Cluster ammunition distributed combat intelligent cooperative terminal based on UKF method

Abstract

The application discloses a kind of cluster ammunition distributed combat intelligent collaborative terminal based on UKF method, the cluster ammunition distributed combat intelligent collaborative terminal based on UKF method is set on each aircraft of aircraft cluster, obtains the detection value of sensor on installation aircraft and the detection value of sensor on other aircraft of cluster, carries out multi-target guidance information estimation, to obtain the optimal task target of installation aircraft, and estimates the guidance information of task target.The cluster ammunition distributed combat intelligent collaborative terminal based on UKF method disclosed in the application can realize high-precision guidance of cluster aircraft, and has low requirement for processor, and will not appear the phenomenon of exhausted computing resource.

Description

TECHNICAL FIELD

[0001] The application relates to an intelligent cooperative terminal and belongs to the technical field of aircraft control. BACKGROUND

[0002] In a cooperative task, different aircrafts in an aircraft cluster need to be controlled simultaneously.

[0003] Existing control is mostly single control of an aircraft or manual control of all aircrafts by a ground command station. However, either single control or manual control of a cluster has problems of control precision and mutual interference of different aircrafts, and thus the conventional control mode cannot form accurate attack.

[0004] An existing aircraft guidance mode directly takes a sensor detection value as an input of a guidance law, and the guidance precision is insufficient.

[0005] Due to the above reasons, the present application provides a cluster ammunition distributed combat intelligent cooperative terminal based on a UKF method, which is installed on an aircraft to enable the aircraft cluster to autonomously complete a cooperative attack task. SUMMARY

[0006] In order to overcome the above problems, the present application provides a cluster ammunition distributed combat intelligent cooperative terminal based on a UKF method, which is arranged on each aircraft of an aircraft cluster, acquires detection values of sensors on the aircraft and other aircrafts of the cluster, performs multi-target guidance information estimation, and thus obtains a task target of the aircraft and estimates guidance information of the task target.

[0007] In a preferred embodiment, the terminal comprises a master control module and a task planning module, the task planning module is used for performing multi-target guidance information estimation, outputting an optimal task target of the aircraft according to an estimation result, and transmitting the task target to the master control module; and the master control module is connected with an onboard computer of the aircraft, is used for acquiring aircraft position information and detection values of self sensors, and outputs guidance information.

[0008] In a preferred embodiment, after the master control module acquires the detection values of the self sensors or the optimal task target, the master control module estimates target guidance information, inputs the estimated target information into a guidance control method, and thus obtains guidance control information.

[0009] In a preferred embodiment, the master control module estimates the target guidance information by filtering and estimating the task target information.

[0010] In a preferred embodiment, the filter is UKF filter, the state equation of the filter is represented as:

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[0019]

[0020] wherein R, respectively represent the distance between the missile and the target and the relative velocity between the missile and the target, q p , q y respectively represent the line-of-sight (LOS) pitch angle and the LOS yaw angle, represents the LOS pitch and yaw angular velocity in the LOS coordinate system, is the projection of the aircraft acceleration in the LOS coordinate system, is the projection of the target acceleration in the LOS coordinate system, w x , w y , w z represent the Gaussian white noise of the target acceleration in the three directions of the inertial coordinate system.

[0021] In a preferred embodiment, in the main control module, the estimation of the target guidance information is adaptively divided, including the following steps:

[0022] S101, obtaining the actual control period T of the aircraft, the running time T0 of the guidance control method, and the running time T1 of the UKF filter;

[0023] S102, setting the adaptive division number K, K = roundup(T1 / (T-T0-T2)), wherein roundup represents rounding up, and T2 represents the residual running time;

[0024] S103, dividing the estimation process according to the adaptive division number to form K sub-running processes, performing only one sub-running process in each control period T, and buffering the result of the current sub-running process;

[0025] S104, output the estimated result when running to the K*N control cycle, wherein N=1, 2, 3…

[0026] In a preferred embodiment, the task planning module acquires the detection values of the sensors installed on the aircraft and the detection values of the sensors of other aircraft in the cluster, performs multi-target guidance information estimation, and thus obtains the task target of the aircraft.

[0027] In a preferred embodiment, the multi-target guidance information estimation refers to multi-threaded multi-target guidance information estimation, and the guidance information estimation is realized by UKF filtering of the task target information.

