On-line midcourse guidance interception method based on gliding vehicle target motion information estimation

Abstract

The application discloses an online midcourse guidance interception method based on gliding aircraft target motion information estimation, which comprises the following steps: S1, target motion information is estimated according to the measurement information of a ground-based radar on a gliding aircraft target, so as to obtain an estimation result of the target motion information; and S2, a sliding mode guidance law that changes with an 'interception window' is adopted according to the estimation result of the target motion information, so that an interceptor is intercepted when the target enters the 'interception window'. The application can make the interceptor not always follow the target motion and maneuver, reduce energy consumption, improve the interception success rate, and realize a good interception situation.

Description

Technical Field

[0001] This invention relates to the field of aircraft guidance technology, specifically to an online mid-course guidance and interception method based on target motion information estimation from a glider. Background Technology

[0002] With the rapid development of near-space technology, the weaponization of near-space hypersonic vehicles is accelerating. Near-space hypersonic vehicles primarily operate within an altitude range of 30km to 60km, characterized by high speed, fast response time, wide strike range, long operational distance, and high guidance accuracy. While significant research and applications have been achieved in ballistic missile defense technologies, effective interception methods for near-space hypersonic vehicles have yet to be developed.

[0003] However, most existing interception methods focus on ballistic missiles and are based on guidance laws that predict the impact point. Research on interception methods for near-space hypersonic vehicles with highly variable trajectories is still limited. Furthermore, interceptor missiles do not possess a speed advantage over hypersonic targets. If they merely passively follow the target's movement during the mid-course guidance phase, they are easily outmaneuvered. Simultaneously, since interceptor missiles spend most of their flight in the mid-course guidance phase, passively maneuvering with the hypersonic target consumes excessive energy, making it difficult to establish a effective interception posture. Summary of the Invention

[0004] The purpose of this invention is to provide an online mid-course guidance interception method based on target motion information estimation from a glider, so that the interceptor missile does not always maneuver to follow the target's motion, thereby reducing energy consumption and improving the interception success rate, and achieving a good interception posture.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0006] This invention provides an online mid-course guidance interception method based on target motion information estimation from a glider, comprising:

[0007] S1: Based on the measurement information of the glider target by the ground-based radar, the target motion information is estimated to obtain the estimation result of the target motion information;

[0008] S2: Based on the estimation results of the target motion information, a sliding mode guidance law that varies with the "interception window" is adopted to intercept the target when it enters the "interception window".

[0009] Alternatively, step S1 may include:

[0010] S11: Acquire measurement information of glider targets from ground-based radar;

[0011] S12: Based on the measurement information, establish a target tracking model and obtain the system state vector;

[0012] S13: Based on the target tracking model and system state vector, the system state prediction value and system prediction error covariance matrix are obtained using the system prediction equation;

[0013] S14: Based on the system prediction error covariance matrix, the Kalman filter gain is obtained using the Jacobian matrix;

[0014] S15: Based on the predicted system state value, the measurement information, and the Kalman filter gain, obtain the corrected system state value;

[0015] S16: Output the system state correction value as the estimation result of the target motion information. Optionally, in step S12, the system state vector X is:

[0016] X = [x, y, z, v] x ,v y ,v z ,a x ,a y ,a z ] T

[0017] Where x, y, z represent the position coordinates of the glider on the three axes in the geocentric coordinate system, respectively, and v x ,v y ,v z These represent the velocity coordinates of the glider on its three axes in the geocentric coordinate system, a and b. x ,a y ,a z These represent the acceleration coordinates of the three axes of the glider in the geocentric coordinate system.

[0018] The measurement vector Z is:

[0019] Z = [r, q1, q2] T

[0020] Where r represents the radial distance of the glider measured by the ground-based radar, q1 represents the elevation of the glider measured by the ground-based radar, and q2 represents the azimuth of the glider measured by the ground-based radar.

[0021] Alternatively, in step S13, the system prediction equation is:

[0022]

[0023] Where X is the system state vector, k represents the sampling time, and F represents the system state transition matrix. X(k) represents the system state vector at sampling time k, and G represents the input transition matrix. Represents the predicted value of the current acceleration and I represents the identity matrix, T represents the sampling period, α represents the acceleration of the glider, and α represents the predicted acceleration coordinates of the glider along its three axes in the geocentric coordinate system.

