针对现有方法采用定值飞行间隔确定避撞区域对空域利用不足的问题, 提出一种动态、实时建立避撞区域的方法。根据无人机的机动约束, 无人机的碰撞区域以及飞机之间的相对位置、相对速度等信息, 实时建立避撞区包络。由于动态考虑了无人机与入侵飞机对避撞区的影响因素, 提高了所建包络的针对性, 缩小了避撞区包络所占的空域面积, 不仅避免了一些不必要的规避机动, 而且还可以使繁忙的空域得到更合理的利用。仿真结果验证了所建动态避撞区的有效性。

Considering that the size of collision avoidance zone is usually constant and can not make full use of the space,we proposed a method for establishing the collision avoidance zone of UAVs dynamically in real time.The collision avoidance zone is established according to the constraints of UAV maneuverability,collision zone,the relative position and the relative velocity.The influencing factors of UAV and the intruder to collision avoidance zone are considered dynamically,thus the collision avoidance zone is established more accurately with smaller airspace,which can not only avoid the unnecessary maneuvering for collision avoidance,but also make more reasonable use to the busy airspace.The simulation results show the good performance of this dynamic modeling method.