随着我国低空空域的开放,通用飞机低空航路规划问题越来越复杂,亟待解决。在传统航路规划方法的基础上,研究满足区域导航要求下低空空域的约束条件,并针对每一类约束条件,建立航路优化模型,给出航路优化算法的实现步骤。仿真实验验证表明,多约束水平航路规划方法能够满足通用飞机机载设备的功能和性能要求。 With the opening up of low-altitude airspace in China, the planning of general aviation low-altitude air routes is more and more complicated and needs to be solved urgently. Based on the traditional route planning method, the constraints of the low-altitude airspace that meet the regional navigation requirements are studied. For each type of constraints, the route optimization model is established and the route optimization algorithm is implemented. The simulation results show that the multi-constraint level route planning method can meet the function and performance requirements of the common aircraft onboard equipment.