CN108986555A - A kind of flight anticollision cognitive method, system, storage medium and equipment - Google Patents
A kind of flight anticollision cognitive method, system, storage medium and equipment Download PDFInfo
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Abstract
The present invention relates to a kind of flight anticollision cognitive method, system, storage medium and equipment, method includes initializing respectively to two aircraft to meet, obtains initial state information of one of aircraft relative to another aircraft；One of aircraft is calculated within given time by the opposite coverage of process influence of noise according to initial state information, while the no-fly zone of another aircraft is determined according to initial state information；Judged between two aircraft according to opposite coverage and no-fly zone with the presence or absence of risk of collision.Flight anticollision cognitive method of the invention, the anticollision perception of aircraft is carried out on the basis of the influence of consideration original state error and process noise in three-dimensional space, obtain the opposite coverage an of aircraft and the no-fly zone of another aircraft, to judge two aircraft with the presence or absence of risk of collision, it solves the problems, such as conventional method " failing to judge ", account for aircraft size, improve the reliability of anticollision perception.
Description
Technical Field
The invention relates to the technical field of flight control, in particular to a flight anti-collision sensing method, a flight anti-collision sensing system, a storage medium and flight anti-collision sensing equipment.
Background
The problem of collision avoidance has always been a technology of major concern for aircraft (aeronautics or astronautics). The two aircrafts meeting in close range are respectively a master aircraft and a slave aircraft, and system uncertain errors inevitably exist in the actual task, and the uncertain errors can directly cause collision between the master aircraft and the slave aircraft. The anti-collision perception is to synthesize information such as navigation errors, random disturbance errors, relative flight tracks and the like, and quickly evaluate whether collision threats exist in a future period of time. The anti-collision perception is the premise of ensuring that the two aircrafts do not collide in long-time close-distance relative flight.
The traditional anti-collision perception method adopts an error ellipsoid conflict judgment method, and has the following defects:
(1) the size of the aircraft is not considered. For example, for a spacecraft with a larger size structure, collision may occur when the error ellipsoids do not intersect.
(2) The "miss" condition is likely to occur. The overlap of the error ellipsoids does not necessarily occur at the nearest position of the nominal distance. In fact, since the orientation of the error ellipsoid in space is evolving, it is difficult to predetermine the specific moment at which the error ellipsoid makes contact. Therefore, even if the error ellipsoids of the master and slave aircraft do not intersect at the nominal minimum distance, they may still intersect at a non-minimum distance, with a greater probability of collision, and thus the method is prone to "miss-determination".
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a method, a system, a storage medium and equipment for sensing collision prevention in flight based on a relative reachable range under the action of three-dimensional position space noise.
The technical scheme for solving the technical problems is as follows: a flight anti-collision perception method comprises the following steps:
step 1: respectively initializing two aerial flying aircrafts to acquire initial state information of one aircraft relative to the other aircraft;
step 2: determining the relative reachable range of the aircraft in a relative position subspace according to the initial state information, and determining the no-fly zone of the other aircraft according to the initial state information;
and step 3: and judging whether a collision risk exists between the two aircrafts according to the position relation of the relative reachable range of one aircraft and the no-fly zone of the other aircraft in the three-dimensional space.
The invention has the beneficial effects that: according to the flight anti-collision perception method, the anti-collision perception of the aircrafts is carried out on the basis that the influence of initial state errors and interference noise is considered in the three-dimensional space, and the relative reachable range of one aircraft and the no-fly zone of the other aircraft are obtained, so that whether the two aircrafts have collision risks or not is judged, the problems that the traditional method is 'missed' and the sizes of the aircrafts are not considered are solved, and the reliability of the anti-collision perception is improved.
