersection state, C 31 ＝D 1 。
In the embodiment of the invention, the intersection state means that the own airplane and the other airplane point to the same point on the runway, and the distance between the own airplane and the other airplane is gradually reduced.
Under the condition that movable body is in state 3 and target unmanned aerial vehicle is in state 2:
if the movable body and the target unmanned aerial vehicle are in an intersection state, C 32 ＝D 5 。
If the movable body and the target unmanned aerial vehicle are not in an intersection state, C 32 ＝D 1 。
Under the condition that movable body is in state 3 and target unmanned aerial vehicle is in state 3:
if the movable body is located in front of the target drone on the runway in chronological order, C 33 ＝D 5 。
If the movable body is located behind the target drone on the runway in time sequence, C 33 ＝D 2 。
If the movable body is located in front of the target unmanned aerial vehicle on the runway in time sequence and is in an intersection state with the target unmanned aerial vehicle, C 33 ＝D 5 。
Under the condition that movable body is in state 3 and target unmanned aerial vehicle is in state 4:
if the movable body is located in front of the target drone on the runway in chronological order, C if the distance of the target drone or the movable body from the runway threshold is greater than a first set distance L1 34 ＝D 2 。
If the movable body is located chronologically in front of the target drone on the runway, C if the target drone or the movable body is at a distance less than the first set distance L1 from the runway threshold but reaches the runway threshold at a time greater than the first set time t1 34 ＝D 3 。
If the movable body is located chronologically in front of the target drone on the runway, C if the time for the target drone or the movable body to reach the runway threshold is less than a first set time t1 34 ＝D 4 。
C if the movable body is located chronologically in front of the target drone on the runway and if the time for the target drone or the movable body to reach the runway threshold is less than a second set time t2 34 ＝D 5 。
If the movable body is located behind the target drone on the runway in chronological order, C 34 ＝D 5 。
If the movable body is located in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, if the distance between the target unmanned aerial vehicle or the movable body and the runway entrance is greater than a first set distance L1, then C 34 ＝D 2 。
If the movable body is in time sequence in front of and in intersection with the target drone on the runway, e.g.If the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is less than the first set distance L1 but the time of reaching the runway threshold is greater than the first set time t1, C 34 ＝D 3 。
If the movable body is located in front of and in intersection with the target drone on the runway in chronological order, C if the time for the target drone or the movable body to reach the runway threshold is less than a first set time t1 34 ＝D 4 . Under the condition that movable body is in state 3 and target unmanned aerial vehicle is in state 5:
if the movable body is located in front of the target drone on the runway in chronological order, C 35 ＝D 5 。
If the movable body is located behind the target unmanned aerial vehicle on the runway in time sequence and is in an intersection state with the target unmanned aerial vehicle, C 35 ＝D 5 。
If the movable body is located behind the target drone on the runway in time sequence and is not in an intersection with the target drone, then C 35 ＝D 1 。
Under the condition that movable body is in state 3 and target unmanned aerial vehicle is in state 6:
if the movable body is located in front of the target drone on the runway in chronological order, then C 36 ＝D 3 。
If the movable body is located behind the target drone on the runway in chronological order, C 36 ＝D 5 。
If the movable body is located in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, then C 36 ＝D 5 。
Further, the early warning level in the 4 th row of the set runway conflict determination matrix table satisfies:
C 41 ∈{D 2 ，D 3 }，C 42 ∈{D 1 ，D 2 ，D 3 ，D 4 ，D 5 }，C 43 ∈{D 2 ，D 5 }，C 44 ∈{D 2 ，D 3 ，D 4 ，D 5 }，C 45 ∈{D 2 ，D 4 ，D 5 }，C 46 ∈{D 2 ，D 3 ，D 4 ，D 5 }。
wherein, be in state 4 and target unmanned aerial vehicle under the condition of state 1 at portable body:
if the movable body and the target unmanned aerial vehicle are in a junction state, if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is greater than a first set distance L1, C 41 ＝D 2 。
If the movable body and the target unmanned aerial vehicle are in a junction state, if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is less than a first set distance L1 but the time of reaching the runway threshold is greater than a first set time t1, C 41 ＝D 3 。
Under the condition that movable body is in state 4 and target unmanned aerial vehicle is in state 2:
if the movable body and the target unmanned aerial vehicle are in a junction state, if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is greater than a first set distance L1, C 42 ＝D 2 。
If the movable body and the target unmanned aerial vehicle are in a junction state, if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is less than a first set distance L1 but the time of reaching the runway threshold is greater than a first set time t1, C 42 ＝D 3 。
If the movable body and the target unmanned aerial vehicle are in a junction state, if the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than a first set time t1, C 42 ＝D 4 。
C if the movable body is located chronologically in front of the target drone on the runway and if the time for the target drone or the movable body to reach the runway threshold is less than a second set time t2 42 ＝D 5 。
If the movable body and the target unmanned aerial vehicle are not in a crossed state, C 42 ＝D 1 。
Under the condition that movable body is in state 4 and target unmanned aerial vehicle is in state 3:
c if the movable body is located chronologically in front of the target drone on the runway and if the time for the target drone or the movable body to reach the runway threshold is less than a second set time t2 43 ＝D 5 。
If the movable body is located behind the target drone on the runway in chronological order, C if the distance of the target drone or the movable body from the runway threshold is greater than a first set distance L1 43 ＝D 2 。
