CN114281098B - Isolation airspace dividing method for cooperative unmanned aerial vehicle - Google Patents
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Abstract
The invention provides a method for designing 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 capability of airborne equipment, the literacy of drivers and controllers and the capability of a flight basic environment, ensure the flight safety of the unmanned aerial vehicle and improve the utilization rate of a low-altitude airspace. The method comprises the steps of horizontal range dividing and vertical range dividing; step one, determining the horizontal range D of an isolated airspace protection zone Horizontal level ＝R Horizontal level +D Threshold value Wherein, unmanned aerial vehicle horizontal flight distance is R Horizontal level The threshold value of the horizontal range of the isolated airspace protection zone is D Threshold value ；R Horizontal level ＝V Horizontal level *t Horizontal level ，V Horizontal level Is the flying speed of the unmanned aerial vehicle, t Horizontal level The unmanned aerial vehicle yaw time from the horizontal direction to the completion of the flight path change of the unmanned aerial vehicle; step two, determining the vertical range R of the isolated airspace protection zone Vertical direction ＝V Vertical direction *t Vertical direction The method comprises the steps of carrying out a first treatment on the surface of the Wherein V is Vertical direction Is the maximum rising speed of the unmanned aerial vehicle, t Vertical direction ＝Σt Vertical i ，i＝1，2，…5。
Description
Technical Field
The invention belongs to the field of general aviation for air traffic management, and particularly relates to a method for dividing an isolated airspace of a cooperative unmanned aerial vehicle.
Background
In recent years, the unmanned aerial vehicle field develops rapidly, and the number, the holding amount and the operation time of relevant enterprises of civil unmanned aerial vehicles are greatly increased. According to the data of the civil aviation industry development statistical publication, the number of related enterprises of the unmanned aerial vehicle in 2019 is 478, the speed of the unmanned aerial vehicle in 2016-2018 is increased by 30%, and after the unmanned aerial vehicle in 2019 goes out of the platform to limit the policy, the increase speed is fallen to 7%; the unmanned aerial vehicle is saved by 20 ten thousand frames in 2016, and is increased to 120 ten thousand frames in 2019, and is increased by 6 times; the number of unmanned aerial vehicles which finish real-name registration is increased from 16 ten thousand frames in 2017 to 39.2 ten thousand frames in 2019, and the number is increased by more than 2 times; the unmanned aerial vehicle flight time counted by the unmanned aerial vehicle cloud exchange system 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 comprises entertainment aerial photography, agriculture and forestry plant protection, electric power inspection, aviation mapping and logistics distribution.
At present, the monitoring network of the low-altitude airspace in China is imperfect, the capability, layout and quantity of the traditional air-traffic control monitoring technology are difficult to meet the increasing low-altitude air-traffic control monitoring requirements, and the problems of insufficient monitoring reliability, insufficient positioning accuracy, incapability of realizing continuous and effective monitoring and the like exist, so that the traditional air-traffic control monitoring technology does not have the capability of sensing collision avoidance. Therefore, at present, a mode of isolating an unmanned aerial vehicle from an unmanned aerial vehicle operation airspace is generally adopted in China to ensure the unmanned aerial vehicle to fly, namely, a certain protection area is reserved on the basis of reporting the flight airspace so as to ensure the unmanned aerial vehicle and the unmanned aerial vehicle to run without interference, but the horizontal and vertical ranges of the protection area basically adopt maximum values or empirical values, and the reserved space is larger. However, as the maintenance amount and the flight time of the unmanned aerial vehicle are linearly increased, the flight of the unmanned aerial vehicle is limited by the original 'coarse' airspace isolation operation, and the airspace isolation operation is changed from coarse to fine, so that the size of an isolated airspace protection area is scientifically set.
