基于位置误差概率模型的物流无人机安全间隔评估方法研究

针对未来多架物流无人机飞行在同一航线可能引起的安全冲突问题,提出规划无人机之间的安全间隔以规避运行风险.根据无人机在地面控制系统监控下的飞行特点,结合位置误差概率模型,综合考虑无人机定位误差、速度误差以及侧风的影响,依次建立无人机之间纵向、侧向和垂直方向的碰撞风险评估模型,并得出ICAO安全目标水平下的最小安全间隔.选...

Research on assessment method of safety separation for logistics UAVs based on position error probability model

Aiming at the problem of safety conflict caused by multiple logistics UAVs flying on the same route in the future,planning the safety separation between Logistics UAVs was proposed to avoid the operation risk.According to the flight characteristics of UAVs under the monitoring of ground control system,combined with the position error probability model,and comprehensively considering the UAV position error,velocity error and the influence of cross wind,the assessment models of collision risk between UAVs in the longitudinal,lateral and vertical direction were established in turn,and the minimum safety separation under the target level of ICAO security was concluded.Taking the logistics and distribution routes opened by SF Express in Ganzhou City,Jiangxi Province as an example,the simulation was carried out to analyze the minimum safety separation in three directions between different model combinations.Research indicates:The calculation results can provide reference for the safety separation setting of logistics UAVs flight.