If the movable body is located in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, then C 43 ＝D 5 。
Under the condition that movable body is in state 4 and target unmanned aerial vehicle is in state 4:
if the movable body is located in front of the target drone on the runway in chronological order, then C 44 ＝D 3 。
C if the movable body is chronologically located behind the target drone on the runway and if the distance of the target drone or the movable body from the runway threshold is greater than the first set distance L1 44 ＝D 2 。
If the movable body is located in front of and in intersection with the target drone on the runway in chronological order, C if the distance of the target drone or the movable body from the runway threshold is greater than a first set distance L1 44 ＝D 2 。
If the movable body is located in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, if the target unmanned aerial vehicle or the movable body is in intersection with the target unmanned aerial vehicleC, if the distance of the runway threshold is less than the first set distance L1 but the time of reaching the runway threshold is greater than the first set time t1 44 ＝D 3 。
If the movable body is located in front of and in intersection with the target drone on the runway in chronological order, C if the time for the target drone or the movable body to reach the runway threshold is less than a first set time t1 44 ＝D 4 。
If the movable body is located in front of and in intersection with the target drone on the runway in chronological order, C if the time for the target drone or the movable body to reach the runway threshold is less than a second set time t2 44 ＝D 5 。
Under the condition that movable body is in state 4 and target unmanned aerial vehicle is in state 5:
if the movable body is located in front of the target drone on the runway in chronological order, and the traveling directions of the movable body and the target drone are the same, and the time for the target drone or the movable body to reach the entrance of the runway is less than a second set time t2, C 45 ＝D 5 。
C if the movable body is chronologically behind the target drone on the runway, if the target drone or the movable body is at a distance greater than the first set distance L1 from the runway threshold, or if the target drone or the movable body is at a distance less than the first set distance L1 from the runway threshold but reaches the runway threshold at a time greater than the first set time t1 45 ＝D 2 。
If the movable body is located behind the target drone on the runway in chronological order, C if the time for the target drone or the movable body to reach the runway threshold is less than a first set time t1 45 ＝D 4 。
If the movable body is located behind the target unmanned aerial vehicle on the runway in time sequence, if the time for the target unmanned aerial vehicle or the movable body to reach the entrance of the runway is less than the second settingTiming t2, then C 45 ＝D 5 。
C if the movable body is located in front of the target drone on the runway in chronological order and in an intersection with the target drone, and the traveling directions of the movable body and the target drone are opposite, and the time for the target drone or the movable body to reach the entrance of the runway is less than a second set time t2, C 45 ＝D 5 。
Under the condition that movable body is in state 4 and target unmanned aerial vehicle is in state 6:
if the movable body is located in front of the target drone on the runway in chronological order, then C 46 ＝D 3 。
C if the movable body is chronologically behind the target drone on the runway, if the target drone or the movable body is at a distance greater than the first set distance L1 from the runway threshold, or if the target drone or the movable body is at a distance less than the first set distance L1 from the runway threshold but reaches the runway threshold at a time greater than the first set time t1 46 ＝D 2 。
If the movable body is located behind the target drone on the runway in chronological order, C if the time for the target drone or the movable body to reach the runway threshold is less than a first set time t1 46 ＝D 4 。
If the movable body is located behind the target drone on the runway in chronological order, C if the time for the target drone or the movable body to reach the runway threshold is less than a second set time t2 46 ＝D 5 。
If the movable body is located in front of and in intersection with the target drone on the runway in chronological order, C if the distance of the target drone or the movable body from the runway threshold is greater than a first set distance L1 46 ＝D 2 。
If the movable body is located in time sequence in front of the target drone on the runway and is not in contact with the target droneThe man-machine is in a junction state, if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is less than a first set distance L1 but the time of reaching the runway threshold is greater than a first set time t1, C 46 ＝D 3 。
C if the movable body is located in time sequence in front of and in intersection with the target drone on the runway and the time for the target drone or the movable body to reach the runway threshold is less than the first set time t1 46 ＝D 4 。
C if the movable body is located in front of and in intersection with the target drone on the runway in chronological order, and the time for the target drone or the movable body to reach the runway threshold is less than a second set time t2 46 ＝D 5 。
Further, the early warning level in the 5 th row of the set runway conflict determination matrix table satisfies:
C 51 ∈{D 1 ，D 3 }，C 52 ∈{D 1 ，D 5 }，C 53 ∈{D 2 ，D 5 }，C 54 ∈{D 2 ，D 3 ，D 4 ，D 5 }，C 55 ∈{D 2 ，D 5 }，C 56 ∈{D 3 ，D 5 }。
wherein, be in state 5 and target unmanned aerial vehicle under the condition of state 1 at movable body:
if the movable body and the target unmanned aerial vehicle are in an intersection state, C 51 ＝D 3 。
If the movable body and the target unmanned aerial vehicle are not in the intersection state, C 51 ＝D 1 。
Under the condition that movable body is in state 5 and target unmanned aerial vehicle is in state 2:
if the movable body and the target unmanned aerial vehicle are in an intersection state, C 52 ＝D 5 。
If the movable body and the target unmanned aerial vehicle are not in an intersection state, C 52 ＝D 1 。
Under the condition that portable body is in state 5 and target unmanned aerial vehicle is in state 3:
