US 12,217,614 B1
Method and system for resolving multi-operator distributed cooperative conflict of unmanned air vehicle
Renli Lv, Beijing (CN); and Meiliwen Wu, Beijing (CN)
Assigned to CIVIL AVIATION MANAGEMENT INSTITUTE OF CHINA, Beijing (CN)
Filed by CIVIL AVIATION MANAGEMENT INSTITUTE OF CHINA, Beijing (CN)
Filed on Sep. 4, 2024, as Appl. No. 18/824,786.
Claims priority of application No. 202311601829.2 (CN), filed on Nov. 28, 2023.
Int. Cl. G08G 5/00 (2006.01); G08G 5/04 (2006.01)
CPC G08G 5/003 (2013.01) [G08G 5/04 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A method for resolving a multi-operator distributed collaborative conflict of an unmanned air vehicle, comprising:
resolving a conflict in a strategic stage: generating multidimensional data based on time and spatial elements, rasterizing the multidimensional data, performing preliminary conflict resolution according to a preset airspace and an airspace requirement after rasterizing, and generating strategy approval information; and completing strategy conflict resolution by checking the strategy information;
resolving a conflict in a pre-tactical stage: acquiring flight plan approval information, designating checking parties, performing multiple checks on the flight plan information, and performing judgment in combination with checking results of a plurality of checking parties to generate a conflict checking result, the step comprising:
with waypoints in a unit time in the flight plan approval information as checking units, computing checking factors y of the checking units:
[y,c]=z(a1,a2)

OG Complex Work Unit Math
a1=[x1,y1,z1]
a2=[x2,y2,z2]
wherein z is a checking function; DIST is a distance function,; a1 and a2 are position vectors; elements in the position vectors represent forward, transverse and vertical position elements from left to right respectively; y is the checking factor, used for judging a level of a conflict; C is a conflict mark bit containing a time stamp of a current day; and Ic is a specific conflict position in a flight plan to be checked;
obtaining a conflict checking result Y according to the checking factors y of the checking units:

OG Complex Work Unit Math
wherein zy represents an y-value output of the function z; dtc represents the unit time of each checking unit; Nm represents a number of service SSPs, Nk represents a number of sorties in flight plans submitted for different service SSPs, and Nq represents a number of the flight plans submitted for different aircrafts with the flight plans submitted by different service SSPs; t1 and t2 are time interval nodes for arriving the waypoints; dl1 and dl2 are distance interval nodes for arriving the waypoints, wl is a transverse safety dimension, wh is a vertical safety dimension, and subscript _tc of xp_tc′ represents that different tc correspond to estimated positions of unmanned air vehicles in the flight plans with integration of tc; and custom character represents corresponding approved flight plan data of the estimated positions;
resolving a conflict in a tactical stage: identifying a trajectory deviation according to real-time flight data, and sending out a warning according to a deviation category; and optimizing a path according to the deviated trajectory, so as to complete tactical conflict resolution.