Multi-constrained Trajectory Planning for Random Signal Aided Navigation

UAV can’t perform combat missions without the trajectory planning system and the navigation system.Traditional UAV trajectory planning systems are often separated from navigation systems. At the same time, UAV active navigation and scene matching assisted navigation have the problems of low safety and poor robustness. In this paper, a new trajectory planning method for random signal aided navigation environment is proposed. First, the random signal navigation environment model and the trajectory planning constraint model are established. Then, the algorithm of selecting matching area and multi constraint trajectory planning between matching areas are proposed. The simulation results show that the matching area selection algorithm can select more matching areas, and the planned route can pass more matching areas. This method combines UAV trajectory planning with a new navigation method (Random Signal Aided Navigation), which improves the diversity and accuracy of navigation and makes the trajectory planning system more robust. It has great research significance and practical value.