多约束条件下无人机航路规划动态评价方法

针对多约束条件的无人机航路规划评价方法缺乏合理性和动态特性的问题，提出了基于无人机六自由度模型的飞行仿真动态评价方法。分析了无人机航路规划的约束条件和影响航路评价的因素，基于某型无人机六自由度飞行动力学模型和飞行控制系统模型建立了无人机飞行仿真系统模型，将航路规划与评价进行有机结合进而进行航路评价方法软件的设计，通过对无人机沿规划航路的仿真飞行参数进行动态特性分析，以更接近真实情况的仿真手段对多约束条件下的航路规划效果进行评价。结果表明，该方法形象直观的实现了对无人机规划航路的动态综合评价，满足工程需求。

UAV Route Planning Dynamic Estimation Method for Multi-constraints

Aiming at unmanned air vehicle route planning estimation method lacks rationality and dynamic characteristics with multiple constraint condition, the route planning estimation method based on 6-DOF flight simulation is proposed. The multiple constraint condition of unmanned air vehicle route planning and several factors affect the route estimation are analyzed. Unmanned air vehicle flight simulation model based on an unmanned air vehicle 6-DOF flight dynamics model and flight control system model is established. The software of route estimation method is designed through an organic combination of route planning and estimation. By simulation, the dynamic performance of actual flying parameters obtained when aircraft follows the path planned are analyzed, general estimation for planning effectiveness with multiple constraint condition that comes from simulation is achieved. Simulation result indicated that the estimation method can actualize the validation of planned paths dynamic characteristic and meet the engineering requirements.