[0024] Alternatively, the Jacobian matrix H is:

[0025]

[0026] in, Z is the measurement vector, and X is the target's position, velocity, acceleration, and other state variables, where X = [x, y, z, v]. x ,v y ,v z ,a x ,a y ,a z ] T x, y, z represent the position coordinates of the glider on the three axes in the geocentric coordinate system, respectively, and v x ,v y ,v z These represent the velocity coordinates of the glider on its three axes in the geocentric coordinate system, a and b. x ,a y ,a z These represent the acceleration coordinates of the glider along its three axes in the geocentric coordinate system, where k represents the sampling time, and 0 represents the acceleration coordinates of the glider along its three axes. 1×6 Represents a zero matrix;

[0027] In step S14, the Kalman filter gain is:

[0028] K(k)=P(k|k-1)H T (k)×[H T (k)P(k|k-1)H(k)+R(k)] -1

[0029] Where K(k) is the Kalman filter gain, P(k|k-1) is the system prediction error covariance matrix, R(k) is the measurement noise, H(k) is the Jacobian matrix at time k, and H T (k) is the transpose of the Jacobian matrix at time k.

[0030] Alternatively, in step S15, the system state correction value is:

[0031] X(k|k)=X(k|k-1)+K(k)[Z(k)-h(X(k|k-1))]

[0032] Where X(k|k) is the system state correction value, X(k|k-1) is the system state prediction value, K(k) is the Kalman filter gain, Z(k) is the measurement vector at time k, and h(X(k|k-1)) is the observation prediction matrix at time k.

[0033] Optionally, the estimation results of the target motion information include: target triaxial position filtering estimate, target lateral position filtering estimate, target lateral velocity filtering estimate, target lateral acceleration filtering estimate, and target ballistic deflection angle filtering estimate.

[0034] Alternatively, step S2 may include:

[0035] S21: Based on the target's three-axis position filtered estimate and the interceptor missile's three-axis position coordinates in the target motion information estimation results, the missile-target relative distance and missile-target line-of-sight angle are obtained;

[0036] S22: Based on the relative distance between the projectile and the target and the line-of-sight angle between the projectile and the target, the sliding surface of the sliding mode guidance law is obtained;

[0037] S23: Based on the sliding surface of the sliding mode guidance law, the estimated relative distance between the missile and the target, and the filtered estimated target flight speed, the sliding mode approach law that varies with the "interception window" is obtained;

[0038] S24: The target is intercepted according to the sliding mode approach law that varies with the "interception window".

[0039] Alternatively, in step S21, the relative distance value between the projectile and the target... for:

[0040]

[0041] The line of sight of the bullet. for:

[0042]

[0043] In step S22, the sliding surface s of the sliding mode guidance law is:

[0044]

[0045] in, x is the filtered estimate of the target's three-axis position. m ,y m ,z m These are the three-axis position coordinates of the interceptor missile. and These represent the relative distance values ​​between the projectile and the target. and the aforementioned line-of-sight angle The derivative of , atan represents the arctangent value of the trigonometric function;

[0046] The sliding mode approach law that varies with the "interception window" is as follows:

[0047]

[0048] Where k is the approach coefficient, ε is the gain coefficient, and k, ε > 0, and sgn(s) is the sign function. The target flight speed is filtered and estimated. v x v y v z These represent the velocities of the three axes in the geocentric coordinate system. This represents the relative distance between the projectile and the target.

[0049] Alternatively, step S24 may include:

[0050] When the target detours away from the interceptor missile or when the target jumps / detours at a faster speed, the approach speed slows down and the interceptor missile does not closely follow the target's maneuver.

[0051] When the target detours towards the interceptor missile or when the target's jumping / detour speed decreases, the approach speed increases, and the interceptor missile quickly intercepts the target within the "interception window".

[0052] The present invention has the following beneficial effects:

[0053] 1. Based on the estimation of the target's motion state, this invention designs an online guidance law so that the interceptor missile can intercept the target as soon as possible when it enters an easily interceptable "interception window". Here, the "interception window" is defined as the flight window when the gliding target detours towards the interceptor missile or when the target's speed decreases during jumping or detour.

