Adaptive designated attack time guidance method, device, medium and product for attacking maneuvering targets

Abstract

The present invention discloses an adaptive designated attack time guidance method, device, medium, and product for attacking maneuvering targets, belonging to the field of missile interception guidance. This method first establishes a dynamic model for a single missile intercepting a single maneuvering target and an expression for estimating the remaining flight time. It then develops an attack time error sliding mode surface and an adaptive nonlinear designated time guidance law. This model is then applied to a multi-missile system intercepting a single maneuvering target. After setting a desired attack time for each missile in the multi-missile system, the adaptive nonlinear designated time guidance law ensures that the attack time error for each missile converges to zero within a finite time, ensuring that each missile hits the maneuvering target at the desired attack time. This method enables a multi-missile system to intercept a maneuvering target at a designated attack time.

Description

Technical Field

[0001] The present invention relates to the field of missile interception guidance, and in particular to a self-adaptive designated attack time guidance method, device, medium and product for striking maneuvering targets. Background Art

[0002] Increasing the destructive power of weapons inevitably leads to increased costs, sometimes even exponentially. Failure to successfully hit a target is a significant waste. Therefore, when considering multiple missiles for a target strike, controlling the interception time is crucial.

[0003] Many existing works focus on stationary targets or targets with constant speed. Given the current state of research on interceptor hit time control, designing guidance strategies for maneuvering targets is a rather challenging problem. To address the problem of anti-ship missile salvos attacking stationary targets, Jeon et al. added a loop to the traditional optimal guidance loop to adjust the landing time, achieving the desired attack time for stationary targets. Kumar et al. designed an attack time guidance law based on sliding mode control theory in the case of large heading angle errors, so that the remaining flight time estimate converges to the sliding mode surface and slides on the sliding mode surface to achieve the desired attack time. Riley et al. designed an optimal control guidance law for the problem of intercepting non-maneuvering targets at a specific time. The above studies focus on stationary or non-maneuvering targets, and their results are often difficult to apply to the interception of maneuvering targets, otherwise they are likely to miss the target.

[0004] Therefore, it is particularly important to study the designated attack time interception guidance method for maneuvering targets. Summary of the Invention

[0005] The purpose of the present invention is to provide an adaptive designated attack time guidance method, device, medium and product for attacking maneuvering targets, which can enable multiple missile systems to intercept maneuvering targets at the designated attack time.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] An adaptive designated attack time guidance method for attacking a maneuvering target, characterized by comprising:

[0008] Establish a dynamic model for a single missile intercepting a single maneuvering target;

[0009] Based on the dynamic model, determining an estimated expression for the remaining flight time of a single missile intercepting a single maneuvering target;

[0010] Establishing an attack time error sliding mode surface; wherein the attack time error in the attack time error sliding mode surface is related to the estimated remaining flight time of a single missile to intercept a single maneuvering target;

[0011] Based on the remaining flight time estimation expression and the attack time error sliding mode surface, an adaptive nonlinear specified time guidance law for a single missile to intercept a single maneuvering target is constructed;

[0012] Set the expected attack time for each missile in the multiple missile system;

[0013] During the missile interception of a maneuvering target, the estimated remaining flight time of each missile is calculated using the remaining flight time estimation expression;

[0014] Calculating the attack time error of each missile using the attack time error sliding mode surface based on the estimated remaining flight time and the expected attack time of each missile;

[0015] According to the attack time error of each missile, the adaptive nonlinear specified time guidance law is used to control each missile to hit the maneuvering target at the expected attack time.

[0016] Optionally, a dynamic model for a single missile intercepting a single maneuvering target is established, specifically including:

[0017] Assuming that the missile and the maneuvering target are both point masses, their velocities are constant, and the missile's speed is greater than that of the maneuvering target, the dynamic equations of the missile and the maneuvering target in the two-dimensional plane are established as follows:

[0018]

[0019]

[0020]

[0021]

