Aircraft guidance method and device based on zero-control interception flow pattern
By constructing a kinematic model and optimizing guidance commands using Lyapunov functions, the low guidance accuracy problem in existing technologies is solved, and precise interception of targets is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-11-22
- Publication Date
- 2026-03-03
AI Technical Summary
Existing aircraft guidance methods have significant errors in estimating remaining flight time, resulting in low guidance accuracy and an inability to effectively and accurately intercept targets.
The aircraft guidance method based on zero-control interception flow pattern constructs a kinematic model of the aircraft and the target, predicts the ideal flight speed and tilt angle, and combines Lyapunov functions to construct guidance commands, optimizes the aircraft's maneuver overload, and achieves precise interception of the target.
It eliminates the need to estimate remaining flight time, improves guidance accuracy, optimizes the aircraft's trajectory, reduces maneuvering overload requirements, and achieves precise interception of targets.
Smart Images
Figure CN115755969B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of aircraft guidance, and more specifically, relates to an aircraft guidance method and device based on zero-control interception flow pattern. Background Technology
[0002] Guidance algorithms are a key technology for controlling the trajectory of an aircraft or intercepting a target aircraft. Using appropriate guidance methods can optimize the trajectory of an aircraft and improve the accuracy of intercepting targets.
[0003] In guiding aircraft, predictive information can significantly improve guidance accuracy. Existing technology assumes the target aircraft's (hereinafter referred to as the target) maneuvering pattern and specifies the guidance method used by our aircraft (hereinafter referred to as the aircraft) to obtain a predicted hit point. This predicted hit point is then treated as a virtual target, and the corresponding guidance method is used to intercept the target aircraft, reducing the aircraft's overload requirements. However, this method has a large estimation error regarding the remaining flight time because there is a significant difference between the remaining flight time corresponding to the predicted hit point and the time it takes for our aircraft to intercept the virtual target. A better approach is to assume the target is moving at a constant velocity or uniform acceleration in a straight line. By using collision triangle constraints, an ideal aircraft velocity tilt angle is obtained. The output feedback pole placement method or the Lyapunov method is then used to control the actual aircraft tilt angle, making it approach the ideal tilt angle, thus achieving interception of the target by our aircraft.
[0004] Existing technologies apply optimal control theory to design optimal control predictive guidance laws. One technique assumes the target moves at a constant velocity and obtains the guidance terminal constraints by approximating the remaining flight time; another technique calculates the guidance terminal constraints based on the concept of zero-control interception flow patterns.
[0005] In summary, existing technologies have significant errors in estimating remaining flight time. They often estimate remaining flight time by dividing the relative distance by the approach speed. Even if the actual maneuver of the target is consistent with the assumed maneuver, there will be significant prediction errors in the predicted hit point, ideal velocity angle, and guidance terminal constraints, which will reduce guidance accuracy. Summary of the Invention
[0006] In view of the shortcomings of the prior art, the purpose of this invention is to provide an aircraft guidance method and device based on zero-control interception flow pattern, which aims to solve the problem of low guidance accuracy of existing aircraft.
[0007] To achieve the above objectives, in a first aspect, the present invention provides a vehicle guidance method based on a zero-control interception flow pattern, comprising the following steps:
[0008] Determine the kinematic model between the aircraft and the target; the kinematic model includes: the relative kinematic equations between the aircraft and the target, the kinematic equations of the aircraft, and the kinematic equations of the target;
[0009] The kinematic equations of the aircraft include equations representing the relationship between the aircraft's position, velocity, acceleration, and angular velocity; the kinematic equations of the target include equations representing the relationship between the target aircraft's position, velocity, acceleration, and angular velocity.
[0010] The ideal flight speed tilt angle of the aircraft is predicted based on the zero-control interception flow pattern constraint conditions using the kinematic model, and the guidance error is determined by combining the actual flight speed tilt angle and the ideal flight speed tilt angle.
[0011] Based on the guidance error, a Lyapunov function is constructed, and the guidance command of the aircraft is obtained using Lyapunov stability theory. The guidance command is the maneuver overload value during the flight of the aircraft, and the guidance purpose of the aircraft is to fly to the location of the target.
