Cooperative guidance method for desired relative impact angle attack

Abstract

The application provides a cooperative guidance method for attacking at a desired relative collision angle, comprising the following steps: constructing a cooperative guidance command in a first direction; constructing a trigger mechanism in the first direction, the trigger mechanism in the first direction being event triggered; constructing a cooperative guidance command in a second direction; constructing a trigger mechanism in the second direction, the trigger mechanism in the second direction being event triggered; updating the guidance command in the first direction according to the trigger mechanism in the first direction, and updating the cooperative guidance command in the second direction according to the trigger mechanism in the second direction, so as to realize attacking at the desired relative collision angle. The technical scheme of the application can greatly reduce the updating frequency of the guidance command, thereby reducing resource consumption.

Description

Technical Field

[0001] The present invention relates to the field of aircraft control, and in particular to a collaborative guidance method for attacking at an expected relative collision angle. Background Art

[0002] Cooperative space guidance involves multiple missiles attacking a target at varying impact angles to increase lethality. Conventional cooperative guidance laws with impact angle constraints are implemented by specifying a desired impact angle for each missile before engagement. However, under uncertain conditions such as unknown target maneuvers and interference, multiple missiles may frequently adjust guidance commands to achieve and maintain the desired impact angle. Therefore, guidance laws with specific desired impact angles can lead to unnecessary fuel consumption. Research on cooperative space guidance laws utilizing relative impact angle constraints is limited, and existing research primarily targets stationary targets, not maneuvering ones, limiting their scope of application. Furthermore, conventional time-triggered guidance continuously updates cooperative guidance commands using periodically transmitted input signals. This high update frequency of guidance commands also wastes computational resources. Existing technologies lack event-triggered cooperative guidance methods for attacking maneuvering targets at relative impact angles. Summary of the Invention

[0003] The main purpose of the present invention is to provide a collaborative guidance method for attacking at a desired relative collision angle, so as to solve the technical problem of frequent updating of guidance commands causing waste of resources in the prior art.

[0004] The present invention provides a collaborative guidance method for attacking at an expected relative collision angle, comprising the following steps: constructing a collaborative guidance command for a first direction; constructing a trigger mechanism for the first direction, wherein the trigger mechanism is event-triggered; constructing a collaborative guidance command for a second direction; constructing a trigger mechanism for the second direction, wherein the trigger mechanism is event-triggered; updating the guidance command for the first direction according to the trigger mechanism for the first direction, and updating the collaborative guidance command for the second direction according to the trigger mechanism for the second direction, so as to achieve an attack at the expected relative collision angle.

[0005] Furthermore, the first direction is along the height direction of the line of sight, and the second direction is along the azimuth direction of the line of sight.

[0006] Furthermore, constructing the collaborative guidance command in the first direction specifically includes: constructing a consistency error of the first direction relative to the line of sight angle and a consistency error of the angular velocity in the first direction; constructing a tracking error of the angular velocity in the first direction based on the consistency error of the first direction relative to the line of sight angle; constructing the collaborative guidance command in the first direction based on the consistency error of the first direction relative to the line of sight angle, the consistency error of the angular velocity in the first direction and the tracking error of the angular velocity in the first direction.

[0007] Furthermore, constructing the collaborative guidance command in the second direction specifically includes: constructing a consistency error of the second direction relative to the line of sight angle and a consistency error of the angular velocity in the second direction; constructing a tracking error of the angular velocity in the second direction based on the consistency error of the second direction relative to the line of sight angle; constructing the collaborative guidance command in the second direction based on the consistency error of the second direction relative to the line of sight angle, the consistency error of the angular velocity in the second direction and the tracking error of the angular velocity in the second direction.

[0008] Furthermore, the coordinated guidance command in the first direction

[0009]

[0010] Among them, a Mεi (t) is the guidance command of the i-th missile in the first direction, r i (t) is the relative distance between the i-th missile and the target, t is the current time, q εi (t) is the sight angle of the first direction of the i-th missile, q βi (t) is the sight angle of the second direction of the i-th missile, α ε1 , α ε2 , α ε3 , α ε4 and μ ε are all positive numbers, b ε and c ε are two that satisfy b ε / c ε Positive odd numbers > 2, is the triggering moment of the i-th missile closest to the current time, and yes The next trigger moment, Ξ i (t) is the consistency error of the first direction of the i-th missile relative to the line of sight angle, Π i (t) is the consistency error of the angular velocity of the first direction of the i-th missile, e vεi (t) is the tracking error of the angular velocity of the first direction of the i-th missile, p ε and g ε are two satisfying p ε / g ε A positive odd number greater than 1.

[0011] Furthermore, the coordinated guidance command in the second direction

[0012]

[0013] Among them, a Mβi (t) is the guidance command for the i-th missile in the second direction, α β1 ,α β2 ,α β3 ,α β4 and μβ is a positive constant, b β and c β are two that satisfy b β / c β >2 positive odd number, Υ i (t) is the consistency error of the second direction relative to the line of sight angle of the i-th missile, Ψ i (t) is the consistency error of the angular velocity of the second direction of the i-th missile, e vβi (t) is the tracking error of the angular velocity of the second direction of the i-th missile, p β and g β are two satisfying p β / g β A positive odd number greater than 1.

