CN116959296B

CN116959296B - Aircraft flight conflict detection method, device and system

Info

Publication number: CN116959296B
Application number: CN202311084319.2A
Authority: CN
Inventors: 霍瑛; 吕人力
Original assignee: Civil Aviation Management Institute Of China
Current assignee: Civil Aviation Management Institute Of China
Priority date: 2023-08-28
Filing date: 2023-08-28
Publication date: 2024-08-20
Anticipated expiration: 2043-08-28
Also published as: CN116959296A

Abstract

The application discloses a method, a device and a system for detecting flight conflict of an aircraft, wherein the aircraft comprises a man-machine and an unmanned aerial vehicle. The method comprises the following steps: acquiring space-time protection information of different aircrafts, wherein the space-time protection information comprises protection time and corresponding protection space; and detecting flight conflict among different aircrafts according to the space-time protection information. According to the scheme, the system, the efficient collaborative monitoring and the conflict detection alarm are realized in a scene of mixed operation of the unmanned aerial vehicle and the man-machine, and the flight safety is ensured.

Description

Aircraft flight conflict detection method, device and system

Technical Field

The invention relates to the field of aircraft flight monitoring, in particular to a method, a device and a system for detecting aircraft flight conflict.

Background

With the development of general aviation technology, the number of aircrafts such as an unmanned aerial vehicle and an unmanned aerial vehicle is increased, and the conflict detection requirements among aircrafts are also more and more prominent. Because aircraft variety is various, and the flight ability is different, and the route of flight, airspace are also dynamic, changeable, be difficult to adopt the common scheme in civil aviation field to detect and avoid the flight conflict of aircraft, especially to the scene that has aircraft, unmanned aerial vehicle are in same airspace, do not have a system at present, efficient flight conflict detection solution, have brought the hidden danger for flight safety.

Disclosure of Invention

In view of the above problems, the invention provides a method, a device and a system for detecting flight conflict of an aircraft, which can detect the flight conflict systematically and efficiently and improve the flight safety.

According to a first aspect of the present disclosure, there is provided a method of aircraft flight conflict detection, the aircraft including a man-machine and an unmanned aerial vehicle, the method comprising:

Acquiring space-time protection information of different aircrafts, wherein the space-time protection information comprises protection time and corresponding protection space;

And detecting flight conflict among different aircrafts according to the space-time protection information.

Further, the detecting flight conflict between the different aircraft according to the spatiotemporal protection information includes:

If there is a temporal overlap of the protection times of the different aircraft and a spatial overlap of the protection spaces of the different aircraft, then there is a flight conflict between the different aircraft.

Further, in a first stage before the aircraft takes off, the acquiring the space-time protection information of the different aircraft includes:

Acquiring flight plans of different aircrafts, wherein the flight plans comprise airspace ranges and service times of the aircrafts;

and determining the protection time according to the use time, and determining the protection space according to the airspace range.

Further, in a second stage before the aircraft takes off, the acquiring the space-time protection information of the different aircraft includes:

acquiring preset take-off time and a preset route of an aeroplane to be taken off;

determining the protection time of the man-machine according to the preset take-off time, and determining the protection space of the man-machine according to the preset route;

acquiring a preset flight path of an unmanned aerial vehicle to be taken off and taken off;

and determining the space-time protection information of the unmanned aerial vehicle according to the preset flight path of the unmanned aerial vehicle.

Further, in a second phase of the aircraft before takeoff, the detecting a flight conflict between the different aircraft includes:

Detecting flight conflicts between an unmanned aerial vehicle to be taken off and an unmanned aerial vehicle to be taken off or taken off, and/or

And detecting flight conflict between the unmanned aerial vehicle to be taken off and the unmanned aerial vehicle to be taken off or taken off.

Further, in a third stage after the aircraft takes off, the acquiring the space-time protection information of the different aircraft includes:

acquiring the dynamic information of the organic machine, wherein the dynamic information of the organic machine comprises a first time stamp and the position information of the organic machine;

Determining the protection time of the man-machine according to the first timestamp, and determining the protection space of the man-machine according to the position information of the man-machine;

And acquiring preset space-time protection information of the unmanned aerial vehicle.

a flight conflict between the in-flight drone and the in-flight drone is detected.

Further, the method further comprises:

Acquiring unmanned aerial vehicle dynamic information, wherein the unmanned aerial vehicle dynamic information comprises a second time stamp and unmanned aerial vehicle position information;

and judging whether the unmanned aerial vehicle is separated from the protection space of the unmanned aerial vehicle according to the dynamic information of the unmanned aerial vehicle and the space-time protection information of the unmanned aerial vehicle.

Further, the method further comprises:

acquiring temporary limit area information;

and judging whether space-time overlap exists between the space-time protection information of the aircraft and the temporary limiting area information.

According to a second aspect of the present disclosure, there is provided an aircraft flight conflict detection apparatus comprising:

The acquisition module is used for acquiring space-time protection information of different aircrafts, wherein the space-time protection information comprises protection time and corresponding protection space;

and the detection module is used for detecting flight conflict among different aircrafts according to the space-time protection information.

According to a third aspect of the present disclosure, there is provided an aircraft flight conflict detection system comprising:

The system comprises an aeroplane machine flight monitoring module, a control module and a control module, wherein the aeroplane machine flight monitoring module is used for monitoring an aeroplane machine in flight and generating dynamic information of the aeroplane machine;

the unmanned aerial vehicle flight monitoring module is used for monitoring the unmanned aerial vehicle in flight and generating unmanned aerial vehicle dynamic information;

a flight status assessment platform for performing the method according to any one of the first aspects.

According to a fourth aspect of the present disclosure, there is provided an electronic device comprising:

A processor; and

A memory in which a program is stored,

Wherein the program comprises instructions which, when executed by the processor, cause the processor to perform the method according to any of the first aspects.

According to a fifth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method according to any one of the first aspects.

According to the one or more technical schemes provided by the embodiment of the application, by acquiring the space-time protection information of different aircrafts and detecting the flight conflict among the different aircrafts according to the space-time protection information, the system, the high-efficiency collaborative monitoring and the conflict detection alarm can be realized in a scene with the mixed operation of a man-machine and an unmanned plane, and the flight safety is ensured.

