Roadmap's building method used for multiple stealth aircraft's 3-dimensional realtime route replanning

The confliction between data amount and calculation resource is worsened during the real-time route replanning process of multiple aircrafts' 3-dimensional stealth penetration. For this problem, a roadmap method is provided here, which divides the threat analysis process and route optimizing process. Two kinds of roadmap building method is provided here. The one comes from A* route planning process, which can be used in the case of small difference between replanning area and preplanning area. And the other comes from point matrix with equal distance, which can be used in the case of large difference between replanning area and preplanning area. Numerical simulation gives the mentioned methods' effect, and demonstrates its validity.