[0022] η M =θ M -q

[0023] η T =θ T -q

[0024] Among them, R is the relative distance between the projectile and the target, is the derivative of R; V T is the speed of the maneuvering target, V M is the speed of the missile; η M and η T are the lead angles of the missile and the maneuvering target respectively; V R is the relative velocity component of the missile in the sight direction and the sight normal direction; q is the sight angle between the missile and the target, is the derivative of q; V qis the relative velocity component of the maneuvering target in the line of sight direction and the line of sight normal direction; θ M is the missile's track angle, is θ M The derivative of a M is the missile overload, the direction is perpendicular to the missile velocity vector; θ T is the target track angle, is θ T The derivative of a T Overload for the maneuvering target, the direction is perpendicular to the maneuvering target velocity vector;

[0025] Assume that the maneuvering target overload and its derivative are unknown but bounded, and there exists a first positive scalar L A and a second positive scalar So that:

[0026] Optionally, the remaining flight time estimation expression is:

[0027]

[0028] Among them, t go is the estimated remaining flight time from the current moment to the moment of interception of the maneuvering target, R is the relative distance between the missile and the target, V R is the relative velocity component of the missile in the line of sight direction and the line of sight normal direction, V M is the missile's speed, η M is the missile's lead angle, V q is the relative velocity component of the maneuvering target in the line of sight direction and the line of sight normal direction, V T is the speed of the maneuvering target, 2 is the difference between the square of the missile's velocity and the square of the maneuvering target's velocity.

[0029] Optionally, Q is used to represent the maneuvering information of the maneuvering target, and Q = sin(η T +η M )a T , then there exists a third positive scalar L Q and the fourth positive scalar Satisfies: |Q|<L Q and

[0030] Among them, η M and η T are the lead angles of the missile and the maneuvering target, respectively, a T is the maneuvering target overload. Optionally, the attack time error sliding mode surface is:

[0031] S t =t+t go -T d ;

[0032] Among them, S t is the attack time error, t is the real time from the missile launch moment to the current moment, t go is the estimated remaining flight time from the current moment to the moment of interception of the maneuvering target, T d It represents the total expected attack time from the moment the missile is launched to the moment of target interception.

[0033] Optionally, based on the remaining flight time estimation expression and the attack time error sliding mode surface, constructing an adaptive nonlinear specified time guidance law for a single missile to intercept a single maneuvering target specifically includes:

[0034] Based on the adaptive theory and finite time theory, combined with the remaining flight time estimation expression and the attack time error sliding mode surface, the initial adaptive nonlinear specified time guidance law is established as: Among them, a M For missile overload, V M is the missile's speed, 2 is the difference between the square of the missile's velocity and the square of the maneuvering target's velocity, R is the relative distance between the missile and the target, and V q is the relative velocity component of the maneuvering target in the line of sight direction and the line of sight normal direction, sec is the secant function, η M is the lead angle of the missile, S t is the attack time error, σ1 and σ2 are two adaptive variables, is the derivative of σ1, is the derivative of σ2; γ, k1, k2, k3, k4 are all parameters to be designed, 0<γ<1, k1, k2, k3, k4 satisfy k1>0, k2>0, k3>0, ζ is a positive constant to be designed, ζ>0; sgn(·) represents the sign function;

[0035] The first equation in the initial adaptive nonlinear prescribed time guidance law can be rearranged as:

[0036]

[0037] Define a continuous and smooth function ψ(V q )for: Wherein, μ is a parameter, μ>1; V qM is a positive constant;

[0038] use Instead of the first equation in the rearranged adaptive nonlinear prescribed time guidance law The hyperbolic tangent function tanh(·) is used to replace the sign function sgn(·) in the first equation of the rearranged adaptive nonlinear specified time guidance law, and the adaptive nonlinear specified time guidance law for a single missile to intercept a single maneuvering target is obtained as follows:

[0039]

[0040] Among them, α is a positive constant to be designed.

[0041] Optionally, if the same expected attack time is set for each missile in the multi-missile system, the multi-missile system can achieve a coordinated attack on the maneuvering target; if equally spaced expected attack times are set for each missile in the multi-missile system, the multi-missile system can achieve a sequential attack on the maneuvering target.

[0042] A computer device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any one of the above-mentioned methods for adaptively designating attack time guidance for striking a maneuvering target.

[0043] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements any of the above-mentioned adaptive designated attack time guidance methods for striking maneuvering targets.

