为保障无人机在低空空域运行安全，推动低空经济快速发展，构建了一种针对多无人机飞行冲突的探测方法与解脱策略。首先，依据广播式自动相关监视（automatic dependent surveillance-broadcast, ADS-B）飞行数据，采用改进的基于模糊推理的交互式多模型容积卡尔曼滤波（fuzzy reasoning interactive multiple model cubature Kalman filter, FR-IMMCKF）算法对UAV航迹进行预测，其次，依据UAV间的相对运动状况，进行冲突机的初步筛选，并在速度障碍法基础上添加垂直探测部分使其支持三维范围的冲突探测，然后，引入冲突系数作为飞行冲突网络里的权重，并提出冲突状态空间模型（state space model, SSM），使解脱区间可视化，最后，设置了调高、调向与调速解脱策略，并推出可选解脱航向和速度的区间。构造低空5架UAV飞行冲突情景进行仿真验证，结果表明，本文方法能够在飞行态势复杂的情况下给出冲突解脱次序并提供可行的解脱策略。

In order to guarantee the safety of UAV operation in low-altitude airspace and promote the rapid development of low-altitude economy, a detection method and resolution strategy for multi-UAV flight conflicts are constructed. Firstly, based on ADS-B(automatic dependent surveillance-broadcast) flight data, an improved FR-IMMCKF (fuzzy reasoning interactive multiple model cubature Kalman filter) algorithm was used to predict the UAV trajectory, and secondly, based on the relative motion status between UAVs, a preliminary screening of the conflict aircraft was carried out, and based on the velocity obstacle method, the vertical detection part was added so as to support the three-dimensional range of conflict detection, and then, the conflict coefficient was introduced as the weight in the flight conflict network, and the conflict status was proposed as the conflict status. Then, the conflict coefficients were introduced as the weights in the flight conflict network, and the conflict state SSM (space model) was proposed to visualize the resolution intervals, and finally, the resolution strategies of height adjustment, heading adjustment and speed adjustment were set up, and the optional resolution intervals of heading and speed were introduced. A low-altitude airspace five UAV flight conflict scenario was constructed for simulation and validation, and the results show that the proposed method is able to give a conflict resolution order and provide a feasible resolution strategy in a complex flight situation.