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To improve the efficiency of UAV air traffic management, ensure flight safety and promote the safe application of UAVs in complex airspace environments, the risk assessment of UAV operation was focused in this paper. Firstly, for UAVs with autonomous perception and decision-making capabilities in unstructured airspace environments, based on key parameters such as airborne communication, navigation and surveillance capabilities, maneuvering characteristics and system response time. A conflict probability model and a collision probability model considering avoidance maneuvering strategies were constructed to quantitatively evaluate the airspace collision risks. Then, considering that UAV collision accidents do not directly cause casualties, a ground risk assessment model was constructed that comprehensively considers UAV aerial collision events and crashes caused by system failures. Finally, taking 1×10-6 deaths/flight hours as the safety target level, the safety separation that needs to be maintained during airborne flights was determined. The results show that considering both the conflict probability and the probability of the conflict escalating into a collision simultaneously can solve the problem of underestimated risks during the free flight stage. The maximum allowable collision risk varies significantly among different operating scenarios.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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