适应地形匹配区分布特性的三维航迹规划方法分析-analysis of 3 - d route planning method adapted to distribution characteristics of terrain matching area.docxVIP

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适应地形匹配区分布特性的三维航迹规划方法分析-analysis of 3 - d route planning method adapted to distribution characteristics of terrain matching area.docx

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适应地形匹配区分布特性的三维航迹规划方法分析-analysis of 3 - d route planning method adapted to distribution characteristics of terrain matching area

华华中科技大学硕士学位论文 II II Abstract This article discusses the route planning method based on the distribution characteristics of the terrain matching area. Terrain matching assisted navigation has strong independence and strong anti-interference ability, it is more secure and stable than GPS-assisted navigation in the military use. Route planning method with terrain matching constraints will become more important. This article describes the process of route planning method which uses SAS method in land environment and with the terrain matching constraints, followed by analysis of the the terrain matching distribution feature. An improved route planning method is expounded for this feature, the new method takes the advantage of the terrain matching areas geographic distribution and direction distribution information. First,devide the digital map of the matching area into grid regions, then count the number of the match points and the number of the matching directions of all regions. Secondly, search the grid area, get a grid region list from the region of the emit point to the target region, these grids meet the distance constraint, and they have large number of match points and better directions to connect. The third step is to search for suitable match points in the list of planning areas and then connect the points. The experiments result show that this planning approach is fast. This improved method will always search matching points in the area which has intensive matching points and has easy connection directions, so it is able to quickly find the matching points that satisfy the constricts. This method has a certain degree of practicality. Key Words:Route Planning,Terrain Matching,Sparse A* Search PAGE IV PAGE IV 目录摘要 1 ABSTRACT II 1 绪论 1.1 引言（1） 1.2 研究目的和意义（1） 1.3 国内外发展现状（2） 1.4 本文的主要内容（4） 2 传统航迹规划方法介绍 2.1 航迹规划通用约束（5） 2.2 航迹规划环境的几何建模方法（7） 2.3 常见的航迹规划方法（8） 3 基于地形匹配区辅助导航的一种改进三维航迹规划方法 3.1 背景介绍（26） 3.2 约束条件（27） 3.3 规划建模（27） 3.4 代价函数（2