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高密度无人机冲突检测算法与空域容量评估研究
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V355;TP391

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国家自然科学基金(71801221)


Research on High-Density Drone Conflict Detection Algorithm and Airspace Capacity Assessment
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    摘要:

    针对未来局部战场空域内大批量、高密度无人机冲突检测效率低、准确性不高的问题,通过构建无人机保护区模型、战场空域栅格化模型提取每架无人机的空域位置矩阵,运用矩阵Hadamard积计算方法及合 数质因数分解的性质对无人机冲突检测,找出发生冲突的无人机编号、位置、高度等信息,实现对空域内高密度无人机间冲突的实时快速检测。并在此基础上,通过设置运行层、避让层和碰撞阈值的方式,评估出可量化的空域容量。仿真结果表明,与传统方法相比,基于矩阵Hadamard积计算的冲突检测方法能够将冲突检 测的复杂度由O(Cn-2 n )降为O(n-1),将800架无人机冲突检测时间控制在40 ms以内,显著提高了冲突检 测效率。通过基于可接受碰撞概率的容量评估方法对冲突集合进一步处理,能够演算出可靠的空域容量,为局部空域内大规模、高密度无人机安全高效运行提供技术支撑。

    Abstract:

    Aimed at the problems that detection efficiency is low, and accuracy of conflict detection is not high among a large number of drones in high-density local battlefield airspace in the future, a real-time and rapid detection of conflicts is obtained among a large number of drones in airspace by constructing a drone protection zone model and a battlefield airspace grid model to extract the airspace position matrix for each drone, and by using the Hadamard product calculation method and the properties of composite and prime factor decomposition for drone conflict detection to identify the drone numbers, positions, altitudes, and other information of conflicts. And on the basis of this, operational layers, avoidance layers and collision thresholds are introduced to establish a quantifiable airspace-capacity evaluation framework. The simula tion results indicate that compared to the traditional methods, this Hadamard product calculation method enables the complexity of conflict detection to reduce from O(Cn-2 n ) to level O(n-1), and the conflict de tection time for 800 drones is controlled within 40 ms, greatly improving the efficiency of conflict detec tion. Through further processing of the conflict set under an acceptable collision probability criterion, reli able airspace-capacity values can be worked out, offering theoretical and technical support for the safe and efficient operation of large-scale, high-density drones in local airspace.

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周志崇, 赵顾颢 ,吴亚荣 ,杨佳乐 ,牛雪寒, 黄子硕.高密度无人机冲突检测算法与空域容量评估研究[J].空军工程大学学报,2026,27(1):12-20

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  • 在线发布日期: 2026-02-06
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