CN115064008B - Unmanned aerial vehicle runway conflict autonomous early warning system - Google Patents
Unmanned aerial vehicle runway conflict autonomous early warning system Download PDFInfo
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- CN115064008B CN115064008B CN202210391370.7A CN202210391370A CN115064008B CN 115064008 B CN115064008 B CN 115064008B CN 202210391370 A CN202210391370 A CN 202210391370A CN 115064008 B CN115064008 B CN 115064008B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0073—Surveillance aids
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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]
- G08G5/0004—Transmission of traffic-related information to or from an aircraft
- G08G5/0008—Transmission of traffic-related information to or from an aircraft with other aircraft
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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]
- G08G5/0004—Transmission of traffic-related information to or from an aircraft
- G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
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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
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
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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]
- G08G5/04—Anti-collision systems
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Abstract
The invention provides an unmanned aerial vehicle runway conflict autonomous early warning system which has ADS-B broadcasting capability, ADS-B receiving capability, runway conflict autonomous early warning capability and conflict avoidance capability. The invention can realize that the unmanned aerial vehicle can automatically and accurately sense the traffic situation of the airport scene, thereby realizing the autonomous early warning of the unmanned aerial vehicle on the runway conflict.
Description
Technical Field
The application relates to the field of fixed wing unmanned aerial vehicle runway control, in particular to an unmanned aerial vehicle runway conflict autonomous early warning system.
Background
In the next five years, the branch logistics unmanned aerial vehicle becomes a global competitive focus, which is also one of the important territories that enterprises are actively laying out and competing for. The future general airport is taken as an unmanned aerial vehicle branch freight service site, which not only meets the landing requirement and the service guarantee requirement of a large-sized fixed wing unmanned aerial vehicle, but also meets the operation diversified profit innovation requirement of the general airport. However, the following hybrid operation of the unmanned aerial vehicle and the organic vehicle in the general airport faces a plurality of safe operation problems. In view of the remote control characteristics of a large fixed-wing unmanned aerial vehicle, the system has weak capability of sensing traffic situation of an airport scene, and instant and accurate early warning of runway conflict in a high-speed take-off and landing scene is one of key difficulties of mixed operation.
The mixed operation of the large unmanned aerial vehicle and the organic vehicle at the airport is firstly established on the basis of unified monitoring means, and one network communication, fusion monitoring and collaborative management and control are realized through the fusion of communication means. ADS-B (Automatic Dependent Surveillance-Broadcast, chinese is Broadcast automatic correlation monitoring) is an important monitoring means for civil aviation transport aircraft and navigation aircraft, so that large unmanned aerial vehicles have the necessary trend of integrating the broadcasting capability of ADS-B. With the standardization of the performance requirements of the ADS-B airborne equipment, the Beidou system gradually matured together with the GPS failure avoids potential safety hazards, and based on the ADS-B IN (the ability of the aircraft to receive the ADS-B data of other surrounding aircraft) technology, the unmanned aerial vehicle can automatically and accurately sense the traffic situation of the airport scene, so that the unmanned aerial vehicle can autonomously early warn the runway conflict.
Disclosure of Invention
Aiming at the technical problems, the embodiment of the invention provides an unmanned aerial vehicle runway conflict autonomous early warning system which is used for at least solving one of the technical problems.
The technical scheme adopted by the embodiment of the invention is as follows:
the embodiment of the invention provides an unmanned aerial vehicle runway conflict autonomous early warning system which is deployed on a target unmanned aerial vehicle, and the system comprises: an onboard controller and a storage medium storing a computer program;
The onboard controller is used for executing a computer program and executing the following steps:
s10, acquiring ADS-B broadcast information of n movable bodies positioned in a set space area, wherein n is more than or equal to 1;
s20, when the corresponding target unmanned aerial vehicle is determined to be located in the runway conflict pre-warning area, acquiring the running state of the target unmanned aerial vehicle;
s30, acquiring the running states of m movable bodies when the m movable bodies positioned in the runway conflict early warning area exist in the n movable bodies based on the acquired ADS-B broadcast information; m has a value of 1 to n; s40, determining an early warning level W between the movable body i and the target unmanned aerial vehicle based on the running states of the movable body i and the target unmanned aerial vehicle in the m movable bodies and the set runway conflict judgment matrix table i Obtain the early warning level set W= (W) 1 ，W 2 ，…，W i ，…，W m ) Wherein W is i ∈(D 1 ，D 2 ，…，D T )，D j For the j-th set early warning level, i is 1 to m in value, and T is the number of the set early warning levels;
the p-th row in the set runway conflict determination matrix table includes (C p1 ，C p2 ，…，C pq )，C pk C, based on the early warning level determined by the movable body in the running state p and the target unmanned aerial vehicle in the running state k pk ∈(D 1 ，D 2 ，…，D T ) The method comprises the steps of carrying out a first treatment on the surface of the The values of p and k are 1 to q, q is the number of running states;
S50, acquiring an early warning level W with the highest level grade in the W max ＝max(W 1 ，W 2 ，…，W m ) And executing the corresponding conflict avoidance policies.
The unmanned aerial vehicle runway conflict autonomous early warning system provided by the embodiment of the invention can realize that the unmanned aerial vehicle can automatically and accurately sense the airport scene traffic situation, and further can realize the autonomous early warning of the unmanned aerial vehicle on the runway conflict.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a hybrid operation communication of a general airport unmanned aerial vehicle and an organic vehicle;
fig. 2 is a frame diagram of an unmanned aerial vehicle runway conflict autonomous early warning system provided by an embodiment of the invention;
fig. 3 is a working schematic diagram of an unmanned aerial vehicle runway conflict autonomous early warning system provided by an embodiment of the invention;
fig. 4 is a schematic diagram of an operating state.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
The embodiment of the invention provides an unmanned aerial vehicle runway conflict autonomous early warning system which is deployed on a target unmanned aerial vehicle and is used for enabling the unmanned aerial vehicle to realize runway conflict autonomous early warning.