On the basis of the technical scheme, the invention can be further improved as follows:
further: in step 1, the initial state information specifically includes: nominal initial stateInitial state error distribution P0Strength Q of interference noise w (t), evaluation time length delta t and minimum safe distance rho;
wherein an initial state x (t) of said one aircraft relative to said another aircraft0) Satisfying a Gaussian distribution, said nominal initial stateIs the initial state x (t)0) Expectation of, initial state error distribution P0Is the initial state x (t)0) With an evaluation time duration Δ t from an initial time t0Initial time interval [ t ] for assessing the occurrence of a collision risk0,t0+Δt]The minimum safe distance ρ is the sum of the distances between the center of mass of the two aircraft to the farthest edge of the corresponding aircraft.
The beneficial effects of the further scheme are as follows: by acquiring the initial state, the initial state error distribution and the interference noise intensity in the initial state information, the influence of the initial state error and the process noise between two aircrafts can be considered when the relative reachable range of one aircraft is determined subsequently, so that the relative reachable range of one aircraft is more accurate, the no-fly zone of the other aircraft can be determined accurately through the minimum safe distance in the initial state information, and the collision possibility of the two aircrafts can be sensed accurately subsequently.
Further: the step 2 specifically comprises:
step 21: establishing a three-dimensional space error model according to the initial state information;
step 22: determining a relative position error range of one aircraft in a relative position subspace according to the three-dimensional space error model;
step 23: determining the relative reachable range of one aircraft according to the relative position error range of the aircraft in the relative position subspace;
step 24: and determining a no-fly zone of the other aircraft according to the initial state information.
The beneficial effects of the further scheme are as follows: by establishing the three-dimensional spatial error model, the influence of initial state errors and process noises in the relative flight process can be considered, so that the position error range of one aircraft in the relative flight process can be more accurately determined, the relative reachable range of the aircraft can be accurately determined according to the position error range of the aircraft in the relative flight process, and high-precision collision sensing is realized by combining the no-fly zone of the other aircraft.
Further: the three-dimensional spatial error model in step 21 is:
initial state x (t)0) Satisfy the Gaussian distribution
WhereinIs the derivative of the state vector x (t) with respect to time t, F (t) is the system matrix, w (t) is the interference noise, G is the coefficient matrix, I3×3Is an identity matrix, 03×3Is a zero matrix.
The beneficial effects of the further scheme are as follows: by establishing the three-dimensional space error model, the relative position error range of one aircraft in the relative position subspace can be accurately determined according to the three-dimensional space error model.
Further: determining a state error range of the one aircraft in the full space according to the three-dimensional space error model, specifically comprising:
initial state x (t)0) And the Gaussian distribution is satisfied, and the interference noise w (t) is Gaussian white noise, then the state vector x (t) of the aircraft at any time t satisfies the Gaussian distribution, and the statistical characteristics satisfy:
in order to be in the nominal track state,from an initial state of the aircraft relative to the other aircraft,is the derivative of the state vector x (t) with respect to time t, F (t) is the system matrix, phi (t, t)0) For any time t determined by the three-dimensional space error model (t > t)0) The state transition matrix of the time of day,for the expectation of the state vector x (t), G is the coefficient matrix, P0For initial state error distribution, Q is interference noise intensity, and the mean value of the state vector x (t) of one aircraft in the full space at any moment is calculated according to the formulas (6) to (9)And the covariance matrix is P;
according to the mean valueAnd determining the state error range of the one aircraft in the full space as an ellipsoid according to the covariance matrix P, and expressing the state error range as follows:
A＝P-1/k2(11)
wherein the period of the state vector x (t) of one of the aircraft in the full space at any timeInspection ofIs the center of an ellipsoid, A is the full-space error ellipsoid matrix, k2Determining the Martensitic distance according to the probability density;
step 222: determining the relative position error range of one aircraft in the relative position subspace according to the state error range of one aircraft in the total space, specifically as follows:
the relative position error range r of one aircraft in the relative position subspace satisfies the following relational expression:
r＝Lx (12)
L＝[I3×303×3](13)
where L is the projection matrix when only the relative position subspace is considered, ArrIs a position error ellipsoid matrix, a position state error distribution matrix Prr＝LPLT。
The beneficial effects of the further scheme are as follows: the state error range of one aircraft in the whole space can be accurately determined according to the three-dimensional space error model, and the relative position error range of one aircraft in the relative position subspace is extracted from the whole space through the projection matrix.
