Unmanned aerial vehicle real-time online flight path planning method for recoverable spacecraft measurement task

The invention relates to an unmanned aerial vehicle real-time online flight path planning method for a recoverable spacecraft measurement task, which takes the flight performance of an unmanned aerial vehicle and a flight restriction area as constraints, takes real-time dynamic tracking of a spacecraft reentry capsule as a core target, fully considers the real-time performance of the flight path planning method, and also takes the real-time performance of the flight path planning method into account. The flight track of the unmanned aerial vehicle for tracking the reentry capsule is planned, the maneuvering operation characteristics of the unmanned aerial vehicle and the detection load are organically combined, and the tracking coverage rate of the reentry capsule is increased as much as possible. After the method is applied, collaborative operation with an existing land-based measurement and control system for guaranteeing a spacecraft return capsule tracking task is realized, and the constructed search and