if the movable body is located in front of the target drone on the runway in chronological order, C 53 ＝D 5 。
If the movable body is located behind the target drone on the runway in chronological order, C 53 ＝D 2 。
If the movable body is located in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, then C 53 ＝D 5 。
Under the condition that movable body is in state 5 and target unmanned aerial vehicle is in state 4:
if the movable body is located in front of the target drone on the runway in chronological order, C if the distance of the target drone or the movable body from the runway threshold is greater than a first set distance L1 54 ＝D 2 。
If the movable body is located in front of the target drone on the runway in chronological order, if the target drone or the movable body is less than the first set distance L1 from the runway threshold but reaches the runway threshold for a time greater than the first set time t1, C 54 ＝D 3 。
C if the movable body is chronologically in front of the target drone on the runway and if the time for the target drone or the movable body to reach the runway threshold is less than a first set time t1 54 ＝D 4 。
C if the movable body is located chronologically in front of the target drone on the runway and if the time for the target drone or the movable body to reach the runway threshold is less than a second set time t2 54 ＝D 5 。
If the movable body is located in front of the target unmanned aerial vehicle on the runway in time sequence and is in an intersection state with the target unmanned aerial vehicle, C 54 ＝D 3 。
If the movable body is located in front of and in intersection with the target drone on the runway in chronological order, C if the time for the target drone or the movable body to reach the runway threshold is less than a first set time t1 54 ＝D 4 。
If the movable body is located in front of and in intersection with the target drone on the runway in chronological order, C if the time for the target drone or the movable body to reach the runway threshold is less than a second set time t2 54 ＝D 5 。
Under the condition that movable body is in state 5 and target unmanned aerial vehicle is in state 5:
if the movable body is located in front of the target drone on the runway in chronological order, C 55 ＝D 5 。
If the movable body is located behind the target unmanned aerial vehicle on the runway in time sequence and is in an intersection state with the target unmanned aerial vehicle, then C 55 ＝D 5 。
If the movable body is located behind the target drone on the runway in time sequence and is not in an intersection with the target drone, then C 55 ＝D 2 。
Under the condition that movable body is in state 5 and target unmanned aerial vehicle is in state 6:
if the movable body is located in front of the target drone on the runway in chronological order, C 56 ＝D 3 。
If the movable body is located behind the target drone on the runway in chronological order, C 56 ＝D 5 。
If the movable body is located in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, then C 56 ＝D 5 。
Further, the early warning level in the 6 th row of the set runway conflict determination matrix table satisfies:
C 61 ＝C 62 ＝D 2 ，C 63 ∈{D 1 ，D 5 }，C 64 ∈{D 1 ，D 2 ，D 3 ，D 4 ，D 5 }，C 65 ∈{D 2 ，D 5 }，C 66 ∈{D 2 ，D 3 }。
wherein, be in state 6 and target unmanned aerial vehicle in the condition of state 3 at movable body:
if the movable body is located in front of the target drone on the runway in chronological order, C 53 ＝D 5 。
If the movable body is located behind the target drone on the runway in chronological order, C 53 ＝D 1 。
If the movable body is located in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, then C 53 ＝D 5 。
Under the condition that movable body is in state 6 and target unmanned aerial vehicle is in state 4:
if the movable body is located in front of the target drone on the runway in chronological order, C if the distance of the target drone or the movable body from the runway threshold is greater than a first set distance L1 64 ＝D 2 。
If the movable body is located chronologically in front of the target drone on the runway, C if the target drone or the movable body is at a distance less than the first set distance L1 from the runway threshold but reaches the runway threshold at a time greater than the first set time t1 64 ＝D 3 。
C if the movable body is chronologically in front of the target drone on the runway and if the time for the target drone or the movable body to reach the runway threshold is less than a first set time t1 64 ＝D 4 。
If the movable body is located on the target unmanned aerial vehicle on the runway in time sequenceAnd if the time for the target drone or movable body to reach the runway threshold is less than a second set time t2, C 64 ＝D 5 。
If the movable body is located behind the target drone on the runway in chronological order, then C 64 ＝D 1 。
Under the condition that movable body is in state 6 and target unmanned aerial vehicle is in state 5:
if the movable body is located in front of the target drone on the runway in chronological order, C 65 ＝D 5 。
If the movable body is located behind the target unmanned aerial vehicle on the runway in time sequence and is in an intersection state with the target unmanned aerial vehicle, then C 65 ＝D 5 。
If the movable body is located behind the target drone on the runway in time sequence and is not in an intersection with the target drone, then C 65 ＝D 2 。
Under the condition that movable body is in state 6 and target unmanned aerial vehicle is in state 6:
if the movable body is located in front of the target drone on the runway in chronological order, C 66 ＝D 3 。
If the movable body is located behind the target drone on the runway in time sequence, C 66 ＝D 2 。
If the movable body is located in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, then C 56 ＝D 3 。
Further, the set runway conflict matrix determination table may be as shown in table 1 below:
TABLE 1
Wherein, in table 1:
n represents no risk of collision; t represents TI; r represents RSI; c represents caltion; w represents warning; the Ahead indicates that the other machine is positioned in front of the other machine on the runway in time sequence; behind indicates that its machine is chronologically Behind the own machine on the runway; head on indicates that its machine is located in front of and in intersection with the own machine on the runway in time sequence.
