A distributed collaborative guidance method and system based on communication delay

Abstract

The present invention discloses a distributed collaborative guidance method and system based on communication delay. The method provided by the present invention comprises the following steps: S101, establishing a relative motion model between multiple aircraft and a target; S102, controlling each aircraft to execute a time collaborative guidance law in the line of sight direction, and to execute a space collaborative guidance law in the line of sight normal direction, so that multiple aircraft can collaboratively guide the target. The method of the present invention realizes time collaboration in the line of sight direction and space collaboration in the line of sight normal direction, thereby improving the penetration capability.

Description

Technical Field

[0001] The present invention relates to the field of aircraft control technology, and in particular to a distributed collaborative guidance method and system based on communication delay. Background Art

[0002] Multi-aircraft coordinated breakthrough is to use the communication system to form a network of multiple aircraft, achieve coordination and collaboration through information sharing, and jointly complete breakthrough or attack missions.

[0003] At present, there are two main guidance methods for achieving simultaneous attacks:

[0004] (1) Time coordination, that is, multiple aircraft coordinate their distance and speed relative to the target through the communication network so that the strike time of each aircraft to the target is consistent.

[0005] (2) Space coordination, that is, multiple aircraft coordinate their respective lines of sight to the target through a communication network, so that multiple aircraft can simultaneously attack the target from the desired relative directions of sight.

[0006] Since information transmission between aircraft is achieved through communication networks, communication delays in communication networks are ubiquitous and inevitable in actual situations. Communication delays may prevent aircraft from hitting targets at the same time and even endanger the stability of the system. Summary of the invention

[0007] In view of the problems existing in the prior art, the present invention proposes a distributed collaborative guidance method and system based on communication delay.

[0008] In a first aspect, the present invention proposes a distributed collaborative guidance method based on communication delay, which comprises the following steps:

[0009] S101, establishing a relative motion model between multiple aircraft and targets;

[0010] S102, controlling each aircraft to execute the time cooperative guidance law in the line of sight direction, and to execute the space cooperative guidance law in the line of sight normal direction, so that multiple aircraft can cooperatively guide the target.

[0011] In a second aspect, the present invention proposes a distributed collaborative guidance system based on communication delay, which includes:

[0012] A model building module, which is used to build a relative motion model between multiple aircraft and targets;

[0013] The collaborative guidance module is used to control each aircraft to execute the time collaborative guidance law in the line of sight direction and the space collaborative guidance law in the line of sight normal direction, so that multiple aircraft can collaboratively guide the target.

[0014] The distributed collaborative guidance method and system based on communication delay proposed by the present invention have the following beneficial effects:

[0015] (1) The method provided by the present invention first establishes a relative motion model between the aircraft and the target, transforming the collaborative guidance problem into a multi-agent consensus problem with nonlinear dynamic characteristics, thereby simplifying the calculation process;

[0016] (2) The method provided by the present invention is based on the multi-agent consistency theory. It obtains the time coordination guidance law in the line of sight direction, so that the strike time of all aircraft can reach the same within the maximum allowable communication delay, thus realizing time coordination; it obtains the space coordination guidance law in the normal direction of the line of sight, so that the relative line of sight angles of all aircraft converge to the expected value within the maximum allowable communication delay, and the line of sight angular rate converges to zero asymptotically, thus realizing space coordination;

[0017] (3) The method provided by the present invention can meet the requirements of various collaborative guidance tasks by adjusting the guidance parameters so that the relative line of sight angle and line of sight angle rate have a suitable convergence speed;

[0018] (4) The method provided by the present invention can achieve a breakthrough against the intercepting aircraft by attacking the target at the same time, thereby improving the penetration capability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of a flow chart of a distributed collaborative guidance method based on communication delay of the present invention;

[0020] Figure 2 A schematic diagram of the geometric relationship between multiple aircraft and targets of the present invention;

[0021] Figure 3 It is a structural schematic diagram of a distributed collaborative guidance system based on communication delay of the present invention;

