Distributed cooperative guidance method and system for striking maneuvering target and electronic equipment

Abstract

The invention discloses a distributed cooperative guidance method and system for striking a maneuvering target and electronic equipment, and relates to the technical field of target guidance, and the method comprises the steps: obtaining the speed and normal overload of the maneuvering target and a current missile, and a missile-target sight angle between the current missile and the maneuvering target; based on the speed and the normal overload of the current missile and the maneuvering target, and the missile-target sight angle, determining the estimation of the residual flight time; calculating an estimation consistency error based on the estimation of the remaining flight time of the current missile and the estimation of the remaining flight time of all non-current missiles; and determining parameters of a fixed time jammer and a distributed time cooperative guidance law based on the speed, the normal overload and the estimation consistency error of the current missile, the missile-target sight angle, and the speed and the normal overload of the maneuvering target, obtaining a target fixed time jammer and a target distributed time cooperative guidance law, and guiding the current missile. According to the invention, the ambulance attack on the maneuvering target is realized.

Description

Technical Field

[0001] The present invention relates to the field of target guidance technology, and in particular to a distributed collaborative guidance method, system and electronic equipment for attacking mobile targets. Background Art

[0002] With the continuous development of weapons and equipment and the improvement of defense systems, the traditional single-missile combat mode has been greatly challenged. It is difficult to independently complete the effective interception or attack of the target. Therefore, the multi-missile coordinated attack strategy has received widespread attention. The use of multi-missile coordinated attack strategy can achieve saturation attack on high-value targets; for the scenario of intercepting enemy manned / unmanned aerial vehicles, it can weaken the enemy's penetration and escape efficiency, thereby improving our interception efficiency.

[0003] Commonly used time-coordinated guidance strategies are divided into preset hit time guidance strategy and remaining flight time estimation cooperative guidance strategy. The former sets the same attack time for missiles before firing. During the flight of the missiles, each missile adjusts its own flight trajectory so that all missiles hit the target at the same time at the specified time. For the scenario of intercepting maneuvering targets, since the target maneuvers are unknown, the attack time required for the missile to hit the target cannot be accurately calculated before firing, so it is difficult to specify a more reasonable attack time for all missiles. The latter does not require the attack time to be specified before firing. Each missile estimates the remaining flight time in real time, interacts based on the communication topology, and achieves consistency of the remaining flight time. However, this method is mostly used in the strike mission of stationary targets. For strikes against maneuvering targets, it is difficult to estimate the remaining flight time.

[0004] Therefore, the research on distributed collaborative guidance methods for attacking mobile targets is particularly important. Summary of the invention

[0005] The purpose of the present invention is to provide a distributed collaborative guidance method, system and electronic equipment for attacking mobile targets, thereby realizing a salvo attack on mobile targets.

[0006] To achieve the above object, the present invention provides the following solution.

[0007] A distributed collaborative guidance method for attacking a maneuvering target includes: obtaining the speed and normal overload of the maneuvering target.

[0008] Any missile used to strike the mobile target is determined as a current missile, and all missiles used to strike the mobile target except the current missile are determined as non-current missiles.

[0009] The speed and normal overload of the current missile and the missile-target sight angle between the current missile and the maneuvering target are obtained.

[0010] An estimate of the remaining flight time of the current missile is determined based on the velocity and normal overload of the current missile, the velocity and normal overload of the maneuvering target, and a missile-target line-of-sight angle between the current missile and the maneuvering target.

[0011] Based on the estimate of the remaining flight time of the current missile and the estimate of the remaining flight time of all the non-current missiles, the estimated consistency error of the current missile is calculated; wherein the estimate of the remaining flight time of the non-current missile is determined by using the speed and normal overload of the non-current missile, the speed and normal overload of the maneuvering target, and the missile-target line-of-sight angle between the non-current missile and the maneuvering target.