Further: the step 23 specifically includes:
in the relative position subspace, there is always an A in equation (15) for any time trr(t) relative position error rangeEllipsoid C (t, r), satisfies the following equation:
C(t,r)＝0 (16)
the above equations (16) and (17) are combined to eliminate the time parameter t, and a relative reachable range envelope surface is obtained.
The beneficial effects of the further scheme are as follows: the reachable range of the aircraft in the relative position subspace can be accurately determined by determining the envelope surface of the error range of the relative position.
Further: in step 24, the specific implementation of determining the no-fly zone of the other aircraft according to the initial state information is as follows: and determining the no-fly zone according to the minimum safe distance rho.
The beneficial effects of the further scheme are as follows: the geometric shape of the no-fly zone can be constrained by the minimum safety distance determined by the overall dimension of the aircraft, so that the boundary of the no-fly zone is accurately defined.
Further: the step 3 specifically includes:
if the relative reachable range of one aircraft and the forbidden zone of the other aircraft do not intersect in the three-dimensional space, the two aircraft fly relatively in a given time period without collision risk; otherwise, there is a risk of collision between the two aircraft flying in opposition.
The beneficial effects of the further scheme are as follows: through judging the relative reachable range of one of the aircrafts and the position relation of the forbidden flight area of the other aircraft in the three-dimensional space, the collision risk of the two aircrafts can be accurately judged, and the method is simple, intuitive and high in reliability.
The invention also provides a flight anti-collision sensing system, which comprises an initialization module, a calculation module and a judgment module;
the initialization module is used for respectively initializing two aerial flying aircrafts and acquiring initial state information of one aircraft relative to the other aircraft;
the calculation module is used for determining the relative reachable range of the aircraft within a given time according to the initial state information and determining the no-fly zone of the other aircraft according to the initial state information;
and the judging module is used for judging whether collision risks exist between the two aircrafts according to the position relation between the relative reachable range of one aircraft and the no-fly zone of the other aircraft in the three-dimensional space.
The invention has the beneficial effects that: according to the flight anti-collision sensing system, the anti-collision sensing of the aircrafts is carried out on the basis of considering the influence of the initial state error and the interference noise in the three-dimensional space, and the relative reachable range of one aircraft and the no-fly zone of the other aircraft are obtained, so that whether the two aircrafts have collision risks or not is judged, the problems that the traditional method is 'missed' and the sizes of the aircrafts are not considered are solved, and the reliability of the anti-collision sensing is improved.
The invention also provides a computer readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the method for sensing collision avoidance in flight.
The invention also provides photographing-based ground object acquisition equipment which is characterized by comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the steps of the flight anti-collision perception method when executing the computer program.
Drawings
FIG. 1 is a schematic flow chart of a flight anti-collision sensing method according to the present invention;
FIG. 2 is a schematic representation of the relative range of reach of the slave aircraft of the present invention;
FIG. 3 is a schematic diagram of an error ellipsoid and a relative reach envelope for a slave aircraft in accordance with the present invention;
FIG. 4a is a schematic representation of the relative reach of a master aircraft of the present invention without intersecting the no-fly zone of a slave aircraft;
FIG. 4b is a schematic representation of the relative reach of the master aircraft of the present invention intersecting the no-fly zone of the slave aircraft;
fig. 5 is a schematic structural diagram of the flight anti-collision sensing system of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
In the invention, the two aircrafts are assumed to be a master aircraft and a slave aircraft respectively, the two aircrafts fly in a close distance and meet in the air, and the master aircraft and the slave aircraft can exchange roles. Reference coordinate system SxyzIs located at the centroid position of the host aircraft, as shown in fig. 2, the flight state (as a vector) of the slave aircraft relative to the host aircraft is set as x ═ rTvT]Where r is the relative position (as a vector),is the relative velocity (as a vector).
