CN114281098A

CN114281098A - Isolation airspace planning method for cooperative unmanned aerial vehicle

Info

Publication number: CN114281098A
Application number: CN202111414051.5A
Authority: CN
Inventors: 王家隆; 刘卫香; 李成功; 张国荣; 王�琦
Original assignee: CETC 15 Research Institute
Current assignee: CETC 15 Research Institute
Priority date: 2021-11-25
Filing date: 2021-11-25
Publication date: 2022-04-05
Anticipated expiration: 2041-11-25
Also published as: CN114281098B

Abstract

The invention provides a method for setting an isolated airspace protection zone of an unmanned aerial vehicle, which can plan the horizontal range and the vertical range of the isolated airspace protection zone according to the performance of the unmanned aerial vehicle, the capacity of airborne equipment, the literacy of drivers and control personnel and the capacity of a flight basic environment, ensure the flight safety of the unmanned aerial vehicle and improve the utilization rate of a low-altitude airspace. Comprises a horizontal range division and a vertical range division; step one, determining the horizontal range D of an isolated airspace protection area_{Level of}＝R_{Level of}+D_{Threshold value}Wherein the horizontal flying distance of the unmanned aerial vehicle is R_{Level of}The horizontal range threshold of the isolated airspace protection area is D_{Threshold value}；R_{Level of}＝V_{Level of}*t_{Level of}，V_{Level of}Is the flying speed of the unmanned aerial vehicle, t_{Level of}Yawing the unmanned aerial vehicle in the horizontal direction to the time when the unmanned aerial vehicle completes the diversion track; step two, determining the vertical range R of the isolated airspace protection area_{Is perpendicular to}＝V_{Is perpendicular to}*t_{Is perpendicular to}(ii) a Wherein, V_{Is perpendicular to}Maximum ascent speed, t, for unmanned aerial vehicle_{Is perpendicular to}＝Σt_{Perpendicular i}，i＝1，2，…5。

Description

Isolation airspace planning method for cooperative unmanned aerial vehicle

Technical Field

The invention belongs to the field of air traffic management general aviation, and particularly relates to an isolation airspace planning method for a cooperative unmanned aerial vehicle.

Background

In recent years, the unmanned aerial vehicle field develops rapidly, and the quantity, the holding capacity and the operation time of enterprises related to civil unmanned aerial vehicles have greatly increased. According to data display of a statistical bulletin for development of civil aviation industry, the number of relevant enterprises of the unmanned aerial vehicle is 478 in 2019, the unmanned aerial vehicle grows at a speed of 30% in 2016 + 2018, and after the unmanned aerial vehicle leaves a station limitation policy in 2019, the growth speed drops back to 7%; the holding capacity of the unmanned aerial vehicle is increased by 6 times from 20 more than ten thousand frames in 2016 to 120 more than ten thousand frames in 2019; the number of unmanned aerial vehicles which finish real-name registration is increased from 16 ten thousand in 2017 to 39.2 ten thousand in 2019, and the increase is more than 2 times; the flight time of the unmanned aerial vehicle counted by the cloud exchange system of the unmanned aerial vehicle of the civil aviation bureau is increased from 17.6 ten thousand hours in 2017 to 125 ten thousand hours in 2019 by nearly 8 times; the operation application mainly based on entertainment and aerial photography and assisted by agriculture and forestry plant protection, electric power inspection, aviation mapping and logistics distribution is formed.

At present, the monitoring network of the low-altitude airspace in China is still imperfect, the capability, the layout and the quantity of the traditional airspace monitoring technology are difficult to meet the increasing low-altitude airspace monitoring requirement, various problems of insufficient monitoring reliability, insufficient positioning precision, incapability of realizing continuous and effective monitoring and the like exist, and the sensing collision avoidance capability is not provided. Therefore, China generally adopts a mode of isolating the existing man-machine from the unmanned aerial vehicle operation airspace to guarantee the flight of the unmanned aerial vehicle, namely, a certain protection area is reserved on the basis of declaring the flight airspace to guarantee the operation of the existing man-machine and the unmanned aerial vehicle without mutual interference, but the horizontal and vertical ranges of the protection area basically adopt maximum values or empirical values, and the reserved space is large. But along with unmanned aerial vehicle insurance volume and flight time orthoscopic growth, the flight of unmanned aerial vehicle will be restricted in the airspace isolation operation of original "thick mad" formula, need urgently to keep apart the operation with the airspace from thick mad formula to becoming more meticulous, and science setting is kept apart airspace guard zone scope size.

