摘要
防止无人机闯入禁飞空域在技术层面的研究主要是感知与规避系统,而感知与规避技术发展尚未成熟。文中提出了一种无人机基于地理围栏的地面站避让系统模型,设计优化地理围栏算法,通过划分禁飞区域,定义围栏事件,设置触发事件判断无人机是否闯入禁飞区域;搭建半实物仿真平台,在Mat Lab环境下对地理围栏算法进行仿真验证。结果表明,地理围栏算法能够准确判断无人机是否闯入禁飞区,可以指导地面站避让系统的软件设计,避免无人机闯入禁飞区域。
The research on preventing UAVs from entering the forbidden airspace is mainly based on the sense and avoid system,but the development of sense and avoid technique is not mature. A ground avoidance system model of UAV is is put forward,and the algorithm and optimization of geo-fencing is designed. By dividing the no fly area,defining the fence events and setting the trigger events to judge whether the UAV enters the no fly area. To build a semi physical simulation platform based on Mat Lab simulation for geo-fencing algorithm,simulation results show that the method can accurately judge whether the UAV into the no fly zone,can guide the ground station monitoring system software design to avoid UAV entering the no fly zone.
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