A long-distance gliding jump type guidance and control method

Abstract

The present invention discloses a long-distance gliding and jumping guidance control method, which divides the guidance process into a longitudinal guidance stage and a gliding guidance stage. In the gliding guidance stage, a gliding guidance command is obtained by adding a ballistic climb coefficient related to the ballistic inclination angle to the original longitudinal guidance command, and the gliding guidance command is limited, so as to achieve long-distance gliding guidance control. The long-distance gliding and jumping guidance control method disclosed by the present invention effectively reduces the energy consumption during flight, reduces the heat flux generated during flight, reduces the altitude loss problem of the missile during long-distance gliding, and makes the ballistic trajectory of the long-range missile gradually tend to be stable.

Description

Technical Field

[0001] The present invention relates to a guidance method, in particular to a long-distance gliding and jumping guidance control method, belonging to the field of aircraft control. Background Art

[0002] Traditional long-range aircraft mostly adopt flat flight guidance methods, Qian Xuesen trajectory or gravity compensation and other guidance methods.

[0003] However, for the flat flight guidance method, the energy consumption is large during the flight process, especially in the unpowered gliding stage, and the long-distance gliding task cannot be achieved;

[0004] For the Qian Xuesen trajectory or gravity compensation guidance method, although it can achieve relatively small energy consumption, there is a serious height drop phenomenon, and its applicability is poor in complex environments.

[0005] Due to the above reasons, it is necessary to study a guidance method with small energy consumption and stable flight height to achieve long-distance gliding of the aircraft. Summary of the Invention

[0006] In order to overcome the above problems, the inventor of the present invention has conducted intensive research and proposed a long-distance gliding and jumping guidance control method, which divides the guidance process into a longitudinal guidance stage and a gliding guidance stage. In the gliding guidance stage, a gliding guidance command is obtained by setting a ballistic climb coefficient related to the ballistic inclination angle in the original longitudinal guidance command, and the gliding guidance command is limited, so as to achieve long-distance gliding guidance control.

[0007] Further, a desired height H for entering the gliding stage is preset in the aircraft c , and during the flight, the aircraft continuously detects its flight height H. When H > H c , it enters the gliding guidance stage from the longitudinal guidance stage.

[0008] According to the present invention, the guidance command in the gliding guidance stage is obtained by the following steps:

[0009] S1. Obtain the desired normal force coefficient of the aircraft;

[0010] S2. Obtain the original longitudinal guidance command of the aircraft;

[0011] S3. Set a ballistic climb coefficient in the original longitudinal guidance command to obtain the gliding guidance command of the aircraft;

[0012] S4. Limit the gliding guidance command to obtain the final gliding guidance command of the aircraft.

[0013] In step S1, the desired normal force coefficient of the aircraft at the current moment is obtained by the current Mach number Ma and the angle of attack α of the maximum lift-to-drag ratioL / D max Interpolated to obtain,

[0014] The current Mach number Ma can be expressed as:

[0015]

[0016] Wherein, V represents the flight speed of the aircraft at the current moment, and V c represents the speed of sound at the position where the aircraft is located at the current moment.

[0017] In step S2, the original longitudinal guidance command a c0 can be expressed as:

[0018]

[0019] Wherein, q represents the current dynamic pressure of the airflow of the aircraft, S ref represents the reference area of the aircraft, m represents the mass of the aircraft, and k CN represents the lift correction coefficient.

[0020] In step S3, by setting the ballistic climb coefficient in the original longitudinal guidance command, the aircraft makes a jumping motion, that is, alternately performs a climbing process and a descending process.

[0021] The glide guidance command a yc can be expressed as:

[0022] a yc = k glid_ctrl a c0

[0023] Wherein, a c0 is the original longitudinal guidance command, and k glid_ctrl is the ballistic climb coefficient.