[0012] Based on the speed, normal overload and estimated consistency error of the current missile, the missile-target line-of-sight angle between the current missile and the maneuvering target, and the speed and normal overload of the maneuvering target, the parameters of the fixed-time jammer and the parameters of the distributed-time cooperative guidance law of the current missile are determined to obtain the target fixed-time jammer and the target distributed-time cooperative guidance law.

[0013] The target fixed time jammer and the target distributed time cooperative guidance law of each missile used to attack the mobile target are used to guide the corresponding missile.

[0014] Optionally, based on the speed and normal overload of the current missile, the speed and normal overload of the maneuvering target, and the missile-target line of sight angle between the current missile and the maneuvering target, an estimate of the remaining flight time of the current missile is determined, specifically including: calculating the missile-target relative distance, a first relative velocity component, and a second relative velocity component between the current missile and the maneuvering target according to the speed and normal overload of the current missile, the speed and normal overload of the maneuvering target, and the missile-target line of sight angle between the current missile and the maneuvering target; the first relative velocity component is the component of the relative velocity between the current missile and the maneuvering target along the missile-target line of sight, and the second relative velocity component is the component of the relative velocity between the current missile and the maneuvering target in the direction perpendicular to the missile-target line of sight.

[0015] An estimate of the remaining flight time of the current missile is calculated based on the speed and normal overload of the current missile, the speed of the maneuvering target, and the relative distance between the current missile and the maneuvering target, the first relative velocity component, and the second relative velocity component.

[0016] Optionally, based on the speed and normal overload of the current missile, the speed and normal overload of the maneuvering target, and the missile-target line of sight angle between the current missile and the maneuvering target, the missile-target relative distance, the first relative velocity component, and the second relative velocity component between the current missile and the maneuvering target are calculated, including: calculating the ballistic inclination angle of the current missile based on the speed and normal overload of the current missile.

[0017] The forward inclination angle of the current missile is calculated according to the ballistic inclination angle of the current missile and the missile-target sight angle between the current missile and the maneuvering target.

[0018] The ballistic inclination angle of the maneuvering target is calculated according to the speed and normal overload of the maneuvering target.

[0019] The forward inclination angle of the maneuvering target is calculated according to the ballistic inclination angle of the maneuvering target and the missile-target sight angle between the current missile and the maneuvering target.

[0020] Based on the speed and the forward tilt angle of the current missile and the speed and the forward tilt angle of the maneuvering target, the missile-target relative distance, the first relative velocity component and the second relative velocity component between the current missile and the maneuvering target are calculated.

[0021] Optionally, an estimate of the remaining flight time of the current missile is calculated based on the speed and normal overload of the current missile, the speed of the maneuvering target, and the relative distance between the current missile and the maneuvering target, the first relative velocity component and the second relative velocity component, including: calculating the ballistic inclination angle of the current missile based on the speed and normal overload of the current missile.

[0022] The forward inclination angle of the current missile is calculated according to the ballistic inclination angle of the current missile and the missile-target sight angle between the current missile and the maneuvering target.

[0023] An estimate of the remaining flight time of the current missile is calculated based on the speed and the forward tilt angle of the current missile, the speed of the maneuvering target, and the relative distance between the current missile and the maneuvering target, the first relative speed component, and the second relative speed component.

[0024] A distributed collaborative guidance system for attacking a maneuvering target comprises: a maneuvering target parameter acquisition module for acquiring the speed and normal overload of the maneuvering target.

[0025] The current missile determination module is used to determine any missile used to attack the mobile target as the current missile, and to determine all missiles used to attack the mobile target except the current missile as non-current missiles.

[0026] The current missile parameter acquisition module is used to obtain the speed and normal overload of the current missile, and the missile-target sight angle between the current missile and the maneuvering target.

[0027] A time estimation module is used to determine an estimate of the remaining flight time of the current missile based on the speed and normal overload of the current missile, the speed and normal overload of the maneuvering target, and the missile-target line-of-sight angle between the current missile and the maneuvering target.

