Aircraft penetration trajectory planning method based on RRT* algorithm

Abstract

The invention discloses an aircraft penetration trajectory planning method based on an RRT* algorithm and belongs to the field of aircraft trajectory planning. The implementation method disclosed in the present invention comprises the following steps: based on RCS data of an aircraft under different attitudes in a circumferential direction, a radar detection probability model is established to determine the probability that the aircraft is detected by radar during penetration processes; an aircraft penetration trajectory planning model is established based on a Dubins path; based on the RRT* algorithm and the aircraft penetration trajectory planning model, penetration trajectory planning is conducted, that is, the penetration trajectory planning is conducted based on combination of asymptotic optimality of the RRT* algorithm and a feature of a shortest Dubins path, the cost of aircraft penetration trajectory planning can be effectively reduced, an aircraft penetration trajectory can beobtained, and effective penetration of the aircraft can be achieved. Since no numerical integration method is needed for the Dubins path to solve a dynamic model, a principle to solve based on a geometric method, and therefore efficiency of the trajectory planning can be improved. The aircraft penetration trajectory planning method disclosed in the invention can be applied to stealth penetrationtrajectory planning of the aircraft, and is especially suitable for the stealth penetration trajectory planning of an airplane.

Description

technical field [0001] The invention relates to an aircraft penetration trajectory planning method based on RRT* algorithm, which belongs to the field of aircraft trajectory planning. Background technique [0002] In modern warfare, with the rapid development of remote sensing and detection technology, the detection capability and deployment level of air defense systems have been greatly improved, and aircraft penetration missions will face serious threats. Among them, enemy radar is the main threat to aircraft penetration . Therefore, improving the stealth performance of aircraft in a high-density radar environment is of great significance to improving the survivability and combat effectiveness of aircraft. [0003] Stealth aircraft has an important feature of low radar cross section (RCS), and as the angle of the fuselage relative to the radar incident wave changes dynamically, the circumferential RCS value of the aircraft changes dynamically. According to the dynamic RC...

AI Technical Summary

Problems solved by technology

However, the RRT algorithm does not consider the trajectory cost between nodes during the expansion process, so the optimality of the planning result cannot be guaranteed. On this basis, Karaman and Frazzoli proposed a RRT* algorithm that considers the trajectory cost. RRT has the advantages of probabilistic completeness and asymptotic optimality, so it is suitable for aircraft penetration trajectory planning

[0005] At present, no scholars at home and abroad have carried out research on the method of aircraft penetration trajectory planning based on RRT*

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