基于飞行器飞行途中的随机影响及观测仪器的误差影响,给出了常速模型的冲突探测模型。重点讨论2架飞行器靠近飞行的情况,采用卡尔曼滤波理论,预测2架飞行器的相对航迹。然后依据相对航迹,计算2架飞行器在各时刻的距离。最后根据冲突条件判断冲突是否存在。该方法不仅从模型上保证了更接近飞行器的实际飞行情况,而且计算机仿真结果表明该方法能有效地进行冲突探测。 Based on the random influence in flight and the error of observing instruments, the collision detection model of constant speed model is given. Focus on the two aircraft close to the flight, the use of Kalman filter theory to predict the relative trajectory of two aircraft. Then based on the relative track, calculate the distance of 2 aircraft at each moment. Finally, according to the conditions of conflict to determine the existence of conflicts. The method not only guarantees the actual flight situation closer to the aircraft from the model, but also the computer simulation results show that the method can effectively detect the conflict.