Optimization method and device for super-low-altitude trajectory based on optimal initial value binding, medium

Abstract

This application provides a method, apparatus, and medium for optimizing ultra-low-altitude ballistics based on optimal initial value setting. The method includes: determining the optimal intercept angle in the environment; constructing a response surface model and solving for the optimal initial angle; and performing sample point calculations to complete the ballistic optimization. The initial value setting method is applicable to the initial guidance phase of a missile, and the trajectory and ground-grabbing angle can be corrected by setting the parameters of the launch tilt angle. When applying the launch angle setting optimization method to achieve ultra-low-altitude optimized ballistics, the guidance and control system itself is not changed, and it is not necessary to add information about the target measured by the missile's onboard guidance system. Only the missile launch angle needs to be set before launch, making the engineering implementation simple and not reducing the missile's anti-jamming performance. This application provides a new technical approach to improving the ultra-low-altitude interception capability of air defense missiles.

Description

Technical Field

[0001] This application relates to the field of ballistic optimization guidance and control, and in particular to an ultra-low altitude ballistic optimization method, apparatus, and medium based on optimal initial value setting. Background Technology

[0002] Ultra-low-altitude penetration is one of the preferred penetration methods for air attacks in modern warfare. Ultra-low-altitude targets fly close to the ground or sea, exhibiting characteristics of being "low, slow, and small," posing a primary threat to our air defense system. The terminal guidance phase is the most crucial stage determining the success rate of missile interception. The radar seeker activates after the mid- and terminal guidance phases of the air defense missile. During the terminal guidance phase, the missile primarily relies on the radar seeker to guide its attack on the target. The seeker's detection performance is a significant factor affecting the interception performance of ultra-low-altitude ballistic missiles. After the radar seeker activates, strong coupling scattering occurs between the ultra-low-altitude target and the environment, generating image interference. This severely interferes with the seeker's detection and tracking performance, causing problems such as abnormal mid- and terminal guidance handover, tracking errors, and target loss, ultimately leading to missile interception failure.

[0003] Traditional ballistic trajectories are designed to achieve rapid and effective interception of targets, with energy optimization as the design criterion. In ultra-low-altitude interception, many factors influence missile flight trajectories, including ballistic capabilities, guidance and control processes, target motion patterns, and target characteristics. Therefore, ballistic optimization design oriented towards multiple variables and constraints has become an important aspect of modern missile design, possessing significant importance and practical engineering value for improving missile flight quality to meet predetermined mission requirements. Ballistic optimization design essentially solves the optimal control problem under various constraints, and is also a dynamic optimization problem. This invention proposes a technical approach for ballistic constraint and optimization design based on the optimal detection and interception ground-penetration angle for ultra-low-altitude targets. By setting initial ballistic parameters, the optimal interception angle is loaded into the air defense missile during ultra-low-altitude interception, allowing the radar seeker to actively suppress image reflection at the optimal angle, improving the missile's detection and tracking performance, and thus enhancing the missile's interception capability against ultra-low-altitude targets. Summary of the Invention

[0004] The purpose of this application is to provide a method, device, and medium for optimizing ultra-low-altitude ballistics based on optimal initial value setting. For the initial guidance phase of a missile intercepting ultra-low-altitude targets, after launch, the missile climbs and turns, enters the beam guidance range, and then performs proportional guidance flight according to the guidance head command. It is easy to understand that to meet the optimal interception angle constraint, when the target is far away, the missile should fly at a higher altitude; for close-range targets, the achieved flight altitude should be lower to meet the angle constraint requirements. The initial value setting method is suitable for the initial guidance phase of medium- and short-range missiles, where engine operating time, turn time, etc., are already determined, and can be achieved through initial launch angle... The changes in altitude are used to alter the missile's maximum flight altitude, thereby adjusting the pattern of changes in the missile's line of sight during flight.

