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通过威胁信息的分层转化,利用信息融合原理构造无人机航路规划的环境模型。在对原始数字地图二维三次插值处理的基础上,分别针对无人机的最大爬升坡度、最小离地间隙以及纵向转弯曲率约束进行了数字地形的调整。分别对探测威胁和火力威胁进行分析,以雷达发现概率、水平距离以及遮蔽影响因素构造探测威胁转化模型,以击落概率和导弹最大作用半径构造火力威胁转换模型,以地形因素的形式融入预处理后的数字地图中,经相关约束调整构造出无人机航路规划环境模型。
Through the hierarchical transformation of threat information, the environment model of UAV route planning is constructed by using information fusion principle. Based on the two-dimensional cubic interpolation of the original digital map, the digital topographic adjustment was carried out according to the UAV maximum climb gradient, the minimum ground clearance and the vertical curvature restraint. The threat of detection and the threat of fire were analyzed respectively. Based on the detection probability, horizontal distance and shadowing factors, a detection threat transformation model was constructed, and the firepower threat transformation model was constructed based on the shooting probability and the maximum radius of missile. In the digital map, the UAV route planning environment model is constructed through the adjustment of related constraints.