融合空域无人机动态安全间隔模型与风险评估

doi:10.19665/j.issn1001-2400.20241108

摘要/Abstract

摘要：

针对未来无人机融合空域与其他航空器共同运行的安全问题,文中在传统基于固定距离和时间的安全间隔标准设定原理基础上,提出无人机动态安全间隔模型与风险评估方法,在保证运行安全的同时实现空域资源的灵活使用。首先,根据无人机与入侵航空器飞行性能,建立基于航空器动力学特性的双层保护区,包括表征航迹可达范围的外层保护区和表征航空器位置不确定的内层保护区。其次,结合尾涡衰减规律下入侵航空器诱导滚转力矩、宿主无人机滚转控制力矩的参数关系,构建无人机尾流遭遇下的尾流间隔阈值模型,设计综合无人机滚转风险和碰撞风险的风险评估方法。最后,建立无人机正向、交叉和相向冲突相遇仿真场景,并分析两机运行速度、冲突角度、初始位置等因素对无人机风险概率的影响机理。仿真结果表明,无人机-无人机冲突场景下无人机外层、内层保护区及尾流间隔数值分别为4 263m、527m和743m时,所建动态安全间隔模型能够将风险概率下降至较低水平。此外,针对无人机-无人机、有人机-无人机不同冲突相遇场景下的风险概率影响要素分析,可以指导航空器有效避撞机动,对无人机安全决策具有实际参考价值。

关键词: 航空运输, 动态安全间隔, 风险评估, 无人机, 双层保护区

Abstract:

To address the safety issue of future Unmanned Aircraft System (UAS) operating with other aircraft in integrated airspace,this paper proposes a dynamic UAS separation zone model and a risk analysis method.Unlike traditional fixed separation time or distance standards,the dynamic approach aims to ensure operational safety while achieving flexible use of airspace resources.First,a two-layer protection zone based on aircraft dynamic characteristics is established by using the operation performance of the host and the intruder.This includes an outer protection zone covering the aircraft reachable area and an inner protection zone representing aircraft position uncertainties.Second,a wake turbulence threshold model is constructed by considering the relations between induced roll moment from the intruding aircraft and the roll control moment of the host UAS.A comprehensive risk analysis that integrates UAS roll risk and collision risk is specifically conducted.Finally,UAS conflict scenarios including head-on conflicts,crossing conflicts,and rear-end conflicts are simulated and influencing factors such as the speeds of the two aircraft,conflict angles,and initial positions on UAS risk probabilities are analyzed.Results show that the proposed dynamic separation model can reduce UAS-UAS risk probabilities to a relative low level when the values of the outer protection zone,inner protection zone,and wake turbulence are set to 4263m,527m,and 743m,respectively.Besides,though performance analysis in UAS-UAS,manned aircraft-UAS conflict scenarios can provide effective collision avoidance maneuver guidance and benefit UAS safe operation decision-making.

Key words: air transportation, dynamic separation zone, risk analysis, Unmanned Aircraft System (UAS), two-layer protection zone

中图分类号:

刘钊瑄, 师可, 许逸凡. 融合空域无人机动态安全间隔模型与风险评估[J]. 西安电子科技大学学报, 2025, 52(3): 26-35.

LIU Zhaoxuan, SHI Ke, XU Yifan. UAS dynamic separation design and collision risk analysis in integrated airspace[J]. Journal of Xidian University, 2025, 52(3): 26-35.

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参数名称	数值	参数名称	数值
无人机飞行速度/(m·s^-1)	83	无人机重量/t	3.7
有人机飞行速度/(m·s^-1)	200	有人机重量/t	6.3
无人机机翼面积/m²	22.3	有人机翼展/m	16.5
有人机机翼面积/m²	29.6	无人机翼展/m	14.3
无人机副翼面积/m²	0.36	无人机副翼/m	4.6
无人机机动倾斜角/(°)	0~40

预测时间/s	38	40	42	44	48	52	54	56	58	60	62	66
外层保护区/m	900	1 182	1 585	1 872	2 453	3 044	3 343	3 646	3 953	4 263	4 429	5 065
风险概率	1.00	1.00	0.67	0.60	0.56	0.48	0.40	0.35	0.30	0.25	0.23	0.23