基于改进灰色关联投影法的无人机避让优先运行策略

针对未来混合空域中多种航空器共同执行任务而可能出现飞行避让安全问题，提出了一种基于组合赋权改进灰色关联投影法的无人机避让优先运行策略。首先，从空域管理、航空法规、风险评估等角度分析影响避让过程的因素，构建无人机避让评价指标体系；其次，利用层次分析法和粗糙熵法进行主客观赋权，由合作博弈方法构建离差和最小目标优化函数将主客观权重融合确定最终权重，克服主观赋权随意性和客观赋权过分依赖数据的弊端；随后，利用优劣解距离法(TOPSIS)与灰色关联投影法的融合算法对无人机避让对象进行综合评价，从而获取无人机优先避让运行策略；最后，将融合算法与TOPSIS算法进行对比。结果表明，较于TOPSIS法，所提融合算法获取策略与空域运行实践相符且灵敏度提高了17.08%。因此，新算法避免了单一算法的数据丢失现象，提高了获取策略的准确性，可为混合空域的无人机运行策略获取提供新思路。

Avoidance priority operation strategy of UAV based onimproved greycorrelation projection method

Aiming at the safety problems of flight avoidance caused by multiple aircraft performing tasks together in the mixed airspace in the future,a priority operation strategy of UAV avoidance based on improved grey correlation projection method with combination weighting was proposed.Firstly,this paper analyzed the factors affecting the collision avoidance process from the perspectives of airspace management,aviation regulations and risk assessment,and constructed the evaluation index system of UAV collision avoidance.Secondly,the analytic hierarchy process (AHP) and rough entropy method were used to assign subjective and objective weights,and the deviation and minimum objective optimization function were constructed by the cooperative game method to fuse subjective and objective weights to determine the final weight,so as to overcome the disadvantages of the arbitrary subjective weight and objective weight relying too much on data.Thirdly,the fusion algorithm of TOPSIS and gray correlation projection method were used to comprehensively evaluate the UAV avoidance object,so as to obtain the UAV priority avoidance operation strategy.Finally,the fusion algorithm was compared with TOPSIS algorithm.The results show that compared with TOPSIS method,the acquisition strategy of the fusion algorithm is consistent with the airspace operation practice,and the sensitivity is improved by 17.08%.The algorithm avoids the data loss of single algorithm and improves the accuracy of acquisition strategy,which provides a new idea for the acquisition of UAV operation strategy in mixed airspace.