| Quickly and accurately locate the target in distress is the key to the maritime emergency rescue mission.In maritime emergency rescue missions,aviation rescue with helicopters as the main force has the advantages of fast speed,high efficiency and freedom from space constraints,and has been widely used in maritime rescue missions.However,in the process of performing search and rescue missions,the flight route of the aircraft has certain uncertainty,and there is the possibility of flight conflicts between aircrafts,which affects the efficiency of rescue and even produces secondary safety incidents.Therefore,during the maritime emergency rescue flight,predicting the flight conflict in advance and changing the route in time to resolve the conflict is of great significance for rescue missions and ensuring the flight safety of rescue aircraft.This paper focuses on the flight safety of multiple aircraft in the process of maritime search and rescue.At present,the flight safety research on aircraft mainly focuses on the detection and conflict resolution of aircraft in horizontal dimension and vertical dimension,which cannot be applied to the actual scene of simultaneous rescue of multiple aircraft in three-dimensional space.On the basis of the existing research,this paper further analyzes the aircraft collision risk in three-dimensional space,and on this basis,proposes a method of detecting and resolving the collision between multiple aircraft in three-dimensional space,so as to realize the autonomous avoidance of multiple aircraft in the maritime rescue airspace.The specific work is as follows:(1)In order to comprehensively predict flight conflicts in maritime search and rescue airspace,this paper builds a three-dimensional model based on aircraft trajectory research to predict flight conflicts.At the same time,taking into account the possible collision risk when the tracks are parallel,a three-dimensional model based on the flight protection zone is proposed.Furthermore,in order to adapt to the actual scene of multi-aircraft joint rescue,this paper analyzes the flight conflict in this scene in detail and shows the application of the proposed model in this scene.(2)This article firstly based on the scenario where multi-aircraft flight conflict occurs,only one aircraft can change the flight state to avoid flight conflict,and establish a flight conflict resolution model from the three angles of altitude,heading,and speed.Furthermore,in the case of multiple adjustable aircraft,the urgency of the aircraft’s mission,flight objectives,and performance are integrated to obtain the aircraft’s conflict resolution priority,and ultimately achieve collaborative conflict resolution.Simulation experiments show that the proposed flight conflict detection method and flight conflict resolution method can accurately predict aircraft conflict points,and execute optimal flight path planning in time,so as to avoid potential flight conflicts.The work in this paper is helpful to realize the self-avoidance of multiple aircrafts in the maritime rescue airspace,which is of great significance in improving the operational efficiency and ensuring safety of aircrafts in rescue operations. |
