CN103854517B - Low altitude airspace aircraft conflict Resolution method and apparatus - Google Patents

Abstract

The present invention provides a method and equipment for conflict resolution of aircraft in low-altitude airspace. The method acquires the flight information of a first aircraft and the flight information of at least one second aircraft within the preset space range of the first aircraft; according to the first aircraft The flight information of an aircraft and the flight information of the second aircraft, determining a third aircraft that has a flight conflict with the first aircraft from the at least one second aircraft; according to the flight information of the first aircraft and the Describe the flight information of the third aircraft, determine the rejection probability of each preset escape strategy, and estimate the selection probability of each escape strategy according to the flight delay of each escape strategy; use the release strategy with the largest ratio of selection probability to rejection probability Strategies for conflict resolution. The technical scheme of the invention realizes that the aircraft can complete conflict detection and conflict resolution in a distributed manner, reduces the calculation amount of conflict resolution, and improves the conflict resolution efficiency.

Description

Method and equipment for conflict resolution of aircraft in low-altitude airspace

technical field

The invention relates to flight technology, in particular to a method and equipment for conflict relief of aircraft in low-altitude airspace.

Background technique

In principle, low-altitude airspace refers to the airspace range below 1,000 meters, and the activities in this area are mainly general aviation aircraft. The so-called general aviation refers to the use of civil aircraft to engage in civil aviation activities other than public air transportation. General aviation aircraft mainly use free flight in this field, that is, they can freely choose the flight path. With the gradual opening of low-altitude airspace in my country, general aviation is bound to flourish, and with the increase in the number of aircraft, it will bring new problems to safe flight, including the problem of aircraft conflict resolution.

Aircraft conflict detection and resolution is an important means to ensure the flight safety of aircraft. At present, the research in this field at home and abroad is mainly focused on the centralized conflict resolution method. The centralized conflict resolution method refers to the conflict resolution of all aircraft in the entire airspace by the ground control center. , this method generally has a large amount of calculation and low efficiency, and is not suitable for free flight in low-altitude airspace.

Contents of the invention

The object of the present invention is to provide a method and device for conflict resolution of low-altitude airspace aircraft, which are used to enable the aircraft to complete conflict detection and conflict resolution in a distributed manner, reduce the amount of calculation for conflict resolution, and improve the efficiency of conflict resolution.

The present invention provides a kind of low-altitude airspace aircraft conflict relief method, comprising:

Acquiring flight information of a first aircraft and flight information of at least one second aircraft within a preset space range of the first aircraft;

determining a third aircraft that has a flight conflict with the first aircraft from the at least one second aircraft according to the flight information of the first aircraft and the flight information of the second aircraft;

According to the flight information of the first aircraft and the flight information of the third aircraft, determine the rejection probability of each preset release strategy, and estimate the selection probability of each release strategy according to the flight delay of each release strategy ;

Use the resolution strategy with the largest ratio of selection probability to rejection probability to resolve conflicts.

The present invention also provides a low-altitude airspace aircraft conflict relief device, the device comprising:

An acquisition module, configured to acquire flight information of a first aircraft and flight information of at least one second aircraft within a preset space range of the first aircraft;

A determining module, configured to determine, from the at least one second aircraft, a third aircraft that has a flight conflict with the first aircraft according to the flight information of the first aircraft and the flight information of the second aircraft;

A probability module, configured to determine the rejection probability of each preset release strategy according to the flight information of the first aircraft and the flight information of the third aircraft, and estimate the flight delay of each release strategy according to the flight delay of each release strategy. The selection probability of the escape strategy;

An execution module, configured to use the resolution strategy with the largest ratio of selection probability to rejection probability to resolve conflicts.

The present invention provides a method and device for conflict resolution of aircraft in low-altitude airspace. The method obtains the flight information of a first aircraft and the flight information of at least one second aircraft within the preset space range of the first aircraft; The first aircraft has a third aircraft in flight conflict; then determine the rejection probability of each of the preset strategies for getting rid of, and estimate the selection probability of each of the strategies for getting rid of according to the flight delay of each of the strategies for getting rid of; use the selection probability and The resolution strategy with the largest probability ratio is rejected for conflict resolution. The technical scheme of the invention realizes that the aircraft can complete conflict detection and conflict resolution in a distributed manner, reduces the calculation amount of conflict resolution, and improves the conflict resolution efficiency.