[0028] In a preferred embodiment, the multi-target guidance information estimation is multi-target guidance information estimation under insufficient real-time conditions, i.e., the frequency of target guidance information estimation in the task planning module is lower than that in the main control module.

[0029] In a preferred embodiment, the task target of the aircraft is selected according to the minimum overload principle.

[0030] The present application has the following beneficial effects:

[0031] (1) The aircraft cluster can be autonomously planned.

[0032] (2) The high-precision guidance of the cluster aircraft can be realized by filtering estimation.

[0033] (3) The reliability during operation is high, the requirement for the processor is low, and the phenomenon of exhausted operation resources does not occur. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 Fig. 1 shows a structure schematic diagram of a distributed combat intelligent cooperative terminal of cluster ammunition based on the UKF method according to a preferred embodiment of the present application;

[0035] Figure 2 Fig. 2 shows a self-adaptive segmentation operation processing mode schematic diagram of the filtering estimation of the target guidance information of the distributed combat intelligent cooperative terminal of cluster ammunition based on the UKF method according to a preferred embodiment of the present application. DETAILED DESCRIPTION

[0036] The present application will be further described in detail by the accompanying drawings and embodiments. Through these descriptions, the features and advantages of the present application will become more apparent.

[0037] The word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations. Although the various aspects of the embodiments are illustrated and described as though their parts were initially arranged in the illustrative configuration, the embodiments are not limited to the illustrative arrangements and configurations shown.

[0038] A UKF method-based cluster ammunition distributed combat intelligent cooperative terminal is provided according to the present application,

[0039] The UKF method-based cluster ammunition distributed combat intelligent cooperative terminal is arranged on each flying vehicle of a flying vehicle cluster, acquires detection values of sensors installed on the flying vehicle and detection values of sensors on other flying vehicles of the cluster, performs multi-target guidance information estimation, thereby obtaining a task target of the flying vehicle, and estimates guidance information of the task target.

[0040] The terminal comprises a master control module and a task planning module, as shown in Figure 1

[0041] The task planning module is used for performing multi-target guidance information estimation, outputting a task target of the flying vehicle according to an estimation result, and transmitting the task target to the master control module.

[0042] The master control module is connected with an onboard computer of the flying vehicle, and is used for acquiring flying vehicle position information and detection values of local sensors, and outputting guidance information.

[0043] In a preferred embodiment, the guidance information is a planned track trajectory of the flying vehicle.

[0044] According to the present application, after the master control module acquires detection values of local sensors or optimal task targets, target guidance information is estimated, the estimated target information is input into a guidance control method, and guidance control information is further obtained.

[0045] Different from a method in which detection values of sensors are directly used as input values of guidance control in a conventional flying vehicle control method, in the present application, estimated information is used as input values of guidance control, and guidance precision can be greatly improved.

[0046] In the present application, a specific method of the guidance control method is not particularly limited, and any method can be used according to needs of those skilled in the art, for example, a proportional guidance method.

[0047] According to the present application, the master control module realizes estimation of target guidance information by filtering and estimating task target information.

[0048] The task target information is obtained by sensors carried on the flying vehicle, for example, by a seeker.

[0049] ​Further preferably, the filter is a UKF filter, and the state equation of the filter is represented as:

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[0059] wherein R represents a missile-target distance, represents a missile-target relative velocity, q p represents a missile-target line-of-sight angle in a pitch-yaw direction, q y represents a missile-target line-of-sight angle in a yaw direction, and represents a line-of-sight rotation angular velocity in a line-of-sight coordinate system, represents a projection of an aircraft acceleration in the line-of-sight system, represents a projection of a target acceleration in the line-of-sight system, x y z represents a Gaussian white noise of a target acceleration projection in three directions of an inertial coordinate system.

[0060] The measurement equation Z of the filter is represented as:

[0061]

[0062] wherein represents a pitch angle, represents a yaw angle, represents a tilt angle, represents a trajectory inclination angle, represents a trajectory declination angle, v represents a trajectory declination angle, v represents a velocity tilt angle, p represents a line-of-sight pitch angle of a missile-target, y represents a line-of-sight yaw angle of a missile-target, and R represents a missile-target distance.

[0063] The filter state equation and the measurement equation described above are designed by the inventor according to experience, and have a good correction effect.

[0064] ​​In a preferred embodiment, the UKF filter prediction equation adopts a fourth-order Runge-Kutta method for integration, and the integration time is 10-30 ms, and the Kalman filter measurement update time is 10-30 ms.

