管制空域内无人机与有人机侧向碰撞风险研究

随着无人机的逐渐发展和使用范围的扩大，空域将变得越来越拥挤。把无人机系统融入有人机管制空域将是未来解决空域拥挤问题的必要手段之一。基于无人机性能特征和机载设备设施要求，结合有人机和无人机的延迟推导出二者之间的管制防撞间隔，并根据等效安全水平原则求出二者之间可行的目标安全水平。在Reich模型的基础上进行改进，从而建立有人机与无人机的侧向碰撞风险模型，再通过仿真算例对不同管制空域内的有人机和无人机之间进行风险评估，计算碰撞风险并与目标安全水平进行比较。仿真结果表明在1000 m以上的管制空域采用所推导的防碰撞间隔满足ICAO规定的碰撞风险要求，所以该间隔可以作为无人机融入有人机管制空域时的侧向间隔使用。

Lateral Collision Risk Evaluation Between Unmanned Aerial Vehicle and Manned Aircraft in Controlled Airspace

With the gradual development of unmanned aerial vehicle and the expansion of its airspace range, the air space is becoming more and more limited. Integrating UAV systems into the controlled airspace will be one of the most necessary ways to solve the air space congestion problem. Based on the performance of the unmanned aerial vehicle and the requirements of the onboard equipment and facilities, combined with the delay of manned aircraft and UAV, the collision interval between them can be deduced. According to the principle of equivalent safety level, the target safety level between them can be obtained. A lateral collision risk model between UAV and manned aircraft based on the Reich model is developed. Then according to simulation examples, we assess the collision risk between UAV and manned aircraft in different controlled areas, calculate the collision risk, and compare it with the value of target safety level. The simulation results show that the deduced anti-collision separation used in controlled areas above 1000 meters meets the demand of ICAO, so it is usable in the controlled area.