【摘要】 地形跟踪技术是飞行器自动导航的基础。激光成像雷达可以高精度实时获取前视距离像和 3D地形图 ,从激光成像雷达所成前视距离像中可以识别飞行器前下方的地形 (包括障碍物 ) ,从而为飞行器自动地形跟踪提供基础。在飞行器惯性作用下 ,研究了飞行器自动障碍物回避方法 ,推导了飞行器与规划航迹之间的 3D空间关系。以飞行器自动障碍物回避为基础 ,建立了飞行器沿规划航迹飞行的地形跟踪方程。在参考地形图上进行了仿真实验 ,结果表明 ,3D地形跟踪方法 ,能够很好的满足飞行器自动导航的要求更多还原

【Abstract】 The terrain following technology is the basis of flyer automatic navigation. The imaging laser radar can obtain the front look 3D range image and 3D terrain map. The terrain and obstacle, 3D range image. Which is the precondition of auto terrain following of flyer, can be identified by in the condition of flyer inertial navigation, the obstacle avoidance approach is studied, and the 3D space relation between the flyer and planning trajectory in this paper is deduced. The terrain following equation is constructed. On the basis of the automation obstacle avoidance. With the reference terrain map, the simulating experiment is performed, and the results show that the approach can satisfy the requirement of flyer automatic navigation along the planning trajectory.更多还原