A method for controlling the explosion point of missile fuze

Abstract

The present invention discloses a missile fuze explosion point control method, comprising the following steps: (10) parameter initialization: initializing various parameters of an air target, a missile and a warhead according to actual conditions; (20) warhead kill field model construction: constructing a kill field model according to missile position attitude parameters and warhead parameters; (30) ideal explosion point calculation: calculating the ideal explosion point position of each trajectory; (40) fitting a program delay function based on an ant colony algorithm: fitting a program delay function according to information on the ideal explosion point, missile-target relative speed, relative missile early arrival azimuth and miss amount; (50) actual explosion point calculation: substituting the missile-target relative speed, relative missile early arrival azimuth and miss amount provided by the missile flight control and fuze into the program delay function to calculate the actual explosion point position. The missile fuze explosion point control method of the present invention provides a new explosion point calculation model, which can improve the accuracy of explosion point control.

Description

Technical Field

[0001] The invention belongs to the technical field of guidance fuzes and is a method for controlling the explosion point of a missile fuze. Background Art

[0002] The traditional side-looking fuze guidance is to detonate after a fixed detonation delay after detecting the target. Since the influence of relative speed, missile's relatively early arrival position and miss amount are ignored, the calculated explosion point position has a large deviation, which makes it difficult to effectively kill the target. At present, when calculating the explosion point position under the side-looking fuze system, some scholars take the relative speed into consideration, and detonate after calculating the detonation delay by setting an algorithm related to the relative speed of the missile and the target, which effectively improves the accuracy of the explosion point. In order to further improve the missile's killing efficiency against the target, it is crucial to substitute the missile's relatively early arrival position and miss amount into the calculation of the program delay.

[0003] The problem with the prior art is that there is a certain error in using a fixed detonation delay or a detonation delay calculated by only considering the relative speed between the missile and the target, ignoring the influence of the missile's relatively early arrival position and the miss distance, thereby reducing the missile's killing effect on the target. Summary of the invention

[0004] The purpose of the present invention is to provide a missile fuze explosion point control method, which can output a more accurate detonation delay and has a better target strike effect.

[0005] The technical solution to achieve the purpose of the present invention is: a missile fuze explosion point control method, comprising the following steps:

[0006] (10) Parameter initialization: Initialize various parameters of air targets, missiles, and warheads according to actual conditions;

[0007] (20) Warhead kill field model construction: Construct a kill field model based on missile position and attitude parameters and warhead parameters;

[0008] (30) Ideal explosion point calculation: Calculate the ideal explosion point position for each trajectory;

[0009] (40) Fitting the program delay function based on the ant colony algorithm: Fitting the program delay function based on the ideal explosion point, the relative speed of the missile and the target, the relative missile early arrival position and the miss distance information;

[0010] (50) Calculation of actual explosion point: Substitute the missile-target relative speed, relative missile early arrival direction and miss distance provided by the missile flight control and fuze into the program delay function to calculate the actual explosion point position.

[0011] Preferably, the parameters that need to be initialized in step (10) are as follows:

[0012] The target position and posture parameters include the target velocity scalar V t , yaw angle T yaw , pitch angle T pitch , roll angle T roll ;

[0013] The missile position and attitude parameters include the missile's velocity scalar V m , yaw angle M yaw , pitch angle M pitch , roll angle M roll and the initial projectile-target distance R tm ;

[0014] The warhead parameters include the warhead center offset Center, static dispersion angle Angle, killing radius R kill , static flight angle α, static explosion initial velocity scalar V s .

[0015] Preferably, in step (10), missile parameters are initialized by randomly sampling missile parameters within a certain range according to missile characteristics, target parameters are initialized by randomly sampling target parameters within a certain range according to target characteristics, and the killing field is initialized according to the parameters of the warhead.

