CN111145597B - Unmanned aerial vehicle control area buffer area setting method based on collision risk flight segment - Google Patents

Unmanned aerial vehicle control area buffer area setting method based on collision risk flight segment Download PDF

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CN111145597B
CN111145597B CN201911307107.XA CN201911307107A CN111145597B CN 111145597 B CN111145597 B CN 111145597B CN 201911307107 A CN201911307107 A CN 201911307107A CN 111145597 B CN111145597 B CN 111145597B
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CN111145597A (en
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谢方泉
张建平
邹翔
陈振玲
吴卿刚
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Second Research Institute of CAAC
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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
    • G08G5/006—Navigation or guidance aids for a single aircraft in accordance with predefined flight zones, e.g. to avoid prohibited zones
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
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Abstract

The invention provides an unmanned aerial vehicle control area buffer area setting method based on a collision risk flight segment, which comprises the following steps: s1, dividing and setting a corresponding buffer area of the control area according to the kernel area of the control area; s2, controlling the buffer area of the area to be the minimum area meeting the constraint condition; s3 calculates and obtains the buffer parameter of the management area. The management and control area buffer area is set while the protection range of the core area in the management and control area can be accurately controlled through the marking method, the accurate marking of the civil unmanned aerial vehicle management and control area is guaranteed on the premise that the operation safety and efficiency of civil aircrafts are not affected, and fine operation management of unmanned aerial vehicles is facilitated.

Description

Unmanned aerial vehicle control area buffer area setting method based on collision risk flight segment
Technical Field
The invention relates to the technical field of air traffic control, in particular to unmanned aerial vehicle air operation management.
Background
In recent years, while the market scale of civil unmanned aerial vehicles is continuously enlarged, the unmanned aerial vehicles are easy to manufacture and obtain and wide in user range, so that hidden risks in the operation of the unmanned aerial vehicles are various, and typical risks are interference with the normal take-off and landing of flights in civil airports. According to statistics, the disturbance event of the civil unmanned aerial vehicle in China is as high as 27 within two years of only 2015-2016. Because most unmanned aerial vehicles operate in the ultra-low altitude flight area at present, civil aviation flights correspond to flight take-off and landing stages when operating in the ultra-low altitude flight area, namely the civil aviation flights are in the ultra-low altitude flight area around the airport at the moment, and therefore, relevant departments implement strict control on the operation of the unmanned aerial vehicles in the ultra-low altitude flight area around the airport in order to prevent the unmanned aerial vehicles from interfering with the normal take-off and landing of the civil aviation flights.
At first, according to the peripheral obstacle limiting range of an airport specified in the first hundred sixty six rules in the civil airport operation safety management regulations (CCAR-140) issued by the civil aviation administration in most areas of China, areas, which are 10 kilometers away from the two sides of the central line of an airport runway and contain the limiting surface of the airport obstacle and 20 kilometers away from the end of the runway, of the periphery of the airport are divided into unmanned aerial vehicle control areas. In the 5 th month of 2017, the civil aviation administration successively announces the protection range of the obstacle limiting surface of the transportation airport in China according to the relevant regulations of the obstacle limiting surface in international civil aviation organization 'international civil aviation convention annex 14-airport', the range is formed by sequentially connecting 12 coordinate points as shown in fig. 1, wherein the radius of a circular arc part is 7070 meters, and then, the airspace above the range (the protection range of the obstacle limiting surface) is used as the management and control airspace of the civil light unmanned aerial vehicle for a plurality of times. This work has proposed the notion of unmanned aerial vehicle management and control regional tolerance buffer, and the tolerance buffer is the airport barrier and restricts the region that the outside certain distance that extends corresponds of face.
However, the current scheme sets the arc radius of the tolerance buffer area corresponding to all runways to be 7070 meters, and the fixed marking lacks scientificity. In fact, according to the regulations of the international civil aviation convention annex 14-airport, the inner horizontal plane and the conical surface of the runway are different in size, resulting in different obstacle limiting surfaces of the runway. Therefore, different types of runways are provided with different obstacle limiting surfaces and the same tolerance buffer area arc radius at the same time, and scientific basis is lacked. Because the regulations specially designed for the peripheral control area of the unmanned aerial vehicle at present are still in a missing state, a set of method for planning the peripheral control area of the unmanned aerial vehicle serving as an object is urgently needed, technical support is provided for formulation of related regulations, the range of the peripheral control area of the unmanned aerial vehicle at the airport is reduced as far as possible while the safe taking-off and landing of civil aviation flights are guaranteed, more flyable areas are provided for the unmanned aerial vehicles running at the periphery of the airport, and therefore the development of the unmanned aerial vehicle industry is further promoted.
