The Method for Determining the Safety Separation of Unmanned Aerial Vehicles
To accurately describe the operational risks of UAV(unmanned aerial vehicles)in air and determine safety separations,a collision risk model was established that considers both collision probability and collision rate.Based on the characteristics of multi rotor UAVs operating in unstructured airspace,firstly,for unmanned aerial vehicles that cannot obtain dynamic and have no collision avoidance measures in the airspace,a collision probability model was established that combines the uncertainty of heading and position error,and different collision probabilities were used as safety target levels to determine safety separations.Then,for other UAVs in the airspace that can obtain dynamics and take collision avoidance measures,based on their maneuverability,position error,and system error,determine the safety separation and calculate the collision probability.Then,the safety separation was used as the conflict distance to calculate the conflict frequency in the airspace,and finally,the collision risk in the airspace was obtained by combining the collision probability.Taking the logistics UAV as an example,the collision risk and safety separation were calculated using the above method,and two different modes were compared and analyzed.The results show that when it is impossible to obtain dynamic information of other drones in the airspace and there are no collision avoidance measures,the safety separation corresponding to a 5％collision probability is the best option.When dynamic information can be obtained and collision avoidance measures can be taken,the collision risk decreases as the collision probability under conflict conditions decreases.Both models are feasible and effective,and can provide reference for the safety separation of unmanned aerial vehicles operating under these two conditions.
万方数据
维普