[0012] In an optional example, the kinematic model includes the following equations:
[0013] R TM1 =R T1 -R M1
[0014] R TM2 =R T2 -R M2
[0015] V TM1 =V T1 -V M1
[0016] V TM2 =V T2 -V M2
[0017]
[0018]
[0019] V T1 =V T cosβ
[0020] V T2 =V T sinβ
[0021]
[0022]
[0023]
[0024]
[0025]
[0026]
[0027]
[0028]
[0029]
[0030]
[0031] Among them, R TM λ and V represent the relative distance and line-of-sight angle between the aircraft and the target, respectively. M and V T n represents the speed of the aircraft and the target, respectively. C and n T Let R represent the maneuvering overloads of the aircraft and the target, respectively, and α and β represent the flight velocity inclinations of the aircraft and the target, respectively. T1 ,R T2 V T1 and V T2 These are the components of the target position and velocity on the two coordinate axes, R. M1 ,R M2 V M1 and V M2 These are the components of the aircraft's position and velocity on the two coordinate axes, V. TM1 and V TM2 R represents the deviation of the target and the aircraft's velocities on the two coordinate axes. TM1 and R TM2 The relative distances R are respectively TM In the components of the two coordinate axes, a M1 and a M2 The respective overloads of the aircraft n C The components of V on the two coordinate axes c The approach speed of the aircraft and the target. The line-of-sight angular velocity rate is represented by the subscript 1, which indicates the x-axis component, and the subscript 2 indicates the y-axis component.
[0032] In an optional example, if the aircraft and target satisfy the zero-control intercept flow pattern, then:
[0033] V M sin(λ-α * )βV Tsin(λ-β)
[0034] In the formula, α * It is the ideal flight speed and tilt angle for an aircraft to meet the zero-control interception flow pattern;
[0035] Setting guidance error α is the actual flight speed tilt angle, construct the Lyapunov function s:
[0036]
[0037] According to Lyapunov's stability theory, the formula for calculating guidance commands is as follows:
[0038]
[0039] Secondly, the present invention provides a vehicle guidance device based on a zero-control interception flow pattern, comprising:
[0040] A motion model determination unit is used to determine the kinematic model between the aircraft and the target; the kinematic model includes: the relative kinematic equations between the aircraft and the target, the kinematic equations of the aircraft, and the kinematic equations of the target;
[0041] The guidance error determination unit is used to predict the ideal flight speed tilt angle of the aircraft based on the zero-control interception flow pattern constraint conditions by combining the kinematic model, and to determine the guidance error by combining the actual flight speed tilt angle and the ideal flight speed tilt angle.
[0042] The guidance command solving unit is used to construct a Lyapunov function based on the guidance error and use Lyapunov stability theory to obtain the guidance command of the aircraft; the guidance command is the maneuver overload value during the flight of the aircraft, and the guidance purpose of the aircraft is to fly to the location of the target.
[0043] In an optional example, the kinematic model determined by the motion model determination unit includes the following equations:
[0044] R TM1 =R T1 -R M1
[0045] R TM2 =R T2 -R M2
[0046] V TM1 =V T1 -V M1
[0047] V TM2 =V T2 -V M2
[0048]
[0049]
[0050] V T1 =V T cosβ
[0051] V T2 =V T sinβ
[0052]
[0053]
[0054]
[0055]
[0056]
[0057]
[0058]
[0059]
[0060]
[0061]
[0062] Among them, R TM λ and V represent the relative distance and line-of-sight angle between the aircraft and the target, respectively. M and V T n represents the speed of the aircraft and the target, respectively. C and n T Let R represent the maneuvering overloads of the aircraft and the target, respectively, and α and β represent the flight velocity inclinations of the aircraft and the target, respectively. T1 ,R T2 V T1 and V T2 These are the components of the target position and velocity on the two coordinate axes, R. M1 ,R M2 V M1 and V M2 These are the components of the aircraft's position and velocity on the two coordinate axes, V. TM1 and V TM2 R represents the deviation of the target and the aircraft's velocities on the two coordinate axes. TM1 and R TM2The relative distances R are respectively TM In the components of the two coordinate axes, a M1 and a M2 The respective overloads of the aircraft n C The components of V on the two coordinate axes c Let λ be the approach velocity of the aircraft and the target, and λ be the line-of-sight angular velocity rate of the aircraft. Subscripts with 1 indicate the x-axis component, and subscripts with 2 indicate the y-axis component.
[0063] In an optional example, if the aircraft and target satisfy the zero-control interception flow pattern, the guidance error determination unit determines the ideal flight speed tilt angle using the following formula: V M sin(λ-α * ) = V T sin(λ-β); where α * The ideal flight speed and tilt angle for the aircraft to meet the zero-control interception flow pattern; and the setting of guidance error. α is the tilt angle of the actual flight speed.
