Aircraft attack and defense confrontation guidance system and method based on practical Byzantine fault-tolerant estimation

Abstract

The present invention discloses an aircraft attack and defense confrontation guidance system and method based on practical Byzantine fault-tolerant estimation, including an application layer, a contract layer, a control layer, a data layer and a network layer; the application layer is used for the actual application scenarios at each stage in the missile interception process, and the blockchain technology used is applied in different aspects in the multi-target interception process, and the relevant battlefield situation information of the specific interception state is sent to the contract layer and the data layer in time; the control layer is used to analyze and integrate the data processed by the contract layer, make self-decision, form a control amount, and the control amount acts on the steering gear control mechanism to adjust the interception missiles of our side in the overall battlefield. The present invention can effectively improve the multi-target interception probability of interception missiles, improve the interception accuracy of interception missiles, reduce the amount of misses, and improve the security of data transmission under the system architecture.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft guidance, and in particular to an aircraft attack and defense confrontation guidance system and method based on practical Byzantine fault-tolerant estimation. Background Art

[0002] The traditional multi-target interception technology of swarm missile systems based on central nodes and trust environments has gradually matured, and the research focus has shifted from the development of traditional interceptor missiles to multi-target interception and multi-warhead interception. With the complexity and diversification of interceptor missile application mission scenarios, interceptor missiles need to perform a large amount of data transmission and calculation during flight. The traditional interceptor missile design trajectory is heavily dependent on the known flight trajectory of the enemy's incoming missile, and the enemy missile's position at a certain moment in the future is predicted and then intercepted.

[0003] Invention CN110186328A discloses a missile allocation method and system for multi-target interception. The method includes: obtaining the number of missiles, flight parameters and flight parameters of enemy targets, and calculating the final missile allocation result according to the weapon target allocation model. Invention CN103884237A combines the multi-to-one collaborative guidance method based on target probability distribution information with the state value of the interceptor, and applies Kalman filtering to process the above relative motion measurement information to obtain the estimated value of the target state at the current moment, and obtain the probability density function of the target terminal position at the moment. The disadvantage of the above two methods is that there is no information sharing and data fusion. There are certain problems. First, the system lacks robustness. The central node is the "bottleneck" of the entire system. If the node fails, is damaged or interfered, it will cause the collapse of the entire system. Second, each slave missile needs to continuously transmit its own state and detected information to the central node, which places high demands on the reliability of the missile group communication link. Third, all calculations are concentrated on the leading missile, the amount of calculation is large, the complexity of the solution is high, it takes a long time for large-scale complex problems, and it is difficult to find the optimal solution. Fourth, this design idea cannot well guarantee the security and stability of data transmission, and the success rate of target interception in the later stage cannot be effectively guaranteed. Therefore, how to provide an aircraft attack and defense confrontation guidance system and method based on practical Byzantine fault tolerance estimation is an urgent problem to be solved by those skilled in the art. Summary of the invention

[0004] One purpose of the present invention is to propose an aircraft attack and defense confrontation guidance system and method based on practical Byzantine fault-tolerant estimation. The present invention can effectively improve the multi-target interception probability of interceptor missiles, improve the interception accuracy of interceptor missiles, reduce the amount of misses, and improve the security of data transmission under the system architecture.

[0005] An aircraft attack and defense confrontation guidance system and method based on practical Byzantine fault-tolerant estimation according to an embodiment of the present invention includes an application layer, a contract layer, a control layer, a data layer and a network layer;

[0006] The application layer is used for actual application scenarios at various stages of the missile interception process. The blockchain technology used is applied in different aspects during the multi-target interception process, and the battlefield situation information related to the specific interception status is sent to the contract layer and the data layer in a timely manner;

[0007] The contract layer is used to analyze and judge the battlefield situation information and interception effect data sent by the application layer, and transmit the final information to the control layer after processing;

[0008] The control layer is used to analyze and integrate the data processed by the contract layer, make self-decision, and form control quantities. The control quantities act on the steering gear control mechanism to adjust our interception missiles in the overall battlefield;

[0009] The data layer is used to store the data of both sides. The data of both sides obtained by radar, early warning aircraft and ground station reconnaissance are stored here for blockchain data analysis.

