针对小型飞行器的飞行冲突问题，提出了一种飞行冲突预测的算法。结合该飞行冲突的预测算法，设计了一种基于GPS/IMU的飞行冲突检测系统。该系统以STM32为核心处理单元，采用GPS/IMU作为飞行器的位置和姿态传感器，接收其他飞行器的飞行位置信息、航向、高度等信息；通过飞行冲突预测算法计算飞行冲突概率，判断是否存在飞行冲突。模型机试验结果证明，该系统可以实现飞行冲突的预先判断，能够及时检测到小型飞行器的飞行冲突。%Aiming at the flight conflict problem of small aircrafts, the prediction algorithm of flight conflict is proposed. Combining with this prediction algorithm, the flight conflict detection system based on GPS/IMU is designed. With STM32 as the core processing unit, and GPS/IMU as the position and attitude sensors for the aircraft, the information of other aircrafts, including position, heading, altitude, etc. , can be received by the system. Then the flight conflict probability is calculated through flight conflict prediction algorithm, thus the existence of the flight conflict can be judged. The model machine experimental results prove that the system can prejudge the flight conflict, and promptly detect the flight conflict of small aircrafts.
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