[0005] The initial value setting method, during the initial guidance phase, integrates the missile's target position and motion parameters at launch. Based on different target parameters (target speed, altitude, predicted hit point position, etc.) and constraints such as the optimal interception angle, it optimizes and designs the missile's launch parameters. By changing the missile's initial launch angle, a launch angle response surface model is established. Through calculation using typical sample points, the launch angle is adaptively set according to the battlefield environment. The least squares method is used to estimate the model error, ensuring that the missile's ground-grazing angle after turning is close to the optimal interception angle. This allows the missile's onboard radar seeker to illuminate the target at the optimal image suppression angle, achieving active multipath suppression and improving the seeker's detection performance for ultra-low-altitude targets and the missile's interception capability.

[0006] The technical solution adopted in this application is as follows:

[0007] According to a first aspect of this application, a method for optimizing ultra-low-altitude ballistics based on optimal initial value binding is provided. The method includes: determining the optimal intercept angle in the environment; constructing a response surface model and solving for the optimal initial angle; and performing sample point calculations to complete the ballistic optimization.

[0008] According to a second aspect of this application, an ultra-low-altitude ballistic optimization device based on optimal initial value binding is provided. The device includes: a determination module configured to determine the optimal interception angle in the environment; a calculation module configured to construct a response surface model and solve for the optimal initial angle; and an optimization module configured to perform sample point calculations to complete the ballistic optimization.

[0009] According to a third aspect of this application, a computer-readable storage medium is provided, on which computer-readable instructions are stored, which, when executed by a computer's processor, cause the computer to perform the ultra-low-altitude ballistic optimization method based on optimal initial value binding as described in various embodiments of this application.

[0010] This application has at least the following technical effects:

[0011] The ultra-low-altitude ballistic optimization method, apparatus, and medium based on optimal initial value setting provided in this application embodiment are applicable to the initial guidance phase of a missile. The initial value setting method can achieve trajectory and ground-grabbing angle correction through parameter setting of the launch inclination angle. When applying the launch angle setting optimization method to achieve ultra-low-altitude optimized trajectory, the guidance and control system itself is not changed, and there is no need to add target measurement information to the missile's onboard guidance system. Only the missile launch angle needs to be set before launch, making engineering implementation simple and without reducing the missile's anti-jamming performance. This provides a new technical approach to improving the ultra-low-altitude interception capability of air defense missiles. Attached Figure Description

[0012] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0013] Figure 1 This is a technical roadmap of the ultra-low altitude ballistic optimization method based on optimal initial value binding according to an embodiment of this application;

[0014] Figure 2 This is an overall flowchart of the ultra-low altitude ballistic optimization method based on optimal initial value binding according to an embodiment of this application;

[0015] Figure 3 This is a diagram showing the influence of environment type on mirror scattering characteristics;

[0016] Figure 4 This relates to the effect of roughness on mirror scattering characteristics;

[0017] Figure 5 This is the trajectory variation diagram for condition 1;

[0018] Figure 6 This is a graph showing the change in the ground contact angle during interception in condition 1.

[0019] Figure 7 This is the trajectory variation diagram for condition 2;

[0020] Figure 8 This is a graph showing the change in the ground contact angle during interception in condition 2.

[0021] Figure 9 This is a structural diagram of the ultra-low altitude ballistic optimization device based on optimal initial value binding according to an embodiment of this application. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application; that is, the described embodiments are only a part of the embodiments of this application, and not all of them. The components of the embodiments of this application described and shown in the accompanying drawings can typically be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0024] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0025] like Figure 1 and Figure 2 As shown, Figure 1 This is a technical roadmap of the ultra-low altitude ballistic optimization method based on optimal initial value binding according to an embodiment of this application. Figure 1 middle, x 1 represents the target height. x 2 represents the target speed. x 3 is the optimal interception angle. x 4 represents the initial distance between the projectile and the target. Figure 2 This is an overall flowchart of the ultra-low-altitude ballistic optimization method based on optimal initial value binding, according to an embodiment of this application. This application provides an ultra-low-altitude ballistic optimization method based on optimal initial value binding, the method comprising:

[0026] Step S100: Determine the optimal intercept angle for the environment.