In order to furthest improve the utilization rate of low-altitude airspace resources and promote the development of the unmanned aerial vehicle industry, the unmanned aerial vehicle isolation airspace is standardized and arranged on the premise of ensuring the operation requirement and the flight safety of the unmanned aerial vehicle, and the horizontal and vertical ranges of the unmanned aerial vehicle flight airspace isolation protection areas are reasonably set so as to improve the airspace utilization rate and ensure the safety of the operation of the unmanned aerial vehicle in the adjacent airspace.
Generally, an isolated airspace can be divided into two parts, a working flight area and a safety protection area. The operation flight area of the isolated airspace mainly considers the range size required by the operation task of a user, the interval and position relation with the peripheral airspace, the coordination relation with the ground related units, the coverage range of a communication, navigation and monitoring system and the like. 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 is usually approved according to the range of a user application under the condition that airspace contradiction is not prominent. The horizontal and vertical ranges of the isolated airspace security protection zone portion may vary from that of the type of drone, the capabilities of the on-board equipment, the performance of the drone, the driver of the drone, and the controller literacy.
Disclosure of Invention
Therefore, the invention aims to provide the unmanned aerial vehicle isolated airspace protection zone setting method, which can plan the horizontal range and the vertical range of the isolated airspace protection zone according to unmanned aerial vehicle performance, airborne equipment capacity, literacy of drivers and control personnel and flight basic environment capacity, ensure unmanned aerial vehicle flight safety and improve low-altitude airspace utilization rate.
The invention is realized by the following technical scheme.
An unmanned aerial vehicle isolated airspace protection zone division method comprises a horizontal range division and a vertical range division;
step one, determining the horizontal range D of an isolated airspace protection zone Horizontal level ＝R Horizontal level +D Threshold value Wherein, unmanned aerial vehicle horizontal flight distance is R Horizontal level The threshold value of the horizontal range of the isolated airspace protection zone is D Threshold value ；R Horizontal level ＝V Horizontal level *t Horizontal level ，V Horizontal level Is the flying speed of the unmanned aerial vehicle, t Horizontal level The unmanned aerial vehicle yaw time from the horizontal direction to the completion of the flight path change of the unmanned aerial vehicle;
step two, determining the vertical range R of the isolated airspace protection zone Vertical direction ＝V Vertical direction *t Vertical direction The method comprises the steps of carrying out a first treatment on the surface of the The method comprises the steps of carrying out a first treatment on the surface of the Wherein V is Vertical direction Is the maximum rising speed of the unmanned aerial vehicle, t Vertical direction ＝Σt Vertical i ，i＝1，2，…5。
The invention has the beneficial effects that:
according to the method, related factors influencing the horizontal range and the vertical range of the unmanned aerial vehicle isolated airspace protection zone are combed, then the mechanism that each factor influences the horizontal range and the vertical range of the unmanned aerial vehicle isolated airspace protection zone is analyzed, and finally the influence of each factor on the horizontal range and the vertical range of the unmanned aerial vehicle isolated airspace protection zone is expressed through a mathematical model; the method can be used for planning the horizontal range and the vertical range of the isolated airspace protection area according to the performance of the unmanned aerial vehicle, the capability of airborne equipment, the literacy of drivers and controllers and the flight basic environment capability, so that the flight safety of the unmanned aerial vehicle is ensured, and the utilization rate of a low-altitude airspace is improved.
Drawings
FIG. 1 illustrates five stages from the occurrence of yaw of a drone to the beginning of a drone change in the present invention;
FIG. 2 shows the time required for five stages in the horizontal direction in the present invention;
fig. 3 shows the time required for isolating the five stages in the direction of the present invention.
Detailed Description
The present invention will be described in further detail below.
As shown in fig. 1, the method for designing the protection zone of the isolated airspace of the unmanned aerial vehicle in the embodiment comprises horizontal range division and vertical range division;
step one, determining the horizontal range D of an isolated airspace protection zone Horizontal level ＝R Horizontal level +D Threshold value Wherein, unmanned aerial vehicle horizontal flight distance is R Horizontal level The threshold value of the horizontal range of the isolated airspace protection zone is D Threshold value ；
Wherein R is Horizontal level ＝V Horizontal level *t Horizontal level ，V Horizontal level Is the flying speed of the unmanned aerial vehicle, t Horizontal level The unmanned aerial vehicle yaw time to the unmanned aerial vehicle finish the flight path that changes in the horizontal direction.
