CN110047332A - A kind of collision detection method based on flight plan - Google Patents
A kind of collision detection method based on flight plan Download PDFInfo
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- CN110047332A CN110047332A CN201910312037.0A CN201910312037A CN110047332A CN 110047332 A CN110047332 A CN 110047332A CN 201910312037 A CN201910312037 A CN 201910312037A CN 110047332 A CN110047332 A CN 110047332A
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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]
- G08G5/003—Flight plan management
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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]
- G08G5/0043—Traffic management of multiple aircrafts from the ground
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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
- G08G5/0082—Surveillance aids for monitoring traffic from a ground station
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Abstract
The invention belongs to aviation flight technical fields, propose a kind of collision detection method based on flight plan, including two machine collision detection methods and area conflicts detection method, the two machines collision detection method is by judging whether the time of two planned courses conflicts, and between each straight course section of two planned courses whether having time conflict, and filter out the straight course section of having time conflict, then judge to conflict between the straight course section of having time conflict with the presence or absence of height and projection conflicts, to carry out two machine collision detection；The area conflicts detection carries out area conflicts detection with whether there is height to conflict and project conflict between area to be tested by each course line section of a taken planned course not detected of judgement.The present invention can be used for quickly detecting flight plan conflict, can be widely applied to aviation field.
Description
Technical field
The invention belongs to aviation flight technical fields, and in particular to a kind of collision detection method based on flight plan.
Background technique
Airspace management system or empty prominent command system are required to the formulation of flight plan, the airspace conflict based on flight plan
Detection is an essential ring in air operation commander.As shown in Figure 1, it mainly includes following functional module: blank pipe
Instruction module, enemy's situation analysis/battlefield deployment module, flight plan draw up module, flight plan deduce module and flight plan punching
Prominent detection module.Wherein, blank pipe instruction module is mainly used for receiving supervisory aerial mission, can determine punching by aerial mission
The maximum theater of war (detection) region of prominent detection；Enemy's situation analysis/battlefield deployment module can provide to attack target data, enemy's radar
Scout area data, enemy's firepower overlay area data；Flight plan draws up unit can be first according to blank pipe formulation and air situation information
Walk the flight track and flight parameter of each airborne aircraft of drawing up；Flight plan deduces module can be by the reality of track and aircraft
When position be presented to user.Collision detection is intended to generate detailed strict flight plan, and carries out to the conflict point of flight plan
Detection, early warning, to assist the generation and deduction of airspace management system completion flight plan.Collision detection is divided into different phase
Static detection and dynamic monitoring, prewar prepare the stage and do not need to deduce, and directly carry out collision detection by the flight plan drawn up,
And result is passed back Combat Command System as early warning, the stage needs to be examined in real time according to the air situation data of air situation monitoring system in war
Each flight plan is surveyed, and passes conflict point back Combat Command System as testing result.
In the prior art, also there is space there are time series collision detection method in the collision detection method of flight plan
Area conflicts detection method, but existing method has the disadvantages that
1, the collision detection method of time series only detects on the flight plan time of two machines with the presence or absence of intersecting, and does not consider to return
The initial time of conflict terminates spatial altitude and space projection locating for time and conflict stage aircraft；
2, the collision detection method in region divides airspace according to respective flight plan, does not consider the reusable sky of different time sections
The case where domain；
3, the collision detection method in region do not consider information in access war to the areas of coverage such as enemy's radar, firepower area and no-fly zone
The real-time change in domain, such overlay area influences Steric clashes testing result；
4, method does not consider time and space as a whole flight plan, does not propose to conflict when time and space existing simultaneously conflict
Removing Tactics.
The collision detection of flight plan essentially consists in time and conflict spatially, and the two needs while considering.When wherein
Between on conflict be easier to judge, be compared at the beginning of needing each flight plan with the end time, and spatially
Conflict need to carry out processing analysis to the course line of flight plan, check whether the case where occurring conflict.When time and space
When all conflicting, flight plan is likely to conflict.It is, therefore, desirable to provide a kind of airspace collision detection method.
Summary of the invention
The present invention overcomes the shortcomings of the prior art, technical problem to be solved are as follows: provides a kind of based on flight
The collision detection method drawn.