[0044] A computer program product includes a computer program, which, when executed by a processor, implements any of the above-mentioned adaptive designated attack time guidance methods for striking maneuvering targets.

[0045] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0046] The embodiment of the present invention constructs an adaptive nonlinear specified-time guidance law for a single missile to intercept a single maneuvering target based on the remaining flight time estimation expression and the attack time error sliding mode surface. After setting the expected attack time for each missile in a multi-missile system, the attack time error of each missile converges to zero within a finite time under the action of the adaptive nonlinear specified-time guidance law, thereby enabling the multi-missile system to intercept the maneuvering target at the specified attack time. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 A flowchart of an adaptive designated attack time guidance method for striking a maneuvering target provided in Example 1 of the present invention.

[0049] Figure 2 This is a schematic diagram of the guidance model in a two-dimensional plane provided by Example 1 of the present invention.

[0050] Figure 3 A schematic diagram of a simplified flow chart of an adaptive designated attack time guidance method for striking a maneuvering target provided in Example 1 of the present invention.

[0051] Figure 4 Schematic diagram of target maneuver information and adaptive item 1 of missile 1 provided in Example 1 of the present invention.

[0052] Figure 5 Schematic diagram of target maneuver information estimation error and adaptive term 2 of missile 1 provided in Example 1 of the present invention.

[0053] Figure 6 Schematic diagram of the sum of target maneuver information and adaptive terms of missile 1 provided in Example 1 of the present invention.

[0054] Figure 7 Schematic diagram of the engagement trajectory of three missiles intercepting a target provided in Example 1 of the present invention.

[0055] Figure 8 Schematic diagram of the remaining flight time estimation curve of three missiles provided in Example 1 of the present invention.

[0056] Figure 9 Schematic diagram of overload curves of three missiles provided in Example 1 of the present invention.

[0057] Figure 10 This is a diagram of the internal structure of a computer device. DETAILED DESCRIPTION

[0058] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0059] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0060] Example 1

[0061] like Figure 1As shown, an adaptive designated attack time guidance method for attacking a maneuvering target in this embodiment includes the following steps.

[0062] Step 1: Establish a dynamic model of a single missile intercepting a single maneuvering target.

[0063] Consider the scenario where a single missile intercepts a single maneuvering target in a two-dimensional plane. The guidance model is as follows: Figure 2 shown.

[0064] Assume that the missile and the target are point masses, represented by the letters M and T respectively, and their velocities are constant, represented by V M and V T Indicates that V M >V T Otherwise, it is difficult to intercept the target. The dynamic equations of the missile and the target in the two-dimensional plane are as follows:

[0065]

[0066] Among them, R is the relative distance between the projectile and the target, is the derivative of R; V T is the speed of the maneuvering target, V M is the speed of the missile; η M and η T are the lead angles of the missile and the maneuvering target respectively; V R is the relative velocity component of the missile in the sight direction and the sight normal direction; q is the sight angle between the missile and the target, is the derivative of q; V q is the relative velocity component of the maneuvering target in the line of sight direction and the line of sight normal direction; θ M is the missile's track angle, is θ M The derivative of a M is the missile overload, the direction is perpendicular to the missile velocity vector; θ T is the target track angle, is θ T The derivative of a T It is the overload of the maneuvering target, and its direction is perpendicular to the velocity vector of the maneuvering target.

[0067] Assumptions: The target overload and its derivative are unknown but bounded, and there exists a positive scalar L A and So that: L A is the first positive scalar, is the second positive scalar.

[0068] Step 2: Based on the dynamic model, determine the remaining flight time estimation expression for a single missile to intercept a single maneuvering target.

[0069] Estimating the remaining flight time of a missile is necessary to achieve the specified time to intercept the target. For stationary targets, the guidance law design often takes the following form:

[0070]

[0071] Wherein, N is the navigation ratio.

[0072] This form is derived under the conditions of a small lead angle and a stationary target. Therefore, when the missile intercepts a stationary target with a small lead angle, the remaining flight time estimation error is small. However, for non-stationary targets, using formula (2) will result in a large estimation error, which in turn causes unnecessary energy waste. Therefore, in order to achieve a specified time interception of a maneuvering target, the present invention uses the following form to estimate the remaining flight time of the missile:

[0073]

[0074] Among them, t go is the estimated remaining flight time from the current moment to the moment of interception of the maneuvering target, 2 is the difference between the square of the missile's velocity and the square of the maneuvering target's velocity.

