UA116561C2 - METHOD AND DEVICE FOR PREVENTION OF MOVEMENTS OF MOVING OBJECTS IN DYNAMIC CONFLICT IN REAL TIME SCALE - Google Patents

Abstract

The method and device for preventing collisions of moving objects in dynamic conflict in real time is related to the field of aviation, and more specifically relates to systems of automatic control, computer technology, control of moving objects and, in particular, ways of solving conflict situations (solution of threat collisions) in the limited space between moving objects. This method introduces the definition of the 'uncertainty zone' of the position of each moving object and the 'control zone', which characterizes the capabilities of each moving object, on the basis of which the priority and maneuver of each of the moving objects is established. The present invention achieves the guaranteed real-time collision prevention of moving objects.

Description

The invention belongs to the field of aviation, and more specifically relates to automatic control systems, computer technology, control of moving objects and, in particular, methods of resolving conflict situations (resolving the threat of collisions) in a limited space between moving objects. The invention extends to multiple classes of dynamic moving objects that have both linear and non-linear characteristics and can be controlled in automatic, remote and manual modes and can be used in automatic control systems to improve flight safety in aviation.

The known system and method of its implementation for the prevention of collisions between vehicles

IPatent US Mo 05 651038881, IPC p080o 5/04, 5015 13/93, 2013 (analog)|, selected as an analogue, is that the possible evasive maneuver trajectories for the corresponding vehicle are calculated and compared with the evasive maneuver trajectories calculated for other vehicles to control whether the trajectory of the evasive maneuver for the vehicle at each moment of its calculated interval is within the specified minimum distance from the trajectory of the evasive maneuver of other vehicles. The claimed system issues a warning if the comparison shows that the trajectory of the evasive maneuver at any moment of its calculated interval is at a distance that is less than the set minimum distance from the trajectory of the evasive maneuver of any other vehicles.

The disadvantages of the presented known system and the method of its implementation are that the system issues a warning only in case of an immediate risk of collision and does not take into account the functional characteristics (aerodynamic characteristics, weight, speed, maneuverability, acceleration, etc.) of each of the vehicles, which significantly affects the quality calculation process and performance of the assigned task.

The closest technical solution chosen for the prototype is a method for preventing the collision of an aircraft with an obstacle and a device for its implementation (Patent of the Russian Federation No. 2325705, IPC so8o 5/04, 2008 (prototype). The method consists in the fact that according to the coordinates of the obstacle determine the type of trajectory of the obstacle, calculate the shortest distance from the aircraft to the approximate trajectory of the obstacle, which allows predicting the possibility of flying over or colliding with the obstacle. The task of the method is to increase efficiency

Zo and the reliability of forecasting the collision of an aircraft with an obstacle due to the use as a criterion of the intersection of the approximate trajectory of the obstacle with the sphere that conditions the aircraft. The device implementing the method uses optical means to measure the relative position of the obstacle, performs image processing of the moving object, namely, determines the coordinates and distance to the obstacle, and then determines the distance from the aircraft to the trajectory of the obstacle and checks the condition that this trajectory is sufficiently far from aircraft, which serves as a criterion for making a decision about a possible collision with an obstacle.

Disadvantages of the technical solution chosen for the prototype: 1. The "uncertainty zones" of moving objects (inaccuracy in determining their coordinates) are not taken into account; 2. The physical and functional properties (aerodynamic characteristics, weight, speed, maneuverability, acceleration, etc.) of the moving object and obstacles necessary for accurate mathematical calculations are not taken into account;

Q. As the number of conflict situations between moving objects increases, the complexity of calculations increases indefinitely, which can eventually lead to computational collapse and the "curse of dimensionality" effect; 4. When calculating the trajectory of an evasive maneuver, the "controllable areas" of moving objects are not calculated, the optimality criteria are not taken into account, and the priorities of the object's movement and obstacles are not determined. 5. The device for implementing the known method causes additional complications during implementation due to its technical complexity, the need for additional material resources and interference with the internal systems of moving objects.

The basis of the claimed method is the task of ensuring guaranteed prevention of collisions of moving objects in a dynamic discharged (with the necessary and sufficient time reserve) conflict on a real-time scale to increase the safety of flights in aviation and the efficiency of the use of aviation equipment by eliminating (eliminating) the shortcomings of the prototype.

