Three-dimensional guidance law identification and filtering method based on imm_ukf

A guidance law and three-dimensional technology, which is applied in the field of identification and filtering of three-dimensional guidance law based on IMM_UKF, can solve problems such as changes in motion models and reduction in guidance accuracy

Active Publication Date: 2021-06-15
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] The purpose of the present invention is to solve the problem in the prior art that the enemy interceptor missile pursuer will use different navigation constants in different guidance stages, resulting in changes in the motion model, which reduces the guidance accuracy of the MMAE filtering method in this case, and A three-dimensional guidance law identification and filtering method based on IMM_UKF is proposed

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  • Three-dimensional guidance law identification and filtering method based on imm_ukf
  • Three-dimensional guidance law identification and filtering method based on imm_ukf
  • Three-dimensional guidance law identification and filtering method based on imm_ukf

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specific Embodiment approach 1

[0046] Specific implementation mode 1: The specific process of the three-dimensional guidance law identification and filtering method based on IMM_UKF in this implementation mode is as follows:

[0047] Step 1, establish the relative motion equation of evader and pursuer;

[0048] The pursuer is an enemy intercept missile, and the evader is a target aircraft;

[0049] Step 2, based on the relative motion equation of the evader and the pursuer established in step 1, establish the relative motion model of the evader relative to the pursuer;

[0050] Step 3, based on the pursuer motion model relative to the evader established in step 2, design the IMM filter on the evader;

[0051] The IMM filter is an interactive multi-model filter.

specific Embodiment approach 2

[0052] Specific embodiment two: the difference between this embodiment and specific embodiment one is: the relative motion equation of evader and pursuer is established in said step one; The specific process is:

[0053] The scene inertial coordinate system OXY is defined as the initial line-of-sight coordinate system of the target aircraft evader; figure 1 It shows the relative motion relationship between evader and pursuer on the plane.

[0054] The target aircraft evader and the enemy interceptor missile pursuer are denoted by e and p respectively;

[0055] The evader inertial coordinate system coincides with the scene inertial coordinate system; the origin and y-axis of the pursuer inertial coordinate system coincide with the scene coordinate system, and the x-axis direction of the pursuer inertial coordinate system is opposite to the x-axis direction of the scene inertial coordinate system;

[0056] V e is the velocity vector of evader, a e is the acceleration vector ...

specific Embodiment approach 3

[0062] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is: the relative motion equation of the evader and the pursuer established based on the step one in the said step two, establishes the relative motion model of the pursuer relative to the evader; The specific process is:

[0063] Suppose the pursuer uses PN guidance law to intercept the evader. The motion of the pursuer in this case is called the PN motion model. Let the pursuer state vector relative to the evader be

[0064] x=[r x ,r y ,r z ,v x ,v y ,v z ,a px ,a py ,a pz ] T (3)

[0065] where r x is the component of the distance vector of the pursuer relative to the evader along the x-axis in the scene inertial coordinate system, r y is the component of the distance vector of the pursuer relative to the evader along the y-axis in the scene inertial coordinate system, r z is the component of the distance vector of the pursuer relative to the evader alo...

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Abstract

A three-dimensional guidance law identification and filtering method based on IMM_UKF, the invention relates to a guidance law identification and filtering method based on IMM_UKF. The purpose of the present invention is to solve the problem in the prior art that the enemy interceptor missile pursuer adopts different navigation constants in different guidance stages, resulting in changes in the motion model, which reduces the guidance accuracy of the MMAE filtering method in this case. The process is: 1. Establish the relative motion equation of the evader and the pursuer; 2. Establish the relative motion model of the evader based on the relative motion equation of the evader and the pursuer established in step 1; 3. Establish the relative motion model of the evader based on the evader established in step 2 , Design the IMM filter on evader. The invention is used in the field related to missile active defense guidance rate.

Description

technical field [0001] The invention relates to a guidance law identification and filtering method based on IMM_UKF. Background technique [0002] During the flight, the aircraft will encounter interception missiles. In order to effectively evade interception, the aircraft needs to estimate the motion state of the interceptor missile, such as the relative position, relative velocity, acceleration of the interceptor missile and information related to its guidance law. Use this information to determine your escape strategy. [0003] In order to estimate the motion state of the interceptor missile, it is first necessary to mathematically model its motion, and then design a Kalman filter to track its state. For the Kalman filter, the accuracy of the model is critical because the filter is sensitive to model errors. Accurately modeling the motion of an interceptor missile is difficult when its maneuver is unknown. Generally, some general models are used, such as constant velo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/20
CPCG06F30/20
Inventor 邹昕光周荻
Owner HARBIN INST OF TECH
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