Description of drawings

Fig. 1 is a schematic flow chart of a method for conflict resolution of low-altitude airspace aircraft provided by an embodiment of the present invention;

Fig. 2 is a schematic flow chart of step 12 in Fig. 1;

Fig. 3 is a structural schematic diagram of a low-altitude airspace aircraft conflict relief device provided by another embodiment of the present invention;

FIG. 4 is a schematic structural diagram of the determination module 22 in FIG. 3;

FIG. 5 is a schematic structural diagram of the determining unit 224 in FIG. 4;

Fig. 6 is a schematic structural view of the low-altitude airspace aircraft conflict relief device provided by another embodiment of the present invention;

FIG. 7 is a schematic flow chart of a one-to-one negotiation process.

detailed description

A method for conflict resolution of aircraft in low-altitude airspace provided by this embodiment includes:

Step 11: Obtain the flight information of the first aircraft and the flight information of at least one second aircraft within the preset space range of the first aircraft. Specifically, the flight information includes but is not limited to: the aircraft's current flight position, flight speed, flight direction, flight time, flight delay, and whether it is about to arrive at the airport. °, the altitude is 500 meters", the flight speed is "800km/h", the flight direction is "due east", the flight time is "2 hours and 13 minutes", the flight delay is "14 minutes" and whether it is about to arrive at the airport is "No" "Wait. Generally, each aircraft has a dedicated memory for storing the above-mentioned flight information. Aircraft flying in the air can obtain corresponding flight information through wireless communication and other means. In addition, for the first aircraft, the conflicting aircraft must be within a certain preset space range, which can be set according to theoretical values summarized from actual experience, or according to the current flight information of the first aircraft. Parameters such as the flight speed in the camera are set. For example, if the current flight speed is high, the preset space range for detection will be correspondingly large. The acquired flight information of the second aircraft is used for conflict judgment so as to select a corresponding conflict resolution strategy.

Step 12: According to the flight information of the first aircraft and the flight information of each second aircraft, determine a third aircraft that has a flight conflict with the first aircraft from at least one second aircraft. For the flight information of at least one second aircraft within the preset space range of the first aircraft acquired in step 11, it is necessary to judge whether there will be a conflict with the first aircraft during the future flight, and if so, determine it for the third aircraft. For example, by estimating the minimum distance between each second aircraft and the first aircraft, and comparing it with a preset conflict distance to determine whether it is an aircraft in conflict.

Step 13: According to the flight information of the first aircraft and the flight information of the third aircraft, determine the rejection probability of each preset escape strategy, and estimate the selection probability of each escape strategy according to the flight delay of each escape strategy. In this embodiment, the preset release strategy only takes a specific flight direction as an example. For example, the preset release strategy includes but is not limited to: fly left at a large angle, fly left at a small angle, fly straight, fly right at a small angle, and fly right at a large angle , 5 strategies, respectively recorded as the first strategy, the second...the fifth strategy. Of course, there will be many kinds of flight strategies in the actual flight process. Here we only use the above-mentioned ones as examples, but it is not limited to the preset release strategies in the above examples, and can also include flying up at a preset angle, turning, etc. , not listed here. For each preset release strategy, the aircraft will combine the flight information to generate the flight trajectory, so as to judge whether there is a possibility of collision with other aircraft. According to the flight information of the first aircraft and the flight information of the third aircraft, the rejection probability of the preset release strategy is comprehensively considered. The selection probability is related to the flight delay of the aircraft caused by flying according to the preset release strategy. The longer the flight delay, the smaller the probability of choosing to use the escape strategy (ie, the selection probability). For example, if the aircraft flies according to the second strategy, it will cause the delay of the aircraft to be 2 minutes, and if the aircraft flies according to the fifth strategy, it will cause the delay of the aircraft to be 1.2 minutes, then it can be considered as the choice of the fifth preset release strategy The probability is high. Specifically, the delays corresponding to the five preset release strategies can be calculated, and each preset release strategy is proportional to the selection probability.

Step 14: Use the resolution strategy with the largest ratio of selection probability to rejection probability for conflict resolution. Calculate the ratio between the selection probability and the rejection probability calculated in step 13, and find the release strategy with the largest corresponding ratio.

