基于凸包围盒的飞行冲突检测算法*

doi:10.16265/j.cnki.issn 1003-3033.2021.12.005

中国安全科学学报 ›› 2021, Vol. 31 ›› Issue (12): 32-38.doi: 10.16265/j.cnki.issn 1003-3033.2021.12.005

基于凸包围盒的飞行冲突检测算法^*

焦卫东教授, 姚军强, 王瑞冬

中国民航大学天津市智能信号与图像处理重点实验室,天津 300300

收稿日期:2021-09-15 修回日期:2021-11-12 出版日期:2021-12-28 发布日期:2022-06-28
作者简介:焦卫东 (1973—),男,陕西咸阳人,博士,教授,主要从事飞行程序设计、图像/视频处理与编码、三维虚拟仿真验证等方面的研究。E-mail: nxjiaowd@sina.com。
基金资助:
国家重点研发计划课题项目(2020YFB1600101)。

Flight conflict detection algorithm based on convex bounding box

JIAO Weidong, YAO Junqiang, WANG Ruidong

Tianjin Key Lab for Advanced Signal Processing, Civil Aviation University of China Tianjin, Tianjin 300300, China

Received:2021-09-15 Revised:2021-11-12 Online:2021-12-28 Published:2022-06-28

摘要/Abstract

摘要： 为减少由飞行冲突造成的民航安全事故的发生,提高飞行冲突检测效率,将三维碰撞检测算法应用于飞行冲突,提出一种基于凸包围盒的飞行冲突检测算法。首先,根据广播式自动相关监视(ADS-B)数据的飞机当前实时位置信息,利用改进的交互式多模型(IMM)滤波算法预测下一阶段航迹;然后,根据飞机飞行保护区的特点,将其看作当前作业飞机的凸包围盒,使用凸包围盒三维碰撞检测算法判断2机是否发生冲突;最后,构造不同飞行冲突场景,利用所提算法检测飞行冲突,并通过调速法、调向法或调高法等冲突解脱算法进行飞行冲突解脱。研究结果表明:算法冲突检测平均耗时19 ms,检测结果准确。

关键词: 凸包围盒, 飞行冲突检测, 交互式多模型(IMM), 冲突解脱, 航迹预测

Abstract: In order to reduce civil aviation safety accidents caused by flight conflicts and improve efficiency of flight conflict detection, a detection algorithm based on convex bounding box was proposed by applying 3D collision detection algorithm for flight conflict. Firstly, according to current real-time position information of aircraft fromautomatic dependent surveillance-broadcast(ADS-B) data, their next stage tracks were predicted by using an improved IMM filtering algorithm. Then, with aircraft flight protection area being regarded as convex bounding box of current operating aircraft, three-dimensional collision detection algorithm based on it was employed to determine whether the two aircraft could conflict. Finally, the proposed algorithm was utilized to detect flight conflict in different constructed conflict scenarios, and conflict resolution algorithms such as speed regulation, direction adjustment or elevation adjustment were applied to resolve detected flight conflicts. The results show that the average time of conflict detection is 19 ms, and detection results are accurate.

Key words: convex bounding box, flight conflict detection, interacting multiple model(IMM), conflict resolution, trajectory prediction

中图分类号:

X949

焦卫东, 姚军强, 王瑞冬. 基于凸包围盒的飞行冲突检测算法^*[J]. 中国安全科学学报, 2021, 31(12): 32-38.

JIAO Weidong, YAO Junqiang, WANG Ruidong. Flight conflict detection algorithm based on convex bounding box[J]. China Safety Science Journal, 2021, 31(12): 32-38.

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基于凸包围盒的飞行冲突检测算法^*

Flight conflict detection algorithm based on convex bounding box

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