[0028] An error determination module is used to calculate the estimated consistency error of the current missile based on the estimate of the remaining flight time of the current missile and the estimate of the remaining flight time of all the non-current missiles; wherein the estimate of the remaining flight time of the non-current missile is determined by using the speed and normal overload of the non-current missile, the speed and normal overload of the maneuvering target, and the missile-target line-of-sight angle between the non-current missile and the maneuvering target.

[0029] The parameter determination module is used to determine the parameters of the fixed time jammer of the current missile and the parameters of the distributed time cooperative guidance law based on the speed, normal overload and estimated consistency error of the current missile, the missile-target line of sight angle between the current missile and the maneuvering target, and the speed and normal overload of the maneuvering target, so as to obtain the target fixed time jammer and the target distributed time cooperative guidance law.

[0030] The guidance module is used to guide the corresponding missile using the target fixed time jammer and target distributed time cooperative guidance law of each missile used to attack the mobile target.

[0031] An electronic device includes a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the above-mentioned distributed collaborative guidance method for striking mobile targets.

[0032] Optionally, the memory is a readable storage medium.

[0033] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects: the present invention discloses a distributed collaborative guidance method, system and electronic equipment for attacking a maneuvering target, firstly, obtaining the speed and normal overload of the maneuvering target; determining any missile used to attack the maneuvering target as the current missile; obtaining the speed and normal overload of the current missile, and the missile-target sight angle between the current missile and the maneuvering target; secondly, determining an estimate of the remaining flight time based on the speed and normal overload of the current missile, the speed and normal overload of the maneuvering target, and the missile-target sight angle between the current missile and the maneuvering target; thirdly, calculating an estimated consistency error of the current missile based on the estimate of the remaining flight time of the current missile and the estimate of the remaining flight time of all non-current missiles; finally, determining the parameters of the fixed time jammer of the current missile and the parameters of the distributed time collaborative guidance law based on the speed, normal overload and estimated consistency error of the current missile, the missile-target sight angle between the current missile and the maneuvering target, and the speed and normal overload of the maneuvering target, obtaining the target fixed time jammer and the target distributed time collaborative guidance law, thereby realizing the guidance of the missile and realizing the salvo attack on the maneuvering target. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. 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 creative labor.

[0035] Figure 1 A schematic flow chart of a distributed collaborative guidance method for striking mobile targets provided in Example 1 of the present invention.

[0036] Figure 2 Schematic diagram of the design process for distributed collaborative guidance to strike mobile targets.

[0037] Figure 3 Schematic diagram of the salvo guidance model in a two-dimensional plane.

[0038] Figure 4 Schematic diagram of missile communication topology.

[0039] Figure 5 This is a schematic diagram of the engagement curve.

[0040] Figure 6 Schematic diagram of the missile's overload curve.

[0041] Figure 7 Schematic diagram of the remaining flight time estimation curve.

[0042] Figure 8Schematic diagram of the disturbance estimation curve. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0044] The purpose of the present invention is to provide a distributed collaborative guidance method, system and electronic equipment for striking mobile targets, aiming to improve the distributed collaborative guidance accuracy for striking mobile targets.

[0045] 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.

[0046] Example 1 provides a distributed collaborative guidance method for attacking mobile targets.

[0047] Figure 1 This is a flow chart of a distributed collaborative guidance method for attacking mobile targets provided by Embodiment 1 of the present invention. Figure 1 As shown, the distributed collaborative guidance method for attacking mobile targets in this embodiment includes steps 1 to 7.

[0048] Step 1: Obtain the velocity and normal overload of the maneuvering target.

[0049] Step 2: Determine any missile used to attack a mobile target as the current missile, and determine all missiles used to attack a mobile target except the current missile as non-current missiles.

[0050] Step 3: Obtain the current missile speed and normal overload, as well as the missile-target sight angle between the current missile and the maneuvering target.

[0051] Step 4: Determine an estimate of the remaining flight time of the current missile based on the velocity and normal overload of the current missile, the velocity and normal overload of the maneuvering target, and the missile-target line-of-sight angle between the current missile and the maneuvering target.

