| 摘要 |
A number of navigation functions are performed on terrain navigation space. A preferred embodiment of dynamic dangerous zone defined by flight altitude is demonstrated. In a preferred embodiment, a set of nodes of terrain height over a minimum flight altitude are located and aggregated. Algorithms such as collision check, mountainous area boundary and region growing technique are developed as basic operations for this terrain model. Yet another preferred embodiment with visibility graph approach for dynamic route selection has been adapted to reduce the real-time computational requirements. This approach reduces the size of the search space by establishing a partial visibility graph of terrain and avoids details of the terrain, which do not influence the choice of flight path, independent of the size of the navigation space. By exploiting the multiple and variable resolution properties of Oct-tree terrain models, a series of CFIT warning functions using terrain data as reference are implemented efficiently with existence terrain data resource on board.
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