针对航路实时重规划中快速性和准确性的矛盾,提出一种层次化结构的混合A*方法。该方法包括离线全局航路规划、事件触发全局重规划和时间触发局部航路规划3个层次,各个层次分别采用多层A*方法、局部快速实时A*方法和多层变步长A*方法实现。通过在不同威胁情况下的数值仿真结果表明,该方法能够快速、准确地给出最优航路。 Aiming at the contradiction between rapidity and accuracy in real-time route planning, a hybrid A * method with hierarchical structure is proposed. The method includes offline global route planning, event-triggered global re-planning and time-triggered partial route planning. Each level adopts multi-level A * method, local fast real-time A * method and multi-level variable step size A * method respectively. The numerical simulation results under different threats show that this method can give the optimal route quickly and accurately.