[0052] As an optional implementation, step 4 specifically includes step 41 and step 42.

[0053] Step 41: Calculate the missile-target relative distance, the first relative velocity component, and the second relative velocity component between the current missile and the maneuvering target based on the velocity and normal overload of the current missile, the velocity and normal overload of the maneuvering target, and the missile-target line of sight angle between the current missile and the maneuvering target; the first relative velocity component is the component of the relative velocity between the current missile and the maneuvering target along the missile-target line of sight, and the second relative velocity component is the component of the relative velocity between the current missile and the maneuvering target in the direction perpendicular to the missile-target line of sight.

[0054] Step 42: Calculate an estimate of the remaining flight time of the current missile based on the velocity and normal overload of the current missile, the velocity of the maneuvering target, and the relative distance between the current missile and the maneuvering target, the first relative velocity component, and the second relative velocity component.

[0055] As an optional implementation, step 41 includes steps 411 to 415.

[0056] Step 411: Calculate the ballistic inclination angle of the current missile according to the speed and normal overload of the current missile.

[0057] Step 412: Calculate the forward tilt angle of the current missile based on the ballistic inclination angle of the current missile and the missile-target line-of-sight angle between the current missile and the maneuvering target.

[0058] Step 413: Calculate the ballistic inclination angle of the maneuvering target according to the speed and normal overload of the maneuvering target.

[0059] Step 414: Calculate the forward tilt angle of the maneuvering target based on the ballistic inclination angle of the maneuvering target and the missile-target line of sight angle between the current missile and the maneuvering target.

[0060] Step 415: Based on the speed and pitch angle of the current missile and the speed and pitch angle of the maneuvering target, the missile-target relative distance, the first relative velocity component and the second relative velocity component between the current missile and the maneuvering target are calculated.

[0061] As an optional implementation, step 42 includes steps 421 to 423.

[0062] Step 421: Calculate the ballistic inclination angle of the current missile according to the speed and normal overload of the current missile.

[0063] Step 422: Calculate the forward tilt angle of the current missile based on the ballistic inclination angle of the current missile and the missile-target line-of-sight angle between the current missile and the maneuvering target.

[0064] Step 423: Calculate an estimate of the remaining flight time of the current missile based on the speed and lead angle of the current missile, the speed of the maneuvering target, and the relative distance between the current missile and the maneuvering target, the first relative velocity component, and the second relative velocity component.

[0065] Step 5: Based on the estimate of the remaining flight time of the current missile and the estimates of the remaining flight time of all non-current missiles, calculate the estimated consistency error of the current missile.

[0066] Among them, the estimation of the remaining flight time of the non-current missile is determined by using the speed and normal overload of the non-current missile, the speed and normal overload of the maneuvering target, and the missile-target line-of-sight angle between the non-current missile and the maneuvering target.

[0067] Step 6: Based on the speed, normal overload and estimated consistency error of the current missile, the missile-target line-of-sight angle between the current missile and the maneuvering target, and the speed and normal overload of the maneuvering target, determine the parameters of the fixed-time jammer of the current missile and the parameters of the distributed-time cooperative guidance law, and obtain the target fixed-time jammer and the target distributed-time cooperative guidance law.

[0068] Step 7: Use the target fixed time jammer and target distributed time cooperative guidance law of each missile used to attack the maneuvering target to guide the corresponding missile.

[0069] In order to implement the method in Example 1, Figure 2 As shown, the present invention also provides a design process for distributed collaborative guidance for attacking mobile targets, and the specific process includes steps 101 to 106.

[0070] Step 101: Establish a dynamic model for multiple missiles to intercept maneuvering targets.

[0071] Consider a two-dimensional plane In the scenario of a missile intercepting a maneuvering target, the guidance model is as follows Figure 3 shown.

[0072] The relative kinematic model of the missile and the target is as follows.

[0073] .

