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A decentralized method for collision detection and avoidance applied to civil aircraft

机译：用于民用飞机的分散方法碰撞检测和避免方法

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摘要

With the increasing density level of airspace, the flawed logic of resolution in air conflict has become a potential hazard to keep flight safety for civil aviation. A powerful decision-support system is needed to identify and resolve potential conflicts on planned trajectory in advance. Existing studies on this subject mainly focus on the centralized means, but seldom consider the decentralized approaches. In this paper, a decentralized method is proposed so that each aircraft can generate the collision-free Reference Business Trajectory (RBT) autonomously, and resolve potential conflicts while conforming to the unified rules. Firstly, a Synchronous Discrete-Time-Discrete-Space trajectory modeling is developed to divide the continuous planned trajectory into multiple trajectory segments according to motion state. Thus, the collision can be accurately located at one certain risky segment, and the corresponding collision time can be acquired precisely. Through a weight analysis of collision time, the critical trajectory segment is determined to implement the task of conflict resolution. Then, the Optimal Reciprocal Collision Avoidance (ORCA) algorithm is adopted and extended to determine the collision-free maneuver with the consideration of direction selectivity. At last, the Trajectory Change Points (TCPs) are achieved by the quadratic program for each aircraft. The proposed method can help aircraft generate collision-free RBT in decentralized way successfully. Several simulations are conducted to confirm the validity and efficiency of the proposed approach.
机译：随着空域密度水平的增加，空中冲突中分辨率的缺陷逻辑已成为防止民航安全的潜在危害。需要一个强大的决策支持系统，以提前识别和解决计划轨迹上的潜在冲突。对该主题的现有研究主要关注集中式手段，但很少考虑分散的方法。在本文中，提出了一种分散的方法，使得每架飞机可以自主地生成碰撞参考业务轨迹（RBT），并在符合统一规则的同时解决潜在的冲突。首先，开发了一种同步离散 - 时间离散空间轨迹建模，以根据运动状态将连续计划的轨迹分成多个轨迹段。因此，碰撞可以精确地位于一个风险区段，并且可以精确地获取相应的冲突时间。通过碰撞时间的重量分析，确定临界轨迹段来实现冲突解决的任务。然后，采用并扩展了最佳互易碰撞避免（ORCA）算法以考虑方向选择性来确定无碰撞操纵。最后，轨迹改变点（TCP）由每架飞机的二次方案实现。该方法可以帮助飞机成功地以分散的方式产生碰撞RBT。进行了几种模拟以确认所提出的方法的有效性和效率。

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