Unmanned Aerial Vehicle conflict detection based on spatiotemporal data grid

Abstract

Abstract —The increasing number of unmanned aerial vehicles (UAVs) and the complexity of the low-altitude airspace operation environment have also increased. How to efficiently solve the pre-flight UAV conflict detection problem is an important link in the low altitude airspace operation environment. This paper combines the global airspace grid coding system and the relational spatio-temporal data structure to propose a method based on spatio-temporal data grid, establishes the grid size applicable to conflict detection, and verifies the feasibility and effectiveness of the proposed UAV conflict detection type in different environments through simulation experiments. The results also show that the seventh level grid of the global airspace grid is the most suitable basic grid size, and the time consumption is reduced by about 50-75% compared with the traditional method in different scenarios.