In order to solve the above-mentioned technical problem, a kind of the technical solution adopted by the present invention are as follows: conflict inspection based on flight plan
Survey method, including two machine collision detection methods and area conflicts detection method, the two machines collision detection method include following step
It is rapid:
S101, model is established, and determines the condition that two machines clash, i.e. two machine minimum safe distance Δ L；
S102, two planned courses to be detected are taken；
S103, judge whether the time of two planned courses conflicts, if not conflicting, return step S102, if conflict, by this two
Item planned course to be detected is divided into a series of straight course sections, judge two planned courses each straight course section it
Between whether having time conflict, and filter out the straight course section of having time conflict, enter step S104；
S104, judge to conflict between the straight course section of having time conflict with the presence or absence of height in two planned courses, if not depositing
In then return step S102, and if it exists, enter step S105；
Whether have between the straight course section that S105, judgement have height to conflict in the presence of projection conflict, if it does not exist, then return step
S102, and if it exists, then calculate conflict time and conflict distance；
S106, judge whether to traverse whole planned courses, if it is not, then return step S102, if so, two machine collision detection of output
As a result；
Detection method includes the following steps for the area conflicts:
S201, model is established, determines region to be detected, the area to be tested includes to enemy's radar, firepower area and no-fly zone；
S202, the planned course not detected is taken, is divided into a series of course line sections；
Whether the height between each course line section and area to be tested of a taken planned course not detected of S203, judgement
Conflict, if not conflicting, return step S202, if conflict, enters step S204；
Whether a taken planned course not detected of S204, judgement rushes between the projection line and area to be tested of horizontal plane
Prominent, if not conflicting, return step S202 calculates conflict time and conflict point if conflict；
S205, judge whether to traverse whole planned courses, if it is not, then return step S202, if so, output area collision detection
As a result.
In the step S105, judge between straight course section with the presence or absence of projection conflict method particularly includes:
First determine whether the projection between straight course section in the face XOY has intersection point, if there is no conflicts, if having without intersection point
Intersection point, then judge inequality whether about time t solution, if so, then explanation has a conflict, the solution of inequality be conflict generation
Time, if illustrating Lothrus apterus without solution；The inequality are as follows:
；
Wherein, using straight line where the section of straight line course line as X-axis, starting point is that origin establishes plane coordinate system XOY, (x0,
Y0 the origin coordinates of another straight course section, T) are indicated1And T2Respectively indicate time of two straight course sections Jing Guo starting point, V1
And V2The speed of two straight course sections is respectively indicated, Δ L indicates minimum safe distance, and α indicates the angle between two course lines.
In the step S103, the method whether time of two planned courses conflict judged whether are as follows: when any
It is T1 minutes early at the beginning of than another planned course of end time of planned course, that is, determine this two planned courses
Time does not conflict；Judge between each straight course section of two planned courses whether the method for having time conflict are as follows: when wherein
Some straight course section end time of one planned course starts early one than some straight course section of another planned course
Minute, that is, determine that the two straight course sections do not conflict.
The step S101 is further comprising the steps of: opening timing device, timeslice t=0；It is also wrapped after the step S106
It includes following steps: judging whether timeslice terminates, if so, return step S102, if it is not, terminating；The step S201 further includes
Following steps, opening timing device, timeslice t=0；It is further comprising the steps of after the step S205: to judge whether timeslice is tied
Beam, if so, return step S202, if it is not, terminating.
Compared with the prior art, the invention has the following beneficial effects: the invention proposes a kind of rushing based on flight plan
Prominent detection method, including two machine collision detection methods and area conflicts detection method, after obtaining course line parameter, by course line
Mathematical treatment and the considerations of to factors such as times, first exclude the planned course for being not likely to form conflict completely, then to may shape
It is gradually calculated at the plan of conflict, finally obtains the information such as conflict point, conflict time；For between aircraft and airspace
Flight collision proposes area conflicts detection method, i.e., carries out approximate conversion to overlay areas such as enemy's radar, firepower area and no-fly zones
And calculating, airspace conflict early warning can be carried out in war and pushes resolution scheme.The present invention is directed to airspace command system, can be used for sky
The command and control and aid decision in domain can provide accurate flight plan for boat domain operation, and auxiliary commander does in time, quickly
Entry/exit conflicts and resolution decision.
Detailed description of the invention
Fig. 1 is the position of flight plan conflict detection module in the embodiment of the present invention；
Fig. 2 is the flow diagram of two machine collision detection in the embodiment of the present invention；
Fig. 3 is the flow diagram of area conflicts detection in the embodiment of the present invention；
Fig. 4 is the flow diagram of dynamic two machines collision detection in the embodiment of the present invention；
Fig. 5 is the flow diagram of dynamic area conflicts detection in the embodiment of the present invention；
Fig. 6 is the schematic diagram of the spherical conflict area of aircraft P0；
Fig. 7 is the two machine course line face DuanXOY perspective views；
Fig. 8 is a kind of two schematic diagrames of machine potential conflict；
Fig. 9 is another schematic diagram of two machine potential conflicts.
