Guidance control method and system for composite guidance aircraft considering flight-time falling angle constraint

Abstract

The invention belongs to the field of aircraft control, and discloses a composite guidance aircraft guidance control method and system considering flight time falling angle constraint, and the method comprises the steps: inputting target values of flight time and a terminal falling angle according to a specific task requirement; pre-planning a flight path; in the flight process, estimating the current remaining flight time of reaching the target in real time, and performing feedback adjustment on the flight time error; in a flight approaching target stage, calculating a falling angle error in real time according to the attitude and speed of the aircraft, and correcting the flight attitude; through a nonlinear optimal control algorithm, two constraints of flight time and a falling angle are comprehensively balanced; executing mechanisms such as engine thrust, control surface angle and attitude control spray pipes of the aircraft are adjusted in real time according to a composite guidance algorithm instruction; and when the aircraft is about to arrive at the target, final falling angle correction is performed to ensure that the aircraft hits the target at an accurate angle. According to the method, the balance problem between the flight time constraint and the falling angle constraint is effectively solved, and the guidance precision and the task success rate of the aircraft are remarkably improved.

Description

Technical Field

[0001] The present invention belongs to but is not limited to the field of aircraft control technology, and in particular relates to a guidance control method and system for a composite guidance aircraft taking into account flight angle constraints. Background Art

[0002] In the research field of "composite guidance aircraft guidance control method considering flight time and landing angle constraints", the most relevant prior art is the aircraft guidance control method based on proportional guidance. This method is widely used in the fields of missiles, aircraft, etc., especially in the guidance process of medium and long-range ballistic missiles and cruise missiles. However, the traditional proportional guidance method faces certain technical bottlenecks, especially in the precise control of flight time and landing angle. In view of these shortcomings, the present invention has significant technical progress, especially in the combined control of flight time constraints and terminal landing angle constraints.

[0003] In view of the above analysis, the technical problems that need to be solved urgently in the prior art are:

[0004] (1) Insufficient flight time constraint control: Traditional proportional guidance methods usually only consider the trajectory adjustment of missiles or aircraft along the way, ignoring the precise control of flight time. This results in the missile being unable to reach the target within the scheduled time, affecting the control of the battlefield situation and the effectiveness of multi-missile coordinated operations.

[0005] (2) Limited accuracy of angle of impact control: Proportional guidance methods are usually unable to accurately control the terminal angle of impact of an aircraft. The angle of impact is the angle at which a missile or aircraft hits a target. This parameter is particularly critical in different mission scenarios, especially in vertical strike and high-precision attack missions, where the control of the angle of impact directly affects the strike effect.

[0006] (3) The challenge of complex control that takes into account both flight time and landing angle: It is difficult for traditional proportional guidance methods to take into account both flight time constraints and terminal landing angle constraints at the same time. How to optimize control during flight to meet flight time requirements and ensure landing angle accuracy is a difficult problem that needs to be solved urgently. Summary of the invention

[0007] In view of the problems existing in the prior art, the present invention provides a guidance control method and system for a composite guided aircraft taking into account the constraints of landing angles during flight.

[0008] The present invention is achieved by a composite guided aircraft guidance control method considering the flight angle constraint, characterized in that the composite guided aircraft guidance control method considering the flight angle constraint specifically comprises:

[0009] S1: Determine the flight mission requirements and input the target values ​​of flight time and terminal landing angle according to the specific mission requirements;

[0010] S2: Flight trajectory planning: Before launch, the flight trajectory is pre-planned according to mission requirements;

[0011] S3: Real-time flight time estimation: During the flight, the remaining flight time to the target is estimated in real time, and the flight time error is adjusted by feedback;

[0012] S4: Terminal landing angle control. When the flight approaches the target, the landing angle calculation module calculates the landing angle error in real time according to the attitude and speed of the aircraft and corrects the flight attitude.

[0013] S5: Compound guidance algorithm execution, through the nonlinear optimal control algorithm, the two constraints of flight time and landing angle are comprehensively balanced;

[0014] S6: Aircraft actuator control: the aircraft's engine thrust, rudder angle, attitude control nozzle and other actuators are adjusted in real time according to the instructions of the composite guidance algorithm;

[0015] S7: Mission completion and landing point correction. When the aircraft is about to reach the target, the system performs the final landing angle correction to ensure that the aircraft hits the target at a precise angle.

[0016] Furthermore, in S1, the flight mission requirements include clear settings of flight time and landing angle. The flight time refers to the total time it takes for the aircraft to reach the target from the launch point, and the landing angle refers to the angle between the aircraft and the horizontal plane when it hits the target. The guidance system uses these target values ​​as a control benchmark and begins to control the flight path of the aircraft in real time.

[0017] Furthermore, in S2, the guidance and control system performs preliminary flight trajectory planning according to the initial state, target position and mission requirements of the aircraft before the flight begins. The trajectory planning is based on the dynamic model of the aircraft and ensures the balance between flight time and landing angle through a multi-objective optimization algorithm.

