一种新的最优地形跟随轨迹算法

A NEW ALGORITHM FOR OPTIMAL TERRAIN FOLLOWING TRAJECTORY

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。

A new algorithm for optimal terrain following trajectory with respect to the constains of time,obstacle,threat,and final position is presented.First,the concept of SOMR(Surface of Minimum Risk) is introduced and the constrains of the terrain and the threat envelopes are incorporated into the vehicle equations of motion through a transformation.Second,Pontryagin' minimum value principle is employed together with a one dimensional search scheme to generate the time terrain masking optimal trajectory.The results of simulation show the approach works well.