[0027] Step S200: Construct a response surface model and solve for the optimal initial angle.

[0028] Step S300: Perform sample point calculations to complete ballistic optimization.

[0029] The principles of the method provided in the embodiments of this application will be explained in detail below, focusing on the above three steps.

[0030] The first step is to determine the optimal intercept angle for the environment.

[0031] The optimal intercept angle is mainly based on the Brewster effect of the radar seeker detecting the image of an ultra-low-altitude target, i.e., the radar illumination angle that minimizes the multipath scattering coefficient of the image. Electromagnetic calculations are used to obtain the Brewster angle under different environmental types and parameters. The results of the Brewster angle varying with environmental type and roughness parameters are as follows: Figure 3 and Figure 4 As shown, where Figure 3 This illustrates the effect of environment type on mirror scattering characteristics. Figure 4 The effect of roughness on mirror scattering properties is shown.

[0032] In practice, the Brewster angle is selected based on the corresponding environmental conditions to determine the optimal interception angle.

[0033] The second step is to construct a response surface model and solve for the optimal initial angle.

[0034] Based on the calculation results of typical sample points, analyze the relationship between the target motion parameters and the initial launch angle, as well as the relationship between the initial launch angle and the optimal interception angle. Establish a response surface model to solve equation (1):

[0035] (1)

[0036] In the formula The initial launch angle, The distance between the missile and the target at the moment of launch; The Mach number for the target flight; The target's flight altitude; To achieve a specific target distance R n The optimal interception angle to be achieved is required.

[0037] according to , , , The four parameters are expanded into a power function, and the expansion coefficients are determined by Newton's iterative optimization calculation using multiple sample points.

[0038] Specifically, the response surface methodology (RSM) is an optimization method that combines experimental design with mathematical statistics. When the functional relationship between experimental results and known parameters is implicit, the RSM can design the relationship between experimental results and parameter variables. Based on experimental measurements or numerical analysis, continuous experiments are conducted on a specified set of design points to obtain the coefficients of the parameter variables, ultimately establishing the functional relationship between the response and the parameter variables, and then optimizing based on this relationship. By appropriately selecting the response surface model, complex response relationships can be fitted. Let... , , , Then equation (1) becomes:

[0039] (2)

[0040] Generally, functions that are not explicitly expressed or are very complex are difficult to directly utilize for optimization design. Therefore, this embodiment selects a set of simple elementary functions to construct a regression response model to simulate and express the real function. It should be noted that the selection of simple elementary functions is determined according to specific circumstances, and this embodiment does not impose specific limitations here.

[0041] For example, the expression for the regression response model is:

[0042] (3)

[0043] In the formula The statistical error is a normal distribution with a mean of zero. Let m be the basis function and m be the number of terms in the expansion. The basis function can be a power function, a trigonometric function, or various polynomial forms. There are m undetermined coefficients.

[0044] Obviously, when When the power function is a set of power functions, if the order of the power function is n, then equation (3) is called a 4-variable n-order polynomial model. Usually, choosing a first-order polynomial as the response surface model is difficult to reflect the true response; while choosing a polynomial of order greater than two has higher fitting accuracy, it requires a large computational cost due to the large number of terms, especially in the case of multiple variables, the computation time spent fitting the response surface will be unbearable. Therefore, in engineering, a second-order polynomial is used as the response surface model (n=2). The second-order model is more flexible in form and has a better approximation of the true response. At this time, the basis functions and equation (2) become:

[0045] (4)

[0046] Based on equations (4) and (3), we obtain:

[0047] (5)

[0048] Retaining the constant term, first-order term, and second-order square term in equation (5), and discarding the second-order cross term, equation (5) is transformed into:

[0049] (6)

