基于数字地图的无人战斗机低空突防轨迹规划方法研究

【作者】 张厚道；

【导师】 刘慧英；

【作者基本信息】 西北工业大学 ， 控制理论与控制工程， 2004， 硕士

【摘要】 在无人战斗机进行低空突防任务时，如何提高生存率是关键。而要提高任务生存率，飞行前的全局轨迹规划和飞行中的实时轨迹规划就显得相当重要。本文就是围绕着这一点展开的。 首先，在轨迹规划前需要对数字地图进行平滑处理，本文提出了二维四次卷积插值法。它在二维三次卷积插值法的基础上利用三次样条插值法的插值函数具有三阶连续导数的性质而得来的。该算法比二维三次卷积插值法的插值精度更高，比三次样条法计算简单，满足无人战斗机实时飞行轨迹规划的要求。 其次，在轨迹规划中如何处理威胁信息一直是一个难点。传统的方法就是将威胁等效成具有某种形状的几何物体，然后等效成地面形状。但此类方法并没有考虑地形本身因素对飞行轨迹的影响。因此在对威胁回避的等效处理上，本文引进了LOS(视线)概念进行地形可视概率计算，把威胁回避等效为地形回避，然后把等效地形数据离散化叠加到原先的地形高程数据中，这样就充分地考虑了地形的屏蔽作用。 最后，本文在轨迹规划中提出了一种改进的遗传算法。该算法增加了几项操作算子(还原、重建、录优)，同时对传统的选择、交叉、变异算子加以改进，采用了保留杰出个体的选择法、多点随机交叉法、非一致性变异法等，增强了算法的全局搜索能力。此算法较传统的遗传算法不仅收敛速度快，而且在迭代过程中不易陷入局部最优解。将它应用到无人战斗机的低空突防任务中，能够在较少次数的世代繁衍中规划出一条最优路径。更多还原

【Abstract】 It is the key to enhance UCAV’s survival probability when it is taking in low altitude penetration mission.It is important for enhancing UCAV’suvival probality to plan an optimal route before flight or in flight. This paper has spreaded its content around this point.At first, this paper presents two-demensional quartic convolution interpolation to smooth digital terrain.It is acquired from that it makes use of that the interpolation function of cubic spline interpolation has a continuous third derivative on the base of two-dementional cubic convolution interpolation.two-demensional quartic convolution interpolation is more precise than two-dementional cubic convolution and simpler than cubic spline interpolation in calculation.It can satisfy real-time route planning of UCAV.Secondly, That how to deal with the threats information in planning route is an difficulty.The traditional methods that the threats information is deemed as terrain like cylinder or conic are not concerned about the primitive terrain. So the conception of LOS(Light Of Sign) is introduced into the equivalent treatment of treat avoidance in order to take account of terrain-shiled affection.Finally,A new genetic algorithm is developed in this paper.Three new arithmetic operators which are introduced into the algorithm are Recording Better, Restoration and Reconstruction.What’s more,The known arithmetic operators are also improved in order to expand searching scope. This algorithm has two advantages:1) high converging speed;2) globally-optimal selection.When it is applied to the route planning of UCAV’s low altitude penetration mission,most optimal route is acquired but fewer generations have multiplied.更多还原