针对高超声速滑翔飞行器再入过程中面对的多约束问题，提出一种基于多触角探测的路航点规划机动制导策略。该机动制导策略通过飞行器最大转弯轨迹计算速度-剩余地面距离-航向角约束，在分段定点模式中发出多条粗略预 测触角，引用触角末端反馈的信息计算优先级以确定临时路航点； 同时在机动制导模式中发出精细探测触角，计算触角末端信息优先级， 经侧滑角延时滤波器得出控制指令，对飞行器进行机动制导。 基于多触角探测的路航点规划机动制导策略，降低了三触角机动制导方法中的计算时间；同时， 四种典型禁飞区条件下的仿真结果表明， 该策略能够有效稳定地解决机动制导过程中的多约束问题。

Aiming at the multi-constraint problem faced by hypersonic glide vehicles during reentry, a maneuver guidance strategy for route planning based on multi-tentacle detection is proposed. The maneuver guidance strategy calculates the speed-remaining ground distance-heading angle constraint through the maximum turning trajectory of the aircraft, sends out a plurality of rough prediction tentacle in a segmented fixed-point mode, and calculates the priority by referring to information fed back by the tail end of the antennae to determine a temporary road navigation point; At the same time, in the maneuver guidance mode, it sends out the fine probe tentacle, calculates the priority of tentacle end information, and obtains the control command through the sideslip angle delay filter to maneuver the aircraft. The maneuver guidance strategy for route planning based on multi-tentacle detection reduces the calculation time in the three-tentacle maneuver guidance method. At the same time, the simulation results under four typical nofly zones show that the strategy can effectively and stably solve the multi-constraint problem in the maneuvering guidance process.