In the embodiment of the invention, the unmanned aerial vehicle is a large fixed wing unmanned aerial vehicle. The concept of a large fixed wing unmanned aerial vehicle may be prior art. Because large-scale fixed wing unmanned aerial vehicle operation is controlled by unmanned aerial vehicle remote control platform, the current ground guarantee dispatch of airport is established on local communication network, if not integrate unmanned aerial vehicle communication control link into airport ground guarantee dispatch network, can miss airport management and control center, long-range management and control platform, unmanned aerial vehicle, organic machine, a network communication of ground guarantee resource, many types of movable body will cause the potential safety hazard to the inconsistency of airport scene traffic situation perception, reduce the operating efficiency under the mixed operation scene simultaneously, therefore the prerequisite that large-scale fixed wing unmanned aerial vehicle realized the autonomous early warning of runway conflict is formed a general airport mixed operation communication network, as shown in fig. 1. In fig. 1, the unmanned aerial vehicle, the man-machine, and the operation support vehicle broadcast their own position, identity, status, and other information via the ADS-B link. The unmanned aerial vehicle also receives ADS-B information broadcasted by surrounding active targets through an ADS-B IN technology, so that information such as accurate positions, intents and the like of potential conflict objects are obtained. And finally, forming a network for hybrid operation communication of the general airport by integrating the existing scheduling network of the general airport, the ground-air communication control network of the large fixed wing unmanned aerial vehicle, the 5G-based cooperative control network and the ADS-B link.
The large fixed-wing unmanned aerial vehicle is required to have runway conflict autonomous early warning capability, and a novel airborne module is required to be additionally arranged, wherein the novel airborne module mainly comprises four capabilities, namely ADS-B broadcasting capability, ADS-B receiving capability, runway conflict autonomous early warning capability and conflict avoidance capability, as shown in figure 2. The novel airborne module transmits processed unmanned aerial vehicle local ADS-B information, aircraft/vehicle information with collision threat around, runway collision early warning information which is autonomously judged and collision avoidance actions to the unmanned remote control console through a communication network, and the unmanned aerial vehicle remote control console enhances the instantaneity, accuracy and consistency of airport scene traffic situation awareness. Namely, the unmanned aerial vehicle runway conflict autonomous early warning system provided by the embodiment of the invention is provided with a novel airborne module.
Further, the system may include: an on-board controller and a storage medium storing a computer program. The novel on-board module can be deployed on an on-board controller.
Further, as shown in fig. 3 (refer to fig. 2), the on-board controller is configured to execute a computer program to perform the following steps:
s10, acquiring ADS-B broadcast information of n movable bodies in a set space area, wherein n is more than or equal to 1.
In an embodiment of the present invention, the set spatial region may be determined based on the range of ADS-B broadcast information that the onboard controllers are able to receive. The n movable bodies are movable bodies other than the target unmanned aerial vehicle, including aircraft, vehicles and the like.
The onboard controllers can acquire the ADS-B broadcast information of the n movable bodies in real time and store the ADS-B broadcast information in the memory.
And S20, acquiring the running state of the target unmanned aerial vehicle when the corresponding target unmanned aerial vehicle is determined to be positioned in the runway conflict early warning area. In the embodiment of the invention, the runway conflict early warning area refers to:
(1) Within 1500 feet of the runway centerline and
(2) Within 3 seas from the runway threshold and within 1000 feet above the airport elevation.
And after the unmanned aerial vehicle enters the runway conflict early warning area, the runway conflict autonomous early warning function is automatically activated. Thereby avoiding unnecessary operation pressure of the on-board equipment.
In the embodiment of the invention, determining whether the corresponding target unmanned aerial vehicle is located in the runway conflict early warning area can belong to the prior art. The airborne controller can judge whether the target unmanned aerial vehicle is located in the runway conflict early warning area or not at set period intervals. In the embodiment of the present invention, as shown in fig. 4, the operation states may include the following six operation states:
State 1: sliding to the Hold-line on the sliding channel or stopping on the Hold-line;
state 2: enter/pass the runway (not aligned with the runway);
state 3: taking off;
state 4: less than 3 knots from the runway entrance;
state 5: after landing, running and sliding on the runway;
state 6: stopping or sliding along the runway in a parallel manner to the runway (i.e., aligned with the runway).
In the embodiment of the invention, the operation state of the target unmanned aerial vehicle can be determined based on the sensing data acquired by the sensor arranged on the target unmanned aerial vehicle, and the specific determination mode can be the prior art in the field.
S30, acquiring the running states of m movable bodies when the m movable bodies positioned in the runway conflict early warning area exist in the n movable bodies based on the acquired ADS-B broadcast information; m has a value of 1 to n.
In the embodiment of the invention, judging whether the movable bodies in the runway conflict pre-warning area exist in the n movable bodies or not based on the acquired ADS-B broadcast information and determining the running states of the m movable bodies in the runway conflict pre-warning area can be the prior art.
In practical cases, the value of m is 1 or 2, preferably m=1.
S40, determining an early warning level W between the movable body i and the target unmanned aerial vehicle based on the running states of the movable body i and the target unmanned aerial vehicle in the m movable bodies and the set runway conflict judgment matrix table i Obtain the early warning level set W= (W) 1 ，W 2 ，…，W i ，…，W m ) Wherein W is i ∈(D 1 ，D 2 ，…，D T )，D j And for the set j-th early warning level, the value of i is 1 to m, and T is the number of the set early warning levels.
In the embodiment of the present invention, t=5, i.e. 5 pre-warning levels may be included. In one exemplary embodiment, D 1 ，D 2 ，D 3 、D 4 And D 5 The system is respectively provided with collision-free risks, traffic reminders, runway reminders, warnings and alarms with sequentially increased level grades.
In the embodiment of the invention, definitions of collision-free risks, traffic reminders, runway reminders, warnings and alarms are respectively as follows:
the No Collision Risk (NCR) means that the movable body (hereinafter, sometimes referred to as "machine") and the target unmanned plane (hereinafter, sometimes referred to as "machine") do not have collision Risk in the track collision early warning area.
Traffic alerts (Traffic Indication, TI) are in the track collision early warning area, and the collision risk can not happen immediately between the machine and the machine, but increases rapidly. Runway reminders (Runway Status Indication, RSI) refer to the fact that in the runway conflict pre-warning area, the machine is waiting for take-off or approaching to prepare for landing on the runway, and the machine are at risk of immediate conflict, but do not reach a certain threshold.
The warning (c) refers to that in the track collision early warning area, the collision risk level of the machine and the local machine is increased to the level that the unmanned aerial vehicle is required to execute collision avoidance actions, and the remote control console can adjust the collision avoidance scheme according to the aircraft/vehicle information, the collision early warning information and the avoidance actions which are sent by the unmanned aerial vehicle and have collision threat in the time range.
The warning (w) means that in the track collision early warning area, the collision risk level of the unmanned aerial vehicle and the local machine is increased to the point that the unmanned aerial vehicle is required to immediately execute collision avoidance actions.
