随机风速风向对无人机地面风险作用效果研究

doi:10.16265/j.cnki.issn1003-3033.2023.08.1473

中国安全科学学报 ›› 2023, Vol. 33 ›› Issue (8): 101-108.doi: 10.16265/j.cnki.issn1003-3033.2023.08.1473

随机风速风向对无人机地面风险作用效果研究

苏成林¹^,²(), 王志³^,⁴, 刘洋⁵^,^**()

¹ 南京航空航天大学航空学院,江苏南京 210016
² 中航通飞研究院有限公司,广东珠海 519090
³ 中国民航管理干部学院通用航空系,北京 100102
⁴ 浙江建德通用航空研究院浙江省通用航空运行技术研究重点实验室,浙江建德 311612
⁵ 山东交通学院信息科学与电气工程学院, 山东济南 250357

收稿日期:2023-02-10 修回日期:2023-05-12 出版日期:2023-10-08
通讯作者:
**刘洋(1987—),男,山东济南人,博士,副教授,主要从事无人机运行安全风险评估等方面的研究。E-mail: liuyang@sdjtu.edu.cn。
作者简介:
苏成林 (1984—),男,山东济宁人,博士研究生,高级工程师,主要从事无人机设计与飞行器控制等方面的研究。E-mail: qingteng312@163.com。
王志讲师
刘洋副教授
基金资助:
国家自然科学基金资助(U1933130); 浙江省“尖兵”研发攻关计划项目(2022C01055); 山东省自然科学基金资助(ZR2020MF151); 民航通用航空运行重点实验室开放基金资助(CAMICKFJJ-2020-2)

Research on effects of random wind speed and direction on UAV ground risk

SU Chenglin¹^,²(), WANG Zhi³^,⁴, LIU Yang⁵^,^**()

¹ College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing Jiangsu 210016, China
² China Aviation Industry General Aircraft Institute Limited Liability Company, Zhuhai Guangdong 519090, China
³ Department of General Aviation, Civil Aviation Management Institute of China, Beijing 100102, China
⁴ Zhejiang Key laboratory of General Aviation Operation technology, General Aviation Research Institute of Zhejiang Jiande, Jiande Zhejiang 311612, China
⁵ School of Information Science and Electrical Engineering, Shandong Jiaotong University, Ji'nan Shandong 250357, China

Received:2023-02-10 Revised:2023-05-12 Published:2023-10-08

摘要/Abstract

摘要：

为准确计算无人机地面坠毁后造成的伤人风险值,考虑空域环境内风对无人机坠落过程的影响,尤其是随机风速与风向对无人机地面坠毁位置的作用效果,并引入二阶标准模型定义无人机坠落过程,建立随机风速与风向作用效果模型,将风的作用输入到无人机坠落全过程,兼以真实运行场景参数、无人机自身运行参数,开展多因素作用下的地面风险评估,重点探讨风速、风向对地面不同区域内人群带来的风险作用,进而得出更加可靠真实风险评估结果。结果表明:环境内风的作用会对无人机地面坠毁位置产生显著影响,最终使得地面风险分布极不均匀,且风险数值远高于民航有人机的安全标准,因此,无人机不适宜在某些较为复杂的城市环境下运行。

关键词: 随机风速, 随机风向, 无人机(UAV), 地面风险, 作用效果, 评估模型

Abstract:

In order to accurately calculate the ground risk imposed on people after the UAV's crash, a second- order drag model was introduced by considering the wind effects in the air on the UAV's descending process, especially the effects of random wind speed and direction on the crash positions on the ground. A model was built to describe the effects generated by random wind speed and random wind direction. The random wind effects were incorporated into the whole process of the UAV's descent. The actual parameters of the operation scenario and the UAV were used to realize the ground risk assessment by considering multiple factors. The risks to people on the ground that were caused by the effects of random wind speed and direction became the focus, which made the risk assessment and estimation more reliable and authentic. The results prove that the wind in the air would generate a great number of effects on the crash positions on the ground, which further makes the distributions of ground risk quite uneven and the risk values are all above the safety criterion for manned aircraft, which means it is very dangerous when the UAVs are operating in the urban airspace.

Key words: random wind speed, random wind direction, unmanned aerial vehicle(UAV), ground risk, effects, assessment model

苏成林, 王志, 刘洋. 随机风速风向对无人机地面风险作用效果研究[J]. 中国安全科学学报, 2023, 33(8): 101-108.

SU Chenglin, WANG Zhi, LIU Yang. Research on effects of random wind speed and direction on UAV ground risk[J]. China Safety Science Journal, 2023, 33(8): 101-108.