[0018] Furthermore, in S3, during the flight, the flight time calculation module will estimate in real time the remaining time for the current aircraft to reach the target based on the current position, speed, altitude and other parameters of the aircraft. The real-time position data provided by the aircraft's inertial navigation system and GPS are used as input for the flight time estimation. The system will generate a feedback signal based on the calculated flight time error, and adjust the thrust and flight trajectory to ensure that the flight time error is minimized.

[0019] Furthermore, the S4 calculates the attitude angle and speed of the aircraft in real time through the landing angle calculation module to ensure that the landing angle error is within a controllable range. If the system detects a landing angle deviation, the attitude control system corrects the aircraft attitude by adjusting the aerodynamic control surfaces or thrust vectors to ensure that the target is hit at an appropriate angle.

[0020] Furthermore, the S5 dynamically adjusts the flight trajectory and attitude of the aircraft in real time based on nonlinear optimal control theory. The system uses the flight time and landing angle as optimization functions to ensure that the aircraft can reach the target on time and hit the target at a predetermined landing angle during the entire flight process.

[0021] Furthermore, the correction operation in the terminal phase of S7 is completed by the aerodynamic control surface and the thrust vector control system to ensure that the aircraft hits the target with the best attitude and angle. If the system detects that the landing point is deviated, the aircraft can also make a landing point correction by adjusting the attitude.

[0022] Another object of the present invention is to provide a composite guidance aircraft guidance control system taking into account the flight angle constraint, the system specifically comprising:

[0023] (1) Aircraft guidance control unit, including flight time calculation module, landing angle calculation module, composite guidance algorithm module and flight state estimation module:

[0024] The flight time calculation module estimates the remaining time for the current aircraft to reach the target in real time based on the flight trajectory and aircraft dynamics model, and satisfies the flight time constraints through feedback adjustment;

[0025] The landing angle calculation module calculates the landing angle error based on the target position and the current state of the aircraft, and corrects the flight attitude and speed through control instructions to ensure that the landing angle is within the required range;

[0026] Composite guidance algorithm module: It integrates the optimization control algorithm of flight time and landing angle constraints, and can dynamically adjust the flight trajectory and attitude during the flight process, so that the flight time and landing angle meet the mission requirements. Based on the nonlinear optimal control theory, a composite guidance control model is established. Through the multi-objective optimization method, the thrust, angular velocity, attitude control and other parameters of the aircraft are adjusted in real time to ensure the dual constraints of flight time and landing angle;

[0027] (2) Sensor system: It includes a precise inertial navigation system (INS) and a satellite positioning system (GPS), which can obtain information such as the aircraft's speed, acceleration, and attitude angle in real time, providing accurate input for the guidance and control algorithm. The system also integrates a pneumatic control sensor to monitor flight environment parameters (such as wind speed and air density) in real time, assisting the control algorithm in performing more precise trajectory optimization.

[0028] (3) Aircraft actuators: They control the aircraft's engine thrust, aerodynamic control surfaces, and attitude control systems (such as control nozzles, thrust vector control systems, etc.) to execute the output of the guidance and control algorithm in real time and adjust the flight trajectory.

[0029] In combination with the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solutions to be protected by the present invention are as follows:

[0030] First, composite constraint control of flight time and landing angle: Through this system and method, the aircraft can accurately control the landing angle while ensuring the flight time. Compared with the traditional proportional guidance method, the composite guidance algorithm can still achieve efficient and stable flight control under the conditions of complex mission requirements and high guidance accuracy requirements.

[0031] Dynamic optimization control algorithm: Using a nonlinear optimal control algorithm, combined with real-time sensor data and flight state estimation, the system can dynamically adjust the flight trajectory and attitude. Compared with existing technologies, the new method can adaptively adjust in the face of complex weather conditions or sudden changes in flight status to ensure mission success rate.

[0032] Multi-objective optimization balance: The system achieves a high degree of balance between the two objectives of flight time and landing angle. Traditional proportional guidance usually only focuses on one objective and ignores other mission requirements. This system comprehensively considers multiple constraints to enable the aircraft to have a stronger mission execution capability.

[0033] Improved hit accuracy: The improved accuracy of terminal angle control enables the aircraft to hit the target more effectively in vertical strike or penetrating strike missions, improving the tactical strike effect. At the same time, precise control during flight also provides technical support for multi-missile coordinated strikes.

[0034] Improved intelligence: The system integrates adaptive control algorithms and intelligent sensor data fusion technology, enabling the aircraft to autonomously adjust flight parameters in complex battlefield environments, reducing human intervention and improving operational flexibility and automation levels.

[0035] In summary, the present invention has achieved significant technological progress in the field of aircraft guidance and control. Through the collaborative work of multiple modules, it has effectively solved the balance problem between flight time and landing angle constraints. Compared with the traditional proportional guidance method, it has significantly improved the guidance accuracy and mission success rate of the aircraft, and enhanced its survivability and combat effectiveness in complex battlefield environments.

[0036] This composite guidance and control method is applicable to a variety of complex mission scenarios, such as precision strikes, high-speed maneuvering flight, and multi-target coordinated attacks, and represents significant technological progress.