[0016] Preferably, the specific method for constructing the kill field model according to the missile position and attitude parameters and the warhead parameters is:

[0017] (21) Determine the initial position of the missile: Based on the initial distance R between the missile and the target tm The missile initial position M is determined by the missile target attitude angle position ;

[0018] (22) Determine the starting point of the kill field line segment: Determine the starting point Start[i] of the i-th line segment of the kill field in the eye-link relative velocity coordinate system, specifically:

[0019] Start[i].x=M position .x+Center

[0020] Start[i].y=M position .y

[0021] Start[i].z=M position .z

[0022] Where Start[i].x, Start[i].y, and Start[i].z represent the three-axis coordinate values ​​of the starting point of the line segment.

[0023] M position .x, M position .y、M position.z represents the three-axis coordinate values ​​of the missile position, and Center represents the warhead center offset;

[0024] (23) Determine the end point of the killing field line segment: Determine the end point End[i] of the i-th line segment of the killing field in the relative velocity coordinate system of the target-eye association, specifically:

[0025] Static dispersion vector of the killing element in the missile coordinate system:

[0026]

[0027]

[0028]

[0029] Where V kill [i].x、V kill [i].y、V kill [i].z represents the three-axis coordinate values ​​of the static scattering vector of the killing element, V s represents the static explosion initial velocity scalar, α represents the static flight angle, and Angle represents the static spread angle;

[0030] Convert the static scatter vector of the killer element to the earth coordinate system:

[0031] Missile roll angle transformation matrix M [roll]

[0032]

[0033] Missile yaw angle transformation matrix M [yaw

[0034]

[0035] Missile pitch angle transformation matrix M [pitch

[0036]

[0037] In the formula, Ag missile .x, Ag missile .y、Ag missile .z are the roll angle, yaw angle and pitch angle of the missile respectively;

[0038] V in the geodetic coordinate system kill [i]

[0039]

[0040] The relative velocity vector is superimposed on the static scattering vector of the killing element to obtain the dynamic scattering vector of the killing element:

[0041] V kill [i] = V kill [i]+VR

[0042] Where VR is the relative velocity vector;

[0043] Calculate the end point of the killing field segment End[i]

[0044]

[0045] Where Start[i] represents the starting point of the i-th line segment in the killing field, R kill is the killing radius.

[0046] Preferably, according to the initial distance R tm and the missile-target attitude angle to determine the missile's initial position M position The specific method is:

[0047] According to the target attitude angle Ag taget Determine the target's roll angle transformation matrix T [roll] , target yaw angle transformation matrix T [yaw] and the target pitch angle transformation matrix T [pitch] ;

[0048] Target roll angle transformation matrix T [roll] :

[0049]

[0050] Target yaw angle transformation matrix T [yaw] :

[0051]

[0052] Target pitch angle transformation matrix T [pitch] :

[0053]

[0054] Where Ag taget .x, Ag taget .y、Ag taget .z are the target's roll angle, yaw angle and pitch angle respectively;

[0055] According to the target roll angle transformation matrix T [roll] , target yaw angle transformation matrix T [yaw] , target pitch angle transformation matrix T [pitch] Determine the missile velocity vector VM, target velocity vector VT, and missile-target relative velocity vector VR, which are respectively:

[0056]

[0057]

[0058] VR=VM-VT

[0059] According to the relative velocity vector VR of the projectile and the initial distance R of the projectile and the target tm Determine the missile's initial position M position :

[0060]

[0061] Preferably, the (30) ideal explosion point calculation step comprises:

[0062] (31) Definition of ideal explosion point: Assuming the target position is fixed, the missile and the killing field move in the direction of the relative velocity between the missile and the target. When the killing field passes through the geometric center of the target, it is considered that the warhead has the best killing effect on the target. The geometric center position of the missile at the current moment is the ideal explosion point position.