[0054] 2. The guidance law designed in this invention should also be adaptive to avoid the interceptor missile constantly following the gliding target's maneuver and consuming too much energy. Attached Figure Description

[0055] Figure 1 This is a flowchart of the online mid-course guidance interception method based on target motion information estimation of a glider, according to the present invention;

[0056] Figure 2 This is a schematic diagram of the target's three-dimensional position filtering trajectory;

[0057] Figure 3 This is a schematic diagram of the target's lateral position filtering trajectory;

[0058] Figure 4This is a schematic diagram of the target's lateral velocity filtering curve;

[0059] Figure 5 This is a schematic diagram of the target's lateral acceleration filtering curve;

[0060] Figure 6 This is a schematic diagram of the target ballistic deflection angle filtering curve;

[0061] Figure 7 This is a schematic diagram of the three-dimensional interception trajectory during the mid-course guidance phase;

[0062] Figure 8 This is a schematic diagram of the horizontal interception trajectory during the mid-course guidance phase;

[0063] Figure 9 This is a schematic diagram of the vertical interception trajectory during the mid-course guidance phase;

[0064] Figure 10 This is a schematic diagram of a three-dimensional interception trajectory during near-space offensive and defensive confrontation.

[0065] Figure 11 This is a schematic diagram of the horizontal interception trajectory during near-space offensive and defensive confrontation.

[0066] Figure 12 This is a schematic diagram of the vertical interception trajectory during near-space offensive and defensive confrontation. Detailed Implementation

[0067] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0068] Example

[0069] This invention provides an online mid-course guidance interception method based on target motion information estimation from a glider, with reference to... Figure 1 As shown, the online mid-course guidance interception method based on glider target motion information estimation includes:

[0070] S1: Based on the measurement information of the glider target by the ground-based radar, the target motion information is estimated to obtain the estimation result of the target motion information;

[0071] Estimating the motion information of the boost-glide vehicle target is a prerequisite for the design of the guidance law. Based on the analysis of the trajectory characteristics of the gliding target, tracking filtering is performed on the typical ballistic trajectories of the target's lateral jump maneuver and longitudinal balance glide.

[0072] Therefore, this invention first uses external support information from ground-based radar to establish an EKF tracking model based on the "current" statistical model for the boost-glide vehicle target in the geocentric coordinate system, so as to estimate the motion information of the hypersonic glide vehicle target.

[0073] Step S1 includes:

[0074] S11: Acquire measurement information of glider targets from ground-based radar;

[0075] Among them, the measurement information of ground-based radar for glider targets includes information such as coordinates, position, velocity, and acceleration.

[0076] S12: Based on the measurement information, establish a target tracking model to obtain the system state vector and measurement vector;

[0077] Wherein, the system state vector X is:

[0078] X = [x, y, z, v] x ,v y ,v z ,a x ,a y ,a z ] T

[0079] Where x, y, z represent the position coordinates of the glider on the three axes in the geocentric coordinate system, respectively, and v x ,v y ,v z These represent the velocity coordinates of the glider on its three axes in the geocentric coordinate system, a and b. x ,a y ,a z These represent the acceleration coordinates of the three axes of the glider in the geocentric coordinate system.

[0080] The measurement vector Z is:

[0081] Z = [r, q1, q2] T

[0082] Where r represents the radial distance of the glider measured by the ground-based radar, q1 represents the elevation of the glider measured by the ground-based radar, and q2 represents the azimuth of the glider measured by the ground-based radar.

[0083] S13: Based on the target tracking model and system state vector, the system state prediction value and system prediction error covariance matrix are obtained using the system prediction equation;

[0084] The system prediction equation is:

[0085]

[0086] Where X is the system state vector, k represents the sampling time, and F represents the system state transition matrix. X(k) represents the system state vector at sampling time k, and G represents the input transition matrix. Represents the predicted value of the current acceleration and I represents the identity matrix, T represents the sampling period, α represents the acceleration of the glider, and α represents the predicted acceleration coordinates of the glider along its three axes in the geocentric coordinate system.