Disclosure of Invention
The purpose of the invention is: aiming at the defect that China lacks a civil aviation aircraft flight segment unmanned aerial vehicle flight limit buffer area, the method for establishing the unmanned aerial vehicle control area buffer area of the flight segment is provided, the unmanned aerial vehicle is used as an object, the control area buffer area is arranged aiming at the special point of the flight segment, the accurate arrangement of the civil unmanned aerial vehicle control area is ensured on the premise that the operation safety and efficiency of the civil aviation aircraft are not influenced, and the fine operation management of the unmanned aerial vehicle is facilitated.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a method for dividing a buffer zone of an unmanned aerial vehicle control zone of a flight segment comprises the following steps:
s1, dividing a buffer area of the control area according to the kernel area of the control area;
s2, limiting the buffer area of the control area to be the minimum area meeting the constraint condition;
and S3, calculating and obtaining the parameters of the buffer area of the management and control area according to the constraint conditions of S2.
Preferably, the core area of the regulatory region in S1 is a voyage curve
Figure BDA0002322164280000021
s∈[0，s1]Corresponding rear vertical side bsf(s)1) Left vertical plane lsf(s)1) Right vertical surface rsf(s)1) Normal plane nplane(s)2) Enclosed curve containing flight segment
Figure BDA0002322164280000022
A three-dimensional space domain of (a);
wherein, flight curve
Figure BDA0002322164280000023
S is the arc length parameter of the horizontal projection curve L(s), s is the [0, s ]1]Value of parameter s2＜s1。
Preferably, the management area buffer in S1 includes:
curve of flight section
Figure BDA0002322164280000024
s∈[0，s1]Corresponding to
Inner vertical surface: a vertical surface of a three-dimensional airspace enclosed by the core area of the control area;
outer rear vertical surface Bsf(s)1): is vertical to the rear sideStraight bsf(s)1) Parallel vertical planes
Figure BDA0002322164280000025
Outer left vertical plane Lsf(s)1): on the left vertical face lsf(s)1) Left side, and is spaced from lsf(s)1) The distance of each point is DLIn a vertical plane, i.e. in a curved line
Figure BDA0002322164280000028
Being vertical faces of the base
Lsf(s1)＝{(x，y，z)|(x，y，0)∈LL(s)，z≥0}
Outer right vertical surface Rsf(s)1): on the right vertical surface rsf(s)1) Right side, and distance rsf(s)1) The distance of each point is DRIn a vertical plane, i.e. in a curved line
Figure BDA0002322164280000027
Being vertical faces of the base
Rsf(s1)＝{(x，y，z)|(x，y，0)∈LR(s)，z≥0}
Outer front vertical face Fsf(s)1): horizontal projection curve L(s) at point L(s)3) Treatment plane nplane(s)3)；
Wherein the parameter value s3≤s1；
DbIs the outer rear vertical surface Bsf(s)1) With rear vertical side bsf(s)1) The distance between them;
dlis the flight path curve and the left vertical plane lsf(s)1) The distance between them;
dris the curve of the flight segment and the right vertical plane rsf(s)1) The distance between them;
DLis the outer left vertical plane Lsf(s)1) With the left vertical face lsf(s)1) The distance between them;
DRis the outer right vertical surface Rsf(s)1) To the right vertical surface rsf(s1) The distance between them.
Preferably, the S2 defines the pipe buffer as a minimum area satisfying the constraint condition:
s201: outer rear vertical surface Bsf(s)1) Outer left vertical plane Lsf(s)1) Outer right vertical surface Rsf(s)1) Respectively with the rear vertical side bsf(s)1) Left vertical face lsf(s)1) Right vertical surface rsf(s)1) Is not less than rho3I.e. min { D }b，DL，DR}≥ρ3；
S202: farplanar nplane(s)3) On the outer left vertical plane Lsf(s)1) Outer right vertical surface Rsf(s)1) Partial subset of (2) and normal plane nplane(s)2) On the left vertical face lsf(s)1) Right vertical surface rsf(s)1) Is not less than p3；
S203: farplanar nplane(s)3) On the outer left vertical plane Lsf(s)1) Outer right vertical surface Rsf(s)1) Partial subset of (2) and normal plane nplane(s)4) On the left vertical face lsf(s)1) Right vertical surface rsf(s)1) Is not less than p2(ii) a Value of parameter s4Satisfy the requirement of
Figure BDA0002322164280000031
The maximum value of s of (a);
ρ2the horizontal distance corresponding to the maximum height of the unmanned aerial vehicle; rho3The maximum horizontal distance for the intention to control the unmanned aerial vehicle to fly during the period that the unmanned aerial vehicle is controlled to land on the ground in a reverse manner;
Dbis the outer rear vertical surface Bsf(s)1) With rear vertical side bsf(s)1) The distance between them;
DLis the outer left vertical plane Lsf(s)1) With the left vertical face lsf(s)1) The distance between them;
DRis the outer right vertical surface Rsf(s)1) With right vertical surface rsf(s)1) The distance between them;
h2is the maximum altitude at which the drone flies during the contra-landing period;
Figure BDA0002322164280000032
is h2The equal height surface of (1);
value of parameter s3Is that the constraints 203, 204 and s are satisfied3≤s1；
The step of calculating and obtaining the parameters corresponding to the buffer area of the management and control area by the step of S3 includes Db，DL，DR，s3，s4。
Preferably, the maximum horizontal distance ρ that the unmanned aerial vehicle flies3The calculation formula of (2) is as follows:
Figure BDA0002322164280000041
wherein: t isrThe time for the drone to be detected until the drone responds to the counter; t is the total time from the unmanned aerial vehicle to be controlled to land in a reversed mode; (ii) a v. ofhIs the maximum horizontal velocity of the drone; v. ofzIs the maximum climbing speed of the unmanned aerial vehicle; rho3The intent is to control the maximum horizontal distance that the drone can fly during the period in which the drone is countered to landing.