Drawings

Further details, features and advantages of the present disclosure are disclosed in the following description of exemplary embodiments, with reference to the following drawings, wherein:

FIG. 1 illustrates a flow chart of an aircraft flight conflict detection method according to a first embodiment of the present disclosure;

FIG. 2 illustrates a flow chart of an aircraft flight conflict detection method according to a second embodiment of the present disclosure;

fig. 3 shows a schematic diagram of an aircraft flight conflict detection device according to a third embodiment of the present disclosure;

FIG. 4 shows a schematic diagram of an aircraft flight conflict detection system according to a fourth embodiment of the present disclosure;

fig. 5 illustrates a block diagram of an exemplary electronic device that can be used to implement embodiments of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure have been shown in the accompanying drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.

It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.

The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below. It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.

It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.

The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

Aspects of the present disclosure are described below with reference to the accompanying drawings.

Fig. 1 is a flowchart of an aircraft flight conflict detection method according to a first embodiment of the present disclosure. Wherein, the aircraft includes organic and unmanned aerial vehicle, and this method includes following steps:

S101, acquiring space-time protection information of different aircrafts, wherein the space-time protection information comprises protection time and corresponding protection space;

optionally, in a first phase before the aircraft takes off, the step comprises:

In a second phase of the aircraft before takeoff, the steps include:

In a third phase after the takeoff of the aircraft, the steps include:

Optionally, in the second and third stages, the protection space is composed of one or more rectangular parallelepiped spaces.

S102, detecting flight conflict among different aircrafts according to the space-time protection information.

Specifically, if there is a time overlap of the protection times of the different aircraft and there is a spatial overlap of the protection spaces of the different aircraft, there is a flight conflict between the different aircraft.

Optionally, the protection time of different aircrafts is compared first, if the protection time of different aircrafts is not overlapped, no flight conflict exists, if the protection time of different aircrafts is overlapped, then the protection space of different aircrafts is compared, if the protection time of different aircrafts is not overlapped, no flight conflict exists, and if the protection space of different aircrafts is overlapped, then the flight conflict exists.

Optionally, the compared protection spaces of different aircraft are protection spaces corresponding to overlapping protection times.

Optionally, in a second stage before the aircraft takes off, a flight conflict between the unmanned aerial vehicle to take off and the unmanned aerial vehicle to take off or already take off is detected, and/or a flight conflict between the unmanned aerial vehicle to take off and the unmanned aerial vehicle to take off or already take off is detected. In a third phase after the aircraft takes off, a flight conflict between the in-flight unmanned aerial vehicle and the in-flight unmanned aerial vehicle is detected.

Optionally, in a third stage after the aircraft takes off, the method further comprises:

Optionally, the method further comprises:

acquiring temporary limit area information;

According to the method provided by the embodiment of the disclosure, by acquiring the space-time protection information of different aircrafts and detecting the flight conflict among the different aircrafts according to the space-time protection information, the system, the efficient collaborative monitoring and the conflict detection alarm can be realized in a scene of mixed operation of an unmanned aerial vehicle and a man-machine, and the flight safety is ensured.

Fig. 2 is a flowchart of an aircraft flight conflict detection method according to a second embodiment of the present disclosure. The method comprises the following steps:

s201, acquiring a flight plan of the unmanned aerial vehicle and a flight plan of the unmanned aerial vehicle in a first stage before the take-off of the aircraft;

Alternatively, the first phase refers to a phase in which a flight plan has been developed, also called strategic phase, in which the time from aircraft takeoff exceeds a preset first threshold (for example 1 day). The state evaluation at the strategic stage mainly aims at the use condition of the unmanned aerial vehicle and the planned airspace of the unmanned aerial vehicle, and marks and early warns before flying based on the use condition. And comparing the overlapping situations of the space and time of the flight plans of all the unmanned aerial vehicles and the unmanned aerial vehicles in a traversing mode.

The flight plan includes a range of airspace and a time of use for which the plan is intended. As one example, in this phase, the flight plan of the next day of the drone and the flight plan of the drone are retrieved, the flight plan including aircraft ID, model, mission properties, airspace range for application use, time of use, pilot, and so on information. The flight plan format of the unmanned aerial vehicle is the same as that of the unmanned aerial vehicle.

S202, judging whether space-time overlapping exists between the flight plan of the man-machine and the flight plan of the unmanned aerial vehicle, if so, flight conflict exists;

Optionally, the time of use in the flight plan is determined as a guard time, and the airspace range in the flight plan is determined as a guard space. Firstly judging whether the time of use of the flight plan of the man-machine and the time of use of the flight plan of the unmanned aerial vehicle overlap or not, if not, judging whether space overlap exists according to the airspace range of the flight plan of the man-machine and the airspace range of the flight plan of the unmanned aerial vehicle, if not, judging whether flight conflict exists, and if so, judging whether flight conflict exists.

And performing cross comparison on all unmanned aerial vehicles and the flight plans of the unmanned aerial vehicles by the method, and determining the pair of the unmanned aerial vehicles and the unmanned aerial vehicles with flight conflict.

Because the unmanned aerial vehicle has certain flexibility in flying, optionally, whether the unmanned aerial vehicle is loaded with automatic monitoring equipment or not is determined later, namely whether the unmanned aerial vehicle can acquire the dynamic information of the unmanned aerial vehicle in flying or not is determined, if so, the unmanned aerial vehicle and the unmanned aerial vehicle with the flying conflict are marked in the system, and an operator is informed to avoid the unmanned aerial vehicle in flying, and if not, the flying plan of the unmanned aerial vehicle with the flying conflict with the unmanned aerial vehicle is refused, so that the flying safety of the unmanned aerial vehicle is ensured.

S203, in a second stage before taking off the aircraft, acquiring a preset take-off time and a preset route of the unmanned aerial vehicle to be taken off and the unmanned aerial vehicle to be taken off;

optionally, the second phase refers to a phase in which the time to take-off of the aircraft is less than a preset second threshold value, which is less than or equal to a preset first threshold value, also known as a pre-tactical phase. The pre-tactical phase refers to a short period of time before the aircraft will perform its flight activities.

S204, determining the space-time protection information of the unmanned aerial vehicle according to the preset take-off time and the preset route, and determining the space-time protection information of the unmanned aerial vehicle according to the preset route of the unmanned aerial vehicle;

And determining the protection time of the man-machine according to the preset take-off time, and determining the protection space of the man-machine according to the preset route. The protection space takes a preset route of an aeroman as a reference, and a cuboid space is constructed as the protection space for each key route point changing the route direction on the preset route. If according to the preset route, in the time range The heading of the man-machine is not changed, the protection space of the man-machine is a cuboid space, and if the heading of the man-machine is changed, the protection space formed by connecting a plurality of cuboids is axially established according to the direction of the route.

