综合TF/TA最优航迹规划算法的研究

【作者】 李祥；

【导师】 吴成富；

【作者基本信息】 西北工业大学 ， 导航、制导与控制， 2003， 硕士

【摘要】 综合地形跟随／地形回避是新一代低空突防技术，使飞机紧贴地形轮廓飞行，充分利用地形遮蔽提高飞机的生存力。TF／TA最优航迹规划技术可以在很大程度上提高突防飞行器的突防概率，是实现飞行器低空突防飞行的关键技术。本文针对TF／TA最优航迹规划的算法进行研究。 主要工作有以下几个方面： 1．基于数字地图信息的离线航迹规划算法研究。在离线规划阶段，基于数字地图提供的多种信息，将飞行器航迹规划问题转化成有向图的寻优问题，采用动态规划择优方法进行整体航线的规划，并根据规划过程中的误差因素确定整体参考航迹安全走廊的宽度。 2．利用参考航线的更新和回推算法中重规划时回避不合理分枝等方法来改进离线规划阶段航迹规划的效果，使得规划出的整体航迹更好的体现综合TF／TA突防飞行要求。 3．实时航迹规划算法的研究。在实时飞行过程中，飞行器根据周围新的情况，以离线规划出的整体航线为参考航迹，采用树形搜索结合动态规划覆盖的方法每隔一定时间刷新规划航迹，得到更加精确可行的飞行航迹。并提出“电荷法”的思想来处理飞行过程中突然出现的新威胁。在实时规划过程中，根据新的威胁信息调整参考航迹，及时回避威胁，使航迹规划算法具有实时修正的能力，提高飞行器的机动反应能力，增强飞行器的生存力。更多还原

【Abstract】 The integration of terrain following/terrain avoidance is a new technique of low altitude penetration .It makes full use of the terrain masking to improve survival ability of planes. The probability of low altitude penetration can be highly improved by the TF/TA optimal trajectory planning. Trajectory planning is a key technique in realizing low-altitude-penetration. This paper focuses on studying the algorithm of the TF/TA optimal trajectory planning.The main contributions of dissertation are summarized as follows:1. The research on preflight planning algorithm based on Digital Terrain Elevation Data. In preflight planning phase, the optimal global trajectory and its safe corridor can be found via synthesizing many kinds of information by large-scale computers on earth. The method of dynamic programming based on directional chart is adopted to plan the optimal global reference trajectory. And the width of the safe corridor is specified according to the errors during planning.2. The algorithm is improved by changing the reference line during planning and avoiding the unreasonable branch in re-planning, then the planning trajectory can accomplish the task of low altitude penetration more efficiently.3. The research on real-time trajectory planning algorithm. New information obtained while flying is used to refresh the real-time trajectory every certain time. The tree search strategy combined with dynamic programming is adopted to get more accurate real time trajectory. The method "charge" is presented in this paper to dispose any possible new threats during flying. Therefore, the algorithm gets the ability of real-time modifying to let the plane avoid pop-up threats in time.更多还原