Assume that the operation flight area required by the user declaration is S 1 The flying speed (converted into ground speed) of the unmanned plane is V Horizontal level In the flight process of the cooperative unmanned aerial vehicle according to the planned route, the unmanned aerial vehicle is unintentionally deviated from the flight operation area due to the performance of the unmanned aerial vehicle, a communication link, meteorological wind and the like.
For unmanned aerial vehicles that unintentionally fly out of the work area, the process from the occurrence of yaw of the unmanned aerial vehicle to the beginning of the unmanned aerial vehicle to change the course can be refined into five stages: the first stage is from the unmanned aerial vehicle yaw to the controller finding the unmanned aerial vehicle yaw; the second stage is from the discovery of unmanned aerial vehicle yaw by the controller to the sending of a pilot command; the third stage is to send a pilot command to the unmanned aerial vehicle driver to receive the pilot command; the fourth stage is the course of the unmanned aerial vehicle driver to make a course of the navigational change; and the fifth stage is a reaction process after the unmanned aerial vehicle receives the navigation changing instruction.
Thus, the time required for the whole process is t Horizontal level ＝Σt Level i ，i＝1,2,…5，t Level i For the time required by each stage of the above 1-5 stages, the specific steps are as follows:
step 1, calculating time t from yaw of the unmanned aerial vehicle in the horizontal direction to finding yaw of the unmanned aerial vehicle by the controller Level 1 ；
t Level 1 In the calculation process, factors such as airspace monitoring means, a data updating period, a wireless potential reporting period, controller business capability and the like need to be considered. Let the low altitude radar scan period be t r The radio potential reporting period is t w The controller can find the yaw through n track points. Then t Level 1 ＝(n-1)*min(t r ，t w )。
Step 2, calculating time t from when the controller finds that the unmanned aerial vehicle is yawed in the horizontal direction to when a flight altering instruction is sent Level 2 ；
t Level 2 Typically associated with the controller's command content and the speech rate of the spoken control command, assuming that the controller's command content and the speech rate of the spoken control command are V Speech speed Words or letters/second, V Speech speed Typically, the number of words or letters of the policing instruction is N as determined by statistics Instructions for Then t Level 2 ＝N Instructions for /V Speech speed 。
Step 3, calculating time t required from when the controller sends the pilot change command to when the unmanned aerial vehicle driver receives the command in the horizontal direction Level 3 ；
t Level 3 Is affected by the flying height of the unmanned aerial vehicle and the transmission speed of radio waves. Assuming that the flight altitude of the unmanned aerial vehicle is h and the transmission speed of radio waves is v, t Level 3 ＝2h/v。
Step 4, calculating time t required by the unmanned aerial vehicle driver in the horizontal direction to make a sailing action after receiving the sailing instruction Level 4 ；t Level 4 This data is primarily affected by the occupational literacy of the unmanned operatorTypically by statistical data.
Step 5, calculating time t required from the horizontal direction change action of the unmanned aerial vehicle driver to the completion of the change of the flight path of the unmanned aerial vehicle Level 5 ；t Level 5 Mainly determined by the performance of the drone, this data is usually determined by experimental statistics for different types of drones.
