Method and system for resolving multi-operator distributed cooperative conflict of unmanned air vehicle

A method for resolving a multi-operator distributed collaborative conflict of an unmanned air vehicle, comprising:

• resolving a conflict in a strategic stage:
• generating multidimensional data based on time and spatial elements, rasterizing the multidimensional data, performing preliminary conflict resolution according to a preset airspace and an airspace requirement after rasterizing, and generating strategy approval information;
• and completing strategy conflict resolution by checking the strategy information;
• resolving a conflict in a pre-tactical stage:
• acquiring flight plan approval information, designating checking parties, performing multiple checks on the flight plan information, and performing judgment in combination with checking results of a plurality of checking parties to generate a conflict checking result, the step comprising:
• with waypoints in a unit time in the flight plan approval information as checking units, computing checking factors y of the checking units:
• [y,c]=z(a1,a2)
• z
• ⁡
• (
• a
• 1
• ,
• a
• 2
• )
• =
• {
• if
• ⁢
• DIST
• ⁡
• (
• a
• 1
• ,
• a
• 2
• )
• <
• l
• c
• ,
• y
• =
• 1
• ,
• c
• =
• a
• 1
• if
• ⁢
• DIST
• ⁡
• (
• a
• 1
• ,
• a
• 2
• )
• ≠
• 0
• ,
• y
• =
• 0
• ,
• c
• =
• null
• a1=[x1,y1,z1]
• a2=[x2,y2,z2]
• wherein z is a checking function;
• DIST is a distance function,;
• a1 and a2 are position vectors;
• elements in the position vectors represent forward, transverse and vertical position elements from left to right respectively;
• y is the checking factor, used for judging a level of a conflict;
• C is a conflict mark bit containing a time stamp of a current day;
• and Ic is a specific conflict position in a flight plan to be checked;
• obtaining a conflict checking result Y according to the checking factors y of the checking units:
• Y
• =
• ∑
• 0
• t
• c
• =
• 8
• ⁢
• 6
• ⁢
• 400
• /
• dt
• c
• ⁢
• ∑
• 1
• q
• =
• N
• q
• ⁢
• ∑
• 1
• k
• =
• N
• k
• ⁢
• ∑
• 1
• m
• =
• N
• m
• ⁢
• (
• z
• y
• (
• x
• p
• -
• ⁢
• t
• c
• ′
• ,
• )
• +
• z
• y
• (
• x
• p
• ⁢
• _
• ⁢
• t
• c
• ′
• +
• [
• [
• -
• d
• ⁢
• l
• 1
• ,
• dl
• 2
• ]
• ,
• ±
• w
• l
• 2
• ,
• ±
• w
• h
• 2
• ]
• ,
• +
• [
• [
• -
• d
• ⁢
• l
• 1
• ,
• dl
• 2
• ]
• ,
• ±
• w
• l
• 2
• ,
• ±
• w
• h
• 2
• ]
• )
• +
• z
• y
• (
• x
• p
• ⁢
• _
• ⁢
• t
• c
• ′
• +
• [
• [
• -
• d
• ⁢
• l
• 1
• ,
• dl
• 2
• ]
• ,
• ±
• w
• l
• 2
• ,
• ±
• w
• h
• 2
• ]
• ,
• +
• [
• [
• -
• d
• ⁢
• l
• 1
• ,
• dl
• 2
• ]
• ,
• ±
• w
• l
• 2
• ,
• ±
• w
• h
• 2
• ]
• )
• )
• wherein zy represents an y-value output of the function z;
• dtc represents the unit time of each checking unit;
• Nm represents a number of service SSPs, Nk represents a number of sorties in flight plans submitted for different service SSPs, and Nq represents a number of the flight plans submitted for different aircrafts with the flight plans submitted by different service SSPs;
• t1 and t2 are time interval nodes for arriving the waypoints;
• dl1 and dl2 are distance interval nodes for arriving the waypoints, wl is a transverse safety dimension, wh is a vertical safety dimension, and subscript _tc of xp_tc′ represents that different tc correspond to estimated positions of unmanned air vehicles in the flight plans with integration of tc;
• and represents corresponding approved flight plan data of the estimated positions;
• resolving a conflict in a tactical stage:
• identifying a trajectory deviation according to real-time flight data, and sending out a warning according to a deviation category;
• and optimizing a path according to the deviated trajectory, so as to complete tactical conflict resolution.