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低空突防能力问题是无人飞行器(UAV)飞行安全的核心问题之一。针对不同地形的低空安全突防曲面问题,提出一种处理算法。该算法首先将安全走廊的概念融入到飞行曲面设计中,将三维航迹划分为水平航迹和垂直航迹规划,考虑飞行器的最小离地高度等因素,设计出平滑安全的飞行曲面,提高了飞行器突破“台风眼”区域的安全性。然后根据不同地形的特征,利用聚类算法对其进行分类,再采用二维三次卷积算法,提出基于不同地形的低空突防安全曲面设计方法。仿真结果表明,该算法能够快速实现低空安全突防的需求,降低飞行代价。
The problem of low-level penetration is one of the core issues in the flight safety of unmanned aerial vehicles (UAVs). Aiming at the problem of low-altitude security surface-relief surface with different topography, a processing algorithm is proposed. The algorithm first incorporates the concept of safe corridor into flight surface design, divides the three-dimensional trajectory into horizontal trajectory and vertical trajectory planning, considers the minimum ground clearance of the aircraft and other factors, designs a smooth and safe flight surface, and improves Aircraft breakthrough “Typhoon Eye ” area of security. Then according to the characteristics of different terrain, using clustering algorithm to classify them, and then using two-dimensional cubic convolution algorithm, the design method of low-altitude penetration safety surface based on different terrain is proposed. The simulation results show that the algorithm can quickly achieve the needs of low-altitude security penetration and reduce the flight cost.