Step two, determining the vertical range R of the isolated airspace protection zone Vertical direction ＝V Vertical direction *t Vertical direction The method comprises the steps of carrying out a first treatment on the surface of the The method comprises the steps of carrying out a first treatment on the surface of the Wherein V is Vertical direction Is the maximum rising speed of the unmanned aerial vehicle, t Vertical direction ＝Σt Vertical i ，i＝1，2，…5；
Step 1, calculating time required from yaw to the time when the controller finds the yaw of the unmanned aerial vehicle in the vertical direction
Let t be Vertical 1 The time required for the drone to find its yaw in the vertical direction from yaw to the controller. t is t Vertical 1 In the calculation process, the climbing speed of the unmanned aerial vehicle, an airspace monitoring means, a data updating period, a wireless potential report period, the business capability of a controller and the like need to be considered. Let v be the unmanned plane flight speed, t r Is the low altitude radar scanning period, t w For the wireless potential reporting period, n is the number of yaw that the controller can find through the track points. Then t Vertical 1 ＝(n-1)*min(t r ，t w )
Step 2, calculating time required for the controller to find that the unmanned aerial vehicle yaw in the vertical direction to send out the navigation changing 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 the command to change course. t is t Vertical 2 Typically associated with the controller's command content and the speech rate of the spoken control command, assuming that the controller's command content and the speech rate of the spoken control command are V Speech speed Words or letters/second, regulating the number of words or letters of the instruction to N Instructions for Then t Vertical 2 ＝N Instructions for /V Speech speed ，V Speech speed Typically by statistical data.
Step 3, calculating the time required from the moment that the controller sends the navigational change instruction to the moment that the unmanned plane driver receives the instruction in the vertical direction
t Vertical 3 In order to be in the vertical direction, a command to change course is issued from the controller to the time required for the unmanned aerial vehicle driver to receive the command. t is t Vertical 3 Is affected by the flying height of the unmanned aerial vehicle and the transmission speed of radio waves. Assuming that the flight altitude of the unmanned aerial vehicle is h and the transmission speed of radio waves is v, t Vertical 3 ＝2h/v。
Step 4, calculating the time required for the unmanned aerial vehicle driver to make the navigational change action after the navigational change instruction is calculated in the vertical direction
t Vertical 4 In order to make the time required for the unmanned aerial vehicle driver to take the sailing action after receiving the sailing instruction in the vertical direction. t is t Vertical 4 This data is typically determined by statistical data, primarily affected by the occupational literacy of the unmanned aerial vehicle operator.
Step 5, calculating the time from the time when the unmanned aerial vehicle driver makes the vertical direction change motion to the time when the unmanned aerial vehicle finishes the change track
t Vertical 5 And (5) taking the time from the vertical direction change action to the completion of the change track for the unmanned aerial vehicle driver. Mainly determined by the performance of the drone, this data is usually determined by experimental statistics for different types of drones.
Example 1:
step one, the horizontal flight distance is R Horizontal level ＝V Horizontal level *t Horizontal level ；
Wherein V is Horizontal level Is the flying speed of the unmanned aerial vehicle, t Horizontal level ＝Σt Level i ，i＝1,2,…5；
Step 1, calculating time t from yaw of the unmanned aerial vehicle in the horizontal direction to finding yaw of the controller Level 1 ；
At present, a light and small unmanned aerial vehicle which is required to be divided into an isolated airspace mainly runs in an airspace above 120 meters, the monitoring means of the airspace in the range mainly comprises a low-altitude radar and a wireless potential report, and the flight speed of the unmanned aerial vehicle is 30 meters/second. Typically low altitude radar scan period t r And radio potential reporting period t w All are 1 second, and the control personnel change according to 3 track points of the unmanned planeAnd calculating, wherein n=3, the unmanned aerial vehicle can fly for 10 meters at 3 track points, and the unmanned aerial vehicle can be basically and clearly identified on a display screen, so that whether the unmanned aerial vehicle is yawed or not can be judged. Thus t Level 1 ＝(n-1)*min(t r ，t w ) = (3-1) ×min (1, 1), t in this embodiment Level 1 For 2 seconds.