[0010] The network layer is used to encrypt and transmit data between the application layer, contract layer, control layer, and data layer, and take countermeasures against our intercepted missiles through communication protocols, data encryption encapsulation protocols, and identity recognition and authentication methods.

[0011] Preferably, the application layer includes coordinated launch, ballistic flight, coordinated guidance, terminal strike, and attack and defense confrontation.

[0012] Preferably, the battlefield situation information includes attacker information, target information and threat information, and decision analysis is performed based on the acquired information.

[0013] Preferably, the method comprises the following steps:

[0014] S1. Obtain battlefield situation information

[0015] Determine target information and intercept missile information, and initialize target position, target speed, intercept missile position, and intercept missile speed. Share information between intercept missiles, coordinate operations, and obtain corresponding battlefield situation information.

[0016] S2. Build an aircraft model

[0017] Initialize the prior information, build the flight model of the interceptor missile, and input the acquired situation information into the model;

[0018] S3, information data processing and data transmission encryption

[0019] A practical Byzantine consensus mechanism is used to count data, remove malicious nodes, obtain honest nodes, summarize the processed data, and use blockchain technology for encrypted transmission to transmit data information to each interceptor missile;

[0020] S4. Use terminal guidance law to intercept enemy missiles;

[0021] S5. Interception Expectation Judgment

[0022] Determine whether the aircraft has achieved the interception effect:

[0023] If yes, the interception ends; if no, return to S3.

[0024] Preferably, the prior information in S2 includes attacker information, target information, and threat information. The prior information in S2 also includes target interception point information, enemy missile initial speed information, enemy missile position information, enemy missile pitch angle information, and our intercepted missile initial position information and speed information.

[0025] Preferably, the mathematical model for establishing the aircraft model includes:

[0026] In the ground coordinate system, the missile and target approach speed and approach acceleration are:

[0027]

[0028] Where: a Mr , a Mθ , a Mψ is the three-axis component of the interceptor missile acceleration; a Tr , a Tθ , a Tψ are the three-axis components of target acceleration;

[0029] From the above formula, we can get:

[0030]

[0031] Preferably, the use of a practical Byzantine fault-tolerant consensus mechanism will:

[0032]

[0033] The recursion is:

[0034]

[0035] Among them, i and j represent the number of enemy missiles and the number of our interceptor missiles respectively; the complex motion model of the interceptor missile group and the interceptor missile group during information transmission is accurately described.

[0036] Preferably, the use of the terminal guidance law to intercept the enemy missile includes using a coordinated guidance law of multiple interceptor missiles to attack the target in time coordination, and estimating the total disturbance of the system based on the ESO to obtain:

[0037]

[0038] Where: Pick The equation of motion of the projectile in the plane can be obtained, let x3 = f, The expanded system is obtained:

[0039]

[0040] According to the ESO theory, the following extended state observer is designed for the system:

[0041]

[0042] in:

[0043] f i =fal(e,α 0i ,δ),i=1,2;

[0044] δ is the ESO parameter;

[0045] z j It is x j Observation values, j = 1, 2, 3.

[0046] Preferably, the time coordinated attack target guidance law design includes designing a sliding mode surface and an adaptive sliding mode reaching law:

[0047] s=R[x2+(t d -t)sgn x2];

[0048]

[0049] Where:

[0050] t l It is the shortest attack time of the first missile when it strikes the target alone at the beginning of the final guidance;

[0051] Select the Lyapunov function Easy to prove According to the approaching law, when R increases, the approaching speed will decrease, so as to reduce the overload required during the missile maneuvering process; when R decreases, the approaching speed will increase, so as to ensure that the line of sight does not diverge and improve the missile's hit accuracy.

[0052] From the above formula, we can get:

[0053]

[0054] Bring in:

[0055]

[0056] In the formula: k1, k2, ε1, ε2 are the corresponding proportional coefficients respectively.