[0074] in, Indicates The relative distance between a missile and a maneuvering target The derivative of Indicates the speed of a maneuvering target; Indicates the lead angle of a maneuvering target, which is the angle between the velocity and the sight angle between the missile and the target; Indicates The speed of a missile; Indicates The lead angle of the missile; Indicates The component of the relative velocity between a missile and a maneuvering target along the missile-target line of sight is the first relative velocity. Indicates The line of sight angle between a missile and a maneuvering target The derivative of Indicates The component of the relative velocity between a missile and a maneuvering target in the direction perpendicular to the line of sight between the missile and the target, i.e., the second relative velocity; Indicates The ballistic inclination of the missile The derivative of Indicates The normal overload of a missile, the normal overload is the normal overload perpendicular to the velocity direction; Indicates the ballistic inclination of a maneuvering target The derivative of Indicates the normal overload of the maneuvering target.

[0075] Each missile communicates with each other using an undirected topology, and the corresponding adjacency matrix for , Indicates Missile and The communication between the missiles A missile can receive the When the information of the missile is ,otherwise The Laplace matrix corresponding to the communication topology is for: , defined as follows: . Indicates Missile and The communication between the missiles A missile can receive the When the information of the missile is ,otherwise .

[0076] Step 102: Provide an expression for estimating the remaining flight time and apply it to complete subsequent steps.

[0077] The estimation of the remaining flight time of a missile is crucial to achieving a coordinated attack on a maneuvering target. Since the maneuverability of the target is unknown, it is difficult to obtain the accurate remaining flight time of the missile through an analytical expression. Generally, the remaining flight time expression is obtained under some assumptions to estimate the remaining flight time of the missile. The present invention adopts the following form of remaining flight time expression.

[0078] .

[0079] in, Indicates An estimate of the remaining flight time of a missile.

[0080] The remaining flight time expression is obtained under the condition that the target is not maneuvering and the missile adopts a constant lead angle to pursue the target. When the missile adopts a constant lead angle to intercept a non-maneuvering target, the accurate value of the remaining flight time of the missile can be obtained. The commonly used remaining flight time expression is obtained under the assumption that the target is stationary and the lead angle is small. For maneuvering targets, this form of remaining flight time has a large estimation error. In comparison, the remaining flight time expression used in the present invention is more suitable for the scenario of intercepting a moving target.

[0081] Step 103: Design a fixed-time disturbance observer to observe external disturbances of the system.

[0082] Consider a nonlinear system of the following form.

[0083] .

[0084] in, For the system The set of states, and is a known nonlinear function, is the control input of the system, is the external disturbance of the system. Assume that the external disturbance of the system is bounded. By designing a nonlinear disturbance observer to observe the external disturbance of the system, the control input of the system can be designed later. To eliminate the influence of external disturbances.

[0085] Based on the consideration of the above nonlinear system, the present invention designs a fixed-time disturbance observer in the following form.

[0086] .

[0087] in, and Indicates The auxiliary state defined for each missile, For The approach of is the corresponding approximation error; Indicates the system Dimensional state; express The derivative of , , , and Indicates The parameters of the fixed-time jammer of the missile, where Indicates missiles, , , , and denote the parameters of the fixed-time jammer, , , , , ; ; represents a symbolic function; For the The maneuver information of a missile against a maneuvering target Since the fixed-time disturbance observer designed in the present invention has a fixed-time convergence property, in order to prevent the use of fixed-value parameters This causes a large vibration to the system. It can be designed as a monotonically decreasing time-varying parameter.

[0088] Step 104: Consider the target maneuver information as an external disturbance and obtain the target acceleration estimate based on a fixed-time nonlinear disturbance observer.

[0089] The missile dynamics equation The line of sight angle between a missile and a maneuvering target The second derivative of It is expressed as follows.

[0090] .

[0091] remember , , Considered as control input , is considered as external interference, i.e. , , it can be rewritten as the following system.

[0092] .