This embodiment provides a method for conflict resolution of aircraft in low-altitude airspace, the method obtains the flight information of the first aircraft and the flight information of at least one second aircraft within the preset space range of the first aircraft; There is a third aircraft in flight conflict; then determine the rejection probability of each of the preset escape strategies, and estimate the selection probability of each escape strategy according to the flight delay of each escape strategy; use the largest ratio of selection probability to rejection probability Disengagement strategy for conflict resolution. The technical scheme of the invention realizes that the aircraft can complete conflict detection and conflict resolution in a distributed manner, reduces the calculation amount of conflict resolution, and improves the conflict resolution efficiency.

Fig. 2 is a schematic flow chart of step 12 in Fig. 1, as shown in Fig. 2, as a preferred technical solution, step 12: according to the flight information of the first aircraft and the flight information of each second aircraft, from at least one second aircraft Among the aircraft, the third aircraft determined to have a flight conflict with the first aircraft includes:

Step 121: Use the flight information of each second aircraft to simulate the flight process of each second aircraft to obtain the flight trajectory of each second aircraft;

Step 122: Comparing the flight trajectory of each second aircraft with the flight trajectory of the first aircraft, and obtaining the first time between each second aircraft and the first aircraft from the moment when the flight information of each second aircraft is acquired The shortest distance interval when the inner distance is the shortest;

Step 123: Obtain at least one fourth aircraft whose shortest distance is less than a preset conflict distance from at least one second aircraft;

Step 124: Obtain a third aircraft from at least one fourth aircraft. Each aircraft flying in the low-altitude airspace may, for example, perform a conflict detection once per second, and the maximum distance of its detection range is limited by the detection range of the airborne equipment.

When the second aircraft enters the detection radius of the first aircraft, the first aircraft can obtain the flight information of the second aircraft through the on-board detection equipment, and simulate the flight trajectory of the second aircraft for a period of time through the on-board computer, and then Comparing and calculating the flight trajectory of the first aircraft itself with the flight trajectory of the second aircraft to obtain the shortest distance between each second aircraft and the first aircraft within the preset first time, if the shortest distance is less than the preset conflict distance and greater than the preset collision distance, it is considered that there is a risk of collision between the two aircraft. If it is less than the preset collision distance, it is considered that the two aircraft have a risk of collision. In the above two cases, conflict resolution is required. If it is greater than the preset collision distance Conflict distance, there is no conflict risk, no collision risk, and no conflict resolution process is required.

Specifically, for example, the detection radius of the first aircraft is 100 km, and there are two second aircraft within the detection range. The first aircraft respectively obtains the flight information of the two second aircraft, and then performs trajectory simulation respectively, and then compares it, and finds that The shortest distance between the first aircraft and one of the second aircraft is 1 nautical mile, which is less than the preset conflict distance of 5 nautical miles, indicating that the two aircraft have a conflict risk, and the second aircraft is regarded as the fourth aircraft; If the shortest distance between an aircraft and another second aircraft is 10 nautical miles, which is greater than the preset conflict distance of 5 nautical miles, it indicates that there is no risk of conflict between the two aircraft, and conflict resolution processing is not required.

As a preference of the above technical solution, step 123: obtaining the third aircraft from at least one fourth aircraft includes:

According to the preset priority determination rule, the priority of each fourth aircraft is determined according to the flight information of each fourth aircraft, and the priority of the first aircraft is determined according to the flight information of the first aircraft;

A fourth aircraft having a higher priority than the first aircraft is selected as the third aircraft.

The preset priority determination rule can be specifically as follows: according to whether the flight information is about to arrive at the airport, it is divided into two groups, and the group that is about to arrive at the airport has a high priority; in each group, it is sorted according to the flight delay, and the delay is shorter. The higher the priority, the higher the priority; the aircraft with the same flight delay are sorted according to the flight time, the more the flight time, the higher the priority; remove the aircraft with a lower priority than the target aircraft, and you can get the aircraft that have an impact on the target aircraft . That is, from the fourth aircraft, an aircraft that has an impact on the first aircraft is selected according to the above-mentioned priority determination rule. The priority determination rules are not limited to this illustration.