[0087] S14: Based on the system prediction error covariance matrix, the Kalman filter gain is obtained using the Jacobian matrix;

[0088] The Jacobian matrix H is:

[0089]

[0090] in, Z is the measurement vector, and X is the target's position, velocity, acceleration, and other state variables, where X = [x, y, z, v]. x ,v y ,v z ,a x ,a y ,a z ] T x, y, z represent the position coordinates of the glider on the three axes in the geocentric coordinate system, respectively, and v x ,v y ,v z These represent the velocity coordinates of the glider on its three axes in the geocentric coordinate system, a and b. x ,a y ,a z These represent the acceleration coordinates of the glider along its three axes in the geocentric coordinate system, where k represents the sampling time, and 0 represents the acceleration coordinates of the glider along its three axes. 1×6 Represents a zero matrix;

[0091] In step S14, the Kalman filter gain is:

[0092] K(k)=P(k|k-1)H T (k)×[H T (k)P(k|k-1)H(k)+R(k)] -1

[0093] Where K(k) is the Kalman filter gain, P(k|k-1) is the system prediction error covariance matrix, R(k) is the measurement noise, H(k) is the Jacobian matrix at time k, and H T (k) is the transpose of the Jacobian matrix at time k.

[0094] Alternatively, in step S15, the system state correction value is:

[0095] X(k|k)=X(k|k-1)+K(k)[Z(k)-h(X(k|k-1))]

[0096] Where X(k|k) is the system state correction value, X(k|k-1) is the system state prediction value, K(k) is the Kalman filter gain, Z(k) is the measurement vector at time k, and h(X(k|k-1)) is the observation prediction matrix at time k.

[0097] S15: Based on the predicted system state value, the measurement information, and the Kalman filter gain, obtain the corrected system state value;

[0098] S16: Output the system state correction value as the estimation result of the target motion information.

[0099] Optionally, the estimation results of the target motion information include: target triaxial position filtered estimate, target lateral position filtered estimate, target lateral velocity filtered estimate, target lateral acceleration filtered estimate, and target trajectory deflection angle filtered estimate, with corresponding trajectory curves as reference. Figures 2 to 6 As shown, it can be seen that the typical trajectory of the target, which involves longitudinal gliding and lateral jumping maneuvers, was effectively tracked.

[0100] S2: Based on the estimation results of the target motion information, a sliding mode guidance law that varies with the "interception window" is adopted to intercept the target when it enters the "interception window".

[0101] The "interception window" is defined as the flight window during which a gliding target deflects towards the interceptor missile or when its speed decreases due to skipping or deflection. Mid-course guidance employs a sliding mode guidance law that varies with the "interception window".

[0102] Alternatively, step S2 may include:

[0103] S21: Based on the target's three-axis position filtered estimate and the interceptor missile's three-axis position coordinates in the target motion information estimation results, the missile-target relative distance and missile-target line-of-sight angle are obtained;

[0104] S22: Based on the relative distance between the projectile and the target and the line-of-sight angle between the projectile and the target, the sliding surface of the sliding mode guidance law is obtained;

[0105] Alternatively, in step S21, the relative distance value between the projectile and the target... for:

[0106]

[0107] The line of sight of the bullet. for:

[0108]

[0109] In step S22, the sliding surface s of the sliding mode guidance law is:

[0110]

[0111] in, x is the filtered estimate of the target's three-axis position. m ,y m ,z m These are the three-axis position coordinates of the interceptor missile. and These represent the relative distance values ​​between the projectile and the target. and the aforementioned line-of-sight angle The derivative of , atan represents the arctangent value of the trigonometric function.

[0112] S23: Based on the sliding surface of the sliding mode guidance law, the estimated relative distance between the missile and the target, and the filtered estimated target flight speed, the sliding mode approach law that varies with the "interception window" is obtained;

[0113] The sliding mode approach law that varies with the "interception window" is as follows:

[0114]

[0115] Where k is the approach coefficient, ε is the gain coefficient, and k, ε > 0, and sgn(s) is the sign function. The target flight speed is filtered and estimated. These represent the velocities of the three axes in the geocentric coordinate system. This represents the relative distance between the projectile and the target.

[0116] S24: The target is intercepted according to the sliding mode approach law that varies with the "interception window".

[0117] The sliding mode approach law can satisfy the following: when the target detours away from the interceptor missile or when the target jumps / detours at a faster speed, the approach speed slows down and the interceptor missile does not closely follow the target's maneuver.

[0118] When the target detours towards the interceptor missile or when the target's jumping / detour speed decreases, the approach speed increases, and the interceptor missile quickly intercepts the target within the "interception window".

