A flight conflict detection model for UAV based on four-dimensional coordinates

AbstractTo assist the detection of UAV flight conflict, a flight conflict detection model of UAV based on four-dimensional coordinate is presented. The purpose of the model is to find the possible flight conflicts around the UAV and to provide sufficient time for the autonomous avoidance of UAV. The model divides the space around UAV into three regions, including the detection layer (SAR), the adjacent layer (NAR) and the collision layer (CAR). First, the detection targets are preliminarily selected, then the conflict analysis of UAVs from four-dimensions is carried out to determine whether there is any possibility of flight conflict. A large number of MATLAB simulation experiments show that this model can accurately and quickly detect the risk of UAV collision, and has a positive effect on the flight avoidance problem of UAVs.