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The quality of case base would affect the convergence effect of CB-HAQL algorithm strategy. Aiming at the fact, this paper developed an improved CB-HAQL algorithm based on effective triggering mechanism. Firstly, the algorithm set the trigger case base update mechanism according to the number of iterations. In order to ensure the quality of the case base, only when the threshold was reached, the algorithm generated or update the case base. Secondly, the dynamic parameter was set to adjust the impact of the case on action selection, so that the agent could determine the size of heuristic influence according to the degree of mastery of the environment. Finally, the algorithm added experience-oriented exploratory action to accelerate the learning efficiency. Experiments show that the algorithm improves the strategy quality and training speed, and the UAV' s navigation task proves the effectiveness of learning strategy. [ABSTRACT FROM AUTHOR]