The invention discloses an off-line and on-line combined unmanned aerial vehicle
simulation flight path
planning method, which belongs to the field of unmanned aerial vehicle flight path planning, and specifically comprises the following steps: obtaining a series of
insertion waypoint longitudes and latitudes through a
waypoint interpolation
algorithm according to a selected
route before a flight task is executed in an off-line mode; then altitude information stored in an elevation
database is obtained in an elevation query mode, the target height of each
waypoint of the unmanned aerial vehicle is calculated, and then
route planning in the whole task process is completed; in the online mode, in the flight mission execution process, a real-time to-ground
laser ranging system is adopted to obtain real-time to-ground height information of the unmanned aerial vehicle, after a measurement error is calibrated by combining flight attitude information of the unmanned aerial vehicle, the measurement error is compared with the actual
flight height of the unmanned aerial vehicle, and the to-ground height of the unmanned aerial vehicle is calibrated on the basis of a pre-planned
route; and the ground-imitating flight precision of the unmanned aerial vehicle is improved. According to the invention, high-precision ground-imitating equal-altitude flight
route planning of the long-endurance unmanned aerial vehicle in a complex environment is realized.