Step 2, calculating time t from when the controller finds that the unmanned aerial vehicle is yawed in the horizontal direction to when a flight altering instruction is sent Level 2 ；
Typically, the speech rate is 3 words or letters/second, V when the controller issues an instruction to record a transcription Speech speed =3 an instruction is typically completed in 2-4 seconds. When the controller finds that the unmanned aerial vehicle is yawed, the issued Chinese navigation changing instruction is aviation, 100 meters right deviation and correction left; english instructions are "× air, one hundred meters away from right, turn left alittle. "N Instructions for ＝12，t Level 2 ＝N Instructions for /V Speech speed =12/3=4 seconds.
Step 3, calculating the time t from the moment of outputting the pilot change instruction to the moment of receiving the instruction by the unmanned aerial vehicle driver Level 3
The transmission speed of the radio wave is determined according to the transmission speed of the radio wave, and the transmission speed of the radio wave is 300000 km/s, and the highest flying height of the unmanned aerial vehicle is 120-300 m, so that the time is negligible. Then t Level 3 ＝0。
Step 4, calculating the time t required for performing the sailing action after receiving the instruction from the unmanned aerial vehicle driver Level 4
According to the estimation of unmanned aerial vehicle remote control driving technical research based on flight control response type issued by the western security flight test and the court, the rudder time of the unmanned aerial vehicle control lever is 0.5 seconds, namely t Level 4 ＝0.5。
Step 5, calculating the time t of the unmanned aerial vehicle completing the flight change after the unmanned aerial vehicle driver makes the flight change action Level 5
According to the estimation of unmanned aerial vehicle remote control driving technical research based on flight control response type issued by the western security flight test court, changing the track of the unmanned aerial vehicle takes about 2 seconds, namely t Level 5 ＝2
According to t Horizontal level ＝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 Horizontal level ＝V Horizontal level *t Horizontal level =30×8.5=255 meters. Considering the influence of wind at the position of 100 meters in true height, relevant statistical data show that the true height is about 100 meters, the high-altitude wind can reach 4.7 meters/second, and the influence distance of the high-altitude wind on the unmanned aerial vehicle is 40 meters.
Accordingly, D Horizontal level 255+40=295 meters.
In the specific implementation, the space and mutual position relation between an isolated airspace and a peripheral air way, the space distance between the air way and the airspace of the unmanned aerial vehicle are comprehensively considered, 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% D is totally reserved Horizontal level Is 30 meters. Therefore, considering various factors, the optimal isolation airspace level range of this embodiment is set to 325 meters.
Step two, the vertical flight distance is R Vertical direction ＝V Vertical direction *t；
Wherein V is Vertical direction Is the maximum rising speed of the unmanned aerial vehicle, t Vertical direction ＝Σt Climbing i ，i＝1,2,…5；
Step 1, calculating the time t from yaw of the unmanned aerial vehicle to finding the yaw of the unmanned aerial vehicle in the vertical direction Vertical 1
At present, a light and small unmanned aerial vehicle which is required to be divided into an isolated airspace mainly runs in an airspace above 120 meters, the monitoring means of the airspace in the range mainly comprises a low-altitude radar and a wireless potential report, and the climbing speed of the unmanned aerial vehicle is 5 meters/second. Typically low altitude radar scan period t r And radio potential reporting period t w All are 1 second, and the control personnel calculate according to 5 flight path point changes of unmanned aerial vehicle (according to), and n=5, 5 flight path point unmanned aerial vehicle can fly 20 meters, can clearly discern 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), t in this embodiment Vertical 1 For 4 seconds.
Step 2, calculating time t from when the controller finds that the unmanned aerial vehicle is yawed in the vertical direction to when a flight altering instruction is sent Climbing 2
Typically, the speech rate is 3 words or letters/second, V when the controller issues an instruction to record a transcription Speech speed =3 an instruction is typically completed in 2-4 seconds. When the controller finds that the unmanned aerial vehicle is yawed, the issued Chinese navigation changing instruction is aviation, descending, downward correction; english instructions are "× air" × meters away from right, turn left alittle. "N Instructions for ＝12，t Vertical 2 ＝N Instructions for /V Speech speed =12/3=4 seconds.