[0063] (32) Calculate the distance the missile moves when the kill field passes through the target's geometric center: Establish a ray starting from the target's geometric center Dot and in the opposite direction of the relative velocity between the missile and the target, and traverse all the triangles formed by two adjacent kill field line segments to see if they intersect with the ray and the intersection points when they do intersect;

[0064] The starting positions of two adjacent killing field line segments are the same, and the starting positions of the starting points and the end positions of the two line segments are recorded as triangular face element ploy;

[0065] ploy[0]=Start[1]=Start[2]

[0066] ploy[1]=End[1]

[0067] ploy[2]=End[2]

[0068] Where ploy[0], ploy[1], ploy[2] are the coordinates of the three vertices of the triangle, Start[1], Start[2] are the starting position coordinates of the two kill field line segments, End[1], End[2] are the ending position coordinates of the two kill field line segments;

[0069] The normal vector of ploy is:

[0070] normal=(ploy[1]-ploy[0])×(ploy[2]-ploy[0])

[0071] If normal·VR=0, there is no intersection. In the remaining cases, the ray intersects with the plane where the triangle element is located, and the intersection point Intert is:

[0072]

[0073] The intersection point falls into the triangle element ploy judgment:

[0074] PA=ploy[0]-Intert

[0075] PB=ploy[1]-Intert

[0076] PC=ploy[2]-Intert

[0077] t1=PA×PB

[0078] t2=PB×PC

[0079] t3=PC×PA

[0080] Where PA, PB, and PC represent the vectors from the intersection point Intert to the three vertices of the triangular face element ploy, respectively. t1, t2, and t3 are the vectors obtained by cross-producting the three vectors PA, PB, and PC. If t1, t2, and t3 have the same sign, the intersection point is inside the triangular face element.

[0081] The distance the missile moves when the killing field passes through the geometric center of the target is:

[0082]

[0083] Where Intert.x, Intert.y, and Intert.z represent the three-axis coordinate values ​​of the intersection points, respectively; Dot.x, Dot.y, and Dot.z represent the three-axis coordinate values ​​of the target geometric center, respectively;

[0084] (33) Calculate the ideal explosion point coordinates OptBurst as:

[0085]

[0086] Where M position represents the target position, VR is the relative velocity vector between the projectile and the target.

[0087] Preferably, the process of fitting the program delay function based on the ant colony algorithm (40) includes:

[0088] (41) obtaining information on missile-target relative velocity, ideal explosion point, relative missile early arrival position and miss distance as a data set of the fitting function;

[0089] According to the parameter initialization of (10), N random trajectories are obtained. According to the best bombing point calculation of (30), the relative velocity of the missile and the target, the ideal bombing point, the relative missile early arrival position and the miss amount information are obtained. The relative missile early arrival position AREBird is defined as follows:

[0090] The miss-target plane is a plane that passes through the geometric center of the target and is perpendicular to the relative motion trajectory of the projectile and the target;

[0091] The attack plane is the plane determined by the missile velocity vector and the target velocity vector;

[0092] The miss point is the intersection of the relative motion trajectory of the projectile and the target and the miss plane;

[0093] The relative missile early arrival direction is the angle between the line L1 connecting the miss point and the target geometric center and the intersection line L2 between the attack plane and the miss plane. The positive direction is the angle between the line and OY r The angle between the axes, along OX r Looking from the direction, clockwise rotation is positive, and L1 direction is greater than L2 direction. The value range is [0°, ±180°];

[0094] (42) Establish a program delay function:

[0095]

[0096] Where x1 is the relative velocity scalar between the missile and the target, x2 is the early arrival position of the relative missile, x3 is the miss distance, y is the program delay, and a, b, c, d, and e are model parameters.

[0097] (43) Establish the objective function of the ant colony algorithm;

[0098]

[0099] a∈J1,b∈J2,c∈J3,d∈J4,e∈J5

[0100] Where N is the number of data sets, VR is the relative velocity scalar between the missile and the target, AREBird is the relative missile early arrival azimuth, Rou is the miss distance, and J1, J2, J3, J4, and J5 are the ranges of the specified a, b, c, d, and e estimates;

[0101] (44) Ant colony algorithm local search, each ant randomly searches in its own neighborhood space. When the new location is searched If the objective function is smaller than the original objective function, the ant will be updated to the new position, otherwise it will not move;

[0102]

[0103] P i =(a,b,c,d,e

[0104] Where P i is the original position of the ant, New location for the ant;

[0105] (45) Ant colony algorithm global search, each ant performs a global random search or a search based on pheromone distribution, where pheromone refers to the objective function value of the current ant position;

[0106]

[0107] 0 <q<10<q0<1

[0108]

[0109] 0 <h<1 0<h0<1 0<α<1

[0110] Where P j is the position of the ant with the smaller objective function value, h is the random number of transition probability, h0 is the set transition probability constant, and α is the set transition step constant.

