A Cooperative Guidance Method for a Cluster of Multiple Aircraft and Its Application
Through the collaborative guidance method of Bezier curve and adaptive proportional guidance law, the problem of strike distance and energy loss of cluster aircraft when facing maneuvering targets is solved, effective strikes in a rapidly changing environment are achieved, and cluster combat effectiveness is improved.
Patent Information
- Application Number
- CN202410755522.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-12
- Publication Date
- 2025-07-29
- Estimated Expiration
- 2044-06-12
AI Technical Summary
The prior art is difficult to effectively coordinate the tracking and attack of clustered multi-aircraft when facing maneuverable and flexible targets, resulting in reduced strike distance and large energy losses. The traditional collaborative guidance method is prone to missed timing in a rapidly changing battlefield environment.
The Bezier curve designs coordinated medium guidance law and adaptive proportional final guidance law. By analyzing the advantageous positions of the final guidance, designing a coordinated guidance method, and combining simulation verification, we ensure that the aircraft maintains the position advantage in the early stage of the final guidance and restores normal proportional guidance at the end to achieve ballistic convergence.
It improves the combat effectiveness of clustered multi-aircraft, enhances the strike capability on maneuverable targets, reduces speed loss and energy consumption, and ensures effective strikes in a rapidly changing environment.
Smart Images
Figure CN118605561B_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the field of aerospace, and particularly relates to a cooperative guidance technology for improving the combat effectiveness of cluster multi-aircraft operations. Background Art
[0002] With the development of modern warfare, multi-aircraft cluster operations have attracted extensive attention due to their significant advantages in information sharing, mission allocation, target strike, etc. Cooperative operations of cluster multi-aircraft require the coordination of various parameters and precise guidance capabilities to ensure the effective execution of missions and overall combat efficiency.
[0003] In the target interception mission of cluster aircraft, how to effectively coordinate multiple aircraft to track and attack a single target is an important technical direction.
[0004] Traditional aircraft guidance methods usually only involve the tracking and attack of a single aircraft on a target. However, in the actual combat environment of cluster aircraft, a single aircraft often has limitations when facing a flexible target. Especially when the target detects the tracking aircraft, it will take evasive maneuvers. The aircraft will follow the target's maneuvers according to the proportional navigation law. During this process: the relative speed between the aircraft and the target will decrease as the intercept position is disrupted, and it will take longer to reach the target, with greater energy loss; in addition, the aircraft will incur greater drag due to following the target's maneuvers, resulting in a large amount of energy loss, and the reduction in speed will further increase the flight time. Under the influence of these factors, the effective strike range of the aircraft will be significantly reduced.
[0005] Existing cooperative guidance methods such as the optimal method and the sliding mode guidance method have the characteristics of insufficient practical constraints and difficult parameter adjustment respectively, and are difficult to be used in practice. At the same time, in response to this problem, the industry often focuses on synchronizing attack or tracking actions through complex coordination mechanisms, which may lead to missed opportunities in a rapidly changing battlefield environment. Summary of the Invention
[0006] In order to address the above problems, the present invention proposes a cooperative guidance method for cluster multi-aircraft, and its technical solution is as follows:
[0007] Step 1: Analyze the terminal guidance advantageous position and obtain the speed angle and position angle when the position is advantageous;
[0008] Step 2: Design a cooperative mid-course guidance law based on the Bessel curve;
[0009] Step 3: Design a cooperative terminal guidance law;
[0010] Step 4: Set up a simulation experiment and verify the results.
[0011] The present invention also discloses a non-volatile storage medium, characterized in that the non-volatile storage medium includes a stored program, wherein when the program runs, it controls the device where the non-volatile storage medium is located to execute the above-mentioned method.
[0012] The present invention also discloses an electronic device, characterized in that it includes a processor and a memory; computer-readable instructions are stored in the memory, and the processor is used to run the computer-readable instructions, wherein when the computer-readable instructions run, they execute the above-mentioned method. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 is a flowchart of the cooperative guidance method;
[0014] Figure 2 is a schematic diagram of the three-dimensional actual flight trajectories of two encircling aircraft and a target;
[0015] Figure 3 is a schematic diagram of the two-dimensional actual flight trajectories of two encircling aircraft and a target;
[0016] Figure 4 is a schematic diagram of the expected / actual ballistic deflection angles of two encircling aircraft;
[0017] Figure 5 is a schematic diagram of the expected / actual ballistic inclination angles of two encircling aircraft;
[0018] Figure 6 is a schematic diagram of the actual angle of attack and sideslip angle of two encircling aircraft;
[0019] Figure 7 is a schematic diagram of the expected / actual overload of two encircling aircraft. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0020] In order to enable those skilled in the art to better understand the solution of the present invention, the following will combine the accompanying drawings in the embodiments of the present invention Figures 1-7 to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.
[0021] The present invention proposes a cooperative guidance method for a cluster of multiple aircraft. The following will combine the accompanying drawings Figure 1 A flowchart of the cooperative guidance method to introduce a specific implementation manner of the present invention.
