有人无人驾驶航空器融合运行管制性能影响特征分析

张兴俭; 郑文慧; 孟令航; 赵嶷飞; 刘铭远

doi:10.3963/j.jssn.1674-4861.2026.01.012

有人无人驾驶航空器融合运行管制性能影响特征分析

doi: 10.3963/j.jssn.1674-4861.2026.01.012

1.
中国民航大学空中交通管理学院天津 300300
2.
天津市政工程设计研究总院有限公司天津 300051

基金项目:

国家重点研发计划项目 2022YFB4300904

中央高校基本科研业务费专项资金 3122024027

详细信息

通讯作者:
张兴俭（1986—），博士，副教授. 研究方向：空中交通安全、航空安全等. E-mail：xj-zhang@cauc.edu.cn

中图分类号: V279; X949
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出版历程
- 收稿日期: 2025-07-07
- 网络出版日期: 2026-08-28

An Analysis of the Impact Characteristics of Manned and Unmanned Aircraft Integrated Operation on Air Traffic Control Performance

1.
College of Air Traffic Management, Civil Aviation University of China, Tianjin 300300, China
2.
Tianjin Municipal Engineering Design & Research Institute, Tianjin 300051, China

摘要

摘要: 随着大型无人驾驶航空器的快速发展，其进入管制空域与有人机融合运行已成为重要发展趋势，且要求无人机主动适应现有管制运行模式，但融合运行可能对管制员管制性能产生何种影响尚不明确，进而制约了相关运行策略的设计。为探究融合运行对管制员管制性能的影响机制，以终端管制区为对象，设计了传统与融合运行2种场景，招募20名管制员开展管制模拟实验，并从交通态势特征、管制员心理、管制表现、管制结果等方面出发，选取空中交通复杂度、心理负荷、情绪、指令数量、完成率、效率和管制成绩7项管制性能指标，运用配对样本t检验对比分析了各指标差异。结果显示：融合运行模式下，多项管制性能显著下降，与传统运行相比，空中交通平均复杂度和最大复杂度分别升高93.81%和32.93%；心理负荷和消极情绪水平分别增长13.78%和20.83%；航向、高度、速度指令数量分别下降6.72%，16.26%和30.79%；完成率、效率和管制成绩分别下降14.47%，8.03%和64.61%。从认知信息处理过程角度看，这些影响呈现出循环迭代、相互作用的综合特征。总体而言，融合运行的影响主要体现在3个方面：①航空器交互关系趋于复杂且具有累积效应，增加了管制指挥难度；②管制员认知与心理负荷加重，消极情绪上升，易引发注意力分配不均、决策延迟等问题；③无人机通信延迟、避让规则等特性易干扰管制运行节奏，从而导致管制性能下降。
- 空中交通管理 /
- 有人无人融合运行 /
- 管制性能影响特征 /
- 模拟实验
Abstract: With the rapid development of large unmanned aerial vehicles (UAVs), their integration into controlled airspace alongside manned aircraft has become a significant trend. This integration requires UAVs to actively adapt to existing air traffic control (ATC) paradigms. However, the potential impact of such integrated operations on air traffic controllers'(ATCOs) performance remains unclear, which consequently constrains the design of effective integration strategies. In order to investigate the impact mechanism of integrated operations on ATCOs'performance, this study designed two scenarios-traditional operations and integrated operations-within a terminal control area. A simulation experiment is conducted with 20 recruited ATCOs. The performance is evaluated using seven metrics across four dimensions: traffic situation characteristics, controller psychology, operational behavior, and outcomes. These indicators included air traffic complexity, mental workload, emotional state, the number of instructions, completion rate, efficiency, and control score. The differences in these indicators are analyzed using paired sample t-tests. The results indicated a significant decline in multiple performance indicators under the integrated operations scenario. Compared to traditional operations, the average and maximum air traffic complexity increased by 93.81% and 32.93%, respectively. Mental workload and negative emotions increased by 13.78% and 20.83%, respectively. The number of heading, altitude, and speed instructions decreased by 6.72%, 16.26%, and 30.79%, respectively. Furthermore, the completion rate, efficiency, and control score decreased by 14.47%, 8.03%, and 64.61%, respectively. From the perspective of cognitive information processing, these impacts exhibit a comprehensive, cyclical, and interactive character. In summary, the impact of integrated operations is primarily manifested in three aspects: ①the interaction between aircraft becomes more complex and exhibits a cumulative effect, increasing the difficulty of ATC command.②ATCOs experience increased cognitive and mental workload, alongside elevated negative emotions, which can easily lead to issues such as imbalanced attention allocation and decision-making delays. ③UAV-specific characteristics, such as communication latency and conflict resolution protocols, can disrupt the rhythm of ATC operations, thereby leading to a degradation in overall control performance.
- air traffic management /
- manned and unmanned aircraft integrated operation /
- control performance impact characteristics /
- simulation experiment

