Research On Path Planning Technology In Penetration

In modern warfare,military aircraft play an increasingly important role.Faced with a severe air defense environment,as an effective means of gaming,aircraft penetration technology also tends to be integrated,complicated,and intelligent,making it increasingly difficult.A well-designed penetration path can effectively shorten the length of the path,increase the probability of successful penetration,and provide a guarantee for the successful implementation of combat missions.Therefore,the research demand for penetration path planning technology has become more and more urgent.Aiming at the problem of penetration path planning in a complex air defense environment,this paper analyzes the characteristics of different typical threat sources and models them to generate threat digital gray scale maps.According to the characteristics of aircraft flight,the three-dimensional path planning problem is decomposed into 1+2 dimensional problems,thereby greatly reducing computational consumption and pressure.For the path planning problem,a specific 3+2 dimensional aircraft five-degree-of-freedom model is established,and the kinematics constraints curves are obtained as a constraint to directly participate in path planning,and the improved Hybrid-A~* algorithm is also used.Based on a large number of simulation experiments and analysis,the correctness and robustness of the algorithm are verified.The main work of this paper includes:(1)Generate a digital gray scale map of threats.Analyze the typical threat sources and characteristics during the penetration process,establish its mathematical model,and generate a digital grayscale map of threats.Threat modeling includes terrain threats,radar threats,and other threats.Terrain threats include establishing two-dimensional self-recursive random terrain and two-dimensional Gaussian mountains and expanding and two-dimensional convolutional smoothing of the terrain to provide safe distances for path planning.The radar threat is based on the antenna orientation map to establish a threat model based on radar interception probability,and the dynamic RCS threat model for radar is proposed based on the characteristics of uneven distribution of RCS on the aircraft surface to ensure the aircraft with smaller relative RCS and lower radar interception probability for safe penetration.Other threat modeling includes the simplified modeling of threats such as missiles,anti-aircraft artillery and other threats to establish a more realistic threat environment for penetration path planning.(2)Create simplified five-dimensional aircraft models for direct involvement in path planning.Analyze the kinematics and dynamics of the aircraft and establish a simplified five-degree-of-freedom aircraft model with three-axis translational motion,directional angle and roll angle by combining the requirements of aircraft path planning.Different from other papers,the kinematic constraint curves generated by the model are directly involved in the path planning as constraints,rather than as smoothing conditions after planning.In order to ensure that the obtained flight path is smooth and consistent with the kinematic constraints and avoid deviating from the intended flight path in the actual flight.(3)Use the improved Hybrid-A~* algorithm to plan the penetration path.To meet the requirements of safety,stability and short voyage of the penetration path,a path cost function based on the impact factor,which integrates the range cost,threat cost and maneuver cost.An improved Hybrid-A~* algorithm is designed for penetration path planning,and the optimization scheme for heuristic function and cost function is proposed.