基于威胁评估和扩展Voronoi图的战术飞行轨迹规划方法  

Tactical Flight Trajectory Planning Methods Based on Threat Assessments and Improved Voronoi Graphics

作　　者：徐琳 宋万强 严冲[2] 张安柯 Xu Lin;Song Wanqiang;Yan Chong;Zhang Anke(Chinese Aeronautical Establishment,Beijing 100012,China;Aircraft Strength Research Institute of China,Xi'an 710000,China;Luoyang Electro-optical Equipment Research Institute,Luoyang 471009,China)

机构地区：[1]中国航空研究院,北京100012 [2]中国飞机强度研究所,陕西西安710000 [3]洛阳电光设备研究所,河南洛阳471000

出　　处：《航空科学技术》2019年第1期35-43,共9页Aeronautical Science & Technology

摘　　要：针对目前各种基于Voronoi图的路径规划方法在威胁处理过程中存在的问题,提出了一种基于威胁评估和扩展Voronoi图的战术飞行轨迹规划方法。建立了基于贝叶斯网络和模糊逻辑的威胁源威胁度和路径威胁度评估模型,在此基础上建立包括路径威胁度和燃油在内的最优路径代价计算模型。结合扩展Voronoi图的路径生成方法以及Dijkstra路径规划算法,得到了从飞行起点到目标点的能够适应战场态势变化的最小代价路径。最后利用κ-Trajectory路径圆滑算法,得到了与所规划路径等长的圆滑可飞的最优路径。仿真结果验证了所提方法的可行性和有效性。Considering the problems existing in the present flight trajectory planning using the Basic Voronoi Graphics (BVG),a method of tactical flight trajectory planning by integrated threat assessments with Improved Voronoi Graphics (IVG)was proposed.A threat level assessment model of the threat .source and a threat level assessment model of the path were developed based on Bayesian network and fuzzy logic.A new model for calculating the path cost was given,including the threat cost and the fuel cost.By integrating the path threat assessment models with the IVG,trajectory planning with minimum path cost is implemented using Dijkstra algorithms,which can adapt the changing situations in the battle field.Considering the dynamical constraints of vehicle,a k-Trajectory algorithm is applied to smooth the flying path ensuring that the actual trajectory length is equal to the length of the planned path. The simulation results demonstrate the effectiveness of the proposed integrated trajectory planning method based on threat assessments and IVG.

关 键 词：路经规划 扩展Voronoi图 威胁级别评估 路径威胁评估 贝叶斯网络 模糊逻辑 

分 类 号：V249.122.3[航空宇航科学与技术—飞行器设计]