[0111] Preferably, the actual explosion point calculation process (50) is as follows:

[0112] Record the missile position P1 when the fuze detects the target, substitute the missile-target relative speed, the early arrival position relative to the missile and the miss amount into the program delay model to calculate the actual program delay t d , calculate the distance d1 that the missile moves during the actual program delay:

[0113] d1=VR·t d

[0114] Calculate the security agency delay t s The distance d2 that the missile moves during the process is:

[0115] d2=VR·t s

[0116] The actual explosion point position BurstRel is obtained by translating point P1 by d1+d2 along the direction of the relative velocity vector of the projectile and the target:

[0117]

[0118] Compared with the traditional explosion point control method, the present invention has the following significant advantages:

[0119] 1. More precise bombing point control: Taking into account the impact of the relative speed between the missile and the target, the missile's early arrival position and the amount of miss on the program delay calculation, the bombing point control is more precise and the missile's damage effect on the target is improved.

[0120] 2. Small amount of calculation: The process of fitting the program delay function using the ant colony algorithm can be performed offline, reducing the amount of calculation for calculating the program delay when the actual missile attacks the target.

[0121] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0122] Figure 1 It is the main flow chart of the missile fuze explosion point control method of the present invention.

[0123] Figure 2 for Figure 1 Flowchart for the construction of the medium warhead kill field model.

[0124] Figure 3 for Figure 1 Flowchart of the ideal explosion point location calculation process.

[0125] Figure 4 for Figure 1 Flowchart of the delay function of the fitting program based on the ant colony algorithm. DETAILED DESCRIPTION

[0126] like Figure 1 As shown, the missile fuze explosion point control method of the present invention comprises the following steps:

[0127] (10) Parameter initialization: Initialize target position and attitude parameters, missile position and attitude parameters, and various warhead parameters;

[0128] In the parameter initialization step (10), the parameters that need to be initialized are as follows:

[0129] The target position and posture parameters include the target velocity scalar V t (Unit: meters per second), yaw angle T yaw (unit: degree), pitch angle T pitch (unit: degree), roll angle T roll (unit: degree);

[0130] The missile position and attitude parameters include the missile's velocity scalar V m (Unit: meters per second), yaw angle M yaw (unit: degree), pitch angle M pitch (unit: degree), roll angle M roll (unit: degrees) and the initial target distance R tm (unit: meter);

[0131] The warhead parameters include the warhead center offset Center (unit: meter), static dispersion angle Angle (unit: degree), killing radius R kill(unit: meter), static flight angle α (unit: degree), static explosion initial velocity scalar V s (unit: meters per second);

[0132] The missile parameters are initialized by randomly sampling the missile parameters within a certain range according to the missile characteristics, the target parameters are initialized by randomly sampling the target parameters within a certain range according to the target characteristics, and the killing field is initialized according to the parameters of the warhead.

[0133] (20) Warhead kill field model construction: Construct a kill field model based on missile position and attitude parameters and warhead parameters;

[0134] like Figure 2 As shown, the step (20) of constructing the warhead killing field model includes:

[0135] (21) Determination of the missile's initial position: Based on the initial distance R between the missile and the target tm and the missile-target attitude angle to determine the missile's initial position M position ;

[0136] According to the target attitude angle Ag taget :

[0137]

[0138]

[0139]

[0140] Target roll angle transformation matrix T [roll

[0141]

[0142] Target yaw angle transformation matrix T [yaw

[0143]

[0144] Target pitch angle transformation matrix T [pitch

[0145]

[0146] Missile velocity vector VM, target velocity vector VT, missile-target relative velocity vector VR

[0147]

[0148]

[0149] VR=VM-VT

[0150] According to the relative velocity vector VR of the projectile and the initial distance R of the projectile and the target tm Determine the missile's initial position M position :

[0151]