The preset flight path of the unmanned aerial vehicle is 4-dimensional flight path information, and the flight path information comprises a plurality of protection times and corresponding protection space information.

Optionally, the protection space is composed of one or more cuboid spaces.

S205, if the space-time protection information of the unmanned aerial vehicle and the unmanned aerial vehicle have space-time overlapping, or the space-time protection information of the unmanned aerial vehicle and the unmanned aerial vehicle have space-time overlapping, flight conflict exists;

At this stage, there is collision mitigation and situation awareness between the unmanned aerial vehicle and collision resolution between the unmanned aerial vehicle and the unmanned aerial vehicle, i.e. there is a need to detect a flight collision between the unmanned aerial vehicle to be taken off and the unmanned aerial vehicle to be taken off or already taken off and/or to detect a flight collision between the unmanned aerial vehicle to be taken off and the unmanned aerial vehicle to be taken off or already taken off. The unmanned aerial vehicle to take off refers to an unmanned aerial vehicle which is already in a pre-tactical stage and which has issued a 4-dimensional flight path.

The space-time protection information of the unmanned aerial vehicle and the unmanned aerial vehicle are compared to detect whether flight conflict exists. Optionally, when flight conflict exists between the unmanned aerial vehicle and the unmanned aerial vehicle, further calculating the number of unmanned aerial vehicles having flight conflict with the unmanned aerial vehicle, comparing the number with a preset threshold, and if the number is greater than or equal to the preset threshold, adjusting the take-off time of the unmanned aerial vehicle, otherwise, adjusting the 4-dimensional flight path of the unmanned aerial vehicle.

Optionally, the conflict resolution of the unmanned aerial vehicle is based on other shared unmanned aerial vehicle operation information, and the constraint condition of applying for space-time resources is that the 4-dimensional flight path of the unmanned aerial vehicle is in non-space-time overlapping with the 4-dimensional flight path of the unmanned aerial vehicle which is applied for or is running.

S206, acquiring dynamic information of the unmanned aerial vehicle in a third stage after the aircraft takes off;

This phase, also called tactical phase, refers to the process of unmanned and unmanned operation. The man-machine dynamic information includes man-machine ID, location information, flight direction, flight speed, time stamp, etc.

S207, determining space-time protection information of the man-machine according to the dynamic information of the man-machine;

and determining the protection time of the man-machine according to the timestamp in the dynamic information of the man-machine, and determining the protection space of the man-machine according to the position information of the man-machine. Optionally, determining the real-time position of the man-machine according to the time stamp and the position information, and generating a predicted route of the man-machine according to the flight direction and the flight speed, so that the man-machine protection space is built according to the predicted route by taking the real-time position of the man-machine as a starting point.

Optionally, the predicted course may also be generated or adjusted based on external environmental information and flight management information. Such as terrain information, obstacle information, temporary restricted area information, ground temporary population aggregation information, weather information, electromagnetic environment, and the like.

Optionally, the man-machine protection space is updated periodically, the updating period is preset or is dynamically determined based on the flying speed, and the faster the flying speed is, the shorter the updating period is.

S208, detecting flight conflict according to the space-time protection information of the unmanned aerial vehicle and the space-time protection information of the unmanned aerial vehicle.

Optionally, whether the overlap exists between the man-machine protection time and the unmanned aerial vehicle protection time is judged first, if not, the flight conflict does not exist, if yes, whether the space overlap exists between the man-machine protection space and the unmanned aerial vehicle protection space is judged, if not, the flight conflict does not exist, and if yes, the flight conflict exists.

Optionally, judging whether the space overlap exists between the man-machine protected space and the unmanned aerial vehicle protected space according to the following method:

determining three axes perpendicular to each other based on a first vertex of the man-machine protected space;

Selecting a second vertex of the unmanned aerial vehicle protection space;

creating a vector of the first vertex and the second vertex;

and determining whether the second vertex is in the man-machine protection space or not by utilizing projections of the vectors on three axes, and if so, overlapping the space.

Optionally, in step S206, unmanned aerial vehicle dynamic information is also acquired, including unmanned aerial vehicle ID, location information, flight direction, flight speed, time stamp, etc.

Before step S208, it is determined whether the unmanned aerial vehicle is separated from the unmanned aerial vehicle protection space according to the unmanned aerial vehicle dynamic information and the space-time protection information of the unmanned aerial vehicle, and if not, step S208 is executed.

The space-time protection information of the unmanned aerial vehicle is determined in the second stage before the unmanned aerial vehicle takes off, or is extracted from a 4-dimensional track of the unmanned aerial vehicle.

Specifically, the above determination is performed by a vector projection method, including:

acquiring the real-time position of the unmanned aerial vehicle according to the dynamic information of the unmanned aerial vehicle;

Determining three mutually perpendicular axes based on one vertex of the unmanned aerial vehicle protection space corresponding to the current moment;

creating a vector of the real-time position of the unmanned aerial vehicle and the vertex;

and determining whether the real-time position is in the unmanned aerial vehicle protection space or not by utilizing the projection of the vector on three axes, and if so, ensuring that the unmanned aerial vehicle is not separated from the unmanned aerial vehicle protection space.

Optionally, in parallel with step S208 or before or after step S208, the method further comprises:

acquiring temporary limit area information;

and judging whether space-time overlapping exists between the space-time protection information of the unmanned aerial vehicle and the temporary limiting area information, if so, carrying out warning and bypassing the temporary limiting area, and if so, carrying out flight conflict.

According to the method provided by the embodiment of the disclosure, the space-time protection information of the aircraft is respectively obtained at different stages before and after the aircraft takes off, the flight conflicts between the unmanned aerial vehicle and the unmanned aerial vehicle in different running states are detected according to the space-time protection information, potential conflict risks can be found in advance and eliminated, the conflict detection of the whole flow is realized, the processing modes of the unmanned aerial vehicle under special conditions such as running consistency and regional temporary control are also considered, and the efficiency and the flight safety of the conflict detection in the scene of the mixed running of the unmanned aerial vehicle and the unmanned aerial vehicle are further improved.

Fig. 3 is a schematic diagram of an aircraft flight conflict detection device according to a third embodiment of the present disclosure. The device comprises:

the acquiring module 301 is configured to acquire space-time protection information of different aircraft, where the space-time protection information includes protection time and corresponding protection space;

and the detection module 302 is used for detecting flight conflict among different aircrafts according to the space-time protection information.