[0057] Preferably, after completing the replacement of data information, blockchain technology is introduced, and the block algorithm is used to encrypt the transmission key of power communication data. According to the topological structure of the transmission network, a channel model that can support the effective transmission of communication data is constructed to connect multiple sub-blocks in the block. Assuming that the width of the blockchain is expressed as D, the description of D can be expressed as:

[0058] D={i(x,y)|x∈I i ∩I s , y∈I};

[0059] In the formula, D represents the width of the blockchain; i represents the main block; x represents the horizontal data of the main block; Y represents the vertical data in the main block i; I i Represents the survival block information; I s Indicated as free block;

[0060] When transmitting communication data, i continuously transmits information to the front end. Assuming that the link center is the data transmission channel node, the connection method between different blocks can be expressed as:

[0061] I c =λI∩D;

[0062] In the formula, λ represents the adjacent block. Define λ=n, then the adjacent block information can be expressed as n+1, n+2, n-1, n-2. Substituting it into the above formula, we can get two consecutive block information. At this time, the data transmission between blocks can be interconnected. On this basis, an independent key is added in the connection area of ​​the block, and the RSA symmetric algorithm is integrated on the basis of the independent key to increase the key length.

[0063] The beneficial effects of the present invention are:

[0064] The purpose of the present invention is to use blockchain technology to propose a new missile interception system architecture, combining the practical Byzantine fault-tolerant consensus mechanism algorithm of blockchain with multi-target interception, which is mainly used to intercept missiles in uncertain environments, with parameter disturbances, sudden failures, large amounts of data transmission, etc., to overcome various interferences and threats. After decentralization, the computing power is small and the autonomy is strong. The battlefield situation information is obtained in real time, and the parameters are adjusted to meet the current battlefield applications, thereby ensuring that the interceptor missiles stably complete the interception mission of the enemy's incoming missiles, effectively improving the multi-target interception probability of the interceptor missiles, improving the interception accuracy of the interceptor missiles, reducing the amount of misses, and improving the security of data transmission under the system architecture. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] In the attached picture:

[0066] Figure 1 A method flow chart of an aircraft attack and defense confrontation guidance system and method thereof based on practical Byzantine fault-tolerant estimation proposed by the present invention;

[0067] Figure 2 This is a system structure diagram of the aircraft attack and defense confrontation guidance system based on practical Byzantine fault-tolerant estimation proposed by the present invention;

[0068] Figure 3 A system network block diagram of an aircraft attack and defense confrontation guidance system based on practical Byzantine fault-tolerant estimation proposed by the present invention;

[0069] Figure 4 A schematic diagram of information interaction of multiple interception units of an aircraft attack and defense confrontation guidance system based on practical Byzantine fault-tolerant estimation proposed by the present invention;

[0070] Figure 5 This is a schematic diagram of information interaction among multiple interception units of malicious nodes in the aircraft attack and defense confrontation guidance system based on practical Byzantine fault tolerance estimation proposed by the present invention. DETAILED DESCRIPTION

[0071] The present invention will now be described in further detail with reference to the accompanying drawings. Figure 1 , an aircraft attack and defense confrontation guidance system and method based on practical Byzantine fault-tolerant estimation, including an application layer, a contract layer, a control layer, a data layer and a network layer;

[0072] The application layer is used for actual application scenarios at various stages of the missile interception process. The blockchain technology used is applied in different aspects during the multi-target interception process, and the battlefield situation information related to the specific interception status is sent to the contract layer and the data layer in a timely manner;

[0073] The contract layer is used to analyze and judge the battlefield situation information and interception effect data sent by the application layer, and transmit the final information to the control layer after processing;

[0074] The control layer is used to analyze and integrate the data processed by the contract layer, make self-decision, and form control quantities. The control quantities act on the steering gear control mechanism to adjust our interception missiles in the overall battlefield;

[0075] The data layer is used to store the data of both sides. The data of both sides obtained by radar, early warning aircraft and ground station reconnaissance are stored here for blockchain data analysis.

[0076] The network layer is used to encrypt and transmit data between the application layer, contract layer, control layer, and data layer, and take countermeasures against our intercepted missiles through communication protocols, data encryption encapsulation protocols, and identity recognition and authentication methods.

[0077] The application layer includes coordinated launch, ballistic flight, coordinated guidance, terminal strike, and attack and defense confrontation.