As shown in fig. 1, a method for sensing collision avoidance in flight includes the following steps:
step 1: respectively initializing two aerial flying aircrafts to acquire initial state information of the slave aircraft relative to the master aircraft;
step 2: determining the relative reachable range of the slave aircraft in a relative position subspace according to the initial state information, and determining a no-fly zone of the master aircraft according to the initial state information;
and step 3: and judging whether collision risks exist between the two aircrafts according to the position relation between the relative reachable range of the slave aircraft and the no-fly zone of the master aircraft in the three-dimensional space.
According to the flight anti-collision perception method, the anti-collision perception of the aircraft is carried out on the basis that the influence of the initial state error and the process noise is considered in the three-dimensional space, and the relative reachable range of the slave aircraft and the no-fly zone of the master aircraft are obtained, so that whether the two aircraft have collision risks or not is judged, the problems that the judgment is missed and the size of the aircraft is not considered in the traditional method are solved, and the reliability of the anti-collision perception is improved.
In an embodiment provided by the present invention, the initial state information specifically includes: nominal initial stateInitial state error distribution P0The strength Q of the interference noise w (t), the evaluation time duration Δ t and the minimum safety distance ρ.
At an initial time t0The uncertain initial state of the slave aircraft relative to the master aircraft in the full space (comprising a relative position subspace and a relative velocity subspace) is x (t)0) Satisfy a Gaussian distribution, i.e.
Then the expectation of the initial state is definedDefining the covariance matrix of uncertain initial state as the error distribution P of the initial state0；
The interference noise is set to be w (t) in the relative flight process of the two aircrafts, and in general, the interference noise w (t) is approximate to zero-mean Gaussian white noise, the noise intensity of the interference noise is represented by a spectral density function Q, and the following conditions are met:
E[w(t)wT(t-τ)]＝Qδ(τ) (2)
where E (·) denotes expectation, δ (τ) is the Dirac function;
the evaluation time length is used to define the time from t0The time interval for estimating the collision risk is started at the moment and is expressed as t0,t0+Δt]；
Let the distances between the centroids of two aircraft to the farthest edges of the corresponding aircraft be ρcAnd ρdThen the minimum safe distance ρ can be expressed as:
ρ＝ρc+ρd(3)
if both aircraft structures are approximately spherical, the minimum safe distance may be expressed as the sum of the two spherical radii.
By obtaining the initial state in the initial state informationInitial state error distribution P0And the interference noise intensity Q can be convenient for considering the influence of initial state errors and process noise between the two aircrafts when the relative reachable range of the slave aircraft is determined subsequently, so that the relative reachable range of the slave aircraft is more accurate, the no-fly zone of the master aircraft can be determined more accurately through the minimum safe distance in the initial state information, and the possibility of collision of the two aircrafts can be conveniently and accurately sensed subsequently.
In an embodiment provided by the present invention, the step 2 specifically includes:
step 21: establishing a three-dimensional space error model according to the initial state information:
initial state x (t)0) Satisfy the Gaussian distribution
WhereinIs the derivative of the state vector x (t) with respect to time t, F (t) is the system matrix, w (t) is the interference noise, G is the coefficient matrix, I3×3Is an identity matrix, 03×3Is a zero matrix;
step 22: calculating a position error range of the slave aircraft in the relative flight process according to the three-dimensional space error model, wherein the position error range comprises:
step 221: determining a state error range of the one aircraft in the full space according to the three-dimensional space error model, specifically comprising:
initial state x (t)0) And the Gaussian distribution is satisfied, and the interference noise w (t) is Gaussian white noise, then the state vector x (t) of the slave aircraft at any time t satisfies the Gaussian distribution, and the statistical characteristics satisfy:
in order to be in the nominal track state,for the initial state of the slave aircraft relative to the master aircraft,is the derivative of the state vector x (t) with respect to time t, F (t) is the system matrix, phi (t, t)0) For any time t determined by the three-dimensional space error model (t > t)0) The state transition matrix of the time of day,for the expectation of the state vector x (t), G is the coefficient matrix, P0For initial state error distribution, Q is interference noise intensity, and the mean value of the state vector x (t) of one aircraft in the full space at any moment is calculated according to the formulas (6) to (9)And the covariance matrix is P;
according to the mean valueAnd determining the state error range of the one aircraft in the full space as an ellipsoid according to the covariance matrix P, and expressing the state error range as follows:
A＝P-1/k2(11)
wherein the state vector x (t) of one of the aircraft in full space is expected at any timeIs the center of an ellipsoid, A is the error ellipsoid matrix, k2Determining the Martensitic distance according to the probability density;
step 222: determining the relative position error range of one aircraft in the relative position subspace according to the state error range of one aircraft in the total space, specifically as follows:
the relative position error range r of the slave aircraft in the relative position subspace satisfies the following relation:
r＝Lx (13)
L＝[I3×303×3](14)
where L is the projection matrix when only the relative position subspace is considered, ArrIs a position error ellipsoid matrix, a position state error distribution matrix Prr＝LPLT。
Step 23: the relative reach of the aircraft is determined from the range of position errors therein from during the relative flight.