As a preference for the above technical solution, in step 13, according to the flight information of the first aircraft and the flight information of the third aircraft, determining the rejection probability of each preset relief strategy includes:

According to the formula Determine the probability of rejection for each relief strategy;

in,

P _R (i) is the rejection probability of the i-th relief strategy, W _R (i, k) is the rejection weight corresponding to the k-th third aircraft under the i-th relief strategy, i is a natural number, and k is a natural number; R ₂ is the preset collision distance, R ₁ is the preset collision distance, d _min (k) is the shortest distance interval, and d(k) is the time when the first aircraft obtains the flight information of each second aircraft to the time when it meets the second aircraft. The flight distance of k third aircrafts when they are separated by the shortest distance, β is a constant coefficient. ∝ in the above formula is an equivalent symbol, which means that the left part of the symbol is equivalent to the right part of the symbol.

If the resolution strategy calculated according to the above method is directly used for conflict resolution, it needs to be tested before it can be implemented because it is calculated through probability. Specifically, as an optimization of the above-mentioned technical solution, step 14: before conflict resolution using the resolution strategy with the largest ratio of selection probability to rejection probability, includes:

predicting the flight information of the first aircraft after the conflict is resolved using the resolution strategy with the largest ratio of the selection probability to the rejection probability, and obtaining predicted flight information;

receiving current flight information of the third aircraft;

Simulating the flight process of the third aircraft according to the current flight information of the third aircraft to obtain the flight trajectory of the third aircraft, and simulating the flight process of the first aircraft according to the predicted flight information to obtain the predicted flight trajectory of the first aircraft;

According to the flight trajectory of the third aircraft and the predicted flight trajectory of the first aircraft, obtain the time interval t between the third aircraft and the first aircraft from the current moment to the first shortest distance;

Judging whether the time interval t is greater than the preset conflict time interval t ₀ indicates that the conflict time interval is changed after using this strategy, and the occurrence of conflict is prevented in due course. That is to say, if there are multiple third aircraft, it is necessary to determine whether the time interval t when the first distance between each third aircraft and the first aircraft is the shortest is greater than the preset conflict time interval t ₀ .

If the judgment result is yes, the step of using the resolution strategy with the largest ratio of selection probability to rejection probability to perform conflict resolution is performed.

As the optimization of the above-mentioned technical scheme, the low-altitude airspace aircraft conflict release method provided by the present embodiment also includes a one-by-one negotiation process. The time interval from the current moment to the first time when the distance is the shortest is greater than the release strategy of the conflict time interval, and the re-selected release strategy is used to resolve the conflict. In the case that the release strategy with the largest ratio of selection probability to rejection probability cannot meet the judgment whether the time interval t is greater than the preset conflict time interval _t0 , then all the preset release strategies are calculated sequentially with the shortest distance from the first aircraft When the time interval is greater than the conflict resolution strategy, select the default resolution strategy corresponding to the time interval t greater than the preset conflict time interval t ₀ to resolve the conflict. Among them, the situation where the judgment result is no includes the situation that the shortest time interval t between any third aircraft and the first aircraft is not greater than the conflict time interval _t0 , and the first time interval between all the third aircraft and the first aircraft. The shortest time interval t between two times is not greater than the conflict time interval t ₀ .

Fig. 7 is a schematic flow chart of the one-to-one negotiation process, as shown in Fig. 7, the specific one-to-one negotiation process is, i in the figure is a preset release strategy, for example, there are five preset release strategies in this embodiment, then i is a natural number from 1 to 5. The negotiation process is to calculate the time interval t with the third aircraft for each preset release strategy. And according to whether t is greater than the preset conflict time interval t ₀ , the preset release strategy is selected. Wherein, when there are multiple third aircrafts, it is only necessary to negotiate with the third aircraft with the shortest conflict time among the multiple third aircrafts.