[0093] Therefore, the fixed-time interference observer designed in step 103 can be used to obtain Estimation of maneuver information of a missile against a maneuvering target , and further obtain the Acceleration estimation of a missile on a maneuvering target The expression of is as follows.

[0094] .

[0095] Step 105: Design a distributed time cooperative guidance law based on the remaining flight time estimation expression and the nonlinear disturbance observer.

[0096] Based on the remaining flight time estimation expression and the nonlinear disturbance observer (i.e., fixed-time nonlinear disturbance observer), the distributed time cooperative guidance law is designed in the following form.

[0097] .

[0098] in, Indicates The estimated consistency error of the missile, , Indicates An estimate of the remaining flight time of a missile; is the intermediate quantity, ; , and represents the parameters of the distributed time cooperative guidance law, .

[0099] Combine the above formula with Acceleration estimation of a missile on a maneuvering target By combining the expressions of The expression of the distributed time cooperative guidance law of the missile is as follows.

[0100] .

[0101] In practical engineering applications, in order to prevent frequent chattering, a saturation function can be used. , hyperbolic tangent function , inverse tangent function Etc. replaces the symbolic function in the distributed time cooperative guidance law and the fixed time interference observer .

[0102] Step 106: Guiding the missile system using the distributed time collaborative guidance law.

[0103] The effectiveness of the method proposed in the present invention is verified by a specific example of five missiles attacking a mobile target. The specific implementation steps of this example are as follows.

[0104] Consider a scenario where five missiles strike a mobile target, such as Figure 4 As shown, the missiles use an undirected communication topology to exchange information, and the corresponding Laplace matrix is ​​as follows.

[0105] .

[0106] The target is set to use a maneuvering form of small maneuvers first and large maneuvers later. The target overload is 1g in the first 40s and 2g thereafter. This simulates a scenario where multiple missiles strike a maneuvering target in coordination. When the missile approaches the target, the target takes a large maneuver to escape. The maximum overload of the missile is set to 17g.

[0107] The initial positions of the missile and target, ballistic inclination and other parameters are shown in Table 1.

[0108] .

[0109] (1) Parameter setting.

[0110] The parameters of the fixed-time disturbance observer are set as , , , , The parameters of the distributed time cooperative guidance law are set as , , .

[0111] (2) Result analysis

[0112] The simulation results are as follows Figure 5-Figure 8 The miss distance and guidance time are shown in Table 2.

[0113] .

[0114] Figure 5 This is a schematic diagram of the engagement curve. Figure 6 This is a schematic diagram of the missile’s overload curve. At 40 seconds, the target acceleration jumps, causing the missile’s overload to jump. Figure 7 This is a schematic diagram of the remaining flight time estimation curve. It can be seen that the remaining flight time estimation of the missile converges to a consensus quickly, but since the speeds of the missile and the target are close, it takes a long time to hit the target. Figure 8 The disturbance estimation curve is a schematic diagram. The rapid change of the disturbance causes the disturbance estimation curve to overshoot, resulting in the jitter of the remaining flight time estimate. When the missile is about to hit the target, the disturbance changes rapidly, resulting in a large observation error. Therefore, the previous target acceleration estimate is used in the last few seconds of the simulation. Figure 5-Figure 8 It can be seen from the simulation results diagram and Table 2 that the designed distributed time cooperative guidance law can ensure that multiple missiles hit the maneuvering target at the same time with high accuracy.

[0115] Example 2 provides a distributed collaborative guidance system for attacking mobile targets.

[0116] The distributed collaborative guidance system for attacking maneuvering targets in this embodiment includes: a maneuvering target parameter acquisition module, which is used to obtain the speed and normal overload of the maneuvering target.

[0117] The current missile determination module is used to determine any missile used to attack a mobile target as a current missile, and to determine all missiles used to attack a mobile target except the current missile as non-current missiles.

[0118] The current missile parameter acquisition module is used to obtain the current missile speed and normal overload, as well as the missile-target sight angle between the current missile and the maneuvering target.

