在此背景下，本文设计并实现了包括航迹图展示、GPS串口通信以及人机界面三个子系统的从数据采集到试航结果展示的完整的测试系统。

Under this background, this paper designs the system from data collection to test results representation, which includes drawing voyage chart, GPS serial port communications and user interface.

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详细推导并提出了扩展导航参数及大圆航线航迹解算算法，还给出了算法流程图。

Extended navigation parameters (ENP) and great circle flight path (GCFP) calculated algorithms are presented in detail and the algorithm flow chart is presented.

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重点讨论了如何根据威胁分布的VORONOI图建模，计算航路代价，航迹搜索和航迹优化。

How to build VORONOI diagram based on threaten locations, compute costs of flight routes, choose preliminary path and optimize path were discussed importantly.

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