在执行飞行任务，特别是进行地形跟随、地形回避（ＴＦ／ＴＡ）飞行时，随着飞行器周围情况的不断变化，需要利用数字地图数据进行实时的轨迹规划并产生相应的制导指令。提高轨迹规划及产生相应的制导指令算法的效率，减少计算时间，对于增强飞行器的机动反应能力，提高飞行的安全性是非常重要的。本文对基于数字地图数据生成优化轨迹和制导指令的一种重要实时算法——动态路径方法进行了改进。通过改变动态规划覆盖和引入“前方”的概念，减少了动态分枝数，从而降低了计算量 In the course of carrying out missions, especially terrain following and terrain avoidance (TF / TA) flights, as the situation around the aircraft changes continuously, digital map data needs to be used for real-time trajectory planning and corresponding guidance instructions. Increasing the efficiency of trajectory planning and generating the corresponding guidance command algorithm and reducing the calculation time are very important for enhancing the maneuvering ability of the aircraft and improving the flight safety. In this paper, an important real-time algorithm based on digital map data to generate optimal trajectories and guidance instructions - the dynamic path method is improved. By changing the concept of dynamic programming coverage and introducing “front”, the number of dynamic branches is reduced, reducing the amount of computation