S70, obtaining the early warning level W with the highest level in the W max ＝max(W 1 ，W 2 ，…，W m ) And executing the corresponding conflict avoidance strategy.
Further, in the embodiment of the present invention, the onboard controller is further in communication connection with a remote control platform of the unmanned aerial vehicle.
Wherein D is 1 The corresponding conflict avoidance strategies include: the target unmanned aerial vehicle does not execute conflict avoidance operation and flies according to the planned tasks.
D 2 The corresponding conflict avoidance strategies include: the target unmanned aerial vehicle does not execute conflict avoidance operation, and the unmanned aerial vehicle remote control platform executes monitoring D 2 Operation of the corresponding movable body. The unmanned aerial vehicle does not need to do conflict avoidance, and only needs the remote control console to closely concern other machines in the traffic reminding state.
D 3 The corresponding conflict avoidance strategies include: the target unmanned aerial vehicle does not execute conflict avoidance operation, and the unmanned aerial vehicle remote control platform continuously focuses on runway states and executes monitoring D 3 Operation of the corresponding movable body; namely, it isThe unmanned aerial vehicle does not need to perform conflict avoidance, only needs the remote control console to closely concern the runway in the runway reminding state, and performs conflict risk confirmation before taking off or landing.
D 4 The corresponding conflict avoidance strategies include: and the target unmanned aerial vehicle sends the corresponding conflict avoiding operation to the unmanned aerial vehicle remote control platform, and if avoiding adjustment information sent by the unmanned aerial vehicle remote control platform is received within a set time range, the target unmanned aerial vehicle executes the corresponding conflict avoiding operation according to the avoiding adjustment information. The remote control station can adjust the conflict avoidance scheme according to the information of the aircrafts/vehicles with conflict threats, the conflict early warning information and the avoidance actions which are sent by the unmanned aerial vehicle within a set time range. And if the response information sent by the unmanned aerial vehicle remote control platform is not received within the set time range, the target unmanned aerial vehicle can execute the autonomously judged conflict avoiding operation.
D 5 The corresponding conflict avoidance strategies include: the target unmanned aerial vehicle immediately executes the corresponding conflict avoiding operation, namely, the control platform of the unmanned aerial vehicle is not needed to be communicated, and the target unmanned aerial vehicle directly executes the corresponding conflict avoiding operation.
Although some specific embodiments of the present application have been described in detail by way of illustration, it should be understood by those skilled in the art that the above illustration is only for purposes of illustration and is not intended to limit the scope of the present application. It will also be appreciated by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the present application. The scope of the disclosure of the present application is defined by the appended claims.
Claims (10)
1. An unmanned aerial vehicle runway conflict autonomous early warning system, characterized in that, deploys on target unmanned aerial vehicle, the system includes: an onboard controller and a storage medium storing a computer program;
the onboard controller is used for executing a computer program and executing the following steps:
s10, obtaining ADS-B broadcast information of n movable bodies in the set space area, wherein n is more than or equal to 1;
s20, when determining that the corresponding target unmanned aerial vehicle is located in the runway conflict early warning area, acquiring the running state of the target unmanned aerial vehicle;
s30, when m movable bodies located in the runway conflict early warning area exist in the n movable bodies determined based on the acquired ADS-B broadcast information, acquiring the running states of the m movable bodies; m takes the value from 1 to n; s40, determining early warning level W between the movable body i and the target unmanned aerial vehicle based on the running states of the movable body i and the target unmanned aerial vehicle in the m movable bodies and the set runway conflict judgment matrix table i Obtaining the early warning level set W ═ W (W) 1 ，W 2 ，…，W i ，…，W m ) Wherein W is i ∈(D 1 ，D 2 ，…，D T )，D j For the set jth early warning level, the value of i is 1 to m, and T is the number of the set early warning levels;
the p-th row in the set runway conflict determination matrix table comprises (C) p1 ，C p2 ，…，C pq )，C pk For the early warning level determined based on the movable body in the operating state p and the target unmanned aerial vehicle in the operating state k, C pk ∈(D 1 ，D 2 ，…，D T ) (ii) a The values of p and k are 1 to q, and q is the number of running states;
s50, obtaining the early warning level W with the highest level in the W max ＝max(W 1 ，W 2 ，…，W m ) And executing the corresponding conflict avoidance strategy.
2. The system of claim 1, wherein the operational states include six operational states:
state 1: sliding to the Hold-line on the taxiway or stopping on the Hold-line;
state 2: entering/traversing the runway;
state 3: taking off;
and 4: the distance from the runway entrance is less than 3 nautical miles;
and a state 5: after landing, running and sliding on the runway;
and 6: stopping or sliding along the runway in a parallel manner to the runway.