Fig. 3 is a schematic structural diagram of a low-altitude airspace aircraft conflict relief device provided by another embodiment of the present invention. In conjunction with Fig. 3, the present embodiment provides a low-altitude airspace aircraft conflict relief device, which includes:

An acquisition module 21, which acquires the flight information of the first aircraft and the flight information of at least one second aircraft within the preset space range of the first aircraft;

The determination module 22 is connected to the acquisition module 21, and is used to determine a third aircraft that has a flight conflict with the first aircraft from at least one second aircraft according to the flight information of the first aircraft and the flight information of the second aircraft;

The probability module 23 is connected with the determination module 22, and is used to determine the rejection probability of each preset release strategy according to the flight information of the first aircraft and the flight information of the third aircraft, and estimate the flight delay according to each release strategy. Measure the selection probability of each escape strategy;

The execution module 24 is connected with the probability module 23, and is configured to use the resolution strategy with the largest ratio of the selection probability to the rejection probability to resolve the conflict.

This embodiment provides a low-altitude airspace aircraft conflict resolution device, the acquisition module 21 acquires the flight information of the first aircraft and the flight information of at least one second aircraft within the preset space range of the first aircraft; the determination module determines There is a third aircraft in flight conflict with the first aircraft; then the probability module determines the rejection probability of each of the preset escape strategies, and estimates the selection probability of each escape strategy according to the flight delay of each escape strategy; execute The module uses the resolution strategy with the largest ratio of selection probability to rejection probability to resolve conflicts. The technical scheme of the invention realizes that the aircraft can complete conflict detection and conflict resolution in a distributed manner, reduces the calculation amount of conflict resolution, and improves the conflict resolution efficiency.

The implementation method of the low-altitude airspace aircraft conflict resolution device provided in this embodiment is the same as that of the low-altitude airspace aircraft conflict resolution method provided in the above-mentioned embodiments.

Fig. 4 is a schematic structural diagram of determining module 22 in Fig. 3, as shown in Fig. 4, as the optimization of above-mentioned technical scheme, determining module 22 comprises:

The simulation unit 221 is configured to use the flight information of each second aircraft to simulate the flight process of each second aircraft to obtain the flight trajectory of each second aircraft;

The comparison unit 222 is connected with the simulation unit 221, and is used to compare the flight trajectory of each second aircraft with the flight trajectory of the first aircraft, and obtain the flight trajectory of each second aircraft and the first aircraft in the self-acquired flight trajectory of each second aircraft. The shortest distance interval when the distance is the shortest in the first time starting from the moment of flight information;

The selection unit 223 is connected to the comparison unit 222, and is used to obtain at least one fourth aircraft whose shortest distance interval is smaller than the preset conflict distance from at least one second aircraft;

The determination unit 224 is connected to the selection unit 223 and configured to obtain the third aircraft from at least one fourth aircraft.

Fig. 5 is a schematic structural diagram of the determination unit 224 in Fig. 4, as shown in Fig. 5, as the optimization of the above-mentioned technical solution, the determination unit 224 includes:

The priority determination subunit 2241 is configured to determine the priority of each fourth aircraft according to the flight information of each fourth aircraft according to the preset priority determination rules, and determine the priority of the first aircraft according to the flight information of the first aircraft class;

The priority comparison subunit 2242 is connected to the priority determination subunit 2241, and is configured to select a fourth aircraft whose priority is higher than that of the first aircraft as the third aircraft.

As an optimization of the above technical solution, the probability module 23 is specifically used for:

According to the formula Determine the probability of rejection for each extrication strategy;

in,

W _R (i,k) is the rejection weight of the kth third aircraft that has a flight conflict with the first aircraft under the i release strategy, R ₂ is the preset conflict distance, R ₁ is the preset collision distance, _dmin (k) is the shortest distance between the first aircraft and the kth third aircraft, d(k) is the flight distance between the first aircraft and the shortest distance between the kth third aircraft, β is a constant coefficient. ∝ in the above formula is an equivalent symbol, which means that the left part of the symbol is equivalent to the right part of the symbol.

Fig. 6 is a schematic structural diagram of the low-altitude airspace aircraft conflict release device provided by another embodiment of the present invention. As shown in Fig. Module 31, connected to the execution module 24, used to predict the conflict resolution after the conflict resolution using the resolution strategy with the largest ratio of selection probability to rejection probability before the execution module 24 uses the resolution strategy with the largest ratio of selection probability to rejection probability to resolve the conflict. The flight information of the first aircraft is described, and the predicted flight information is obtained;

The receiving module 32 is connected with the predicting module 31 and is used to receive the current flight information of the third aircraft;

