A novel Filter-Chebyshev uncertainty analysis method for collision avoidance of towbarless aircraft towing system during pushback operation

Avoiding collision of the towbarless aircraft towing system (TLATS), currently depends on manual vision. Improper manual operation and communication delays may lead to collisions between aircraft and other ground equipment and even casualties. To solve this problem, a collision avoidance model is proposed. Firstly, a novel kinematic model is proposed to determine the position and attitude of the TLATS. Secondly, the interval uncertainty analysis method is employed to measure the range of the kinematic characteristics of the system with input interval parameters. Thirdly, a Filter-Chebyshev (F-C) method is proposed by that the original approach of calculating the Chebyshev polynomial coefficients in the mentioned interval uncertainty analysis method is substituted with the Singular Value Decomposition Unscented Kalman Filter (SVDUKF) to improve the accuracy. The F-C method is able to measure the uncertainty bounds of the towing trajectory under interval uncertainty parameters. The uncertainty bounds reveal that how far away from the collision. The proposed method is compared with the existing scanning method and the Chebyshev method, and the results reflect the effectiveness of the proposed method. A reduced-scale model experiment is conducted, and the results confirm the validity of the F-C method.