基于“τ-τ”的无人机规避告警准则分析

doi:10.16182/j.issn1004731x.joss.201805033

系统仿真学报 ›› 2018, Vol. 30 ›› Issue (5): 1877-1885.doi: 10.16182/j.issn1004731x.joss.201805033

基于“τ-τ”的无人机规避告警准则分析

张志伟, 陶建武, 邵校

空军航空大学飞行器控制系,吉林长春 130022

收稿日期:2016-07-14 修回日期:2016-10-06 出版日期:2018-05-08 发布日期:2019-01-03
作者简介:张志伟(1993-),男,山东莱阳,硕士,研究方向为无人机自主控制;陶建武(1959-),男,吉林吉林,博士,教授,研究方向为阵列信号处理。
基金资助:
国家自然科学基金(61571462),吉林省自然科学基金(20140101073JC)

Analysis of UAS Avoidance Warning Criteria Based on "τ-τ"

Zhang Zhiwei, Tao Jianwu, Shao Xiao

Department of Aircraft Control, Aviation University of Air Force, Changchun 130022, China

Received:2016-07-14 Revised:2016-10-06 Online:2018-05-08 Published:2019-01-03

摘要/Abstract

摘要： 在无人机规避障碍的过程中,引入了基于时间τ告警逻辑,并在此基础上提出了基于时间τ-τ告警逻辑,构建了等τ-τ告警曲线。根据自身无人机所进行机动动作的幅度,定义了三种告警区域,即高风险区、低风险区以及无风险区。该方法分别针对两架飞机在平行相遇情形和垂直交叉相遇情形下,按照自身无人机速度大于、等于和小于入侵无人机速度三种不同情况,利用MATLAB软件仿真出两架飞机不同相对速度下的告警曲线,提出了告警区域的划分方法,重点分析了不同相遇情形中告警区的区别。所得实验结果为无人机规避策略的制定提供了数据支撑。

关键词: 无人机, 规避, 等τ-τ线, 告警区域

Abstract: In the process of UAV avoiding obstacles, the tau warning logic based on time is introduced. Based on the tau warning logic, the τ-τ warning logic is proposed, and the equal τ-τ warning curve is constructed. According to the range of maneuver of the own UAV, three warning areas are defined, including high-risk area, low-risk area and non-risk area. Aiming at the two planes in the case of parallel encounter and vertical encounter, in accordance with three different situations of the UAV’s speed greater than, equal to and less than the intruder’s speed, the method simulates the warning curve of two aircrafts at different relative speeds with MATLAB software, proposing the division method of warning area, analyzing the difference between the warning areas of different encounter situation. The results of this experiment provide data support for the formulation of the UAV avoidance tactics.

Key words: UAV, avoidance, equal τ-τcurve, warning area

中图分类号:

V279

张志伟, 陶建武, 邵校. 基于“τ-τ”的无人机规避告警准则分析[J]. 系统仿真学报, 2018, 30(5): 1877-1885.

Zhang Zhiwei, Tao Jianwu, Shao Xiao. Analysis of UAS Avoidance Warning Criteria Based on "τ-τ"[J]. Journal of System Simulation, 2018, 30(5): 1877-1885.

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基于“τ-τ”的无人机规避告警准则分析

Analysis of UAS Avoidance Warning Criteria Based on "τ-τ"

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