Specific embodiment
It in order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below will be in the embodiment of the present invention
Technical solution be clearly and completely described, it is clear that described embodiment is a part of the embodiments of the present invention, without
It is whole embodiments；Based on the embodiments of the present invention, those of ordinary skill in the art are not doing creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Embodiment one
The embodiment of the present invention one provides a kind of static collision detection method based on flight plan, including two machine collision detection sides
Method and area conflicts detection method, as shown in Fig. 2, the two machines collision detection method the following steps are included:
S101, model is established, and determines the condition that two machines clash, i.e. two machine minimum safe distance Δ L；
S102, two planned courses to be detected are taken；
S103, judge whether the time of two planned courses conflicts, if not conflicting, return step S102, if conflict, by this two
Item planned course to be detected is divided into a series of straight course sections, judge two planned courses each straight course section it
Between whether having time conflict, and filter out the straight course section of having time conflict, enter step S104；
S104, judge to conflict between the straight course section of having time conflict with the presence or absence of height in two planned courses, if not depositing
In then return step S102, and if it exists, enter step S105；
Whether have between the straight course section that S105, judgement have height to conflict in the presence of projection conflict, if it does not exist, then return step
S102, and if it exists, then calculate conflict time and conflict distance；
S106, judge whether to traverse whole planned courses, if it is not, then return step S102, if so, two machine collision detection of output
As a result.
In the step S103, the method whether time of two planned courses conflict judged whether are as follows: when any
It is T1 minutes early at the beginning of than another planned course of end time of planned course, that is, determine this two planned courses
Time does not conflict；Judge between each straight course section of two planned courses whether the method for having time conflict are as follows: when wherein
Some straight course section end time of one planned course starts early one than some straight course section of another planned course
Minute, that is, determine that the two straight course sections do not conflict.
Specifically, wherein user selects to need the flight plan that detects first, then carry out respectively two machine collision detection and
Area conflicts detection.When two machine collision detection, compare two-by-two institute it is planned, first check these plan time relationship, then by this
The plot of route planned a bit is a series of be straight line course line section (wherein approximate processing is made in arc-shaped course line), compare course line two-by-two
Section, finds out all distances and meets the plan two-by-two of risk distance condition, and calculates conflict point three-dimensional coordinate and conflict time, is arranging
It is shown in table.It is first a series of course line sections, such aircraft and area by the planned plot of route of institute in area conflicts detection
The detection of domain conflict is just changed into the calculating whether intersected with zone boundary of these course lines section, calculate conflict point three-dimensional coordinate with
Conflict the time, and shows in lists.
Specifically, we describe collision detection method in terms of model foundation, algorithm flow and conflict point calculate three.
1) model foundation
First, it would be desirable to the condition that clear two machines clash.In moment T, compare the flying height of two machines first, once it is high
Degree difference meets condition, compares two machines in the distance of coordinate system XOY plane subpoint.User can input two machine minimum safe distances
It is considered as and clashes once two airplane distances are less than this distance from Δ L.As shown in fig. 6, in moment T, aircraft
R along X-axis fly, P0 be circle must, Δ L be radius, make the round conflict area of aircraft P0 in XOY plane.There are other aircrafts
When the projected position of XOY plane is in the conflict area, it is considered as two machines and clashes.
For the course line of an airplane, regardless of its shape, its approximation can be divided into a series of for straight line by we
Course line section.The conflict inspection planned in this way to two is just changed into the inspection two-by-two to those course lines section.Flown by above-mentioned two machine
Row conflict definition only when they, which have height, conflicts, just needs further to be detected for two aircrafts.For
In the presence of height conflict aircraft P0 and P1, we take out one group they course line section L0 and L1, to the face XOY of coordinate system project,
As shown in Figure 7.The Projection Line Segment AB and CD of L0 and L1 intersects at Q point.When two course line sections have intersection point, whether L0 and L1 is calculated
There is conflict, algorithm flow is shown in the section conflict of two course lines.
