Title:
UNMANNED AERIAL VEHICLE CONFLICT DETECTION METHOD AND APPARATUS OF AIRSPACE DIGITAL GRID AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2024/007256
Kind Code:
A1
Abstract:
The present invention provides an unmanned aerial vehicle conflict detection method and apparatus of an airspace digital grid and a storage medium. The method comprises: establishing an airspace discrete subdivision grid model; constructing a grid coding rule and a conversion relationship of the longitude and latitude coordinates and grid codes; establishing an unmanned aerial vehicle safety protection area to perform gridding representation on an unmanned aerial vehicle in the airspace; establishing a coordinate system to convert the grid codes of the unmanned aerial vehicle into coordinates; utilizing a GJK algorithm to calculate a Minkowski difference set of two blocks; and determining whether the unmanned aerial vehicle conflicts or not according to the Minkowski difference set. By combining airspace grid codes with the GJK algorithm, compared with the traditional paired coordinate operation, the complexity of conflict detection can be effectively reduced, a large amount of calculation time can be saved, and the efficiency of unmanned aerial vehicle conflict detection can be effectively improved, to satisfy rapid real-time conflict detection requirements for the unmanned aerial vehicle in the airspace.
Inventors:
XIE HUA (CN)
ZHU YONGWEN (CN)
SU FANGZHENG (CN)
YIN JIANAN (CN)
YUAN LIGANG (CN)
YANG LEI (CN)
YANG ZHAO (CN)
BAO JIE (CN)
TANG ZHILI (CN)
WANG CHANGCHUN (CN)
PU FAN (CN)
ZHU YONGWEN (CN)
SU FANGZHENG (CN)
YIN JIANAN (CN)
YUAN LIGANG (CN)
YANG LEI (CN)
YANG ZHAO (CN)
BAO JIE (CN)
TANG ZHILI (CN)
WANG CHANGCHUN (CN)
PU FAN (CN)
Application Number:
PCT/CN2022/104396
Publication Date:
January 11, 2024
Filing Date:
July 07, 2022
Export Citation:
Assignee:
UNIV NANJING AERONAUTICS & ASTRONAUTICS (CN)
International Classes:
G06F30/20; G01C21/22; G06F119/02
Foreign References:
| CN115098993A | 2022-09-23 | |||
| CN111477034A | 2020-07-31 | |||
| CN112348960A | 2021-02-09 | |||
| CN113781846A | 2021-12-10 | |||
| US20130076767A1 | 2013-03-28 |
Other References:
MING CAI, WAN LUJUN; GAO ZHIZHOU; XU XINYU: "Research on Airspace Conflict Detection Algorithm Based on GJK in Spatial Grid System", JOURNAL OF XIHUA UNIVERSITY(NATURAL SCIENCE EDITION), vol. 41, no. 1, 10 January 2022 (2022-01-10), pages 36 - 41, XP093125340, DOI: 10.12198/j.issn.1673
Attorney, Agent or Firm:
RZBC PATENT AGENCY (GENERAL PARTNERSHIP) (CN)
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