[0037] Second, the present invention provides a guidance and control method for a composite guided aircraft taking into account the flight angle constraint, which solves several key problems in the prior art in industrial applications and achieves significant technical progress, which is specifically reflected in the following aspects:

[0038] 1. Solve the dual constraints of flight time and landing angle in aircraft guidance

[0039] Traditional aircraft guidance methods often fail to meet the precise control requirements of flight time and terminal landing angle at the same time. The present invention introduces a nonlinear optimal control algorithm to comprehensively balance the dual constraints of flight time and landing angle, ensuring that the aircraft can reach the target at the scheduled time and hit the target at a precise angle in a complex environment. This technological advancement is of great significance in precision strike missions, especially for the guidance and control of missiles and long-range weapons.

[0040] 2. Implementation of real-time angle correction

[0041] Existing guidance technologies often have difficulty in accurately controlling the terminal landing angle of an aircraft when approaching a target, resulting in insufficient strike accuracy. The present invention ensures that the aircraft dynamically adjusts the landing angle when entering the target area by calculating the landing angle error in real time and using an attitude correction mechanism based on a PID control algorithm, significantly improving the accuracy of guidance. This enables the aircraft to hit the target with a precise attitude, improving the system's combat capability in a complex battlefield environment.

[0042] 3. Intelligent control and adaptive adjustment

[0043] The existing technology lacks sufficient flexibility and response speed when facing environmental interference or changes in the state of the aircraft. The present invention introduces the extended Kalman filter (EKF) and adaptive control technology to correct the attitude and trajectory of the aircraft in real time. Especially when the aircraft approaches the target, it can automatically adjust to external interference to ensure the stability and accuracy of the aircraft. Compared with traditional guidance methods, the present invention greatly improves the intelligence and adaptive ability of the system.

[0044] 4. The comprehensive application of multiple algorithms improves control accuracy

[0045] The present invention adopts a variety of advanced algorithms, including extended Kalman filtering, nonlinear optimal control algorithm, genetic algorithm, etc., to perform operations such as attitude control, trajectory correction, and landing angle control of the aircraft. Through the integrated application of these algorithms, the present invention can maintain a high-precision guidance effect in a complex flight environment, solving the problem of insufficient control accuracy due to a single algorithm in the prior art.

[0046] The invention significantly improves the accuracy, flexibility and adaptability of aircraft guidance, effectively solves the shortcomings of existing technologies in flight control, landing angle correction and intelligent adjustment, and provides reliable technical support for the precision guidance of missiles, drones and other aircraft. This progress has broad application prospects in the fields of national defense and aerospace. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1It is a flow chart of a guidance control method for a composite guided aircraft taking into account the flight angle constraint provided by an embodiment of the present invention;

[0048] Figure 2 It is a guidance control module diagram of a composite guided aircraft taking into account the flight angle constraint provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0050] like Figure 1 As shown, an embodiment of the present invention provides a guidance control method for a composite guided aircraft considering the flight angle constraint, and the method specifically includes:

[0051] S1: Determine the flight mission requirements and input the target values ​​of flight time and terminal landing angle according to the specific mission requirements;

[0052] S2: Flight trajectory planning: Before launch, the flight trajectory is pre-planned according to mission requirements;

[0053] S3: Real-time flight time estimation: During the flight, the remaining flight time to the target is estimated in real time, and the flight time error is adjusted by feedback;

[0054] S4: Terminal landing angle control. When the flight approaches the target, the landing angle calculation module calculates the landing angle error in real time according to the attitude and speed of the aircraft and corrects the flight attitude.

[0055] S5: Compound guidance algorithm execution, through the nonlinear optimal control algorithm, the two constraints of flight time and landing angle are comprehensively balanced;

[0056] S6: Aircraft actuator control: the aircraft's engine thrust, rudder angle, attitude control nozzle and other actuators are adjusted in real time according to the instructions of the composite guidance algorithm;

[0057] S7: Mission completion and landing point correction. When the aircraft is about to reach the target, the system performs the final landing angle correction to ensure that the aircraft hits the target at a precise angle.

[0058] In the guidance and control method of the composite guided aircraft of the present invention, the flight time and terminal landing angle constraints are combined to realize guidance and control through multiple algorithm modules to ensure that the aircraft can accurately hit the target. The specific implementation process can be divided into the following steps:

[0059] 1. Determine flight mission requirements (S1)

[0060] During the mission requirement determination phase, the system first inputs the target values ​​of flight time and terminal landing angle according to the requirements of the flight mission. Flight time refers to the time required for the aircraft to reach the target point from the launch point, and the terminal landing angle refers to the angle between the aircraft and the ground when it approaches the target. Mission requirements usually change according to different mission objectives and environmental conditions, so this step requires manual input of mission parameters.

[0061] 2. Flight trajectory planning (S2)

[0062] Before launch, the flight trajectory is pre-planned according to the mission requirements. Trajectory planning can use *trajectory optimization algorithms* (such as Pseudospectral Method or Direct Collocation Method) to solve the dynamic model of the aircraft and generate the optimal flight trajectory that meets the flight time and landing angle constraints. During the planning process, the system needs to consider environmental factors such as ground terrain, wind speed, gravity, air density, and dynamic characteristics of the aircraft such as thrust, lift, and drag. The generated trajectory will provide a reference for the path of the aircraft during flight.