Optionally, the acquiring module 301 is configured, in a first stage before the aircraft takes off, to:

Optionally, the acquiring module 301 is configured to, in a second stage before the aircraft takes off:

Optionally, the acquiring module 301 is configured to, in a third stage after the aircraft takes off:

Optionally, the detection module 302 is configured to compare the protection times of different aircraft first, if the protection times are not overlapped, then there is no flight conflict, if the protection times are overlapped, then compare the protection spaces of different aircraft, if the protection times are not overlapped, then there is no flight conflict, and if the protection spaces are overlapped, then there is a flight conflict.

Optionally, the detection module 302 is configured to detect a flight conflict between the unmanned aerial vehicle to be launched and the unmanned aerial vehicle to be launched or launched, and/or detect a flight conflict between the unmanned aerial vehicle to be launched and the unmanned aerial vehicle to be launched or launched, in a second stage before the aircraft is launched. In a third phase after the aircraft takes off, a flight conflict between the in-flight unmanned aerial vehicle and the in-flight unmanned aerial vehicle is detected.

Optionally, in a third stage after the aircraft takes off, the acquiring module 301 is further configured to acquire unmanned aerial vehicle dynamic information, where the unmanned aerial vehicle dynamic information includes a second timestamp and position information of the unmanned aerial vehicle;

The detection module 302 is further configured to determine whether the unmanned aerial vehicle is separated from the protection space of the unmanned aerial vehicle according to the unmanned aerial vehicle dynamic information and the space-time protection information of the unmanned aerial vehicle.

Optionally, the acquiring module 301 is further configured to acquire temporary restriction area information;

the detection module 302 is further configured to determine whether there is a spatiotemporal overlap between the spatiotemporal protection information of the aircraft and the temporary confinement region information.

Optionally, the apparatus is for implementing the methods of the first and second embodiments of the present disclosure.

The device provided by the embodiment of the disclosure can realize system and efficient collaborative monitoring and conflict detection alarm in a scene of mixed operation of an unmanned aerial vehicle and a man-machine by acquiring the space-time protection information of different aircrafts and detecting the flight conflict among the different aircrafts according to the space-time protection information, thereby guaranteeing the flight safety. And the space-time protection information of the aircraft is respectively acquired at different stages before and after the aircraft takes off, so that potential conflict risks can be found in advance and eliminated, the conflict detection of the whole process is realized, the processing modes of unmanned aerial vehicle running consistency, regional temporary control and other special conditions are also considered, and the efficiency and the flight safety of the conflict detection in the scene of the mixed operation of the unmanned aerial vehicle and the unmanned aerial vehicle are further improved.

Fig. 4 is a schematic diagram of an aircraft flight conflict detection system according to a fourth embodiment of the present disclosure. The system comprises:

the man-machine flight monitoring module 401 is configured to monitor a man-machine in flight, generate man-machine dynamic information, and send the man-machine dynamic information to the flight state evaluation platform;

the unmanned aerial vehicle flight monitoring module 402 is used for monitoring the unmanned aerial vehicle in flight, generating unmanned aerial vehicle dynamic information and sending the unmanned aerial vehicle dynamic information to the flight state evaluation platform;

a flight status assessment platform 403 for performing the methods according to the first and second embodiments.

Optionally, the system further includes an external information module 404 for obtaining information related to operation provided by a third party, including terrain information, obstacle information, temporary restricted area information, ground temporary population aggregation information, weather information, electromagnetic environment, etc.

Optionally, the system further includes a data storage and interaction module 405, configured to verify formats of various data of the unmanned aerial vehicle flight monitoring module 401 and the unmanned aerial vehicle flight monitoring module 402, including a flight plan of the unmanned aerial vehicle and the unmanned aerial vehicle, a 4-dimensional track of the unmanned aerial vehicle, a unmanned aerial vehicle protection space, dynamic information of the unmanned aerial vehicle, and the like, and further configured to clean the data of the external information module 404, and convert the data to a unified standard coordinate system and a unified time standard. The data after data verification and conversion is stored with the geographical area as an index for extraction and use by the flight status assessment platform 403.

The flight state evaluation platform 403 covers the unmanned aerial vehicle full-process operation, and performs conflict judgment and alarm according to different operation characteristics and limiting conditions in a tactical stage, a pre-tactical stage and a tactical stage respectively.

As an example, the specific flow of the system operation is as follows:

In the strategic stage, the flight status assessment platform 403 first retrieves the flight plan of the next day of the unmanned aerial vehicle and the flight plan of the unmanned aerial vehicle, which includes information on the aircraft ID, model, mission properties, airspace range to be applied for use, time of use, pilot, and so on. The flight plan format of the unmanned aerial vehicle is the same as that of the unmanned aerial vehicle.

For a unmanned plane uWhereinFor all unmanned aerial vehicle sets for executing the flight tasks on the next day, information for conflict judgment in the flight plan of unmanned aerial vehicle u is extracted, which can be expressed asWhereinRepresented as unmanned plane u planning using airspace range, i.e. protected space, represented asWhereinThe coordinates of the ith vertex defining the plane shape of airspace space are represented as three-dimensional coordinates including longitude x, latitude y and altitude z。，The total number of vertexes of the airspace plane used by the unmanned plane u plan is defined, and the numbering rule of the vertexes is clockwise numbering from the north direction.Representing the elevation of the spatial domain range,Representing the spatial domain range of unmanned plane u planI.e., the guard time, wherein,AndUnmanned aerial vehicle respectivelyPlanning to use airspaceStart time and end time of (c).

For a frame of man-machineWhereinMan-machine set for executing flight tasks on the next day and man-machineInformation for collision detection in the flight plan of (2) can be expressed asWhereinI.e. protected space, in whichThe coordinates of the jth vertex defining the plane shape of the airspace space, which is composed of three-dimensional coordinates including longitude x, latitude y and altitude z, can be expressed as，To define the total number of vertices of the hollow domain plane of the man-machine flight plan, the numbering rules for vertices are numbered clockwise from the north-positive direction.Representing the elevation of the spatial domain range,Representing a man-machinePlanning to use airspace rangeI.e., guard time, wherein,AndRespectively, are man-machinePlanning to use airspaceStart time and end time of (c).

