基于状态预测的空中防撞系统多机避碰性能改进方法
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摘要
目前随着空中交通流量的大幅提升,空域密度不断增加,发生双机、多机冲突的可能性增大,但空中防撞系统(TCAS)不能解决所有多机态势下的防撞问题。因此迫切需要提高其在多机态势下的防撞性能。本文通过数学描述传统的TCAS防撞机制,并实现其在水平方向上的拓展,从而提出基于状态预测的垂直与水平方向综合优化的TCAS避碰策略选择算法。算法以高度和垂直速度调整为核心,辅以水平变向,多机协同,采取最优化的策略避免碰撞。仿真实验验证了方法的有效性。
Currently the density of the airspace increases with the air traffic flow increasing significantly, and therefore the conflict occurrence possibility of two or multiple aircraft raises. However, the traffic collision avoidance system(TCAS) may not be able to resolve all the collision problems of multi-threat situation. There is an active demand to improve its performance in multi-threat situation. This paper mathematically describes the traditional TCAS anti-collision mechanism, and achieves its expansion in the horizontal direction, thus proposes the improvement algorithm of collision avoidance performance for TCAS in multi-aircraft situations based on the state prediction. Adjusting the height and vertical speed are used as the core in this algorithm, course change and multiple aircraft cooperation are combined to choose the optimization strategy to avoid collision. Simulation results demonstrate the effectiveness of our approaches.
Currently the density of the airspace increases with the air traffic flow increasing significantly, and therefore the conflict occurrence possibility of two or multiple aircraft raises. However, the traffic collision avoidance system(TCAS) may not be able to resolve all the collision problems of multi-threat situation. There is an active demand to improve its performance in multi-threat situation. This paper mathematically describes the traditional TCAS anti-collision mechanism, and achieves its expansion in the horizontal direction, thus proposes the improvement algorithm of collision avoidance performance for TCAS in multi-aircraft situations based on the state prediction. Adjusting the height and vertical speed are used as the core in this algorithm, course change and multiple aircraft cooperation are combined to choose the optimization strategy to avoid collision. Simulation results demonstrate the effectiveness of our approaches.
引文
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[14]Tang J,Piera M A,Nosedal J.Analysis of induced Traffic Alert and Collision Avoidance System collisions in unsegregated airspace using a Colored Petri Net model.[J].SIMULATION:Transactions of The Society for Modeling and Simulation International(S0037-5497),2015,91(3):233-248.
[2]温乃峰,苏小红,马培军,等.低空复杂环境下基于采样空间约减的无人机在线航迹规划算法[J].自动化学报,2014,40(7):1376-1390.Naifeng Wen,Xiaohong Su,Peijun Ma,et al.Sampling space reduction-based uav online path planning algorithm in complex low altitude environments[J].Acta Automatica Sinica,2014,40(7):1376-1390.
[3]Niethammer U,James M R,Rothmund S,et al.UAV-based remote sensing of the Super-Sauze landslide:Evaluation and results[J].Engineering Geology(S0013-7952),2012,128:2-11.
[4]May A.Free-flight determinations of the drag coefficients of spheres[J].Journal of the Aeronautical Sciences(S0020-3483),2012,20(9):635-638.
[5]Gotlieb A.TCAS software verification using constraint programming[J].The Knowledge Engineering Review(S0269-8889),2012,27(3):343-360.
[6]韩艳茹,敬忠良,龚嘉琦.空中交通预警与防撞系统(TCAS)风险及对策研究[J].计算机测量与控制,2012,20(3):737-740.Han Yanru,Jing Zhongliang,Gong Jiaqi.Research of Traffic Alert and Collision Avoidance System(TCAS)Risk and Countermeasure[J].Computer Measurement Control,2012,20(3):737-740.
[7]Thomas LC,Wickens CD.Display dimensionality and conflict geometry effects on maneuver preferences for resolving in-flight conflicts[J].Human Factors:The Journal of the Human Factors and Ergonomics Society(S0018-7208),2008,50(4):576-588.
[8]Peng L,Lin Y.Study on the model for horizontal escape maneuvers in TCAS[C]//IEEE Transactions on Intelligent Transportation Systems,2010,11(2):392-398.
[9]Murugan S,Oblah A A.TCAS Functioning and Enhancements[J].International Journal of Computer Applications(S0975-8887),2010,1(8):46-50.
[10]Ruiz S,Piera M A,Del Pozo I.A medium term conflict detection and resolution system for terminal maneuvering area based on spatial data structures and4D trajectories[C]//Transportation Research Part C:Emerging Technologies,2013,26:396-417.
[11]Netjasov F,Vidosavljevic A,Tosic V,et al.Development,validation and application of stochastically and dynamically coloured Petri net model of ACAS operations for safety assessment purposes[C]//Transportation Research Part C:Emerging Technologies,2013,33:167-195.
[12]Eurocontrol.The EUR RVSM pre-implementation safetycase,14 August 2001,version 2.0.Document RVSM 691,http://dependability.cs.virginia.edu/research/safetycases/EUR_RVSM.pdf.
[13]Tang J,Piera M A,Guasch T.Coloured Petri net-based traffic collision avoidance system encounter model for the analysis of potential induced collisions[J].Transportation Research Part C:Emerging Technologies(S0968-090X),2016,67:357-377.
[14]Tang J,Piera M A,Nosedal J.Analysis of induced Traffic Alert and Collision Avoidance System collisions in unsegregated airspace using a Colored Petri Net model.[J].SIMULATION:Transactions of The Society for Modeling and Simulation International(S0037-5497),2015,91(3):233-248.