[0024] In a preferred embodiment, the full-course climb ratio control method is adopted to obtain the ballistic climb coefficient k glid_ctrl , and the full-course climb ratio control method includes:

[0025] When the ballistic inclination angle θ B > 0, the ballistic climb coefficient k glid_ctrl is:

[0026]

[0027] When the ballistic inclination angle θ B ≤ 0, the ballistic climb coefficient k glid_ctrl is:

[0028] k glid_ctrl = 1.0

[0029] Among them, θ B represents the actual ballistic inclination angle, and θ B max represents the maximum inclination angle setting.

[0030] In another preferred embodiment, a single-peak climb ratio control method is adopted to obtain the ballistic climb coefficient k glid_ctrl , and the single-peak climb ratio control method includes:

[0031] When the aircraft is in the first jump stage, the ballistic climb coefficient k glid_ctrl is:

[0032]

[0033] When the aircraft is in the remaining jump stages, the ballistic climb coefficient k glid_ctrl is:

[0034] k glid_ctrl = 1.0

[0035] Among them, θ B represents the actual ballistic inclination angle, and θ B max represents the maximum inclination angle setting.

[0036] In another preferred embodiment, a full-course climb index control method is adopted to obtain the ballistic climb coefficient k glid_ctrl , and the full-course climb index control method includes:

[0037] When the ballistic inclination angle θ B > 0, the ballistic climb coefficient k glid_ctrl is:

[0038]

[0039] When the ballistic inclination angle θ B ≤ 0, the ballistic climb coefficient k glid_ctrl is:

[0040] k glid_ctrl = 1.0

[0041] Among them, θ B represents the actual ballistic inclination angle, and θ B max represents the maximum inclination angle setting.

[0042] According to the present invention, in step S4, by comparing the glide guidance command a yc with the maximum allowable positive overload value a yc_max of the aircraft and the maximum allowable negative overload value a yc_min of the aircraft, the glide guidance command is limited,

[0043] When ayc ≥a yc_max When, the final glide guidance command a' yc is expressed as:

[0044] a' yc = a yc_max

[0045] When a yc ≤a yc_min When, the final glide guidance command a' yc is expressed as:

[0046] a' yc = a yc_min

[0047] When a yc_max >a yc >a yc_min When, the final glide guidance command a' yc is expressed as:

[0048] a' yc = a yc .

[0049] The beneficial effects of the present invention include:

[0050] (1) According to the long-distance glide jump-type guidance control method provided by the present invention, the maximum lift-to-drag ratio angle of attack is obtained through aerodynamic parameters as a reference basis for subsequent longitudinal guidance command calculation, effectively reducing the energy consumption during flight.

[0051] (2) According to the long-distance glide jump-type guidance control method provided by the present invention, by changing the maximum ballistic inclination angle setting value, the maximum height of each jump can be adjusted, so that the aircraft can meet the heat flux constraint requirements of the mission, effectively reducing the heat flux generated during flight.

[0052] (3) According to the long-distance glide jump-type guidance control method provided by the present invention, a lift correction coefficient is introduced in obtaining the original longitudinal guidance command, improving the reliability of the guidance control scheme.

[0053] (4) According to the long-distance glide jump-type guidance control method provided by the present invention, a ballistic climb coefficient is introduced in the climb section of each jump, effectively reducing the height loss problem of the missile during long-distance gliding, and making the ballistic trajectory of the long-range missile gradually tend to be stable.

[0054] (5) According to the long-distance glide jump-type guidance control method provided by the present invention, a suitable climb control scheme can be selected according to the flight mission with different characteristics and the missile body characteristics, so as to meet various mission requirements. Description of the Drawings

[0055] Figure 1 Schematic diagram showing a long - range gliding jump - type guidance control method according to a preferred embodiment of the present invention;

[0056] Figure 2 Ballistic trajectory diagrams showing Examples 1 - 3 and Comparative Example 1 of the present invention;

[0057] Figure 3 Curves showing the variation of the ballistic inclination angle in Examples 1 - 3 of the present invention;

[0058] Figure 4 Curves showing the variation of the heat flux in Examples 1 - 3 of the present invention;

[0059] Figure 5 Curves showing the variation of the normal acceleration in Examples 1 - 3 of the present invention. Detailed implementation manners

[0060] The present invention will be further described in detail below with reference to the drawings and examples. Through these descriptions, the features and advantages of the present invention will become more clearly defined.

