未来战争中无人机的应用地位将大大提高,如何提高无人机的生存率、作战效率成为航路规划研究的主要方向。将敌方雷达、对空导弹、地形等威胁简化构建成威胁圆,根据威胁圆的分布情况,构造基于威胁圆的规避威胁的骨架化图;结合各具体威胁信息,计算各路径段的代价值,形成有赋值的有向图,计算初始最优航路;利用实际飞行中无人机对威胁规避的要求,对初始航路做缩短处理。运用Matlab编制图形化界面,得到仿真结果的图形显示。 UAV application status will be greatly enhanced in future wars. How to improve the survival rate of UAVs, and the operational efficiency become the main direction of navigation planning. According to the distribution of the threat circle, the skeleton map of the threat circle based on the threat circle is constructed. Based on each specific threat information, the value of each path segment is calculated , Forming a directed digraph and assigning the initial optimal route. By using UAV’s requirement of threat avoidance in actual flight, the initial route is shortened. The use of Matlab programming graphical interface, the simulation results of the graphical display.