图/表 16

图1

图2

表1

无人机坠落过程主要参数

关键参数	对应时长/s	垂直距离/m	水平距离/m	坠落速度/ (m·s^-1)
失控上升	t₁	y₁	x₁	v₁
失控下降	t₂	y₂	x₂	$v E 1$ $v E 2$
失控下降	t₃	y₃	x₃	$v F 1$ $v F 2$

表1

图3

表2

表3

图4

图5

图6

图7

表4

表5

图8

图9

图10

图11

参考文献 16

[1]	韩鹏, 张冰玉. 基于改进蚁群算法的无人机安全航路规划研究[J]. 中国安全科学学报, 2021, 31(1): 24-29. doi: 10.16265/j.cnki.issn 1003-3033.2021.01.004
	HAN Peng, ZHANG Bingyu. Safety route planning of UAV based on improved ant colony algorithm[J]. China Safety Science Journal, 2021, 31(1): 24-29. doi: 10.16265/j.cnki.issn 1003-3033.2021.01.004
[2]	胡莘婷, 戴福青. 基于城区行人安全的无人机运行风险评估[J]. 中国安全科学学报, 2020, 30(8): 137-142. doi: 10.16265/j.cnki.issn1003-3033.2020.08.020
	HU Xinting, DAI Fuqing. Risk assessment model for UAV operation considering safety of ground pedestrians in urban areas[J]. China Safety Science Journal, 2020, 30(8): 137-142. doi: 10.16265/j.cnki.issn1003-3033.2020.08.020
[3]	RUBIO-HERVAS J, GUPTA A, ONG Y S. Data-driven risk assessment and multicriteria optimization of UAV operations[J]. Aerospace Science and Technology, 2018, 77: 510-523. doi: 10.1016/j.ast.2018.04.001
[4]	HU Jueming, ERZBERGER H, GOEBEL K, et al. Probabilistic risk-based operational safety bound for rotary-wing unmanned aircraft systems traffic management[J]. Journal of Aerospace Information Systems, 2020, 17(3): 171-181. doi: 10.2514/1.I010786
[5]	BARR L, NEWMAN R, ANCEL E, et al. Preliminary risk assessment for small unmanned aircraft systems[C]. 17^th AIAA Aviation Technology, Integration, and Operations Conference,2017:DOI:10.2514/6.2017-3272.
[6]	WASHINGTON A, CLOTHIER R A, SILVA J. A review of unmanned aircraft system ground risk models[J]. Progress in Aerospace Sciences, 2017, 95: 24-44. doi: 10.1016/j.paerosci.2017.10.001
[7]	VIERHAUSER M, BAYLEY S, WYNGAARD J, et al. Interlocking safety cases for unmanned autonomous systems in shared airspaces[J]. IEEE Transactions on Software Engineering, 2019, 47(5): 899-918. doi: 10.1109/TSE.32
[8]	WANG Bo, KHARCHENKO V, KUKUSH A, et al. Unmanned aerial vehicles trajectory analysis considering missing data[J]. Transport, 2019, 34(2): 155-162. doi: 10.3846/transport.2019.8544
[9]	韩鹏, 赵嶷飞. 基于飞行环境建模的UAV地面撞击风险研究[J]. 中国安全科学学报, 2020, 30(1): 142-147. doi: 10.16265/j.cnki.issn1003-3033.2020.01.022
	HAN Peng, ZHAO Yifei. Study on ground impact risk of UAV based on flight environment[J]. China Safety Science Journal, 2020, 30(1): 142-147. doi: 10.16265/j.cnki.issn1003-3033.2020.01.022
[10]	闫少琨. 无人机运行安全风险评价[D]. 天津: 中国民航大学, 2018.
	YAN Shaokun. Evaluating the risk of unmanned aircraft operation[D]. Tianjin: Civil Aviation University of China, 2018.
[11]	张泽京, 张曙光, 柳旭, 等. 无人机系统安全目标水平预估方法[J]. 航空动力学报, 2018, 33(4): 1017-1024.
	ZHANG Zejing, ZHANG Shuguang, LIU Xu, et al. Estimated method of target level of safety for unmanned aircraft system[J]. Journal of Aerospace Power, 2018, 33(4): 1017-1024.
[12]	全权, 李刚, 柏艺琴, 等. 低空无人机交通管理概览与建议[J]. 航空学报, 2020, 41(1): 6-34.
	QUAN Quan, LI Gang, BAI Yiqin, et al. Low altitude UAV traffic management: an introductory overview and proposal[J]. Acta Aeronautica et Astronautica Sinica, 2020, 41(1): 6-34.
[13]	LI Yumeng, DU Wenbo, YANG Peng, et al. A satisficing conflict resolution approach for multiple UAVs[J]. IEEE Internet of Things Journal, 2018, 6(2): 1866-1878. doi: 10.1109/JIoT.6488907
[14]	ANDERS C. Ground impact probability distribution for small unmanned aircraft in ballistic descent[C]. 2020 International Conference on Unmanned Aircraft Systems (ICUAS), 2020: 1442-1451.
[15]	DALAMAGKIDIS K, VALAVANIS K P, PIEGL L A. On integrating unmanned aircraft systems into the national airspace system: issues, challenges, operational restrictions, certification, and recommendations[M]. Berlin: Springer Science & Business Media, 2011:100-106.
[16]	ZHANG Xuejun, LIU Yang, ZHANG Yu, et al. Safety assessment and risk estimation for unmanned aerial vehicles operating in national airspace system[J]. Journal of Advanced Transportation, 2018, 2018: 1-11.

