一种基于虚拟导航点的超低空飞行器威胁回避算法研究

Research on Threat Avoidance Algorithm Based on Virtual Navigation Points

为解决超低空飞行器在飞行过程中遇到突发威胁时的自主回避问题,提出了一种基于虚拟导航点的威胁回避算法。此算法以超低空飞行器具备自主探测能力为前提,针对不同威胁的规模和种类可快速生成虚拟导航点,实现对威胁的回避。结合算法设计和模型建立,将算法应用于存在未知威胁情况下的超低空飞行器实时自主飞行中,并进行了仿真。仿真结果表明,该算法理论简单,易于实现,能够有效保证超低空飞行的安全性。

In order to solve the problem of low-altitude aircraft’s autonomous avoidance with sudden appearing threats in flight,a threat avoidance algorithm based on virtual navigation points is proposed. This algorithm can calculate virtual points quickly to avoid different kinds of threats,which is based on the autonomous detection ability of low-altitude aircraft. Combined with the design of algorithm and modeling method,this algorithm is used to the real-time autonomous flight of low-altitude aircraft in the situation which exists unknown threats. The simulation results show that the algorithm is simple and easy to come true,and it can ensure the low-altitude aircraft’s safety.