The trajectory simulation module 33 is connected with the receiving module 32, and is used to simulate the flight process of the third aircraft according to the current flight information of the third aircraft, obtain the flight trajectory of the third aircraft, and predict the flight of the first aircraft according to the predicted flight information. The process is simulated to obtain the predicted flight trajectory of the first aircraft;

The time interval obtaining module 34 is connected with the trajectory simulation module 33, and is used to obtain the shortest distance between the third aircraft and the first aircraft from the current moment to the first time according to the flight trajectory of the third aircraft and the predicted flight trajectory of the first aircraft. time interval;

Judging module 35, connected with time interval obtaining module 34, is used for judging whether the time interval is greater than the preset conflict time interval;

If the judgment result is yes, the execution triggers the first execution module 24 to use the resolution strategy with the largest ratio of selection probability to rejection probability to resolve the conflict.

As the preference of the above technical solution, the equipment also includes:

The second execution module 36 is connected with the judgment module 35, and is used to reselect from other release strategies to make the third aircraft and the first aircraft distance from the current moment to the first time when the judgment result of the judgment module is No. The shortest time interval is greater than the resolution strategy of the conflict time interval, and the re-selected resolution strategy is used for conflict resolution.

Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by program instructions and related hardware. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other various media that can store program codes.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

Claims (8)

1. A low-altitude airspace aircraft conflict resolution method is characterized by comprising the following steps:

acquiring flight information of a first aircraft and flight information of at least one second aircraft in a preset space range of the first aircraft;

determining a third aircraft in flight conflict with the first aircraft from the at least one second aircraft according to the flight information of the first aircraft and the flight information of each second aircraft;

determining the preset rejection probability of each releasing strategy according to the flight information of the first aircraft and the flight information of the third aircraft, and estimating the selection probability of each releasing strategy according to the flight delay of each releasing strategy; using a releasing strategy with the maximum ratio of the selection probability to the rejection probability to release the conflict;

wherein, before performing conflict resolution by using the resolution strategy with the maximum ratio of the selection probability to the rejection probability, the method comprises the following steps:

predicting the flight information of the first aircraft after conflict resolution is carried out by using a resolution strategy with the maximum ratio of the selection probability to the rejection probability, and obtaining predicted flight information;

receiving current flight information for the third aircraft;

simulating the flight process of the third aircraft according to the current flight information of the third aircraft to obtain the flight trajectory of the third aircraft, and simulating the flight process of the first aircraft according to the predicted flight information to obtain the predicted flight trajectory of the first aircraft;

obtaining a time interval from the current time to the first time when the distance between the third aircraft and the first aircraft is shortest according to the flight trajectory of the third aircraft and the predicted flight trajectory of the first aircraft;

judging whether the time intervals are all larger than a preset conflict time interval;

and if so, executing a step of using a disengagement strategy with the maximum ratio of the selection probability to the rejection probability to perform conflict disengagement.

2. The low-altitude airspace aircraft conflict resolution method of claim 1, wherein the determining, from the flight information of the first aircraft and the flight information of each second aircraft, a third aircraft from the at least one second aircraft that has a flight conflict with the first aircraft comprises:

simulating the flight process of each second aircraft by using the flight information of each second aircraft to obtain the flight track of each second aircraft;

comparing the flight trajectory of each second aircraft with the flight trajectory of the first aircraft to obtain the shortest distance interval of each second aircraft and the first aircraft when the distance between the second aircraft and the first aircraft is shortest within first time, wherein the first time is started from the moment of obtaining the flight information of each second aircraft;

acquiring at least one fourth aircraft with the shortest distance interval smaller than a preset conflict distance from the at least one second aircraft;

acquiring the third aircraft from the at least one fourth aircraft.

3. The low-altitude airspace aircraft conflict resolution method of claim 2, wherein acquiring the third aircraft from the at least one fourth aircraft comprises:

according to a preset priority determination rule, determining the priority of each fourth aircraft according to the flight information of each fourth aircraft, and determining the priority of the first aircraft according to the flight information of the first aircraft;

selecting a fourth aircraft having a priority higher than the priority of the first aircraft as the third aircraft.