[0061] The special term "exemplary" here means "serving as an example, embodiment or illustration". Any embodiment described as "exemplary" here does not have to be construed as superior to or better than other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings do not have to be drawn to scale unless otherwise specified.

[0062] The present invention proposes a long - range gliding jump - type guidance control method for a powerless long - range gliding aircraft with maneuvering flight ability. The guidance process of the mid - guidance is divided into a longitudinal guidance stage and a gliding guidance stage. In the gliding guidance stage, a gliding guidance command is obtained by setting a ballistic climb coefficient related to the ballistic inclination angle in the original longitudinal guidance command, and the gliding guidance command is limited, so as to achieve long - range gliding guidance control.

[0063] According to the present invention, there is no special limitation on the guidance command in the longitudinal guidance stage, and it can be any kind of guidance command. For example, guidance commands obtained by a level - flight guidance method, a Qian Xuesen trajectory or a gravity compensation guidance method, etc.

[0064] Furthermore, in the present invention, based on the current position of the aircraft, it is judged whether the aircraft enters the gliding guidance stage.

[0065] Specifically, a desired height H for entering the gliding stage is preset in the aircraft c , and during the flight, the aircraft continuously detects its flight height H. When H > H c , it is judged that the aircraft enters the gliding guidance stage from the longitudinal guidance stage.

[0066] The guidance command in the glide guidance phase is obtained by the following steps:

[0067] S1. Obtain the desired normal force coefficient of the aircraft;

[0068] S2. Obtain the original longitudinal guidance command of the aircraft;

[0069] S3. Set the ballistic climb coefficient in the original longitudinal guidance command to obtain the glide guidance command of the aircraft;

[0070] S4. Limit the glide guidance command to obtain the final glide guidance command of the aircraft.

[0071] In step S1, the desired normal force coefficient of the aircraft at the current moment is obtained by interpolation through the current Mach number Ma and the angle of attack α of the maximum lift-to-drag ratio L / D max Interpolation calculation is a conventional calculation method, and the specific calculation method is not elaborated in the present invention.

[0072] Furthermore, the current Mach number Ma can be expressed as:

[0073]

[0074]

[0075] where V represents the current flight speed of the aircraft, and V c represents the speed of sound at the current position of the aircraft.

[0076] In a preferred embodiment, the speed of sound V at the current position of the aircraft c is obtained by linear interpolation based on the flight altitude H of the aircraft.

[0077] In a preferred embodiment, the angle of attack α of the maximum lift-to-drag ratio L / D max is obtained based on the aerodynamic data of the aircraft according to the variation law of the lift-to-drag ratio with the angle of attack. The angle of attack at which the lift-to-drag ratio of the aircraft is maximum is the angle of attack α of the maximum lift-to-drag ratio L / D max .

[0078] In step S2, the original longitudinal guidance command a c0 can be expressed as:

[0079]

[0080] where q represents the current dynamic pressure of the airflow of the aircraft, S ref represents the reference area of the aircraft, m represents the mass of the aircraft, and k CN represents the lift correction coefficient.

[0081] In the present invention, by introducing a lift correction coefficient, the reliability of the guidance and control scheme is improved. In the present invention, there are no special limitations on the method for obtaining the lift correction coefficient k CN , and those skilled in the art can calculate and obtain it by any method according to experience. For example, it can be obtained based on the missile flight trajectory under the pull-off of the minimum energy combination.

[0082] Furthermore, the current dynamic pressure q of the aircraft can be expressed as:

[0083]

[0084] where ρ represents the atmospheric density at the position of the aircraft and is obtained through linear interpolation based on the flight altitude H of the aircraft.

