面向无人机低空突防的轨迹规划技术  

Trajectory Planning Technology for Low - Altitude Penetration Of Drones

作　　者：樊旭东 阮玉晗 黄康强 李勇朝[1] FAN Xu-dong;RUAN Yu-han;HUANG Kang-qiang;LI Yong-zhao(State Key Lab of Integrated Service Networks,Xidian University,Xi'an Shanxi 710071,China)

机构地区：[1]西安电子科技大学综合业务网理论及关键技术国家重点实验室,陕西西安710071

出　　处：《计算机仿真》2020年第12期25-30,66,共7页Computer Simulation

基　　金：国家重点研发计划(2016YFB1200200)。

摘　　要：在满足无人机机动性和隐蔽性的基础上,对无人机的飞行轨迹进行优化,以减小撞山风险,提高生存概率,是实现无人机低空突防的重要因素。针对低空突防轨迹规划问题,首先,在满足无人机自身性能要求和环境威胁的基础上,对轨迹规划问题进行建模。其次,运用二维三次卷积插值法对数字高程地图进行处理,为低空突防的环境模型构建打下基础。然后,运用综合地形平滑技术对地形坡度和曲率进行约束,实现无人机自身性能和环境地形的贴合。最后,结合轨迹规划与综合地形平滑算法进行仿真,表明了所运用的轨迹规划算法可以在无人机飞行总体代价最优且紧贴地面安全飞行的情况下,生成安全曲面,提高无人机的生存概率,实现无人机低突防。On the basis of satisfying the maneuverability and concealment of the drone,optimizing the flight path of the drone to reduce the risk of collision and improve the survival probability is an important factor to realize the low-altitude penetration of the drone.In this paper,based on the low-altitude penetration trajectory planning prob-lem,the trajectory planning problem firstly was modeled based on satisfying the UAV's own performance requirements and environmental threats.Then,the two-dimensional cubic convolution interpolation method was used to process the digital elevation map,which lays a foundation for the construction of the low-altitude penetration environment model.Next,the integrated terrain smoothing technology was used to constrain the slope and curvature of the terrain to achieve the fit of the UAV's own performance and environmental terrain.Finally,trajectory planning was combined and terrain smoothing algorithm was integrated.It is shown that the trajectory planning algorithm used in this paper can generate safe surfaces and improve drones when the overall cost of drone flight is optimal and close to the ground.The survival probability of the UAV is low penetration.

关 键 词：无人机 轨迹规划 数字高程地图 综合地形平滑 

分 类 号：E836.2[军事—战术学]