[0078] The battlefield situation information includes attacker information, target information and threat information, and decision analysis is performed based on the acquired information.

[0079] refer to Figure 2 , which shows the complete system proposed by the present invention. Different modules in the system contain different hierarchical structures. As the execution actions are different, the hierarchical structures involved are also different. The framework structure of the entire design is in the missile-borne computer in our interceptor missile and exists in the missile-borne server. The different hierarchical structures represent the flight modules in the missile. When the sensor obtains the battlefield situation information, it processes the information, and the missile-borne computer will automatically determine the final execution program mechanism and hierarchy after calculation.

[0080] The method comprises the following steps:

[0081] S1. Obtain battlefield situation information

[0082] Determine target information and intercept missile information, and initialize target position, target speed, intercept missile position, and intercept missile speed. Share information between intercept missiles, coordinate operations, and obtain corresponding battlefield situation information.

[0083] S2. Build an aircraft model

[0084] Initialize the prior information, build the flight model of the interceptor missile, and input the acquired situation information into the model;

[0085] S3, information data processing and data transmission encryption

[0086] A practical Byzantine consensus mechanism is used to count data, remove malicious nodes, obtain honest nodes, summarize the processed data, and use blockchain technology for encrypted transmission to transmit data information to each interceptor missile;

[0087] S4. Use terminal guidance law to intercept enemy missiles;

[0088] S5. Interception Expectation Judgment

[0089] Determine whether the aircraft has achieved the interception effect:

[0090] If yes, the interception ends; if no, return to S3.

[0091] The method includes an information model of blockchain technology, a mathematical model of relative motion between missiles and targets based on a line-of-sight coordinate system, a multi-missile cooperative guidance law based on an extended state observer, and data transmission encryption. The method exists in the contract layer, data layer, network layer, and control layer of the system.

[0092] The information model of the blockchain technology includes the interceptor aircraft model, the enemy incoming missile model, the attitude and position information of both enemy and friendly aircraft, etc. The above method exists in the data layer of the system.

[0093] The prior information in S2 includes attacker information, target information, and threat information. The prior information in S2 also includes target interception point information, enemy missile initial speed information, enemy missile position information, enemy missile pitch angle information, and our intercepted missile initial position information and speed information.

[0094] The mathematical model for establishing the aircraft model includes:

[0095] According to the conversion between coordinates, we can get the conversion relationship matrix between ground coordinates and sight coordinates:

[0096]

[0097] Where:

[0098]

[0099] Use i L , j L , k L Expressing the unit length vectors in the three directions in the line of sight coordinate system, the relative distance R between the missile and the target during the missile attack can be expressed as:

[0100]

[0101] In the ground coordinate system, the missile and target approach speed and approach acceleration are:

[0102]

[0103]

[0104] Where: a Mr , a Mθ , a Mψ is the three-axis component of acceleration in the coordinate system; a Tr , a Tθ , a Tψ are the three-axis components of the enemy missile's acceleration in the line-of-sight coordinate system;

[0105] From the above formula, we can get:

[0106]

[0107] Preferably, the use of a practical Byzantine fault-tolerant consensus mechanism will:

[0108]

[0109] because Bring in The actual guidance law only needs to control a Mθ and a Mψ That's it.

[0110] Through analysis, it can be obtained that the input is the components on the three axes, the sight height angle q θ , sight angle q ψ The output is the missile acceleration components on the three axes of the line of sight coordinate system. Mθ and a Mψ The terminal guidance law can be adjusted to achieve the purpose of interception. In the actual flight process, the input and output of the model are not obtained directly, but are obtained through measurement and calculation, and during the flight, the enemy and our side will have multiple missiles interacting. Therefore, the practical Byzantine fault-tolerant consensus mechanism will become the key to information transmission. The above formula can be further rewritten as:

[0111]

[0112] Among them, i and j represent the number of enemy missiles and the number of our interceptor missiles respectively; the complex motion model of the interceptor missile group and the interceptor missile group during information transmission is accurately described.

