地形跟踪/地形回避飞行器航迹优化

提出了一种新的地形跟踪／地形回避（ＴＦ／ＴＡ）飞行器透迹优化方法，该方法将地形、威胁和障碍综合在一起用特定的地形模型来描述，并通过将地形模型与飞行器运动方程有机结合，使有约束最优控制问题转化为无约束最优控制问题，最后利用极大值原理给出了航迹优化算法，算法生成的航透既能以给定的高度跟踪地形又能自动回避危险和障碍物。

Optimization of Trajectory for Terrain Following/Terrain Avoidance Aircraft

This paper presents a new algorithm of trajectory optimization for TF/TA aircraft. The terrain, the threat and obstacle are grouped together for consideration and expressed as the composite terrain by the method. It also transforms constrained optimal control problem into unconstrained optimal control problem through combining composite terrain with the vehicle kinematics equation.This algorithm is given base on maximum theory. Trajectory is generated by the algorithms can automatically avoid threat and obstacle while it follows terrain.