[0065] In a preferred embodiment, the initial value of the system error covariance matrix in the filter is:

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[0067] The above parameters are obtained by the inventors based on experience and a large number of experiments, and relatively accurate task target information can be obtained under the above parameters.

[0068] According to the present application, the task planning module obtains the detection values of the sensors installed on the aircraft and the detection values of the sensors of other aircrafts in the cluster, performs multi-target guidance information estimation, and thus obtains the task target of the aircraft.

[0069] Further preferably, the multi-target guidance information estimation refers to estimating the guidance information of multiple targets in a multi-threaded manner, and the guidance information estimation method is the same as that in the master control module, that is, the UKF filtering of the task target information is performed.

[0070] In a preferred embodiment, the intelligent collaborative terminal adopts a dual-processor architecture, preferably, the master control module and the task planning module are ARM processors, and more preferably, an i.MX 8M Mini processor is used as the master control module, and a GD32F450 processor is used as the task planning module.

[0071] Preferably, the task planning model adopts a multi-threaded parallel strategy, estimates the guidance information of multiple targets in a multi-threaded manner, and the estimation and calculation time can be longer than the aircraft control period.

[0072] Further preferably, the multi-target guidance information estimation is multi-target guidance information estimation under non-real-time conditions, that is, the target guidance information estimation frequency in the task planning module is lower than that in the master control module.

[0073] Although the filtering estimation method can obtain high-precision guidance information, the computing power requirement of the master control module is high. Moreover, since the UKF filtering method used for target guidance information estimation has a high requirement for the computing power of the processor, and the guidance information estimation for multiple targets increases the requirement for computing power by several times, and multiple threads are required to perform calculation at the same time, but the real-time requirement is not high, therefore, reducing the multi-target guidance information estimation frequency in the task planning can balance the timeliness and computing power.

[0074] According to a preferred embodiment of the present application, the aircraft mission target is selected according to a minimum overload principle.

[0075] The minimum overload principle refers to minimizing the total overload of all aircraft in the cluster to reach the mission target, which is a commonly used method for mission target allocation, and the specific implementation method is not described herein.

[0076] After determining the mission target, the master module filters and estimates the target guidance information to generate guidance information. In this process, the master module must ensure real-time performance. However, the inventors have found in actual use that the control period of the aircraft is 20 ms, so the calculation period of the master module is 20 ms, and the actual measurement period of the UKF estimation method for estimating the target guidance information is 30-35 ms, which is longer than the control period of the aircraft. This results in difficulty in meeting the calculation requirement. In addition to the consumption of calculation resources in other operation processes, if a traditional serial operation strategy is used, the distributed combat intelligent collaborative terminal of the cluster ammunition based on the UKF filter estimation will experience logical collapse due to exhaustion of operation resources when calling the UKF filter estimation.

[0077] According to a preferred embodiment of the present application, the filter estimation of the target guidance information in the master module is adaptively divided and processed. By dividing a single estimation calculation into multiple steps, the single estimation calculation process is completed within multiple control periods of the guidance control processor, such as Figure 2 The,

[0078] The adaptive division of the estimation of the target guidance information includes the following steps:

[0079] S101, obtaining the actual control period T of the aircraft, the running time T0 of the guidance control method, and the running time T1 of the UKF filter;

[0080] S102, setting the adaptive division number K, K = roundup(T1 / (T-T0-T2)), where roundup represents rounding up, and T2 represents the residual running time, for example, setting the residual running time T2 = 5 ms;

[0081] S103, dividing the estimation process according to the adaptive division number to form K sub-operation processes, performing only one sub-operation process in each control period T, and caching the results of the current sub-operation process;

[0082] S104, when running to the K*Nth control period, outputting the estimated results, where N = 1, 2, 3,...

[0083] In S102, the residual running time is set to further prevent the master module from running out of operation resources and logically collapsing.

[0084] Embodiment

[0085] An i.MX 8M Mini processor is used as a master control module, and a GD32F450 processor is used as a task planning module to perform simulation experiments, wherein the task planning module is used to perform multi-target guidance information estimation, and outputs a task target of the aircraft according to the estimation result, and transmits the task target to the master control module; the master control module is connected with an on-board computer of the aircraft, and is used to acquire position information of the aircraft and corresponding task target information, and output guidance information.

