基于精细化时空管控的无人机空中交通管理研究

This topic to research the problem about plan allocation, dynamic fence, track following, conflict avoidance of UAV(unmanned aerial vehicle) into the National Airspace System, from the two stages of strategy and tactics, two dimensions of trajectory and separation. Firstly, a hierarchical modeling method based on horizontal track definition, altitude profile planning, speed control modeling for UAV Multi operational model is proposed, study on the UAV strategic conflict protection zone model is establish for flight plan scheduling and generates collision free 4D trajectory. Secondly, aiming at the nonlinear problem of the occupied order and the time window of the airspace grid, based on the maximum algebraic state equation, the optimization method for spatial grid time slot is proposed, and group cooperation strategy is introduced to optimization of UAV dynamic geographic fence. Thirdly, UAV operation mode switching model is established for parameter identification method for nonlinear kinematics model of UAV under unreliable monitoring information sources, and fusing the asynchronous information obtained from the active passive source to improving the precision of UAV tracking. Finally, the space interval between the UAV current state to the potential target conflict area is transformed into the time safe interval, aiming at the difficulty to maneuvering non cooperative target’s intention, receding horizon control to optimization and keep multi UAVs interval is adopt. This research will provide a theoretical basis for the research of UAV traffic management system based on precise time and space control.

本课题从战略和战术两个阶段、航迹和间隔两个维度研究无人机融入国家空域系统面临的计划调配、动态围栏、航迹跟踪和冲突避让等问题。首先提出基于水平航迹定义、高度剖面规划和速度控制建模的递阶式无人机多运行模态建模方法，研究建立无人机战略冲突保护区模型，调配计划生成无冲突四维航迹。其次针对空域网格的占用顺序和占用时间窗混合优化问题中存在的非线性，提出基于极大代数状态方程的空域网格时隙优化方法，采用分组协同策略实现无人机动态地理围栏优化。再次建立无人机运行模式切换模型，研究监视信息源不可靠条件下的无人机非线性运动学模型参数辨识方法，融合主被动监视源获取的异步信息提高无人机跟踪监视精度。最后将无人机从当前状态至穿越潜在目标冲突区超曲面的空间间隔转化为时间安全间隔，针对非合作目标机动意图难以估计的特点，采用滚动时域优化控制多无人机间隔。本课题将为研发基于精细化时空管控的无人机空中交通管理系统提供理论依据。

随着民用和工业级无人机的迅速发展，低空空域的空中交通管理方式越来越受到重视。为此本课题展开基于精细化时空管控的无人机空中交通管理研究。.首先，利用四维航迹预测技术结合飞行计划对无人机的航迹进行初始预测，在此基础上考虑随机性的航迹规划方法，推算更接近实际飞行航迹，为无人机规划动态地理围栏纵向尺寸提供依据。.其次，建立低空空域复杂性度量模型，对低空空域进行离散网格化，并提取了影响低空空域复杂性的关键指标，运用综合评价法和聚类分析得出较为客观全面的低空空域复杂性分级度量结果。在此基础上，建立基于空域网格化的无人机动态地理围栏规划模型，通过时隙分配和低空空域复杂性自适应地调整地理围栏大小，实现对繁忙低空空域资源高效利用。.接着，由于对无人机监视的手段多样，包括主动位置反馈系统和被动位置反馈系统，其监视航迹信息存在时间不同步现象，且由于通信链路或监视链路的延迟或中断等原因，提出基于主被动反馈系统的无人机航迹融合模型，采用凸组合融合算法对两组数据进行融合，得到无人机准确的飞行状态及连续稳定的运行航迹。.最后，针对无人机冲突探测与解脱问题，提出基于线性外推法的冲突预判模型，通过设定门限，降低计算复杂度，采用航迹刷新周期滑窗相关算法，降低虚警的概率。在此基础上，建立改进蚁群算法的飞行冲突解脱模型，综合考虑调速、调向等策略给出多机冲突解脱方案。

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