2) algorithm flow
In order to improve detection efficiency at all, it would be desirable to first exclude the plan that can not conflict and course line section.The sequence of exclusionary rules
It is as follows:
(1) for two flight plans, at the beginning of first checking them and the end time.For example, a plan is over
T1 minutes, another plan just started, then there is no conflicts for the two plans；
(2) for one group of course line section in two flight plans, if a plan pass through corresponding course line section 1 minute with
On, another plan just initially enters corresponding course line section, then there is no conflicts for the two course lines section；
(3) for one group of course line section in two flight plans, if there is no conflicts for their height, two course line sections are not
There are conflicts；
(4) for one group of course line section in two flight plans, if two course lines section is in the face XOY of coordinate system, projection is not handed over
Point, then there is no conflicts for two course line sections；
(5) by above few rapid, it is also possible to which there are the plans of conflict and course line section, utilize the course line section collision detection of next section
Algorithm calculates.
According to the rule, the pseudocode of algorithm is described as follows:
1) Get2Line(&Line A ,B)
2) If((TAend+1min) < TBbegin) return A plans and B plan does not conflict；
3) else Separate(Line A ,B);
4) Get2Segment(&Segment C,D);
5) If((TCend+1min) < TDbegin) course line returnC section and the course line D do not conflict；
6) course line returnC else if (NoHeight (Segment C, D)) section and the course line D do not conflict；
7) course line return else if (NoCross (Segment C, D)) section and the course line D do not conflict；
8) elseCalconflict(Segment C,D);
First Get2Line (&Line A, B) function is used to find out two from all course lines without mutually examining the boats crossed of Check
Line A and B, Separate (Line A, B) function are used to for course line A and B being decomposed into the course line section of straight line, and decomposition method is
By curve every 60 degree of angles be approximately straightway, Get2Segment (&Segment C, D) function is used for from the section of all course lines
Find out two course lines not checked mutually section C and D, NoHeight (Segment C, D) function for check course line section C and
The height of D is with the presence or absence of conflict, and NoCross (Segment C, D) function is for checking course line section C and D in the face XOY of coordinate system
Whether projection has intersection point, and Calconflict (Segment C, D) function is for calculating whether course line section C and D conflicts and obtain
The period of conflict.
3) the section conflict of intersection course line calculates
By the model foundation of the first step, the course line of two flight plans to be detected is decomposed into a series of course lines for straight line by us
Section, is detected two-by-two.By the exclusionary rules of second step, we obtain the course line section of 2 potentially conflictings, they are in coordinate system
The projection in the face XOY, such as Fig. 8.Line segment AB is the course line section of aircraft 1, and line segment CD is the course line section of aircraft 2, and arrow is
Heading.
If minimum safe distance is Δ L.With course line section AB where linear distance be Δ L point collection be combined into be parallel to AB and
Distance is two the straight lines L0 and L1 of Δ L therewith.Since AB intersects with CD, so straight line where CD centainly intersects with L0 and L1,
If intersection point is E, F.EG is perpendicular to AB, and EH is perpendicular to AB, and for any point M0 on line segment CE and DF, point is not present on AB
M1, so that | M0M1 | it is less than Δ L, i.e., when aircraft 2 is on EF line segment, two aircrafts can just be clashed.Similarly, for aircraft 1,
Only when on line segment IK, two aircrafts can just be clashed.When i.e. aircraft 1,2 must be located on line segment EF and IK simultaneously, the two
It is likely to clash.
We according to course line parameter calculate aircraft 1 to point I and K when to TiAnd TK, the time T of aircraft 2 to point E and Fe
And Tf.Obviously, as [ Ti, TkAnd [ Te, TfThere are when intersection, two aircrafts are possible to the presence of conflict.If [ Ti, TkAnd [ Te, Tf?
Intersection be [ TR, TS?.Next time [ T is discussedR, TSInner situation.
As shown in figure 9, being that origin establishes plane coordinate system XOY using straight line where the section AB of course line as X-axis, A point.In course line section
Take point a M, M between EJ on CD, and aircraft 2 passes through the time of M in [ TR, TSWithin.Using M as the center of circle, minimum safe distance Δ
L is that radius does circle, then there are two intersection point N by the circle and AB1、N2.Obviously, in N1N2Except point to M distance be greater than Δ L.Work as
Aircraft 2 is in M point, if aircraft 1 is in N at this time1N2Between, then aircraft 1 and aircraft 2 have conflict, otherwise there is no conflicts.