[0075] This remaining flight time expression is derived for a missile intercepting a non-maneuvering target at a fixed lead angle. When the missile intercepts a uniformly moving target at a fixed lead angle, this expression can accurately determine the remaining flight time. For maneuvering targets, the remaining flight time estimation error resulting from this expression is relatively small.

[0076] Let Q = sin(η T +η M )a T , obviously Q contains a related to the target maneuver T and η T Therefore, Q is used to represent the target maneuver information. In actual combat, this term is difficult to obtain accurately. Considering that the target overload and its derivative are bounded, and |sin(η T +η M )|≤1, then there also exists a positive scalar L Q and Satisfy |Q|<L Q and L Q is the third positive scalar, is the fourth positive scalar.

[0077] Step 3: Establish an attack time error sliding mode surface; the attack time error in the attack time error sliding mode surface is related to the estimated remaining flight time of a single missile intercepting a single maneuvering target.

[0078] In order to intercept the maneuvering target at the specified attack time, the attack time error sliding mode surface S is defined: t :

[0079] S t =t+t go -T d (4)

[0080] Among them, t is the real time from the missile launch moment to the current moment, t go It represents the estimated remaining flight time from the current moment to the moment of interception of the maneuvering target, T d represents the total expected attack time from the moment the missile is launched to the moment the target is intercepted. The design goal of the adaptive nonlinear guidance law is to make the attack time error converge to 0 within a finite time, and then always maintain it on the attack time error sliding mode surface S t =0, so that the target can be intercepted at the specified attack time.

[0081] Step 4: Based on the remaining flight time estimation expression and the attack time error sliding mode surface, an adaptive nonlinear specified time guidance law for a single missile to intercept a single maneuvering target is constructed.

[0082] Based on the adaptive theory and finite time theory, combined with the expression of the remaining flight time in formula (3), the adaptive nonlinear specified time guidance law is given as follows:

[0083]

[0084] Among them, σ1 and σ2 are two adaptive variables, sgn(·) represents the sign function, γ, k1, k2, k3, k4 are all parameters to be designed, 0<γ<1, parameters k1, k2, k3, k4 satisfy k1, k2, k3>0, ζ>0, is a positive constant to be designed. sec is the secant function. Equation (5) is the initial adaptive nonlinear specified time guidance law, which is established based on adaptive theory and finite time theory, combined with the remaining flight time estimation expression and the attack time error sliding mode surface.

[0085] Under the action of the initial adaptive nonlinear specified time guidance law (5), the attack time error S t It converges to 0 in a finite time, thus achieving the interception of maneuvering targets at the specified attack time.

[0086] Improve the proposed guidance law and solve the singularity problem:

[0087] Rearranging the first equation in the guidance law (5), we can obtain

[0088]

[0089] Note that in the guidance law, V q Located on the denominator, when V q →0, the guidance instructions may appear strange. To solve this problem, use to replace Improve the guidance law, ψ(V q ) is a continuous and smooth function with the following form:

[0090]

[0091] Among them, the parameter μ>1, V qM is a small positive constant. According to L'Hôpital's rule, we have:

[0092]

[0093] Therefore, the introduction of ψ(V q ) solves the singularity problem of the guidance command. Furthermore, in practical applications, to prevent frequent chattering of overloaded commands due to the existence of the sign function, the guidance command needs to be improved. The hyperbolic tangent function tanh(αx) is used to replace the sign function sgn(x), where α is a positive constant to be designed.

[0094] In summary, the adaptive nonlinear specified time guidance law for intercepting maneuvering targets is:

[0095]

[0096] Therefore, the design of the adaptive nonlinear specified time guidance law to achieve a single missile interception of a single maneuvering target at a specified time can be described as follows:

[0097] First, before launching, the missile is assigned an attack time T d , set the initial values ​​of adaptive variables σ1 and σ2, as well as all constant parameters, including the current time t=0, γ, α, ζ, V qM , μ, k1, k2, k3, L Q and And according to Calculate k4.

