基于多视图几何的飞行器飞行走廊冲突检测方法

doi:10.12382/bgxb.2024.0806

摘要/Abstract

摘要：

飞行器的航路冲突检测是避免因航路冲突导致飞行器碰撞的有效手段和关键能力。将三维碰撞检测用于飞行冲突判断,提出一种基于多视图几何的飞行器飞行走廊冲突检测方法。通过广播自动相关监视(Automatic Dependent Surveillance-Broadcast, ADS-B)系统获取航路信息,设计构建飞行器飞行走廊模型;基于可能发生冲突区域的局部态势三视图中图形几何关系进行飞行冲突检测。仿真验证结果表明:新方法可以直观、准确地判断飞行器飞行走廊冲突情况,相较于传统的网格化离散采样法在解算冲突情况下效率提升66.35%,在解算不冲突情况下效率提升98.17%,整体效率提升84.38%。

关键词: 飞行器, 多视图几何, 计算机视觉, 飞行走廊, 正交投影, 冲突检测

Abstract:

The path planning and dynamic collision avoidance techniques for aircraft are effective means and key capabilities to prevent collisions caused by flight path conflicts. The three-dimensional collision detection is used for flight conflict judgment, and an aircraft flight corridor conflict detection method based on multi-view geometry is proposed. The flight route information is obtained through the automatic dependent surveillance-broadcast (ADS-B) system, and an aircraft flight corridor model is designed to construct a local situation of potential conflict area. Then, the conflict situation in the aircraft flight corridor is detected based on the geometric relationships in the three views of the local situation. Simulated results show that the proposed method can intuitively and accurately judge the conflict situation in aircraft flight corridor. Compared to the traditional spatial grid analysis method, the efficiency of solving the conflict situation is improved by 66.35%, the efficiency of solving nin-conflict situation is improved by 98.17%, and the overall solving efficiency is increased by 84.38%.

Key words: aircraft, multi-view geometry, computer vision, flight corridor, orthogonal projection, conflict detection

中图分类号:

徐同乐, 王兆辰, 刘方, 肖玉杰, 何翼, 斗计华. 基于多视图几何的飞行器飞行走廊冲突检测方法[J]. 兵工学报, 2025, 46(5): 240806-.

XU Tongle, WANG Zhaochen, LIU Fang, XIAO Yujie, HE Yi, DOU Jihua. Aircraft Flight Corridor Conflict Detection Method Based on Multi-view Geometry[J]. Acta Armamentarii, 2025, 46(5): 240806-.

图/表 16

图1 椭圆柱体形飞行走廊模型

Fig.1 Elliptical cylinder shaped flight protection zone model

图2 飞行器飞行走廊冲突示意图

Fig.2 Schematic diagram of aircraft flight corridor conflict

图3 透视投影与正交投影示意图

Fig.3 Schematic diagram of perspective projection and orthogonal projection

图4 基于多视图几何的三维空间冲突检测程序设计流程图

Fig.4 Design flowchart of three-dimensional space conflict detection program based on multi-view geometry

表1 想定一情况下飞行器位置信息

Table 1 Position information of aircraft in Scenario 1

编号	型号	x轴坐标/m	y轴坐标/m	z轴坐标/m	2H_c/m	2R_c/m	方向角/(°)	俯仰角/(°)
Aircraft_A	DJI Mavic Air 2	30	30	80	60	100	45	30
Aircraft_B		100	20	60	60	100	190	50

图5 基于多视图几何的冲突检测结果显示界面(想定一)

Fig.5 Conflict detection result display interface based on multi-view geometry (Scenario 1)

表2 想定二情况下飞行器位置信息

Table 2 Position information of aircraft in Scenario 2

编号	型号	x轴坐标/m	y轴坐标/m	z轴坐标/m	2H_c/m	2R_c/m	方向角/(°)	俯仰角/(°)
Aircraft_A	DJI Mavic Air 2	20	0	80	60	100	5	15
Aircraft_B		150	20	70	60	100	8	-5

图6 基于多视图几何的冲突检测结果显示界面(想定二)

Fig.6 Conflict detection result display interface based on multi-view geometry (Scenario 2)

图7 基于网格化离散采样法的冲突检测结果

Fig.7 Conflict detection results using grid sampling method

表3 两架飞行器情况的冲突检测实验结果

Table 3 Collision detection results for two aircraft scenarios

方法分类	结果为不冲突次数	结果为冲突次数	结果错误次数	错误率/%
多视图几何法	85	65	2	1.33
网格化离散采样	88	62	3	2

图8 不存在冲突实验次序的解算时间统计对比

Fig.8 Statistical comparison of solution time of experiment sequences without conflict

图9 存在冲突实验次序的解算时间统计对比

Fig.9 Statistical comparison of solution timr of experiment sequences with conflict

表4 解算时间及效率对比验证情况统计

Table 4 Solution time and efficiency

情况类别	基于多视图几何法耗时/s	基于网格化离散采样法耗时/s	解算效率提升/%	实验次数
存在冲突	0.035	0.104	66.35	65
不存在冲突	0.035	1.917	98.17	85
整体			84.38	150

图10 基于多视图几何的冲突检测结果显示界面(3架)

Fig.10 Conflict detection result display interface based on multi-view geometry (3 aircrafts)

图11 基于多视图几何的冲突检测结果显示界面(4架)

Fig.11 Conflict detection result display interface based on multi-view geometry (4 aircrafts)

图12 多视图几何法的解算时间随飞行器架数变化关系

Fig.12 Relationship between solution time of multi-view geometry method and number of aircrafts

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