[0063] 3. Real-time flight time estimation (S3)

[0064] During the flight, the system needs to estimate the remaining flight time for the aircraft to reach the target point in real time. This step can be done through the *Extended Kalman Filter (EKF) algorithm*, combining the current position, speed and planned trajectory of the aircraft to estimate the remaining flight time. The prediction and update process of EKF can continuously integrate sensor data, correct the deviation between the current position of the aircraft and the planned trajectory, and feedback the flight time error. The system will use this feedback signal to adjust the flight time to ensure that the aircraft reaches the target within the scheduled time.

[0065] 4. Terminal angle control (S4)

[0066] When the aircraft approaches the target, the control of the landing angle error becomes the key. By monitoring the attitude and speed of the aircraft in real time, the system will use the *attitude control algorithm* to calculate the error between the current landing angle and the target landing angle, and correct the attitude of the aircraft. This process can use the *proportional integral derivative control (PID) algorithm* to accurately control the pitch angle, roll angle and yaw angle of the aircraft to ensure that the final landing angle meets the mission requirements.

[0067] 5. Composite guidance algorithm execution (S5)

[0068] In order to meet the dual constraints of flight time and landing angle at the same time, the system uses *nonlinear optimal control algorithms (such as Model Predictive Control, MPC)* to comprehensively balance the entire flight process. The algorithm generates multi-step predictions based on the current attitude, speed and position of the aircraft, and calculates the optimal control input to minimize the error in flight time and landing angle. MPC adjusts the control surface angle, engine thrust and attitude control nozzle by predicting the future flight state to ensure that the flight attitude and trajectory of the aircraft meet the mission requirements.

[0069] 6. Aircraft actuator control (S6)

[0070] According to the control instructions generated by the composite guidance algorithm, the system will adjust the aircraft's actuators in real time, including the engine thrust, the angle of the control surface, the spray direction of the attitude control nozzle, etc. The adjustment of the actuators can be achieved through *dynamic control algorithms (such as PID control or adaptive control algorithms)* to ensure that the aircraft's attitude changes quickly and stably respond to the guidance system's instructions.

[0071] 7. Mission completion and landing point correction (S7)

[0072] When the aircraft is about to reach the target point, the system will enter the final correction stage and make the final attitude adjustment through the terminal landing angle error feedback to ensure that the aircraft hits the target at a precise angle. At this time, the system will once again combine the *PID control algorithm* and the *nonlinear optimal control algorithm* to make the final correction of the landing angle and trajectory.

[0073] Through the above steps, the present invention combines *extended Kalman filter (EKF)*, *nonlinear optimal control algorithm (MPC)*, *trajectory optimization algorithm*, and *PID control algorithm* to provide comprehensive support for the trajectory planning, real-time flight time estimation, terminal landing angle control and final correction of the aircraft, ensuring that the aircraft can accurately complete the task while meeting the flight time and landing angle constraints.

[0074] Specific implementation example: Application of the guidance control method of the composite guidance aircraft considering the flight angle constraint in missile guidance

[0075] When a missile strikes a precise target, in order to ensure that the missile hits the target at a suitable angle and reaches the specified position within the specified flight time, the composite guidance control method of the present invention can be used. The following is the specific implementation process of missile guidance:

[0076] 1. Determine the task requirements

[0077] Assume that the missile's mission is to strike a long-range target 500 kilometers away, and the missile is required to reach the target within 400 seconds, with a landing angle of 30 degrees. At this time, the mission requirement determination step inputs the target location, a flight time of 400 seconds, and a terminal landing angle of 30 degrees.

[0078] 2. Flight trajectory planning

[0079] Before launching, the system pre-plans the missile's flight trajectory based on the target position, flight time, and landing angle requirements using trajectory optimization algorithms (such as the Pseudospectral Method). Taking into account factors such as wind speed changes and gravity disturbances encountered by the missile during flight, the missile's thrust adjustment and pitch angle changes are calculated during planning. The optimal flight trajectory of the missile is obtained through iterative solution of the algorithm.

[0080] 3. Real-time flight time estimation

[0081] After the missile is launched, the system starts the extended Kalman filter (EKF) algorithm to update the current position and speed of the missile in real time. The EKF continuously corrects the error between the actual position of the missile and the planned trajectory by combining the inertial navigation system (IMU) and GPS data, and estimates the remaining flight time in real time. The system adjusts the attitude or thrust of the missile in time according to the flight time error to ensure that the missile reaches the target within the specified 400 seconds.

[0082] 4. Terminal angle control

[0083] As the missile approaches the target, the system begins to focus on the control of the terminal landing angle. At this stage, the attitude control module obtains the missile's attitude information (such as pitch angle, roll angle, and yaw angle) in real time, calculates the error between the current landing angle and the target 30 degrees, and uses the PID control algorithm to make attitude corrections. For example, when the missile's landing angle deviates from the target, the system will adjust the rudder or control the angle of the nozzle to gradually adjust the missile's attitude to ensure that the landing angle meets the 30-degree requirement when hitting the target.