[0064] In an optional example, the guidance command solving unit constructs the Lyapunov function s: According to Lyapunov's stability theory, the formula for calculating guidance commands is as follows:
[0065] Thirdly, the present invention provides an aircraft guidance device based on a zero-control interception flow pattern, comprising: a memory and a processor;
[0066] The memory is used to store computer programs;
[0067] The processor is configured to implement the method provided in the first aspect above when executing the computer program.
[0068] Fourthly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method provided in the first aspect above.
[0069] In summary, the technical solutions conceived by this invention have the following beneficial effects compared with the prior art:
[0070] This invention provides an aircraft guidance method and apparatus based on a zero-control interception flow pattern. The designed predictive guidance law method eliminates the need to estimate the remaining flight time, thereby improving guidance accuracy. Simulation results from the embodiments show that, for different target maneuvers, the predictive guidance law based on the zero-control interception flow pattern can reduce the aircraft's maneuver overload requirements, optimize the aircraft's flight trajectory, and achieve precise target interception. Attached Figure Description
[0071] Figure 1 This is a flowchart of a vehicle guidance method based on zero-control interception flow pattern provided in an embodiment of the present invention;
[0072] Figure 2 This is a schematic diagram illustrating the relative motion relationship between the aircraft and the target provided in an embodiment of the present invention;
[0073] Figure 3 This is a schematic diagram of the relative motion relationship between the projectile and the target that satisfies the zero-control interception flow pattern provided by an embodiment of the present invention;
[0074] Figure 4 This is a schematic diagram of the guidance process of an aircraft with a target moving at a constant linear velocity, provided in an embodiment of the present invention.
[0075] Figure 5 This is a schematic diagram of the aircraft guidance process for a target step maneuver provided in an embodiment of the present invention;
[0076] Figure 6 This is a schematic diagram of the guidance process of an aircraft performing a target serpentine maneuver, provided in an embodiment of the present invention.
[0077] Figure 7 This is an architecture diagram of a flight guidance device based on a zero-control interception flow pattern provided in an embodiment of the present invention. Detailed Implementation
[0078] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.
[0079] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.
[0080] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.
[0081] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.
[0082] In the description of this invention, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0083] To address the problems of existing technologies, this invention proposes a predictive guidance law method based on zero-control interception flow patterns. This method eliminates the need to estimate the remaining flight time, optimizes the trajectory of our aircraft, reduces the overload required by our aircraft, and improves the interception accuracy of our aircraft against targets.
[0084] First, this invention constructs a kinematic model between the aircraft (our side) and the target (the aircraft). Then, based on the zero-control interception flow pattern, the ideal velocity tilt angle of the aircraft is predicted, and the guidance error is calculated. Finally, a Lyapunov function is constructed based on the guidance error, and the guidance command is obtained using Lyapunov stability theory.
[0085] Figure 1 This is a flowchart of a vehicle guidance method based on zero-control interception flow pattern provided in an embodiment of the present invention; as shown below. Figure 1 As shown, it includes the following steps:
[0086] S101, Determine the kinematic model between the aircraft and the target; the kinematic model includes: the relative kinematic equations between the aircraft and the target, the kinematic equations of the aircraft, and the kinematic equations of the target;
[0087] S102, based on the kinematic model and the zero-control interception flow pattern constraint, predict the ideal flight speed tilt angle of the aircraft, and determine the guidance error by combining the actual flight speed tilt angle and the ideal flight speed tilt angle;
[0088] S103, construct a Lyapunov function based on the guidance error, and use Lyapunov stability theory to obtain the guidance command of the aircraft; the guidance command is the maneuver overload value during the flight of the aircraft, and the guidance purpose of the aircraft is to fly to the location of the target.
