Aircraft automatic terrain avoidance method based on grid map

Abstract

The invention discloses an aircraft automatic terrain avoidance method based on a grid map. Firstly, grid digital terrain data of a flight area is acquired based on a starting position and a target position of an aircraft, and binarization processing is carried out on the grid digital terrain data based on the current flight height of the aircraft to generate terrain obstacle data of the flight area; then, based on an optimized theory and method, the optimal grid is selected from the four neighborhoods of the current position of the aircraft to serve as the latest prediction position, and iteration is carried out gradually until the aircraft reaches the target position; and finally, the grid coordinates of all predicted positions from the current position to the target position are sequentially extracted, and a terrain avoidance path is generated. Therefore, the terrain defense penetration technical research in a complex terrain environment is enhanced, the terrain avoidance capabilityof the aircraft is improved, and the combat effectiveness of the aircraft is enhanced.

Description

technical field [0001] The present invention relates to the technical field of aviation control, especially the terrain following, terrain avoidance and threat avoidance technologies involved in ground proximity warning equipment based on digital terrain database widely used in aircraft, such systems include but not limited to aircraft ground proximity warning Specific products of avionics equipment such as equipment, near-ground collision avoidance system, terrain warning and warning system, and integrated environmental monitoring system. Background technique [0002] The trajectory planning of the aircraft refers to finding the optimal trajectory of the aircraft from the initial point to the target point under certain constraints. The trajectory planning of military aircraft is a new generation of low-altitude penetration technology for the purpose of terrain following, terrain avoidance and threat avoidance flight. In modern warfare where air defense technology is becomi...

AI Technical Summary

Problems solved by technology

For the research of terrain avoidance problem, many scholars at home and abroad have proposed different solutions. However, the existing terrain avoidance algorithm has relatively high time complexity and slow convergence speed, which is not suitable for track planning in complex battlefield environments. , it is difficult to realize the real-time requirements of terrain trajectory path

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