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针对当前无人机空域运行安全评估体系缺乏的现状,利用TOPAZ构建了一种用于无人机飞行冲突解脱技术的安全评估体系。构造了无人机的空域运行环境,加入单机45°交叉相遇、90°交叉相遇和双机同时交叉相遇的冲突场景。选取一种典型的无人机冲突解脱算法作为安全评估对象,依据TOPAZ的评估流程展开了系统的评估,得出冲突解脱算法的安全水平。对冲突解脱算法提出了改进方案,加入了动态的启发式因子,有效提高了冲突解脱技术的安全性能。通过基于TOPAZ的迭代评估过程进一步找出了无人机冲突解脱算法的安全瓶颈所在,证实了当前各类冲突解脱技术还无法满足有人机与无人机共域飞行的安全需要。
In view of the current lack of safety assessment system of UAV airspace operation, TOPAZ is used to construct a safety assessment system for UAV flight conflict release technology. The airspace operating environment of the UAV was constructed, which joined the single 45 ° cross encounter, the 90 ° cross encounter and the double plane collision encounters at the same time. Select a typical UAV collision release algorithm as a safety assessment object, according to the TOPAZ assessment process to start a systematic evaluation of the safety of the conflict relief algorithm. The conflict relief algorithm is proposed to improve the program, adding a dynamic heuristic factor, effectively improve the safety of conflict relief technology. Through the iterative evaluation process based on TOPAZ, the safety bottleneck of UAV collision avoidance algorithm is further found out, which proves that the current types of conflict release techniques can not meet the safety requirements of manned and unmanned aerial vehicle.