[0050] It should be noted that when constructing a response surface model using a second-order polynomial model, the number of undetermined coefficients is proportional to the square of the number of variables. With a small number of variables, both model accuracy and computational cost are acceptable. However, in the case of multiple variables, the number of coefficients increases very rapidly, significantly limiting the application scope of the response surface method. If a second-order polynomial model without cross-terms is used, the number of coefficients is linearly related to the number of variables, reducing a large number of cross-terms without altering the characteristics of a second-order polynomial, thus facilitating its application in multivariate situations. Compared to a fully second-order polynomial, the accuracy of fitting the same response space using a second-order polynomial model without cross-terms is lower. To achieve the same accuracy, the design space needs to be reduced to compensate for the loss caused by discarding cross-terms. Furthermore, solving for the undetermined coefficients *c* of the second-order response model is relatively simple, as the parameters can be solved using the least squares method. Many engineering practices have also proven the effectiveness of using the second-order response model, achieving good results with relatively little computation.

[0051] We transform the second-order model into a first-order linear model for processing. Specifically, let:

[0052] (7)

[0053] Then, the coefficient numbers are readjusted, and equation (6) is transformed into a linear model:

[0054] (8)

[0055] Equation (8) contains 15 undetermined coefficients, which are selected. n s Experiments were conducted using a group of sample points. n s ≥15, to determine the value of each undetermined coefficient.

[0056] The third step is to perform sample point calculations to complete the trajectory optimization.

[0057] Based on the characteristics of the flight trajectory, the trajectory can be divided into two segments: First, the initial guidance segment, after the missile is launched at an angle determined according to the optimal interception angle requirement, it flies according to its own dynamic characteristics. During the turn, as long as the interception conditions of the seeker are met, it enters the mid-to-terminal flight segment. Second, the mid-to-terminal guidance segment, the missile uses proportional guidance. In this segment, the missile's interception angle is not adjusted; the interception ground-grazing angle is entirely determined by the missile's initial launch angle, the trajectory during the launch segment, the target characteristics, and the proportional guidance parameters. In other words, by changing the missile's initial launch angle according to the target parameters, the missile's ground-grazing angle is made close to the optimal interception angle when it approaches the target's critical target distance in the mid-course phase. According to the requirements for intercepting ultra-low-altitude targets, the parameter range for the initial guidance segment trajectory optimization is: initial target distance 7~20km; target speed range 5~300m / s; target altitude range 5~100m. For the aforementioned flight envelope range, aiming to meet the optimal interception angle constraint at a missile-target distance of 5.5 km, a segmented modeling method was adopted. By segmenting the model into smaller parameter ranges, higher model accuracy was obtained, thus reducing errors. Through multiple rounds of iterative calculations, the optimal interception angle range of 5–40 degrees was divided into two segments: 5–20 degrees and 20–40 degrees. Based on mathematical calculations of sample points, the coefficients of the two segments are shown in Table 1.

[0058] Table 1 Response Surface Parameters

[0059]

[0060] Based on the characteristic analysis of the calculation results, the model is divided into two segments using the optimal interception angle parameter, and the maximum variance of each segment is reduced to less than 10.

[0061] The following embodiments of this application will implement the method under different working conditions to further illustrate the feasibility and progressiveness of this application.

[0062] Condition 1: Target flight speed Mach 0.4, flight altitude 50 meters, target range 22 km, requiring a ground clearance angle of 18 degrees at a target range of 4 km. Based on the response surface model and the model parameters and their adaptive angle range in Table 1, the initial... It is 38.21 degrees. According to... The calculation results, including the launch tilt angle, show that the ground grazing angle at a target distance of 4km is 18 degrees, which is close to the expected angle value. Figure 5 and Figure 6 As shown. Figure 5 The trajectory changes in condition 1 are shown. Figure 6 The change in the interception friction angle under operating condition 1 is shown.