[0113] refer to Figure 4 , which shows the information interaction between multiple interception units, providing battlefield situation information to our interception missiles. For example: According to the above algorithm, the line of sight height angle qθ , sight angle q ψ After the interceptor missile obtains the relevant information, it transmits the data. The practical Byzantine fault-tolerant consensus mechanism algorithm is used. The green circle represents the number of our interceptors. The real-time information of each step is transmitted and interacted between the interceptors. Finally, the number of times each interceptor missile obtains the same information is counted, so as to effectively identify the accuracy of the information. The guidance instruction is obtained through the terminal guidance law algorithm.

[0114] In actual combat scenarios, the terminal guidance law involves complex and large amounts of information. Interceptors need accurate and effective information to intercept incoming enemy missiles. This algorithm is designed based on blockchain to increase the stability and reliability of the system and solve problems such as lengthy and difficult-to-judge information.

[0115] A third-order extended state observer is designed to achieve the time-coordinated attack target, and the total disturbance of the system based on ESO is estimated to be:

[0116]

[0117] Where: Pick The relative motion equation of the projectile and the target can be obtained, let x3 = f, The expanded system is obtained:

[0118]

[0119] According to the ESO theory, the following extended state observer is designed for the system:

[0120]

[0121] in:

[0122] f i =fal(e,α 0i ,δ),i=1,2;

[0123] δ is the ESO parameter;

[0124] z j It is x j Observation values, j = 1, 2, 3.

[0125] The time coordinated attack target guidance law design includes designing the sliding mode surface and the adaptive sliding mode reaching law:

[0126] s=R[x2+(t d -t)sgn x2];

[0127]

[0128] Where:

[0129] t l It is the shortest attack time of the first missile when it strikes the target alone at the beginning of the final guidance;

[0130] Select the Lyapunov function Easy to prove

[0131] From the above formula, we can get:

[0132]

[0133] Bring in:

[0134]

[0135] In the formula: k1, k2, ε1, ε2 are the corresponding proportional coefficients respectively.

[0136] refer to Figure 5 , which shows a schematic diagram of information interaction between multiple interception units with malicious nodes. The terminal guidance law mentioned above is designed based on the multi-missile cooperative guidance law of the extended state observer. The above figure describes the information interaction process with malicious nodes. For malicious nodes, a practical Byzantine fault-tolerant consensus mechanism algorithm is used to count the total number of received and sent information, and effective information can be obtained by counting the number.

[0137] After completing the replacement of data information, blockchain technology is introduced, and the block algorithm is used to design the encryption transmission key of power communication data. On this basis, according to the topological structure of the transmission network, a channel model that can support the effective transmission of communication data is constructed to connect multiple sub-blocks in the block. Assuming that the width of the blockchain is expressed as D, the description of D can be expressed as:

[0138] D={i(x,y)|x∈I i ∩I s , y∈I};

[0139] In the formula, D represents the width of the blockchain; i represents the main block; x represents the horizontal data of the main block; Y represents the vertical data in the main block i; I i Represents the survival block information; I s Indicated as free block;

[0140] When transmitting communication data, i continuously transmits information to the front end. Assuming that the link center is the data transmission channel node, the connection method between different blocks can be expressed as:

[0141] Ic =λI∩D;

[0142] In the formula, λ represents the adjacent block. Define λ = n, then the adjacent block information can be expressed as n+1, n+2, n-1, n-2. Substituting it into the above formula, two consecutive block information can be obtained. At this time, the data transmission between blocks can be interconnected. On this basis, an independent key is added in the connection area of ​​the block, and the RSA symmetric algorithm is integrated on the basis of the independent key. In this way, the length of the key is increased, thereby increasing the difficulty of key cracking and improving the security and reliability of power communication data during transmission.

[0143] At the same time, during the interception and strike phase, the system computer will automatically plan possible interception nodes, make decisions based on the information transmitted by the blockchain, and ultimately determine the specific location of the landing point, thereby implementing an effective strike.