As shown in fig. 2, due to the storageAt random error, the slave aircraft is randomly distributed on the nominal flight orbit relative to the actual flight orbit of the master aircraft(as shown by the dashed line in fig. 2). The relative reachable range under the action of three-dimensional position space noise refers to a given time interval t under the conditions of random uncertain errors in an initial state and process noise0,t0+Δt]A set of possible relative flight trajectories (where "possible" means that the occurrence of a particular relative flight trajectory is a "non-small probability event"). Relative reach is signedIs represented by the formula (I) in which ri(t) represents any one of the actual relative flight trajectories that may occur.
The relative reach can be solved from the evolution equation of the position error ellipsoid. According to the theory of probability statistics, in the relative position subspace, there is always an A in formula (15) for any time trr(t) the relative position error is defined as an ellipsoid (or ellipse) denoted as C (t, r) with the center of the ellipsoid at the nominal flight trajectoryAs shown in fig. 3. In a time period t0,tf]In the above, the error ellipsoid is a cluster of curved surfaces in space that evolves with time, and a region is swept out, which is a relative reachable range under an uncertain condition requiring a solution. The relative reach is determined, i.e. the boundaries of the relative reach, also called envelope, are solved. For the relative reachable range in the three-dimensional space, the boundary envelope is a two-dimensional curved surface; for a two-dimensional relative reach, the boundary is a one-dimensional curve.
The envelope of the relative reachable range is the envelope of the curved cluster C (t, r). Thus, the relative achievable range satisfies the equation:
C(t,r)＝0 (16)
by combining the above equations (16) and (17), the time parameter t can be eliminated, and a relatively reachable range envelope without time parameter can be obtained. The relative reach under the effect of three-dimensional position space noise is a tubular region surrounding the nominal flight trajectory.
Step 24: and determining a no-fly zone Z (r) of the main aircraft according to the minimum safe distance rho in the initial state information, wherein the no-fly zone of the relative flight is determined by the geometrical shape of the aircraft. Once the relative flight enters the no-fly zone of the host aircraft from the aircraft center of mass, the physical contact between the aircraft is considered to occur, and the no-fly zone can be expressed as an inequality constraint by Z (r):
Z:g(r)≤0 (18)
in general, an aircraft is irregular in shape, and at this time, a no-fly zone needs to be preset according to a minimum safety distance ρ determined by the shape and the size of the aircraft; when the two aircrafts are spherical in shape, the no-fly zone can be defined as a spherical range taking the aircraft as a center of a circle and the minimum safe distance ρ as a radius, and is marked as a symbol Z. Assuming that the aircraft centroid is located at the origin of the reference coordinate system, the no-fly zone can be expressed as:
Z:g(r)＝rTr-ρ2≤0 (19)
where r is the position variable of the host aircraft and ρ is the minimum safe distance.