[0022] Step 1: Analyze the terminal guidance advantageous positions and obtain the velocity angle and position angle when the positions are advantageous.
[0023] Analyze the advantageous formation positions of two encircling aircraft for collaborative encirclement of a target. Assume that the flight altitude layer of the aircraft is 500 - 6000 m, the initial encirclement formation is in an intercept posture, and the target maneuvering mode is to immediately perform a stable turn maneuver with a lateral acceleration of 2G in the horizontal plane after receiving the terminal guidance radar signal of the aircraft until the signal disappears or the distance from the aircraft increases. Design the two encircling aircraft to be in a left - right flanking posture. The target will surely maneuver in one direction. Therefore, a live - fire simulation analysis is carried out on the influence of the position entry angle and velocity entry angle of the encircling aircraft when entering terminal guidance on the terminal strike effect.
[0024] Step 2: Design a collaborative mid - guidance law based on Bessel curves.
[0025] The second - order Bessel curve can be obtained recursively from the first - order Bessel curve. The second - order Bessel curve is determined by three coordinate points in space, that is . It also has a parameter , and there is a point on the line segment , on the line segment , such that , thus determining the line segment . There is an F on , such that . The trajectory at this time is a second - order Bessel curve.
[0026] Then the curve equation is:
[0027] (1)
[0028] The curvature of the curve (without taking the absolute value for facilitating the characterization of the overload direction) is:
[0029] (2)
[0030] Among them, is the component of the curve equation (1) in the axis direction.
[0031] The radius of curvature is
[0032] (3)
[0033] Then the commanded overload is
[0034] (4)
[0035] Among them, is the current speed of the aircraft.
[0036] By designing the Bessel curves of the two interception aircraft, the aircraft can fly in coordination according to the mid-course guidance law with position, velocity, and angle constraints based on the Bessel curves.
[0037] Step 3: Design the cooperative terminal guidance law
[0038] Considering that at the end of the mid-course guidance, the aircraft has occupied a favorable formation position and entered the terminal guidance. Direct conventional proportional navigation will cause the missile to follow the target's maneuvers, destroying the favorable formation position. Moreover, since the aircraft is not pointed at the target and the target velocity term is not introduced in the mid-course guidance, directly switching to proportional navigation affected by the target state will bring a large overload, causing the velocity to drop rapidly.
[0039] In the initial stage of the terminal guidance, due to the existence of the formation advantage, the aircraft only needs to maintain the formation posture and does not need to make large maneuvers. While at the end of the terminal guidance, the aircraft needs to match the target's maneuvers and accurately guide to the target. Therefore, the following adaptive proportional terminal guidance law is designed:
[0040] (5)
[0041] Where, is the longitudinal overload command of the adaptive proportional terminal guidance law, is the guidance coefficient, is the missile-target distance, is the starting distance of the terminal guidance, is the change rate of the missile-target distance, is y the change rate of the line-of-sight angle towards.
[0042] The purpose of this guidance law is to suppress the missile's maneuvers with a very small proportional guidance coefficient in the initial stage of the terminal guidance to maintain the formation advantage, and the guidance coefficient is 0 during handover, so there is no overload mutation. In the middle and late stages of the terminal guidance, the normal proportional guidance coefficient is restored to ensure the convergence of the trajectory.
[0043] To sum up and combined with Figure 1 The implementation scheme of the guidance method proposed by the present invention can be summarized as follows: First, conduct a live-fire test on the terminal guidance favorable formation position according to the aircraft simulation model to obtain the starting position and attitude of the terminal guidance suitable for cooperative strike, and use them as the terminal conditions constraints of the cooperative mid-course guidance. Reasonably design multiple second-order Bessel curves, and then the overload command can be derived under the consideration of constraints, thus completing the cooperative mid-course guidance; when reaching the terminal guidance, use the adaptive proportional guidance law as the terminal guidance method to guide multiple aircraft to complete the interception of the target while maintaining the formation.
[0044] Step 4: Based on the above steps, give the simulation verification of the cooperative guidance of two interception aircraft:
[0045] Target shooting analysis is carried out for the terminal guidance advantageous positions. Tables 1 and 2 show the statistical relationships between the position angles and miss distances under different terminal guidance turn-on speeds and turn-on distances. The horizontal axis is the speed angle, and the vertical axis is the position angle. The corresponding content is the miss distance value (in meters) of the target under the position entry angle (vertical axis) and speed entry angle (horizontal axis) when the aircraft enters the terminal guidance. The hit threshold is set to 10 meters. The terminal guidance turn-on speeds and turn-on distances of each working condition in the table are the same.
[0046] Table 1 Summary of Simulation Results of Position Angle and Miss Distance when Terminal Guidance Turn-on Speed is 1.5Ma and Turn-on Distance is 10km
[0047]
[0048] Table 2 Summary of Simulation Results of Position Angle and Miss Distance when Terminal Guidance Turn-on Speed is 1.2Ma and Turn-on Distance is 10km
[0049]
[0050] After exploring the positions under different conditions, considering that it is difficult to achieve the mid-course guidance with relatively large speed angles and position angles, which is likely to cause a large speed loss and offset the position advantage. Considering comprehensively, when the position angle is between 20 - 30° and the speed angle is less than the position angle by 0 - 10°, there is a better position advantage.