[0144] Example:

[0145] S1, initializing the target position initial conditions, the target velocity initial conditions, the missile position initial conditions, and the missile velocity initial conditions. In this embodiment, the simulation is a situation where 6 interceptor missiles attack 3 enemy missiles in a three-dimensional space;

[0146] Missiles 1 and 4 attack target 1, missiles 2 and 5 attack target 2, and missiles 3 and 6 attack target 3. The simulation step is set to 0.001s. The initial conditions of the three targets and six missiles are shown in Table 1, Table 2, Table 3, and Table 4, respectively. In Tables 1-4, Y, X, and Z are the flight altitudes of the missiles and targets and the distances in longitude and latitude, respectively:

[0147] Table 1 Target position initial conditions

[0148] Tab.2 Target position initial condition

[0149]

[0150] Table 2 Target speed initial conditions

[0151] Tab.3 Target speed initial condition

[0152]

[0153] Table 3 Initial conditions of missile position

[0154] Tab.4 Initial conditions of missile position

[0155]

[0156] Table 4 Initial conditions of missile speed

[0157] Tab.5 Missile velocity initial condition

[0158]

[0159] S2. Initialize the aircraft situation information, including initializing the aircraft position information x, y, z, speed information Vx, Vy, Vz, and sight height angle q θ , sight angle q ψ ,

[0160] S3, pass the information to other interceptors, the interceptor 1 passes the information to interceptors 2, 3, 4, 5, 6; after interceptors 2, 3, 4, 5, 6 receive the information request sent by interceptor 1, in order to ensure the accuracy and correctness of the instruction and exclude malicious nodes, the instruction is broadcast, which is also called sending and resending. After interceptors 1, 2, 3, 4, 5, 6 receive the information request sent by interceptors 2, 3, 4, 5, they continue to repeat the above steps and process the information by sending. After repeating the above steps, when one of the interceptor units in the interceptor receives more than 2F+1 of the same instructions, the information adjustment is performed on the launch interception unit of the entire launch system, and the guidance instruction and other related parameter information are modified. F represents the number of malicious or problematic interceptors; N represents the total number of interceptors.

[0161] S4,

[0162] D={i(x,y)|x∈I i ∩I s , y∈I};

[0163] In the above formula, D represents the width of the blockchain; i represents the main block; x represents the horizontal data of the main block; Y represents the vertical data in the main block i; I i Represents the survival block information; I s Indicated as an idle block. When transmitting communication data, i continuously transmits information to the front end. Assuming that the link center is the data transmission channel node, the connection method between different blocks can be expressed as:

[0164] I c =λI∩D;

[0165] In the above formula, λ represents the adjacent block. Define λ=n, then the adjacent block information can be expressed as n+1, n+2, n-1, n-2. Substituting it into the above formula, we can get two consecutive block information. At this time, the data transmission between blocks can be interconnected. On this basis, an independent key is added in the connection area of ​​the block, and the RSA symmetric algorithm is integrated on the basis of the independent key.

[0166] S5,

[0167]

[0168] The above formula describes the terminal guidance law designed by the sliding surface, which are the guidance law parameter adjustment methods of the pitch channel and the yaw channel respectively;

[0169] Where: k1, k2, ε1, ε2 are the corresponding proportional coefficients. 01 , α 02 , β 01 , β 02 , β 03 , δ is the ESO parameter. j It is x j Observed values, j = 1, 2, 3; t l It is the shortest attack time for the first missile to strike the target alone at the beginning of the final guidance.

[0170] Set the guidance law parameters: α 01 =0.5,α 02 =0.25, β 01 =130,β 02 =420,β 03 =1120, δ=0.1, k1=2.4, k2=1.71, ε1=1, ε2=1; after calculation, a is automatically corrected Mθ and a Mψ Its terminal guidance law can be adjusted to achieve the purpose of interception.

[0171] S6. Determine whether the aircraft has reached the target point: if so, end; if not, return to S3.

[0172] After the implementation example is completed, the present invention carries out verification analysis. In order to verify the effectiveness and robustness of the cooperative guidance law proposed in the present invention, the guidance law parameters are set: α 01 =0.5,α 02 =0.25, β 01 =130,β 02 =420,β 03 =1120, δ=0.1, k1=2.4, k2=1.71, ε1=1, ε2=1. The simulation results are shown in Table 5;

[0173] Table 5 Missile distance and interception time of six missiles

[0174]

[0175] Table 5 shows the miss distance and interception time of the six simulated missiles. From the data, it can be seen that the blockchain-based interception technology has a smaller miss distance and higher interception accuracy than the traditional interception method.