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图 1 终端区结构图

Figure 1. Terminal area structure diagram

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图 2 栅格化示意图

Figure 2. Schematic diagram of rasterization

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图 3 复杂度度量示意图

Figure 3. Schematic diagram of the complexity metric

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图 4 平均复杂度分布

Figure 4. Average complexity distribution

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图 5 最大复杂度分布

Figure 5. Maximum complexity distribution

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图 6 心理负荷得分分布

Figure 6. Distribution of mental workload scores

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图 7 情绪得分分布

Figure 7. Distribution of emotional scores

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图 8 指令数量分布

Figure 8. Number of instructions distribution

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图 9 各项指令占比

Figure 9. Percentage distribution of various instructions

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图 10 完成率和航迹效率分布

Figure 10. Completion rate and trajectory efficiency distribution

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图 11 管制成绩扣分分布

Figure 11. Distribution of demerit points for control scores

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图 12 管制员差错行为影响因素

Figure 12. Impact factors of controller error behavior

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图 13 复杂度增长率

Figure 13. Complexity growth rate

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图 14 融合运行对管制员认知信息处理过程的影响机制

Figure 14. Impact mechanism of integrated operation on controllers'cognitive information processing

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表 1 指标名称及获取途径

Table 1. Indicator name and access

评估内容	指标编号及名称	指标获取方法
管制过程交通特征	1空中交通复杂度	基于航迹数据及复杂度模型计算
管制员心理特征	2心理负荷	NASA-TLX量表主观打分
管制员心理特征	3情绪	PANAS量表主观打分
管制指令特征	4航行速度、高度、航向指令数量	指挥过程记录与数据统计
管制指令特征	5任务完成率	基于航迹数据计算
管制结果特征	6航迹效率	基于航迹数据及效率模型计算
管制结果特征	7管制成绩	管制效果专家评估打分

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表 2 传统运行与融合运行复杂度配对样本t检验结果

Table 2. Results of paired sample t-test for complexity of conventional and integration operations

实验时间/min	平均复杂度		最大复杂度		实验时间/min	平均复杂度		最大复杂度
实验时间/min	t	p	t	p	实验时间/min	t	p	t	p
1	-21.985	0.000***	-4.251	0.000***	19	-4.913	0.000***	-2.469	0.024*
2	-11.961	0.000***	-3.555	0.002**	20	-2.689	0.015*	-1.970	0.064
3	-9.076	0.000***	-5.771	0.000***	21	-2.919	0.009**	-3.972	0.001**
4	-7.565	0.000***	-0.853	0.405	22	-2.803	0.012*	-2.703	0.015*
5	0.876	0.393	-0.347	0.733	23	-5.822	0.000***	-4.582	0.000***
6	-4.449	0.000***	-2.558	0.020*	24	-5.046	0.000***	-3.925	0.001**
7	-6.844	0.000***	-3.096	0.006**	25	-5.016	0.000***	-5.137	0.000***
8	-10.182	0.000***	-1.350	0.194	26	-5.924	0.000***	-4.998	0.000***
9	-8.545	0.000***	-1.079	0.295	27	-7.640	0.000***	-4.883	0.000***
10	-3.347	0.004**	-1.164	0.260	28	-7.562	0.000***	-4.415	0.000***
11	-1.367	0.188	-2.032	0.057	29	-7.679	0.000***	-3.591	0.002**
12	-2.149	0.046*	-1.740	0.099	30	-8.431	0.000***	-4.954	0.000***
13	-0.408	0.688	0.246	0.809	31	-8.697	0.000***	-4.854	0.000***
14	-7.570	0.000***	-2.488	0.023*	32	-8.215	0.000***	-2.969	0.008**
15	-7.500	0.000***	-2.676	0.015*	33	-7.739	0.000***	-4.581	0.000***
16	-9.579	0.000***	-2.666	0.016*	34	-8.370	0.000***	-6.946	0.000***
17	-5.741	0.000***	-1.730	0.101	35	-9.055	0.000***	-7.052	0.000***
18	-4.530	0.000***	-1.054	0.306
注：*代表p < 0.001；代表p < 0.01；*代表p < 0.05。

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