Further, in an embodiment of the present invention, the p-th row in the set runway conflict determination matrix table includes (C p1 ，C p2 ，…，C pq )，C pk C, corresponding early warning levels of the movable body in the running state j and the target unmanned aerial vehicle in the running state k pk ∈(D 1 ，D 2 ，…，D T ) The method comprises the steps of carrying out a first treatment on the surface of the The values of p and k are 1 to q, q being the number of operating states. In one embodiment of the invention, q=6.
Further, in the embodiment of the present invention, the pre-warning level in the 1 st row of the set runway conflict determination matrix table satisfies:
C 11 ＝D 1 ；C 12 ＝C 13 ＝C 14 ＝C 15 ＝C 16 ＝D 2 。
that is to say:
(1) If the machine is in state 1 and the machine is in state 1, the corresponding early warning level C 11 For D 1 I.e. no risk of collision.
(2) If the machine is in the state 1 and the machine is in any one of the states 2 to 6, the corresponding early warning level is D 2 I.e. traffic alert.
Further, the pre-warning level in the 2 nd row of the set runway conflict judgment matrix table satisfies:
C 21 ＝C 22 ＝D 2 ；C 23 ∈{D 1 ，D 5 }；C 24 ∈{D 1 ，D 2 ，D 3 ，D 4 ，D 5 }；C 25 ∈{D 1 ，D 5 }；C 26 ∈{D 1 ，D 3 }；
wherein, in case the movable body is in state 2 and the target drone is in state 3:
c if the movable body is located in front of the target drone on the runway in time order 23 ＝D 5 。
C if the movable body is located behind the target drone on the runway in time order 23 ＝D 1 。
In the case where the movable body is in state 2 and the target drone is in state 4:
if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence, C if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is greater than the first set distance L1 24 ＝D 2 . In the present exemplary embodiment, l1=2nm.
If the movable body is located in time sequence in front of the target drone on the runway, C if the distance of the target drone or the movable body from the runway threshold is less than the first set distance L1 but the time to reach the runway threshold is greater than the first set time t1 24 ＝D 3 . In the embodiment of the present invention, preferably, t1=35 s.
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence, C if the time for the target unmanned aerial vehicle or the movable body to reach the entrance of the runway is less than the first set time t1 24 ＝D 4 。
If the movable body is positioned in front of the target drone on the runway in time sequence, if the targetThe time for the unmanned aerial vehicle or the movable body to reach the runway entrance is less than the second set time t2, C 24 ＝D 5 The method comprises the steps of carrying out a first treatment on the surface of the t2 is less than t1; in the embodiment of the present invention, t2=15s.
C if the movable body is located behind the target drone on the runway in time order 24 ＝D 1 ；
In the case where the movable body is in state 2 and the target drone is in state 5:
c if the movable body is located in front of the target drone on the runway in time order 25 ＝D 5 。
C if the movable body is located behind the target drone on the runway in time order 25 ＝D 1 。
In the case where the movable body is in state 2 and the target drone is in state 6:
c if the movable body is located in front of the target drone on the runway in time order 26 ＝D 3 。
C if the movable body is located behind the target drone on the runway in time order 26 ＝D 1 。
Further, the pre-warning level in the 3 rd row of the set runway conflict judgment matrix table satisfies:
C 31 ∈{D 1 ，D 3 }，C 32 ∈{D 1 ，D 5 }，C 33 ∈{D 2 ，D 5 }，C 34 ∈{D 2 ，D 3 ，D 4 ，D 5 }，C 35 ∈{D 1 ，D 5 }，C 36 ∈{D 3 ，D 5 }。
wherein, in case the movable body is in state 3 and the target drone is in state 1:
C, if the movable body and the target unmanned aerial vehicle are in a crossed state 31 ＝D 3 。
If the movable body and the target unmanned aerial vehicle are not in a junctionIn the state C 31 ＝D 1 。
In the embodiment of the invention, the intersection state refers to the same point on the runway where the host and the host point to each other, and the distance between the host and the host gradually decreases.
In case the movable body is in state 3 and the target drone is in state 2:
c, if the movable body and the target unmanned aerial vehicle are in a crossed state 32 ＝D 5 。
C, if the movable body and the target unmanned aerial vehicle are not in the intersection state 32 ＝D 1 。
In case the movable body is in state 3 and the target drone is in state 3:
c if the movable body is located in front of the target drone on the runway in time sequence 33 ＝D 5 。
C if the movable body is located behind the target drone on the runway in time order 33 ＝D 2 。
C if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle 33 ＝D 5 。
In case the movable body is in state 3 and the target drone is in state 4:
if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence, C if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is greater than the first set distance L1 34 ＝D 2 。
If the movable body is located in time sequence in front of the target drone on the runway, C if the distance of the target drone or the movable body from the runway threshold is less than the first set distance L1 but the time to reach the runway threshold is greater than the first set time t1 34 ＝D 3 。
If the movable body is positioned in front of the target drone on the runway in time sequence, if the target droneThe time for the man-machine or the movable body to reach the runway entrance is less than the first set time t1, C 34 ＝D 4 。
If the movable body is located in time sequence in front of the target drone on the runway, and if the time for the target drone or the movable body to reach the runway threshold is less than the second set time t2, C 34 ＝D 5 。
C if the movable body is located behind the target drone on the runway in time order 34 ＝D 5 。
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in a crossing state with the target unmanned aerial vehicle, C if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is greater than the first set distance L1 34 ＝D 2 。
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, C if the distance of the target unmanned aerial vehicle or the movable body from the runway threshold is less than the first set distance L1 but the time to reach the runway threshold is greater than the first set time t1 34 ＝D 3 。
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in a crossing state with the target unmanned aerial vehicle, C if the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than the first set time t1 34 ＝D 4 . In case the movable body is in state 3 and the target drone is in state 5:
c if the movable body is located in front of the target drone on the runway in time sequence 35 ＝D 5 。
C if the movable body is located behind the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle 35 ＝D 5 。
If the movable body is located behind the target drone on the runway in time sequenceAnd is not in a crossing state with the target unmanned aerial vehicle, C 35 ＝D 1 。
In case the movable body is in state 3 and the target drone is in state 6:
c if the movable body is located in front of the target drone on the runway in time order 36 ＝D 3 。
C if the movable body is located behind the target drone on the runway in time order 36 ＝D 5 。
C if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle 36 ＝D 5 。
Further, the pre-warning level in the 4 th row of the set runway conflict judgment matrix table satisfies:
C 41 ∈{D 2 ，D 3 }，C 42 ∈{D 1 ，D 2 ，D 3 ，D 4 ，D 5 }，C 43 ∈{D 2 ，D 5 }，C 44 ∈{D 2 ，D 3 ，D 4 ，D 5 }，C 45 ∈{D 2 ，D 4 ，D 5 }，C 46 ∈{D 2 ，D 3 ，D 4 ，D 5 }。
wherein, in case the movable body is in state 4 and the target drone is in state 1:
if the movable body and the target unmanned aerial vehicle are in a crossing state, if the distance between the target unmanned aerial vehicle or the movable body and the runway entrance is greater than a first set distance L1, C 41 ＝D 2 。
If the movable body and the target unmanned aerial vehicle are in a crossing state, if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is smaller than the first set distance L1 but the time to reach the runway threshold is longer than the first set time t1, C 41 ＝D 3 。