3. The system of claim 2, wherein T-5;
D 1 ，D 2 ，D 3 、D 4 and D 5 The system comprises a conflict-free risk, a traffic reminding function, a runway reminding function, a warning function and an alarm function, wherein the conflict-free risk, the traffic reminding function, the runway reminding function, the warning function and the alarm function are sequentially increased in level grade.
4. The system of claim 3, wherein the pre-warning level in row 1 of the set runway conflict determination matrix table satisfies:
C 11 ＝D 1 ；C 12 ＝C 13 ＝C 14 ＝C 15 ＝C 16 ＝D 2 。
5. the system of claim 3, wherein the pre-warning level in row 2 of the set runway conflict determination matrix table satisfies:
C 21 ＝C 22 ＝D 2 ；C 23 ∈{D 1 ，D 5 }；C 24 ∈{D 1 ，D 2 ，D 3 ，D 4 ，D 5 }；C 25 ∈{D 1 ，D 5 }；C 26 ∈{D 1 ，D 3 }；
wherein, be in state 2 and target unmanned aerial vehicle in the condition of state 3 at movable body:
if the movable body is located in front of the target drone on the runway in chronological order, then C 23 ＝D 5 ；
If the movable body is located behind the target drone on the runway in chronological order, C 23 ＝D 1 ；
Under the condition that movable body is in state 2 and target unmanned aerial vehicle is in state 4:
if the movable body is located in front of the target drone on the runway in chronological order, if the target drone is located on the runwayThe distance between the unmanned aerial vehicle or the movable body and the runway entrance is greater than a first set distance L1, C 24 ＝D 2 ；
If the movable body is located chronologically in front of the target drone on the runway, C if the target drone or the movable body is at a distance less than the first set distance L1 from the runway threshold but reaches the runway threshold at a time greater than the first set time t1 24 ＝D 3 ；
If the movable body is located chronologically in front of the target drone on the runway, C if the time for the target drone or the movable body to reach the runway threshold is less than a first set time t1 24 ＝D 4 ；
If the movable body is located in front of the target drone on the runway in chronological order, if the time for the target drone or the movable body to reach the runway threshold is less than a second set time t2, C 24 ＝D 5 ；t2＜t1；
If the movable body is located behind the target drone on the runway in chronological order, C 24 ＝D 1 ；
Under the condition that movable body is in state 2 and target unmanned aerial vehicle is in state 5:
if the movable body is located in front of the target drone on the runway in chronological order, then C 25 ＝D 5 ；
If the movable body is located behind the target drone on the runway in chronological order, C 25 ＝D 1 ；
Under the condition that movable body is in state 2 and target unmanned aerial vehicle is in state 6:
if the movable body is located in front of the target drone on the runway in chronological order, then C 26 ＝D 3 ；
If the movable body is located behind the target drone on the runway in chronological order, C 26 ＝D 1 。
6. The system of claim 3, wherein the pre-warning level in row 3 of the set runway conflict determination matrix table satisfies:
C 31 ∈{D 1 ，D 3 }，C 32 ∈{D 1 ，D 5 }，C 33 ∈{D 2 ，D 5 }，C 34 ∈{D 2 ，D 3 ，D 4 ，D 5 }，C 35 ∈{D 1 ，D 5 }，C 36 ∈{D 3 ，D 5 }；
wherein, be in state 3 and target unmanned aerial vehicle under the condition of state 1 at movable body:
if the movable body and the target unmanned aerial vehicle are in an intersection state, C 31 ＝D 3 ；
If the movable body and the target unmanned aerial vehicle are not in an intersection state, C 31 ＝D 1 ；
Under the condition that movable body is in state 3 and target unmanned aerial vehicle is in state 2:
if the movable body and the target unmanned aerial vehicle are in an intersection state, C 32 ＝D 5 ；
If the movable body and the target unmanned aerial vehicle are not in an intersection state, C 32 ＝D 1 ；
Under the condition that movable body is in state 3 and target unmanned aerial vehicle is in state 3:
if the movable body is located in front of the target drone on the runway in chronological order, C 33 ＝D 5 ；
If the movable body is located behind the target drone on the runway in chronological order, C 33 ＝D 2 ；
If the movable body is located in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, then C 33 ＝D 5 ；
Under the condition that portable body is in state 3 and target unmanned aerial vehicle is in state 4:
if it is notThe movable body is located in front of the target drone on the runway in chronological order, and if the distance between the target drone or the movable body and the runway threshold is greater than a first set distance L1, C 34 ＝D 2 ；
If the movable body is located chronologically in front of the target drone on the runway, C if the target drone or the movable body is at a distance less than the first set distance L1 from the runway threshold but reaches the runway threshold at a time greater than the first set time t1 34 ＝D 3 ；
If the movable body is located chronologically in front of the target drone on the runway, C if the time for the target drone or the movable body to reach the runway threshold is less than a first set time t1 34 ＝D 4 ；
C if the movable body is located chronologically in front of the target drone on the runway and if the time for the target drone or the movable body to reach the runway threshold is less than a second set time t2 34 ＝D 5 ；
If the movable body is located behind the target drone on the runway in chronological order, then C 34 ＝D 5 ；
If the movable body is located in front of and in intersection with the target drone on the runway in chronological order, C if the distance of the target drone or the movable body from the runway threshold is greater than a first set distance L1 34 ＝D 2 ；
If the movable body is located in front of the target drone on the runway in chronological order and in an intersection state with the target drone, C if the target drone or the movable body is less than the first set distance L1 from the runway threshold but reaches the runway threshold for a time greater than the first set time t1 34 ＝D 3 ；