[0119] The time estimation module is used to determine the estimate of the remaining flight time of the current missile based on the speed and normal overload of the current missile, the speed and normal overload of the maneuvering target, and the missile-target line-of-sight angle between the current missile and the maneuvering target.

[0120] The error determination module is used to calculate the estimated consistency error of the current missile based on the estimated remaining flight time of the current missile and the estimated remaining flight time of all non-current missiles; wherein the estimated remaining flight time of the non-current missile is determined by using the speed and normal overload of the non-current missile, the speed and normal overload of the maneuvering target, and the missile-target line-of-sight angle between the non-current missile and the maneuvering target.

[0121] The parameter determination module is used to determine the parameters of the fixed-time jammer of the current missile and the parameters of the distributed-time cooperative guidance law based on the speed, normal overload and estimated consistency error of the current missile, the missile-target line-of-sight angle between the current missile and the maneuvering target, and the speed and normal overload of the maneuvering target, so as to obtain the target fixed-time jammer and the target distributed-time cooperative guidance law.

[0122] The guidance module is used to guide the corresponding missile using the target fixed time jammer and target distributed time cooperative guidance law of each missile used to attack the mobile target.

[0123] Embodiment 3 provides an electronic device, including a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the distributed collaborative guidance method for striking mobile targets in Embodiment 1.

[0124] As an optional implementation, the memory is a readable storage medium.

[0125] The beneficial effects of the present invention are as follows: the present invention realizes online estimation of target maneuvering information based on a fixed-time interference observer; designs a distributed time collaborative guidance law to realize a salvo attack on a maneuvering target, and solves the problem of multiple missiles collaboratively attacking a maneuvering target.

[0126] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0127] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A distributed collaborative guidance method for attacking a mobile target, characterized in that: The method comprises: Obtain the speed and normal G-load of the maneuvering target; Determine any missile used to strike the mobile target as a current missile, and determine all missiles other than the current missile among all missiles used to strike the mobile target as non-current missiles; Acquiring the velocity and normal overload of the current missile, and the missile-target sight angle between the current missile and the maneuvering target; Determining an estimate of the remaining flight time of the current missile based on the velocity and normal overload of the current missile, the velocity and normal overload of the maneuvering target, and a missile-target line-of-sight angle between the current missile and the maneuvering target; Calculating an estimated consistency error of the current missile based on an estimate of the remaining flight time of the current missile and an estimate of the remaining flight time of all the non-current missiles; wherein the estimate of the remaining flight time of the non-current missile is determined using a speed and a normal overload of the non-current missile, a speed and a normal overload of the maneuvering target, and a missile-target line-of-sight angle between the non-current missile and the maneuvering target; Based on the speed, normal overload and estimated consistency error of the current missile, the missile-target line-of-sight angle between the current missile and the maneuvering target, and the speed and normal overload of the maneuvering target, determine the parameters of the fixed-time jammer and the parameters of the distributed-time cooperative guidance law of the current missile, and obtain the target fixed-time jammer and the target distributed-time cooperative guidance law; The target fixed time jammer and the target distributed time cooperative guidance law of each missile used to attack the mobile target are used to guide the corresponding missile.

2. The distributed collaborative guidance method for attacking mobile targets according to claim 1 is characterized in that: Determining an estimate of the remaining flight time of the current missile based on the speed and normal overload of the current missile, the speed and normal overload of the maneuvering target, and a missile-target line-of-sight angle between the current missile and the maneuvering target, specifically includes: According to the speed and normal overload of the current missile, the speed and normal overload of the maneuvering target, and the missile-target line of sight angle between the current missile and the maneuvering target, the missile-target relative distance, the first relative velocity component and the second relative velocity component between the current missile and the maneuvering target are calculated; the first relative velocity component is the component of the relative velocity between the current missile and the maneuvering target along the missile-target line of sight, and the second relative velocity component is the component of the relative velocity between the current missile and the maneuvering target in the direction perpendicular to the missile-target line of sight; An estimate of the remaining flight time of the current missile is calculated based on the speed and normal overload of the current missile, the speed of the maneuvering target, and the relative distance between the current missile and the maneuvering target, the first relative velocity component, and the second relative velocity component.