Preferably, the unmanned aerial vehicle flies in the air for a horizontal distance ρ corresponding to a maximum height2The calculation formula of (2) is as follows: rho2＝vht2Wherein: rho2Is the corresponding horizontal distance when the unmanned aerial vehicle is reversed to the maximum height.
Preferably, the management area buffer further includes: a top surface: the region Ω is an upper boundary of the region Ω, and is a three-dimensional space domain below the height h.
Preferably, the buffer of unmanned aerial vehicle management and control area includes:
curve of flight section
Figure BDA0002322164280000042
s∈[0，s1]Corresponding to
Inner vertical surface: a vertical surface of a three-dimensional airspace enclosed by the core area of the control area;
outer rear vertical surface Bsf(s)1): with rear vertical side bsf(s)1) Parallel vertical planes
Figure BDA0002322164280000043
Outer left vertical plane Lsf(s)1): on the left vertical face lsf(s)1) Left side, and is spaced from lsf(s)1) The distance of each point is DLIn a vertical plane, i.e. in a curved line
Figure BDA0002322164280000044
Being vertical faces of the base
Lsf(s1)＝{(x，y，z)|(x，y，0)∈LL(s)，z≥0}
Outer right vertical surface Rsf(s)1): on the right vertical surface rsf(s)1) Right side, and distance rsf(s)1) The distance of each point is DRIn a vertical plane, i.e. in a curved line
Figure BDA0002322164280000045
Being vertical faces of the base
Rsf(s1)＝{(x，y，z)|(x，y，0)∈LR(s)，z≥0}
Outer front vertical face Fsf(s)1): horizontal projection curve L(s) at point L(s)3) Treatment plane nplane(s)3)；
Wherein L(s) is a flight curve
Figure BDA0002322164280000051
The horizontal projection curve of (a);
Dbis the outer rear vertical surface Bsf(s)1) With rear vertical side bsf(s)1) The distance between them;
dlis the flight path curve and the left vertical plane lsf(s)1) The distance between them;
dr is the curve of the flight segment and the right vertical plane rsf(s)1) The distance between
DLIs the outer left vertical plane Lsf(s)1) With the left vertical face lsf(s)1) The distance between them;
DRis the outer right vertical surface Rsf(s)1) With right vertical surface rsf(s)1) The distance between them.
Preferably, the core area of the control area is a voyage section curve
Figure BDA0002322164280000052
s∈[0，s1]Corresponding rear vertical side bsf(s)1) Left vertical plane lsf(s)1) Right vertical surface rsf(s)1) Normal plane nplane(s)2) Enclosed curve containing flight segment
Figure BDA0002322164280000053
A three-dimensional space domain of (a); wherein, flight curve
Figure BDA0002322164280000054
S is the arc length parameter of the horizontal projection curve L(s), s is the [0, s ]1]Value of parameter s2＜s1。
Preferably, the management area buffer further includes: one top surface is the upper boundary of region Ω, which is a three-dimensional space domain below true height h.
The invention has the beneficial effects that:
(1) the invention provides a method for dividing a buffer area of an unmanned aerial vehicle control area for the first time in China, and solves the problems that the existing airport is too large in the unmanned aerial vehicle control area and lacks of buffer protection aiming at the performance characteristics of the unmanned aerial vehicle;
(2) the method takes the unmanned aerial vehicle as an object, and overcomes the defect that the existing method takes a static barrier as a marking basis;
(3) the method provided by the invention is based on the characteristics of the flight segment of civil aviation flights, and the unmanned aerial vehicle control area is planned for the flight segment, so that the accurate planning of the unmanned aerial vehicle control area is realized, the fine operation management of the unmanned aerial vehicle is realized, and scientific and powerful technical support is provided for promoting the development of the unmanned aerial vehicle industry.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic view of the protection range of a China civil aviation airport;
fig. 2 is a schematic diagram of a region of a control area;
FIG. 3 is a schematic diagram illustrating a buffer configuration of a management control area;
fig. 4 is a collision diagram.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting. The invention sets problem limit in the airspace; focus on investigation
Figure BDA0002322164280000061
In the three-dimensional airspace omega below the true height h (for example, airspaces of 20 kilometers at the front and rear ends of the runway and 10 kilometers at the left and right sides
Figure BDA0002322164280000062
). Runway departure program management section rfz is a subset of Ω determined by safety standard level e based on runway departure program operating data, the complement of which is defined as flyable section ffz, namely:
ffz＝Ω-rfz
the control area is divided into a control area kernel area nfz and a control area buffer area lfz according to whether the unmanned aerial vehicle has caused a non-negligible collision threat to the civil aviation manned aircraft or not. The significance of the work of the invention is that a set of reasonable marking model of the control area buffer lfz area is provided, so that the light unmanned aerial vehicle can fly in the airspace flyable area ffz by submitting and approving different applications, and the light unmanned aerial vehicle needs to submit a flight application before flying in the control area and needs to pass through a strict approval process.
