Dynamic Collision Avoidance Zone Modeling Method Based on UAV Emergency Collision Avoidance Trajectory

In order to satisfy the flight safety early warning requirements of UAV to the greatest extent and improve the safety and reliability of UAV operating in mixed airspace, with reference to flight interval standards, a cylinder static protection zone model of UAV is constructed to detect the flight conflict trend and near midair collision trend between UAV and intruder, and then a dynamic collision avoidance zone modeling method based on emergency collision avoidance trajectory of UAV in three-dimensional space is proposed to delineat the dynamic collision avoidance zone for detecting the collision trend of two-aircrafts. The simulation results show the effectiveness of the method.