Step 3, calculating the time t from the moment of outputting the pilot change instruction to the moment of receiving the instruction by the unmanned aerial vehicle driver Vertical 3
The transmission speed of the radio wave is determined according to the transmission speed of the radio wave, and the transmission speed of the radio wave is 300000 km/s, and the highest flying height of the unmanned aerial vehicle is 120-300 m, so that the time is negligible. Then t Vertical 3 ＝0。
Step 4, calculating the time t required for performing the sailing action after receiving the instruction from the unmanned aerial vehicle driver Vertical 4
According to the estimation of unmanned aerial vehicle remote control driving technical research based on flight control response type issued by the western security flight test and the court, the rudder time of the unmanned aerial vehicle control lever is 0.5 seconds, namely t Vertical 4 ＝0.5。
Step 5, calculating the time t required for the unmanned plane to complete the flight change after the flight change action is performed by the driver Vertical 5
According to the estimation of unmanned aerial vehicle remote control driving technical research based on flight control response type issued by the western security flight test court, changing the track of the unmanned aerial vehicle takes about 2 seconds, namely t Vertical 5 ＝2
Total time t Vertical direction ＝t Vertical 1 +t Vertical 2 +t Vertical 3 +t Vertical 4 +t Vertical 5 =4+4+0+0.5+2=10.5 (seconds)
Therefore, the flight distance of the unmanned aerial vehicle is R Vertical direction ＝V Navigation system *t Vertical direction =5×10.5=52.5 meters≡53 meters. Considering the influence of wind at the position of 100 meters in true height, relevant statistical data show that the true height is about 100 meters, the high-altitude wind can reach 4.7 meters/second, and the influence distance of the high-altitude wind on the unmanned aerial vehicle is 50 meters.
Accordingly, D Vertical direction 53+50=103 meters.
In the specific implementation, the space and mutual position relation between an isolated airspace and a peripheral air way, the space distance between the air way and the airspace of the unmanned aerial vehicle are comprehensively considered, 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% D is totally reserved Vertical direction Is 10 meters. Therefore, the optimal isolation airspace level range of this embodiment is set to 113 meters in consideration of various factors.
Maximum climbing speed V of light and small unmanned aerial vehicle Vertical direction At 5m/s
The range of the vertical safety protection area of the light unmanned aerial vehicle is R Vertical direction ＝V Vertical direction * t=5×6.5=33 meters.
In the specific implementation, the space and mutual position relation between an isolated airspace and a peripheral air way, between an air line and an airspace of the unmanned aerial vehicle are comprehensively considered, the environment and air traffic flow near the isolated airspace and the coverage range of a communication, navigation and monitoring system are proposed, and a safety margin of 7 meters is reserved. Therefore, for a light and small unmanned aerial vehicle, the range of the vertical safety protection area of the isolated airspace is 40 meters.
In the embodiment, the professional aerial photography, agriculture and forestry plant protection, the electric power line inspection and the terminal logistics are taken as the light and small unmanned aerial vehicle of a typical operation scene, and the operation airspace is usually polygonal, circular, fan-shaped and the like. The convex polygon airspace has higher airspace utilization rate than the concave polygon airspace, so the polygon shape is preferably mainly a convex pattern in the process of isolating the airspace and protecting and dividing the airspace, and concave patterns are used as little as possible, thereby facilitating dividing and arranging the surrounding airspace and improving the airspace utilization rate.