[0176] The purpose of the present invention is to use blockchain technology to propose a new missile interception system architecture, combining the practical Byzantine fault-tolerant consensus mechanism algorithm of blockchain with multi-target interception, which is mainly used to intercept missiles in uncertain environments, with parameter disturbances, sudden failures, large amounts of data transmission, etc., to overcome various interferences and threats. After decentralization, the computing power is small and the autonomy is strong. The battlefield situation information is obtained in real time, and the parameters are adjusted to meet the current battlefield applications, thereby ensuring that the interceptor missiles stably complete the interception mission of the enemy's incoming missiles, effectively improving the multi-target interception probability of the interceptor missiles, improving the interception accuracy of the interceptor missiles, reducing the amount of misses, and improving the security of data transmission under the system architecture.

[0177] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An aircraft attack and defense guidance system based on practical Byzantine fault-tolerant estimation, characterized in that: Includes application layer, contract layer, control layer, data layer and network layer; The application layer is used for actual application scenarios at various stages of the missile interception process. The blockchain technology used is applied in different aspects during the multi-target interception process, and the battlefield situation information related to the specific interception status is sent to the contract layer and the data layer in a timely manner; The contract layer is used to analyze and judge the battlefield situation information and interception effect data sent by the application layer, and transmit the final information to the control layer after processing; The control layer is used to analyze and integrate the data processed by the contract layer, make self-decision, and form control quantities. The control quantities act on the steering gear control mechanism to adjust our interception missiles in the overall battlefield; The data layer is used to store the data of both sides. The data of both sides obtained by radar, early warning aircraft and ground station reconnaissance are stored here for blockchain data analysis. The network layer is used to encrypt and transmit data between the application layer, contract layer, control layer, and data layer, and take countermeasures against our intercepted missiles through communication protocols, data encryption encapsulation protocols, and identity authentication methods; The system uses a practical Byzantine consensus mechanism to count data, remove malicious nodes, obtain honest nodes, summarize the processed data, and use blockchain technology for encrypted transmission to transmit data information to each interceptor missile.

2. The aircraft attack and defense confrontation guidance system based on practical Byzantine fault-tolerant estimation according to claim 1 is characterized in that: The application layer includes coordinated launch, ballistic flight, coordinated guidance, terminal strike, and attack and defense confrontation.

3. The aircraft attack and defense confrontation guidance system based on practical Byzantine fault-tolerant estimation according to claim 1 is characterized in that: The battlefield situation information includes attacker information, target information and threat information, and decision analysis is performed based on the acquired information.

