Multi-step decision-making method for planning trajectory around multiple no-fly zones
A no-fly zone and ballistic technology, applied in the field of multi-step decision-making ballistic planning, can solve problems such as increasing the energy consumption of missiles, easily causing overload oscillation, and destroying the boundary constraints of the no-fly zone.
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Embodiment 1
[0146] Embodiment 1 verifies the simulation effect of the single no-fly evasion guidance law of the present invention under different maximum available overload conditions.
[0147] Step 5: Design of trajectory planning method around multiple no-fly zones based on multi-step decision theory
[0148] In order to facilitate the design of the trajectory planning method of the present invention, a multi-step decision-making model is introduced as follows:
[0149] Define 1Γ-step decision model (S, D, T, J), where
[0150] 1) Record H:={0,1,2,...,Γ}, where Γ represents the number of decision-making steps;
[0151] 2) State space S is a non-empty set whose elements are all state variables s(s∈S). Denote S(k) as the state set at the starting point of the kth step, where k∈H;
[0152] 3) D(k,s) is the set of all feasible decisions starting from the state variable s in the kth step. The decision space D is the total set of feasible decisions of all decision steps;
[0153] 4) In t...
Embodiment
[0176] Embodiment one
[0177] This embodiment considers the case of a single no-fly zone constraint to verify the penetration performance of the OBPCG guidance law of the present invention under different maximum available overload limits. The target position is fixed XT=(30,30)km, the initial position of the missile is XM=(-60,0)km, and the initial velocity is No-fly zone radius r E = 30km. Figure 10 It shows the flight trajectory of the OBPCG guidance law of the present invention when the maximum available overload is 10G, 6G, and 3G respectively. It can be seen that when the maximum available overload is large enough, OBPCG will control the missile to bypass the no-fly along a shorter flight path However, when the maximum available overload is small, since the minimum turning radius of the missile is greater than the distance from the missile to the boundary of the no-fly zone, OBPCG will control the missile to bypass the no-fly zone along a longer flight path, so as t...
Embodiment 2
[0179] This embodiment verifies the performance of the multi-step decision-making trajectory planning method of the present invention in the case of arbitrary arrangement of multiple no-fly zones. The 15 no-fly zones are randomly distributed, and the radius of the no-fly zone varies from 15km to 36km. The initial state of the missile is XM=(60,0)km, The initial state of the target is XT 0 =(-170,-230)km, VT 0 =(-130,150)m / s. Assume that the target maneuvers according to the following trajectory
[0180]
[0181] Among them, A=300km, T=70km.
[0182] Figure 11 The ballistic trajectory of the multi-step decision-making trajectory planning method of the present invention under the constraints of multiple no-fly zones is shown. It can be seen that under the action of the trajectory planning method of the present invention, the missile completes the multi-no-fly zone along a relatively smooth and short trajectory. Fly zone penetration missions, and strictly ensure the b...
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