基于数字地图预处理的实时航迹规划

地形跟随／地形回避，威胁回避（TF／TA2）实时航迹规划是自主式TF／TA2低空突防系统的关键技术之一，本文在数字地图预处理技术的基础上，提出了完全曲面的概念，从而使三维最优航迹规划转化为在安全曲面上的二维规划，降低民规划维数，减少了存储量和计算量，提高了实时航迹规划的速度，使之更适于在机载条件下实现，文中同时提出了对未预知崦由机载传感器实测到的障碍和威胁的处理方法，使最优航迹能有效地回避这些障碍和威胁，仿真结果表明，文中所提出的实时航迹规划算法是有效的。

Flight Path Planning Based on Digital Map Preprocessing

Terrain following/terrain avoidance /threat avoidance (TF/TA 2) real time flight path planning is one of key technologies for autonomous TF/TA 2 low altitude penetration system. This paper proposes a concept of safe surface based on digital map preprocessing techniques including digital map information fusion and integrated terrain elevation smoothing. Thus, three dimensional flight path optimization planning can be changed into two dimensional flight path planning on the safe surface. This processing can reduce the planning dimensions, the capacity of airborne storage and the calculations. Consequently, the speed of flight path planning can be improved and the planning is easily realized on airborne atmosphere. The obstacles and threats, which are not predicted in digital map but detected by airborne sensors, can be avoided in the proposed flight path planning algorithm. Simulational result indicates that the real time flight path planning algorithm is effective.