Aiming at the new threat district appearing in the cruise process, a real-time backup route replanning was achieved.
针对飞行器实施作战任务过程中可能面临的新威胁，设计了实时重规划方法。
It mainly resolves the pop-up threats in route replanning, and the particular applying approach for this algorithm is presented.
解决了无人机在飞行过程中遇到突然出现的威胁时的航迹重规划难题，给出了应用该算法的具体步骤。
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