[0022] Figure 4 This is a schematic diagram of the communication topology relationship between four aircraft in Example 1 of the present invention;

[0023] Figure 5 This is a schematic diagram of the motion trajectory of four aircrafts cooperating to attack a single target in a two-dimensional plane in Example 1 of the present invention;

[0024] Figure 6 This is a schematic diagram of the change in relative distance between four aircraft and a target in Example 1 of the present invention;

[0025] Figure 7 Schematic diagram of radial velocity changes of four aircraft and a target in Example 1 of the present invention;

[0026] Figure 8This is a schematic diagram of the change in relative sight angle errors of four aircraft in Example 1 of the present invention;

[0027] Fig. 9 This is a schematic diagram of the change in the line of sight angular rate between four aircraft and the target in Example 1 of the present invention;

[0028] Fig.10 This is a schematic diagram of the acceleration instructions in the line of sight direction of four aircraft in Example 1 of the present invention;

[0029] Fig.11 Schematic diagram of the spatial collaborative guidance law in the normal direction of the line of sight of four aircraft in Example 1 of the present invention. DETAILED DESCRIPTION

[0030] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0031] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "includes..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0032] The research significance of space coordination is: ① It enables multiple aircraft to fly separately to avoid mutual collisions between aircraft; ② It enables multiple aircraft to attack from multiple directions, thereby dispersing the firepower of the target's close-range defense weapon system; ③ It enables multiple aircraft to detect the target in a coordinated manner, thereby improving the detection accuracy; ④ Compared with the traditional guidance law with line of sight angle constraints, the guidance law with space coordination requires less total control energy. Therefore, space coordination can significantly enhance the penetration capability of aircraft, improve the hit probability and combat effectiveness of aircraft. At present, the strike time of domestic and foreign aircraft for space coordination needs to be consistent before hitting the target, and the relative line of sight angle also needs to converge to the expected value before hitting the target.

[0033] However, communication delays in inter-aircraft communication networks are ubiquitous and unavoidable. Communication delays may prevent aircraft from hitting targets at the same time and even endanger the stability of the system.

[0034] In view of the above problems, the present invention provides a distributed collaborative guidance method based on communication delay. The method mainly includes: first, establishing an aircraft-target relative motion model in a plane; then, based on the multi-agent consistency theory, obtaining the time collaborative guidance law in the line of sight direction, so that within the maximum allowable communication delay, the attack time of all aircraft is consistent; obtaining the space collaborative guidance law in the normal direction of the line of sight, so that within the maximum allowable communication delay, the relative line of sight angles of all aircraft converge to the expected value, and the line of sight angular rate converges to zero asymptotically. This method can ensure that multiple aircraft attack targets at the same time, improving the hit accuracy and system robustness.

[0035] Specifically, in a first aspect, the present invention provides a distributed collaborative guidance method based on communication delay, which can mainly include the following steps:

[0036] S101. Establish a relative motion model between multiple aircraft and targets.

[0037] The present invention adopts the kinematic analysis method for analysis, based on the following assumptions:

[0038] (1) The aircraft and target are ideal point-mass models;

[0039] (2) The speed of the aircraft can be adjusted;

[0040] (3) Compared with the guidance loop dynamics, the response speed of the seeker and autopilot is fast and can be ignored in the guidance law design process.

[0041] To solve the problem of multiple aircraft attacking fixed targets simultaneously in a plane from the desired direction of sight, the guidance geometric relationship between multiple aircraft and the target is as follows: Figure 2 As shown. Among them, OX I Y I is the inertial reference coordinate system.

[0042] Depend on Figure 2 It can be obtained that the relative motion model between multiple aircraft and targets can be expressed by formula 1:

[0043]

[0044] Where i represents the i-th aircraft, i = 1, 2, ..., n, n is the total number of aircraft; T represents the target; r i represents the distance between aircraft i and the target; q i V represents the sight angle of aircraft i; i , γ i and a i They represent the velocity, trajectory angle and normal acceleration of aircraft i respectively; a vi V i acceleration.