参数	场景1	场景2	场景3	场景4
风速	N(2, 0.2)	N(4, 0.4)	N(6, 0.6)	N(8, 0.8)
风向	N(π/2, π/8)

参数	Firebird	X8	Typhoon H	Zenith ATX8
场景1	5.30	6.40	24.77	59.21
场景2	5.34	6.43	25.25	60.29
场景3	5.40	6.48	26.13	61.37
场景4	5.42	6.50	26.68	62.52

参数	场景1	场景2	场景3	场景4
风向	N(0, π/10)	N(π/2, π/10)	N(π, π/10)	N(3π/2, π/10)
风速	N(3.4, 0.5)

随机风速风向对无人机地面风险作用效果研究

Research on effects of random wind speed and direction on UAV ground risk

RichHTML

PDF

可视化

摘要/Abstract

引用本文

使用本文

图/表 16

参考文献 16

相关文章 15

编辑推荐

Metrics

本文评价

[1]	魏明, 孙雅茹, 孙博, 王盛杰. 基于深度强化学习的无人机线路及航迹协同规划[J]. 中国安全科学学报, 2023, 33(8): 68-76.
[2]	魏米铃, 王威, 戎卿文, 刘晓然, 刘朝峰. 考虑不确定性的复合灾害避难疏散风险评估模型[J]. 中国安全科学学报, 2023, 33(7): 203-212.
[3]	岳仁田, 马赵飞. 基于几何关系的无人机低空飞行冲突探测与解脱策略[J]. 中国安全科学学报, 2023, 33(5): 112-120.
[4]	陈昌华, 许帅帅, 蒋玉香, 杨小杰, 熊光辉. 多因子修正的补货作业负荷评估模型及仿真研究*[J]. 中国安全科学学报, 2022, 32(8): 201-207.
[5]	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.
[6]	王昆, 张俊阳, 杨修志, 臧传伟, 诸利一, 张峥. 考虑精细地形的尾矿库溃坝外泄泥流运移规律研究[J]. 中国安全科学学报, 2022, 32(12): 95-101.
[7]	任新惠, 程彩霞. 城市运行无人机第三方风险模型构建及应用^*[J]. 中国安全科学学报, 2021, 31(9): 15-20.
[8]	刘聪, 魏志强, 韩红蓉, 单泽众. 侧风作用下无人机旋翼悬停状态气动响应分析^*[J]. 中国安全科学学报, 2021, 31(9): 106-112.
[9]	魏强, 刘加奇, 王景春, 王鹏. 基于理想模糊物元的隧道施工安全韧性评估^*[J]. 中国安全科学学报, 2021, 31(8): 62-68.
[10]	李亮, 刘小勇, 徐坚强, 李念思, 王静舞, 肖峻峰. 火场环境下无人机热损伤试验研究[J]. 中国安全科学学报, 2021, 31(2): 82-88.
[11]	韩鹏, 张冰玉. 航迹误差对无人机坠地伤人风险评估的影响[J]. 中国安全科学学报, 2021, 31(2): 106-111.
[12]	魏志强, 李晓晨. 飞机高空尾涡安全评估模型^*[J]. 中国安全科学学报, 2021, 31(11): 78-84.
[13]	韩鹏, 张冰玉. 基于改进蚁群算法的无人机安全航路规划研究[J]. 中国安全科学学报, 2021, 31(1): 24-29.
[14]	章超荣. 高速铁路沿线无人机安全管理立法探讨[J]. 中国安全科学学报, 2020, 30(S1): 38-42.
[15]	吕庆文, 樊树海, 徐文浩, 赵玲玲. 基于DORATASK法的标准作业负荷评估模型[J]. 中国安全科学学报, 2020, 30(8): 183-188.