[0152] (22) Determine the starting point of the kill field line segment: Determine the starting point Start[i] of the i-th line segment of the kill field in the eye-link relative velocity coordinate system;

[0153] Starting point of the kill field line segment in the missile coordinate system:

[0154] Start[i].x=Center

[0155] Start[i].y=0

[0156] Start[i].z=0

[0157] Transfer the starting point of the kill field line segment to the relative velocity coordinate system of the target association:

[0158] Start[i].x=M position .x+Center

[0159] Start[i].y=M position .y

[0160] Start[i].z=M position .z

[0161] (23) Determine the end point of the killing field line segment: determine the end point End[i] of the i-th line segment of the killing field in the eye-link relative velocity coordinate system;

[0162] Static dispersion vector of the killing element in the missile coordinate system:

[0163]

[0164]

[0165]

[0166] Convert the static scatter vector of the killer element to the earth coordinate system:

[0167] Missile roll angle transformation matrix M [roll]

[0168]

[0169] Missile yaw angle transformation matrix M [yaw

[0170]

[0171] Missile pitch angle transformation matrix M [pitch

[0172]

[0173] V in the geodetic coordinate system kill [i]

[0174]

[0175] V in the geodetic coordinate system kill [i]

[0176]

[0177] The relative velocity vector is superimposed on the static scattering vector of the killing element to obtain the dynamic scattering vector of the killing element:

[0178] V kill [i] = V kill [i]+VR

[0179] Calculate the end point End[i] of the kill field segment:

[0180]

[0181] (30) Ideal explosion point calculation: Calculate the ideal explosion point position for each trajectory;

[0182] like Figure 3 As shown, the (30) ideal explosion point calculation step includes:

[0183] (31) Definition of ideal explosion point: The target position is set to be fixed, and the missile and the killing field move in the direction of the relative velocity between the missile and the target. When the killing field passes through the geometric center of the target, it is considered that the warhead has the best killing effect on the target. The geometric center position of the missile at the current moment is the ideal explosion point position.

[0184] (32) Calculate the distance the missile moves when the kill field passes through the target's geometric center: Establish a ray starting from the target's geometric center Dot and in the opposite direction of the relative velocity between the missile and the target, and traverse all the triangles formed by two adjacent kill field line segments to see if they intersect with the ray and the intersection points;

[0185] The starting positions of two adjacent killing field line segments and are the same, and the starting positions of the starting points and the end positions of the two line segments are recorded as the triangular surface element ploy;

[0186] ploy[0]=Start[1]=Start[2]

[0187] ploy[1]=End[1]

[0188] ploy[2]=End[2]

[0189] The normal vector of ploy is:

[0190] normal=(ploy[1]-ploy[0])×(ploy[2]-ploy[0])

[0191] If normal·VR=0, there is no intersection. In the remaining cases, the ray intersects with the plane where the triangle element is located, and the intersection point Intert is:

[0192]

[0193] The intersection point falls into the triangle element ploy judgment:

[0194] PA=ploy[0]-Intert

[0195] PB=ploy[1]-Intert

[0196] PC=ploy[2]-Intert

[0197] t1=PA×PB

[0198] t2=PB×PC

[0199] t3=PC×PA

[0200] Among them, PA, PB, and PC represent the vectors from the intersection point Intert to the three vertices of the triangle element ploy respectively. If t1, t2, and t3 have the same sign, the intersection point is inside the triangle element.

[0201] The distance the missile moves when the killing field passes through the geometric center of the target is:

[0202]

[0203] (33) The ideal explosion point coordinates OptBurst are:

[0204]

[0205] (40) Fitting the program delay function based on the ant colony algorithm: Fitting the program delay function based on the ideal explosion point, the relative speed of the missile and the target, the relative missile early arrival position and the miss distance information.