For furthest's promotion low-altitude airspace resource utilization ratio, promote unmanned aerial vehicle trade development, then need guaranteeing under unmanned aerial vehicle operation demand and flight safety's the prerequisite, standardize unmanned aerial vehicle isolation airspace and rule and establish, rationally set for unmanned aerial vehicle flight airspace isolation protection zone level and vertical range to seek improvement airspace utilization ratio, guarantee the security that the people of adjacent airspace operated.

Generally, the isolation airspace can be divided into two parts, namely a work flight area and a safety protection area. The size of the operation flight area of the isolated airspace mainly takes the size of a range required by a user operation task, the interval and position relation with the peripheral airspace, the coordination relation with ground related units, the coverage of a communication, navigation and monitoring system and the like into consideration. At present, the horizontal range of the isolated airspace operation flight area is usually declared by a user unit and approved by an airspace management department, and under the condition that the airspace contradiction is not prominent, the horizontal range is usually approved according to the range applied by the user. However, the horizontal and vertical extent of the isolated airspace safety zone portion may differ from the drone type, airborne equipment capabilities, drone performance, drone pilot and controller literacy level.

Disclosure of Invention

In view of the above, the present invention provides a method for establishing an isolated airspace protection zone of an unmanned aerial vehicle, which can plan a horizontal range and a vertical range of the isolated airspace protection zone according to the performance of the unmanned aerial vehicle, the capability of airborne equipment, the literacy of drivers and controllers, and the capability of a flight basic environment, so as to ensure the flight safety of the unmanned aerial vehicle and improve the utilization rate of a low-altitude airspace.

The invention is realized by the following technical scheme.

An unmanned aerial vehicle isolation airspace protection zone setting method comprises horizontal range setting and vertical range setting;

step one, determining the horizontal range D of an isolated airspace protection area_{Level of}＝R_{Level of}+D_{Threshold value}Wherein the horizontal flying distance of the unmanned aerial vehicle is R_{Level of}The horizontal range threshold of the isolated airspace protection area is D_{Threshold value}；R_{Level of}＝V_{Level of}*t_{Level of}，V_{Level of}Is the flying speed of the unmanned aerial vehicle, t_{Level of}Yawing the unmanned aerial vehicle in the horizontal direction to the time when the unmanned aerial vehicle completes the diversion track;

step two, determiningVertical range R of isolated airspace protection zone_{Is perpendicular to}＝V_{Is perpendicular to}*t_{Is perpendicular to}(ii) a (ii) a Wherein, V_{Is perpendicular to}Maximum ascent speed, t, for unmanned aerial vehicle_{Is perpendicular to}＝Σt_{Perpendicular i}，i＝1，2，…5。

The invention has the beneficial effects that:

the method combs relevant factors influencing the horizontal range and the vertical range of the unmanned aerial vehicle isolation airspace protection area, analyzes the mechanism of influencing the horizontal range and the vertical range of the unmanned aerial vehicle isolation airspace protection area by each factor, and finally expresses the influence of each factor on the horizontal range and the vertical range of the unmanned aerial vehicle isolation airspace protection area through a mathematical model; by the method, the horizontal range and the vertical range of the isolated airspace protection area can be planned according to the performance of the unmanned aerial vehicle, the capacity of airborne equipment, the literacy of drivers and control personnel and the capacity of the basic flight environment, the flight safety of the unmanned aerial vehicle is ensured, and the utilization rate of a low-altitude airspace is improved.

Drawings

FIG. 1 shows five stages from when the drone yaws to when the drone starts to change course in accordance with the present invention;

FIG. 2 is a diagram showing the time required for five stages in the horizontal direction in the present invention;

FIG. 3 shows the time required for five stages of isolation in the present invention.