[0089] In one specific embodiment, the aircraft guidance method provided by the present invention includes the following steps:
[0090] 1.1 Kinematic Model
[0091] The relative motion relationship between the aircraft and the target is as follows: Figure 2 As shown, the target is flying in a dive-down motion. 1-O-2 R is an inertial frame of reference. TM λ represents the relative distance and line-of-sight angle between the aircraft and the target, and V represents the line-of-sight angle between them. M and V T n represents the speed of the aircraft and the target. C and n T Let α and β represent the maneuvering overloads of the aircraft and target, respectively, and α and β represent the flight velocity inclination angles of the aircraft and target. The relative kinematic equations of the aircraft and target are as follows:
[0092] R TM1 βR T1 -R M1 (1)
[0093] R TM2 βR T2 -R M2 (2)
[0094] V TM1 βV T1 -V M1 (3)
[0095] V TM2 =V T2 -V M2 (4)
[0096]
[0097]
[0098] V T1 βV T cosβ (7)
[0099] V T2 βV T sinβ (8)
[0100] Among them, R T1 ,R T2 V T1 and V T2 These are the components of the target position and velocity on the coordinate axes, R. M1 ,R M2 V M1 and V M2 These are the components of the aircraft's position and velocity on the coordinate axes, respectively. V TM1 and V TM2These represent the deviations of the target and aircraft velocities on the two coordinate axes, respectively.
[0101] It is understood that the two coordinate axes in this invention refer to the horizontal and vertical coordinate axes, and this invention will not make any further explanation in this regard.
[0102] Relative distance R TM The component is R TM1 and R TM2 The relationship between the position and velocity of the aircraft and the target can be expressed by the following differential equation:
[0103]
[0104]
[0105]
[0106]
[0107] The relationship between aircraft speed and acceleration is as follows:
[0108]
[0109]
[0110] Among them, a M1 and a M2 For aircraft overload n C Components on the coordinate axes.
[0111] During the approach between the aircraft and the target, the maneuvering overload and velocity of the aircraft and the target are perpendicular, so we can obtain:
[0112]
[0113]
[0114] Differentiating equations (5) and (6) yields the approach velocity and line-of-sight angular velocity rate:
[0115]
[0116]
[0117] Formula (1-18) is the relative kinematic model of the aircraft and the target.
[0118] 1.2 Predictive Guidance Law Based on Zero-Control Interception Flow Pattern
[0119] Zero-control interception flow refers to a flow pattern where, without external forces, the aircraft and target move at uniform linear speeds according to their current states, allowing the aircraft to intercept the target. When the aircraft and target satisfy the zero-control interception flow pattern, their relative motion relationship is as follows: Figure 3 As shown.
[0120] If the aircraft and the target satisfy the zero-control interception flow pattern, we can obtain:
[0121] V M sin(λ-α * ) = V T sin(λ-β) (19)
[0122] In the formula, α * It is the ideal flight speed tilt angle to meet the zero-control interception flow pattern.
[0123] Solving equation (19) yields:
[0124]
[0125] Differentiating the above equation, we get:
[0126]
[0127] Define guidance error α is the tilt angle of the actual flight speed. Construct the Lyapunov function:
[0128]
[0129] From the form of equation (22), we know that s≥0 if and only if α=α * When ε = 0, s = 0. Differentiating equation (22) yields:
[0130]
[0131] To ensure s≤0, choose:
[0132]
[0133] In the formula, K > 0. According to Lyapunov's stability theory, the way the equation (24) is valued can guarantee that s ≤ 0, thus ensuring that the system is asymptotically stable and the guidance error ε converges asymptotically.
[0134] Based on equations (20) and (24), we can obtain the calculation formula for the guidance command as follows:
[0135]
[0136] If the target acceleration is not considered when calculating the guidance command, i.e., n T When the value is 0, then:
[0137]
[0138] To verify the effectiveness of the proposed guidance law in guiding aircraft flight and intercepting targets, simulations were conducted for various target maneuvers. The simulation data are as follows: the aircraft and target speeds are Mach 2 and Mach 1.4, respectively; the initial position of the aircraft is the origin (0,0); the initial line-of-sight angle between the aircraft and the target is 15°; the initial distance between the aircraft and the target is 1500m; and the initial heading angles of the aircraft and the target are 75° and 15°, respectively. The aircraft maneuver overload constraint is 50g. The target moves in three ways: uniform linear motion, step maneuver, and serpentine maneuver. The overload of the target during uniform linear motion is 0; during step maneuver, the target's maneuver overload is 12g; and during serpentine maneuver, the target's maneuver overload is 12g×sign(sin(w×t)), where sign() is the sign function, g is the gravitational acceleration, w is the maneuver overload frequency, and t is time. The simulation results are as follows: Figures 4-6 As shown. Among them, Figures 4-6 In Table 1, (a) shows the trajectory curves of the aircraft and target guidance process, and (b) shows the overload curve required by the aircraft. Table 1 shows the miss distances under different target maneuvers.