In case the movable body is in state 4 and the target drone is in state 2:
if the movable body and the target unmanned aerial vehicle are in a crossing state, if the distance between the target unmanned aerial vehicle or the movable body and the runway entrance is greater than a first set distance L1, C 42 ＝D 2 。
If the movable body and the target unmanned aerial vehicle are in a crossing state, if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is smaller than the first set distance L1 but the time to reach the runway threshold is longer than the first set time t1, C 42 ＝D 3 。
If the movable body and the target unmanned aerial vehicle are in a crossing state, if the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than the first set time t1, C 42 ＝D 4 。
If the movable body is located in time sequence in front of the target drone on the runway, and if the time for the target drone or the movable body to reach the runway threshold is less than the second set time t2, C 42 ＝D 5 。
C, if the movable body and the target unmanned aerial vehicle are not in a crossed state 42 ＝D 1 。
In case the movable body is in state 4 and the target drone is in state 3:
if the movable body is located in time sequence in front of the target drone on the runway, and if the time for the target drone or the movable body to reach the runway threshold is less than the second set time t2, C 43 ＝D 5 。
If the movable body is located behind the target drone on the runway in time order, C if the target drone or the movable body is greater than the first set distance L1 from the runway threshold 43 ＝D 2 。
C if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle 43 ＝D 5 。
In case the movable body is in state 4 and the target drone is in state 4:
c if the movable body is located in front of the target drone on the runway in time order 44 ＝D 3 。
If the movable body is located behind the target drone on the runway in time sequence, and if the distance of the target drone or the movable body from the runway threshold is greater than between the first set distance L1, C 44 ＝D 2 。
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in a crossing state with the target unmanned aerial vehicle, C if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is greater than the first set distance L1 44 ＝D 2 。
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, C if the distance of the target unmanned aerial vehicle or the movable body from the runway threshold is less than the first set distance L1 but the time to reach the runway threshold is greater than the first set time t1 44 ＝D 3 。
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in a crossing state with the target unmanned aerial vehicle, C if the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than the first set time t1 44 ＝D 4 。
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in a crossing state with the target unmanned aerial vehicle, C if the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than the second set time t2 44 ＝D 5 。
In case the movable body is in state 4 and the target drone is in state 5:
if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and the traveling directions of the movable body and the target unmanned aerial vehicle are the sameAnd the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than the second set time t2, C 45 ＝D 5 。
If the movable body is located behind the target drone on the runway in time order, if the distance of the target drone or the movable body from the runway threshold is greater than the first set distance L1, or if the distance of the target drone or the movable body from the runway threshold is less than the first set distance L1 but the time to reach the runway threshold is greater than the first set time t1, C 45 ＝D 2 。
If the movable body is located behind the target drone on the runway in time order, C if the time for the target drone or the movable body to reach the runway threshold is less than the first set time t1 45 ＝D 4 。
If the movable body is located behind the target drone on the runway in time order, C if the time for the target drone or the movable body to reach the runway threshold is less than the second set time t2 45 ＝D 5 。
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and is in a junction state with the target unmanned aerial vehicle, and the running directions of the movable body and the target unmanned aerial vehicle are opposite, and the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than the second set time t2, C 45 ＝D 5 。
In the case where the movable body is in state 4 and the target drone is in state 6:
c if the movable body is located in front of the target drone on the runway in time order 46 ＝D 3 。
If the movable body is located behind the target drone on the runway in time sequence, if the target drone or the movable body is more than a first set distance L1 from the runway threshold, or if the target drone or the movable body is less than the first set distance L1 from the runway threshold but the time to reach the runway threshold is greater thanFirst set time t1, C 46 ＝D 2 。
If the movable body is located behind the target drone on the runway in time order, C if the time for the target drone or the movable body to reach the runway threshold is less than the first set time t1 46 ＝D 4 。
If the movable body is located behind the target drone on the runway in time order, C if the time for the target drone or the movable body to reach the runway threshold is less than the second set time t2 46 ＝D 5 。
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in a crossing state with the target unmanned aerial vehicle, C if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is greater than the first set distance L1 46 ＝D 2 。
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, C if the distance of the target unmanned aerial vehicle or the movable body from the runway threshold is less than the first set distance L1 but the time to reach the runway threshold is greater than the first set time t1 46 ＝D 3 。
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in a crossing state with the target unmanned aerial vehicle, and the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than the first set time t1, C 46 ＝D 4 。
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in a crossing state with the target unmanned aerial vehicle, and the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than the second set time t2, C 46 ＝D 5 。
Further, the pre-warning level in the 5 th row of the set runway conflict judgment matrix table satisfies:
C 51 ∈{D 1 ，D 3 }，C 52 ∈{D 1 ，D 5 }，C 53 ∈{D 2 ，D 5 }，C 54 ∈{D 2 ，D 3 ，D 4 ，D 5 }，C 55 ∈{D 2 ，D 5 }，C 56 ∈{D 3 ，D 5 }。
Wherein, in the case where the movable body is in state 5 and the target drone is in state 1:
c, if the movable body and the target unmanned aerial vehicle are in a crossed state 51 ＝D 3 。
C, if the movable body and the target unmanned aerial vehicle are not in the intersection state 51 ＝D 1 。
In case the movable body is in state 5 and the target drone is in state 2:
c, if the movable body and the target unmanned aerial vehicle are in a crossed state 52 ＝D 5 。
C, if the movable body and the target unmanned aerial vehicle are not in the intersection state 52 ＝D 1 。
In case the movable body is in state 5 and the target drone is in state 3:
c if the movable body is located in front of the target drone on the runway in time sequence 53 ＝D 5 。
C if the movable body is located behind the target drone on the runway in time order 53 ＝D 2 。
C if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle 53 ＝D 5 。
In case the movable body is in state 5 and the target drone is in state 4:
if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence, C if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is greater than the first set distance L1 54 ＝D 2 。
If the movable body is located in time sequence in front of the target drone on the runway, C if the distance of the target drone or the movable body from the runway threshold is less than the first set distance L1 but the time to reach the runway threshold is greater than the first set time t1 54 ＝D 3 。