[0085] In step S3, by setting a ballistic climb coefficient in the original longitudinal guidance command, the aircraft makes a jumping motion, that is, alternately performs a climbing process and a descending process, and its trajectory is as Figure 2 shown, thereby effectively reducing the altitude loss problem of the long-distance gliding of the aircraft, making the ballistic trajectory of the aircraft gradually tend to be stable, and the jumping-type ballistic effectively increases the maneuvering penetration ability of the aircraft, making the aircraft more difficult to be intercepted.

[0086] Specifically, the glide guidance command a yc can be expressed as:

[0087] a yc = k glid_ctrl a c0 (4)

[0088] where a c0 is the original longitudinal guidance command, and k glid_ctrl is the ballistic climb coefficient.

[0089] Furthermore, the ballistic climb coefficient k glid_ctrl is related to the current ballistic inclination angle θ B and the maximum ballistic inclination angle setting θ Bmax . Those skilled in the art can adjust the ballistic climb coefficient k glid_ctrl so as to adjust the glide guidance command a yc to make the aircraft make a jumping motion.

[0090] In a preferred embodiment, when the aircraft needs to control the energy and heat flux throughout the process, the full-course climb proportional control method is used to obtain the ballistic climb coefficient k glid_ctrl .

[0091] The full-course climb proportional control method means that each time the aircraft jumps, when the ballistic inclination angle of the aircraft is greater than 0, it starts to climb, and according to the actual ballistic inclination angle θB With the maximum inclination binding θ B max The proportional numerical relationship of the value gradually weakens the overload command, causing the aircraft to gradually change from the ascending state to the level flight state; when the aircraft turns to descend, the overload command under the condition of the maximum lift-to-drag ratio is restored to make the aircraft climb again.

[0092] Specifically, when the ballistic inclination θ B > 0, the ballistic climb coefficient k glid_ctrl is:

[0093]

[0094] When the ballistic inclination θ B ≤ 0, the ballistic climb coefficient k glid_ctrl is:

[0095] k glid_ctrl = 1.0 (6).

[0096] In a preferred embodiment, when the aircraft needs to maintain a high lift-to-drag ratio and a long gliding distance, the single-peak climb proportional control method is used to obtain the ballistic climb coefficient k glid_ctrl .

[0097] The single-peak climb proportional control means that when the aircraft makes the first jump, when the ballistic inclination is greater than 0, the aircraft starts to climb. According to the proportional numerical relationship between the actual ballistic inclination θ B and the maximum inclination binding θ B max value, the overload command is gradually weakened, causing the aircraft to gradually change from the ascending state to the level flight state. When the aircraft turns to descend, the remaining jumps are made; during the remaining jumps, the aircraft climbs with the overload command under the condition of the maximum lift-to-drag ratio.

[0098] Specifically, when the aircraft is in the first jump stage, the ballistic climb coefficient k glid_ctrl is:

[0099]

[0100] When the aircraft is in the remaining jump stages, the ballistic climb coefficient k glid_ctrl is:

[0101] k glid_ctrl = 1.0 (8)

[0102] Different from the fact that each climb after the first climb in the full-course climb proportional control needs to be decreased by a proportional relationship, the single-peak climb proportional control climbs with the maximum lift-to-drag ratio coefficient after the first climb, thus realizing the maintenance of a high lift-to-drag ratio and a long gliding distance.

[0103] In a preferred embodiment, when the maneuverability of the aircraft is small, the full climb index control method is used to obtain the ballistic climb coefficient k glid_ctrl , and its guidance instructions change more smoothly.

[0104] The whole climb index control method is that when the aircraft jumps each time, when the ballistic inclination angle is greater than 0, it starts to climb, and the actual ballistic inclination angle and the maximum inclination angle are bounded by θ B max The exponential numerical relationship between the values ​​gradually weakens the overload command, so that the aircraft gradually changes from an ascending state to a level flight state; and when the aircraft turns to descend, the overload command under the maximum lift-to-drag ratio condition is restored to climb.