[0139] Table 1. Miss distance of the target under different maneuvering modes
[0140] Uniform linear motion Step maneuver serpentine maneuver Miss distance (m) 0.009 0.029 0.043
[0141] Depend on Figure 4 (a) Figure 5 (a) and Figure 6 As shown in the guidance trajectory curves of the aircraft and the target in Figure (a), the aircraft can intercept targets under different maneuvers. Table 1 further shows that the miss distance is less than 0.1m under each maneuver, verifying that the aircraft can accurately intercept targets using the predictive guidance law based on the zero-control interception flow pattern. Figure 4 (b) indicates that when the target is moving in a straight line at a constant speed, the aircraft maneuvers with maximum overload to allow the aircraft to meet the zero-control interception flow pattern as soon as possible. Once the aircraft meets the zero-control interception flow pattern, the required overload of the aircraft is 0, which greatly reduces the required overload of the aircraft and optimizes the subsequent flight trajectory. Figure 5 (b) and Figure 6 (b) indicates that when the target is maneuvering, the ideal aircraft speed angle will continuously change. During the subsequent guidance process, the aircraft needs to be overloaded to adjust its trajectory in order to meet the zero-control interception flow pattern and achieve the interception of the target.
[0142] Figure 7This is an architectural diagram of a flight guidance device based on a zero-control interception flow pattern provided in an embodiment of the present invention, as shown below. Figure 7 As shown, it includes:
[0143] The motion model determination unit 710 is used to determine the kinematic model between the aircraft and the target; the kinematic model includes: the relative kinematic equations between the aircraft and the target, the kinematic equations of the aircraft, and the kinematic equations of the target;
[0144] The guidance error determination unit 720 is used to predict the ideal flight speed tilt angle of the aircraft based on the zero-control interception flow pattern constraint conditions in combination with the kinematic model, and to determine the guidance error in combination with the actual flight speed tilt angle and the ideal flight speed tilt angle;
[0145] The guidance command solving unit 730 is used to construct a Lyapunov function based on the guidance error and use Lyapunov stability theory to obtain the guidance command of the aircraft; the guidance command is the maneuver overload value during the flight of the aircraft, and the guidance purpose of the aircraft is to fly to the location of the target.
[0146] It is understood that the detailed functional implementation of each of the above units can be found in the description of the aforementioned method embodiments, and will not be repeated here.
[0147] In addition, embodiments of the present invention provide another aircraft guidance device, which includes: a memory and a processor;
[0148] The memory is used to store computer programs;
[0149] The processor is configured to implement the methods described in the above embodiments when executing the computer program.
[0150] In addition, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods described in the above embodiments.
[0151] Based on the methods in the above embodiments, this embodiment of the invention provides a computer program product that, when run on a processor, causes the processor to execute the methods in the above embodiments.
[0152] Based on the methods described in the above embodiments, this invention also provides a chip, including one or more processors and interface circuitry. Optionally, the chip may further include a bus. Wherein:
[0153] The processor may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed through integrated logic circuits in the processor's hardware or through software instructions. The processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods and steps disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor.
[0154] Interface circuits can be used to send or receive data, instructions, or information. Processors can use the data, instructions, or other information received by the interface circuits to process the data, instructions, or other information, and then send the processed information out through the interface circuits.
[0155] Optionally, the chip may also include memory, which may include read-only memory and random access memory, and provide operation instructions and data to the processor. A portion of the memory may also include non-volatile random access memory (NVRAM).
[0156] Optionally, the memory stores executable software modules or data structures, and the processor can execute corresponding operations by calling the operation instructions stored in the memory (which may be stored in the operating system).
[0157] Optionally, the interface circuitry can be used to output the processor's execution results.
[0158] It should be noted that the functions of the processor and interface circuits can be implemented through hardware design, software design, or a combination of both; no restrictions are imposed here.
[0159] It should be understood that each step of the above method embodiments can be completed by hardware logic circuits or software instructions in a processor.
[0160] It is understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. In addition, in some possible implementations, each step in the above embodiments may be selectively executed according to the actual situation, and may be partially or fully executed, which is not limited here.
[0161] It is understood that the processor in the embodiments of this application may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A general-purpose processor may be a microprocessor or any conventional processor.
[0162] The method steps in the embodiments of this application can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can reside in an ASIC.
[0163] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).
[0164] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.
