一种改进的安全曲面生成算法  

An Improved Safety Surface Generation Algorithm

作　　者：马少先 屈重君[1] 祁鸣东 MA Shaoxian;QU Zhongjun;QI Mingdong(Xi'an Flight Automatic Control Research Institute AVIC ,Xi'an 710000 China)

机构地区：[1]航空工业西安飞行自动控制研究所,西安710000

出　　处：《电光与控制》2021年第10期40-43,共4页Electronics Optics & Control

摘　　要：传统安全曲面生成算法存在运算规模不可控、运行时间长以及生成的曲面复杂等问题,不满足机载系统快速性、可靠性的需求。针对上述问题,通过压缩数字高程图、改进地形坡度限制、分析纵向曲率限制,优化了安全曲面的生成算法,并在曲面上进行航迹规划。仿真结果显示:改进的安全曲面生成算法减少了不必要的计算,相较于传统算法,效率提升3~6倍,在曲面上规划得到的航迹满足直升机低空突防场景下的需求。Traditional safety surface generation algorithms have such problems as uncontrollable operation scalelong running timeand complex surfaceswhich can not meet the requirements of rapidity and reliability of airborne systems.In response to the above problemsthe safety surface generation algorithm is optimized by compressing the Digital Elevation Map(DEM)improving the terrain slope constraintand analyzing the longitudinal curvature constraint.Thentrajectory planning on the surface is conducted.Simulation results show that the improved safety surface generation algorithm reduces unnecessary calculations with efficiency increased by about 3~6 times in comparison with traditional algorithmsand the trajectory planned on the surface meets the requirements of helicopters in low-altitude penetration scenarios.

关 键 词：安全曲面 坡度限制 曲率限制 低空突防 航迹规划 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]