Rapid optimal generation algorithm for terrain following trajectory based on optimal control

Based on the optimal control theory, a 3-dimensionnal direct generation algorithm is proposed for anti-ground low altitude penetration tasks under complex terrain. By optimizing the terrain following (TF) objective function, terrain coordinate system, missile dynamic model and control vector, the TF issue is turning into the improved optimal control problem whose mathematical model is simple and need not solve the second order terrain derivative. Simulation results prove that this method is reasonable and feasible. The TF precision is in the scope from 0.3 m to 3.0 m, and the planning time is less than 30 min. This method have the strongpionts such as rapidness, precision and has great application value.