建筑物影响下的无人机城区运行风险评估

doi:10.16265/j.cnki.issn1003-3033.2022.07.1226

摘要/Abstract

摘要：

为降低无人机(UAV)在城市区域运行的风险,提出城市建筑物对UAV遮蔽影响效果的概念。首先,建立建筑物遮蔽模型和UAV风险评估指标;其次,确定UAV在最小飞行高度下从起点至终点的直线段所经过的建筑物,依据确定的建筑物高度划分UAV飞行高度层;然后,基于Dubins理论的多障碍物避让路径求解方法,求解每个飞行高层UAV飞行路径;最后,基于此模型量化每个高度层路径的风险成本并进行对比,得到风险成本最小的路径以及飞行高度。结果表明:UAV在不同飞行高度下路径不同,穿越的建筑物数量、高度和位置也不同,受到建筑物遮蔽效果有明显区别。考虑建筑物遮蔽效果的UAV路径规划方法,可减小无人机城区运行风险成本。

关键词: 建筑物, 无人机(UAV), 城区运行, 风险成本, 遮蔽效果, 飞行高度层

Abstract:

In order to reduce the risk of UAV operating in urban areas, the concept of the shadowing effect of urban buildings on UAV was put forward. Firstly, building shadowing model and UAV risk assessment index were established, respcitively. Secondly, the buildings passed by the straight line from the starting point to the end point under the minimum flight height of UAV are determined, and the flight height layer of UAV is divided according to the determined building height. Then, the multi-obstacle avoidance path solution method based on Dubins theory was used to solve the flight path of each high-level UAV. Finally, based on this model, the risk cost of each high level path was quantified and compared to obtain the path with the minimum risk cost and flight altitude. The results show that the path of UAV is different at different flight altitudes, and the number, height and position of the buildings it crosses are also different. The shadowing effect of the buildings is obviously different, too. UAV path planning method considering the shadowing effect of buildings can reduce the risk cost of UAV operation in urban areas.

Key words: buildings, unmanned aerial vehicle (UAV), urban operation, risk cost, shadowing effects, flight altitude

李亚飞, 刘明欢, 王莉莉. 建筑物影响下的无人机城区运行风险评估[J]. 中国安全科学学报, 2022, 32(7): 136-142.

LI Yafei, LIU Minghuan, WANG Lili. Risk assessment of urban UAV operation under influence of buildings[J]. China Safety Science Journal, 2022, 32(7): 136-142.

图/表 12

图1

图2

图3

图4

图5

表1

UAV及其他参数

参数	数值	参数	数值
$V 0$ /(m·s^-1)	10	m/kg	6.14
$A x$ /m²	0.234	$A y$ /m²	0.035
$C D$	0.3	g/(m·s^-2)	9.8
$ρ$ /(kg·m^-3)	1.22	$λ$	6.04×10^-5
f	0.3	$α$ /J	10⁶
$φ$ /(人·m^-2)	0.021 72	$β$ /J	100

表1

表2

图6

图7

表3

图8

图9

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建筑物	坐标	直径	高度	建筑物	坐标	直径	高度
Z₁	(83.36, 15.21)	60	40	Z₁₄	(1 475.89, 15.68)	80	30
Z₂	(195.61, -15.52)	90	30	Z₁₅	(1 596.64, -25.82)	80	30
Z₃	(362.30, 32.49)	90	40	Z₁₆	(1 697.68, 17.96)	70	60
Z₄	(509.81, -17.10)	60	30	Z₁₇	(1 813.95, -12.06)	60	60
Z₅	(593.09, -17.10)	60	30	Z₁₈	(1 912.40, -11.77)	60	40
Z₆	(676.74, -17.66)	60	30	Z₁₉	(2 008.20, -11.39)	60	40
Z₇	(778.09, 22.11)	90	40	Z₂₀	(2 144.47, 20.50)	80	30
Z₈	(909.90, -21.98)	90	40	Z₂₁	(2 275.90, 24.78)	70	30
Z₉	(1 007.02, 6.82)	40	80	Z₂₂	(2 486.70, -25.50)	220	40
Z₁₀	(1 061.85, -5.02)	40	150	Z₂₃	(2 654.34, 28.72)	80	30
Z₁₁	(1 114.39, -5.02)	40	80	Z₂₄	(2 773.03, 13.68)	80	30
Z₁₂	(1 235.76, 20.33)	90	40	Z₂₅	(2 942.27, -13.84)	70	40
Z₁₃	(1 357.22, -13.67)	80	20

飞行高度/m	地面撞击动能/J	致死率/%	总路径长度/m	遮蔽长度/m	危险长度/m	风险成本/死亡人数
20	1 414.00	8	3 095.87	95.97	2 999.90	7.68×10^-6
30	1 972.30	11	3 036.44	791.50	2 244.94	7.38×10^-6
40	2 521.50	13	3 006.35	1 672.10	1 334.25	5.26×10^-6
60	3 589.90	17	3 000.67	1 572.10	1 428.57	7.24×10^-6
80	4 617.40	20	3 000.20	1 762.95	1 237.25	7.44×10^-6