Intelligent power dropping track online planning method

The invention discloses an intelligent power dropping track online planning method. The intelligent power dropping track online planning method includes the following steps: firstly, judging whether the condition that propellants are in short supply or the condition that postures are continuously out of the tolerance due to the fact that disturbance torque generated by a main engine is larger than control torque occurs in a main speed reduction stage or not, if the condition that the propellants are in short supply or the condition that the postures are continuously out of the tolerance due to the fact that the disturbance torque generated by the main engine is larger than the control torque occurs, directly starting a hovering stage by adopting a track online planning strategy of thrusting switching, guide law resetting and a mode switching sequence, and otherwise, enabling track planning not to be carried out; secondly, judging whether a rapid adjustment stage is out of the height tolerance or not, if the rapid adjustment stage is out of the height tolerance, calling a safe mode guide law, changing a target state into a hovering state, and otherwise enabling the track planning not to be carried out; thirdly, judging whether an approaching stage is out of the height tolerance or speed tolerance or not, if the approaching stage is out of the height tolerance or speed tolerance, re-planning a guide target of the approaching stage, calling the safe mode guide law, directly starting the hovering stage, and otherwise, enabling the track planning not to be carried out; finally, judging whether the condition that the propellants are in short supply occurs in the hovering stage or not, if the condition that the propellants are in short supply occurs in the hovering stage, re-planning an obstacle evading track and a slow dropping track to shorten dropping time, and otherwise enabling the track planning not to be carried out.