If the movable body is located in time sequence in front of the target drone on the runway, and if the time for the target drone or the movable body to reach the runway threshold is less than the first set time t1, C 54 ＝D 4 。
If the movable body is located in time sequence in front of the target drone on the runway, and if the time for the target drone or the movable body to reach the runway threshold is less than the second set time t2, C 54 ＝D 5 。
C if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle 54 ＝D 3 。
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in a crossing state with the target unmanned aerial vehicle, C if the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than the first set time t1 54 ＝D 4 。
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in a crossing state with the target unmanned aerial vehicle, C if the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than the second set time t2 54 ＝D 5 。
In the case where the movable body is in state 5 and the target drone is in state 5:
c if the movable body is located in front of the target drone on the runway in time sequence 55 ＝D 5 。
If the movable body is located behind and at the target drone on the runway in time sequenceIn the state of intersection C 55 ＝D 5 。
C if the movable body is located behind the target drone on the runway in time sequence and is not in an intersection with the target drone 55 ＝D 2 。
In the case where the movable body is in state 5 and the target drone is in state 6:
c if the movable body is located in front of the target drone on the runway in time sequence 56 ＝D 3 。
C if the movable body is located behind the target drone on the runway in time order 56 ＝D 5 。
C if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle 56 ＝D 5 。
Further, the pre-warning level in the 6 th row of the set runway conflict judgment matrix table satisfies:
C 61 ＝C 62 ＝D 2 ，C 63 ∈{D 1 ，D 5 }，C 64 ∈{D 1 ，D 2 ，D 3 ，D 4 ，D 5 }，C 65 ∈{D 2 ，D 5 }，C 66 ∈{D 2 ，D 3 }。
wherein, in case the movable body is in state 6 and the target drone is in state 3:
c if the movable body is located in front of the target drone on the runway in time sequence 53 ＝D 5 。
C if the movable body is located behind the target drone on the runway in time order 53 ＝D 1 。
C if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle 53 ＝D 5 。
In the case where the movable body is in state 6 and the target drone is in state 4:
if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence, C if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is greater than the first set distance L1 64 ＝D 2 。
If the movable body is located in time sequence in front of the target drone on the runway, C if the distance of the target drone or the movable body from the runway threshold is less than the first set distance L1 but the time to reach the runway threshold is greater than the first set time t1 64 ＝D 3 。
If the movable body is located in time sequence in front of the target drone on the runway, and if the time for the target drone or the movable body to reach the runway threshold is less than the first set time t1, C 64 ＝D 4 。
If the movable body is located in time sequence in front of the target drone on the runway, and if the time for the target drone or the movable body to reach the runway threshold is less than the second set time t2, C 64 ＝D 5 。
C if the movable body is located behind the target drone on the runway in time order 64 ＝D 1 。
In the case where the movable body is in state 6 and the target drone is in state 5:
c if the movable body is located in front of the target drone on the runway in time sequence 65 ＝D 5 。
C if the movable body is located behind the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle 65 ＝D 5 。
C if the movable body is located behind the target drone on the runway in time sequence and is not in an intersection with the target drone 65 ＝D 2 。
In the case where the movable body is in state 6 and the target drone is in state 6:
c if the movable body is located in front of the target drone on the runway in time sequence 66 ＝D 3 。
C if the movable body is located behind the target drone on the runway in time order 66 ＝D 2 。
C if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle 56 ＝D 3 。
Further, the set runway conflict matrix judgment table may be as follows in table 1:
TABLE 1
Wherein, in table 1:
n represents no collision risk; t represents TI; r represents RSI; c represents a solution; w represents rolling; ahead means that it is located in time sequence in front of the local on the runway; behind indicates that it is located Behind the own machine on the runway in time order; head on indicates that it is located in time sequence in front of and in intersection with the host on the runway.
S70, acquiring an early warning level W with the highest level grade in the W max ＝max(W 1 ，W 2 ，…，W m ) And executing the corresponding conflict avoidance policies.
Further, in the embodiment of the invention, the onboard controller is also in communication connection with a remote control platform of the unmanned aerial vehicle.
Wherein D is 1 The corresponding collision avoidance policies include: the target unmanned aerial vehicle does not execute conflict avoidance operations and executes flight according to the planned tasks.
D 2 The corresponding collision avoidance policies include: the target unmanned aerial vehicle does not execute conflict avoidance operations, and the unmanned aerial vehicle remote control platform executes monitoring D 2 Operation of the corresponding movable body. The unmanned aerial vehicle does not need to do conflict avoidance, and only needs the remote control console to pay close attention to other unmanned aerial vehicles in the traffic reminding state.
D 3 The corresponding collision avoidance policies include: the target unmanned aerial vehicle does not execute conflict avoidance operation, and the unmanned aerial vehicle remote control platform continuously focuses on runway status and executes monitoring D 3 Operation of the corresponding movable body; the unmanned aerial vehicle does not need to do conflict avoidance, and only needs the remote control console to pay close attention to the runway in the runway reminding state, and conflict risk confirmation is carried out before take-off or landing.
D 4 The corresponding collision avoidance policies include: the target unmanned aerial vehicle sends corresponding conflict avoidance operations to the unmanned aerial vehicle remote control platform, and if avoidance adjustment information sent by the unmanned aerial vehicle remote control platform is received within a set time range, the target unmanned aerial vehicle executes corresponding conflict avoidance operations according to the avoidance adjustment information. The remote control console can adjust a conflict avoidance scheme according to the aircraft/vehicle information, the conflict early warning information and the avoidance action which are sent by the unmanned aerial vehicle and have conflict threat within a set time range. If the response information sent by the unmanned aerial vehicle remote control platform is not received within the set time range, the target unmanned aerial vehicle can execute the conflict avoidance operation which is autonomously judged.
D 5 The corresponding collision avoidance policies include: the target unmanned aerial vehicle immediately executes corresponding conflict avoidance operation, namely, the unmanned aerial vehicle control platform is not required to be communicated, and the target unmanned aerial vehicleAnd directly executing corresponding conflict avoidance operation.
Although some specific embodiments of the present application have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present application. Those skilled in the art will also appreciate that various modifications might be made to the embodiments without departing from the scope and spirit of the present application. The scope of the present disclosure is defined by the appended claims.
