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提出采用隐马可夫模型(HMM)建立无人机飞行中威胁评估模型,利用HMM中维特比(V iterb i)算法实现了对威胁评估,确定无人机飞行中的航路;提出采用快速排序算法改进V iterb i算法的效率;采用三次样条插值修正航路点附近过大尖角。仿真表明:具有自主学习的V iterb i算法可以有效地完成无人机航路规划,改进算法可以更有效地提高计算速度,修正航路满足无人机转弯半径无人机约束。
The threat assessment model of UAV in flight is established based on HMM. Viterb i algorithm in HMM is used to evaluate the threat and to determine the route of UAV flight. A fast ranking algorithm The efficiency of v iterb i algorithm; cubic spline interpolation is used to correct overexposed sharp corners near waypoints. The simulation results show that Viterb i algorithm with autonomous learning can effectively accomplish the UAV route planning, and the improved algorithm can improve the computational speed more effectively and modify the route to meet the UAV turning radius constraint UAV constraint.