[0098] Secondly, in the process of missile interception target, obtain missile status information (η M ,V M ), target speed V T , the rate of change of sight angle The relative distance R between projectile and target and its derivative Calculate the estimated remaining flight time t for each missile based on the remaining flight time expression (3) in step 2 go .

[0099] Then, t is estimated based on the remaining flight time go As well as the current time t and the expected attack time T d , use formula (4) in step 3 to calculate the attack time error S t .

[0100] Finally, the attack time error S t And the adaptive variables σ1 and σ2 are substituted into the adaptive nonlinear specified time guidance law (7) in step 5, and the overload instruction of the missile and the adaptive variable update law are output. and And update the missile status.

[0101] Since the adaptive nonlinear specified time guidance law (7) can realize the interception of maneuvering targets by a single missile at a specified attack time, for a multi-missile system attacking a maneuvering target, within the range of each missile, the same and appropriate attack time or equally spaced attack time is specified for each missile, which can realize a coordinated attack or sequential attack on the maneuvering target. That is, the same attack time T is set for each missile in the multi-missile system. d Based on the designed guidance law, coordinated attacks on maneuvering targets can be achieved; different attack times T are set for each missile in the multi-missile system. d +ΔT (ΔT represents the time interval), based on the designed guidance law, sequential attacks on maneuvering targets can be achieved.

[0102] Set the same or different designated attack times and generalize the guidance law to multiple missile systems. The process is as follows: Steps 5 to 8.

[0103] Step 5: Set the expected attack time for each missile in the multi-missile system.

[0104] Step 6: During the missile interception of the maneuvering target, the estimated remaining flight time of each missile is calculated using the remaining flight time estimation expression.

[0105] Step 7: Calculate the attack time error of each missile based on the estimated remaining flight time and expected attack time of each missile using the attack time error sliding mode surface.

[0106] Step 8: Based on the attack time error of each missile, the adaptive nonlinear specified time guidance law is used to control each missile to hit the maneuvering target at the expected attack time.

[0107] Figure 3 Schematic diagram of a brief process of the present invention. Figure 3 , the brief process of the method of the present invention is as follows:

[0108] Step 101: Establish a dynamic model for a single missile intercepting a single maneuvering target.

[0109] Step 102: Provide an estimation expression for the remaining flight time for intercepting a moving target.

[0110] Step 103: Design an attack time error sliding mode surface.

[0111] Step 104: Based on the adaptive theory and the finite time theory, an adaptive nonlinear specified attack time guidance law is designed.

[0112] Step 105: Improve the proposed guidance law to resolve singularity issues.

[0113] Step 106: Set the same or different designated attack times and apply them to multiple missile systems.

[0114] Step 107: Implement the guidance process of the multi-missile system through the adaptive designated attack time guidance law.

[0115] The following example uses a specific three-missile attack on a maneuvering target to demonstrate the effectiveness of the adaptive designated attack time guidance law used in the present invention to guide a multi-missile system. The specific implementation steps of this example are as follows:

[0116] (1) Missile simulation system settings

[0117] Consider the scenario where three missiles intercept a constant maneuvering target. The target is located at the origin (0, 0), with an initial track angle of 120° and an overload of 2g (g = 9.8 m / s 2 The maximum overload of the missile is set to 6g. The speeds of the missile and target are set to 500m / s and 400m / s respectively. The state parameters are shown in Table 1.

[0118] Table 1 Missile system initial state parameters

[0119] parameter Missile 1 Missile 2 Missile 3 Initial projectile-target distance (m) 9700 9600 9800 Initial sight angle (°) 30 35 40 Missile initial track angle (°) 10 20 30

[0120] (2) Parameter settings:

[0121] The expected attack time is set as T d =80s, the simulation parameters are set as follows: k1=4, k2=300, k3=0.2, γ=0.01, α=5, ζ=10, V qM =10, μ=1.5, L Q =18.5,

[0122] (3) Result analysis:

[0123] The simulation results are as follows Figures 4 to 9 shown.

