The stealth aircraft, studied in this article, plans a low observability trajectory to evade radars tracking, considering probability of detection and system constraints. An elaborate framework of planning low observability trajectory, which integrated the models of the stealth aircraft and radars, the theory of multi-phase optimal control and the algorithms of adaptive pseudospectral method, is presented in this article. The constraints and temporal features of low observability trajectory are modeled. The optimal objectives of the flight time, the total fuel consumption, and stealth are defined and synthesized. The trajectory planning problem then was formulated as a multi-objective multi-phase optimal control problem, which can availably grasp the radar tracking features to ensure safety in the whole flight process. A hybrid heuristic adaptive pseudospectral method is developed to solve the trajectory planning problem. The novel algorithm integrates prior knowledge, error estimate and solution regularity for adaptive strategy, which improves computational efficiency and convergence speed. The results of experiments show that the proposed method is feasible and the radar tracking features are effectively utilized to optimize the comprehensive efficiency of penetration.
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