Management and control area kernel area nfz marking model
Flight segment collision risk area
Flight segment
Figure BDA0002322164280000063
s∈[0，s1]Corresponding collision risk zone rz(s)1) Is a curve containing a flight segment
Figure BDA00023221642800000610
s∈[0，s1]The boundary of the inner three-dimensional area is composed of the following parts:
rear vertical surface bsf(s)1): i.e. normal plane of the horizontal projection curve L(s) at the starting point
bsf(s1)＝nplane(0)
Left vertical face lsf(s)1): a vertical plane located at the left side of the curve L(s) and having an equal distance from each point on the curve L(s), i.e. a curve
Figure BDA0002322164280000065
dlVertical surface with base edge > 0
Figure BDA0002322164280000066
Right vertical side rsf(s)1): a vertical plane located to the right of the curve L(s) and having an equal distance to each point on L. I.e. by a curve
Figure BDA0002322164280000067
Being vertical faces of the base
Figure BDA0002322164280000068
Front vertical plane fsf(s)1): comprising curve L(s) at point L(s)1) Plane of treatment
fsf(s1)＝nplane(0)
A bottom surface ssf(s)1): perpendicular to the vertical surfaces of the left and right side surfaces and the curve of the flight segment
Figure BDA0002322164280000069
Parallel curved surfaces
Figure BDA0002322164280000071
Collision risk zone boundary requirements
Assuming that the actual flight path has a lateral error ε at point L(s)y(s) has a distribution function of Fy(s，εy) Vertical error εz(s) has a distribution function of Fz(s，εz) If the acceptable collision probability is e, then the leg
Figure BDA0002322164280000072
The corresponding collision risk zone is the smallest area that satisfies the following condition:
the first condition is as follows: the maximum side width of the airplane of the flight section operation is assumed to be 2 lambdayThen the left and right vertical plane parameters dl、drIt should satisfy:
Figure BDA0002322164280000073
Figure BDA0002322164280000074
Figure BDA0002322164280000075
p (x) is the probability of occurrence of event x
And a second condition: assuming that the maximum height of the airplane in the flight section is 2 lambdazThen the floor parameters should satisfy:
Figure BDA0002322164280000076
P(εz(s)＜-dz+λz)＝F(s，-dz+λz)≤e
p (x) is the probability of occurrence of event x
The invention calls the parameter d satisfying the above two conditionsl，dr，dzParameter d for avoiding collision risk probability el，dr，dzAre respectively represented as RAl(e)，RAr(e)，RAz(e) Then, the parameters corresponding to the collision risk zone boundary are respectively:
dl＝infRAl(e)
dr＝infRAr(e)
dz＝infRAz(e)
wherein: inf represents the infimum boundary of the real number set;
dlis the flight path curve and the left vertical plane lsf(s)1) The distance between them;
dzis the curve of the flight section and the bottom surface ssf(s)1) The distance between them;
dris the curve of the flight segment and the right vertical plane rsf(s)1) The distance between them.
Management and control area kernel area nfz space structure
Let dep be a certain departure procedure corresponding to the runway under consideration, and the flight segment curve corresponding to the departure procedure
Figure BDA0002322164280000081
Then the departure program administration area kernel area nfz is defined by a certain range of departure program
Figure BDA0002322164280000082
s∈[0，s1]Zone rz of risk of collisiond(s1) Determining the starting point of the leg
Figure BDA0002322164280000083
The runway centerline endpoint (also considered as the takeoff departure procedure route start). The invention records the navigation sections respectively
Figure BDA0002322164280000084
s∈ [0，s1]Collision risk zone of (1) corresponds toIs fsf(s) as the front lateral vertical plane1) The rear vertical surface is bsf(s)1) Left vertical plane is lsf(s)1) Right vertical surface, rsf(s)1) Then the corresponding regulatory domain kernel region nfz for that leg(s)1) Is formed by a rear vertical surface bsf(s)1) Left vertical plane lsf(s)1) Right vertical surface rsf(s)1) Normal plane nplane(s)2) Enclosed curve containing flight segment
Figure BDA0002322164280000085
s∈[0，s2]The three-dimensional space domain of (2). The space structure of the kernel region in the control region is mainly composed of a parameter value s1，s2Determining, the value of the parameter s2Is selected to manage region kernel region nfz(s)1) Is a key factor of (1).