[0124] Figure 4 The target maneuvering information Q and the first adaptive term (k2σ1) in the proposed guidance law are shown. It can be seen that the first adaptive term of the proposed guidance law converges to the target maneuvering information Q. The estimated error between the target maneuvering information Q and the first adaptive term (Q-k2σ1) and the second adaptive term (k3σ2) in the proposed guidance law are shown in Figure 2. Figure 5 As shown, it is clear that the second adaptive term converges to the estimated error. Figure 6 It can be seen that the sum of the two adaptive terms converges to the target maneuver information Q with high accuracy within 15 seconds.

[0125] The engagement trajectory of three missiles intercepting a constant maneuvering target is as follows Figure 7 As shown, in Figure 8 In the figure, the remaining flight time estimation curve is plotted over time. It can be seen that the remaining flight time estimation of the three missiles quickly converges to the true remaining flight time. d =80s, the remaining flight time converges to 0. Figure 9 For the overload curve of 3 missiles. Combined Figure 7 and Figure 8 It can be shown that the three missiles hit the target simultaneously at the expected attack time, which verifies the effectiveness of the proposed guidance law for intercepting maneuvering targets at a specified time.

[0126] This paper establishes a guidance model for a single missile intercepting a single maneuvering target in a two-dimensional plane, and provides an expression for estimating the remaining flight time for the maneuvering target. It also establishes an attack time error sliding mode surface and designs an adaptive nonlinear guidance law for a specified attack time based on adaptive and finite time theory. This guidance law, applied to a multi-missile system, enables multiple missiles to strike a maneuvering target simultaneously or sequentially at a specified time, solving the problem of missiles intercepting a maneuvering target at a specified attack time.

[0127] Example 2

[0128] A computer device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the computer program to implement the adaptive designated attack time guidance method for striking a maneuvering target in Example 1.

[0129] Example 3

[0130] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the adaptive designated attack time guidance method for striking a maneuvering target in embodiment 1.

[0131] Example 4

[0132] A computer program product includes a computer program, which, when executed by a processor, implements the adaptive designated attack time guidance method for attacking a maneuvering target in embodiment 1.

[0133] Example 5

[0134] A computer device, the internal structure of which can be shown as Figure 10 As shown. The computer device includes a processor, a memory, an input / output interface (I / O) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store pending transactions. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, the adaptive designated attack time guidance method for striking a maneuvering target in Example 1 is implemented.

[0135] It should be noted that the object information (including but not limited to object device information, object personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the present invention are all information and data authorized by the object or fully authorized by all parties.

[0136] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided by the present invention can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided by the present invention may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided by the present invention may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), data processing logic devices based on quantum computing, and the like.