[0045] Research has found that communication delay is related to distance. When the distance between the aircraft and the target is far, the communication delay between aircraft will be relatively large; when the aircraft and the target gradually approach, the communication delay between aircraft will gradually decrease.

[0046] Therefore, by performing communication delay constraints on the time collaborative guidance law and the space collaborative guidance law, the collaborative guidance between multiple aircraft can be improved.

[0047] Specifically, by setting and constraining the components of the aircraft's guidance law in the line of sight direction, multiple aircraft can reach the target position at the same time within the maximum allowable communication delay, thereby realizing the time coordination of multiple aircraft; by setting and constraining the components of the aircraft's guidance law in the line of sight normal direction, within the maximum allowable communication delay, the relative line of sight angles of multiple aircraft converge to the expected value within the maximum allowable communication delay, and multiple aircraft hit the target in the expected relative line of sight angle direction, thereby realizing the space coordination of multiple aircraft.

[0048] S102, controlling each aircraft to execute the time cooperative guidance law in the line of sight direction, and to execute the space cooperative guidance law in the line of sight normal direction, so that multiple aircraft can cooperatively guide the target.

[0049] In the present invention, the intermediate variable is designed and represented by the following formula:

[0050]

[0051] Among them, x 1i 、x 2i 、x 3i 、x 4i is the intermediate variable of aircraft i; σ id is the expected relative sight angle between aircraft i and the aircraft with the smallest sight angle, and σ 1d =0,σ 2d ,σ 3d ,…,σ nd ∈(0,π]. In particular, σ id are not equal to prevent collisions between aircraft.

[0052] The guidance law of the aircraft can be expressed as follows:

[0053]

[0054] Among them, a ri is the acceleration command of aircraft i in the line of sight direction; a qi is the acceleration command of aircraft i in the normal direction of the line of sight.

[0055] Furthermore, a ri 、aqi It can be expressed by formula 4:

[0056]

[0057] In the present invention, a ri The purpose is to control r within the maximum communication delay allowed. i and Reach consensus and a qi The purpose is to control the relative line of sight angle error σ of all aircraft within the maximum allowed communication delay. ie and line of sight angular velocity Converges to zero. The relative line of sight angle error of the aircraft is σ ie =σ i -σ id =q i -q1-σ id , where σ i It represents the angle between the missile-target line of sight of aircraft i and the aircraft with the smallest line of sight angle (i.e., the relative line of sight angle); q1 represents the minimum line of sight angle among all aircraft.

[0058] It can be seen that collaborative guidance can ultimately be transformed into:

[0059]

[0060]

[0061] Among them, x 1j 、x 2j 、x 3j are the intermediate variables of the corresponding aircraft j respectively.

[0062] That is, the collaborative guidance problem is transformed into a multi-agent system consistency problem with nonlinear dynamic characteristics.

[0063] In the present invention, a time-coordinated guidance law is obtained based on the component of the guidance law of the aircraft in the line of sight direction and the communication delay between the aircraft.

[0064] In other words, the time-coordinated guidance law makes the attack time of multiple aircrafts tend to be consistent. goi represents the remaining flight time of aircraft i, where

[0065] Specifically, the time-coordinated guidance law can be expressed by Equation 5:

[0066]

[0067] Here, α1 and α2 are constants, and α1>0, α2>0, and preferably α1 and α2 are 1-5.

[0068] Research has found that the larger the values ​​of α1 and α2, the faster the remaining flight time of all aircraft converges to a consistent value, but at the same time, the upper limit of the maximum allowable communication delay in the line of sight direction becomes smaller. Considering the convergence speed and the upper limit of the maximum allowable communication delay, the preferred values ​​of α1 and α2 are 1 to 5.

[0069] x 1j 、x 2j are the intermediate variables of the corresponding aircraft j respectively;

[0070] b ij Indicates whether aircraft i and j can exchange information. If information can be transmitted from aircraft i to aircraft j, b ij =1, otherwise b ij =0; i≠j;

[0071] t represents the current time; τ represents the actual communication delay when information is exchanged between aircraft i and j.