[0084] 5. Composite Guidance Algorithm Execution

[0085] During the missile flight, the system continuously executes nonlinear optimal control algorithms (such as Model Predictive Control, MPC), taking into account the dual constraints of flight time and landing angle. MPC will calculate the control quantities that need to be adjusted, such as thrust and attitude, in real time according to the current flight state of the missile. For example, if the flight time estimation shows that the missile will reach the target ahead of time, the system will extend the flight time by reducing thrust or adjusting the flight trajectory to ensure that the missile hits the target at a precise time and angle.

[0086] 6. Aircraft actuator control

[0087] The missile's engine thrust, rudder angle, attitude control nozzle and other actuators are adjusted in real time according to the instructions of the composite guidance algorithm. For example, during the mid-course flight, the system ensures that the missile maintains the best flight path by changing the engine thrust and the spray of the attitude nozzle. In the terminal flight, the system controls the rudder in real time according to the landing angle error, so that the missile gradually adjusts to the ideal terminal attitude at the end of the flight.

[0088] 7. Mission completion and landing point correction

[0089] When the missile approaches the target, the system enters the final correction stage. Through the feedback of the attitude control module, the system finally adjusts the missile's landing angle to 30 degrees, and further corrects the missile's position so that it accurately hits the target. At this point, the missile's flight time control, trajectory correction and landing angle adjustment meet the requirements and complete the mission.

[0090] In this implementation example, the present invention ensures that the missile can hit the target with an accurate angle of 30 degrees within the specified time through the coordinated work of trajectory optimization, flight time estimation, terminal angle of impact control, and composite guidance algorithm. During the application process, the system realizes high-precision flight control through various algorithms such as extended Kalman filtering (EKF), nonlinear optimal control (MPC), PID control, etc., solves the problem of difficulty in simultaneously satisfying multiple constraints in traditional missile guidance methods, and significantly improves the strike accuracy and flight stability of the missile.

[0091] The S1, flight mission requirements include clear settings for flight time and landing angle. Before the mission begins, the required flight time and landing angle target values ​​are input. Flight time refers to the total time it takes for the aircraft to reach the target from the launch point, and landing angle refers to the angle between the aircraft and the horizontal plane when it hits the target. The guidance system uses these target values ​​as a control benchmark and begins to control the flight path of the aircraft in real time.

[0092] S2, the guidance and control system performs preliminary flight trajectory planning before the flight starts, based on the initial state of the aircraft, the target position and the mission requirements. This trajectory planning is based on the dynamic model of the aircraft and ensures the balance between flight time and landing angle through a multi-objective optimization algorithm. The planned flight trajectory not only takes into account the shortest distance of the flight path, but also optimizes the flight time and terminal landing angle.

[0093] In S3, during the flight, the flight time calculation module estimates the remaining time for the current aircraft to reach the target in real time based on the current position, speed, altitude and other parameters of the aircraft. The real-time position data provided by the aircraft's inertial navigation system and GPS are used as input for the flight time estimation. The system generates a feedback signal based on the calculated flight time error, and adjusts the thrust and flight trajectory to ensure that the flight time error is minimized.

[0094] In S4, as the aircraft approaches the target, the control of the landing angle becomes particularly important. The system calculates the attitude angle and speed of the aircraft in real time through the landing angle calculation module to ensure that the landing angle error is within the controllable range. If the system detects a landing angle deviation, the attitude control system corrects the aircraft attitude by adjusting the aerodynamic control surface or thrust vector to ensure that the target is hit at the appropriate angle.

[0095] The S5, composite guidance algorithm module plays a core role in the entire flight process. It is based on nonlinear optimal control theory and dynamically adjusts the flight trajectory and attitude of the aircraft in real time. The system uses the two goals of flight time and landing angle as optimization functions to ensure that the aircraft can reach the target on time and hit the target at a predetermined landing angle during the entire flight process.

[0096] In S6, the aircraft's thrust, control surfaces, and attitude control systems will adjust the flight attitude and speed in real time according to the instructions generated by the composite guidance algorithm. Thrust control mainly affects the speed and flight time of the aircraft, while aerodynamic control surfaces and thrust vector control affect the aircraft's attitude and terminal landing angle.

[0097] The correction operation in the terminal phase of S7 is completed by the aerodynamic control surface and thrust vector control system to ensure that the aircraft hits the target with the best attitude and angle. If the system detects that the landing point is deviated, the aircraft can also make a landing point correction by adjusting the attitude.

[0098] like Figure 2 As shown, an embodiment of the present invention provides a composite guidance aircraft guidance and control system that takes into account the flight angle constraint, specifically comprising:

[0099] (1) Aircraft guidance control unit, including flight time calculation module, landing angle calculation module, composite guidance algorithm module and flight state estimation module:

[0100] The flight time calculation module estimates the remaining time for the current aircraft to reach the target in real time based on the flight trajectory and aircraft dynamics model, and satisfies the flight time constraints through feedback adjustment;

[0101] The landing angle calculation module calculates the landing angle error based on the target position and the current state of the aircraft, and corrects the flight attitude and speed through control instructions to ensure that the landing angle is within the required range.

