地形回避

一种实用的地形回避/地形跟踪算法

An Effective Algorithm of Terrain Avoidance / Terrain Following

地形跟随/地形回避雷达数学模型的实现

Realization of Digital Model of Terrain Following / Terrain Avoidance Radar

主要讨论了水平面上空面导弹TA/TA（地形回避/威胁回避）问题。首先通过Dijkstra算法求出地形、威胁包络的最短及几个较短路径通道；

Firstly , the shortest route channel and some subordinations for terrain and threat envelope are found out by optimization techniques and Dijkstra algorithm .

一种基于倒三角形的地形回避算法

A Terrain - avoidance Algorithm Based on Inverse Triangle

介绍了一种求解防区外导弹巡航阶段TA/TA（地形回避/威胁回避）问题的快速简便方法。

This paper presents a fast and convenient method which aims at solving the subject of TA / TA in cruise stage about stand off missile .

飞机地形跟踪／回避突防飞行解耦控制的人机半物理仿真研究

Pilot-vehicle semi-physical simulation study of decoupling control for aircraft tf / ta penetration

本文着重介绍战术飞行管理系统的概念、要求和展望。战术飞行管理系统是最近才提出的区域导航、能量管理、突防、地形跟踪/回避、提高机动武器效能的综合系统概念。

A Tactical Flight Management ( TFM ) system has been developed that incorporates system concepts for enroute navigation , energy management , threat penetration , terrain following / terrain avoidance , and advanced maneuvering weapon delivery .

该文研究了在地形跟随／地形回避（TF／TA）条件下的几种地形匹配算法。结合地形跟随／地形回避（TF／TA）的特点做了仿真研究。

The paper introduces several algorithms of terrain matching system and makes simulation study on the condition of Terrain Following / Terrain Avoidance .

地形跟踪/地形回避飞行器航迹优化

Optimization of Trajectory for Terrain Following / Terrain Avoidance Aircraft

地形跟随和地形回避雷达

Terrain - tracking radar and terrain - avoidance radar

地形跟随/地形回避（TF/TA）航迹规划是低空突防系统的关键技术之一。

The terrain following / terrain avoidance flight trajectory planning is a key technology of low altitude penetration system .

在超低空突防过程中，有效的航迹跟踪控制算法是飞行器顺利完成综合地形跟随/地形回避（TF/TA）飞行任务的保证。

In the process of low altitude penetration , the algorithm for effective flight track control can guarantee to successfully complete the mission of terrain follow and terrain avoid .

本文介绍了综合地形跟随／地形回避／威胁回避飞行控制系统的系统框架和主要功能模块，讨论了在进行系统设计过程中遇到的主要理论和技术问题，并阐述了解决问题的思路和方法。

This paper introduces the structure of TF / TA 2 flight control system and its sub blocks , discusses the main problems and gives out some methods for them .

仿真结果表明，生成的航迹具有地形跟随、地形回避和威胁回避的功能。

Via the method mentioned above , the generated route has the function of terrain following , terrain avoidance and threat avoidance . Simulation results are provided to illustrate the idea .

综合地形跟随/地形回避（TF/TA）是新一代低空突防技术，其中的轨迹规划技术是飞行器低空突防飞行控制律设计的重要依据。

The integration of terrain following / terrain avoidance is a new technique of low altitude penetration . And the trajectory programming technology is the important base of the design of control laws .

论文首先介绍了综合地形跟随/地形回避（TF/TA）相关概念，关键技术和工作原理，并通过分析和讨论TF/TA仿真的需求，提出了进行实时分布式TF/TA仿真系统设计的必要性与可行性。

The first part of the thesis introduces the conceptions , key technology and theory of TF / TA technology . The necessity and feasibility of real-time distributed TF / TA simulation system is discussed .

地形跟踪/地形回避、威胁回避（TF/TA2）实时航迹规划计算机是综合TF/TA2低空突防系统的控制核心。

The terrain following / terrain avoidance / threat avoidance ( TF / TA 2 ) real-time flight trajectory planning computer is the core of the integrated TF / TA 2 low altitude penetration system .

数字地图是自主式GPS/MAP地形跟踪/地形回避、威胁回避（TF/TA2）低空突防系统中实时航迹优化的主要信息来源。

Digital map is the important source of information for real time flight path optimization in autonomous terrain following / terrain avoidance / threat avoidance ( TF / TA 2 ) low altitude penetration system with GPS / MAP .

本文对动态地形跟随/地形回避算法进行工程化改进，研究了威胁回避方法，并搭建综合地形跟随/地形回避/威胁回避半物理仿真验证平台，对航迹规划算法和地形匹配算法进行实时仿真验证。

In this paper , the algorithm of the terrain following / terrain avoidance optimal trajectory programming has been improved , threat avoidance has been studied , and hardware-in-the-loop simulation system has been designed for validating the algorithm of trajectory planning and terrain match .

综合地形跟踪/地形回避（TF/TA）是新一代低空突防技术，它能充分利用地形掩蔽提高飞行器生存能力，其核心部分是地形雷达，它的主要功能是获取精确的地形数据。

Integrative Terrain Following / Terrain Avoidance is the new low attitude attack technology that can make full use of terrain shelter to enhance viability of flying machine . And its hardcore is terrain radar whose main function is to obtain accurate terrain information .

地形跟随地形规避威胁回避TFTA2（terrainfollowing，terrainavoidance，ThreatAvoidance）路线规划是低空突防研究的关键技术。

Path planning using TF / TA 2 ( terrain following , terrain avoidance , threat avoidance ) technology is the key problem for the research in penetrating aircraft to fly at low altitudes .

数字地形是自主式GPS/MAP地形跟随/地形回避（TF/TA）低空突防系统的主要信息来源之一。

Digital terrain elevation data is one of important information for autonomic TF / TA low altitude penetration system with MAP / GPS .

针对基于激光前视雷达的巡航导弹在巡航阶段实现自主地回避地形障碍物这一课题，在地形回避算法中，提出了飞行矢量三角形的概念。

The terrain-avoidance ( TA ) algorithm is very important , when the cruise missile based on laser-forward-looking radar avoids the terrain obstruct automatically . For the TA algorithm , the concept of flying-vector-triangle is proposed .

基于此点，提出了基于卡尔曼滤波的惯性地形辅助导航方法，交互信息量等方法的地形熵算法，以改进该算法在地形跟随/地形回避中应用的性能。

Based on this , a sandia inertial terrain aided navigation method for Kalman filter is offered and the maximization of mutual information is synthesized , the performance of terrain-entropy algorithm is improved .

因为地形熵算法丢掉了地形的相对位置信息及对地形数据做了归一化处理，使得其在地形跟随/地形回避中的应用存在着匹配误差容易发散的问题。

The primary bug of this algorithm is that it discards the relative position information of terrain data and the normalized processing .