[0206] like Figure 4 As shown, the step (40) of fitting the program delay function based on the ant colony algorithm includes:

[0207] (41) obtaining information on missile-target relative velocity, ideal bombing point, relative missile early arrival position, and miss distance as a data set;

[0208] Initialize N random trajectories according to the parameters (10), and calculate the relative velocity of the missile and the target, the ideal explosion point, the relative missile early arrival position and the miss distance information according to the optimal explosion point (30), wherein the relative missile early arrival position AREBird is defined as follows:

[0209] The miss-target plane is a plane that passes through the geometric center of the target and is perpendicular to the relative motion trajectory of the projectile and the target;

[0210] The attack plane is the plane determined by the missile velocity vector and the target velocity vector;

[0211] The miss point is the intersection of the relative motion trajectory of the projectile and the target and the miss plane;

[0212] The relative missile early arrival direction is the angle between the line L1 connecting the miss point and the target geometric center and the intersection line L2 between the attack plane and the miss plane. The positive direction is the angle between the line and OY r The angle between the axes, along OX r Looking from the direction, clockwise rotation is positive, and L1 direction is greater than L2 direction. The value range is [0°,±180°].

[0213] (42) Establishment of program delay function;

[0214]

[0215] Among them, x1 is the relative velocity scalar between the missile and the target, x2 is the relative missile early arrival position, x3 is the miss distance, y is the program delay, and a, b, c, d, and e are model parameters.

[0216] (43) Establish the objective function of the ant colony algorithm;

[0217]

[0218] a∈J1,b∈J2,c∈J3,d∈J4,e∈J5

[0219] Where N is the number of data sets, VR is the relative velocity scalar of the missile and target, AREBird is the relative missile early arrival azimuth, Rou is the miss distance, and J1, J2, J3, J4, and J5 are the specified ranges of a, b, c, d, and e estimates.

[0220] (44) Ant colony algorithm local search, each ant randomly searches in its own neighborhood space. If the objective function is smaller than the original objective function, the ant will be updated to the new position, otherwise it will not move;

[0221]

[0222] P i =(a,b,c,d,e)

[0223] (45) Ant colony algorithm global search, each ant performs a global random search or a search based on pheromone distribution, where pheromone refers to the objective function value of the current ant position;

[0224]

[0225] 0 <q<10<q0<1

[0226]

[0227] 0 <h<1 0<h0<1 0<α<1

[0228] P j is the position of the ant with the smaller objective function value, h is the random number of transition probability, h0 is the set transition probability constant, and α is the set transition step constant.

[0229] (50) Calculation of actual explosion point: Substitute the parameters such as missile-target relative speed, relative missile early arrival direction, and miss distance provided by the missile flight control and fuze into the program delay function to calculate the actual explosion point position.

Claims

1. A missile fuze explosion point control method, characterized in that: The following steps are involved: (10) Parameter initialization: initializing various parameters of the aerial target, missile, and warhead according to actual conditions, wherein the various parameters of the aerial target, missile, and warhead include target position and attitude parameters, missile position and attitude parameters, and warhead parameters; (20) Warhead kill field model construction: construct the kill field model based on the missile position and attitude parameters and warhead parameters; (30) Ideal explosion point calculation: Calculate the ideal explosion point position for each trajectory; (40) Fitting the program delay function based on the ant colony algorithm: Fitting the program delay function based on the ideal explosion point position, the relative speed of the missile and the target, the relative missile early arrival position and the miss distance information, including: (41) obtaining information on missile-target relative velocity, ideal explosion point, relative missile early arrival position and miss distance as a data set of the fitting function; According to the parameter initialization of step (10), N random trajectories are obtained. According to the ideal bombing point calculation (30), the relative velocity of the missile and the target, the ideal bombing point, the relative missile early arrival position and the miss amount information are obtained. The relative missile early arrival position AREBird is defined as follows: The miss-target plane is a plane that passes through the geometric center of the target and is perpendicular to the relative motion trajectory of the projectile and the target; The attack plane is the plane determined by the missile velocity vector and the target velocity vector; The miss point is the intersection of the relative motion trajectory of the projectile and the target and the miss plane; The relative missile early arrival direction is the angle between the line L1 connecting the miss point and the target geometric center and the intersection line L2 between the attack plane and the miss plane. The positive direction is the angle between the line and OY r The angle between the axes, along OX r Looking at the direction, clockwise rotation is positive, and L1 direction is greater than L2 direction. The value range is [0°, ±180°]; (42) Establish a program delay function: Where x1 is the relative velocity scalar between the missile and the target, x2 is the early arrival position of the relative missile, x3 is the miss distance, y is the program delay, and a, b, c, d, and e are model parameters. (43) Establish the objective function of the ant colony algorithm; Where N is the number of data sets, VR is the relative velocity scalar between the missile and the target, AREBird is the relative missile early arrival azimuth, Rou is the miss distance, and J1, J2, J3, J4, and J5 are the ranges of the specified a, b, c, d, and e estimates; (44) Ant colony algorithm local search, each ant randomly searches in its own neighborhood space. If the objective function is smaller than the original objective function, the ant will be updated to the new position, otherwise it will not move; P i =(a,b,c,d,e) Where P i is the original position of the ant, New location for the ant; (45) Ant colony algorithm global search, each ant performs a global random search or a search based on pheromone distribution, where pheromone refers to the objective function value of the current ant position; Where P j is the position of the ant with the smaller objective function value, h is the random number of transition probability, h0 is the set transition probability constant, and α is the set transition step constant; (50) Calculation of actual explosion point: Substitute the missile-target relative speed, relative missile early arrival direction and miss distance provided by the missile flight control and fuze into the program delay function to calculate the actual explosion point position.

