无人机航路规划环境模型研究

通过威胁信息的分层转化，利用信息融合原理构造无人机航路规划的环境模型。在对原始数字地图二维三次插值处理的基础上，分别针对无人机的最大爬升坡度、最小离地间隙以及纵向转弯曲率约束进行了数字地形的调整。分别对探测威胁和火力威胁进行分析，以雷达发现概率、水平距离以及遮蔽影响因素构造探测威胁转化模型，以击落概率和导弹最大作用半径构造火力威胁转换模型，以地形因素的形式融入预处理后的数字地图中，经相关约束调整构造出无人机航路规划环境模型。

Research on environment model for route planning of UAV

To set up the environment model in route planning of UAV, different threats are analyzed and severally changed into terrain information which can be integrated into the digital map. The initial digital terrain data are disposed by bi-cubic convolution interpolation, and specific rectifications are adopted to match different constraint conditions such as maximal climbing capability, minimal distance off the earth’s surface and the vertical turning curvature. The detecting threat is transformed according to the scouting probability of radar, horizontal distance as well as the terrain masking capability, while the firepower threat is converted on the basis of the shooting probability and the maximal threatening radius, both of which are fused into the digital map in the shape of terrain information. Several constraint rectifications are carried out again to establish the environment model, simplifying the scouting interspaces for route planning of UAV.