The basis of the claimed device is the task of practical implementation of the claimed method in the form of separate unified equipment, through the use of satellite and radar navigation systems, which will allow determining the coordinates of moving objects on a real-time scale to ensure high-quality execution of the method.

The first task is solved by the fact that in the method of preventing collisions of moving objects in a dynamic conflict on a real-time scale, in which the coordinates of the movement of each of the objects in a given zone of space are determined and a conditional "uncertainty zone" is set for them to take into account possible location deviations objects, using network technologies, the data necessary for the declared device to carry out relevant calculations are transmitted from moving objects, the predicted (approximate) trajectories of the objects' movement are calculated at each moment of time, provided that the speed of movement, height and course of the objects are maintained stably , determine the presence of the intersection of these predicted trajectories of various moving objects in a given area of space at each moment of time, which indicates a possible threat of a collision of moving objects (the presence of a defused conflict), and when such a threat is detected, they calculate "controllability areas" (based on taking into account all the characteristics of moving objects) for each of the objects and on the basis of their comparison, the object or objects for which the evasive maneuver trajectories are necessary and rational are determined, the evasive maneuver trajectories are calculated taking into account the embedded database with a collection of general rules for evading objects in the event of a possible collision threat, the global optimum is taken into account as an optimality criterion according to the criterion of the minimum deviation of moving objects from the initial trajectories of movement (measure of deviation from the route), the predicted trajectories of the movement of objects are calculated according to the new trajectories of the evasive maneuver under the condition of maintaining a stable speed of movement, altitude and course and carry out a further check of the possible intersection of the predicted trajectories of movement objects to determine possible collision threats, during the execution of an evasive maneuver by the object, if necessary, the trajectory of the object's return to the initial trajectory of movement is also calculated.

The essence of the claimed method is to calculate and take into account the predicted trajectories of the movement of objects at each moment of time, "zones of uncertainty" and "areas of control" of moving objects, non-linearity in the behavior of moving objects and the conflict process in general, a database with a collection of general rules for avoiding objects in the event of a possible collision threat, the global optimum according to the criterion of minimum deviation, which is provided by network technologies, and which will allow to exclude (eliminate) the shortcomings of the prototype and ensure a guaranteed level of safety

When preventing collisions of moving objects in a dynamic conflict.

The second task is solved by the fact that in the device for preventing collisions of moving objects in a dynamic conflict on a real-time scale, which contains a housing in which a data reception unit and a data processing unit are sequentially located, which is connected to a collision threat detection module, which is under connected to the calculation module and which is connected to the unit for issuing control commands, signaling and indication, which in turn is further connected to the data processing unit, thereby creating feedback. At the same time, the collision threat detection module includes a block for determining the coordinates of moving objects, which is connected to a block for calculating the predicted trajectories of object movement, to which a block for taking into account "uncertainty zones" is also connected, and which is connected to block of data analysis and determination of the threat of collision. In addition, according to the invention, the calculation module includes a calculation and comparison unit of "maneuverability areas", which is connected to a unit for determining the priority of moving objects and selecting a maneuver type, which is connected to a unit for determining the trajectory of a maneuver, which is connected to block for determining the trajectory of returning to the initial trajectory, to which, in turn, the block for taking into account the global optimum is connected. Such a structure of the claimed device ensures implementation of the claimed method.

Further, the invention is explained by the description of a specific example of its implementation and the accompanying drawings, which show: in Fig. 1 and 2 - an example of the calculated possible "maneuverability area" of a moving object based on parameters of trajectory, kinematic and aerodynamic control; in Fig. C - an example of possible indication, signaling and control commands for moving objects in the event of a collision threat; in Fig. 4 - structural block diagram of the claimed device. The claimed method is implemented as follows.