[0063] Condition 2: Target flight speed Ma0.4, flight altitude 100 meters, target range 16 km, requiring a ground clearance angle of 26 degrees at a target range of 4 km. Based on the response surface model and the model parameters and their adaptive angle range in Table 1, the initial... It is 58.20. According to... The calculated launch tilt angle, when set to 4km from the target, yielded a ground-grazing angle of 26.32 degrees, close to the expected value. Figure 7 and Figure 8 As shown. Figure 7 The trajectory changes in condition 2 are shown. Figure 8 The change in the interception friction angle is shown for condition 2.

[0064] Based on the tests under the two different working conditions mentioned above, the results show that when the initial target distance is 7~20km, the target speed range is 5~300m / s, the target height range is 5~100m, and the target distance is 5.5km, the optimal ground scratch angle is in the range of 5~40º. After ballistic optimization, the error between the ballistic angle and the optimal ground scratch angle is 0.3º, which shows the feasibility and progress of this application.

[0065] like Figure 9 The diagram shown is a structural diagram of an ultra-low-altitude ballistic optimization device based on optimal initial value binding according to an embodiment of this application. This application also provides an ultra-low-altitude ballistic optimization device based on optimal initial value binding, the device 600 comprising:

[0066] Module 601 is configured to determine the optimal intercept angle for the environment.

[0067] Calculation module 602 is configured to construct a response surface model and solve for the optimal initial angle;

[0068] The optimization module 603 is configured to perform sample point calculations to complete the trajectory optimization.

[0069] In some embodiments, the determining module is further configured to: obtain Brewster angles under different environmental types and parameters by electromagnetic calculation based on the radar illumination angle that minimizes the multipath scattering coefficient of the image; select the corresponding Brewster angle according to the corresponding environmental conditions, and determine it as the optimal interception angle.

[0070] In some embodiments, the computation module is further configured to establish a response surface model and solve the equations:

[0071] (1)

[0072] In the formula The initial launch angle, The distance between the missile and the target at the moment of launch; The Mach number for the target flight; The target's flight altitude; To achieve a specific target distance R n The desired optimal interception angle is as follows;

[0073] set up , , , Equation (1) can be transformed into:

[0074] (2)

[0075] A set of simple elementary functions is selected to construct a regression response model to simulate the true function. The expression of the regression response model is as follows:

[0076] (3)

[0077] In the formula The statistical error is a normal distribution with a mean of zero. Let m be the basis function and m be the number of terms in the expansion. The basis function can be a power function, a trigonometric function, or various polynomial forms. There are m undetermined coefficients;

[0078] Using a second-order polynomial as the response surface model, the basis functions are transformed as follows:

[0079] (4)

[0080] Based on equations (4) and (3), we obtain:

[0081] (5)

[0082] Retaining the constant term, first-order term, and second-order square term in equation (5), and discarding the second-order cross term, equation (5) is transformed into:

[0083] (6)

[0084] make:

[0085] (7)

[0086] Then, the coefficient numbers are readjusted, and equation (6) is transformed into a linear model:

[0087] (8)

[0088] Equation (8) contains 15 undetermined coefficients, which are selected. n s Experiments were conducted using a group of sample points. n s ≥15, to determine the value of each undetermined coefficient.

[0089] In some embodiments, the trajectory includes an initial guidance phase and a mid-to-terminal flight phase. The initial guidance phase is the flight phase in which the missile is launched at an angle determined according to the optimal interception angle requirement, and then flies according to the missile's own dynamic characteristics. The mid-to-terminal flight phase is the flight phase in which the missile uses proportional guidance. During the turning process in the initial guidance phase, the missile enters the mid-to-terminal flight phase when the interception conditions of the seeker are met. The optimization module is further configured to: according to the requirements for intercepting ultra-low-altitude targets, the parameter values ​​for the initial guidance phase trajectory optimization are set as follows: initial target distance 7~20km; target speed range 5~300m / s; target altitude range 5~100m; with the goal of meeting the optimal interception angle constraint requirement at the preset target distance, higher model accuracy is obtained within a smaller parameter range by segmentation to reduce errors, and the optimal interception angle range is divided into multiple segments through multiple rounds of iterative calculations for sample point mathematical calculations; in the mid-to-terminal flight phase, the missile's interception angle is not adjusted, and the ground-grabbing angle is determined according to the missile's initial launch angle, launch phase trajectory, target characteristics, and proportional guidance parameters.