[0072] In formula 5, a ri The first term is used to compensate for the nonlinear characteristics of the system, and the two terms in the square brackets are used to compensate for the nonlinear characteristics of the system. 1i and x 2i Asymptotically converges to unity.

[0073] In the present invention, the space cooperative guidance law is obtained based on the component of the guidance law of the aircraft in the normal direction of the line of sight and the communication delay between the aircraft.

[0074] That is, the space cooperative guidance law controls the relative line of sight angle error σ of all aircraft ie and line of sight angular velocity converges to zero.

[0075] Specifically, the space cooperative guidance law can be expressed by equation 6:

[0076]

[0077] Here, β represents a constant, and β>0, and preferably β is 1-4.

[0078] The study found that the larger β is, the greater the relative line of sight angle error σ is. ie and line of sight angular velocity The faster the convergence to zero speed, the smaller the upper bound of the maximum communication delay allowed in the normal direction of the line of sight will be. Considering the convergence speed and the upper bound of the maximum communication delay allowed, the preferred value of β is 1 to 4.

[0079] In formula 6, a qi The first term is used to compensate for the nonlinear characteristics of the system, and the first term in the square brackets is used to make x 4iAsymptotically converges to zero, and the second term is used to make x 3i Gradually reach consensus.

[0080] In the present invention, the actual communication delay is constrained by allowing a maximum communication delay, wherein the upper bound of the maximum communication delay allowed in the line of sight direction is compared with the upper bound of the maximum communication delay allowed in the line of sight normal direction, and the smaller one is taken as the maximum communication delay allowed.

[0081] That is, the actual communication delay τ is controlled to satisfy τ∈(0,τ sup ),in It represents the upper bound of the maximum communication delay allowed in the line of sight direction; It represents the upper bound of the maximum communication delay allowed in the normal direction of the line of sight, thereby ensuring the stability of the aircraft's guidance law in the line of sight direction and the normal direction of the line of sight.

[0082] Among them, the upper bound of the maximum communication delay allowed in the line of sight direction is It can be expressed by formula 7:

[0083]

[0084] Among them, λ max1 represents the maximum eigenvalue of the time cooperative guidance law, which can be obtained by converting the time cooperative guidance law into the characteristic equation.

[0085] Among them, the upper bound of the maximum communication delay allowed in the normal direction of the line of sight is It can be expressed by formula eight:

[0086]

[0087] Among them, λ max2 represents the maximum eigenvalue of the space cooperative guidance law, which can be obtained by converting the space cooperative guidance law into the characteristic equation.

[0088] The time-cooperative guidance law is transformed into a matrix form, namely: η=(x 11 ,x 21 ,x 12 ,x 22 ,...,x 1n ,x 2n ) T , I n is the n-dimensional identity matrix; is the Kronecker product; L represents the Laplace matrix, and the Laplace matrix corresponding to the graph G is defined as L = [l ij ]∈R n×n , where the elements of the matrix are

[0089]

[0090] Specifically, the characteristic equation of the time-coordinated guidance law transformation can be expressed by Equation 9:

[0091]

[0092] Among them, I 2n is a 2n-dimensional identity matrix; s1 represents a complex variable; λ m1 represents the eigenvalue; τ r Indicates the maximum communication delay allowed in the line of sight direction;

[0093] In the present invention, in order to ensure the stability of the time-cooperative guidance law in the presence of communication delay, all roots of the characteristic equation of formula 9 must be strictly located in the left half s1 plane. 11 =0, so f(s1)=0 has a double zero root. Thus, equation 9 is further simplified to λ m1 ,m=2,…,n.

[0094] In order to obtain the maximum communication delay τ allowed in the line of sight direction r , the above formula can be transformed into:

[0095] Where s1=j1ω1;

[0096] Right now,

[0097] So we get the eigenvalue λ m1 The maximum communication delay τ allowed in the line of sight direction is r The expression (that is, λ in Eq. max1 becomes λ m1 ), m1 Set to the maximum λ max1 , and max1 Substitute τ r By using the expression of , we can get the upper bound of the maximum communication delay allowed in the line of sight direction as expressed in Formula 7.