[0119] The prerequisite for sliding mode guidance is that a Lyapunov function must be selected to prove that the system is asymptotically stable, where V is the selected Lyapunov function. Its derivative. Therefore, this invention selects the Lyapunov function. Differentiating, we get:

[0120]

[0121] Verify that the system is asymptotically stable.

[0122] The longitudinal and lateral guidance command accelerations of the interceptor missile are:

[0123]

[0124] In the formula, a y ,a z These are the commanded accelerations of the interceptor missile in the longitudinal and lateral directions, respectively, s. y ,s z Sliding surfaces designed for longitudinal and lateral directions, respectively. These are the estimated flight velocities of the target along the y-axis and z-axis, respectively.

[0125] In addition, this invention also includes Monte Carlo simulation verification of near-space offensive and defensive confrontation processes.

[0126] Multiple typical ballistic trajectories of the target are obtained for various maneuver modes of the target and used as input; the initial velocity, altitude, lift coefficient, drag coefficient, thrust and atmospheric density of the interceptor missile are randomly deflected to conduct Monte Carlo simulation verification in the near-space offensive and defensive confrontation process.

[0127] During the Monte Carlo simulation, the boost-glide vehicle target randomly switches between maneuvering modes, while the interceptor missile parameters and atmospheric density are randomly deflected following a normal distribution. The target's maneuvering patterns are as follows:

[0128] Table 1: Target Maneuvering Patterns of Gliding Vehicles

[0129]

[0130]

[0131] To verify the effectiveness of the invented online mid-course guidance interception method based on target motion information estimation from a glider, the designed algorithm was executed using the Matlab simulation platform. For the embodiment, the parameters of the guidance method designed in this invention are selected as follows: k1 = k2 = 10, ε1 = 5, ε2 = 1.

[0132] Figures 7 to 9 The mid-course guided intercept trajectory is given. It can be seen that the interceptor missile effectively avoids maneuvering while closely following the target's movement, quickly intercepts the target within the "interception window," and forms a good reverse-track interception posture. The simulation results are consistent with the theoretical analysis. Figures 10 to 12Monte Carlo simulation curves of near-space offensive and defensive confrontation processes are presented. It can be seen that effective hits on the target are achieved for different maneuvering modes of the target and considering the deflection of interceptor missile parameters and environmental parameters, which verifies the robustness of the system and the universality of the proposed method.

[0133] The present invention has the following beneficial effects:

[0134] 1. Based on the estimation of the target's motion state, this invention designs an online guidance law so that the interceptor missile can intercept the target as soon as possible when it enters an easily interceptable "interception window". Here, the "interception window" is defined as the flight window when the gliding target detours towards the interceptor missile or when the target's speed decreases during jumping or detour.

[0135] 2. The guidance law designed in this invention should also be adaptive to avoid the interceptor missile constantly following the gliding target's maneuver and consuming too much energy.

