公开(公告)号：US20250003755A1

公开(公告)日：2025-01-02

申请号：US18278650

申请日：2022-07-07

Applicant: NANJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS

Inventor： Hua XIE ,  Yongwen ZHU ,  Fangzheng SU ,  Jianan YIN ,  Ligang YUAN ,  Lei YANG ,  Zhao YANG ,  Jie BAO ,  Zhili TANG ,  Changchun WANG ,  Fan PU

IPC: G01C21/22 ,  G06F30/20

Abstract: The present invention provides a method and an apparatus for detecting unmanned aerial vehicle conflict based on an airspace digital raster, and a storage medium, wherein the method comprises: establishing an airspace discrete subdivision raster model; constructing a conversion relationship between a raster code rule and longitude and latitude coordinates and grid codes; establishing an unmanned aerial vehicle safety protection area, and performing gridding expression on the unmanned aerial vehicle in the airspace; establishing a coordinate system to convert the grid codes of the unmanned aerial vehicle into coordinates; calculating the Minkowski difference set of two blocks using the GJK algorithm; and determining whether the unmanned aerial vehicle conflicts or not according to the Minkowski difference set. Through combining an airspace raster code and the GJK algorithm, compare with traditional coordinate operation in pairs, the present invention can effectively reduce the complexity of conflict detection, save a lot of calculation time, and effectively improve the efficiency of detecting unmanned aerial vehicle conflict to meet the rapid and real-time conflict detection requirements of unmanned aerial vehicles in the airspace.