[0090] It should be noted that the modules described in the embodiments of this application can be implemented in software or hardware, and the described modules can also be located in a processor. Furthermore, the names of these modules do not necessarily constitute a limitation on the module itself.

[0091] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the ultra-low-altitude ballistic optimization method based on optimal initial value binding as described in the preceding embodiments. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not incorporated into the electronic device.

[0092] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. The transmitted data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0093] The above description is merely a preferred exemplary embodiment of this application and is not intended to limit the implementation of this application. Those skilled in the art can easily make corresponding modifications or alterations based on the main concept and spirit of this application. Therefore, the scope of protection of this application should be determined by the scope of protection claimed in the claims.

Claims

1. A method for optimizing ultra-low-altitude ballistics based on optimal initial value binding, characterized in that: The method includes: Determine the optimal intercept angle for the environment; Construct a response surface model and solve for the optimal initial angle; Perform sample point calculations to complete trajectory optimization; The construction of the response surface model and the solution of the optimal initial angle specifically include: Establish a response surface model and solve the equations: （1） In the formula The initial launch angle, The distance between the missile and the target at the moment of launch; The Mach number for the target flight; The target's flight altitude; To achieve a specific target distance R n The desired optimal interception angle is as follows; set up , , , Equation (1) can be transformed into: （2） A set of simple elementary functions is selected to construct a regression response model to simulate the true function. The expression of the regression response model is as follows: （3） In the formula The statistical error is a normal distribution with a mean of zero. Let m be the basis function and m be the number of terms in the expansion. The basis function can be a power function, a trigonometric function, or various polynomial forms. There are m undetermined coefficients; Using a second-order polynomial as the response surface model, the basis functions are transformed as follows: （4） Based on equations (4) and (3), we obtain: （5） Retaining the constant term, first-order term, and second-order square term in equation (5), and discarding the second-order cross term, equation (5) is transformed into: （6） make: （7） Then, the coefficient numbers are readjusted, and equation (6) is transformed into a linear model: （8） Equation (8) contains 15 undetermined coefficients, which are selected. n s Experiments were conducted using a group of sample points. n s ≥15, to determine the value of each undetermined coefficient.

2. The ultra-low altitude ballistic optimization method based on optimal initial value binding according to claim 1, characterized in that: Determining the optimal intercept angle for the environment specifically includes: Based on the radar illumination angle that minimizes the multipath scattering coefficient of the image formation, Brewster angles under different environmental types and parameters are obtained by electromagnetic calculation. The Brewster angle is selected based on the corresponding environmental conditions to determine the optimal interception angle.

3. The ultra-low-altitude ballistic optimization method based on optimal initial value binding according to claim 1, characterized in that: The trajectory includes an initial guidance phase and a mid-to-terminal flight phase. The initial guidance phase is the flight phase in which the missile is launched at an angle determined by the optimal interception angle requirement, and then flies according to the missile's own dynamic characteristics. The mid-to-terminal flight phase is the flight phase in which the missile uses proportional guidance. During the turning process in the initial guidance phase, the missile enters the mid-to-terminal flight phase when the interception conditions of the seeker are met. The process of calculating sample points to complete ballistic optimization specifically includes: Based on the requirements for intercepting ultra-low-altitude targets, the parameter ranges for ballistic optimization in the initial guidance phase are: initial target distance 7~20km; target velocity range 5~300m / s; target altitude range 5~100m. With the goal of satisfying the optimal interception angle constraint at the preset missile-target distance, higher model accuracy is obtained within a smaller parameter range by segmentation to reduce error. Through multiple rounds of iterative calculation, the optimal interception angle range is divided into multiple segments for mathematical calculation of sample points. During the mid-to-terminal flight phase, the missile's intercept angle is not adjusted; instead, the ground-grazing angle is determined based on the missile's initial launch angle, launch trajectory, target characteristics, and proportional guidance parameters.