2. The missile fuze explosion point control method according to claim 1, characterized in that: The parameters that need to be initialized in step (10) are as follows: The target position and posture parameters include the target velocity scalar V t , yaw angle T yaw , pitch angle T pitch , roll angle T roll ; The missile position and attitude parameters include the missile's velocity scalar V m , yaw angle M yaw , pitch angle M pitch , roll angle M roll and the initial projectile-target distance R tm ; The warhead parameters include the warhead center offset Center, static dispersion angle Angle, killing radius R kill , static flight angle α, static explosion initial velocity scalar V s .

3. The missile fuze explosion point control method according to claim 1, characterized in that: In step (10), missile parameters are randomly sampled within a certain range according to missile characteristics to initialize missile parameters, target parameters are randomly sampled within a certain range according to target characteristics to initialize target parameters, and the killing field is initialized according to the parameters of the warhead.

4. The missile fuze explosion point control method according to claim 1, characterized in that: The specific method of constructing the killing field model according to the missile position and attitude parameters and warhead parameters is: (21) Determine the initial position of the missile: Based on the initial distance R between the missile and the target tm The missile initial position M is determined by the missile target attitude angle position ; (22) Determine the starting point of the kill field line segment: Determine the starting point Start[i] of the i-th line segment of the kill field in the eye-link relative velocity coordinate system, specifically: Start[i].x=M position .x+Center Start[i].y=M position .y Start[i].z=M position .z Where Start[i].x, Start[i].y, and Start[i].z represent the three-axis coordinate values ​​of the starting point of the line segment, respectively. position .x, M position .y、M position .z represents the three-axis coordinate values ​​of the missile position, and Center represents the warhead center offset; (23) Determine the end point of the killing field line segment: Determine the end point End[i] of the i-th line segment of the killing field in the relative velocity coordinate system of the target-eye association, specifically: Static dispersion vector of the killing element in the missile coordinate system: Where V kill [i].x、V kill [i].y、V kill [i].z represents the three-axis coordinate values ​​of the static scattering vector of the killing element, V s represents the static initial velocity scalar, α represents the static flying angle, and Angle represents the static flying angle; Convert the static scatter vector of the killer element to the earth coordinate system: Missile roll angle transformation matrix M [roll] Missile yaw angle transformation matrix M [yaw] Missile pitch angle transformation matrix M [pitch] In the formula, Ag missile .x, Ag missile .y、Ag missile .z are the roll angle, yaw angle and pitch angle of the missile respectively; V in the geodetic coordinate system kill [i] The relative velocity vector is superimposed on the static scattering vector of the killing element to obtain the dynamic scattering vector of the killing element: V, kill [i]=V kill [i]+VR Where VR is the relative velocity vector; Calculate the end point of the killing field segment End[i] Where Start[i] represents the starting point of the i-th line segment in the killing field, R kill is the killing radius.

