Graph search driving mode based on extended spiral line

The invention provides a graph search driving mode based on an extended spiral line. The problems that in the prior art, when search rescue is carried out, parameters needing to be input are complex, efficiency is low, search areas are incomplete, and the best search and rescue opportunity is likely to be missed are mainly solved. According to the implementation scheme, according to the principle that an aircraft turns by controlling an inclination angle, firstly, four input parameters including an initial position delta, an initial radius x, a linear increasing rate xi and a turning direction lambda are set; then, an inclination angle alpha and an additional inclination angle beta are respectively calculated according to a standard control law and an airplane turning radius formula; finally, according to the new inclination angle gamma = alpha + beta, the aircraft is controlled to achieve an annular flight mode with the radius r = x + xi * dt increasing continuously, and dt is a program cycle period. The met