Regulatory domain kernel region nfz(s)1) Constraint conditions
The regulatory domain kernel domain nfz (s1) is primarily descriptive of the flight segment collision risk zone rzd(s1) The part in the region omega and its upward and downward extension, the parameter s2The intersection curve nplane(s) and n ssf(s) should be satisfied1) Height is not less than h, i.e.:
Figure BDA0002322164280000086
let the set of all satisfied s satisfying the above constraint be CS(s)1) Then s2The following settings are set:
s2＝infCS(s1)
management and control area buffer lfz planning model
Runway departure procedure management and control district rfz is the airspace of civil aviation passenger plane safe operation when the guarantee civil aviation passenger plane fuses into unmanned aerial vehicle flight in the airspace, it is central with kernel district nfz, obtain buffer lfz with certain buffer distance outwards extends, and guarantee in the airspace structure that has the anti-system of controlling, unmanned aerial vehicle in the flyable district ffz can't be close management and control district kernel district nfz under the condition that does not pass through the flight application, keep apart with the operation of guaranteeing non-cooperation type unmanned aerial vehicle and civil aviation passenger plane, stop the threat and produce.
As shown in FIG. 3, the pipe buffer lfz(s)1) The boundary consists of the following parts:
curve of flight section
Figure BDA0002322164280000087
s∈[0，s1]The horizontal projection curve is L(s)
A top surface: upper boundary of region omega
Inner vertical surface: vertical surface of three-dimensional airspace surrounded by core area in control area
Outer rear vertical surface Bsf(s)1): and the back flank bsf(s)1) Parallel vertical planes
Figure BDA0002322164280000091
Outer left vertical plane Lsf(s)1): on the left vertical face lsf(s)1) Left side, and is spaced from lsf(s)1) And the distance of each point on the vertical surface is equal. I.e. by a curve
Figure BDA0002322164280000092
Being vertical faces of the base
Lsf(s1)＝{(x，y，z)|(x，y，0)∈LL(s)，z≥0}
Outer right vertical surface Rsf(s)1): on the right vertical surface rsf(s)1) Right side, and distance rsf(s)1) Vertical planes with equal distances between each point, i.e. curved lines
Figure BDA0002322164280000093
Being vertical faces of the base
Rsf(s1)＝{(x，y，z)|(x，y，0)∈LR(s)，z≥0}
Outer front vertical face Fsf(s)1): horizontal projection curve L(s) at point L(s)3) Treatment plane nplane(s)3)
Wherein:
dlis the flight and left vertical plane lsf(s)1) The distance between them;
dr is the flight and right vertical plane rsf(s)1) The distance between them;
Dbis the outer rear vertical surface Bsf(s)1) With rear vertical side bsf(s)1) The distance between them;
DLis the outer left vertical plane Lsf(s)1) With the left vertical face lsf(s)1) The distance between them;
DRis the outer right vertical surface Rsf(s)1) With right vertical surface rsf(s)1) The distance between them;
value of parameter s3≤s1；
The spatial geometry of the buffer zone of the control zone is mainly defined by a parameter Db，DL，DR，s3Determine, buffer lfz(s)1) The key to the planning is to give the above parameters.
Buffer lfz(s)1) Limitation of conditions
Parameter Db，DL，DrIs mainly dependent on the extreme operating performance of the light unmanned plane, s3The selection of the unmanned aerial vehicle depends on the performance of the unmanned aerial vehicle and the operation data of the civil aircraft. As shown in fig. 3, the maximum horizontal flight speed of the light unmanned plane is assumed to be vhMaximum climbing speed vzThe time from the detection of the unauthorized unmanned aerial vehicle entering the unmanned aerial vehicle restricted area to the successful disturbance rejection is TrThen, when t is 0, the drone rushes into the regulatory region at the boundary of the flyable region with the maximum operation performance, and then the drone may fly farthest in the restricted region: t is an element of [0, T ∈r]In time, the drone is still at maximum performance (vertical and horizontal velocities v)z，vh) Flying; at TrConstantly, unmanned aerial vehicle loses driving system, will do the free fall motion of maximum performance initial velocity.