Claims (3)
1. An unmanned runway conflict autonomous early warning system deployed on a target unmanned aerial vehicle, the system comprising: an onboard controller and a storage medium storing a computer program;
the onboard controller is used for executing a computer program and executing the following steps:
s10, acquiring ADS-B broadcast information of n movable bodies positioned in a set space area, wherein n is more than or equal to 1;
s20, when the corresponding target unmanned aerial vehicle is determined to be located in the runway conflict pre-warning area, acquiring the running state of the target unmanned aerial vehicle;
s30, acquiring the running states of m movable bodies when the m movable bodies positioned in the runway conflict early warning area exist in the n movable bodies based on the acquired ADS-B broadcast information; m has a value of 1 to n;
S40, determining an early warning level W between the movable body i and the target unmanned aerial vehicle based on the running states of the movable body i and the target unmanned aerial vehicle in the m movable bodies and the set runway conflict judgment matrix table i Obtain the early warning level set W= (W) 1 ，W 2 ，…，W i ，…，W m ) Wherein W is i ∈(D 1 ，D 2 ，…，D T )，D j For the j-th set early warning level, i is 1 to m in value, and T is the number of the set early warning levels; the p-th row in the set runway conflict determination matrix table includes (C p1 ，C p2 ，…，C pq )，C pk Is based on movable body in running stateEarly warning level determined by state p and target unmanned aerial vehicle in running state k, C pk ∈(D 1 ，D 2 ，…，D T ) The method comprises the steps of carrying out a first treatment on the surface of the The values of p and k are 1 to q, q is the number of running states;
s50, acquiring an early warning level W with the highest level grade in the W max ＝max(W 1 ，W 2 ，…，W m ) And executing a corresponding conflict avoidance strategy;
the operating states include the following six operating states:
state 1: sliding to the Hold-line on the sliding channel or stopping on the Hold-line;
state 2: enter/traverse the runway;
state 3: taking off;
state 4: less than 3 knots from the runway entrance;
state 5: after landing, running and sliding on the runway;
state 6: stopping or sliding along the runway in a manner parallel to the runway; t=5; the pre-warning level in the 1 st row of the set runway conflict judgment matrix table meets the following conditions:
C 11 ＝D 1 ；C 12 ＝C 13 ＝C 14 ＝C 15 ＝C 16 ＝D 2 ；
The pre-warning level in the 2 nd row of the set runway conflict judgment matrix table meets the following conditions:
C 21 ＝C 22 ＝D 2 ；C 23 ∈{D 1 ，D 5 }；C 24 ∈{D 1 ，D 2 ，D 3 ，D 4 ，D 5 }；C 25 ∈{D 1 ，
D 5 }；C 26 ∈{D 1 ，D 3 }；
wherein, in case the movable body is in state 2 and the target drone is in state 3:
c if the movable body is located in front of the target drone on the runway in time order 23 ＝D 5 ；
If the movable body is in running in time sequenceBehind the target unmanned aerial vehicle on the road, C 23 ＝D 1 ；
In the case where the movable body is in state 2 and the target drone is in state 4:
if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence, C if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is greater than the first set distance L1 24 ＝D 2 ；
If the movable body is located in time sequence in front of the target drone on the runway, C if the distance of the target drone or the movable body from the runway threshold is less than the first set distance L1 but the time to reach the runway threshold is greater than the first set time t1 24 ＝D 3 ；
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence, C if the time for the target unmanned aerial vehicle or the movable body to reach the entrance of the runway is less than the first set time t1 24 ＝D 4 ；
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence, C if the time for the target unmanned aerial vehicle or the movable body to reach the entrance of the runway is less than the second set time t2 24 ＝D 5 ；t2＜t1；
C if the movable body is located behind the target drone on the runway in time order 24 ＝D 1 ；
In the case where the movable body is in state 2 and the target drone is in state 5:
c if the movable body is located in front of the target drone on the runway in time order 25 ＝D 5 ；
C if the movable body is located behind the target drone on the runway in time order 25 ＝D 1 ；
In the case where the movable body is in state 2 and the target drone is in state 6:
if the movable body is located in time sequenceFront of target unmanned plane on runway, C 26 ＝D 3 ；
C if the movable body is located behind the target drone on the runway in time order 26 ＝D 1 ；
The pre-warning level in the 3 rd row of the set runway conflict judgment matrix table meets the following conditions:
C 31 ∈{D 1 ，D 3 }，C 32 ∈{D 1 ，D 5 }，C 33 ∈{D 2 ，D 5 }，C 34 ∈{D 2 ，D 3 ，D 4 ，D 5 }，C 35 ∈{D 1 ，D 5 }，C 36 ∈{D 3 ，D 5 }；
wherein, in case the movable body is in state 3 and the target drone is in state 1:
c, if the movable body and the target unmanned aerial vehicle are in a crossed state 31 ＝D 3 ；
C, if the movable body and the target unmanned aerial vehicle are not in the intersection state 31 ＝D 1 ；
In case the movable body is in state 3 and the target drone is in state 2:
c, if the movable body and the target unmanned aerial vehicle are in a crossed state 32 ＝D 5 ；
C, if the movable body and the target unmanned aerial vehicle are not in the intersection state 32 ＝D 1 ；
In case the movable body is in state 3 and the target drone is in state 3:
c if the movable body is located in front of the target drone on the runway in time sequence 33 ＝D 5 ；
C if the movable body is located behind the target drone on the runway in time order 33 ＝D 2 ；
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and is in intersection with the target unmanned aerial vehicleSink state C 33 ＝D 5 ；
In case the movable body is in state 3 and the target drone is in state 4:
if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence, C if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is greater than the first set distance L1 34 ＝D 2 ；
If the movable body is located in time sequence in front of the target drone on the runway, C if the distance of the target drone or the movable body from the runway threshold is less than the first set distance L1 but the time to reach the runway threshold is greater than the first set time t1 34 ＝D 3 ；
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence, C if the time for the target unmanned aerial vehicle or the movable body to reach the entrance of the runway is less than the first set time t1 34 ＝D 4 ；
If the movable body is located in time sequence in front of the target drone on the runway, and if the time for the target drone or the movable body to reach the runway threshold is less than the second set time t2, C 34 ＝D 5 ；
C if the movable body is located behind the target drone on the runway in time order 34 ＝D 5 ；
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in a crossing state with the target unmanned aerial vehicle, C if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is greater than the first set distance L1 34 ＝D 2 ；
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, C if the distance of the target unmanned aerial vehicle or the movable body from the runway threshold is less than the first set distance L1 but the time to reach the runway threshold is greater than the first set time t1 34 ＝D 3 ；
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in a crossing state with the target unmanned aerial vehicle, C if the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than the first set time t1 34 ＝D 4 ；
In case the movable body is in state 3 and the target drone is in state 5:
c if the movable body is located in front of the target drone on the runway in time sequence 35 ＝D 5 ；
C if the movable body is located behind the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle 35 ＝D 5 ；
