基于概率地图的低空突防威胁空间量化算法

摘要

Threat avoidance problem is the core problem of TF/TA system. A convenient and efficient computing method of solving quantitative threaten space in probabilistic roadmaps is shown in this paper. Firstly a computing method of ensuring the scan boundary point of radar and firing point is given in no-considering terrain shading cases. Then on that basis terrain pass view algorithm is used to confirming the radar scanning blind area in the situation of considering the terrain masking. At last a quantization algorithm in low altitude threaten space based on probabilistic roadmap is confirmed. The simulation demonstrates that the algorithm can confirming the radar scanning blind area quickly and efficiently,and this process can improve the survival changes of UCAV in the situation of low-altitude penetration.%威胁回避问题是TF/TA系统的核心问题，针对概率地图中空间威胁的量化问题，给出一种方便快捷的计算方法。首先在不考虑地形遮蔽情况下，给出雷达或者火力扫描边界点的计算方法。在此基础上考虑地形遮蔽情况下，利用地形通视图算法，确定雷达扫描盲区，实现基于概率地图低空突防威胁空间通视量化算法。仿真结果表明，该算法能够快速给出计算对雷达扫描盲区的界定范围，提高了计算效率，从而可以提高无人机进行低空突防的生存几率。