Then, whether space-time overlap exists between the unmanned aerial vehicle flight plan and the unmanned aerial vehicle flight plan is judged. If present:

,, The representation or the representation of the product, Represent arbitrary;

Then prove that there is a man-machine And unmanned aerial vehicleThere is a temporal overlap between them, and this case makes use of the spatial domain to further identify the spatial overlap. First, judging overlapping condition in height direction, and optionally selecting one unmanned aerial vehicleOptionally its apexAnd the judged man-machineIs determined in the height direction, if any:

,

The flight plan airspace of the unmanned aerial vehicle and the unmanned aerial vehicle is proved to be overlapped in height, and the judgment on a two-dimensional plane which only considers longitude and latitude coordinates is further converted.

Since the shape of the airspace plane of the plane plan may be complex, considering whether the two planes overlap may be translated into considering whether the vertices defining the plane of the airspace of the unmanned plane are inside the planned airspace of the unmanned plane. In this case, longitude and latitude coordinates of plane vertexes of the unmanned plane are sequentially selected, judgment of the point-space relationship is performed by a ray method, rays are taken from the judgment points to a certain uniform direction, the number of the intersection points is judged according to parity, if the number is an odd number, the judgment points are in the space, and if the number is an even number, the judgment points are out of the space. The specific judging method comprises the following steps:

Unmanned plane Is set at the target point of (2)The longitude and latitude coordinates of (a) are%) The origin is used as a direction vectorIs used for the radiation of (a),Judging points by traversing the intersection condition of each edge on the space plane of the man-machine planWhether or not the horizontal projection of (2) is in the presence of man-machineWithin the horizontal airspace range of (1), where. The intersection index is defined as:

，

wherein the method comprises the steps of Represented as a man-machineBoundary segments of airspace in a flight plan, if present:

,

Description Point Is in the presence of man-machineThe interior of the plane planning airspace, namely the organic machineAirplane planning airspace and unmanned aerial vehicleWith space-time overlap between flight plan airspace, i.e., with flight conflict.

By the method, the space-time overlapping condition of two airspace ranges can be accurately and efficiently detected. And performing cross comparison on all unmanned aerial vehicles and the flight plans of the unmanned aerial vehicles by the method, and determining the pair of the unmanned aerial vehicles and the unmanned aerial vehicles with flight conflict. Because the unmanned aerial vehicle has certain flexibility in flying, optionally, whether the unmanned aerial vehicle is provided with the automatic related monitoring equipment or not is determined later, namely whether the unmanned aerial vehicle can acquire the dynamic information of the unmanned aerial vehicle in flying or not is determined, if so, the unmanned aerial vehicle and the unmanned aerial vehicle are marked with marks with planned space-time overlapping, and an operator is informed to avoid the unmanned aerial vehicle in flying, and if not, the unmanned aerial vehicle in conflict with the unmanned aerial vehicle is refuted to ensure the flying safety of the unmanned aerial vehicle.

In the pre-tactical stage, there is conflict mitigation and situational awareness between the drone and the drone. The 4-dimensional track of the unmanned aerial vehicle is shown as starting from take-off toCorresponding track points with time as interval and collection of protection space of corresponding track points with time as interval, and unmanned aerial vehicleFor example, the 4-dimensional track data related to collision detection may be expressed specifically as:

,

wherein the method comprises the steps of Representative unmanned aerial vehicleAt the position ofThe planned position of the moment in time can be expressed as,Representing longitude, latitude and altitude information, respectively.Representing a rectangular solid space defined by four parameters, whereinRespectively shown inAt any time, with unmanned aerial vehicleIs a predicted position of (a)Is provided for the datum point in front of the running directionIs arranged at the rear of the distanceAnd by the distance ofFor the side length of a square plane perpendicular to the direction of travel, the square plane is defined byIs central.Is to indicate that the unmanned plane is inDirection vector of time of day operation. The plurality of cuboid spaces form a protection space of the unmanned aerial vehicle. The data length of the 4-dimensional track is determined from the run time,Representation unmanned aerial vehicleFourth dimension trackThe corresponding time of the time stamp forms the protection time of the unmanned plane,The time relation is that。

For a frame of man-machineThe information acquired by the flight status assessment platform 403 during the pre-tactical phase is represented asWhereinIs the exact time that an individual plans to take off from an airport,Is a protection space of the man-machine in the pre-tactical stage, the protection space takes a preset route of the man-machine as a reference, and takesThe square plane is centered on the position on the preset course of the man-machine, for the side length of the square plane perpendicular to the direction of travel.In order to protect the elevation of the airspace, if according to the preset route, in the time rangeThe interior man-machine course can not change, then the protection space of man-machine is a cuboid space, if there is man-machine course to change, then establishes the protection space that a plurality of cuboids are connected for the axial according to the course direction and constitutes, can express as:

wherein the method comprises the steps of Consists of three elements of longitude, latitude and altitude, and represents the first line of a preset aeroplane and manA key waypoint where the direction of travel of the man-machine is changed,nIn the prediction that the man-machine will pass through n waypoints, the axial direction of the protection space will changeIn a second time, the first time,Is a man-machineIn the first placeThe direction vector of the individual waypoints,The representation is from the firstAnd starting corresponding cuboid protection space at each waypoint.A rectangular parallelepiped space constructed based on the parameters in brackets is shown.Represents the side length of a square plane perpendicular to the running direction, the square plane is centered on the ith waypoint of the man-machine,Representing elevation.

The flight conflict in the pre-tactical stage is detected by comparing the unmanned aerial vehicle protection space with the unmanned aerial vehicle protection space for time-space resource comparison. Firstly, judging the parameters of the time latitude of the unmanned aerial vehicle with the human-computer protection space and the published 4-dimensional track, and if the parameters exist:

， is the first protection space in the man-machine protection space At the corresponding moment in time the corresponding to the time,Aggregation of unmanned aerial vehicles for 4-dimensional track published

Then prove the newly submitted organic machineUnmanned planeAnd if the overlapping of the time latitude exists, judging the space latitude. The protection airspace of the unmanned aerial vehicle at the stage is a series of cuboids vertical to the ground, so the unmanned aerial vehicle can be usedIs used as a main body, and a ray method or a vector projection method is used for judging whether the vertexes of the unmanned aerial vehicle protection airspace are in the presence of the unmanned aerial vehicleIn the protection space of (2), we use vector projection method to make the judgment here, considering the calculation cost.