4. The low-altitude airspace aircraft conflict resolution method of claim 2 or 3, wherein determining the rejection probability of each preset resolution strategy according to the flight information of the first aircraft and the flight information of the third aircraft comprises:

according to the formulaDetermining a rejection probability for each of the disengagement strategies;

wherein,

P_R(i) rejection probability for the ith resolution strategy, W_R(i, k) is a rejection weight corresponding to the kth third aircraft under the ith release strategy, i is a natural number, and k is a natural number; r₂For presetting the collision distance, R₁To preset collision distance, d_min(k) For the shortest distance interval, d (k) is a flight distance from the moment when the flight information of each second aircraft is acquired to the moment when the first aircraft is away from the kth third aircraft by the shortest distance interval, and β is a constant coefficient.

5. A low-altitude airspace aircraft conflict resolution apparatus, the apparatus comprising:

the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring flight information of a first aircraft and flight information of at least one second aircraft in a preset space range of the first aircraft;

a determining module, configured to determine, according to the flight information of the first aircraft and the flight information of each second aircraft, a third aircraft that is in flight conflict with the first aircraft from among the at least one second aircraft;

the probability module is used for determining the preset rejection probability of each releasing strategy according to the flight information of the first aircraft and the flight information of the third aircraft, and estimating the selection probability of each releasing strategy according to the flight delay of each releasing strategy; the execution module is used for performing conflict resolution by using a resolution strategy with the maximum ratio of the selection probability to the rejection probability;

the low-altitude airspace aircraft conflict resolution equipment further comprises:

the prediction module is used for predicting the flight information of the first aircraft after the conflict is released by using the releasing strategy with the maximum ratio of the selection probability to the rejection probability before the executing module uses the releasing strategy with the maximum ratio of the selection probability to the rejection probability to perform the conflict release so as to obtain predicted flight information;

a receiving module, configured to receive current flight information of the third aircraft;

the trajectory simulation module is used for simulating the flight process of the third aircraft according to the current flight information of the third aircraft to obtain the flight trajectory of the third aircraft, and simulating the flight process of the first aircraft according to the predicted flight information to obtain the predicted flight trajectory of the first aircraft;

a time interval obtaining module, configured to obtain, according to the flight trajectory of the third aircraft and the predicted flight trajectory of the first aircraft, a time interval between the third aircraft and the first aircraft from a current time to a time when a distance between the third aircraft and the first aircraft is shortest;

and the judging module is used for judging whether the time intervals are all larger than the preset conflict time intervals, and if so, the execution module is triggered to execute conflict resolution by using a resolution strategy with the maximum ratio of the selection probability to the rejection probability.

6. The low-altitude airspace aircraft conflict resolution device of claim 5, wherein the determination module comprises:

the simulation unit is used for simulating the flight process of each second aircraft by using the flight information of each second aircraft to obtain the flight track of each second aircraft;

the comparison unit is used for comparing the flight trajectory of each second aircraft with the flight trajectory of the first aircraft to obtain the shortest distance interval when the distance between each second aircraft and the first aircraft is shortest in the first time, wherein the first time is started from the moment of obtaining the flight information of each second aircraft;

the selecting unit is used for acquiring at least one fourth aircraft with the shortest distance interval smaller than the preset conflict distance from the at least one second aircraft;

a determination unit configured to acquire the third aircraft from the at least one fourth aircraft.

7. The low-altitude airspace aircraft conflict resolution device of claim 6, wherein the determination unit comprises:

the priority determining subunit is configured to determine, according to a preset priority determining rule, a priority of each fourth aircraft according to the flight information of each fourth aircraft, and determine a priority of the first aircraft according to the flight information of the first aircraft;

a priority comparison subunit configured to select, as the third aircraft, a fourth aircraft having a priority higher than that of the first aircraft.

8. The low-altitude airspace aircraft conflict resolution device of claim 6 or 7, wherein the probability module is specifically configured to operate according to a formulaDetermining a rejection probability for each of the disengagement strategies;

wherein,

P_R(i) rejection probability for the ith resolution strategy, W_R(i, k) is a rejection weight corresponding to the kth third aircraft under the ith release strategy, i is a natural number, and k is a natural number; r₂For presetting the collision distance, R₁To preset collision distance, d_min(k) For the shortest distance interval, d (k) is a flight distance from the moment when the flight information of each second aircraft is acquired to the moment when the first aircraft is away from the kth third aircraft by the shortest distance interval, and β is a constant coefficient.