On each moving object, the coordinates of all other moving objects located in a specific, limited area of space are determined using data transmitted from satellite and radar systems. According to the determined coordinates, each moving object is given an "uncertainty zone", which characterizes the unreliability of the determined and predicted position of the moving object, which is caused by errors in the assessment of the current situation, inadequacy of mathematical models, the influence of the external environment, because of navigational errors, etc. To ensure a guaranteed level of security, based on simulations, it was determined that the "uncertainty zone" should look like a spherical circle with a moving object in the center. Further, with the help of network data transmission technologies, moving objects in a given area of space exchange data necessary for forecasting and building trajectories of their possible movement at each moment of time, as well as, if necessary, for further calculation of their "controllability areas". At the same time, it is assumed that the speed of movement, height and course of the objects will be unchanged. The process of determining the intersection of these predicted trajectories of movement of various moving objects in a given area of space at each moment of time, i.e., the process of determining a possible defused conflict (threat of collision) is carried out as follows. The probability of conflict is defined as the probability that the distance between two or more moving objects will become smaller than some set value. In general, if the movement of two objects in space is given by velocity vectors M and M, then the maximum convergence of objects (distance of separation) is determined from the expression: Htip Me d/Me de Me-M-M. relative velocity vector; and. vector of distance between 5 objects. The time to reach maximum convergence is determined by:

Taya - 17 M. house. . chO-( mm -2aoM, dia 15. ut te ti, Distance between objects: (0-(Md oMzepi nd) ), where

Mid (M -2M Mo sovFM:) . . ! - - vd ZM zMasovftU;) - relative speed of objects; Languages -Miso5O,-Mosov (bo FO speed of convergence of objects; b. bearing of the second object relative to the direction of movement of the first; Fo. relative course; to. distance between objects at the initial moment of time. Time to the largest vl o Mav !ME ov; !shchi convergence: bl 70 zbl wd Distance between objects 9 bl at the moment of greatest convergence: b wl Zo MN Me -Mvi -M, vi... .

Approx. TO BUT vdo where Mn-Movip(b,nF) Mp; the component of relative velocity directed perpendicular to the line connecting the objects. In the case of the intersection of the paths of movement of two objects, and if both and I are the same, then the distance between the objects is determined:

Го -АМхХ()-х5(ОГ НУ. ()--у" (I . . 12 | (Ох / уко Уг() ), dehii - coordinates of objects.

After detecting a possible threat of collision of moving objects, building predicted trajectories of their movement, determining the distance and time to collision, based on data that is mutually transmitted between objects using network technologies, "control areas" are calculated for each of the objects, which are based on taking into account all the characteristics of moving objects. "Controllability areas" means the construction of graphs of dependencies of certain control characteristics of a moving object on other control characteristics of the same

From a moving object. "Manageability areas" characterize the ability of moving objects to change movement parameters at one point in time and allow to characterize the nonlinearity of the behavior of moving objects and the conflict process in general. For this, the mathematical apparatus of kinematics and dynamics of object movement is used. For example, the formulas of the kinematics and dynamics of the movement of an aircraft (mainline aircraft) are given, taking into account all its aerodynamic characteristics, reduced to a parametric form of the output of forces by integration and taking the PZHDVYh Java Koviykhovyuyutvseya for the calculation of "controllability areas": и Пл Пл

NS At), (bur, bekd) Mo, Ua) "(marriage MMeM,,M")).

NAR (tR,orf der, Ha Ua" Ta ayuvkd) - and Pl Pl -B((NSAtT(Y) (9, bekd) both) "bro zak) ChMeoMe,M")). 2-E.(u, tuR.orfde RO, KhahUa» Ta» ba ORKd) - and Pl Pl - NI At), (8, fu, bekd) Mo V,Ua) (b roozak) MM, M")) where

M - yaw angle; t - weight of the aircraft;

P - aircraft thrust; o - angle of attack;

Fde. engine installation angle;

B. sliding angle; x - pitch angle; a - aerodynamic drag force;

Tg - roll angle;

Ma. aerodynamic lifting force; 2. aerodynamic lateral force;

RKd - angle of installation of the engine control knob; 5 N - height;

Y. - traveled path; /4 lateral shift; t. weight change over time; 5 - simulation time; pr. - the angle of installation of the front wings; tank - installation of flaps;

MoMe, Uz - wind components along the axes; not. forces acting on the aircraft during flight (acceleration); (b, fu, ekd): - parameters of trajectory control elements;

PI

(or). parameters of kinematic control elements;

And both. . pr zak) - parameters of aerodynamic control elements.

An example of a possible "controllable area", namely the influence of trajectory control parameters on the resulting acceleration, is shown in Figure 1.

Figure 2 shows an example of a possible "area of control" by acceleration depending on the speed of movement and the angle of inclination of the trajectory.