[0105] Specifically, when the trajectory inclination angle θ B >0, the ballistic climb coefficient k glid_ctrl for:

[0106]

[0107] When the trajectory inclination angle θ B ≤0, the ballistic climb coefficient k glid_ctrl for:

[0108] k glid_ctrl =1.0 (10).

[0109] In step S4, by comparing the gliding guidance instruction a yc The maximum permissible positive overload value a of the aircraft yc_max 、The maximum permissible negative overload value of the aircraft a yc_min , limit the gliding guidance instructions to prevent the guidance instructions from exceeding the aircraft hardware capacity.

[0110] In a preferred embodiment, the maximum allowable positive overload value a of the aircraft is yc_max The maximum permissible negative overload value a of the aircraft is calculated in real time based on the lift coefficient generated by the pre-installed angle of attack limit. yc_min The lift coefficient is calculated in real time according to the pre-installed angle of attack limit, and its calculation method is the same as the gliding guidance instruction a in step S3. yc The acquisition method is the same as that of , and will not be described in detail in the present invention.

[0111] Furthermore, the angle of attack limit is set according to the aerodynamic structure performance of the aircraft and the flight mission requirements, and is generally set at an angle of attack of 10°.

[0112] Specifically, when a yc ≥a yc_max When the final glide guidance instruction a′ yc It is expressed as:

[0113] a′ yc =a yc_max (11)

[0114] when a yc ≤a yc_min When the final glide guidance instruction a′ yc It is expressed as:

[0115] a′ yc =a yc_min (12)

[0116] when a yc_max >a yc >a yc_min When the final glide guidance instruction a′ yc It is expressed as:

[0117] a′ yc =a yc (13).

[0118] Example

[0119] Example 1

[0120] A simulation experiment of a remote aircraft is conducted. The reference area S of the remote aircraft is ref 0.35m 2 , the aircraft mass m is 900 kg, and the lift correction factor k CN The maximum ballistic inclination angle is 1.1, and the B max is 5°, and the maximum lift-to-drag ratio angle of attack α is obtained based on its aerodynamic parameters L / D max The mid-range guidance process is divided into the longitudinal guidance stage and the gliding guidance stage. The longitudinal guidance stage adopts the level flight guidance method to obtain the guidance law, and the gliding guidance stage is obtained through the following steps:

[0121] S1. Obtain the expected normal force coefficient of the aircraft;

[0122] S2. Obtaining the original longitudinal guidance command of the aircraft;

[0123] S3, setting the ballistic climb coefficient in the original longitudinal guidance instruction to obtain the aircraft gliding guidance instruction;

[0124] S4. Limit the glide guidance command to obtain the final glide guidance command of the aircraft.

[0125] In step S1, the expected normal force coefficient of the aircraft at the current moment is By the current Mach number Ma and the maximum lift-to-drag ratio angle of attack α L / D max Interpolation is obtained.

[0126] The current Mach number Ma can be expressed as:

[0127]

[0128] The speed of sound V at the current position of the aircraft c is obtained by linear interpolation based on the flight altitude H of the aircraft.

[0129] In step S2, the original longitudinal guidance command a c0 is:

[0130]

[0131] Furthermore, the current dynamic pressure q of the airflow of the aircraft is:

[0132]

[0133] where ρ represents the atmospheric density at the position of the aircraft and is obtained by linear interpolation through the flight altitude H of the aircraft.

