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结合低空突防中的地形跟随/地形回避/威胁回避(TF/TA2)技术,在分析无人机各种机动性能以及A-Star算法的基础上,提出了一种基于局部空间搜索最优节点的方法,将A-Star算法进行稀疏化处理;设计了更贴近实际的航迹代价计算方法,将算法与数字地形相结合进行仿真计算。仿真结果表明,设计的航迹规划算法兼顾了算法效率、航迹质量以及无人机机动特性等多方面因素,充分缩减了规划空间,提高了算法速度,生成的航迹在一定程度上满足最优性和可飞性。
Combining with the terrain follow / terrain avoidance / threat avoidance (TF / TA2) technique in low altitude penetration, based on the analysis of various maneuverability and A-Star algorithm of UAV, a new algorithm based on local space search for optimal node Method, the A-Star algorithm is sparsified; a more realistic trajectory cost calculation method is designed, and the algorithm is combined with the digital terrain to simulate and calculate. The simulation results show that the proposed trajectory planning algorithm takes into account the efficiency of the algorithm, the quality of the trajectory and the maneuver characteristics of the UAV, which reduces the planning space sufficiently and increases the speed of the algorithm. The generated trajectory meets the most Excellent and flyable.