Research on urban low-altitude UAV conflict detection method based on matrix Hadamard product calculation

With the further opening of the national low-altitude airspace, Unmanned Aerial Vehicles (UAVs) will be used in large numbers and at high density in urban low-altitude airspaces. Currently, there is a lack of accurate and efficient methods for high-density UAV conflict detection. To address this issue, this paper constructs a UAV protection zone model and a battlefield airspace grid model to extract the airspace position matrix of each UAV. By employing the Hadamard product calculation method for matrices and the properties of composite and prime factorization, the method detects UAV conflicts, identifying the UAV numbers, positions, altitudes, and other information of conflicts, enabling real-time and rapid detection of conflicts among a large number of UAVs in the airspace. The results show that compared with traditional methods, this method can detect all conflicts with a single mathematical calculation when the number of UAVs is large, with the conflict detection time for 300 UAVs controlled within 1ms, significantly improving the efficiency of conflict detection.