The integration of terrain following / terrain avoidance / threat avoidance is a new technique for the aircrafts to achieve low altitude penetration flight . and the trajectory programming technology is the important base of the design of control laws 综合地形跟踪地形回避威胁回避是新一代低空突防飞行的关键技术，其中的航迹规划技术是飞行器低空突防飞行控制律设计的重要依据，通过对航迹的规划，使得飞行器紧贴地形轮廓安全飞行。
