无人机路径规划中的环境和威胁模型研究

摘要

In order to improve the penetration ability of UAV,it needs to estimate threat environment in battle environment,which is associated with the risk of aircraft detection by radars or similar sensors in path planning,and utilizes more'knowledge include the location and strength of threats within the UAV's sensory range.To solve the problem of unmanned aircraft vehicle flight path and waypoint generation is crucially depended upon modeling ways of airspace,include environment and threat modeling.Unfortunately,the methods of modeling is lack of systemic arguments.First of all,it analyzes the ways of battlefield environment modeling in this paper,mainly aimed at the discrete models.Additionally,according to different types of threat that UAV maybe encounter in flying process,it establishes the threat risk model.That's all to prepare for development of algorithm for real-time path planning of UAVs on parameter-level.%为了提高无人机执行任务时的突防能力,在进行飞行路径规划时必须对战场环境中的威胁环境进行评估,而威胁环境中的威胁估计与飞机被雷达或类似的传感器探测出的风险度有关,需要考虑的信息包括无人机传感器范围内的威胁位置和强度.路径规划算法依赖于路径规划空间的建模方式,包括环境建模和威胁源建模.目前针对规划空间环境和威胁模型的建模方法缺乏系统分类和论述.分析了战场环境的建模方法,研究了规划空间的离散建模方式,根据无人机飞行过程中可能遭遇的威胁类型进行威胁源类型的划分,并针对三种威胁类型分别建立威胁风险模型,为无人机在复杂环境下的路径规划实现做了参数准备.