Detailed Description

The present invention is described in further detail below.

As shown in fig. 1, the method for setting an isolated airspace protection zone of an unmanned aerial vehicle according to the present embodiment includes horizontal range setting and vertical range setting;

step one, determining the horizontal range D of an isolated airspace protection area_{Level of}＝R_{Level of}+D_{Threshold value}Wherein the horizontal flying distance of the unmanned aerial vehicle is R_{Level of}The horizontal range threshold of the isolated airspace protection area is D_{Threshold value}；

Wherein R is_{Level of}＝V_{Level of}*t_{Level of}，V_{Level of}Is the flying speed of the unmanned aerial vehicle, t_{Level of}And the unmanned aerial vehicle drifts in the horizontal direction to the time for completing the flight path change of the unmanned aerial vehicle.

Suppose that the operation flight zone required for the user declaration is S₁The flying speed of the unmanned aerial vehicle (converted into the ground speed) is V_{Level of}In the process of flying by the cooperative unmanned aerial vehicle according to the planned air route, the cooperative unmanned aerial vehicle unintentionally deviates from the flying operation area due to the performance of the unmanned aerial vehicle, a communication link, meteorological wind and the like.

For drones that are unintentionally flying out of the operating area, the process from when a drone yaws to when the drone starts to change course can be refined into five phases: the first stage is from the unmanned plane yawing to the controller finding the unmanned plane yawing; the second stage is that the controller finds that the unmanned aerial vehicle drifts to send out a diversion instruction; the third stage is that a controller sends a diversion instruction to an unmanned aerial vehicle driver to receive the diversion instruction; the fourth stage is the process of making a diversion action by the unmanned aerial vehicle driver; and the fifth stage is a reaction process after the unmanned aerial vehicle receives the diversion instruction.

Thus, the time required for the entire process is t_{Level of}＝Σt_{Level i}，i＝1,2,…5，t_{Level i}The specific steps are as follows for the time required by each stage of the 1-5 stages:

step 1, calculating the time t required from the horizontal yawing of the unmanned aerial vehicle to the discovery of the yawing by a controller_{Level 1}；

t_{Level 1}Factors such as airspace monitoring means, data updating period, radio position reporting period, controller service capacity and the like need to be considered in the calculation process. Suppose that the low-altitude radar has a scanning period t_rThe radio position reporting period is t_wThe controller can find the yaw through n track points. Then, t_{Level 1}＝(n-1)*min(t_r，t_w)。

Step 2, calculating the time t from the controller finding that the unmanned aerial vehicle drifts in the horizontal direction to giving a diversion instruction_{Level 2}；

t_{Level 2}It is generally associated with the speech rate of the controller issuing the instruction content and the spoken control instruction, assuming that the speech rate of the controller issuing the instruction content and the spoken control instruction is V_{Speed of speech}Word or letter/second, V_{Speed of speech}Regulating instructions, typically determined by statistical dataNumber of words or letters of N_InstructionsThen t is_{Level 2}＝N_Instructions/V_{Speed of speech}。

Step 3, calculating the time t from the time when the controller sends the diversion instruction to the time when the unmanned aerial vehicle driver receives the instruction in the horizontal direction_{Level 3}；

t_{Level 3}Influenced by the flight height of the unmanned aerial vehicle and the transmission speed of radio waves. Assuming that the flying height of the unmanned aerial vehicle is h and the transmission speed of radio waves is v, t is_{Level 3}＝2h/v。

Step 4, calculating the time t required for the unmanned aerial vehicle driver to take the piloting change action after receiving the piloting change instruction in the horizontal direction_{Level 4}；t_{Level 4}Mainly affected by the occupational literacy of the drone operator, this data is usually determined by statistical data.

Step 5, calculating the time t from the horizontal direction navigation change action of the unmanned aerial vehicle driver to the completion of the navigation change track of the unmanned aerial vehicle_{Level 5}；t_{Level 5}This data is typically determined by experimental statistics for different types of drones.

