The present invention relates to a method of the 3D track
simulation for a miniature aircraft under urban surroundings and belongs to the field of the 3D real-time
route navigation technology for a miniature aircraft. The following modules are set in a computer: a map digitalized module, which digitalizes the 3D model of urban surroundings including
threat points, buildings, the departure and target points of a miniature aircraft that is inputted by the
graphical user interface (GUI), map parameters and the coordinate of a candidate navigation point composed of the 3D model of urban surroundings and the map parameters; a flight path
programming module, which inputs the data from the map digitalized module, calculates the overall
route index that takes the flight
resource consumption rate and the
survival rate into consideration, figures out the most feasible
route using network optimizing
algorithm under the condition of taking barriers into consideration, and then smooths the bevel at turnings and generates a realtime flight
orbit; a data-collecting module, which collects the coordinate values of the aircraft positions and postures outputted by the flight path
programming module and forms a posture coordinate value including orthogonal coordinate variables X, Y and Z, a
pitch angle h, a yawing angle p and a roll angle r. The present invention saves flight resources and improves flights simultaneously.