中文摘要：

针对飞行器在低空复杂空域下航迹的规划，研究了地形条件以及地表威胁对飞行器飞行的影响。通过对数字地图以及静态威胁的分析，探究了数字地图的处理方法，并用埃尔米特插值函数进一步对地图进行平滑处理，减少最优航迹的搜索范围。通过设计地形跟随、地形回避以及威胁躲避的方法，保障了飞行器的安全。深入分析粒子群算法，在飞行器执行任务前实现对三维航迹的规划。通过仿真，展示了地图处理前后的区别，实现了三维最优航迹的离线规划。

英文摘要：

Aiming at the flight path ening to aircraft flight are studied. project in low complicated airspace, the influence of terrain conditions and surface threat- Through the analysis of digital map and static threat, the paper explores the processing method of the digital, map, and uses the Hermite function to process the map smoothly, reducing the searching range of optima[ trajectory. By designing the terrain following, terrain avoidance and the way of avoiding a threat, the safety of aircraft can be guaranteed. In-depth analysis of particle swarm optimization （PSO） algorithm realizes the three dimensional paths project before the aircraft performs a task. Through simulation, the difference of the maps before and after processing is shown, and offline programming of the three dimensional optimal path is achieved.