By establishing the three-dimensional space error model, the influence of initial state errors and process noises in the relative flight process can be considered, so that the position error range of the slave aircraft in the relative flight process can be more accurately determined, the relative reachable range of the slave aircraft can be accurately determined according to the position error range of the slave aircraft in the relative flight process, and high-precision collision perception is realized by combining the flight forbidden area of the master aircraft.
For the relative flight of a slave aircraft in three-dimensional space relative to the master aircraft, the relative reachable range of the slave aircraft flight over a given time period can be calculated in the presence of initial state random errors and process noise interference. By utilizing the relative reachable range and the no-fly zone positioned in the main aircraft and judging the geometrical relationship of the relative reachable range and the no-fly zone, a more reliable collision risk sensing method than the traditional method can be provided.
In an embodiment provided by the present invention, the step 3 specifically includes:
if the relative reachable range of the slave aircraft and the forbidden zone of the master aircraft do not intersect (i.e. are separated) in the three-dimensional space, the two aircraft have no collision risk in relative flight in a given time period, and the relative flight is safe; otherwise, there is a risk of collision between the two aircraft in opposite flight, which is unsafe.
Through judging the relative reachable range of the slave aircraft and the position relation of the flight forbidding area of the master aircraft in the three-dimensional space, the collision risk of the two aircrafts can be accurately judged, and the method is simple and visual and has high reliability.
Fig. 4(a) and 4(b) show schematic diagrams of the above-described determination method, in which the relative reachable range and the no-fly zone corresponding to the safe relative flight are separated, as shown in fig. 4a, and the relative reachable range and the no-fly zone of the unsafe relative flight having a collision risk intersect, as shown in fig. 4 b. The collision risk pre-judging condition based on the relative reachable range is more reliable than the traditional method, because the condition considers all possible conditions in the relative flight time period, but not certain specific time, thereby avoiding the condition that the traditional pre-judging method has missed judgment.
As shown in fig. 5, the present invention further provides a flight anti-collision sensing system, which includes an initialization module, a calculation module, and a determination module;
the initialization module is used for respectively initializing two aerial flying aircrafts and acquiring initial state information of one aircraft relative to the other aircraft;
the calculation module is used for determining the relative reachable range of the aircraft within a given time according to the initial state information and determining the no-fly zone of the other aircraft according to the initial state information;
and the judging module is used for judging whether collision risks exist between the two aircrafts according to the position relation between the relative reachable range of one aircraft and the no-fly zone of the other aircraft in the three-dimensional space.
According to the flight anti-collision sensing system, the anti-collision sensing of the aircraft is carried out on the basis of considering the influence of the initial state error and the process noise in the three-dimensional space, and the relative reachable range of the slave aircraft and the no-fly zone of the master aircraft are obtained, so that whether the two aircraft have collision risks or not is judged, the problems that the judgment is missed and the size of the aircraft is not considered in the traditional method are solved, and the reliability of the anti-collision sensing is improved.
In embodiments provided herein, the initial state information comprises a nominal initial stateInitial state error distribution P0The strength Q of the interference noise w (t), the evaluation time duration Δ t and the minimum safety distance ρ.
Wherein an initial state x (t) of said one aircraft relative to said another aircraft0) Satisfying a Gaussian distribution, said nominal initial stateIs the initial state x (t)0) Expectation of, initial state error distribution P0Is the initial state x (t)0) Covariance matrix ofThe evaluation time period Deltat is from the initial time t0Initial time interval [ t ] for assessing the occurrence of a collision risk0,t0+Δt]The minimum safe distance ρ is the sum of the distances between the center of mass of the two aircraft to the farthest edge of the corresponding aircraft.
By obtaining the initial state in the initial state informationInitial state error distribution P0And a disturbance noise strength Q, which may facilitate subsequent determination of the relative reach of the slave aircraft taking into account the effects of process noise and initial state errors between the two aircraft, thereby making the relative reach of the slave aircraft therein more accurate by: the minimum safe distance in the initial state information can accurately determine the no-fly zone of the main aircraft, so that the collision possibility of the two aircrafts can be accurately sensed subsequently.