Calculated and constructed "control areas" of moving objects are compared with each other using standard mathematical algorithms and modeling methods. Based on the comparison, the moving object or objects that need to perform an evasive maneuver are determined (the priority of the objects is determined. The principle of determination is as follows: the evasive maneuver must be performed by the object that has more capabilities for this, however, if the capabilities of one there is not enough object to ensure a guaranteed separation, the evasion maneuver must also be performed by other moving objects in the order of priority.

The calculation of the necessary trajectories of the evasive maneuver takes place in accordance with the requirements characterizing the minimum permissible distances between moving objects in a given part

From space. For this, the distance between the objects at the moment of their greatest convergence is calculated: zba TO No vd de Mn. the component of the relative velocity directed perpendicular to the line connecting the objects; to. distance between objects at the initial moment of time; i is the relative speed of the objects.

The type of required maneuver, namely: changing the height of movement of one or more moving objects, changing the speed of movement, changing the course or a combination of these maneuvers for one or more objects - is determined on the basis of "maneuverability areas" according to the following principle: type of evasive maneuver of one or more moving objects depends on the capabilities of these moving objects calculated in the "maneuverability areas" by changing the parameters of their movement at one specific moment in time (the object that has more such capabilities gets a higher priority in performing the maneuver). At the same time, a database with a collection of general rules for avoiding moving objects in the event of a possible collision threat is also used to determine the type of evasive maneuver.

When determining the type of maneuver, calculating the trajectory of the evasive maneuver and determining the object or objects that will perform the maneuver, it is a mandatory condition to take into account the global optimum according to the criterion of minimum deviation of moving objects from the initial trajectories of movement.

It characterizes the deviation of conflicting moving objects from the initial movement plans (measures of deviation in Mar y), namely, the area of the required maneuver:

BeTMugOYU- Uk x) x uko) uyu . sleep ' "Ho HK ; where и - initial and maneuvering lines of movement of the object; 09, - coordinates of the start and end point of the maneuver. The area of the maneuver takes into account the time and space costs of performing the maneuver.

In the process of performing the maneuver and after its completion, there is a constant calculation of new projected trajectories of the movement of objects to determine new possible collision threats caused by the performance of the maneuver. In the case of detection of such a threat, the execution of the declared method is repeated. Also, if necessary, upon completion or during the execution of an evasive maneuver, the trajectory of the moving object's return to its initial trajectory is calculated.

The proposed method has a cyclic nature of implementation and is performed constantly in real time on each moving object during its movement, which ensures a high level of traffic safety.

An example of possible indication and signaling with issuing of control commands is shown in Figure 3.

As shown in Figure 4, the device for preventing collisions of moving objects in a dynamic conflict on a real-time scale contains a housing 1 in which a data reception unit 2, a data processing unit 3, a collision threat detection module 4, a calculation module 9 and a control output unit are sequentially placed commands, signaling and indication 15, which is connected by feedback to the data processing unit 3. The module for determining the threat of collisions 4 includes a unit for determining the coordinates of moving objects 5, a unit for calculating the predicted trajectories of objects 6 and an analysis unit data and determination of the threat of collisions 8 connected in series. Also, a signal from the "uncertainty zones" calculation unit 7, which is located in module 4 separately, is sent to the input of the unit for calculating the predicted trajectories of object movement b. The calculation module 9, in turn, consists of a unit for calculating and comparing "areas of control" 10, a unit for determining the priority of moving objects and selecting the type of maneuver 11, a unit for determining the trajectory of the maneuver 12, and a unit for determining the trajectory of returning to the initial trajectory 13, which connected in series. At the same time, the blocks for determining the priority of moving objects and selecting the type of maneuver 11, determining the trajectory of the maneuver 12, and determining the trajectory of returning to the initial trajectory 13 are also supplied with a signal from the block for taking into account the global optimum 14, located separately in the module 9.

The device works as follows:

The input of block 2 receives a signal from navigation systems (radar and satellite).

The signal contains data about all moving objects located in a certain given limited part of space. From unit 2, the signal is transmitted to unit 3, where data is digitally processed, checked and, if necessary, stored. Next, the signal with the processed data is sent to the input of the collision threat detection module 4. In the module, namely in block 5

From this, the coordinates of all moving objects on the space-time coordinate grid are determined. Data on possible "zones of uncertainty" of the position of objects are added to the received values of the coordinates of objects in space. Execution of this process is provided by block 7. Aggregate information is then sent to block b, where, on the basis of the data obtained about moving objects, calculation and modeling of the predicted trajectories of movement of each of the objects is carried out.

