飞行器集群安全控制关键问题与技术探讨

doi:10.12382/bgxb.2024.0215

摘要/Abstract

摘要：

飞行器集群是现代军事对抗与社会生活的重要新质力量。然而,复杂空域环境、动态飞行冲突和信息获取受限挑战集群飞行安全。安全控制是保障集群高效协同的关键。结合集群系统和任务场景特点,从时空和信息两个维度总结飞行器集群安全的关键问题,提出基于感知-判断-决策-执行(Observation-Orientation-Decision-Action,OODA)环思想的集群安全控制的研究框架。从非结构飞行环境、集群运动行为、受限信息交互和不确定状态估计等方面,探讨集群安全的相关概念、模型描述和效能评估,阐述集群安全控制的基本方案及关键技术;给出对飞行器集群安全控制未来智能化发展的思考,以期为构建更完善的集群安全技术体系提供参考和启发。

关键词: 飞行器集群, 安全控制, 集群控制, 协同轨迹规划, 自组网

Abstract:

The aircraft swarm represents a significant novel force in modern military confrontations and social activities However,the flight safety of aircraft swarm is challenged by complicated airspace circumstances,dynamic flight conflicts and constrained information acquisition.Safety control is essential to guarantee the effective collaboration of aircraft swarm.The key issues of safety control are summarized from the two perspectives of space-time and information according to the characteristics of aircraft swarm and mission scenarios.A research framework of aircraft swarm safety control is proposed based on the observation-orientation-decision-action (OODA) loop.The related concepts,model description and effectiveness evaluation of swarm safety are discussed from the unstructured flight environment,motion behavior,restricted interaction and uncertain state estimation,and the safety control scheme and crucial technologies of aircraft swarm are elaborated.The future intelligent development of aircraft swarm safety control is discussed to provide the reference and inspiration for building a more perfect safety control technology system.

Key words: aircraft swarm, safety control, swarm control, cooperative trajectory planning, ad-hoc network

中图分类号:

V249

秦伯羽, 张栋, 唐硕. 飞行器集群安全控制关键问题与技术探讨[J]. 兵工学报, 2025, 46(4): 240215-.

QIN Boyu, ZHANG Dong, TANG Shuo. A Discussion on Key Issues and Technologies of Aircraft Swarm Safety Control[J]. Acta Armamentarii, 2025, 46(4): 240215-.

图/表 22

图1 飞行器集群的主要特点与安全问题

Fig.1 The main characteristics and safety problems of aircraft swarm

图2 飞行器集群安全控制研究的基本框架

Fig.2 Research framework of safety control for aircraft swarm

图3 安全飞行走廊生成步骤[16]

Fig.3 The generation procedure of safety flight corridor[16]

图4 球状安全飞行走廊[19]

Fig.4 The safety flight corridor with sphere subareas[19]

图5 虚拟管道示意图[24-26]

Fig.5 Schematic diagram of virtual tubes[24-26]

图6 虚拟管道的参数化描述[29]

Fig.6 Parameterized description of virtual tube[29]

图7 不同应用场景下的单飞行器安全空域

Fig.7 Safety airspace of single aircraft in different scenarios

表1 不同运动安全域模型对比

Table 1 Comparison of motion safety domain models

模型类别	适用问题	优势	劣势	应用场景
速度障碍模型	运动学问题	模型简单,实时性好,基于局部信息即可运行	缺乏严谨理论分析,对动力学复杂的运动体适用性差,可能出现振荡或死锁	近距碰撞检测与轨迹冲突预警
控制障碍函数	运动学问题、动力学问题	适应集中式和分布式等多种模式的复杂系统,约束性强,可与其他控制律结合	构造难度大,需要详细理论分析,可能出现过约束导致无解	安全机动控制与轨迹优化

图8 速度障碍及其衍生模型

Fig.8 Velocity obstacle and its derivative models

图9 基于SBC的集群运动安全域模型

Fig.9 Motion safety domain model of aircraft swarm based on SBC

图10 飞行器集群受限交互模型

Fig.10 Limited interaction models of aircraft swarm

表2 不同受限交互模型对比

Table 2 Comparison of limited interaction models

模型类别	适用问题	模型特点	应用场景
基于自组织规则	交互连通安全状态的理论分析	能够模拟自组织规则约束下的交互过程	连通保持控制
基于物理性能	交互连通安全状态的工程分析与应用	能够模拟设备物理约束下的交互过程	拓扑抗毁设计、连通保持控制
基于随机网络	交互连通安全状态的工程分析与应用	能够模拟随机连接规则下的交互过程	交互网络断连检测与重构

图11 数据损失与外部攻击下集群信息传输建模示意图

Fig.11 Schematic diagram of information transfer of aircraft swarm system under the conditions of data loss and external attack

图12 飞行器集群不确定信息的因子图示意

Fig.12 Factor graph of uncertain information of aircraft swarm

图13 非结构环境障碍风险分布

Fig.13 The distribution function of obstacle in unstructured environment

图14 两飞行器相对运动表征

Fig.14 Relative motion of a pair of aircrafts

图15 飞行器集群安全控制方案

Fig.15 Safety control scheme for aircraft swarm

图16 基于距离的分层预警机制

Fig.16 The distance-based layered early warning mechanism

图17 基于速度障碍模型的近距碰撞预警

Fig.17 VO-based close collision warning

图18 基于预测的轨迹冲突预警

Fig.18 Prediction-based trajectory conflict warning

图19 基于几何检测的航路障碍预警

Fig.19 Geometric-detection-based path obstacle warning

图20 飞行器集群信息安全多步控制的关键技术

Fig.20 The crucial technologies of multi-step control for the information security of aircraft swarm

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