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中文摘要：
针对复杂低空环境下航空应急救援飞行安全问题，提出了一种基于三维空域网格的飞行航迹战略规划方法。将空域网格化分成多个飞行航迹节点，同时考虑地形、气象、飞行规则以及航空器性能等多种约束，使用改进的A^＊算法搜索单个航空器的最优飞行航迹。在单个航空器初始飞行航迹基础上，结合时间窗原理，提出两种方法解决了多机无冲突航迹战略规划问题。最后，通过案例仿真验证了方法的有效性。
英文摘要：
In consideration of low level flight safety problem of the aviation emergency rescue ,a method is presented to flight path strategic planning based on 3D airspace grid.The algorithm divides airspace into grids to generated flight path nodes .Considering the terrain ,weather ,flight rules and aircraft performance constraints,an improved A^＊algorithm is used to search optimal flight trajectory .In this paper,based on a single flight trajectory ,two methods to resolve multi-aircrafts conflict-free flight trajectory strategic planning problem are proposed ,which is combined with the principle of time window .Finally,simulated and real data were used to validate the presented method .
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