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 scalelong running timeand complex surfaceswhich can not meet the requirements of rapidity and reliability of airborne systems.In response to the above problemsthe safety surface generation algorithm is optimized by compressing the Digital Elevation Map(DEM)improving the terrain slope constraintand analyzing the longitudinal curvature constraint.Thentrajectory 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 algorithmsand the trajectory planned on the surface meets the requirements of helicopters in low-altitude penetration scenarios.
作者
马少先
屈重君
祁鸣东
MA Shaoxian;QU Zhongjun;QI Mingdong(Xi'an Flight Automatic Control Research Institute AVIC ,Xi'an 710000 China)
出处
《电光与控制》
CSCD
北大核心
2021年第10期40-43,共4页
Electronics Optics & Control
关键词
安全曲面
坡度限制
曲率限制
低空突防
航迹规划
safety surface
slope limitation
curvature limitation
low-altitude penetration
trajectory planning