Claims (4)
1. An unmanned aerial vehicle isolated airspace protection zone division method comprises a horizontal range division and a vertical range division; the method is characterized in that:
step one, determining the horizontal range D of an isolated airspace protection zone Horizontal level ＝R Horizontal level +D Threshold value Wherein, unmanned aerial vehicle horizontal flight distance is R Horizontal level The threshold value of the horizontal range of the isolated airspace protection zone is D Threshold value ；R Horizontal level ＝V Horizontal level *t Horizontal level ，V Horizontal level Is the flying speed of the unmanned aerial vehicle, t Horizontal level The unmanned aerial vehicle yaw time from the horizontal direction to the completion of the flight path change of the unmanned aerial vehicle;
the t is Horizontal level ＝Σt Level i I=1, 2, … 5, the specific steps are as follows:
step 1, calculating time t from yaw of the unmanned aerial vehicle in the horizontal direction to finding yaw of the unmanned aerial vehicle by the controller Level 1 ；
Step 2, calculating time t from when the controller finds that the unmanned aerial vehicle is yawed in the horizontal direction to when a flight altering instruction is sent Level 2 ；
Step 3, calculating time t required from when the controller sends the pilot change command to when the unmanned aerial vehicle driver receives the command in the horizontal direction Level 3 ；
Step 4, calculating time t required by the unmanned aerial vehicle driver in the horizontal direction to make a sailing action after receiving the sailing instruction Level 4 ；
Step 5, calculating time t required from the horizontal direction change action of the unmanned aerial vehicle driver to the completion of the change of the flight path of the unmanned aerial vehicle Horizontal level 5；
Step two, determining the vertical range R of the isolated airspace protection zone Vertical direction ＝V Vertical direction *t Vertical direction The method comprises the steps of carrying out a first treatment on the surface of the Wherein V is Vertical direction Is the maximum rising speed of the unmanned aerial vehicle, t Vertical direction ＝Σt Vertical i ，i＝1，2，…5；
The t is Vertical direction ＝Σt Vertical i I=1, 2, … 5; the method comprises the following specific steps:
step 1, calculating time t required from yaw to the time when a controller finds the yaw of the unmanned aerial vehicle in the vertical direction Vertical 1 ；
Step 2, calculating that the controller discovers that the unmanned aerial vehicle is in the vertical directionTime t required for yaw to issue a command for changing course Vertical 2 ；
Step 3, calculating time t required from when the controller sends the navigational change instruction to when the unmanned aerial vehicle driver receives the instruction in the vertical direction Vertical 3 ；
Step 4, calculating time t required by the unmanned aerial vehicle driver in the vertical direction to make the navigational change action after the navigational change instruction is calculated Vertical 4 ；
Step 5, calculating time t required for the unmanned aerial vehicle driver to make a vertical direction change motion until the unmanned aerial vehicle finishes the change track Vertical direction 5。
2. The method for establishing an isolated airspace protection zone of an unmanned aerial vehicle according to claim 1, wherein the unmanned aerial vehicle is yawed in a horizontal direction until a time t required for a controller to find its yaw is reached Level 1 The method is adopted for calculation: let the low altitude radar scan period be t r The radio potential reporting period is t w The controller can find yaw through n track points, then t Level 1 ＝(n-1)*min(t r ，t w )。
3. The method for setting up an isolated airspace protection zone of a unmanned aerial vehicle according to claim 2, wherein the time t from when the unmanned aerial vehicle is found to yaw in the horizontal direction to when a pilot command is issued is set up from the controller Level 2 The method is adopted for calculation: let the speech speed of the command content issued by the controller and the dictation control command be words/second or letters/second, denoted as V Speech speed Controlling the number of words or letters of the instruction to N Instructions for Then t Level 2 ＝N Instructions for /V Speech speed 。
4. A method for providing an isolated airspace protection zone of a unmanned aerial vehicle according to claim 3, wherein the unmanned aerial vehicle is yawed in a vertical direction for a time t from yawing to a time when the controller finds its yaw Vertical 1 The method is adopted for calculation: let v be the unmanned plane flight speed, t r Is the low altitude radar scanning period, t w For the radio potential reporting period, n is the controllerThe number of yaw can be found by the track points, then t Vertical 1 ＝(n-1)*min(t r ，t w )。
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