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为解决起飞一发失效应急程序(EOSID)手动设计的不足,提出一种基于SRTM数据的稀疏A*搜索(SAS)算法的EOSID路径规划方法。首先采用航天飞机雷达地形测绘使命(SRTM)的网格地形数据,结合起飞一发失效相关规章,考虑爬升梯度与保护区限制确定可行搜索空间;然后基于可行搜索空间运用稀疏A*搜索算法搜索应急离场路径,在传统A*算法寻找扩展节点时加入起飞性能约束条件,同时利用地形高程数据进行地形和威胁回避,生成一条三维应急离场航迹;最后利用三次样条曲线对规划的应急离场航迹进行平滑处理。实验结果表明该方法能自动搜索出有效的EOSID三维航迹。
In order to solve the problem of manual design of take-off and failure emergency procedure (EOSID), a method of EOSID path planning based on sparse A * search (SAS) algorithm of SRTM data is proposed. Firstly, the grid topographic data of Space Shuttle Radar Topography Mission (SRTM) is used to determine the feasible search space by taking into account the rules of takeoff and landing failure and the consideration of the gradient of climb and the limits of protected areas. Then, based on the feasible search space, a sparse A * search algorithm is used to search for emergency Departure path to join the take-off performance constraint when the traditional A * algorithm looks for an extended node, and uses the terrain elevation data to perform terrain and threat avoidance to generate a three-dimensional emergency departure track. Finally, the cubic spline curve is used to calculate the emergency departure distance Field tracks for smoothing. The experimental results show that this method can automatically search the effective EOSID 3D trajectory.