4. The method for guiding and controlling an aircraft attack and defense confrontation guidance system based on practical Byzantine fault-tolerant estimation according to any one of claims 1 to 3, characterized in that: The method comprises the following steps: S1. Obtain battlefield situation information Determine target information and intercept missile information, and initialize target position, target speed, intercept missile position, and intercept missile speed. Share information between intercept missiles, coordinate operations, and obtain corresponding battlefield situation information. S2. Build an aircraft model Initialize the prior information, build the flight model of the interceptor missile, and input the acquired situation information into the model; S3, information data processing and data transmission encryption A practical Byzantine consensus mechanism is used to count data, remove malicious nodes, obtain honest nodes, summarize the processed data, and use blockchain technology for encrypted transmission to transmit data information to each interceptor missile; S4. Use terminal guidance law to intercept enemy missiles; S5. Interception Expectation Judgment Determine whether the aircraft has achieved the interception effect: If yes, the interception ends, if no, return to S3; The prior information in S2 includes attacker information, target information, and threat information. The prior information in S2 also includes target interception point information, enemy missile initial speed information, enemy missile position information, enemy missile pitch angle information, our intercepted missile initial position information, and speed information; The mathematical model for establishing the aircraft model comprises: The origin O of the line of sight coordinate system is taken at the instantaneous center of mass of the missile, Ox L The axis coincides with the missile's line of sight, Oy L The axis is located in the plumb plane containing the missile's line of sight and is perpendicular to Ox L Axis, pointing upward is positive, Oz L The axis is perpendicular to the other two axes and forms a right-hand coordinate system, defining the line of sight height angle q θ is the angle between the missile's line of sight and the horizontal plane, and the line of sight azimuth q ψ It is the angle between the projection of the missile’s sight line in the horizontal plane and the Ax axis of the ground coordinate system; According to the coordinate transformation theory, the transformation relationship between the ground coordinate system and the sight coordinate system can be obtained: Where: Rotation Ω of the line of sight coordinate system relative to the ground coordinate system L The angular velocity is: Use i L , j L , k L Represent the unit vectors of the three axes in the line of sight coordinate system respectively. The relative distance R between the missile and the target during the missile attack can be expressed as: R=Ri L In the ground coordinate system, the approach speed and approach acceleration of the missile and target are: Where: a Mr , a Mθ , a Mψ are the components of the interceptor missile acceleration on the three axes of the line of sight coordinate system; a Tr , a Tθ , a Tψ They are the components of target acceleration on the three axes of the line of sight coordinate system; From the above formula, we can get: The proposed consensus mechanism using Practical Byzantine Fault Tolerance will: The recursion is: Among them, i and j represent the number of enemy missiles and the number of our interceptor missiles respectively; the complex motion model of the interceptor missile group and the interceptor missile group during information transmission is accurately described; The use of the terminal guidance law to intercept the enemy missile includes the coordinated guidance law of multiple interceptor missiles to attack the target in time coordination, and the estimation of the total disturbance of the system based on the ESO is obtained: Where: Decoupling the three-dimensional relative motion of the missile and the target into motion in the longitudinal plane and motion in the lateral plane; Pick The relative motion equation between the missile and the target in the longitudinal plane can be obtained. The sum of the line of sight angle coupling term and the target maneuvering acceleration term in the model is taken as the total disturbance of the system, expanded to the first-order state, and x3 = f. So we get the system after expanding the first-order variables: According to the ESO theory, the following extended state observer is designed for the system: in: fe i =fal(e,a 0i ,d),i=1,2; a 01 ,a 02 ,b 01 ,b 02 ,b 03 ,δ is the ESO parameter; z j is x j Observation values ​​of , j = 1, 2, 3; The time coordinated attack target guidance law design includes designing the sliding surface and the adaptive sliding reaching law: s=R[x2+(t d -t)sgn x2]; Where: t l It is the shortest attack time of the first missile when it strikes the target alone at the beginning of the final guidance; Select the Lyapunov function Easy to prove The sliding surface can hit the target when the missile's line-of-sight angular velocity converges to 0 and meets the attack coordination time requirements. According to the approach law, when R is large, the approach speed is small to reduce the overload required for missile maneuvers; when R is small, the approach speed is large. From the above formula, we can get: Bring in: Where: k1, k2, ε1, ε2 are the corresponding proportional coefficients respectively; After completing the replacement of data information, blockchain technology is introduced, and the block algorithm is used to encrypt the transmission key of power communication data. According to the topological structure of the transmission network, a channel model that can support the effective transmission of communication data is constructed to connect multiple sub-blocks in the block. Assuming that the width of the blockchain is expressed as D, the description of D can be expressed as: D={i(x,y)|x∈I i ∩I s ,y∈I}; In the formula, D represents the width of the blockchain; i represents the main block; x represents the horizontal data of the main block; Y represents the vertical data in the main block i; I i Represents the survival block information; I s Indicated as free block; When transmitting communication data, i continuously transmits information to the front end. Assuming that the link center is the data transmission channel node, the connection method between different blocks can be expressed as: I c =λI∩D; In the formula, λ represents the adjacent block; define λ=n, then the adjacent block information can be expressed as n+1, n+2, n-1, n-2. Substituting it into the above formula, we can get two consecutive block information. At this time, the data transmission between blocks can be interconnected. On this basis, an independent key is added in the connection area of ​​the block, and the RSA symmetric algorithm is integrated on the basis of the independent key to increase the key length.

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