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针对洲际航空编队飞行路径规划,首先,基于编队飞行空气动力学的研究结论和球面度量特征,建立了编队飞行路径规划的基本模型;其次,基于编队路径的拓扑特征,将编队路径规划问题抽象为球面点集上基于测地线的加权Steiner最小树规划问题(WGSMT),建立了WGSMT的有限几何简化原则;针对避障编队路径规划,证明衔接点的引入仅改变紧邻的Steiner点的拓扑特征,而不降低规划结果的准确性,以支持OAWGSMT编队路径规划.最后,构造一种基于“构造-修复”思想的编队路径规划方法,通过实际算例验证了算法的有效性.研究形成洲际航空编队路径规划的几何基础,使问题复杂度依赖于航班集规模而非球面离散化网格规模.
First of all, based on the research conclusions of formation flight aerodynamics and the spherical metrology characteristics, the basic model of formation flight path planning is established. Secondly, based on the topological features of formation path, the formation path planning problem is abstracted as Aiming at the obstacle avoidance formation route planning, it is proved that the introduction of convergence point can only change the topological features of the Steiner points next to each other, and the WGSMT method can be used to solve the WGSMT problem. Without reducing the accuracy of the planning results in order to support the OAWGSMT formation routing planning.Finally, a method of formation routing based on the idea of “structure-repair” is constructed, and the validity of the algorithm is verified by an actual example. The geometric basis of the route formation of the aviation formation makes the complexity of the problem depend on the size of the flight set rather than the spherical discretization grid size.