Step two, determining the vertical range R of the isolated airspace protection area_{Is perpendicular to}＝V_{Is perpendicular to}*t_{Is perpendicular to}(ii) a (ii) a Wherein, V_{Is perpendicular to}Maximum ascent speed, t, for unmanned aerial vehicle_{Is perpendicular to}＝Σt_{Perpendicular i}，i＝1，2，…5；

Step 1, calculating the time required by the unmanned aerial vehicle to yaw from the vertical direction to the controller to find the yaw of the unmanned aerial vehicle

Let t be_{Vertical 1}The time required for the drone to yaw vertically from the controller to find its yaw. t is t_{Vertical 1}Factors such as climbing speed of the unmanned aerial vehicle, airspace monitoring means, data updating period, radio position reporting period, controller service capacity and the like need to be considered in the calculation process. Let v be the unmanned aerial vehicle flight speed, t_rFor a low-altitude radar scan period, t_wFor the radio position reporting period, n is the number of drifts the controller can find through the waypoints. Then, t_{Vertical 1}＝(n-1)*min(t_r，t_w)

Step 2, calculating the time required for the controller to find that the unmanned aerial vehicle drifts in the vertical direction to send a diversion instruction

Let t be_{Vertical 2}To find the time required for the drone to yaw in the vertical direction from the controller to issue a diversion command. t is t_{Vertical 2}It is generally associated with the speech rate of the controller issuing the instruction content and the spoken control instruction, assuming that the speech rate of the controller issuing the instruction content and the spoken control instruction is V_{Speed of speech}Number of words or letters per second, of control instructions N_InstructionsThen t is_{Vertical 2}＝N_Instructions/V_{Speed of speech}，V_{Speed of speech}Typically determined by statistical data.

Step 3, calculating the time required from the time when the controller sends the diversion instruction to the time when the unmanned aerial vehicle driver receives the instruction in the vertical direction

t_{Vertical 3}In the vertical direction, the time is required from the time when the controller gives the diversion instruction to the time when the unmanned aerial vehicle driver receives the instruction. t is t_{Vertical 3}Influenced by the flight height of the unmanned aerial vehicle and the transmission speed of radio waves. Assuming that the flying height of the unmanned aerial vehicle is h and the transmission speed of radio waves is v, t is_{Vertical 3}＝2h/v。

Step 4, calculating the time required for the unmanned aerial vehicle driver to make the diversion action after receiving the diversion instruction in the vertical direction

t_{Vertical 4}In the vertical direction, the time required for the unmanned aerial vehicle driver to take the piloting change action after receiving the piloting change instruction. t is t_{Vertical 4}Mainly affected by the occupational literacy of the drone operator, this data is usually determined by statistical data.

Step 5, calculating the time required by the unmanned aerial vehicle driver to make the vertical direction diversion action until the unmanned aerial vehicle completes the diversion track

t_{Vertical 5}And the time is required from the time when the unmanned aerial vehicle driver makes a vertical direction diversion action to the time when the unmanned aerial vehicle completes the diversion track. This data is typically determined by experimental statistics for different types of drones.

Example 1:

step one, the horizontal flying distance is R_{Level of}＝V_{Level of}*t_{Level of}；

Wherein, V_{Level of}Is the flying speed of the unmanned aerial vehicle, t_{Level of}＝Σt_{Level i}，i＝1,2,…5；

Step 1, calculating the time t from the horizontal yawing of the unmanned aerial vehicle to the discovery of the yawing by a controller_{Level 1}；

At present, a light small unmanned aerial vehicle needing to be divided into an isolation airspace mainly runs in an airspace above 120 m, monitoring means of the airspace in the range mainly comprise a low-altitude radar and a radio position report, and the flying speed of the unmanned aerial vehicle is 30 m/s. Scanning period t of low-altitude radar in general_rAnd a radio position reporting period t_wBe 1 second, the controller calculates according to 3 track point changes of unmanned aerial vehicle (according), n 3, but 3 track point unmanned aerial vehicle 10 meters fly, can know the discernment basically on the display screen, can judge whether unmanned aerial vehicle drifts. Thus, t_{Level 1}＝(n-1)*min(t_r，t_w) (3-1) × min (1,1), t in this example_{Level 1}It was 2 seconds.

