满足直飞限制二维航迹规划方法研究

本文首先对飞行器航迹规划过程中带直飞限制的二维航迹规划问题进行了探讨.为解决这一问题,提出将二维航迹简化为由直线段与圆弧段组成的规则航迹,并给出航迹相切点的定义.在此基础上,给出了一种满足直飞限制的二维航迹规划方法.实验证明,该方法所规划出的航迹不仅很好地满足转弯半径限制,而且能够保证飞行器直飞通过相切点,从而为飞行器进行匹配导航、航空摄影等应用提供了便利.

Research on 2D Route Planning Approach Constrainted for Straight-Flight

Straight flight constrained 2D route planning for unmanned air vehicle is conducted in this paper.To meet the request of straight flight constraint,2D flight route can be simplified as canonical route that consists of line and arc segment,and the definition of turning points (TPs) is given.Based on this definition,a new method for straight flight constrained route planning is presented.Experiments shows that the obtained optimal route not only meets the request of minimal radius constraint,but also keeps air vehicle fly straight passing through turning points,facilitating matching navigation and flight photographing for air vehicle.