[0137] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0138] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. An adaptive designated attack time guidance method for attacking a maneuvering target, characterized in that: include: Establish a dynamic model for a single missile intercepting a single maneuvering target; Based on the dynamic model, determining an estimated expression for the remaining flight time of a single missile intercepting a single maneuvering target; Establishing an attack time error sliding mode surface; wherein the attack time error in the attack time error sliding mode surface is related to the estimated remaining flight time of a single missile to intercept a single maneuvering target; Based on the remaining flight time estimation expression and the attack time error sliding mode surface, an adaptive nonlinear specified time guidance law for a single missile to intercept a single maneuvering target is constructed; Set the expected attack time for each missile in the multiple missile system; During the missile interception of a maneuvering target, the estimated remaining flight time of each missile is calculated using the remaining flight time estimation expression; Calculating the attack time error of each missile using the attack time error sliding mode surface based on the estimated remaining flight time and the expected attack time of each missile; According to the attack time error of each missile, the adaptive nonlinear specified time guidance law is used to control each missile to hit the maneuvering target at the expected attack time; The remaining flight time estimation expression is: Among them, t go is the estimated remaining flight time from the current moment to the moment of interception of the maneuvering target, R is the relative distance between the missile and the target, V R is the relative velocity component of the missile in the line of sight direction and the line of sight normal direction, V M is the missile's speed, η M is the missile's lead angle, V q is the relative velocity component of the maneuvering target in the line of sight direction and the line of sight normal direction, V T is the speed of the maneuvering target, 2 is the difference between the square of the missile's velocity and the square of the maneuvering target's velocity; Q is used to represent the maneuvering information of the maneuvering target, and Q = sin(η T +η M )a T , then there exists a third positive scalar L Q and the fourth positive scalar Satisfies: |Q|<L Q and Among them, η M and η T are the lead angles of the missile and the maneuvering target, respectively, a T Overload for maneuvering targets; The attack time error sliding mode surface is: S t =t+t go -T d ; Among them, S t is the attack time error, t is the real time from the missile launch moment to the current moment, t go is the estimated remaining flight time from the current moment to the moment of interception of the maneuvering target, T d represents the total expected attack time from the moment of missile launch to the moment of target interception; Based on the remaining flight time estimation expression and the attack time error sliding mode surface, an adaptive nonlinear specified time guidance law for a single missile to intercept a single maneuvering target is constructed, specifically including: Based on the adaptive theory and finite time theory, combined with the remaining flight time estimation expression and the attack time error sliding mode surface, the initial adaptive nonlinear specified time guidance law is established as: Among them, a M For missile overload, V M is the missile's speed, 2 is the difference between the square of the missile's velocity and the square of the maneuvering target's velocity, R is the relative distance between the missile and the target, and V q is the relative velocity component of the maneuvering target in the line of sight direction and the line of sight normal direction, sec is the secant function, η M is the lead angle of the missile, S t is the attack time error, σ1 and σ2 are two adaptive variables, is the derivative of σ1, is the derivative of σ2; γ, k1, k2, k3, k4 are all parameters to be designed, 0<γ<1, k1, k2, k3, k4 satisfy k1>0, k2>0, k3>0, ζ is a positive constant to be designed, ζ>0; sgn(·) represents the sign function; The first equation in the initial adaptive nonlinear prescribed time guidance law can be rearranged as: Define a continuous and smooth function ψ(V q )for: Wherein, μ is a parameter, μ>1; V qM is a positive constant; use Instead of the first equation in the rearranged adaptive nonlinear prescribed time guidance law The hyperbolic tangent function tanh(·) is used to replace the sign function sgn(·) in the first equation of the rearranged adaptive nonlinear specified time guidance law, and the adaptive nonlinear specified time guidance law for a single missile to intercept a single maneuvering target is obtained as follows: Among them, α is a positive constant to be designed.

2. The adaptive designated attack time guidance method for striking a maneuvering target according to claim 1, characterized in that: Establish a dynamic model for a single missile intercepting a single maneuvering target, including: Assuming that the missile and the maneuvering target are both point masses, their velocities are constant, and the missile's speed is greater than that of the maneuvering target, the dynamic equations of the missile and the maneuvering target in the two-dimensional plane are established as follows: or M =θ M -q or T =θ T -q Among them, R is the relative distance between the projectile and the target, is the derivative of R; V T is the speed of the maneuvering target, V M is the speed of the missile; η M and η T are the lead angles of the missile and the maneuvering target respectively; V R is the relative velocity component of the missile in the sight direction and the sight normal direction; q is the sight angle between the missile and the target, is the derivative of q; V q is the relative velocity component of the maneuvering target in the line of sight direction and the line of sight normal direction; θ M is the missile's track angle, is θ M The derivative of a M is the missile overload, the direction is perpendicular to the missile velocity vector; θ T is the target track angle, is θ T The derivative of a T Overload for the maneuvering target, the direction is perpendicular to the maneuvering target velocity vector; Assume that the maneuvering target overload and its derivative are unknown but bounded, and there exists a first positive scalar L A and a second positive scalar So that:

3. The adaptive designated attack time guidance method for striking a maneuvering target according to claim 1, characterized in that: If the same expected attack time is set for each missile in the multi-missile system, the multi-missile system can achieve a coordinated attack on the maneuvering target; If an equally spaced expected attack time is set for each missile in a multi-missile system, the multi-missile system can achieve sequential attacks on maneuvering targets.

4. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the adaptive designated attack time guidance method for striking a maneuvering target according to any one of claims 1 to 3.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the adaptive designated attack time guidance method for striking a maneuvering target according to any one of claims 1 to 3 is implemented.

6. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the adaptive designated attack time guidance method for striking a maneuvering target according to any one of claims 1 to 3 is implemented.

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