To address the problems of low calculation efficiency and limited applicability of the traditional UAV trajectory planning methods,a trajectory planning method that considers the integration of global and local planning is proposed.Firstly,a geometric track collision detection method is proposed to improve the Jump Point Search (JPS) algorithm to enhance the UAV trajectory planning capability in the global environment.Secondly,a trajectory planning framework for the integration strategy is proposed to extend the evaluation sub-function of the dynamic window method by integrating the UAVs global trajectory information with local trajectory information of the dynamic window to ensure the UAVs flexible obstacle avoidance capability in dynamic environments.Finally,the advantages of the improved JPS algorithm over existing methods in terms of global search time,trajectory distance and number of trajectory turning points are demonstrated through simulation experiments,and the stable obstacle avoidance capability of the integration algorithm in dynamic environments is verified.