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本文首先对飞行器航迹规划过程中带直飞限制的二维航迹规划问题进行了探讨 .为解决这一问题 ,提出将二维航迹简化为由直线段与圆弧段组成的规则航迹 ,并给出航迹相切点的定义 .在此基础上 ,给出了一种满足直飞限制的二维航迹规划方法 .实验证明 ,该方法所规划出的航迹不仅很好地满足转弯半径限制 ,而且能够保证飞行器直飞通过相切点 ,从而为飞行器进行匹配导航、航空摄影等应用提供了便利 .
In this paper, the two-dimensional trajectory planning problem with direct flight limitation is discussed in this paper.For the sake of solving this problem, we propose to reduce the two-dimensional trajectory to a regular trajectory composed of straight line segments and circular arc segments , And gives the definition of the tangent point of the track.On the basis of this, a two-dimensional trajectory planning method is proposed to satisfy the direct flight limitation.Experiments show that the trajectory planned by this method not only satisfies the curve Radius limit, but also to ensure that the aircraft straight through the tangent point, so as to match the aircraft navigation, aerial photography and other applications has facilitated.