考虑非圆禁飞区的空天飞行器TAEM轨迹规划方法

  • 孙清黎 ,
  • 郭健 ,
  • 王永圣
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  • 1. 北京空天技术研究所
    2. 空天飞行技术全国重点实验室

收稿日期: 2025-04-28

  修回日期: 2026-02-03

  网络出版日期: 2026-02-09

TAEM phase trajectory planning of aerospace vehicle with no-fly zones

  • SUN Qing-Li ,
  • GUO Jian ,
  • WANG Yong-Sheng
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Received date: 2025-04-28

  Revised date: 2026-02-03

  Online published: 2026-02-09

摘要

针对非圆禁飞区影响下的空天飞行器TAEM段轨迹规划问题,提出了一种三维改进混合A*(Triaxial Improved Hybrid A*, TIH-A*)算法。根据算法的轨迹生成原理将飞行轨迹划分为搜索生成的混合A*段和几何拼接生成的Dubins段。针对混合A*段,引入势函数修正代价地图反映运动趋势和安全性约束,基于攻角和倾侧角指令拓展子节点反映动力学约束,设计描述终端预测海拔误差的代价函数反映终端约束,并提出一种自适应节点探索逻辑以提高算法的适应性。针对Dubins段,基于航向角误差设计了非线性横向制导律,提升了轨迹跟踪的效果,并提出了内环校正动压剖面、外环校正预测航迹倾角的纵向制导律。多种场景下的仿真结果表明:该方法能够实现非圆禁飞区下TAEM段的禁飞区规避和轨迹规划,轨迹设计精度较高,对任务参数和飞行场景的适应性较好。

本文引用格式

孙清黎 , 郭健 , 王永圣 . 考虑非圆禁飞区的空天飞行器TAEM轨迹规划方法[J]. 航空学报, 0 : 1 -0 . DOI: 10.7527/S1000-6893.2026.32177

Abstract

A Triaxial Improved Hybrid A*(TIH-A*) algorithm is proposed to address Terminal Area Energy Management (TAEM) phase trajectory planning for aerospace vehicle under non-circular restricted airspace. The flight trajectory is divided into the Hybrid A* phase, generated through searching, and the Dubins phase, generated through geometric splicing. For the Hybrid A* phase, a potential function is introduced to modify the cost map for reflecting motion trends and safety constraints. Child nodes are expanded based on angle-of-attack and bank angle commands to incorporate dynamic constraints. A cost function is designed to characterize terminal prediction altitude error for enforcing terminal constraints, while an adaptive node exploration logic is proposed to enhance algorithmic adaptability. For the Dubins phase, a nonlinear lateral guidance law is designed based on heading angle error to improve trajectory tracking performance. Longitudinal guidance is achieved by correcting the dynamic pressure profile and predicted flight path angle, allowing for small-range control in the inner loop and large-range control in the outer loop. Simulation results across various scenarios demonstrate that the proposed method successfully achieves effective no-fly zone avoidance and trajectory planning in TAEM phase under non-circular restricted airspace. The generated trajectories exhibit high design accuracy and strong adaptability to mission parameters and flight scenarios.

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