Aiming at the problem of ground target location problem in UAV emergency search, a new route planning method based on "∞" circling action is presented in this paper.Comparison and analysis of the circle, ellipse, "∞" type circled algorithm in the application environment, positioning accuracy and positioning circling laps are introduced respectively.Developed positioning hovering control software based on the VC6.0.The flight tests show that this algorithm can effectively shorten the positioning time and search turns and the "∞" type spiral algorithm has higher localization rate and adaptive capability. So that UAV search and rescue system enable to search efficiently.%针对无人机应急搜索中地面目标定位问题,提出一种基于“∞”型盘旋动作的航路规划方法.文章分别对圆、椭圆、“∞”型盘旋算法在应用环境、定位精度及定位盘旋圈数等方面进行了对比分析,并基于VC6.0开发了定位盘旋控制软件.经飞行测试表明,该算法能有效缩短定位时间和空中盘旋圈数,定位速率更高、适应能力更强.从而实现无人机搜救系统的高效搜索.
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