In an embodiment provided by the present invention, the calculation module is specifically configured to:
establishing a three-dimensional space error model according to the initial state information;
determining a relative position error range in which the relative position subspace from the aircraft is within the relative position error range according to the three-dimensional space error model:
determining a relative reachable range of the aircraft according to the relative position error range of the aircraft in the relative position subspace;
and determining a no-fly zone of the main aircraft according to the initial state information.
By establishing the three-dimensional space error model, the influence of initial state errors and process noises in the relative flight process can be considered, so that the position error range of the slave aircraft in the relative flight process can be more accurately determined, the relative reachable range of the slave aircraft can be accurately determined according to the position error range of the slave aircraft in the relative flight process, and high-precision collision perception is realized by combining the flight forbidden area of the master aircraft.
In an embodiment provided by the present invention, the determining, according to the three-dimensional spatial error model, a relative position error range in which the relative position subspace from the aircraft is within the relative position subspace includes:
determining the state error range of the aircraft in the full space according to the three-dimensional space error model;
and determining the relative position error range of the one aircraft in the relative position subspace according to the state error range of the one aircraft in the full space.
The state error range of one aircraft in the whole space can be accurately determined according to the three-dimensional space error model, and the relative position error range of one aircraft in the relative position subspace is extracted from the whole space through the projection matrix.
In the embodiment provided by the invention, the no-fly zone is determined by the distance between the center of mass of two aircrafts and the farthest edge of the corresponding aircraft, and is represented by inequality constraint. The geometric shape of the no-fly zone can be constrained through an inequality, so that the boundary of the no-fly zone is accurately defined.
In an embodiment provided by the present invention, the specific implementation of the determining module determining whether there is a collision risk between the two aircrafts is as follows:
if the relative reachable range of the slave aircraft and the forbidden flight zone of the master aircraft do not intersect in the three-dimensional space, the two aircraft do not have collision risks in relative flight in a given time period, and the relative flight is safe; otherwise, there is a risk of collision between the two aircraft in opposite flight, which is unsafe.
Through judging the relative reachable range of the slave aircraft and the position relation of the flight forbidding area of the master aircraft in the three-dimensional space, the collision risk of the two aircrafts can be accurately judged, and the method is simple and visual and has high reliability.
The invention also provides a computer readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the method for sensing collision avoidance in flight.
The invention also provides photographing-based ground object acquisition equipment which is characterized by comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the steps of the flight anti-collision perception method when executing the computer program.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (11)
1. A flight anti-collision perception method is characterized by comprising the following steps:
step 1: respectively initializing two aerial flying aircrafts to acquire initial state information of one aircraft relative to the other aircraft;
step 2: determining the relative reachable range of the aircraft in a relative position subspace according to the initial state information, and determining the no-fly zone of the other aircraft according to the initial state information;
and step 3: and judging whether a collision risk exists between the two aircrafts according to the position relation of the relative reachable range of one aircraft and the no-fly zone of the other aircraft in the three-dimensional space.
2. The method for sensing collision avoidance in flight according to claim 1, wherein in step 1, the initial state information specifically includes: nominal initial stateInitial state error distribution P0Strength Q of interference noise w (t), evaluation time length delta t and minimum safe distance rho;
wherein an initial state x (t) of said one aircraft relative to said another aircraft0) Satisfying a Gaussian distribution, said nominal initial stateIs the initial state x (t)0) Expectation of, initial state error distribution P0Is the initial state x (t)0) With an evaluation time duration Δ t from an initial time t0Initial time interval [ t ] for assessing the occurrence of a collision risk0,t0+Δt]The minimum safe distance ρ is the sum of the distances between the center of mass of the two aircraft to the farthest edge of the corresponding aircraft.
3. The method for sensing collision avoidance in flight according to claim 1, wherein the step 2 specifically comprises:
step 21: establishing a three-dimensional space error model according to the initial state information;
step 22: determining a relative position error range of one aircraft in a relative position subspace according to the three-dimensional space error model;
step 23: determining the relative reachable range of one aircraft according to the relative position error range of the aircraft in the relative position subspace;
step 24: and determining a no-fly zone of the other aircraft according to the initial state information.