Typically, the speech rate at which the controller issues instructions requiring a recorded transcription is 3 words or letters/second, V_{Speed of speech}One instruction is typically completed in 2-4 seconds. When the controller finds that the unmanned aerial vehicle is deflected, the Chinese diversion instruction is 'air, deflected to the right by 100 meters, and corrected to the left'; the English instruction is ". air, one bound meters away from right, turn left altle. "N_Instructions＝12，t_{Level 2}＝N_Instructions/V_{Speed of speech}12/3 seconds.

Step 3, calculating the time t from the time when the controller gives the diversion instruction to the time when the unmanned aerial vehicle driver receives the instruction_{Level 3}

The transmission speed of the radio waves is determined according to the transmission speed of the radio waves, the transmission speed of the radio waves is the same as the speed of light, the transmission speed of the radio waves is 300000 kilometers per second, and the transmission speed is uploaded to the maximum flying height of 120 meters-300 meters used by the unmanned aerial vehicle), and the required time is negligible. Then, t_{Level 3}＝0。

Step 4, calculating the time t required for the unmanned aerial vehicle driver to take the diversion action after receiving the instruction_{Level 4}

According to the estimation of ' research on unmanned aerial vehicle remote control driving technology based on flight control response type ' issued by the xi ' an flight test flying institute, the rudder time of an unmanned aerial vehicle control lever is 0.5 second, namely t_{Level 4}＝0.5。

Step 5, calculating the time t for completing the diversion of the unmanned aerial vehicle after the unmanned aerial vehicle driver makes the diversion action_{Level 5}

According to the estimation of ' research on unmanned aerial vehicle remote control driving technology based on flight control response type ' issued by the xi ' an flight test flying institute, the change of the track of the unmanned aerial vehicle takes about 2 seconds, namely t_{Level 5}＝2

According to t_{Level of}＝t_{Level 1}+t_{Level 2}+t_{Level 3}+t_{Level 4}+t_{Level 5}

＝2+4+0+0.5+2

＝8.5

Therefore, the flight distance of the unmanned aerial vehicle is R_{Level of}＝V_{Level of}*t_{Level of}30 × 8.5 ═ 255 m. Considering the influence of wind at 100 meters of true height, relevant statistical data show that the true height is about 100 meters, the high-altitude wind can reach 4.7 meters per second, and the influence distance of the unmanned aerial vehicle by the high-altitude wind is 40 meters.

Accordingly, D_{Level of}255+ 40-295 meters.

In specific implementation, the space and mutual position relation between an isolated airspace of the unmanned aerial vehicle and a peripheral airway, air routes and airspaces, the environment and air traffic flow near the isolated airspace and the coverage range of a communication, navigation and monitoring system are comprehensively considered, and 10 percent D is reserved totally_{Level of}With a safety margin of 30 m. Therefore, the optimal isolation airspace horizontal range of the present embodiment is set to 325 meters, taking various factors into consideration.

Step two, the vertical flight distance is R_{Is perpendicular to}＝V_{Is perpendicular to}*t；

Wherein, V_{Is perpendicular to}Maximum ascent speed, t, for unmanned aerial vehicle_{Is perpendicular to}＝Σt_{Climbing i}，i＝1,2,…5；

Step 1, calculating and calculating the time t required by the unmanned aerial vehicle to yaw from the vertical direction to the controller to find the yaw of the unmanned aerial vehicle_{Vertical 1}

At present, a light small unmanned aerial vehicle needing to be divided into an isolation airspace mainly runs in an airspace above 120 m, monitoring means of the airspace in the range mainly comprise a low-altitude radar and a radio position report, and the climbing speed of the unmanned aerial vehicle is 5 m/s. Scanning period t of low-altitude radar in general_rAnd a radio position reporting period t_wBe 1 second, the controller calculates according to 5 track point changes of unmanned aerial vehicle (according), and n is 5, and 5 track point unmanned aerial vehicle can fly 20 meters, can know the discernment basically on the display screen, can judge whether unmanned aerial vehicle drifts. Thus, t_{Vertical 1}＝(n-1)*min(t_r，t_w) (5-1) × min (1,1), in this example t_{Vertical 1}It was 4 seconds.