C if the movable body is located behind the target drone on the runway in time sequence and is not in an intersection with the target drone 35 ＝D 1 ；
In case the movable body is in state 3 and the target drone is in state 6:
c if the movable body is located in front of the target drone on the runway in time order 36 ＝D 3 ；
C if the movable body is located behind the target drone on the runway in time order 36 ＝D 5 ；
C if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle 36 ＝D 5 ；
The pre-warning level in the 4 th row of the set runway conflict judgment matrix table meets the following conditions:
C 41 ∈{D 2 ，D 3 }，C 42 ∈{D 1 ，D 2 ，D 3 ，D 4 ，D 5 }，C 43 ∈{D 2 ，D 5 }，C 44 ∈{D 2 ，D 3 ，D 4 ，D 5 }，C 45 ∈{D 2 ，D 4 ，D 5 }，C 46 ∈{D 2 ，D 3 ，D 4 ，D 5 }；
wherein, in case the movable body is in state 4 and the target drone is in state 1:
if the movable body and the target unmanned aerial vehicle are in a crossing state, if the distance between the target unmanned aerial vehicle or the movable body and the runway entrance is greater than a first set distance L1, C 41 ＝D 2 ；
If the movable body and the target unmanned aerial vehicle are in a crossing state, if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is smaller than the first set distance L1 but the time to reach the runway threshold is longer than the first set time t1, C 41 ＝D 3 ；
In case the movable body is in state 4 and the target drone is in state 2:
if the movable body and the target unmanned aerial vehicle are in a crossing state, if the distance between the target unmanned aerial vehicle or the movable body and the runway entrance is greater than a first set distance L1, C 42 ＝D 2 ；
If the movable body and the target unmanned aerial vehicle are in a crossing state, if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is smaller than the first set distance L1 but the time to reach the runway threshold is longer than the first set time t1, C 42 ＝D 3 ；
If the movable body and the target unmanned aerial vehicle are in a crossing state, if the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than the first set time t1, C 42 ＝D 4 ；
If the movable body is located in time sequence in front of the target drone on the runway, and if the time for the target drone or the movable body to reach the runway threshold is less than the second set time t2, C 42 ＝D 5 ；
C, if the movable body and the target unmanned aerial vehicle are not in a crossed state 42 ＝D 1 ；
In case the movable body is in state 4 and the target drone is in state 3:
if the movable body is located in time sequence in front of the target drone on the runway, and if the time for the target drone or the movable body to reach the runway threshold is less than the second set time t2, C 43 ＝D 5 ；
If the movable body is located behind the target drone on the runway in time order, C if the target drone or the movable body is greater than the first set distance L1 from the runway threshold 43 ＝D 2 ；
C if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle 43 ＝D 5 ；
In case the movable body is in state 4 and the target drone is in state 4:
c if the movable body is located in front of the target drone on the runway in time order 44 ＝D 3 ；
If the movable body is located behind the target drone on the runway in time sequence, and if the distance of the target drone or the movable body from the runway threshold is greater than between the first set distance L1, C 44 ＝D 2 ；
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in a crossing state with the target unmanned aerial vehicle, C if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is greater than the first set distance L1 44 ＝D 2 ；
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, C if the distance of the target unmanned aerial vehicle or the movable body from the runway threshold is less than the first set distance L1 but the time to reach the runway threshold is greater than the first set time t1 44 ＝D 3 ；
If the movable body is in time sequenceIn front of the target unmanned aerial vehicle on the runway and in a crossing state with the target unmanned aerial vehicle, if the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than the first set time t1, C 44 ＝D 4 ；
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in a crossing state with the target unmanned aerial vehicle, C if the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than the second set time t2 44 ＝D 5 ；
In case the movable body is in state 4 and the target drone is in state 5:
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence, and the traveling directions of the movable body and the target unmanned aerial vehicle are the same, and the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than the second set time t2, C 45 ＝D 5 ；
If the movable body is located behind the target drone on the runway in time order, if the distance of the target drone or the movable body from the runway threshold is greater than the first set distance L1, or if the distance of the target drone or the movable body from the runway threshold is less than the first set distance L1 but the time to reach the runway threshold is greater than the first set time t1, C 45 ＝D 2 ；
If the movable body is located behind the target drone on the runway in time order, C if the time for the target drone or the movable body to reach the runway threshold is less than the first set time t1 45 ＝D 4 ；
If the movable body is located behind the target drone on the runway in time order, C if the time for the target drone or the movable body to reach the runway threshold is less than the second set time t2 45 ＝D 5 ；
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and is in a state of intersection with the target unmanned aerial vehicle, and can The traveling directions of the mobile body and the target unmanned aerial vehicle are opposite, and the time for the target unmanned aerial vehicle or the mobile body to reach the runway entrance is smaller than the second set time t2, C 45 ＝D 5 ；
In the case where the movable body is in state 4 and the target drone is in state 6:
c if the movable body is located in front of the target drone on the runway in time order 46 ＝D 3 ；
If the movable body is located behind the target drone on the runway in time order, if the distance of the target drone or the movable body from the runway threshold is greater than the first set distance L1, or if the distance of the target drone or the movable body from the runway threshold is less than the first set distance L1 but the time to reach the runway threshold is greater than the first set time t1, C 46 ＝D 2 ；
If the movable body is located behind the target drone on the runway in time order, C if the time for the target drone or the movable body to reach the runway threshold is less than the first set time t1 46 ＝D 4 ；
If the movable body is located behind the target drone on the runway in time order, C if the time for the target drone or the movable body to reach the runway threshold is less than the second set time t2 46 ＝D 5 ；
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in a crossing state with the target unmanned aerial vehicle, C if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is greater than the first set distance L1 46 ＝D 2 ；
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle, C if the distance of the target unmanned aerial vehicle or the movable body from the runway threshold is less than the first set distance L1 but the time to reach the runway threshold is greater than the first set time t1 46 ＝D 3 ；
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in a crossing state with the target unmanned aerial vehicle, and the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than the first set time t1, C 46 ＝D 4 ；
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in a crossing state with the target unmanned aerial vehicle, and the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than the second set time t2, C 46 ＝D 5 ；
