基于误差随机过程无人飞行器的撞地概率计算公式

在误差随机过程为平稳正态过程的假设下，研究了无人飞行器撞地概率的计算问题。在已知地形数据的情况下，从理论上推导出无人飞行器只受到垂直干扰时的撞地概率的计算公式；并在仅利用地形特征参数的情况下，得到了较为简洁的计算公式，在进行无人飞行器航迹规划过程中可以实现撞地概率的实时计算。给出了无人飞行器既受到垂直干扰又受到水平干扰时的撞地概率的计算公式，并对它们的计算作了简化，得到了一个近似计算公式。讨论了撞地概率计算公式的应用问题，分析了误差随机过程的标准差、飞行器机动带宽及地形标准差对撞地概率的影响。

Clobber probability of pilotless aircraft based on error stochastic process

The clobber probability of a pilotless aircraft is studied on the assumption that the error stochastic process is normal stationary process.Firstly,a formula of clobber probability is obtained through theoretical analysis when pilotless aircrafts are only influenced by some vertical interference for the case that terrain data is known.The formula is simplified when only topographic characteristics are known.Using the formula,it's possible to perform the real time computation of clobber probability in route planning.Then,a formula of clobber probability is given when pilotless aircrafts are influenced by vertical and horizontal interference.An approximation of the formula is obtained.The computation of the clobber probability is simplified.Finally,some actual applications on these formulas are discussed.The influence of standard deviation of error stochastic process,maneuvering bandwidth of the aircraft and standard deviation of terrain on the probability of clobber is analysed.