Judging that there is man-machineThe j-th protected space in the pre-tactical stageThe vertex coordinates of (c) can be expressed as:

,，，

Unmanned plane At a certain time overlapping momentThe vertex coordinates of the corresponding protected space can be expressed as:

，,

Representing a positive integer.

The protection space of the man-machine is taken as a main body, three mutually perpendicular axial vectors are determined, and the three axial vectors are respectively expressed as:

，， Wherein ，

Optionally unmanned aerial vehicleAny one of the vertices of the protection zone of (a) creates a vector: . And determining whether the position of the vertex is in the cube of the man-machine protection area by using the projection of the vector on three axes. If present:

,

Then conflict index Meaning that unmanned aerial vehicle is detectedAnd man-machineHas an overlap, and conversely,0, I.e. no overlap.

Then, whether to adjust the 4-dimensional flight path of the unmanned aerial vehicle or adjust the flight plan of the unmanned aerial vehicle is determined by calculating the number of unmanned aerial vehicles having flight conflicts with the unmanned aerial vehicle, and the determination conditions are as follows:

prove to have a man-machine Will collide with not less than 5 unmanned aerial vehicles, in which case the unmanned aerial vehicle is readjustedIs a take-off time of (2). If it isIn this case, then, the 4-dimensional track of the drone is adjusted, e.g. a drone with a conflict with the drone is notifiedThe unmanned aerial vehicle is set to be in an emergency state, and the follow-up operation program of the unmanned aerial vehicle in the emergency state is determined by the operator.

Furthermore, at this stage, there is also conflict resolution between the unmanned aerial vehicle and the unmanned aerial vehicle, i.e. it is determined whether there is a space-time overlap between the unmanned aerial vehicle protection spaces to detect flight conflicts. The method for detecting the conflict between unmanned aerial vehicles is as follows, and the method is used for two unmanned aerial vehiclesAndWhereinHas been activated, is a priority unmanned aerial vehicle. First, the overlapping of time and latitude is judged, if the overlapping exists: Wherein Indicating all priority to the unmanned aerial vehicleAnd (3) indicating that time overlap exists, and calculating an overlapped timestamp boundary of a 4-dimensional track time dimension, wherein the specific calculation method is as follows: . Then judging whether the two unmanned aerial vehicles have conflict of space dimension, because the running direction of the unmanned aerial vehicles is changeable, the protection space established by taking the running direction as the axial direction also changes, the judgment difficulty of whether the protection space of the two unmanned aerial vehicles is overlapped is greatly increased, so that a vector projection method is adopted for the overlapping judgment of 4-dimensional tracks of the two unmanned aerial vehicles, and the unmanned aerial vehicles are judged by adopting a vector projection method Whether the vertex of the four-dimensional track protection space is exactly in the unmanned plane in the operation processAnd the corresponding time of the two unmanned aerial vehicles is within the 4-dimensional track protection space, thereby judging whether the two unmanned aerial vehicles collide. Unmanned aerial vehicle judgmentAt the current momentIs thatThe vertex coordinates of (c) can be expressed as:

,，

Unmanned plane At the current moment, the vertex coordinates of the corresponding spatial protection zone may be expressed as:

,，

at a certain moment with time overlap Unmanned aerial vehicle at this momentThe 4-dimensional track protection space of (2) is taken as a main body, three mutually perpendicular axial vectors are determined, and the three axial vectors are respectively expressed as:

，， Wherein

Optionally unmanned aerial vehicleAny one of vertices of the protection zone of (2)Creation and creation ofThe vectors of (2) are: . And determining whether the position of the vertex is in the cube of the man-machine protection area by using the projection of the vector on three axes. If present:

,

Then the presence of the drone is demonstrated Unmanned planeHas spatial overlap at a certain moment, and needs to be immediately directed to the unmanned aerial vehicleThe operator of (1) sends an alarm informing about specific conflict conditions and immediately rejects the unmanned aerial vehicleIs a 4-dimensional track of (c).

In the tactical phase, the unmanned aerial vehicle flight monitoring module 401 monitors the unmanned aerial vehicle and generates unmanned aerial vehicle dynamic information, including the unmanned aerial vehicle ID, the location information, the flight direction, the flight speed, the time stamp, etc., and the unmanned aerial vehicle flight monitoring module 402 monitors the unmanned aerial vehicle and generates unmanned aerial vehicle dynamic information, including the unmanned aerial vehicle ID, the location information, the flight direction, the flight speed, the time stamp, etc. According to the time stamp and the position information in the dynamic information of the man-machine, the real-time position of the man-machine can be determined, and according to the flight direction and the flight speed, a predicted route of the man-machine can be generated, so that the man-machine protection space is built according to the predicted route by taking the real-time position of the man-machine as a starting point. Optionally, the predicted course may also be generated or adjusted based on external environmental information and flight management information. In order to better ensure the safety of the man-machine, the protection space of the man-machine can be periodically or aperiodically updated according to the real-time position, the flight direction, the flight speed, the historical data, the flight line plan and the like. The man-machine protection space can be dynamically updated according to the requirement at random, the information updating frequency of the man-machine protection space is increased under the condition of high operation complexity, and the updating frequency of the man-machine protection space can be reduced in the stable operation process of the man-machine. When not replaced by a new update, the effective duration of the protection space is that the protection space is continuous from the update timeTime length, minimum more line frequency of the organic protected space is perTime once.

Man-machineCan be expressed as: Wherein Representing a time stamp of the time of day,Is position information determined by longitude and latitude and altitude.

Suppose there is a man-machineFrom the slaveThe protection space information is not updated from the moment to the moment, and can be expressed as:

Is a man-machine Is defined by the protection space range ofReal-time position of moment of time, i.e.As a starting point.Representing connectionsAnd the next critical waypoint to construct a protected airspace space,The representation is from the firstThe corresponding protection airspace cuboid space is started at each waypoint,A rectangular parallelepiped space constructed based on the parameters in brackets is shown.Representing the first of a man-machine predicted courseKey waypoints, iN represents that in the time range T, the man is predicted to pass through n waypoints, so the axial direction of the protection space is changedIn a second time, the first time,Is a man-machineIn the first placeThe direction vector of the individual waypoints,In order to protect the side length of the square plane of the space perpendicular to the running direction, the square plane takes the ith waypoint of the man-machine as the center,In order to protect the elevation of the airspace,The representation is from the firstThe corresponding cuboid space is started at each waypoint,A rectangular parallelepiped space constructed based on the parameters in brackets is shown.