Assuming that the speed of aircraft 1 is V1, the time by A point is T1, the coordinate of C point is (x0, y0), the speed of aircraft 2 is
V2, the time by C point is T2, the time by M point is t.It is (x that M point coordinate, which then can be obtained,0+V2cosa(t-T2), y0+
V2sina(t-T2)).It crosses M point and makees vertical line to AB, intersection point is N point, and can obtain N point coordinate is (x0+V2cosa(t-T2), 0), MN away from
From | MN|=|tx0+V2sina(t-T2) |.N can be obtained in we1And N2Coordinate:
；(1)
；(2)
For aircraft 1, its coordinate in time t is P:(V1(t-T1), 0), when P point is located at line segment N1N2When upper, two aircrafts
Distance is less than minimum safe distance, then solves following inequality you can get it two aircrafts with the presence or absence of conflict:
；(3)
For specific two aircraft, go out outside time t in above-mentioned inequality, has all been oneself amount of knowing.When the inequality is without solution, show
Two aircrafts will not be clashed in the two course lines section, when the inequality has solution (assuming that solution is [Tu, Tv]), show the two
There is conflict within the period [Tu, Tv] in aircraft.
As shown in figure 3, detection method includes the following steps for the area conflicts:
S201, model is established, determines region to be detected, the area to be tested includes to enemy's radar, firepower area and no-fly zone；
S202, the planned course not detected is taken, is divided into a series of course line sections；
Whether the height between each course line section and area to be tested of a taken planned course not detected of S203, judgement
Conflict, if not conflicting, return step S202, if conflict, enters step S204；
Whether a taken planned course not detected of S204, judgement rushes between the projection line and area to be tested of horizontal plane
Prominent, if not conflicting, return step S202 calculates conflict time and conflict point if conflict；
S205, judge whether to traverse whole planned courses, if it is not, then return step S202, if so, output area collision detection
As a result.
Embodiment two
It is a kind of dynamic collision detection method provided in an embodiment of the present invention as shown in Fig. 4 ~ 5, it is different from embodiment one
It is that when conflicts mobiles detects, after needing opening timing device, timer to open, in each timeslice, it is planned to retrieve current institute
Course line obtains the parameters such as the three-dimensional coordinate of each aircraft in the works, and whether the actual range for calculating aircraft two-by-two is less than minimum peace
Whether full distance and aircraft three-dimensional coordinate are located in detection zone, once meet condition, by conflict point three-dimensional coordinate and conflict
Time showing is in lists.It can be seen from the above, conflicts mobiles detection can repeat to call static collision detection in each timeslice
Method.Timeslice usually divides time granularity according to the total time of all flight plans, since dynamic detection is usually applied to
Firepower close quarters in war are divided winged between being not only able to effectively retrieve each aircraft and with region by fine-grained timeslice
Capable conflict, additionally it is possible to accurately estimate the conflict time, push resolution scheme to commander in time.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (4)
1. a kind of collision detection method based on flight plan, which is characterized in that rushed including two machine collision detection methods and region
Prominent detection method, the two machines collision detection method the following steps are included:
S101, model is established, and determines the condition that two machines clash, i.e. two machine minimum safe distance Δ L；
S102, two planned courses to be detected are taken；
S103, judge whether the time of two planned courses conflicts, if not conflicting, return step S102, if conflict, by this two
Item planned course to be detected is divided into a series of straight course sections, judge two planned courses each straight course section it
Between whether having time conflict, and filter out the straight course section of having time conflict, enter step S104；
S104, judge to conflict between the straight course section of having time conflict with the presence or absence of height in two planned courses, if not depositing
In then return step S102, and if it exists, enter step S105；
Whether have between the straight course section that S105, judgement have height to conflict in the presence of projection conflict, if it does not exist, then return step
S102, and if it exists, then calculate conflict time and conflict distance；
S106, judge whether to traverse whole planned courses, if it is not, then return step S102, if so, two machine collision detection of output
As a result；
Detection method includes the following steps for the area conflicts:
S201, model is established, determines region to be detected, the area to be tested includes to enemy's radar, firepower area and no-fly zone；
S202, the planned course not detected is taken, is divided into a series of course line sections；
Whether the height between each course line section and area to be tested of a taken planned course not detected of S203, judgement
Conflict, if not conflicting, return step S202, if conflict, enters step S204；
Whether a taken planned course not detected of S204, judgement rushes between the projection line and area to be tested of horizontal plane
Prominent, if not conflicting, return step S202 calculates conflict time and conflict point if conflict；
S205, judge whether to traverse whole planned courses, if it is not, then return step S202, if so, output area collision detection
As a result.