[0102] Composite guidance algorithm module: This module is the core of the system. It integrates the optimization control algorithm of flight time and landing angle constraints. It can dynamically adjust the flight trajectory and attitude during the flight so that the flight time and landing angle meet the mission requirements. Based on the nonlinear optimal control theory, a composite guidance control model is established. Through the multi-objective optimization method, the thrust, angular velocity, attitude control and other parameters of the aircraft are adjusted in real time to ensure the dual constraints of flight time and landing angle.

[0103] (2) Sensor system: It includes a precise inertial navigation system (INS) and a satellite positioning system (GPS), which can obtain information such as the aircraft's speed, acceleration, attitude angle, etc. in real time, providing accurate input for the guidance and control algorithm. The system also integrates a pneumatic control sensor to monitor flight environment parameters (such as wind speed, air density, etc.) in real time, assisting the control algorithm in more refined trajectory optimization.

[0104] (3) Aircraft actuators: They control the aircraft's engine thrust, aerodynamic control surfaces, and attitude control systems (such as control nozzles, thrust vector control systems, etc.) to execute the output of the guidance and control algorithm in real time and adjust the flight trajectory.

[0105] The specific working principle of the composite guided aircraft guidance and control system taking into account the flight time and landing angle constraints provided by the embodiment of the present invention is based on the dynamic adjustment and optimization of the two key indicators of flight time and landing angle, and mainly ensures the guidance accuracy of the aircraft in complex flight missions through the coordinated operation of multiple modules.

[0106] The working principle of the aircraft guidance control unit is as follows:

[0107] Flight time calculation module: This module first calculates the current flight path and speed of the aircraft through the dynamic model of the aircraft. According to the distance between the aircraft and the target point and the current flight status (such as speed, direction, etc.), the flight time calculation module estimates the remaining time for the aircraft to reach the target point from the current position in real time. Through the GPS and inertial navigation data received by the aircraft during the flight, the module continuously corrects the flight time. If the actual flight time deviates from the predetermined target time, the flight time calculation module will generate a feedback signal based on this difference and adjust the thrust or flight trajectory of the aircraft to ensure that the aircraft reaches the target on time.

[0108] Landing Angle Calculation Module: Landing angle is a key parameter when the aircraft approaches the target, especially in scenarios where the mission requires precise strikes on the target. The Landing Angle Calculation Module calculates the relative angle between the aircraft and the target position in real time based on the target position and the aircraft attitude. The module uses the aircraft's speed, attitude, and position data to adjust the aircraft's angular velocity and attitude through feedback to ensure that the aircraft approaches the target at a predetermined landing angle. This is crucial in vertical strikes and ground penetration strikes.

[0109] Composite guidance algorithm module: This module uses a nonlinear optimal control algorithm to combine the two constraints of flight time and landing angle to build a multi-objective optimization model. The algorithm takes into account the dynamics of the aircraft, the flight environment, and the mission requirements, and can adjust the thrust, angular velocity, and attitude of the aircraft in real time. Through the real-time data input of the sensor, the module continuously adjusts the trajectory of the aircraft throughout the flight process, so that the flight time and landing angle of the aircraft are always within the controllable range. The algorithm can take into account both constraints at the same time and achieve balanced control of flight time and landing angle.

[0110] The working principle of the sensor system is as follows:

[0111] Inertial Navigation System (INS) and Satellite Positioning System (GPS): These sensors are responsible for obtaining the speed, position, acceleration and attitude angle of the aircraft in real time. The inertial navigation system provides high-precision attitude and acceleration data through gyroscopes and accelerometers, and the GPS system provides global positioning information. These data are input into the guidance control unit as the basic parameters for flight time and landing angle calculation.

[0112] Pneumatic control sensors: Pneumatic control sensors detect changes in the flight environment, such as wind speed, air density and other external factors. These environmental factors will affect the trajectory and speed of the aircraft. The pneumatic control sensors pass this data to the composite guidance algorithm module so that the guidance control system can be more finely adjusted and optimized.

[0113] The working principle of the aircraft actuator is as follows:

[0114] Engine thrust control: Engine thrust is an important factor in adjusting the flight time of an aircraft. By adjusting the thrust in real time, the system can control the acceleration and speed of the aircraft to ensure that the flight time constraints can be met. When the system detects a flight time deviation, the thrust adjustment can accelerate or decelerate the aircraft to correct the flight time.

[0115] Pneumatic control surfaces and attitude control system: The attitude and trajectory of the aircraft are mainly adjusted by pneumatic control surfaces and thrust vector control system. Pneumatic control surfaces are used to adjust the heading and angle of the aircraft, and the thrust vector control system directly affects the attitude of the aircraft by changing the direction of the engine nozzle. When the aircraft approaches the target, these control mechanisms help the system correct the flight attitude to ensure the accuracy of the landing angle.

[0116] The specific application fields or related products of the present invention.

[0117] (I) Example 1: Flight time and landing angle control in precision strike mission

[0118] Mission description: A missile is launched to strike a high-value target on the ground. The mission requires the missile to reach the target point within 300 seconds, and the terminal landing angle is 80 degrees to ensure vertical penetration of the target and achieve the best destruction effect. The mission scenario is a long-range precision strike, and the ground wind speed varies greatly, which interferes with the flight trajectory and time of the aircraft.