According to the physical knowledge, T is TrIn time, the unmanned aerial vehicle rises to a height Vz×TrHorizontal flight distance ρ1＝Vh×TrAt this moment, the height of the unmanned aerial vehicleDegree of h1＝h+vz×Tr(ii) a At the time of passage
Figure BDA0002322164280000101
Later, unmanned aerial vehicle reaches the system high point, and vertical velocity all converts gravitational potential energy this moment, so unmanned aerial vehicle place height at this moment
Figure BDA0002322164280000102
Unmanned plane at elapsed time t3After landing, the vertical speed of the unmanned aerial vehicle is
Figure BDA0002322164280000103
Therefore, it is
Figure BDA0002322164280000104
To sum up, the maximum height that unmanned aerial vehicle rises at whole in-process is:
Figure BDA0002322164280000105
horizontal distance rho of unmanned aerial vehicle flight at the moment2＝vht2(ii) a The total flight time of the unmanned aerial vehicle in the air is as follows:
Figure BDA0002322164280000106
maximum horizontal distance rho of flight in the whole process3Comprises the following steps:
Figure BDA0002322164280000107
recording the value of the parameter s4＜s3To satisfy the conditions
Figure BDA0002322164280000108
Maximum s value, then the pipe buffer lfz(s)1) The minimum region satisfying the following conditions is shown in fig. 4:
the first condition is as follows: outer rear vertical surface Bsf(s)1) With rear vertical side bsf(s)1) Outer left vertical plane Lsf(s) of the distance between1) With the left vertical face lsf(s)1) Outer right vertical plane Rsf(s) of the distance between1) With right vertical surface rsf(s)1) Is not less than rho3Namely:
min{Db，DL，DR}≥ρ3
and a second condition: farplanar nplane(s)3) On the outer left vertical plane Lsf(s)1) Outer right vertical surface Rsf(s)1) Partial subset of (2) and normal plane nplane(s)2) On the left vertical face lsf(s)1) Right vertical surface rsf(s)1) Is not less than p3And (3) carrying out a third condition: farplanar nplane(s)3) On the outer left vertical plane Lsf(s)1) Outer right vertical surface Rsf(s)1) Partial subset of (2) and normal plane nplane(s)4) On the left vertical face lsf(s)1) Right vertical surface rsf(s)1) Is not less than p2Calculating and obtaining a main parameter D of the spatial geometry structure of the buffer zone of the control zone according to the constraint conditionsb，DL，DR，s3，s4. Wherein the parameter value s3Is that the constraints 203, 204 and s are satisfied3≤s1；
Example 1: control area setting device under certain airport runway departure procedure
The corresponding flight segment of the partial runway departure procedure is a curve (the situation that the flight takes a turn in the process of taking off). Corresponding leg in this example
Figure BDA0002322164280000111
s∈[0，10000]Comprises the following steps:
Figure BDA0002322164280000112
Figure BDA0002322164280000113
z(s)＝0.05s
the leg describes a circular arc turning angle of 6KM along the radius after taking off 2KM
Figure BDA0002322164280000114
And then the straight-line flight is continued. In this example, the parameters of the collision risk zone may be dl＝dr＝283.887，dz＝133.5。
Suppose h is 120 m, s110000 meters, at which point the regulatory region inner core region boundary nplane(s)2) Corresponding parameter s2Satisfies the following conditions:
z(s2)＝h+dz＝120+133.5＝253.5
since the gradient k corresponding to the flight segment is 0.05, the method has the advantages of high accuracy and low cost
Figure BDA0002322164280000115
The core area nfz (10000) of the control area is a voyage curve
Figure BDA0002322164280000116
s∈[0，10000]A three-dimensional airspace surrounded by a corresponding rear-side vertical surface bsf (10000), a left-side vertical surface lsf (10000), a right-side vertical surface rsf (10000) and a normal plane nplane (5070).
Buffer zone of control zone, assuming that the operational performance of unmanned aerial vehicle allowing free flight satisfies vz2 m/s, vh100 km/h 27.778 m/s, detection of the countering system and response time TrTaking the gravity acceleration g as 9.8 m/s as 0.5 s2Then from physical knowledge, T is knownrIn time, the unmanned aerial vehicle rises by a height h0Comprises the following steps:
h0＝vz×Tr2 × 0.5 ═ 1 m
Horizontal flight distance ρ1Comprises the following steps:
ρ1＝vh×Tr＝27.778×0.5＝13.889 m
At the moment, the height h of the unmanned aerial vehicle1Comprises the following steps:
h1＝h0+ h-1 + 120-121 m
Because nobody is the even rectilinear motion that accelerates in the vertical direction, can know that when unmanned aerial vehicle reaches the peak and is zero for speed, by the even rectilinear motion formula that accelerates at this moment:
vend＝vinit+g×t
it can be known that the time that the unmanned aerial vehicle climbs to the highest point is:
Figure BDA0002322164280000121
at the moment, the vertical speed is converted into gravitational potential energy, and the energy conservation formula is as follows:
Figure BDA0002322164280000122
so that the height h of the unmanned aerial vehicle is2Comprises the following steps:
Figure BDA0002322164280000123
in the process that the unmanned aerial vehicle falls to the ground from a peak, the vertical speed v in the process of falling to the ground can be known by using the energy conservation formula againz3Comprises the following steps:
Figure BDA0002322164280000124
the time t for the unmanned plane to fall from the highest point to the ground3Comprises the following steps:
Figure BDA0002322164280000125
to sum up, the maximum height that unmanned aerial vehicle rises at whole in-process is:
Figure BDA0002322164280000126
when the unmanned aerial vehicle reaches the high point, the horizontal distance rho of the unmanned aerial vehicle2Comprises the following steps:
ρ2＝vh(Tr+t2) 19.558 m
The total flight time of the unmanned aerial vehicle in the air is as follows:
Figure BDA0002322164280000131
will Tr＝0.5，vzWhen the formula is substituted with 2, g is 9.8, h is 120, t is 5.678s, the maximum horizontal distance ρ is flown in the whole process3Comprises the following steps:
Figure BDA0002322164280000132
because the flight segment is s > s2In the case of (2), is a straight line, as can be seen from the model,
Figure BDA0002322164280000133
knowing the parameter s from the conditions of the control area3The method comprises the following steps:
s3＝min{s2+ρ3，s3+ρ2min 5227.71, 5112.638, 5227.71 m
To sum up, the parameter s corresponding to the buffer of the management and control area45094.08 m, Db＝DL＝DR157.71 m, s35227.71 meters.
