.tf / Ta Route Planning Technology And Engineering Research

The integration of terrain following/terrain avoidance/threat (TF/TA/TA) avoidance is key technique for the aircrafts to achieve low altitude penetration flight. Depending on this technique, survival ability, accuracy and diversity of aerial assault have been greatly improved. In this paper, the algorithm of the terrain following/terrain avoidance optimal trajectory programming has been improved, threat avoidance has been studied, and hardware-in-the-loop simulation system has been designed for validating the algorithm of trajectory planning and terrain match.The main contributions of dissertation are summarized as follows:1) Improve trajectory planning technology.Smoothing algorithm is integrated into dynamic trajectory programming. Firstly, the whole horizontal trajectory is planned using dynamic programming method, and then, with the limitation of horizontal trajectory, iteratively smooth gradient and curvature of terrain until it is fit for flight. So the phenomena that no trajectory from jumping-off point to end-point can be given is eliminated.2) The research on threat avoidance.In preflight planning phase, threat information is integrated into digital map, so threat avoidance can be translated into terrain avoidance;In real-time planning phase, the trajectory will be partly modified in order to away from threat, electrics theory is used in this phase.3) Construct simulation system & realize the algorithm.Construct hardware-in-the-loop simulation system including simulation control computer, embedded computer and 3-D display computer. On this simulation system, digital map technology, trajectory planning technology and terrain match technology are realized and validated based on embedded operating system VxWorks.