[0119] System implementation steps:

[0120] 1. Flight trajectory planning:

[0121] Before launching, the system preliminarily plans the flight trajectory based on the target location and mission requirements. Since the mission scenario is a long-range strike, the optimal range and power consumption of the aircraft need to be considered. The multi-objective optimization algorithm uses flight time and landing angle as constraints to generate the optimal trajectory.

[0122] 2. Flight time estimation and adjustment:

[0123] After the missile is launched, the flight time calculation module monitors the missile's flight speed and position in real time, and obtains accurate flight data through GPS and inertial navigation systems. Based on the real-time flight time estimation, the system detects that the missile is affected by the wind speed and its speed has dropped. To ensure that it reaches the target within 300 seconds, the system increases the engine thrust to accelerate the missile and finally adjusts it to the predetermined flight time.

[0124] 3. Falling angle correction and control:

[0125] When the missile approaches the target, the angle calculation module starts to work. It detects that the missile's attitude angle deviates from the preset 80-degree angle, and the angle error is 5 degrees. The system adjusts the aerodynamic control surface and thrust vector control system to correct the missile's attitude, ultimately ensuring that the missile hits the target at an accurate 80-degree angle and achieves vertical penetration.

[0126] Effect: This embodiment uses a composite guidance algorithm to accurately control the flight time and landing angle of the missile, overcomes the interference of wind speed changes on the flight trajectory and time, and achieves long-range high-precision strikes.

[0127] (II) Embodiment 2: Time-of-flight synchronization control in multi-missile coordinated attack

[0128] Mission description: Two missiles are launched simultaneously, targeting two high-value enemy facilities. The two missiles are required to reach their respective targets at the same time under different trajectories, and the terminal landing angles are 70 degrees and 85 degrees respectively. The mission requirement is to achieve multi-missile coordinated attack to avoid early or delayed arrival affecting the attack effect.

[0129] System implementation steps:

[0130] 1. Flight trajectory planning:

[0131] The system independently plans the flight trajectory for each missile. The flight paths of the two missiles are different, but the final arrival time is required to be the same. Based on a multi-objective optimization algorithm, the system not only ensures the flight time and landing angle requirements of each missile, but also synchronizes the flight time of the two. After the trajectory planning is completed, the missile begins to fly.

[0132] 2. Dynamic adjustment during flight:

[0133] During the flight, due to the different dynamic characteristics of the two missiles, the flight time calculation module found that the flight time of the first missile was slightly faster than the scheduled time, while the flight time of the second missile was slightly slower due to air flow resistance. The system uses a composite guidance algorithm to adjust the thrust of the two missiles in real time, slowing down the speed of the first missile and accelerating the second missile to ensure that the two missiles are synchronized when they reach the target.

[0134] 3. Angle control:

[0135] When the two missiles approach the target, the angle calculation module controls the angle of impact of the two missiles respectively. The first missile is required to hit the target at an angle of 70 degrees, and the second missile is required to hit the target at an angle of 85 degrees. Based on real-time data, the system adjusts the aerodynamic control surfaces and attitude control to ensure that the two missiles successfully hit the target at the predetermined angle of impact.

[0136] Effect: This embodiment demonstrates the superior performance of the system in multi-missile coordinated attack missions. By dynamically adjusting the flight time and landing angle control, it ensures that the two missiles reach the target at the same time and strike accurately at different landing angles, thus improving the coordinated efficiency of the operation.

[0137] It should be noted that the embodiments of the present invention can be implemented by hardware, software, or a combination of software and hardware. The hardware part can be implemented using dedicated logic; the software part can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware. It can be understood by a person of ordinary skill in the art that the above-mentioned devices and methods can be implemented using computer executable instructions and / or contained in a processor control code, such as a carrier medium such as a disk, CD or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. Such code is provided on the carrier medium. The device and its modules of the present invention can be implemented by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., can also be implemented by software executed by various types of processors, and can also be implemented by a combination of the above-mentioned hardware circuits and software, such as firmware.

[0138] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principle of the present invention should be covered by the protection scope of the present invention.

Claims

1. A guidance and control method for a composite guided aircraft considering the flight angle constraint, characterized in that: The method comprises the following steps: S1: Input the target values ​​of flight time and terminal landing angle according to the requirements of the flight mission; S2: Perform flight trajectory planning before launch and pre-calculate the flight trajectory using trajectory optimization algorithms; S3: During the flight, the remaining flight time is estimated in real time, and feedback and adjustment are made to the flight time error; S4: When approaching the target, the landing angle error is calculated in real time, and the landing angle is corrected through the attitude control module; S5: Adopts nonlinear optimal control algorithm to comprehensively balance the dual constraints of flight time and landing angle; S6: Controls the aircraft's actuators, including engine thrust, rudder angle, attitude control nozzle, etc., and adjusts the aircraft's flight status in real time; S7: When the aircraft is about to reach the target, make the final landing point correction to ensure that it hits the target at a precise landing angle.

