Dynamic rerouting planning method fusing dynamic risk map and improved A algorithm

The invention discloses a dynamic rerouting planning method fusing a dynamic risk map and an improved A * algorithm. The method comprises the following steps: firstly, establishing an initialization risk map of a flight area by utilizing a detection result of an airborne weather radar, and periodically updating the initialization risk map by utilizing the detection result of the airborne weather radar obtained in real time to obtain a dynamic risk map which is used as a search environment of an algorithm; and then, constructing a cost function of the algorithm by taking the flight path length,the flight path deviation degree and the danger value as constraint conditions, carrying out flight path planning based on the cost function, and adding flight path smooth optimization processing toimprove the smoothness of the flight path. And finally, a planned optimal flight path can be obtained. Compared with other route planning algorithms, the method has the advantages that a conservativestrategy and a non-conserva