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考虑地形因素和敌方威胁的潜在影响，研究了在安全保障前提下，飞行时间－地形庶蔽程度综合最优的地形跟随飞行轨迹问题， 提出一种新的最优地形跟随飞行轨迹的算法。首先定义了最小危险曲面， 通过坐标变换将飞行器的运动方程变换到该曲面上； 再运用极小值原理， 求出满足飞行时间－地形遮蔽最优的轨迹的微分方程组； 最后用一维搜索算法， 通过寻求微分方程的初值解出了最优轨迹。仿真结果表明该算法所产生的三维轨迹光滑连续， 不仅能紧密跟踪地形， 而且能自动回避威胁和障碍。
Considering the potential impact of terrain and enemy threats, this paper studies the problem of trajectory following flight trajectory with the optimal combination of flight time and topographical degree under the premise of safety assurance, and proposes a new algorithm to follow the trajectory of the optimal terrain. Firstly, the minimum risk surface is defined, and the equation of motion of the aircraft is transformed to the surface by coordinate transformation. Then, by using the principle of minimum value, the differential equations satisfying the trajectory with the best time of flight-terrain shading are obtained. Finally, The algorithm solves the optimal trajectory by seeking the initial value of the differential equation. Simulation results show that the three-dimensional trajectory generated by the algorithm is smooth and continuous, not only can closely track the terrain, but also can automatically avoid threats and obstacles.