2. The guidance control method according to claim 1, characterized in that: The flight time estimation step (S3) is based on an extended Kalman filter (EKF) algorithm, which integrates an inertial navigation system (IMU) and GPS data in real time to accurately estimate the current position, speed and remaining flight time of the missile, and dynamically corrects the error between the planned trajectory to ensure that the missile reaches the target according to the scheduled flight time; The flight mission requirements of S1 include clear settings for flight time and landing angle. Flight time refers to the total time it takes for the aircraft to reach the target from the launch point, and landing angle refers to the angle between the aircraft and the horizontal plane when it hits the target. The guidance system uses these target values ​​as a control benchmark and begins to control the flight path of the aircraft in real time.

3. The guidance and control method for a composite guided aircraft taking into account the flight angle constraint as claimed in claim 1, characterized in that: Said S2, the guidance and control system performs preliminary flight trajectory planning before the start of flight according to the initial state of the aircraft, the target position and the mission requirements. The trajectory planning is based on the dynamic model of the aircraft and ensures the balance between the flight time and the landing angle through a multi-objective optimization algorithm.

4. The guidance and control method for a composite guided aircraft taking into account the flight angle constraint as claimed in claim 1, characterized in that: In S3, during the flight, the flight time calculation module will estimate in real time the remaining time for the current aircraft to reach the target based on the current position, speed, altitude and other parameters of the aircraft. The real-time position data provided by the aircraft's inertial navigation system and GPS are used as input for the flight time estimation. The system will generate a feedback signal based on the calculated flight time error, adjust the thrust and flight trajectory, and ensure that the flight time error is minimized.

5. The guidance and control method for a composite guided aircraft taking into account the flight angle constraint as claimed in claim 1, characterized in that: The S4 calculates the attitude angle and speed of the aircraft in real time through the landing angle calculation module to ensure that the landing angle error is within a controllable range. If the system detects a landing angle deviation, the attitude control system corrects the aircraft attitude by adjusting the aerodynamic control surfaces or thrust vectors to ensure that the target is hit at a suitable angle.

6. The guidance and control method for a composite guided aircraft taking into account the flight angle constraint as claimed in claim 1, characterized in that: The S5 dynamically adjusts the flight trajectory and attitude of the aircraft in real time based on nonlinear optimal control theory. The system uses the flight time and landing angle as optimization functions to ensure that the aircraft can reach the target on time and hit the target at a predetermined landing angle during the entire flight process.

7. The guidance and control method for a composite guided aircraft taking into account the flight angle constraint as claimed in claim 1, characterized in that: The correction operation in the terminal phase of S7 is completed by aerodynamic control surfaces and thrust vector control systems to ensure that the aircraft hits the target with the best attitude and angle; if the system detects that the landing point is deviated, the aircraft can also correct the landing point by adjusting the attitude.

8. The guidance control method according to any one of claims 1 or 2, characterized in that: In step S4, the attitude control module adjusts the control surface angle and the nozzle spray force of the aircraft in real time based on the proportional integral derivative (PID) control algorithm, dynamically corrects the landing angle error, and ensures that the aircraft can be accurately adjusted to the predetermined landing angle when approaching the target; The nonlinear optimal control algorithm optimizes the flight path by means of a genetic algorithm (GA) in step S5, and selects the optimal attitude control parameters under the dual constraints of flight time and terminal landing angle to ensure trajectory correction and attitude adjustment of the aircraft in a complex environment; The final landing point correction step S7 combines the extended Kalman filter (EKF) algorithm with the adaptive control technology to monitor the landing angle deviation of the aircraft in real time, and realizes the terminal trajectory correction of the aircraft by accurately adjusting the thrust and attitude control nozzle according to the target position and the current flight status.

9. A composite guidance aircraft guidance control system based on taking into account the flight angle constraint as described in claims 1-8, characterized in that: The system specifically includes: (1) Aircraft guidance control unit, including flight time calculation module, landing angle calculation module, composite guidance algorithm module and flight state estimation module: The flight time calculation module estimates the remaining time for the current aircraft to reach the target in real time based on the flight trajectory and aircraft dynamics model, and satisfies the flight time constraints through feedback adjustment; The landing angle calculation module calculates the landing angle error based on the target position and the current state of the aircraft, and corrects the flight attitude and speed through control instructions to ensure that the landing angle is within the required range; Composite guidance algorithm module: It integrates the optimization control algorithm of flight time and landing angle constraints, and can dynamically adjust the flight trajectory and attitude during the flight process, so that the flight time and landing angle meet the mission requirements. Based on the nonlinear optimal control theory, a composite guidance control model is established. Through the multi-objective optimization method, the thrust, angular velocity, attitude control and other parameters of the aircraft are adjusted in real time to ensure the dual constraints of flight time and landing angle; (2) Sensor system: It includes a sophisticated inertial navigation system (INS) and a satellite positioning system (GPS), which can obtain the aircraft's speed, acceleration, and attitude angle information in real time, providing accurate input for the guidance and control algorithm. The system also integrates a pneumatic control sensor to monitor the flight environment parameters in real time, assisting the control algorithm in more refined trajectory optimization. (3) Aircraft actuator: It controls the aircraft's engine thrust, aerodynamic control surfaces, and attitude control system to execute the output of the guidance and control algorithm in real time and adjust the flight trajectory.

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