Low-altitude rescue aircraft route planning method based on three dimensional airspace grids
A trajectory planning, three-dimensional airspace technology, applied in the direction of instrumentation, forecasting, electronic digital data processing, etc., can solve problems such as not considering multi-aircraft flight conflicts, rarely considering safe flight rules, rescue rules and aircraft performance constraints, etc., to achieve The effect of improving safety and efficiency
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[0046] Please refer to figure 1 As shown, the low-altitude rescue aircraft trajectory planning method based on the three-dimensional airspace grid of the present invention includes the following steps:
[0047] Step 1. Establish airspace grid division and determine the airspace aircraft flight environment;
[0048] Step 2: Determine the single aircraft trajectory planning of the improved A* algorithm;
[0049] Step 3. Multi-aircraft conflict-free strategic trajectory planning.
[0050] Step 2 includes:
[0051] Step 21: Read the aircraft information and create an openlist table for it. Initialize it to include only the initial node, that is, the node where the rescue point is in the airspace grid; create a closelist table and initialize it to empty; set g(1)=0. Among them, g(n) is the cost from the starting point (node 1) to the current node (node n), w m (n) is the weight function: g ( n ) = g ( n - 1 ) + d i s t ( n , n - 1 ) ...
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