Parafoil system obstacle avoidance flight path planning method and system

The invention discloses a parafoil system obstacle avoidance flight path planning method, which comprises the steps of 1, establishing a parafoil order reduction particle model under a wind fixed coordinate system, and modeling a peak obstacle; 2, determining the position and the course angle of the parafoil system at the initial moment of air drop, the expected position and the expected course angle at the landing moment, and the maximum pull-down amount of a parafoil control rope; 3, combining landing point horizontal position errors, landing point course errors, control energy consumption and safety obstacle avoidance indexes to establish an objective function of parafoil system route planning; 4, dividing a parafoil flight period into n adjacent intervals, and taking a constant value of a control quantity in each sub-interval to control a parafoil system; 5, solving the optimal control quantity of each interval in the parafoil flight period, and enabling the objective function value to be the minimum valu