Claims
1. A vehicle guidance method based on zero-control interception flow pattern, characterized in that, Includes the following steps: Determine the kinematic model between the aircraft and the target; the kinematic model includes: the relative kinematic equations between the aircraft and the target, the kinematic equations of the aircraft, and the kinematic equations of the target; The ideal flight speed tilt angle of the aircraft is predicted based on the zero-control interception flow pattern constraint conditions using the kinematic model, and the guidance error is determined by combining the actual flight speed tilt angle and the ideal flight speed tilt angle. Based on the guidance error, a Lyapunov function is constructed, and the guidance command of the aircraft is obtained using Lyapunov stability theory. The guidance command is the maneuver overload value during the flight of the aircraft, and the purpose of the aircraft's guidance is to control and guide the aircraft to approach the target. The kinematic model includes the following equations: in, and These represent the relative distance and line-of-sight angle between the aircraft and the target, respectively. and The speeds of the aircraft and the target are respectively. and These are the maneuvering overloads for the aircraft and the target, respectively. and These are the inclination angles of the aircraft and the target, respectively, representing their respective flight speeds. , , and These are the components of the target's position and velocity on the two coordinate axes, respectively. , , and These are the components of the aircraft's position and velocity on the two coordinate axes, respectively. V TM1 and V TM2 These represent the deviations of the target and aircraft velocities on the two coordinate axes, respectively. and Relative distances In the components of the two coordinate axes, and These are aircraft maneuver overloads. Components on the two coordinate axes V c The approach speed of the aircraft and the target. The line-of-sight angular velocity rate of the aircraft is represented by a subscript of 1, which indicates the horizontal axis component and a subscript of 2, which indicates the vertical axis component. If the aircraft and target satisfy the zero-control interception flow pattern, then: In the formula, It is the ideal flight speed and tilt angle for an aircraft to meet the zero-control interception flow pattern; Setting guidance error , The actual flight speed tilt angle is used to construct the Lyapunov function. s : According to Lyapunov's stability theory, the formula for calculating guidance commands is as follows: 。 2. A flight guidance device based on zero-control interception flow pattern, characterized in that, include: The motion model determination unit is used to determine the kinematic model between the aircraft and the target; The kinematic model includes: the relative kinematic equations between the aircraft and the target, the kinematic equations of the aircraft, and the kinematic equations of the target; The guidance error determination unit is used to predict the ideal flight speed tilt angle of the aircraft based on the zero-control interception flow pattern constraint conditions by combining the kinematic model, and to determine the guidance error by combining the actual flight speed tilt angle and the ideal flight speed tilt angle. The guidance command solving unit is used to construct a Lyapunov function based on the guidance error and use Lyapunov stability theory to obtain the guidance command of the aircraft; the guidance command is the maneuver overload value of the aircraft during flight, and the guidance purpose of the aircraft is to fly to the target location. The kinematic model includes the following equations: in, and These represent the relative distance and line-of-sight angle between the aircraft and the target, respectively. and The speeds of the aircraft and the target are respectively. and These are the maneuvering overloads for the aircraft and the target, respectively. and These are the inclination angles of the aircraft and the target, respectively, representing their respective flight speeds. , , and These are the components of the target's position and velocity on the two coordinate axes, respectively. , , and These are the components of the aircraft's position and velocity on the two coordinate axes, respectively. V TM1 and V TM2 These represent the deviations of the target and aircraft velocities on the two coordinate axes, respectively. and Relative distances In the components of the two coordinate axes, and These are aircraft maneuver overloads. Components on the two coordinate axes V c The approach speed of the aircraft and the target. The line-of-sight angular velocity rate of the aircraft is represented by a subscript of 1, which indicates the horizontal axis component and a subscript of 2, which indicates the vertical axis component. If the aircraft and target satisfy the zero-control interception flow pattern, the guidance error determination unit determines the ideal flight speed tilt angle using the following formula: In the formula, The ideal flight speed and tilt angle for the aircraft to meet the zero-control interception flow pattern; and the setting of guidance error. , It is the actual flight speed angle; The guidance command solving unit constructs a Lyapunov function. s : According to Lyapunov's stability theory, the formula for calculating guidance commands is as follows: .
3. A flight guidance device based on zero-control interception flow pattern, characterized in that, include: Memory and processor; The memory is used to store computer programs; The processor is configured to implement the method as described in claim 1 when executing the computer program.
4. A computer-readable storage medium, characterized in that, The storage medium stores a computer program that, when executed by a processor, implements the method as described in claim 1.