为提高飞行器对地攻击效能,必须对其三维航迹规划技术进行研究.通过考虑飞行器姿态变化对暴露范围的影响,建立了飞行器简化RCS模型；考虑到威胁并非不可穿越,建立了间歇式暴露模型；在改进稀疏A*算法的基础上提出了一种具有实时规划能力的分步规划算法,针对该算法存在规划“死胡同”的缺陷,提出了一种具有预测能力的三维航迹规划方法；最后,在真实地形下进行了仿真验证,结果表明所建模型及算法的有效性和实用性.%The 3D route planning technology should be studied in order to improve the ground attacking efficiency of an aircraft. Firstly, by analyzing the effect of aircraft pose changing on its exposing degree, a simplified RCS model of aircraft was built up. Since it is not true to suppose that the threatened area can never be passed through,a discontinuously exposing model was built up. Then,based on the improved sparse A-star algorithm,a Step by Step Planning(SSP) algorithm was put forward. Aiming at the shortage that it is easy to go to dead end, one method of 3D route planning with predicting capability was given. At last, simulation was made in real terrain, and the result showed the effectiveness of the model and the algorithm.
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