[0098] The spatial cooperative guidance law is transformed into a matrix form, namely: ξ=(x 31 ,x 41 ,x 32 ,x 42 ,...,x 3n ,x 4n ) T .

[0099] Specifically, the characteristic equation of the space cooperative guidance law transformation can be expressed by equation 10:

[0100]

[0101] in, s2 represents a complex variable; λ m2 represents the eigenvalue; τ q Indicates the maximum communication delay allowed in the normal direction of the line of sight.

[0102] In the present invention, in order to ensure the stability of the space cooperative guidance law in the presence of communication delay, all roots of the characteristic equation of formula 10 must be strictly located in the left half s2 plane, that is, for all λ m2 All are strictly located in the left half s2 plane.

[0103]

[0104] In order to obtain the maximum communication delay τ allowed in the normal direction of the line of sight q , transform the above formula into

[0105] where s2=j2ω2

[0106] Right now,

[0107] So we get the eigenvalue λ m2 The maximum communication delay τ allowed in the normal direction of the line of sight q The expression of (that is, λ in Eq. max2 becomes λ m2 ), m2 Set to the maximum λ max2 , and max2 Substitute τ q By using the expression of , we can get the upper bound of the maximum communication delay allowed in the normal direction of the line of sight as expressed in Formula 8.

[0108] According to the present invention, after multiple aircraft are launched at different positions, the aircraft begin to perform guidance control: specifically, the aircraft obtains their own missile-target line-of-sight angle, the relative distance between the aircraft and the target, the aircraft speed, flight attitude, acceleration and other information through onboard sensors, and transmits the obtained information to other aircraft through communication. After the aircraft obtains the information, it solves the guidance law components according to the above settings, thereby obtaining their own overload instructions, and then changes their own flight trajectories according to the overload instructions, so as to achieve the effect of hitting the target from different directions at the desired attack time.

[0109] According to the present invention, multiple aircraft can hit the target simultaneously in the desired relative line of sight direction, and the overload is within the available overload, so it has a certain effectiveness.

[0110] In a second aspect, the present invention also provides a distributed collaborative guidance system based on communication delay.

[0111] Specifically, Figure 3 As shown, the system mainly includes:

[0112] A model building module 301 is used to build a relative motion model between multiple aircraft and a target;

[0113] The cooperative guidance module 302 is used to control each aircraft to execute the time cooperative guidance law in the line of sight direction and the space cooperative guidance law in the line of sight normal direction, so that multiple aircraft can cooperatively guide the target.

[0114] The distributed collaborative guidance system based on communication delay provided by the present invention can be used to execute a distributed collaborative guidance method based on communication delay described in the first aspect above. Its implementation principle and technical effects are similar and will not be repeated here.

[0115] Preferably, each module in the distributed collaborative guidance system based on communication delay of the present invention can be directly in hardware, in a software module executed by a processor, or in a combination of the two.

[0116] The software modules may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from and write information to the storage medium.

[0117] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, or any combination thereof. A general-purpose processor may be a microprocessor, but in an alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration. In an alternative, the storage medium may be integrated with the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In an alternative, the processor and the storage medium may reside in a user terminal as discrete components.

[0118] Example

[0119] Example 1

[0120] In the simulation experiment, four aircrafts are set to attack the target in coordination. The position of the target is set to (8000, 0) m, and the initial parameters of the aircraft are shown in Table 1.

[0121] Table 1

[0122]

[0123] After the aircraft is launched, the communication topology between the four aircraft is as follows: Figure 4 shown.

[0124] The relative motion model between the four aircraft and the target is expressed by equation 1:

[0125]

[0126] Where i represents the i-th aircraft, i = 1, 2, 3, 4; r i represents the distance between aircraft i and the target; q i V represents the sight angle of aircraft i; i , γ i and a i They represent the velocity, trajectory angle and normal acceleration of aircraft i respectively; a viV i acceleration.

