| 摘要 |
A low flight method for automatic course determination when approaching a given target site is disclosed wherein a terrain memory is used in which terrain points in grid type distribution of the terrain in question with height coordinates associated with them are stored digitally (digital terrain height model). By means of a rough analyzer, spaced at possibly variable first time intervals DELTA T over the multitude of points of the digital terrain height model, a first fan (Fn) starting from a respective momentary flight position (P1) and oriented with its center direction (MF) toward the target site (Pz) and consisting of several adjacent segments (Si) is placed. For each segment (Si) a mean value of the height coordinates of the terrain points situation in it is calculated, and the segment (S4) having the smallest mean value is determined. By means of a fine analyzer (4), within each of the first time intervals DELTA T in multiple spaced succession of comparatively shorter second time intervals DELTA t over the multitude of points of the digital terrain height model, a second fan (fm) of smaller radius by comparison with the first fan (Fn) starting from the momentary flight position (P1, P2, etc.) and oriented with its center direction (Mfm) into the momentary flight direction and consisting of three adjacent segments (sj) is placed. For each segment (sj) a mean value of the height coordinates of the terrain points situated in it is calculated, and by means of a flight path finder (5) the three differences of these mean values are formed and compared in each instance with a predeterminable limit value (G). In case none of the three mean values exceeds the limit value (G), a course correction command for approximation to the flight direction which corresponds to the segment previously determined in the rough analyzer, and in case at least one of the respective mean values exceeds the limit value (G), determining the momentary flight course according to which of the respective segments (sj) the lowest mean value is present in.
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