2. a kind of collision detection method based on flight plan according to claim 1, which is characterized in that the step
In S105, judge between straight course section with the presence or absence of projection conflict method particularly includes:
First determine whether the projection between straight course section in the face XOY has intersection point, if there is no conflicts, if having without intersection point
Intersection point, then judge inequality whether about time t solution, if so, then explanation has a conflict, the solution of inequality be conflict generation
Time, if illustrating Lothrus apterus without solution；The inequality are as follows:
；
Wherein, using straight line where the section of straight line course line as X-axis, starting point is that origin establishes plane coordinate system XOY, (x0, y0)
Indicate the origin coordinates of another straight course section, T1And T2Respectively indicate time of two straight course sections Jing Guo starting point, V1And V2
The speed of two straight course sections is respectively indicated, Δ L indicates minimum safe distance, and α indicates the angle between two course lines.
3. a kind of collision detection method based on flight plan according to claim 1, which is characterized in that the step
In S103, the method whether time of two planned courses conflict judged whether are as follows: when the end of any planned course
It is T1 minutes early at the beginning of than another planned course of time, that is, determine that the time of this two planned courses does not conflict；Judgement
Between each straight course section of two planned courses whether the method for having time conflict are as follows: when certain of one of planned course
A straight course section end time starts early one minute than some straight course section of another planned course, that is, determines the two
Straight course section does not conflict.
4. a kind of collision detection method based on flight plan according to claim 1, which is characterized in that the step
S101 is further comprising the steps of: opening timing device, timeslice t=0；It is further comprising the steps of after the step S106: when judgement
Between piece whether terminate, if so, return step S102, if it is not, terminating；The step S201 is further comprising the steps of, opening timing
Device, timeslice t=0；It is further comprising the steps of after the step S205: to judge whether timeslice terminates, if so, return step
S202, if it is not, terminating.
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| CN111160631A (en) * | 2019-12-17 | 2020-05-15 | 西北工业大学 | Conflict detection and resolution method based on four-dimensional track operation |
| CN112748746A (en) * | 2021-04-02 | 2021-05-04 | 北京三快在线科技有限公司 | Method, device, equipment and storage medium for acquiring flight information of aircraft |
| CN112799432A (en) * | 2021-04-08 | 2021-05-14 | 北京三快在线科技有限公司 | Obstacle avoidance control method and device for unmanned aerial vehicle, storage medium and electronic equipment |
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| CN111160631A (en) * | 2019-12-17 | 2020-05-15 | 西北工业大学 | Conflict detection and resolution method based on four-dimensional track operation |
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| CN114596733A (en) * | 2022-01-26 | 2022-06-07 | 中国科学院自动化研究所 | Airline conflict detection method and device |
| CN114694422B (en) * | 2022-06-01 | 2022-09-06 | 浙江这里飞科技有限公司 | Flight route conflict detection method and device and electronic equipment |
| CN114694422A (en) * | 2022-06-01 | 2022-07-01 | 浙江这里飞科技有限公司 | Flight route conflict detection method and device and electronic equipment |
| CN115063591A (en) * | 2022-07-26 | 2022-09-16 | 之江实验室 | RGB image semantic segmentation method and device based on edge measurement relation |
| CN115691231A (en) * | 2023-01-03 | 2023-02-03 | 中国电子科技集团公司第二十八研究所 | Method and system for simulation deduction and conflict resolution by using air plan |
| CN116580602A (en) * | 2023-07-13 | 2023-08-11 | 四川大学 | Prediction and visualization method for sliding conflict of scene airplane |
| CN116580602B (en) * | 2023-07-13 | 2023-10-03 | 四川大学 | Prediction and visualization method for sliding conflict of scene airplane |
| CN116959296A (en) * | 2023-08-28 | 2023-10-27 | 中国民航管理干部学院 | Aircraft flight conflict detection method, device and system |
| CN117097425A (en) * | 2023-10-18 | 2023-11-21 | 启东市恒安防爆通信设备有限公司 | Emergency scheme conflict detection method and system based on emergency broadcast system |
| CN117097425B (en) * | 2023-10-18 | 2023-12-29 | 启东市恒安防爆通信设备有限公司 | Emergency scheme conflict detection method and system based on emergency broadcast system |
| CN117894214A (en) * | 2024-03-15 | 2024-04-16 | 天津云圣智能科技有限责任公司 | Unmanned aerial vehicle collision detection method and device, storage medium and electronic equipment |
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