For unmanned aerial vehicleThe dynamic information includes a time stamp and position information, and can be expressed as: Wherein The time stamp is indicated as such,Respectively represent unmanned aerial vehicleAt the position ofLongitude, latitude and altitude data information returned at the moment.

In tactical phase, the flight status assessment platform 403 will perform unmanned aerial vehicle flight compliance status assessment, unmanned aerial vehicle and temporary restriction zone warning, and unmanned aerial vehicle flight conflict real-time detection.

(1) Unmanned aerial vehicle flight consistency status assessment

By comparing the real-time position of the unmanned aerial vehicle body with the position of the unmanned aerial vehicle protection space, the unmanned aerial vehicle can be judgedAt the position ofWhether the time leaves the protection space. The method specifically used is a vector projection method, and according to the vertex setting scheme of the protection area, the unmanned aerial vehicleAt the current momentThe vertex coordinates of the corresponding spatial protection zone can be expressed as:

，,

taking the protection space of the unmanned aerial vehicle as a main body, determining three mutually perpendicular axial vectors of the protection space, wherein the three axial vectors are respectively expressed as:

，， Wherein ，

Creating vectors of real-time position and protection space key axis of unmanned aerial vehicle as. And determining whether the position of the vertex is in the cube of the man-machine protection area by using the projection of the vector on three axes. If present:

,

Proving the existence of unmanned aerial vehicle Is maintained within the protection zone. For each unmanned aerial vehicle in operationConsider the overall timestamp range of its 4-dimensional trackAnd carrying out the judgment, thereby realizing the state evaluation function of the unmanned aerial vehicle flight consistency.

If the operation of the unmanned aerial vehicle is separated from the preset 4-dimensional track and the protection space, the 4-dimensional track planning of the unmanned aerial vehicle is determined to be invalid, and an emergency program is required to be entered. This kind of condition in time gives an alarm to unmanned aerial vehicle operator to inform unmanned aerial vehicle ground station in real time and supervise unmanned aerial vehicle that deviates.

(2) Unmanned aerial vehicle and temporary restricted area alarm

The temporary confinement region is represented by a airspace plane range and a height Cheng Queding: Wherein Wherein, thereinRepresenting the first definition of the shape of the airspace floorThe number of vertices of the graph is,，The total vertex number of the limited airspace plane is defined, and the numbering rule of the vertices is clockwise numbering from the north direction.The elevation representing the airspace range, the vertex is composed of three-dimensional coordinates including longitude, latitude and altitude, and can be expressed as。A time interval representing a temporary restricted airspace, wherein,AndThe starting activation time and the ending activation time of the temporary limited airspace are respectively.

Firstly, judging time overlapping, then judging whether height overlapping exists, and finally judging whether the horizontal latitude has space overlapping by using a ray method, wherein the ray method takes a temporary limited airspace as a main body, and judging whether the vertex of the 4-dimensional track protection space of the unmanned aerial vehicle is in the limited airspace or not, and the specific judging method is as follows:

,，

If the conditions are met successively, the unmanned aerial vehicle is proved The 4-dimensional track of (2) has conflict with the temporary limited airspace and is supposed to be directed to the unmanned planeThe operator of (1) issues warning information and starts the operator to send unmanned aerial vehicleIs to remove the unmanned aerial vehicleIs a four-dimensional track of (c). Wherein the method comprises the steps ofRespectively isCorresponding latitude and altitude.

(3) Man-machine and temporary limit area alarm

Firstly, comparing the relative positions of the predicted route of the man-machine and the temporary limiting area, if the predicted route of the man-machine is aboutWithin kilometers and predict the time for an organic person to reach a conflicting zoneAnd if the limit area is still in an activated state, informing the flight service station and rescheduling the planned route of the man-machine, and bypassing the temporary limit area.

And detecting whether the real-time running man-machine has potential conflict with the limiting area.

And the collision between the man-machine and the temporary limiting area is judged by comparing the man-machine in operation with the temporary limiting area. If present:

The time overlapping of the man-machine protection space at the current moment and the temporary limiting area is proved, and the space overlapping of the man-machine and the temporary limiting area is further judged.

Man-machineAt the stage of the firstEach protection spaceThe vertex coordinates of (c) can be expressed as:

,，。

Because the protection space of the man-machine and the protection space of the temporary limiting area are all the same, the overlapping is necessarily present in height, under the condition, the two-dimensional overlapping situation of the protection airspace of the man-machine and the temporary limiting area in longitude and latitude is directly considered, the same method is applicable to a ray method, the airspace of the temporary limiting area is taken as a main body, whether the vertex of the protection airspace of the man-machine falls in the longitude and latitude plane of the temporary limiting area is judged, and if the vertex of the protection airspace of the man-machine falls in the longitude and latitude plane of the temporary limiting area, the method is as follows:

，

the pilot has time-space overlap with the temporary limit area, in this case, alarm information is issued to the flight service station, the information of the temporary limit area expected to generate conflict is issued to the flight service station, the pilot is contacted with the flight service station to avoid the temporary limit airspace to fly, a planned route which has no conflict with other pilot/unmanned aerial vehicles is re-planned, and the update is stored in a database. Wherein, Is thatCorresponding latitude.

(4) Real-time detection of flight conflict between man and unmanned aerial vehicle

Firstly, judging the time latitude, and if the time latitude exists:

then determine presence and presence of the man-machine Unmanned aerial vehicle with time overlap。

Judging that there is man-machineThe j-th guard space at the current timeThe vertex coordinates of (c) can be expressed as:

Judging that there is man-machine The j-th guard space at the current timeThe vertex coordinates of (c) can be expressed as:

,，

Unmanned plane At the current momentThe vertex coordinates of the corresponding spatial protection zone can be expressed as:

，,

Unmanned aerial vehicle judgment by vector projection method And man-machineWhether there is an overlapping relationship between longitude, latitude, and altitude in the protected space.

，， Wherein ，

,

Proving presence of man-machine And man-machineIs overlapped in time and space, and the flight assessment and warning platform immediately faces the unmanned planeIs used for notifying specific conflict conditions and immediately disabling the unmanned aerial vehicleAccording to the 4-dimensional track plan of the unmanned aerial vehicle, the unmanned aerial vehicle is pushed into an emergency state according to a preset program of an operator, and the operator determines a follow-up running program of the unmanned aerial vehicle in the emergency state.

The exemplary embodiments of the present disclosure also provide an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor. The memory stores a computer program executable by the at least one processor for causing the electronic device to perform a method according to embodiments of the present disclosure when executed by the at least one processor.