4. The ultra-low altitude ballistic optimization method based on optimal initial value binding according to claim 3, characterized in that: The determination of the ground-grazing angle based on the missile's initial launch angle, launch trajectory, target characteristics, and proportional guidance parameters specifically includes: By adjusting the initial launch angle of the missile according to the target parameters, the missile's ground-grazing angle is made close to the optimal intercept angle when it approaches the critical target distance during the mid-course phase of its trajectory.

5. A device for optimizing ultra-low-altitude ballistics based on optimal initial value binding, characterized in that: The device includes: The determination module is configured to determine the optimal intercept angle for the environment. The calculation module is configured to construct a response surface model and solve for the optimal initial angle; The optimization module is configured to perform sample point calculations to complete ballistic optimization; The computing module is further configured to Establish a response surface model and solve the equations: （1） In the formula The initial launch angle, The distance between the missile and the target at the moment of launch; The Mach number for the target flight; The target's flight altitude; To achieve a specific target distance R n The desired optimal interception angle is as follows; set up , , , Equation (1) can be transformed into: （2） A set of simple elementary functions is selected to construct a regression response model to simulate the true function. The expression of the regression response model is as follows: （3） In the formula The statistical error is a normal distribution with a mean of zero. Let m be the basis function and m be the number of terms in the expansion. The basis function can be a power function, a trigonometric function, or various polynomial forms. There are m undetermined coefficients; Using a second-order polynomial as the response surface model, the basis functions are transformed as follows: （4） Based on equations (4) and (3), we obtain: （5） Retaining the constant term, first-order term, and second-order square term in equation (5), and discarding the second-order cross term, equation (5) is transformed into: （6） make: （7） Then, the coefficient numbers are readjusted, and equation (6) is transformed into a linear model: （8） Equation (8) contains 15 undetermined coefficients, which are selected. n s Experiments were conducted using a group of sample points. n s ≥15, to determine the value of each undetermined coefficient.

6. The ultra-low altitude ballistic optimization device based on optimal initial value binding according to claim 5, characterized in that: The determining module is further configured as follows: Based on the radar illumination angle that minimizes the multipath scattering coefficient of the image formation, Brewster angles under different environmental types and parameters are obtained by electromagnetic calculation. The Brewster angle is selected based on the corresponding environmental conditions to determine the optimal interception angle.

7. The ultra-low altitude ballistic optimization device based on optimal initial value binding according to claim 5, characterized in that: The trajectory includes an initial guidance phase and a mid-to-terminal flight phase. The initial guidance phase is the flight phase in which the missile, after being launched at an angle determined according to the optimal interception angle requirement, flies according to its own dynamic characteristics. The mid-to-terminal flight phase is the flight phase in which the missile uses proportional guidance. During the turn in the initial guidance phase, if the interception conditions of the seeker are met, the missile enters the mid-to-terminal flight phase. The optimization module is further configured as follows: Based on the requirements for intercepting ultra-low-altitude targets, the parameter ranges for ballistic optimization in the initial guidance phase are: initial target distance 7~20km; target velocity range 5~300m / s; target altitude range 5~100m. With the goal of satisfying the optimal interception angle constraint at the preset missile-target distance, higher model accuracy is obtained within a smaller parameter range by segmentation to reduce error. Through multiple rounds of iterative calculation, the optimal interception angle range is divided into multiple segments for mathematical calculation of sample points. During the mid-to-terminal flight phase, the missile's intercept angle is not adjusted; instead, the ground-grazing angle is determined based on the missile's initial launch angle, launch trajectory, target characteristics, and proportional guidance parameters.

8. A computer-readable storage medium, characterized in that: It stores computer-readable instructions, which, when executed by the computer's processor, cause the computer to perform the ultra-low-altitude ballistic optimization method based on optimal initial value binding as described in any one of claims 1 to 4.

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