The pre-warning level in the 5 th row of the set runway conflict judgment matrix table meets the following conditions:
C 51 ∈{D 1 ，D 3 }，C 52 ∈{D 1 ，D 5 }，C 53 ∈{D 2 ，D 5 }，C 54 ∈{D 2 ，D 3 ，D 4 ，D 5 }，C 55 ∈{D 2 ，D 5 }，C 56 ∈{D 3 ，D 5 }；
Wherein, in the case where the movable body is in state 5 and the target drone is in state 1:
c, if the movable body and the target unmanned aerial vehicle are in a crossed state 51 ＝D 3 ；
C, if the movable body and the target unmanned aerial vehicle are not in the intersection state 51 ＝D 1 ；
In case the movable body is in state 5 and the target drone is in state 2:
c, if the movable body and the target unmanned aerial vehicle are in a crossed state 52 ＝D 5 ；
C, if the movable body and the target unmanned aerial vehicle are not in the intersection state 52 ＝D 1 ；
In case the movable body is in state 5 and the target drone is in state 3:
c if the movable body is located in front of the target drone on the runway in time sequence 53 ＝D 5 ；
C if the movable body is located behind the target drone on the runway in time order 53 ＝D 2 ；
C if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle 53 ＝D 5 ；
In case the movable body is in state 5 and the target drone is in state 4:
if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence, C if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is greater than the first set distance L1 54 ＝D 2 ；
If the movable body is located in time sequence in front of the target drone on the runway, C if the distance of the target drone or the movable body from the runway threshold is less than the first set distance L1 but the time to reach the runway threshold is greater than the first set time t1 54 ＝D 3 ；
If the movable body is located in time sequence in front of the target drone on the runway, and if the time for the target drone or the movable body to reach the runway threshold is less than the first set time t1, C 54 ＝D 4 ；
If the movable body is located in time sequence in front of the target drone on the runway, and if the time for the target drone or the movable body to reach the runway threshold is less than the second set time t2, C 54 ＝D 5 ；
C if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle 54 ＝D 3 ；
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in a crossing state with the target unmanned aerial vehicle, C if the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than the first set time t1 54 ＝D 4 ；
If the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in a crossing state with the target unmanned aerial vehicle, C if the time for the target unmanned aerial vehicle or the movable body to reach the runway entrance is less than the second set time t2 54 ＝D 5 ；
In the case where the movable body is in state 5 and the target drone is in state 5:
c if the movable body is located in front of the target drone on the runway in time sequence 55 ＝D 5 ；
C if the movable body is located behind the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle 55 ＝D 5 ；
C if the movable body is located behind the target drone on the runway in time sequence and is not in an intersection with the target drone 55 ＝D 2 ；
In the case where the movable body is in state 5 and the target drone is in state 6:
c if the movable body is located in front of the target drone on the runway in time sequence 56 ＝D 3 ；
C if the movable body is located behind the target drone on the runway in time order 56 ＝D 5 ；
C if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle 56 ＝D 5 ；
The pre-warning level in the 6 th row of the set runway conflict judgment matrix table meets the following conditions:
C 61 ＝C 62 ＝D 2 ，C 63 ∈{D 1 ，D 5 }，C 64 ∈{D 1 ，D 2 ，D 3 ，D 4 ，D 5 }，C 65 ∈{D 2 ，
D 5 }，C 66 ∈{D 2 ，D 3 }；
wherein, in case the movable body is in state 6 and the target drone is in state 3:
c if the movable body is located in front of the target drone on the runway in time sequence 53 ＝D 5 ；
C if the movable body is located behind the target drone on the runway in time order 53 ＝D 1 ；
C if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle 53 ＝D 5 ；
In the case where the movable body is in state 6 and the target drone is in state 4:
if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence, C if the distance between the target unmanned aerial vehicle or the movable body and the runway threshold is greater than the first set distance L1 64 ＝D 2 ；
If the movable body is located in time sequence in front of the target drone on the runway, C if the distance of the target drone or the movable body from the runway threshold is less than the first set distance L1 but the time to reach the runway threshold is greater than the first set time t1 64 ＝D 3 ；
If the movable body is located in time sequence in front of the target drone on the runway, and if the time for the target drone or the movable body to reach the runway threshold is less than the first set time t1, C 64 ＝D 4 ；
If the movable body is located in time sequence in front of the target drone on the runway, and if the time for the target drone or the movable body to reach the runway threshold is less than the second set time t2, C 64 ＝D 5 ；
C if the movable body is located behind the target drone on the runway in time order 64 ＝D 1 ；
In the case where the movable body is in state 6 and the target drone is in state 5:
c if the movable body is located in front of the target drone on the runway in time sequence 65 ＝D 5 ；
C if the movable body is located behind the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle 65 ＝D 5 ；
C if the movable body is located behind the target drone on the runway in time sequence and is not in an intersection with the target drone 65 ＝D 2 ；
In the case where the movable body is in state 6 and the target drone is in state 6:
c if the movable body is located in front of the target drone on the runway in time sequence 66 ＝D 3 ；
C if the movable body is located behind the target drone on the runway in time order 66 ＝D 2 ；
C if the movable body is positioned in front of the target unmanned aerial vehicle on the runway in time sequence and in an intersection state with the target unmanned aerial vehicle 56 ＝D 3。
2. The system of claim 1, wherein D 1 ，D 2 ，D 3 、D 4 And D 5 The system is respectively provided with collision-free risks, traffic reminders, runway reminders, warnings and alarms with sequentially increased level grades.
3. The system of claim 2, wherein the onboard controller is further communicatively coupled to a drone remote control platform;
D 1 the corresponding collision avoidance policies include: the unmanned aerial vehicle executes flight according to the planned task without collision risk;
D 2 corresponding conflict avoidance policiesComprising the following steps: the target unmanned aerial vehicle does not execute conflict avoidance operations, and the unmanned aerial vehicle remote control platform executes monitoring D 2 Operation of the corresponding movable body;
D 3 the corresponding collision avoidance policies include: the target unmanned aerial vehicle does not execute conflict avoidance operation, and the unmanned aerial vehicle remote control platform continuously focuses on runway status and executes monitoring D 3 Operation of the corresponding movable body;
D 4 the corresponding collision avoidance policies include: the target unmanned aerial vehicle sends corresponding conflict avoidance operations to the unmanned aerial vehicle remote control platform, and if avoidance adjustment information sent by the unmanned aerial vehicle remote control platform is received within a set time range, the target unmanned aerial vehicle executes corresponding conflict avoidance operations according to the avoidance adjustment information;
D 5 the corresponding collision avoidance policies include: and the target unmanned aerial vehicle immediately executes corresponding conflict avoidance operation.
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