The present disclosure also provides a non-transitory computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor of a computer, is for causing the computer to perform a method according to an embodiment of the present disclosure.

The present disclosure also provides a computer program product comprising a computer program, wherein the computer program, when executed by a processor of a computer, is for causing the computer to perform a method according to embodiments of the disclosure.

Referring to fig. 5, a block diagram of an electronic device 800 that may be a server or a client of the present disclosure, which is an example of a hardware device that may be applied to aspects of the present disclosure, will now be described. Electronic devices are intended to represent various forms of digital electronic computer devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 5, the electronic device 800 includes a computing unit 801 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 802 or a computer program loaded from a storage unit 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to the bus 804.

Various components in electronic device 800 are connected to I/O interface 805, including: an input unit 806, an output unit 807, a storage unit 808, and a communication unit 809. The input unit 806 may be any type of device capable of inputting information to the electronic device 800, and the input unit 806 may receive input numeric or character information and generate key signal inputs related to user settings and/or function controls of the electronic device. The output unit 807 may be any type of device capable of presenting information and may include, but is not limited to, a display, speakers, video/audio output terminals, vibrators, and/or printers. The storage unit 808 may include, but is not limited to, magnetic disks, optical disks. The communication unit 809 allows the electronic device 800 to exchange information/data with other devices over computer networks, such as the internet, and/or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers and/or chipsets, such as bluetooth devices, wi-Fi devices, wiMax devices, cellular communication devices, and/or the like.

The computing unit 801 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 801 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 801 performs the various methods and processes described above. For example, the methods in the first and second embodiments may be implemented as computer software programs tangibly embodied on a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 800 via the ROM 802 and/or the communication unit 809. In some embodiments, the computing unit 801 may be configured to perform the methods of the first and second embodiments by any other suitable means (e.g., by means of firmware).

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

As used in this disclosure, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.

The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

Claims

1. A method for detecting flight collision of an aircraft, the aircraft comprising a man-machine and an unmanned aerial vehicle, the method comprising:

detecting flight conflicts between the different aircraft according to the space-time protection information;

in a first stage before the aircraft takes off, the acquiring the space-time protection information of different aircraft includes:

Determining the protection time according to the use time, and determining the protection space according to the airspace range;

The first stage refers to a stage in which a flight plan is made, and the time from the take-off of the aircraft exceeds a preset first threshold value, which is also called a strategic stage;

in a third stage after the aircraft takes off, judging whether the unmanned aerial vehicle is separated from a protection space of the unmanned aerial vehicle according to the unmanned aerial vehicle dynamic information and the space-time protection information of the unmanned aerial vehicle;

If the operation of the unmanned aerial vehicle is separated from the protection space, the 4-dimensional track planning of the unmanned aerial vehicle is determined to be invalid, an emergency program is required to be entered, an alarm is given to an unmanned aerial vehicle operator, and a ground station of the unmanned aerial vehicle is informed to supervise the deviated unmanned aerial vehicle in real time;

Wherein: unmanned aerial vehicle judgment At the position ofWhether the unmanned aerial vehicle is separated from the protection space at any time adopts a vector projection method, namely, according to the vertex setting scheme of the protection space, the unmanned aerial vehicle is arrangedAt the current momentThe vertex coordinates of the corresponding space protection space are expressed as:

,

Wherein, Representing a rectangular solid space defined by four parameters, whereinRespectively shown inAt any time, with unmanned aerial vehicleIs a predicted position of (a)Is provided for the datum point in front of the running directionIs arranged at the rear of the distanceAnd by the distance ofFor the side length of a square plane perpendicular to the direction of travel, the square plane is defined byIs the center;

，， Wherein ，

Creating vectors of real-time positions of the unmanned aerial vehicle and key axes of the protection space, determining whether the positions of the vertexes are in a cube of the protection space of the unmanned aerial vehicle by utilizing projections of the vectors on three axes, and if yes:

,

Wherein, Respectively represent unmanned aerial vehicleAt the position ofLongitude, latitude and altitude data information returned at the moment;

Proving the existence of unmanned aerial vehicle Is kept within the protection space, for each unmanned aerial vehicle in operationConsider the overall timestamp range of its 4-dimensional trackThe above determination is made.

2. The method of claim 1, wherein in a second phase before takeoff of the aircraft, the obtaining spatiotemporal protection information for a different aircraft comprises:

determining space-time protection information of the unmanned aerial vehicle according to a preset flight path of the unmanned aerial vehicle;

The second stage refers to a stage when the time from the take-off of the aircraft is less than a preset second threshold value, wherein the preset second threshold value is less than or equal to a preset first threshold value, and the second stage is also called a pre-tactical stage.

3. The aircraft flight conflict detection method of claim 2, wherein in a second phase of the aircraft prior to takeoff, the detecting the flight conflict between the different aircraft comprises:

4. The method of claim 1, wherein, in a third stage after the aircraft takes off, the acquiring the space-time protection information of the different aircraft comprises:

acquiring in-flight man-machine dynamic information, wherein the man-machine dynamic information comprises a first time stamp and position information of a man-machine;

5. The aircraft flight conflict detection method of claim 4, further comprising:

acquiring dynamic information of an unmanned aerial vehicle in flight, wherein the dynamic information of the unmanned aerial vehicle comprises a second time stamp and position information of the unmanned aerial vehicle;

Judging whether the unmanned aerial vehicle is separated from a protection space of the unmanned aerial vehicle according to the dynamic information of the unmanned aerial vehicle and the space-time protection information of the unmanned aerial vehicle; and/or

Acquiring temporary limit area information;

6. An aircraft flight conflict detection device, comprising:

A detection module for detecting flight conflicts between the different aircraft according to the aircraft flight conflict detection method according to one of claims 1-5 based on the spatio-temporal protection information.

7. An aircraft flight conflict detection system, comprising:

the system comprises an organic machine flight monitoring module, a control module and a control module, wherein the organic machine flight monitoring module is used for monitoring an in-flight organic machine and generating organic machine dynamic information;

a flight status assessment platform for performing the method of any one of claims 1-5.

8. An electronic device, comprising:

A processor; and

A memory in which a program is stored,

Wherein the program comprises instructions which, when executed by the processor, cause the processor to perform the method according to any of claims 1-5.

9. A non-transitory computer readable storage medium storing computer instructions, wherein the computer instructions are for causing the computer to perform the method of any one of claims 1-5.