Route planning method, system and equipment based on B spline curve equation and medium

The invention provides an air route planning method, system and device based on a B-spline curve equation and a medium, and the method comprises the steps: carrying out the air route planning through a preset air route planning algorithm according to a starting node and a termination node, and generating a first air route; and smoothing the first air route through a B-spline curve equation to obtain a second air route. The route planning efficiency can be improved, and the planned route is smoother. 本发明提供了一种基于B样条曲线方程的航路规划方法、系统、设备及介质，包括：根据起始节点和终止节点，通过预设的航路规划算法进行航路规划，生成第一航路；通过B样条曲线方程对所述第一航路进行平滑处理，得到第二航路。能够提高航路规划效率，并使规划得到的路径更加平滑。