无人机航迹规划是无人机研究领域中的重要方面,也是自主系统中不可分割的一个整体部分.文章在前人研究基础上,提出了一种基于有威胁情形中固定翼无人机的航迹规划优化模型.此模型对飞行航迹进行航迹平滑处理时,提出了一种基于微分几何原理的约束条件改进策略. UAV trajectory planning is an important aspect in the field of UAV research and also an integral part of the autonomous system.On the basis of previous studies, this paper proposes a UAV based on a threatened situation Of the trajectory planning optimization model.This model for the flight path flight path smoothing process, this paper presents a method based on the differential geometry principle of constraint conditions improvement.