[0136] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An online midcourse guidance interception method based on gliding vehicle target motion information estimation, characterized in that, The method comprises the following steps: S1: estimating the target motion information according to the measurement information of the gliding aircraft target obtained by the ground-based radar, to obtain an estimation result of the target motion information; S2: using a sliding mode guidance law which changes with the "interception window" to make the interceptor intercept the target when the target enters the "interception window" according to the estimation result of the target motion information; The step S1 comprises: S11: obtaining the measurement information of the gliding aircraft target obtained by the ground-based radar; S12: establishing a target tracking model according to the measurement information to obtain a system state vector; S13: obtaining a system state prediction value and a system prediction error covariance matrix by using a system prediction equation according to the target tracking model and the system state vector; S14: obtaining a Kalman filter gain by using a Jacobian matrix according to the system prediction error covariance matrix; S15: obtaining a system state correction value according to the system state prediction value, the measurement information and the Kalman filter gain; S16: outputting the system state correction value as the estimation result of the target motion information; In the step S13, the system prediction equation is: wherein, X is a system state vector, k denotes a sampling time, F denotes a system state transition matrix and , denotes k a system state vector at a sampling time, G denotes an input term transition matrix and , denotes a predicted value of a current acceleration and , I denotes an identity matrix, T denotes a sampling period, denotes an acceleration of the glider, respectively a predicted acceleration coordinate of the glider in a three-axis earth-centered coordinate system. The step S2 comprises: S21: obtaining a missile-target relative distance value and a missile-target line-of-sight angle according to the target three-axis position filter estimation value and the interceptor three-axis position coordinate value in the estimation result of the target motion information; S22: obtaining a sliding mode surface of the sliding mode guidance law according to the missile-target relative distance value and the missile-target line-of-sight angle; S23: obtaining a sliding mode approaching law which changes with the "interception window" according to the sliding mode surface of the sliding mode guidance law, the missile-target relative distance estimation value and the target flight speed filter estimation value; S24: realizing the interception of the target according to the sliding mode approaching law which changes with the "interception window"; In the step S21, the bullet-object relative distance value d is calculated as follows: d = (x - x0)2+ (y - y0)2 The bullet line-of-sight angle Is: In the step S22, the sliding mode surface of the sliding mode guidance law is: s = - (x - x0) wherein, is the target triaxial position filtered estimate, is the interceptor projectile triaxial position coordinate value, and denote the derivative of the projectile-target relative distance value and the projectile-target line-of-sight angle respectively, denotes the inverse tangent value of a trigonometric function; The sliding mode approaching law which changes with the "interception window" is: wherein, k is a coefficient of approach, is a gain coefficient, and satisfies sgn( s ) is a sign function, is a target flight velocity filtered estimate and , respectively represent the velocities of the three axes under the geocentric coordinate system, is a missile-target relative distance value; The step S24 comprises: When the target evades in the direction away from the interceptor or the speed of the target jump / evade increases, the approaching speed slows down, and the interceptor does not follow the target maneuver closely; When the target evades in the direction close to the interceptor or the speed of the target jump / evade decreases, the approaching speed speeds up, and the interceptor quickly intercepts the target in the "interception window"; The Lyapunov function is selected to prove that the system is asymptotically stable, V For the selected Lyapunov function, is its derivative, so the Lyapunov function is selected, and the derivative is The longitudinal and lateral guidance instruction acceleration of the interceptor is: wherein respectively the longitudinal and lateral command acceleration of the interceptor, respectively the longitudinal and lateral designed sliding surface, respectively the target y axle and z axle flight velocity estimates.

2. The online midcourse guidance interception method based on gliding vehicle target motion information estimation according to claim 1, characterized in that, In the step S12, the system state vector X is: wherein, respectively denote the position coordinates of the three axes of the glider in the geocentric coordinate system, respectively denote the velocity coordinates of the three axes of the glider in the geocentric coordinate system, respectively denote the acceleration coordinates of the three axes of the glider in the geocentric coordinate system; Metrology vector is: wherein, r 1 represents the radial distance of the glider as measured by the ground-based radar, q 1 represents the radial distance of the glider as measured by the ground-based radar, q 2 represents the azimuth angle of the glider as measured by the ground-based radar.

3. The online midcourse guidance interception method based on gliding vehicle target motion information estimation according to claim 1, characterized in that, The Jacobian matrix is: wherein , is a measurement vector, X is a state variable of the target and , respectively denote the position coordinates of the three axes of the glider in a geocentric coordinate system, respectively denote the velocity coordinates of the three axes of the glider in a geocentric coordinate system, respectively denote the acceleration coordinates of the three axes of the glider in a geocentric coordinate system, k denotes the sampling time, denotes a zero matrix; In the step S14, the Kalman filter gain is: in, K ( k ) represents the Kalman filter gain. Let the system prediction error covariance matrix be... R ( k (This refers to the measurement of noise.) for k Jacobian matrix at time, for k The transpose of the Jacobian matrix at time t.

4. The online midcourse guidance interception method based on gliding vehicle target motion information estimation according to claim 1, characterized in that, In the step S15, the system state correction value is: wherein, is a system state correction value, is a system state prediction value, is a Kalman filter gain, is k is a measurement vector at time instant, is k is an observation prediction matrix at time instant.

5. The online midcourse guidance interception method based on the estimation of the gliding aircraft target motion information according to claim 1, wherein The estimation result of the target motion information comprises a target three-axis position filter estimation value, a target lateral position filter estimation value, a target lateral speed filter estimation value, a target lateral acceleration filter estimation value and a target trajectory angle filter estimation value.

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