无人机航迹平滑算法的分析

Analysis of UAV Track Smoothing Algorithm

航迹平滑作为航迹规划的最后阶段,其重要性不亚于航迹规划算法的研究。本文在分析无人机飞行性能约束的基础上,研究航迹光顺问题;然后详细讨论目前已经开展的航迹光顺研究方法,分别对B样条法、圆弧段串联法、地形光滑法、力平衡法、平滑算子法和滤波法等进行分析,阐述这些算法的优缺点及适用范围。最后综合概括无人机航迹平滑算法研究发展趋势。

As the final stage of track planning, track smoothing method is as important as track planning algorithm. On the basis of UAV flight performance constraints analysis, this paper studies the issue of smooth track, and then discusses the track smoothing methods which has been carried out these days, including B-spline curve method, arcs in series method, terrain smooth method, the force balance method, smoothing operator method and the filtering method. And the the advantages and disadvantages of these methods as well as the range of applications are described in this paper. Finally, the paper summarizes the development trend of UAV flight track smoothing method.