Example 2: control area setting device under approach procedure of certain airport runway
This example gives an example of an instrument approach procedure for RWY02R at the airport in North of Chongqing, where the flight is in the final approach phase
Figure BDA0002322164280000134
The horizontal velocity v can be known as a straight line according to the information of the instrument approach mapx＝93.05m/s，vy＝0m/s，vz4.9m/s, the descent gradient of the aircraft in the approach phase is
Figure BDA0002322164280000135
Flight segment
Figure BDA0002322164280000136
s∈[0，10000]The conditions are satisfied:
x(s)＝s
y(s)＝0
z(s)＝k×s
the parameter of the collision risk area is dl＝dr＝283.887，dz＝129.615
Suppose h is 120 m, s110000 meters, at which point the regulatory region inner core region boundary nplane(s)2) Corresponding parameter s2Satisfies the following conditions:
z(s2)＝h+dz＝120+129.615＝249.615
since the gradient k corresponding to the flight segment is 0.0526, the method is suitable for the flight segment
Figure BDA0002322164280000141
The core region of the management region is
Curve of voyage
Figure BDA0002322164280000142
s∈ [0，10000]The three-dimensional airspace that corresponds rear side vertical face bsf (10000), left side vertical face Isf (10000), right side vertical face rsf (10000), normal plane nplan enclose.
Determination of the regulatory zone buffer, assuming that the operational performance of the drone allowed to fly freely satisfies vz2 m/s, vh100 km/h 27.778 m/s, countering the detection and countering the sound of the systemTime of response TrTaking the gravity acceleration g as 9.8 m/s as 0.5 s2From physical knowledge, it can be known that T is TrIn time, the unmanned aerial vehicle rises by a height h0Comprises the following steps:
h0＝vz×Tr2 × 0.5 ═ 1 m
Horizontal flight distance ρ1Comprises the following steps:
ρ1＝vh×Tr27.778 × 0.5 ═ 13.889 m
At the moment, the height h of the unmanned aerial vehicle1Comprises the following steps:
h1＝h0+ h-1 + 120-121 m
Because nobody is the even rectilinear motion that accelerates in the vertical direction, can know that when unmanned aerial vehicle reaches the peak and is zero for speed, by the even rectilinear motion formula that accelerates at this moment:
vend＝vinit+g×t
it can be known that the time that the unmanned aerial vehicle climbs to the highest point is:
Figure BDA0002322164280000143
at the moment, the vertical speed is converted into gravitational potential energy, and the energy conservation formula is as follows:
Figure BDA0002322164280000151
so that the height h of the unmanned aerial vehicle is2Comprises the following steps:
Figure BDA0002322164280000152
in the process that the unmanned aerial vehicle falls to the ground from a peak, the vertical speed v in the process of falling to the ground can be known by using the energy conservation formula againz3Comprises the following steps:
Figure BDA0002322164280000153
the time t for the unmanned plane to fall from the highest point to the ground3Comprises the following steps:
Figure BDA0002322164280000154
to sum up, the maximum height that unmanned aerial vehicle rises at whole in-process is:
Figure BDA0002322164280000155
when the unmanned aerial vehicle reaches the high point, the horizontal distance rho of the unmanned aerial vehicle2Comprises the following steps:
ρ2＝vh(Tr+t2) 19.558 m
The total flight time of the unmanned aerial vehicle in the air is as follows:
Figure BDA0002322164280000156
will Tr＝0.5，vzWhen the formula is substituted with 2, g is 9.8, h is 120, t is 5.678s, the maximum horizontal distance ρ is flown in the whole process3Comprises the following steps:
Figure BDA0002322164280000157
because the navigation section is a straight line, the model can know that,
Figure BDA0002322164280000158
knowing the parameter s from the conditions of the control area3The method comprises the following steps:
s3＝min{s2+ρ3，s3+ρ2min 4894.13, 4600.248, 4894.13 m
To sum upThe parameter s corresponding to the buffer area of the control area44580.69 m, Db＝DL＝DR157.71 m, s34894.13 meters.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. Although the present invention has been described to a certain extent, it is apparent that appropriate changes in the respective conditions may be made without departing from the spirit and scope of the present invention. It is to be understood that the invention is not limited to the described embodiments, but is to be accorded the scope consistent with the claims, including equivalents of each element described.