3. The distributed collaborative guidance method for attacking mobile targets according to claim 2 is characterized in that: Calculating a missile-target relative distance, a first relative velocity component, and a second relative velocity component between the current missile and the maneuvering target according to the velocity and normal overload of the current missile, the velocity and normal overload of the maneuvering target, and a missile-target sight angle between the current missile and the maneuvering target, including: Calculating the ballistic inclination angle of the current missile according to the speed and normal overload of the current missile; Calculating the forward inclination angle of the current missile according to the ballistic inclination angle of the current missile and the missile-target line of sight angle between the current missile and the maneuvering target; Calculating the ballistic inclination angle of the maneuvering target according to the speed and normal overload of the maneuvering target; Calculating the forward inclination angle of the maneuvering target according to the ballistic inclination angle of the maneuvering target and the missile-target line of sight angle between the current missile and the maneuvering target; Based on the speed and the forward tilt angle of the current missile and the speed and the forward tilt angle of the maneuvering target, the missile-target relative distance, the first relative velocity component and the second relative velocity component between the current missile and the maneuvering target are calculated.

4. The distributed collaborative guidance method for attacking mobile targets according to claim 2 is characterized in that: Calculating an estimate of the remaining flight time of the current missile according to the speed and normal overload of the current missile, the speed of the maneuvering target, and the relative distance between the current missile and the maneuvering target, the first relative speed component, and the second relative speed component, including: Calculating the ballistic inclination angle of the current missile according to the speed and normal overload of the current missile; Calculating the forward inclination angle of the current missile according to the ballistic inclination angle of the current missile and the missile-target line of sight angle between the current missile and the maneuvering target; An estimate of the remaining flight time of the current missile is calculated based on the speed and the forward tilt angle of the current missile, the speed of the maneuvering target, and the relative distance between the current missile and the maneuvering target, the first relative speed component, and the second relative speed component.

5. A distributed collaborative guidance system for attacking mobile targets, characterized in that: The system comprises: A maneuvering target parameter acquisition module is used to obtain the speed and normal overload of the maneuvering target; a current missile determination module, used to determine any missile used to strike the mobile target as a current missile, and to determine all missiles other than the current missile among all missiles used to strike the mobile target as non-current missiles; A current missile parameter acquisition module, used to acquire the speed and normal overload of the current missile, and the missile-target sight angle between the current missile and the maneuvering target; a time estimation module, configured to determine an estimate of the remaining flight time of the current missile based on the velocity and normal overload of the current missile, the velocity and normal overload of the maneuvering target, and a missile-target line-of-sight angle between the current missile and the maneuvering target; an error determination module, configured to calculate an estimated consistency error of the current missile based on an estimate of the remaining flight time of the current missile and an estimate of the remaining flight time of all the non-current missiles; wherein the estimate of the remaining flight time of the non-current missile is determined using a speed and a normal overload of the non-current missile, a speed and a normal overload of the maneuvering target, and a missile-target line-of-sight angle between the non-current missile and the maneuvering target; A parameter determination module is used to determine the parameters of the fixed time jammer and the parameters of the distributed time cooperative guidance law of the current missile based on the speed, normal overload and estimated consistency error of the current missile, the missile-target line of sight angle between the current missile and the maneuvering target, and the speed and normal overload of the maneuvering target, so as to obtain the target fixed time jammer and the target distributed time cooperative guidance law; The guidance module is used to guide the corresponding missile using the target fixed time jammer and target distributed time cooperative guidance law of each missile used to attack the mobile target.

6. An electronic device, characterized in that: It comprises a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the distributed collaborative guidance method for attacking mobile targets as described in any one of claims 1 to 4.

7. An electronic device according to claim 6, characterized in that: The memory is a readable storage medium.

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