[0086] After the master control module obtains the task target, the target guidance information is estimated, and the estimated target information is input into a guidance control method to obtain the guidance information.

[0087] The master control module realizes estimation of the target guidance information by filtering and estimating the task target information.

[0088] The filtering is UKF filtering, and a state equation of the filtering is represented as:

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[0098] In the master control module, the filtering estimation of the target guidance information is adaptively divided and run in a processing mode, including the following steps:

[0099] S101, acquiring an actual control period T of the aircraft, a running time T0 of the guidance control method, and a running time T1 of the UKF filtering;

[0100] S102, setting an adaptive division number K, K = roundup(T1 / (T-T0-T2)), wherein roundup represents rounding up, and T2 represents a residual running time;

[0101] S103, according to the adaptive segmentation number, the estimation process is segmented to form K sub-operation processes, only one sub-operation process is carried out in each control period T, and the result of the current sub-operation process is cached;

[0102] S104, when running to the K*N control period, the estimated result is output, wherein N=1, 2, 3...

[0103] Wherein, the actual control period of the aircraft T=20ms, the running time of the guidance control method T0=5ms, the running time of the UKF filter T1=35ms, the residual running time T2=5ms is set, and the adaptive segmentation number K=4 is obtained.

[0104] The calculation time of the detection master control module in one control period is about 14ms, and the complete filter result can be output once in 4 control periods, that is, the guidance control information is obtained while ensuring the reliable operation of the master control module and meeting the target guidance information estimation calculation of the UKF filter estimation.

[0105] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "back" and the like indicate the orientation or positional relationship in the working state of the present application, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", "fourth" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0106] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0107] The above describes the present application in combination with the preferred embodiments, but these embodiments are only exemplary and serve only to illustrate. On this basis, various substitutions and improvements can be made to the present application, which all fall within the scope of protection of the present application.

Claims

1. A cluster ammunition distributed combat intelligent cooperative terminal based on UKF method, characterized in that, The terminal is arranged on each aircraft of the aircraft cluster; The terminal comprises a master module and a mission planning module, the mission planning module is used to acquire detection values of sensors on the installation aircraft and detection values of sensors on other aircrafts in the cluster, to perform multi-target guidance information estimation, to output an optimal mission target of the installation aircraft according to the estimation result, and to deliver the optimal mission target to the master module; the multi-target guidance information estimation refers to multi-threaded guidance information estimation on multiple targets, and the guidance information estimation is realized by UKF filtering on mission target information; The multi-target guidance information estimation is multi-target guidance information estimation under an under-real-time condition, that is, the target guidance information estimation frequency in the mission planning module is lower than the target guidance information estimation frequency in the master module; The master module is connected with an on-board computer of the aircraft, and is used to acquire aircraft position information and detection values of self sensors, to obtain the detection values of the self sensors or the optimal mission target, to estimate target guidance information after obtaining the detection values of the self sensors or the optimal mission target, and to input the estimated target information into a guidance control method to output guidance control information; The estimation of the target guidance information by the master module is realized by filtering estimation on mission target information, and the filtering is UKF filtering; In the master module, the estimation of the target guidance information is adaptively divided, including the following steps: S101, acquiring an actual control period T of the aircraft, a running time T0 of the guidance control method, and a running time T1 of UKF filtering; S102, setting an adaptive division number K, K=roundup(T1 / (T-T0-T2)), wherein roundup represents rounding up, and T2 represents a residual running time; S103, dividing the estimation process according to the adaptive division number to form K sub-running processes, performing only one sub-running process in each control period T, and buffering a result of the current sub-running process; S104, when running to the K*Nth control period, outputting the estimation result, wherein N=1, 2, 3, ….

2. The UKF method-based distributed combat intelligent cooperative terminal for cluster ammunition according to claim 1, wherein a state equation of the filtering is represented as:

3. The UKF method-based distributed combat intelligent cooperative terminal for cluster ammunition according to claim 1, wherein where R, respectively denote the range and the relative velocity between the missile and the target, q p , q y denote the line-of-sight (LOS) pitch and yaw angles, denote the LOS pitch and yaw angular rates, is the projection of the target acceleration in the LOS frame, is the projection of the target acceleration in the LOS frame, w x ,w y ,w z denote the Gaussian white noise of the target acceleration projections in the three directions of the inertial frame. The aircraft mission target is selected according to a minimum overload principle. ​

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