[0127] The design intermediate variable is expressed by the following formula:

[0128]

[0129] Among them, x 1i 、x 2i 、x 3i 、x 4i is the intermediate variable of aircraft i; σ id is the expected relative sight angle between aircraft i and the aircraft with the smallest sight angle, and σ 1d =0,σ 2d ,σ 3d ,…,σ nd ∈(0,π], and σ id Are not equal.

[0130] The guidance law of the aircraft can be expressed as follows:

[0131]

[0132] Among them, a ri is the acceleration command of aircraft i in the line of sight direction; a qi is the acceleration command of aircraft i in the normal direction of the line of sight.

[0133] The time-coordinated guidance law is obtained according to the component of the guidance law of the aircraft in the line of sight direction and the communication delay between the aircraft.

[0134] Specifically, the time-coordinated guidance law is expressed by Equation 5:

[0135]

[0136] Among them, α1=1.75, α2=2; x 1j 、x 2j are the intermediate variables of the corresponding aircraft j respectively;

[0137] b ij Indicates whether aircraft i and j can exchange information. If information can be transmitted from aircraft i to aircraft j, b ij =1, otherwise b ij =0; i≠j;

[0138] t represents the current time; τ represents the actual communication delay when information is exchanged between aircraft i and j.

[0139] The spatial cooperative guidance law is obtained according to the component of the guidance law of the aircraft in the normal direction of the line of sight and the communication delay between the aircraft.

[0140] Specifically, the space cooperative guidance law is expressed by equation 6:

[0141]

[0142] Among them, β = 3;

[0143] The actual communication delay τ satisfies τ∈(0,τ sup ),in It represents the upper bound of the maximum communication delay allowed in the line of sight direction; Represents the upper bound of the maximum communication delay allowed in the line of sight normal direction.

[0144] It is expressed by formula 7:

[0145]

[0146] Among them, λ max1 represents the maximum eigenvalue of the time cooperative guidance law, which is obtained by converting the time cooperative guidance law into the characteristic equation.

[0147] The characteristic equation of the time-coordinated guidance law transformation is expressed by equation 9:

[0148]

[0149] Among them, I 2n is the 2n-dimensional identity matrix; I n is the n-dimensional identity matrix; L represents the Laplace matrix, and the Laplace matrix corresponding to the graph G is defined as L = [l ij ]∈R n×n , where the elements of the matrix are

[0150] is the Kronecker product; s1 represents a complex variable;

[0151] in, It is expressed by formula eight:

[0152]

[0153] Among them, λ max2 represents the maximum eigenvalue of the space cooperative guidance law, which is obtained by converting the space cooperative guidance law into the characteristic equation.

[0154] The characteristic equation of the space cooperative guidance law transformation is expressed by equation 10:

[0155]

[0156] in, s2 represents a complex variable.

[0157] According to equations 7 to 10, we can calculate The time-varying delay is set to τ(t) = 0.1 + 0.1 cos(t)s to ensure that the four aircraft can complete the coordinated guidance goal. The specific simulation results are shown in Figures 5 to 11.

[0158] like Figure 5 As shown, the four aircraft can attack the target in the desired relative line of sight direction under the control of the collaborative guidance law and complete the collaborative guidance mission.

[0159] from Figure 6 and Figure 7 It can be seen that the cooperative guidance law of this embodiment 1 realizes simultaneous attack.

[0160] from Figure 8 and Fig. 9 It can be seen that the relative line of sight angle error and the line of sight angular rate can converge to zero, so the four aircraft can hit the target in the expected relative line of sight direction.

[0161] from Fig.10 and Fig.11 It can be seen that in the initial stage, a larger aircraft acceleration command is required to make the states of all aircraft tend to be consistent, and the time-coordinated guidance command converges to zero in the line of sight direction after 14 seconds, and the space-coordinated guidance command converges to zero in the line of sight normal direction after 15 seconds. This shows that a stable interception can be achieved in the end.

[0162] The present invention has been described above in conjunction with preferred embodiments, but these embodiments are only exemplary and serve only as an illustration. On this basis, the present invention may be subjected to a variety of substitutions and improvements, all of which fall within the scope of protection of the present invention.