Step 2, calculating the time t from the controller finding that the unmanned aerial vehicle drifts in the vertical direction to giving a diversion instruction_{Climbing 2}

Typically, the speech rate at which the controller issues instructions requiring a recorded transcription is 3 words or letters/second, V_{Speed of speech}One instruction is typically completed in 2-4 seconds. When the controller finds that the unmanned aerial vehicle is deflected, the Chinese diversion instruction is ' aviation, descent ' meter and downward correction '; english instructions are ". air,. meters away from right, turn left altle. "N_Instructions＝12，t_{Vertical 2}＝N_Instructions/V_{Speed of speech}12/3 seconds.

Step 3, calculating the time t from the time when the controller gives the diversion instruction to the time when the unmanned aerial vehicle driver receives the instruction_{Vertical 3}

The transmission speed of the radio waves is determined according to the transmission speed of the radio waves, the transmission speed of the radio waves is the same as the speed of light, the transmission speed of the radio waves is 300000 kilometers per second, and the transmission speed is uploaded to the maximum flying height of 120 meters-300 meters used by the unmanned aerial vehicle), and the required time is negligible. Then, t_{Vertical 3}＝0。

Step 4, calculating the time t required for the unmanned aerial vehicle driver to take the diversion action after receiving the instruction_{Vertical 4}

According to XianAccording to the estimation of 'unmanned aerial vehicle remote control driving technology research based on flight control response type' issued by the flight pilot institute, the rudder time of an unmanned aerial vehicle control rod is 0.5 second, namely t_{Vertical 4}＝0.5。

Step 5, calculating the time t required by the unmanned aerial vehicle to complete the diversion after the driver makes the diversion action_{Vertical 5}

According to the estimation of ' research on unmanned aerial vehicle remote control driving technology based on flight control response type ' issued by the xi ' an flight test flying institute, the change of the track of the unmanned aerial vehicle takes about 2 seconds, namely t_{Vertical 5}＝2

Total time t_{Is perpendicular to}＝t_{Vertical 1}+t_{Vertical 2}+t_{Vertical 3}+t_{Vertical 4}+t_{Vertical 5}As 4+4+0+0.5+2 as 10.5 (seconds)

Therefore, the flight distance of the unmanned aerial vehicle is R_{Is perpendicular to}＝V_{Navigation device}*t_{Is perpendicular to}5 × 10.5 ≈ 52.5 ≈ 53 meters. Considering the influence of wind at 100 meters of true height, relevant statistical data show that the true height is about 100 meters, the high-altitude wind can reach 4.7 meters per second, and the influence distance of the unmanned aerial vehicle by the high-altitude wind is 50 meters.

Accordingly, D_{Is perpendicular to}Is 53+ 50-103 m.

In specific implementation, the space and mutual position relation between an isolated airspace of the unmanned aerial vehicle and a peripheral airway, air routes and airspaces, the environment and air traffic flow near the isolated airspace and the coverage range of a communication, navigation and monitoring system are comprehensively considered, and 10 percent D is reserved totally_{Is perpendicular to}With a safety margin of 10 m. Therefore, the optimal isolation airspace horizontal range of the present embodiment is set to 113 meters, taking various factors into consideration.

Maximum climbing speed V of light and small unmanned aerial vehicle_{Is perpendicular to}Is 5m/s

The vertical direction safety protection area range of the light and small unmanned aerial vehicle is R_{Is perpendicular to}＝V_{Is perpendicular to}T-5 × 6.5-33 m.

During specific implementation, the interval and mutual position relation between an isolated airspace of the unmanned aerial vehicle and a peripheral airway, air routes and airspaces, the environment and air traffic flow near the isolated airspace and the coverage range of a communication, navigation and monitoring system are comprehensively considered, and a safety margin of 7 meters is reserved. Therefore, for the light and small unmanned aerial vehicle, the range of the isolation airspace vertical safety protection area is 40 meters.

