.tf / Ta Trajectory Planning Algorithm Research And Its Implementation

The integration of terrain following/terrain avoidance is a new technique of low altitude penetration. It makes full use of the terrain masking to improve survival ability of planes. The probability of low altitude penetration can be highly improved by the TF/TA optimal trajectory planning. Trajectory planning is a key technique in realizing low-altitude-penetration. The real-time operating system VxWorks can be used to develop embedded real-time system, so the trajectory programming technology is realized in it. This paper mainly studies the algorithm of the terrain following/terrain avoidance optimal trajectory programming technology and its realization in Vx Works.The main tasks of this dissertation are summarized as follows:1) The research of trajectory programming technology. In the course of level trajectory programming, the dynamic programming algorithm and tree search algorithm are used to obtain level optimal trajectory. And then an integrated smoothing algorithm that limits the slope and curvature of terrain is presented in vertical trajectory programming. Then the three-dimensional optimal trajectory is acquired.2) The design of TF/TA semi-physical simulation system.3) The realization of TF/TA technology in VxWorks. This paper studies how to embed the TF/TA software into VxWorks operating system, and to achieve the real-time performance and the restriction of system resource.