Claims (4)

1. The utility model provides a flight leg unmanned aerial vehicle management and control district buffer area based on collision risk is drawn and is established method which is characterized in that, includes the following step:
s1, dividing and setting a corresponding buffer area of the control area according to the kernel area of the control area;
s2, limiting the buffer area of the control area to be the minimum area meeting the constraint condition;
s3 calculating to obtain parameters corresponding to the buffer zone of the control zone, wherein the core zone of the control zone in S1 is a voyage section curve
Figure FDA0002811480010000011
Corresponding rear vertical side bsf(s)1) Left vertical plane lsf(s)1) Right vertical surface rsf(s)1) Normal plane nplane(s)2) Enclosed curve containing flight segment
Figure FDA0002811480010000012
A three-dimensional space domain of (a);
wherein, flight curve
Figure FDA0002811480010000013
S is the arc length parameter of the horizontal projection curve L(s), and the parameter value s2<s1The management area buffer in step S1 includes:
curve of flight section
Figure FDA0002811480010000014
Corresponding to
Inner vertical surface: a vertical surface of a three-dimensional airspace enclosed by the core area of the control area;
outer rear vertical surface Bsf(s)1): with rear vertical side bsf(s)1) Parallel vertical planes
Figure FDA0002811480010000015
Outer left vertical plane Lsf(s)1): on the left vertical face lsf(s)1) Left side, and is spaced from lsf(s)1) The distance of each point is DLIn a vertical plane, i.e. in a curved line
Figure FDA0002811480010000016
Being vertical faces of the base
Lsf(s1)＝{(x,y,z)|(x,y,0)∈LL(s),z≥0}
Outer right vertical surface Rsf(s)1): on the right vertical surface rsf(s)1) Right side, and distance rsf(s)1) The distance of each point is DRIn a vertical plane, i.e. in a curved line
Figure FDA0002811480010000017
Being vertical faces of the base
Rsf(s1)＝{(x,y,z)|(x,y,0)∈LR(s),z≥0}
Outer front vertical face Fsf(s)1) The horizontal projection curve L(s) is at the point L(s)3) Treatment plane nplane(s)3)；
Wherein the parameter value s3≤s1；
DbIs the outer rear vertical surface Bsf(s)1) With rear vertical side bsf(s)1) The distance between them;
dlis the flight path curve and the left vertical plane lsf(s)1) The distance between them;
dris the curve of the flight segment and the right vertical plane rsf(s)1) The distance between them;
DLis the outer left vertical plane Lsf(s)1) With the left vertical face lsf(s)1) The distance between them;
DRis the outer right vertical surface Rsf(s)1) With right vertical surface rsf(s)1) The distance between them;
Figure FDA0002811480010000021
for the unit normal vector of the curve l (S), the S2 defines the pipe control buffer as the minimum area satisfying the constraint condition:
s201: outer rear vertical surface Bsf(s)1) Outer left vertical plane Lsf(s)1) Outer right vertical surface Rsf(s)1) Respectively with the rear vertical side bsf(s)1) Left vertical face lsf(s)1) Right vertical surface rsf(s)1) Is not less than rho3,
I.e., min { Db,DL,DR}≥ρ3；
S202: farplanar nplane(s)3) On the outer left vertical plane Lsf(s)1) Outer right vertical surface Rsf(s)1) Partial subset of (2) and normal plane nplane(s)2) On the left vertical face lsf(s)1) Right vertical surface rsf(s)1) Is not less than p3；
S203: farplanar nplane(s)3) On the outer left vertical plane Lsf(s)1) Outer right vertical surface Rsf(s)1) Partial subset of (2) and normal plane nplane(s)4) On the left vertical face lsf(s)1) Right vertical surface rsf(s)1) Is not less than p2(ii) a Value of parameter s4Satisfy the requirement of
Figure FDA0002811480010000022
The maximum value of s of (a); of these, ssf(s)1) Is a curve with the flight segment
Figure FDA0002811480010000023
Parallel curved surfaces;
ρ2the horizontal distance corresponding to the maximum height of the unmanned aerial vehicle; rho3The maximum horizontal distance for the intention to control the unmanned aerial vehicle to fly during the period that the unmanned aerial vehicle is controlled to land on the ground in a reverse manner;
h2is the maximum altitude at which the drone flies during the contra-landing period;
Figure FDA0002811480010000024
is h2The equal height surface of (1);
value of parameter s3Is a parameter value s satisfying the constraints 203, 2043≤s1；
The step of calculating and obtaining the parameters corresponding to the buffer area of the management and control area by the step of S3 includes Db，DL，DR，s3，s4。
2. The ruling method of claim 1, wherein a maximum horizontal distance ρ at which the drone flies3The calculation formula of (2) is as follows:
Figure FDA0002811480010000031
wherein: t isrThe time for the drone to be detected until the drone responds to the counter; t is the total time from the unmanned aerial vehicle to be controlled to land in a reversed mode; h is true height; v. ofhIs the maximum horizontal velocity of the drone; v. ofzIs the maximum climbing speed of the unmanned aerial vehicle; rho3The intent is to control the maximum horizontal distance that the drone can fly during the period in which the drone is countered to landing.
3. The planning method of claim 2, wherein the unmanned aerial vehicle flies in the air for a horizontal distance p corresponding to a maximum altitude2The calculation formula of (2) is as follows: rho2＝vht2
Wherein: rho2Is an unmanned planeThe corresponding horizontal distance when the height reaches the maximum height is reversed; t is t2Is the time for the drone to be counterproducted to the highest point.
4. The programming method of claim 3, wherein the pipe buffer further comprises:
a top surface: the upper boundary of region Ω is a three-dimensional space domain below true height h.
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