[0134] In step S3, by setting a ballistic climb coefficient in the original longitudinal guidance command, the aircraft makes a jump motion, and the glide guidance command a yc is:

[0135] a yc = k glid_ctrl a c0 (4)

[0136] The ballistic climb coefficient k is obtained by using a full-course climb ratio control method glid_ctrl , when the ballistic inclination angle θ B > 0, the ballistic climb coefficient k glid_ctrl is:

[0137]

[0138] When the ballistic inclination angle θ B ≤ 0, the ballistic climb coefficient k glid_ctrl is:

[0139] k glid_ctrl = 1.0 (6)

[0140] In step S4, the maximum allowable positive overload value a yc_max of the aircraft and the maximum allowable negative overload value a yc_min of the aircraft are calculated in real time according to the lift coefficient generated at a pre-installed angle of attack of 10°;

[0141] When a yc ≥ a yc_max , the final glide guidance command a' yc is:

[0142] a′ yc = a yc_max (11)

[0143] When a yc ≤ a yc_min the final glide guidance command a′ yc is:

[0144] a′ yc = a yc_min (12)

[0145] When a yc_max >a yc >a yc_min the final glide guidance command a′ yc is expressed as:

[0146] a′ yc = a yc (13)

[0147] Example 2

[0148] The same experiment as in Example 1 is carried out, except that in step S3, the full-course climb ratio control method is used to obtain the ballistic climb coefficient k glid_ctrl When the aircraft is in the first jump stage, the ballistic climb coefficient k glid_ctrl is:

[0149]

[0150] When the aircraft is in the remaining jump stages, the ballistic climb coefficient k glid_ctrl is:

[0151] k glid_ctrl = 1.0 (8)

[0152] Example 3

[0153] The same experiment as in Example 1 is carried out, except that in step S3, the full-course climb index control method is used to obtain the ballistic climb coefficient k glid_ctrl When the ballistic inclination angle θ B >0, the ballistic climb coefficient k glid_ctrl is:

[0154]

[0155] When the ballistic inclination angle θ B ≤0, the ballistic climb coefficient k glid_ctrl is:

[0156] k glid_ctrl = 1.0 (10).

[0157] Comparative Example 1

[0158] The same experiment as in Example 1 was carried out, except that the flat flight guidance method was used to obtain the guidance law throughout the mid-course guidance process.

[0159] Experimental Example 1

[0160] The ballistic trajectories of Examples 1 to 3 and Comparative Example 1 are as Figure 2 shown. It can be seen from the figure that Examples 1 to 3 effectively reduce the height loss problem of the missile during long-distance gliding, making the ballistic trajectory of the long-range missile gradually tend to be stable.

[0161] The curves of the ballistic inclination angles of Examples 1 to 3 are as Figure 3 shown. It can be seen from the figure that the mid-course guidance commands change more smoothly in the whole-course climbing index control method.

[0162] The curves of the heat flux of Examples 1 to 3 are as Figure 4 shown. It can be seen from the figure that after the first climb in the whole-course proportional climbing control method, the peak value of the heat flux in each subsequent climb is significantly smaller than that of other control methods;

[0163] The curves of the normal acceleration of Examples 1 to 3 are as Figure 5 shown. It can be seen from the figure that in Examples 1 to 3, the normal acceleration gradually decreases during each jump climb for different control methods.

[0164] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", etc. is the orientation or positional relationship based on the working state of the present invention. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third", "fourth" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0165] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection in general; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0166] The present invention has been described in conjunction with preferred embodiments, but these embodiments are merely exemplary and serve only an illustrative role. On this basis, various substitutions and improvements can be made to the present invention, and all of these fall within the protection scope of the present invention.

Claims

1. A long-distance gliding and jumping guidance control method for a powerless long-range gliding vehicle, characterized in that, The guidance process is divided into a longitudinal guidance stage and a glide guidance stage. In the glide guidance stage, a glide guidance command is obtained by setting a ballistic climb coefficient related to the ballistic inclination angle in the original longitudinal guidance command, and the glide guidance command is limited in amplitude, thereby realizing long-distance glide guidance control; The guidance command in the glide guidance stage is obtained by the following steps: S1. Obtain the desired normal force coefficient of the aircraft; S2. Obtain the original longitudinal guidance command of the aircraft; S3. Set the ballistic climb coefficient in the original longitudinal guidance command to obtain the glide guidance command of the aircraft; S4. Limit the amplitude of the glide guidance command to obtain the final glide guidance command of the aircraft; In step S3, by setting the ballistic climb coefficient in the original longitudinal guidance command, the aircraft makes a jumping motion, that is, alternately performs a climbing process and a descending process. The glide guidance command a yc can be expressed as: a yc = k glid_ctrl a c0 Among them, a c0 is the original longitudinal guidance command, and k glid_ctrl is the ballistic climb coefficient.