5. The missile fuze explosion point control method according to claim 4, characterized in that: According to the initial distance R tm The missile initial position M is determined by the missile target attitude angle position The specific method is: According to the target attitude angle Ag taget Determine the target's roll angle transformation matrix T [roll] , target yaw angle transformation matrix T [yaw] and the target pitch angle transformation matrix T [pitch] ; Target roll angle transformation matrix T [roll] : Target yaw angle transformation matrix T [yaw] : Target pitch angle transformation matrix T [pitch] : Where, Agtaget.x, Agtaget.y, Agtaget.z are the roll angle, yaw angle, and pitch angle of the target respectively; According to the target roll angle transformation matrix T[roll], the target yaw angle transformation matrix T[yaw], and the target pitch angle transformation matrix T[pitch], the missile velocity vector VM, the target velocity vector VT, and the missile-target relative velocity vector VR are determined as follows: VR=VM-VT According to the relative velocity vector VR of the projectile and the initial distance R of the projectile and the target tm Determine the missile's initial position M position :

6. The missile fuze explosion point control method according to claim 1, characterized in that: The (30) ideal explosion point calculation step comprises: (31) Definition of ideal explosion point: Assuming the target position is fixed, the missile and the killing field move in the direction of the relative velocity between the missile and the target. When the killing field passes through the geometric center of the target, it is considered that the warhead has the best killing effect on the target in this case. The geometric center position of the missile at the current moment is the ideal explosion point position. (32) Calculate the distance the missile moves when the kill field passes through the target's geometric center: Establish a ray starting from the target's geometric center Dot and in the opposite direction of the relative velocity between the missile and the target, and traverse all the triangles formed by two adjacent kill field line segments to see if they intersect with the ray and the intersection points when they do intersect; The starting positions of two adjacent killing field line segments are the same, and the starting positions of the starting points and the end positions of the two line segments are recorded as triangular face element ploy; ploy[0]=Start[1]=Start[2] ploy[1]=End[1] ploy[2]=End[2] Where ploy[0], ploy[1], ploy[2] are the coordinates of the three vertices of the triangle, Start[1], Start[2] are the starting position coordinates of the two kill field line segments, End[1], End[2] are the ending position coordinates of the two kill field line segments; The normal vector of ploy is: normal=(ploy[1]-ploy[0])×(ploy[2]-ploy[0]) If normal·VR=0, there is no intersection. In the remaining cases, the ray intersects with the plane where the triangle element is located, and the intersection point Intert is: The intersection point falls into the triangle element ploy judgment: PA=ploy[0]-Intert PB=ploy[1]-Intert PC=ploy[2]-Intert t1=PA×PB t2=PB×PC t3=PC×PA Where PA, PB, and PC represent the vectors from the intersection point Intert to the three vertices of the triangular face element ploy, respectively. t1, t2, and t3 are the vectors obtained by cross-producting the three vectors PA, PB, and PC. If t1, t2, and t3 have the same sign, the intersection point is inside the triangular face element. The distance the missile moves when the killing field passes through the geometric center of the target is: Where Intert.x, Intert.y, and Intert.z represent the three-axis coordinate values ​​of the intersection points, respectively; Dot.x, Dot.y, and Dot.z represent the three-axis coordinate values ​​of the target geometric center, respectively; (33) Calculate the ideal explosion point coordinates OptBurst as: Where M position represents the initial position of the missile, and VR is the relative velocity vector between the missile and the target.

7. The missile fuze explosion point control method according to claim 1, characterized in that: The actual explosion point calculation process (50) is as follows: Record the missile position P1 when the fuze detects the target, substitute the missile-target relative speed, the early arrival position relative to the missile and the miss amount into the program delay model to calculate the actual program delay t d , calculate the distance d1 that the missile moves during the actual program delay: d1=VR·t d Where VR is the relative velocity vector between the projectile and the target; Calculate the security agency delay t s The distance d2 that the missile moves during the process is: d2=VR·t s The actual explosion point position BurstRel is obtained by translating point P1 by d1+d2 along the direction of the relative velocity vector of the projectile and the target:

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