Claims

1. A distributed collaborative guidance method based on communication delay, characterized in that: The following steps are involved: S101, establishing a relative motion model between multiple aircraft and targets; S102, controlling each aircraft to execute the time cooperative guidance law in the line of sight direction, and to execute the space cooperative guidance law in the line of sight normal direction, so that multiple aircraft can cooperatively guide the target, In step S101, the relative motion model is expressed by equation 1: Where i represents the i-th aircraft, i = 1, 2, ..., n, n is the total number of aircraft; r i represents the distance between aircraft i and the target; q i V represents the sight angle of aircraft i; i , γ i and a i They represent the velocity, trajectory angle and normal acceleration of aircraft i respectively; a vi V i The acceleration of In step S102, The time-coordinated guidance law is expressed by equation 5: The spatial cooperative guidance law is expressed by equation 6: Among them, x 1i 、x 2i 、x 3i 、x 4i is the intermediate variable of aircraft i; a ri is the acceleration command of aircraft i in the line of sight direction; a qi is the acceleration command of aircraft i in the normal direction of the line of sight; x 1j 、x 2j 、x 3j are the intermediate variables of the corresponding aircraft j; α1, α2, β are constants, and α1>0, α2>0, β>0; b ij Indicates whether aircraft i and j can exchange information. If information can be transmitted from aircraft i to aircraft j, b ij =1, otherwise b ij =0; i≠j; t represents the current time; τ represents the actual communication delay, The actual communication delay is constrained by allowing a maximum communication delay, wherein the upper bound of the maximum communication delay allowed in the line of sight direction is compared with the upper bound of the maximum communication delay allowed in the line of sight normal direction, and the smaller one is taken as the maximum communication delay allowed. The upper bound of the maximum communication delay allowed in the line of sight direction is expressed by equation 7: in, represents the upper bound of the maximum communication delay allowed in the line of sight direction; max1 represents the maximum eigenvalue of the time cooperative guidance law, which is obtained by converting the time cooperative guidance law into the characteristic equation.

2. The distributed collaborative guidance method based on communication delay according to claim 1 is characterized in that: x 1i 、x 2i 、x 3i 、x 4i It is expressed by formula 2: Among them, σ id is the expected relative sight angle between aircraft i and the aircraft with the smallest sight angle.

3. The distributed collaborative guidance method based on communication delay according to claim 1 is characterized in that: The characteristic equation of the time-coordinated guidance law transformation is expressed by equation 9: Among them, I 2n is the 2n-dimensional identity matrix; I n is the n-dimensional identity matrix; L represents the Laplace matrix; is the Kronecker product; s1 represents a complex variable; λ m1 represents the eigenvalue; τ r Indicates the maximum communication delay allowed in the line of sight direction.

4. The distributed collaborative guidance method based on communication delay according to claim 1 is characterized in that: The upper bound of the maximum communication delay allowed in the normal direction of the line of sight is expressed by formula 8: in, represents the upper bound of the maximum communication delay allowed in the normal direction of the line of sight; max2 represents the maximum eigenvalue of the space cooperative guidance law, which is obtained by converting the space cooperative guidance law into the characteristic equation.

5. The distributed collaborative guidance method based on communication delay according to claim 4 is characterized in that: The characteristic equation of the space cooperative guidance law transformation is expressed by equation 10: Among them, I 2n is the 2n-dimensional identity matrix; I n is the n-dimensional identity matrix; L represents the Laplace matrix; is the Kronecker product; s2 represents a complex variable; λ m2 Represents the eigenvalue.

6. A system for implementing the distributed collaborative guidance method based on communication delay according to any one of claims 1 to 5, characterized in that: include: A model building module, which is used to build a relative motion model between multiple aircraft and targets; The collaborative guidance module is used to control each aircraft to execute the time collaborative guidance law in the line of sight direction and the space collaborative guidance law in the line of sight normal direction, so that multiple aircraft can collaboratively guide the target.

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