According to the received data from block 6, in block 8 they are analyzed and modeled using software algorithms to determine the probability of a collision of objects. In the absence of such a threat, the operation of the device is cyclically renewed. In the event of a collision threat, block 8 ensures the transfer of information to calculation module 9. In module 9, information is sent to two blocks: block 10 and block 14. In block 14, information about moving objects is used to determine and take into account the criterion of optimality (global optimum) possible changes in the movement of objects and provision of relevant economic indicators. These indicators and criteria are further taken into account in the calculations to determine the trajectories in blocks 11, 12 and 13, to which the signal from block 14 is sent. moment of time taking into account all the characteristics of the moving object. Based on the data received from block 10, in block 11, an analytical determination is made of which or which moving objects will perform an evasive maneuver (the priority of the objects in the conflict is established based on the "manageability areas") and what the type of maneuver will be (in terms of height, speed , course or a combination of these options). Next, information from block 11 combined with information from block 14 is sent to block 12, where the calculation and determination of the trajectory of the evasive maneuver takes place directly. In block 13, the calculation and determination of the trajectory of return after the maneuver to the initial trajectory of movement takes place. For this, block 13 receives a signal from blocks 12 and 14. In the future, all information is formed into the appropriate control commands in block 15 and submitted to the indication and signaling bodies. At the same time, from block 15, control commands in the form of auxiliary information are transmitted to block C for further processing and ensuring cyclic operation of the method and device, which will allow them to work on a real-time scale.

Claims (2)

FORMULA OF THE INVENTION 1. The method of preventing collisions of moving objects in a dynamic conflict on a real-time scale, in which the coordinates of the movement of each moving object in a given limited part of space are determined, the projected trajectories of the movement of objects are calculated, and in case of detection of a threat of a possible collision, the trajectories of the necessary an evasive maneuver for one or more moving objects that are participants in a conflict situation, which differs in that for each moving object a conditional zone of possible deviations of the location of the object is calculated ("uncertainty zone"), the trajectory of the projected movement of objects are calculated on a real-time scale taking into account nonlinearity and uncertainty in the behavior of moving objects, calculations are carried out simultaneously for two or more objects, for each of them the capabilities of moving objects are calculated based on all known characteristics of these objects ("regions controllability, based on the obtained "controllability areas" of each moving object and according to addn the software algorithm determines the object or objects that will perform the evasive maneuver based on the set priority, determines the type of evasive maneuver based on "controllable areas" (change in the height of movement of one or more moving objects, change in speed of movement, change in course or a combination of these maneuvers for one or more objects), determine the criterion of minimum deviation of moving objects from the initial trajectories of movement (a measure of deviation from the route) according to the global optimum, while the evasion maneuver is performed by the object that has more for it possibilities, or several moving objects in the order of priority, in the case of the impossibility of a guaranteed separation of moving objects, determine the trajectory of returning to the initial trajectory, implement the algorithm of the method with constant cyclicity. 2. A device for preventing collisions of moving objects in a dynamic conflict on a real-time scale, which contains a serially connected data reception block, a data processing block, a collision threat detection module, which contains a block for determining the coordinates of object movement, a block for calculating predicted trajectories movement of objects, a unit for data analysis and determination of the threat of collisions, a calculation module that contains a unit for determining the trajectory of a maneuver and a unit for determining the trajectory of returning to the initial trajectory, a unit for issuing control commands, signals and indications, which differs in that the module for determining the threat of collisions, a unit for taking into account the conditional zone of possible deviations of the location of the object ("uncertainty zones") is introduced, which is connected to the unit for calculating the predicted trajectories of the objects' movement, the calculation unit is introduced into the calculation module and the comparison of the possibilities of all known characteristics of moving objects ( "areas of control"), which is connected to the block of priority determination moving objects and selecting the type of maneuver, which is connected to the block for determining the trajectory of the maneuver and to which the block for taking into account the global optimum is also connected according to the criterion of the minimum deviation of moving objects from the initial trajectories of movement, as well as a common feedback line yakuza ЧА ше бю in Yak, 1 Ku KE o I I : Vl : : I NKY i TIV LISH pt I TIL nia MINE MOLI Don't ask PI o NI NI : sce: in SNO vya I i. 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