关键词: 无人机, 航路规划, 信息融合, 环境

Abstract: To set up the environment model in route planning of UAV, different threats are analyzed and severally changed into terrain information which can be integrated into the digital map. The initial digital terrain data are disposed by bi-cubic convolution interpolation, and specific rectifications are adopted to match different constraint conditions such as maximal climbing capability, minimal distance off the earth’s surface and the vertical turning curvature. The detecting threat is transformed according to the scouting probability of radar, horizontal distance as well as the terrain masking capability, while the firepower threat is converted on the basis of the shooting probability and the maximal threatening radius, both of which are fused into the digital map in the shape of terrain information. Several constraint rectifications are carried out again to establish the environment model, simplifying the scouting interspaces for route planning of UAV.

Key words: unmanned aerial vehicle, route planning, information fusion, environment