2. The long-distance gliding and jumping guidance control method according to claim 1, characterized in that, The expected altitude H for entering the gliding phase is preset in the aircraft. c During the flight, the aircraft continuously detects its flight altitude H. When H > H c , it enters the gliding guidance phase from the longitudinal guidance phase.

3. The long-distance gliding and jumping guidance control method according to claim 1, characterized in that, In step S1, the desired normal force coefficient of the aircraft at the current moment is obtained by interpolating through the current Mach number Ma and the angle of attack α of the maximum lift-to-drag ratio L / Dmax and is obtained by interpolation The current Mach number Ma can be expressed as: Among them, V represents the flight speed of the aircraft at the current moment, and V c represents the speed of sound at the position where the aircraft is located at the current moment.

4. The long-distance gliding and jumping guidance control method according to claim 3, characterized in that, In step S2, the original longitudinal guidance command a c0 can be expressed as: where q represents the current dynamic pressure of the airflow of the aircraft, S ref represents the reference area of the aircraft, m represents the mass of the aircraft, and k CN represents the lift correction coefficient.

5. The long-distance gliding and jumping guidance control method according to claim 1, characterized in that, Obtain the ballistic climb coefficient k by using the full-course climb ratio control method glid_ctrl , and the full-course climb ratio control method includes: When the ballistic inclination angle θ B > 0, the ballistic climb coefficient k glid_ctrl is as follows: When the ballistic inclination angle θ B ≤ 0, the ballistic climb coefficient k glid_ctrl is as follows: k glid_ctrl ＝1.0 Among them, θ B represents the ballistic inclination angle, and θ Bmax represents the maximum inclination angle setting.

6. The long-distance gliding and jumping guidance control method according to claim 1, characterized in that, Obtain the ballistic climb coefficient k using the single-peak climb ratio control method glid_ctrl , and the single-peak climb ratio control method includes: When the aircraft is in the first jump phase, the ballistic climb coefficient k glid_ctrl is as follows: When the aircraft is in the remaining jump phases, the ballistic climb coefficient k glid_ctrl is as follows: k glid_ctrl ＝1.0 Among them, θ B represents the ballistic inclination angle, and θ Bmax represents the maximum inclination angle setting.

7. The long-distance gliding and jumping guidance control method according to claim 1, characterized in that, Obtain the ballistic climb coefficient k using the full-course climb index control method glid_ctrl , and the full-course climb index control method includes: When the ballistic inclination angle θ B > 0, the ballistic climb coefficient k glid_ctrl is as follows: When the ballistic inclination angle θ B ≤ 0, the ballistic climb coefficient k glid_ctrl is as follows: k glid_ctrl ＝1.0 Among them, θ B represents the ballistic inclination angle, and θ Bmax represents the maximum inclination angle setting.

8. The long-distance gliding and jumping guidance control method according to claim 1, characterized in that, In step S4, by comparing the glide guidance command a yc with the maximum allowable positive overload value a yc_max of the aircraft and the maximum allowable negative overload value a yc_min of the aircraft, the glide guidance command is limited When a yc ≥ a yc_max At this time, the final glide guidance command a' yc is expressed as: a′ yc = a yc_max When a yc ≤ a yc_min , the final glide guidance command a' yc is expressed as: a′ yc = a yc_min When a yc_max > a yc > a yc_min At this time, the final glide guidance command a' yc is expressed as: a′ yc = a yc .

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