If the movable body is located in front of the target drone on the runway and in intersection with the target drone in chronological order, if the target drone or the movable body comes toThe time reaching the runway threshold is less than the first set time t1, C 34 ＝D 4 ；
Under the condition that movable body is in state 3 and target unmanned aerial vehicle is in state 5:
if the movable body is located in front of the target drone on the runway in chronological order, C 35 ＝D 5 ；
If the movable body is located behind the target unmanned aerial vehicle on the runway in time sequence and is in an intersection state with the target unmanned aerial vehicle, C 35 ＝D 5 ；
If the movable body is located behind the target drone on the runway in time sequence and is not in an intersection with the target drone, then C 35 ＝D 1 ；
Under the condition that movable body is in state 3 and target unmanned aerial vehicle is in state 6:
if the movable body is located in front of the target drone on the runway in chronological order, then C 36 ＝D 3 ；
If the movable body is located behind the target drone on the runway in chronological order, C 36 ＝D 5 ；
If the movable body is located in front of the target unmanned aerial vehicle on the runway in time sequence and is in an intersection state with the target unmanned aerial vehicle, C 36 ＝D 5 。
7. The system according to claim 3, wherein the pre-warning level in row 4 of the set runway conflict determination matrix table satisfies:
C 41 ∈{D 2 ，D 3 }，C 42 ∈{D 1 ，D 2 ，D 3 ，D 4 ，D 5 }，C 43 ∈{D 2 ，D 5 }，C 44 ∈{D 2 ，D 3 ，D 4 ，D 5 }，C 45 ∈{D 2 ，D 4 ，D 5 }，C 46 ∈{D 2 ，D 3 ，D 4 ，D 5 }；
wherein, be in state 4 and target unmanned aerial vehicle under the condition of state 1 at movable body:
if the movable body and the target unmanned aerial vehicle are in a junction state, if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is greater than a first set distance L1, C 41 ＝D 2 ；
If the movable body and the target unmanned aerial vehicle are in a junction state, if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is less than a first set distance L1 but the time of reaching the runway threshold is greater than a first set time t1, C 41 ＝D 3 ；
Under the condition that movable body is in state 4 and target unmanned aerial vehicle is in state 2:
if the movable body and the target unmanned aerial vehicle are in a junction state, if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is greater than a first set distance L1, C 42 ＝D 2 ；
If the movable body and the target unmanned aerial vehicle are in a junction state, if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is less than a first set distance L1 but the time of reaching the runway threshold is greater than a first set time t1, C 42 ＝D 3 ；
If the movable body and the target unmanned aerial vehicle are in a junction state, if the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than a first set time t1, C 42 ＝D 4 ；
C if the movable body is located chronologically in front of the target drone on the runway and if the time for the target drone or the movable body to reach the runway threshold is less than a second set time t2 42 ＝D 5 ；
If the movable body and the target unmanned aerial vehicle are not in a crossed state, C 42 ＝D 1 ；
Under the condition that movable body is in state 4 and target unmanned aerial vehicle is in state 3:
c if the movable body is located chronologically in front of the target drone on the runway and if the time for the target drone or the movable body to reach the runway threshold is less than a second set time t2 43 ＝D 5 ；
If the movable body is located behind the target drone on the runway in chronological order, C if the distance of the target drone or the movable body from the runway threshold is greater than a first set distance L1 43 ＝D 2 ；
If the movable body is located in front of the target unmanned aerial vehicle on the runway in time sequence and is in an intersection state with the target unmanned aerial vehicle, C 43 ＝D 5 ；
Under the condition that movable body is in state 4 and target unmanned aerial vehicle is in state 4:
if the movable body is located in front of the target drone on the runway in chronological order, then C 44 ＝D 3 ；
C if the movable body is chronologically located behind the target drone on the runway and if the distance of the target drone or the movable body from the runway threshold is greater than the first set distance L1 44 ＝D 2 ；
If the movable body is located in front of and in intersection with the target drone on the runway in chronological order, C if the distance of the target drone or the movable body from the runway threshold is greater than a first set distance L1 44 ＝D 2 ；
If the movable body is located in front of and in intersection with the target drone on the runway in chronological order, C if the target drone or the movable body is less than the first set distance L1 from the runway threshold but reaches the runway threshold more than the first set time t1 44 ＝D 3 ；
If the movable body is located in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, if the movable body is in the intersection state with the target unmanned aerial vehicleThe time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than a first set time t1, then C 44 ＝D 4 ；
If the movable body is located in front of and in intersection with the target drone on the runway in chronological order, C if the time for the target drone or the movable body to reach the runway threshold is less than a second set time t2 44 ＝D 5 ；
Under the condition that movable body is in state 4 and target unmanned aerial vehicle is in state 5:
if the movable body is located in front of the target drone on the runway in chronological order, and the traveling directions of the movable body and the target drone are the same, and the time for the target drone or the movable body to reach the entrance of the runway is less than a second set time t2, C 45 ＝D 5 ；
C if the movable body is chronologically behind the target drone on the runway, if the target drone or the movable body is at a distance greater than the first set distance L1 from the runway threshold, or if the target drone or the movable body is at a distance less than the first set distance L1 from the runway threshold but reaches the runway threshold at a time greater than the first set time t1 45 ＝D 2 ；
If the movable body is located behind the target drone on the runway in chronological order, C if the time for the target drone or the movable body to reach the runway threshold is less than a first set time t1 45 ＝D 4 ；
If the movable body is located behind the target drone on the runway in chronological order, C if the time for the target drone or the movable body to reach the runway threshold is less than a second set time t2 45 ＝D 5 ；
If the movable body is located in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, and the traveling directions of the movable body and the target unmanned aerial vehicle are opposite, and the target unmanned aerial vehicle or the movable body can reach the runway to enterThe time of the mouth is less than the second set time t2, C 45 ＝D 5 ；
Under the condition that movable body is in state 4 and target unmanned aerial vehicle is in state 6:
if the movable body is located in front of the target drone on the runway in chronological order, then C 46 ＝D 3 ；
C if the movable body is chronologically behind the target drone on the runway, if the target drone or the movable body is at a distance greater than the first set distance L1 from the runway threshold, or if the target drone or the movable body is at a distance less than the first set distance L1 from the runway threshold but reaches the runway threshold at a time greater than the first set time t1 46 ＝D 2 ；
If the movable body is located behind the target drone on the runway in chronological order, C if the time for the target drone or the movable body to reach the runway threshold is less than a first set time t1 46 ＝D 4 ；
If the movable body is located behind the target drone on the runway in chronological order, C if the time for the target drone or the movable body to reach the runway threshold is less than a second set time t2 46 ＝D 5 。
If the movable body is located in front of and in intersection with the target drone on the runway in chronological order, C if the distance of the target drone or the movable body from the runway threshold is greater than a first set distance L1 46 ＝D 2 ；
If the movable body is located in front of and in intersection with the target drone on the runway in chronological order, C if the target drone or the movable body is less than the first set distance L1 from the runway threshold but reaches the runway threshold more than the first set time t1 46 ＝D 3 ；
If the movable body is located in time sequence in front of the target drone on the runway and is not in contact with the target droneThe man-machine is in a junction state, and the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than a first set time t1, then C 46 ＝D 4 ；
C if the movable body is located in front of and in intersection with the target drone on the runway in chronological order, and the time for the target drone or the movable body to reach the runway threshold is less than a second set time t2 46 ＝D 5 。
8. The system of claim 3, wherein the pre-warning level in row 5 of the set runway conflict determination matrix table satisfies:
C 51 ∈{D 1 ，D 3 }，C 52 ∈{D 1 ，D 5 }，C 53 ∈{D 2 ，D 5 }，C 54 ∈{D 2 ，D 3 ，D 4 ，D 5 }，C 55 ∈{D 2 ，D 5 }，C 56 ∈{D 3 ，D 5 }；
wherein, be in state 5 and target unmanned aerial vehicle under the condition of state 1 at movable body:
if the movable body and the target unmanned aerial vehicle are in an intersection state, C 51 ＝D 3 ；
If the movable body and the target unmanned aerial vehicle are not in an intersection state, C 51 ＝D 1 ；
Under the condition that movable body is in state 5 and target unmanned aerial vehicle is in state 2:
if the movable body and the target unmanned aerial vehicle are in an intersection state, C 52 ＝D 5 ；
If the movable body and the target unmanned aerial vehicle are not in an intersection state, C 52 ＝D 1 ；
Under the condition that portable body is in state 5 and target unmanned aerial vehicle is in state 3:
if the movable body is located in front of the target drone on the runway in chronological order, C 53 ＝D 5 ；
If the movable body is located behind the target drone on the runway in chronological order, C 53 ＝D 2 ；
If the movable body is located in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, then C 53 ＝D 5 ；
Under the condition that portable body is in state 5 and target unmanned aerial vehicle is in state 4:
if the movable body is located in front of the target drone on the runway in chronological order, C if the distance of the target drone or the movable body from the runway threshold is greater than a first set distance L1 54 ＝D 2 ；
If the movable body is located chronologically in front of the target drone on the runway, C if the target drone or the movable body is at a distance less than the first set distance L1 from the runway threshold but reaches the runway threshold at a time greater than the first set time t1 54 ＝D 3 ；
C if the movable body is chronologically in front of the target drone on the runway and if the time for the target drone or the movable body to reach the runway threshold is less than a first set time t1 54 ＝D 4 ；
C if the movable body is located chronologically in front of the target drone on the runway and if the time for the target drone or the movable body to reach the runway threshold is less than a second set time t2 54 ＝D 5 ；
If the movable body is located in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, then C 54 ＝D 3 ；
