The invention discloses an instantaneous 
impact point based unmanned aerial vehicle non-collaborative real-time 
obstacle avoidance method. The instantaneous 
impact point based unmanned aerial vehicle non-collaborative real-time 
obstacle avoidance method comprises the steps of 1 performing obstacle detection, namely obtaining a 
relative motion state of an obstacle, 2 performing obstacle 
motion estimation, namely obtaining 
machine state information based on 
satellite navigation information and calculating a motion state of an inertial space obstacle, 3 performing 
impact conflict detection, namely judging whether obstacle impact occurs or not, 4 performing 
obstacle avoidance decision making, namely making an obstacle avoidance decision based on a detection result in the step 3, 5 performing obstacle avoidance 
route re-planning based on a quick expanding 
random tree algorithm considering an instantaneous impact point, namely introducing 
route evaluation 
heuristic information based on the instantaneous impact point and achieving obstacle avoidance 
route re-planning. The instantaneous impact point based unmanned aerial vehicle non-collaborative real-time obstacle avoidance method has the advantages of being simple in principle, easy to achieve, capable of improving unmanned aerial 
vehicle safety and the like.