中文摘要：

针对无人机动态航迹规划问题,结合数字地形和天气等信息建立全数字概率地图,采取先离线静态全局规划后在线实时动态规划的两级分层规划方法,基于稀疏A＊算法与文化算法实现了无人机动态航迹规划,改善了稀疏A＊算法的绕径问题,提高了航迹的可靠性和实时性.

英文摘要：

For dynamic path planning of unmanned aerial vehicle（UAV）,we combine digital terrain,weather information,and other data to establish a full digital probability map.We then use a two level hierarchical planning method that includes offline static planning and online real-time dynamic planning to realize dynamic path planning of UAV.The method is based on the sparse A＊ algorithm and cultural algorithm（CA）.It solves the winding problem of sparse A＊ algorithm and improves reliability and real-time performance of tracking.