基于多标度层次分析法的无人机避让策略构建

针对未来同一片空域内由于多种航空器共同执行任务而可能出现的飞行安全问题,通过研究各种可能出现碰撞的情景,构建了大型无人机在混合空域中最优避让方案评价指标体系,通过分析不同标度法的优缺点,提出一种多标度层次分析法的混合空域策略。首先,以大型无人机为研究对象建立混合空域模型,将混合空域中出现与本机发生冲突可能性的各种飞鸟或航空器进行分类,并考虑碰撞风险等级及目标执行任务等级因素。其次,采用多标度层次分析法求得不同情况下各类避让目标的权值,经过一致性判定;进一步引入隶属度函数,通过分析已获得的权值,对最终结果进行进一步的权重修正。最后,对大型无人机在空域中飞行可能遇到的空域环境进行分析,以验证无人机避让决策方案是否行之有效。结果表明,确定的基于多标度层次分析法可以满足无人机在面对复杂空域环境时避让策略方案的确立,并且具有动态效果,满足无人机实时构建和调整避让策略需要。研究结果可为实现大型无人机在混合空域中的安全飞行提供新的思路。

Construction of hybrid airspace strategy based on multi-scale analytic hierarchy process

Considering the possible flight issues due to multiple aircrafts performing tasks in the same airspace in the future, an evaluation index system for the optimal avoidance scheme of large UAVs in mixed airspaces was constructed by studying various scenarios of possible collisions, and a hybrid airspace strategy of multi-scale analytic hierarchy process was proposed by analyzing the pros and cons of different scale methods. First, a large-scale unmanned aerial vehicle was used as a research object to establish a hybrid airspace model, which classified various birds or aircraft that have the possibility of conflict with the UAV in the mixed airspace, and considered the factors of collision risk level and the target execution task level. Secondly, the multi-scale analytic hierarchy process was used to obtain the weights of various avoidance targets in different situations, and the consistency was determined. The membership function was further introduced, and the final result was further weighted by analyzing the obtained weights. Finally, the airspace environment that large drones may encounter in the airspace is analyzed to verify whether the drone avoidance decision plan is effective. The verification results show that the determined multi-scale analytic hierarchy process can meet the establishment of the avoidance strategy in a complex airspace environment, and has a dynamic effect to meet the needs of UAVs to construct and adjust the avoidance strategy in real time. The research result provides new ideas for drones to complete avoidance strategies and safe flight under complex airspace conditions.