4. The method for sensing collision avoidance in flight according to claim 3, wherein the three-dimensional spatial error model in step 21 is:
initial state x (t)0) Satisfy the Gaussian distribution
Wherein,is the derivative of the state vector x (t) with respect to time t, F (t) is the system matrix, w (t) is the interference noise, G is the coefficient matrix, I3×3Is an identity matrix, 03×3Is a zero matrix.
5. The method for sensing collision avoidance in flight according to claim 3, wherein the step 22 specifically comprises:
step 221: determining a state error range of the one aircraft in the full space according to the three-dimensional space error model, specifically comprising:
initial state x (t)0) And the Gaussian distribution is satisfied, and the interference noise w (t) is Gaussian white noise, then the state vector x (t) of the aircraft at any time t satisfies the Gaussian distribution, and the statistical characteristics satisfy:
in order to be in the nominal track state,for an initial state of one of the aircraft relative to the other aircraft,is the derivative of the state vector x (t) with respect to time t, F (t) is the system matrix, phi (t, t)0) For any time t determined by the three-dimensional space error model (t > t)0) The state transition matrix of the time of day,for the expectation of the state vector x (t), G is the coefficient matrix, P0For initial state error distribution, Q is interference noise intensity, and the mean value of the state vector x (t) of one aircraft in the full space at any moment is calculated according to the formulas (6) to (9)And the covariance matrix is P;
according to the mean valueAnd a covariance matrix P determining theThe state error range of one aircraft in the full space is an ellipsoid, and is represented as:
A＝P-1/k2(11)
wherein the state vector x (t) of one of the aircraft in full space is expected at any timeIs the center of an ellipsoid, A is the full-space error ellipsoid matrix, k2Determining the Martensitic distance according to the probability density;
step 222: determining the relative position error range of one aircraft in the relative position subspace according to the state error range of one aircraft in the total space, specifically as follows:
the relative position error range r of one aircraft in the relative position subspace satisfies the following relational expression:
r＝Lx (13)
L＝[I3×303×3](14)
where L is the projection matrix when only the relative position subspace is considered, ArrIs a position error ellipsoid matrix, a position state error distribution matrix Prr＝LPLT。
6. The method for sensing collision avoidance in flight according to claim 4, wherein the step 23 specifically includes:
in the relative position subspace, there is always an A in equation (15) for any time trr(t) defines a relative position error range as ellipsoid C (t, r) satisfying the following equation:
C(t,r)＝0 (16)
and (16) simultaneous equations (17) eliminate the time parameter t to obtain a relative reachable range envelope surface.
7. The method for sensing collision avoidance in flight according to claim 3, wherein in the step 24, the determining the no-fly zone of the other aircraft according to the initial state information is implemented by: and determining the no-fly zone Z according to the minimum safe distance rho.
8. The method for sensing collision avoidance in flight according to claim 1, wherein the step 3 specifically comprises:
if the relative reachable range of one aircraft and the forbidden zone of the other aircraft do not intersect in the three-dimensional space, the two aircraft fly relatively in a given time period without collision risk; otherwise, there is a risk of collision between the two aircraft flying in opposition.
9. A flight anticollision perception system which characterized in that: the device comprises an initialization module, a calculation module and a judgment module;
the initialization module is used for respectively initializing two aerial flying aircrafts and acquiring initial state information of one aircraft relative to the other aircraft;
the calculation module is used for determining the relative reachable range of the aircraft within a given time according to the initial state information and determining the no-fly zone of the other aircraft according to the initial state information;
and the judging module is used for judging whether collision risks exist between the two aircrafts according to the position relation between the relative reachable range of one aircraft and the no-fly zone of the other aircraft in the three-dimensional space.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method for collision avoidance perception in flight according to any one of claims 1 to 8.
11. A flight collision avoidance perception device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor when executing the computer program implementing the steps of the flight collision avoidance perception method of any of claims 1 to 8.
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