If the movable body is located in front of and in intersection with the target drone on the runway in chronological order, C if the time for the target drone or the movable body to reach the runway threshold is less than a first set time t1 54 ＝D 4 ；
If the movable body is located in front of and in intersection with the target drone on the runway in chronological order, C if the time for the target drone or the movable body to reach the runway threshold is less than a second set time t2 54 ＝D 5 ；
Under the condition that movable body is in state 5 and target unmanned aerial vehicle is in state 5:
if the movable body is located in front of the target drone on the runway in chronological order, C 55 ＝D 5 ；
If the movable body is located behind the target unmanned aerial vehicle on the runway in time sequence and is in an intersection state with the target unmanned aerial vehicle, then C 55 ＝D 5 ；
If the movable body is located behind the target drone on the runway in time sequence and is not in an intersection with the target drone, then C 55 ＝D 2 ；
Under the condition that movable body is in state 5 and target unmanned aerial vehicle is in state 6:
if the movable body is located in front of the target drone on the runway in chronological order, C 56 ＝D 3 ；
If the movable body is located behind the target drone on the runway in chronological order, C 56 ＝D 5 ；
If the movable body is located in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, then C 56 ＝D 5 ；
9. The system according to claim 3, wherein the pre-warning level in row 6 of the set runway conflict determination matrix table satisfies:
C 61 ＝C 62 ＝D 2 ，C 63 ∈{D 1 ，D 5 }，C 64 ∈{D 1 ，D 2 ，D 3 ，D 4 ，D 5 }，C 65 ∈{D 2 ，D 5 }，C 66 ∈{D 2 ，D 3 }；
wherein, be in state 6 and target unmanned aerial vehicle in the condition of state 3 at movable body:
if the movable body is located in front of the target drone on the runway in chronological order, C 53 ＝D 5 ；
If the movable body is located behind the target drone on the runway in chronological order, C 53 ＝D 1 ；
If the movable body is located in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, then C 53 ＝D 5 ；
Under the condition that movable body is in state 6 and target unmanned aerial vehicle is in state 4:
if the movable body is located in front of the target drone on the runway in chronological order, C if the distance of the target drone or the movable body from the runway threshold is greater than a first set distance L1 64 ＝D 2 ；
If the movable body is located chronologically in front of the target drone on the runway, C if the target drone or the movable body is at a distance less than the first set distance L1 from the runway threshold but reaches the runway threshold at a time greater than the first set time t1 64 ＝D 3 ；
C if the movable body is located in front of the target drone on the runway in chronological order and if the time for the target drone or the movable body to reach the runway threshold is less than a first set time t1 64 ＝D 4 ；
C if the movable body is located chronologically in front of the target drone on the runway and if the time for the target drone or the movable body to reach the runway threshold is less than a second set time t2 64 ＝D 5 ；
If the movable body is located chronologically on a runwayBehind the target drone, then C 64 ＝D 1 ；
Under the condition that portable body is in state 6 and target unmanned aerial vehicle is in state 5:
if the movable body is located in front of the target drone on the runway in chronological order, C 65 ＝D 5 ；
If the movable body is located behind the target unmanned aerial vehicle on the runway in time sequence and is in an intersection state with the target unmanned aerial vehicle, then C 65 ＝D 5 ；
If the movable body is located behind the target drone on the runway in time sequence and is not in an intersection with the target drone, then C 65 ＝D 2 ；
Under the condition that movable body is in state 6 and target unmanned aerial vehicle is in state 6:
if the movable body is located in front of the target drone on the runway in chronological order, C 66 ＝D 3 ；
If the movable body is located behind the target drone on the runway in chronological order, C 66 ＝D 2 ；
If the movable body is located in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, then C 56 ＝D 3 。
10. The system of claim 3, wherein the onboard controller is further communicatively coupled to a drone remote control platform;
D 1 the corresponding conflict avoidance strategies include: the unmanned aerial vehicle carries out flight according to the planned tasks without collision risks;
D 2 the corresponding conflict avoidance strategies include: the target unmanned aerial vehicle does not execute conflict avoidance operation, and the unmanned aerial vehicle remote control platform executes monitoring D 2 Operation of the corresponding movable body;
D 3 the corresponding conflict avoidance strategies include: target unmanned aerial vehicle does not execute towardsSuddenly avoiding operation, continuously paying attention to runway state by the unmanned aerial vehicle remote control platform, and performing monitoring D 3 Operation of the corresponding movable body;
D 4 the corresponding conflict avoidance strategies include: the target unmanned aerial vehicle sends the corresponding collision avoidance operation to the unmanned aerial vehicle remote control platform, and if avoidance adjustment information sent by the unmanned aerial vehicle remote control platform is received within a set time range, the target unmanned aerial vehicle executes the corresponding collision avoidance operation according to the avoidance adjustment information;
D 5 the corresponding conflict avoidance strategies include: and the target unmanned aerial vehicle immediately executes corresponding conflict avoiding operation.
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