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为提高飞行器对地攻击效能,必须对其三维航迹规划技术进行研究。考虑到威胁并非不可穿越,建立了间歇式暴露模型;通过考虑飞行器姿态变化对暴露范围的影响,建立了飞行器战术隐身模型;对传统稀疏A*算法进行了改进,有效提高了规划速度,在此基础上提出了具有实时规划能力的分步规划算法,并给出了解决在线重规划的方法;最后,在真实地形下进行了仿真验证,仿真结果证明了所建模型及算法的有效性和实用性。
In order to improve the effectiveness of aircraft attack on the ground, we must study its 3D trajectory planning technology. Considering that the threat is not impenetrable, an intermittent exposure model is established. By considering the influence of attitude changes on the exposure range, a tactical stealth model is established. The traditional sparse A * algorithm is improved to improve the planning speed effectively Based on which the step-by-step planning algorithm with real-time planning ability is put forward and the method to solve online re-planning is given. Finally, the simulation is carried out under the real terrain. The simulation results show that the proposed model and algorithm are effective and practical Sex.