[0051] Therefore, the speed angle of 30° and the position angle of 25° are selected as the constraint angles for the flanking positions, and these are used as the initial conditions for the design of the cooperative guidance law for multiple aircraft.
[0052] The given simulation working condition is that the terminal guidance turn-on altitude is 3000, and the initial relative distance is 38km. The results obtained through simulation are as Figures 2-7 shown, Figure 2 It is a three-dimensional actual flight trajectory diagram of two intercepting aircraft and the target; Figure 3 It is a two-dimensional actual flight trajectory diagram of two intercepting aircraft and the target; Figure 4 It is a diagram of the expected / actual ballistic deflection angle of two intercepting aircraft; Figure 5 It is a diagram of the expected / actual ballistic inclination angle of two intercepting aircraft; Figure 6 It is a diagram of the actual angle of attack and sideslip angle of two intercepting aircraft; Figure 7It is a schematic diagram of the expected / actual overload of two pursuit aircraft. It can be seen from the simulation results that for the cooperative guidance scheme that coordinates position, velocity angle, and time, affected by the performance of the aircraft and the relative velocity, when the turn-on distance of the terminal guidance is relatively far, there is no obvious improvement compared with conventional strikes. When approaching the turn-on distance of the terminal guidance, the effect of conventional head-on interception is partially improved, and introducing formation position and time constraints at this time will bring a significant improvement on this basis, and its interception efficiency is not affected by the target maneuvering form. The two missiles can effectively limit all maneuvering forms of the target in the horizontal plane, verifying the effectiveness of the cooperative terminal guidance law described above.
[0053] The present invention proposes a cooperative guidance method for a cluster of multiple aircraft, and proposes a new mid-course guidance law and an adaptive terminal guidance law based on Bessel curves. In the mid-course guidance, the cooperative guidance in the mid-section is completed by designing cooperative Bessel curves. After entering the terminal guidance process, the aircraft maneuvering in the initial stage of the terminal guidance is suppressed through an adaptive proportional navigation coefficient to maintain the formation position advantage and reduce the speed loss. Finally, normal proportional navigation is restored at the end of the terminal guidance to ensure the convergence of the trajectory.
[0054] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection required by the present invention is defined by the appended claims and their equivalents.
Claims
1. A cooperative guidance method for a cluster of multiple aircraft, characterized in that It includes the following steps: Step 1: Analyze the terminal guidance advantageous positions, obtain the velocity angle and position angle at the advantageous positions as the constraint angles for the sandwiching positions, and use these as the initial conditions for the design of the cooperative guidance law for multiple aircraft; Step 2: Design a cooperative mid-course guidance law based on the Bezier curve; the cooperative mid-course guidance law is as follows: , where is the vehicle speed, is the gravitational acceleration, is the radius of curvature, and the expression is , is the curvature of the Bezier curve, and the expression is , and the curve components , , come from the three directions of the second-order Bezier curve equation (1): , that is , , ; are the three points for determining the second-order Bezier curve, is the component of the curve equation (1) in the axis direction, ; Step 3: In the initial stage of terminal guidance, due to the existence of the formation position advantage, the aircraft only needs to maintain the formation position posture and does not need to make large maneuvers. However, at the end of terminal guidance, the aircraft needs to match the maneuver of the target and accurately guide to the target. Therefore, the adaptive proportional terminal guidance law is designed as follows: , where is the longitudinal overload command of the adaptive proportional terminal guidance law, is the guidance coefficient, is the missile-target distance, is the starting distance of terminal guidance power-on, is the change rate of the missile-target distance, is the change rate of the line-of-sight angle in the y direction; Step 4: Set up a simulation experiment and verify the results.
2. The collaborative guidance method for a cluster of multiple aircraft according to claim 1, wherein The said Step 1 includes the following contents: Analyze the advantageous position situations of two chasing aircraft for cooperatively chasing a target, set the flight altitude layers of the aircraft, the initial chasing position is in a head-on attacking posture, the target maneuvering mode is to immediately perform a steady turn maneuver with a horizontal plane maneuvering overload of 2G after receiving the terminal guidance radar signal of the aircraft until the signal disappears or the distance from the aircraft increases; Design the two chasing aircraft to be in a left-right sandwiching posture, and the target will surely maneuver in one direction. Conduct a live-fire simulation analysis on the influence of the position entry angle and velocity entry angle of the chasing aircraft when entering terminal guidance on the terminal strike effect.
3. A non-volatile storage medium, characterized in that, The non-volatile storage medium includes a stored program, wherein, when the program runs, it controls the device where the non-volatile storage medium is located to execute the method described in any one of claims 1 to 2.
4. An electronic device, characterized in that, It includes a processor and a memory; computer-readable instructions are stored in the memory, and the processor is used to run the computer-readable instructions, wherein, when the computer-readable instructions run, they execute the method described in any one of claims 1 to 2.