The approach of 3D terrain following in the terrain navigation

The terrain following technology is the basis of flyer automatic navigation. The imaging laser radar can obtain the front look 3D range image and 3D terrain map. The terrain and obstacle, 3D range image. Which is the precondition of auto terrain following of flyer, can be identified by in the condition of flyer inertial navigation, the obstacle avoidance approach is studied, and the 3D space relation between the flyer and planning trajectory in this paper is deduced. The terrain following equation is constructed. On the basis of the automation obstacle avoidance. With the reference terrain map, the simulating experiment is performed, and the results show that the approach can satisfy the requirement of flyer automatic navigation along the planning trajectory.