The embodiment uses professional aerial photography, agriculture and forestry plant protection, electric power line patrol and terminal logistics as the light and small unmanned aerial vehicle of typical operation scene, and its operation airspace is polygon, circular, fan-shaped etc. usually. The convex polygon airspace has higher airspace utilization rate than the concave polygon airspace, so the polygon shape is best to use convex graphics as the main part and use concave graphics as less as possible in the process of setting the isolated airspace and the protection zone thereof, thereby being convenient for setting the peripheral airspace and improving the airspace utilization rate.

Claims

1. An unmanned aerial vehicle isolation airspace protection zone setting method comprises horizontal range setting and vertical range setting; the method is characterized in that:

step two, determining the vertical range R of the isolated airspace protection area_{Is perpendicular to}＝V_{Is perpendicular to}*t_{Is perpendicular to}(ii) a (ii) a Wherein, V_{Is perpendicular to}Maximum ascent speed, t, for unmanned aerial vehicle_{Is perpendicular to}＝Σt_{Perpendicular i}，i＝1，2，…5。

2. The method of claim 1, wherein t is the time t_{Level of}＝Σt_{Level i}1,2, … 5, and the specific steps are as follows:

Step 2, calculating the change from the fact that the controller finds that the unmanned aerial vehicle drifts in the horizontal direction to sends outTime t required for flight instruction_{Level 2}；

Step 3, calculating the time t from the time when the controller sends the diversion instruction to the time when the unmanned aerial vehicle driver receives the instruction in the horizontal direction_{Level of}3；

Step 4, calculating the time t required for the unmanned aerial vehicle driver to take the piloting change action after receiving the piloting change instruction in the horizontal direction_{Level 4}；

Step 5, calculating the time t from the horizontal direction navigation change action of the unmanned aerial vehicle driver to the completion of the navigation change track of the unmanned aerial vehicle_{Level 5}。

3. The method as claimed in claim 2, wherein the UAV is yawing in a horizontal direction until a controller finds the time t required for the UAV to yaw_{Level 1}The following method is adopted for calculation: suppose that the low-altitude radar has a scanning period t_rThe radio position reporting period is t_wThe controller can find the yaw through n track points, then t_{Level 1}＝(n-1)*min(t_r，t_w)。

4. The method as claimed in claim 2, wherein the time t required from the controller finding that the drone is yawing in the horizontal direction to the time t required for issuing the diversion instruction is t_{Level 2}The following method is adopted for calculation: suppose the speech rate of the controller for sending out the instruction content and the dictation control instruction is V_{Speed of speech}Number of words or letters per second, of control instructions N_InstructionsThen t is_{Level 2}＝N_Instructions/V_{Speed of speech}。

5. The method of claim 1, wherein t is the time t_{Is perpendicular to}＝Σt_{Perpendicular i}I ═ 1,2, … 5; the method comprises the following specific steps:

step 1, calculating the time t required by the unmanned aerial vehicle to yaw from the vertical direction to the controller to find the yaw of the unmanned aerial vehicle_{Vertical 1}；

Step 2, calculating and controllingThe time t required for a worker to find that the unmanned aerial vehicle drifts in the vertical direction and sends a diversion instruction_{Vertical 2}；

Step 3, calculating the time t from the time when the controller sends the diversion instruction to the time when the unmanned aerial vehicle driver receives the instruction in the vertical direction_{Vertical 3}；

Step 4, calculating the time t required for the unmanned aerial vehicle driver to make the diversion action after receiving the diversion instruction in the vertical direction_{Vertical 4}；

Step 5, calculating the time t required from the time when the driver of the unmanned aerial vehicle makes the vertical direction diversion action to the time when the unmanned aerial vehicle completes the diversion track_{Vertical 5}。

6. The method as claimed in claim 5, wherein the UAV is in the vertical direction from the yaw to the time t required for the controller to find the yaw_{Vertical 1}The following method is adopted for calculation: let v be the unmanned aerial vehicle flight speed, t_rFor a low-altitude radar scan period, t_wFor the radio position reporting period, n is the number of drifts the controller can find through the waypoints, then t_{Vertical 1}＝(n-1)*min(t_r，t_w)。