[0014] Furthermore, a trigger mechanism for the first direction is constructed, and the trigger mechanism is event triggered, specifically including: constructing a trigger error in the first direction based on the consistency error of the first direction relative to the line of sight angle, the consistency error of the angular velocity in the first direction, and the tracking error of the angular velocity in the first direction; constructing a trigger mechanism for the first direction based on the trigger error in the first direction and the tracking error of the angular velocity in the first direction, and the trigger mechanism for the first direction is event triggered.

[0015] Furthermore, a trigger mechanism for the second direction is constructed, and the trigger mechanism is event triggered, specifically including: constructing a trigger error in the second direction based on the consistency error of the second direction relative to the line of sight angle, the consistency error of the angular velocity in the second direction, and the tracking error of the angular velocity in the second direction; constructing a second direction trigger mechanism based on the trigger error in the second direction and the tracking error of the angular velocity in the second direction, and the second direction trigger mechanism is event triggered.

[0016] Furthermore, the trigger error in the first direction

[0017]

[0018] Among them, Θ εi (t) is the trigger error of the i-th missile in the first direction.

[0019] Furthermore, the first direction trigger mechanism Where 0 < η ε <1.

[0020] Furthermore, the trigger error in the second direction

[0021]

[0022] Among them, Θ βi (t) is the trigger error of the i-th missile in the second direction.

[0023] Furthermore, the second direction trigger mechanism

[0024] The advantages and beneficial effects of the present invention are:

[0025] This invention proposes a collaborative guidance method for attacking at a desired relative impact angle. Rather than specifying a specific desired impact angle for each missile, this method utilizes only the consistent error in the relative impact angle as a coordination variable to achieve spatial collaborative guidance. This avoids the need for constant maneuvering to maintain a constant desired impact angle, reducing fuel consumption. Furthermore, the use of event-triggered collaborative guidance significantly reduces the frequency of guidance command updates, thereby reducing resource consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 The flowchart is a collaborative guidance method for attacking at a desired relative collision angle provided according to a specific embodiment of the present invention.

[0027] Figure 2 A schematic diagram of an event triggering mechanism provided according to a specific embodiment of the present invention. DETAILED DESCRIPTION

[0028] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0029] Step S1: Constructing a collaborative guidance command in a first direction, where the first direction is along the vertical direction of the line of sight, specifically including:

[0030] Step S101: constructing a consistency error of a first direction relative to a line of sight angle and a consistency error of an angular velocity in a first direction.

[0031] This configuration predefines the relative impact angles required for coordinated space guidance between missiles in a first direction. Because the relative impact angles on targets rarely change significantly under certain disturbances (such as unknown target maneuvers and model uncertainty), there's no need to constantly maneuver the multi-missile system to maintain a constant desired impact angle. Consequently, the collaborative guidance principle of the present invention is more flexible and can reduce fuel consumption.

[0032] Step S102: constructing a tracking error of the angular velocity in the first direction according to a consistency error of the first direction relative to the line of sight angle.

[0033] Step S103: constructing a coordinated guidance command in the first direction based on the consistency error of the first direction relative to the line of sight angle, the consistency error of the first direction angular velocity, and the tracking error of the first direction angular velocity.

[0034]

[0035] Among them, a Mεi (t) is the guidance command of the i-th missile in the first direction, r i (t) is the relative distance between the i-th missile and the target, t is the current time, q εi (t) is the sight angle of the first direction of the i-th missile, q βi (t) is the sight angle of the second direction of the i-th missile, α ε1 , α ε2 , α ε3 , α ε4 and μ ε are all positive numbers, b ε and c ε are two that satisfy b ε / c ε Positive odd numbers > 2, is the triggering moment of the i-th missile closest to the current time, and yes The next trigger moment, Ξ i (t) is the consistency error of the first direction of the i-th missile relative to the line of sight angle. i (t) is the consistency error of the angular velocity of the first direction of the i-th missile, e vεi (t) is the tracking error of the angular velocity of the first direction of the i-th missile, p ε and g ε are two satisfying p ε / g ε A positive odd number greater than 1.

[0036] By applying this configuration, by adopting the collaborative guidance command of the first direction of the present invention, only the consistent error of the relative line of sight angle along the line of sight height direction is used as the coordination variable to realize spatial collaborative guidance along the line of sight height direction, avoiding continuous maneuvering to maintain a constant desired collision angle, thereby reducing fuel consumption.

[0037] In order to achieve event triggering of guidance commands along the height and depth of the line of sight and further reduce fuel consumption, after constructing the coordinated guidance command for the first direction in step S1, step S2 is entered to construct a trigger mechanism for the first direction. The trigger mechanism for the first direction is event triggering, which specifically includes:

[0038] Step S201: construct a trigger error in the first direction based on the consistency error of the first direction relative to the line of sight angle, the consistency error of the first direction angular velocity, and the tracking error of the first direction angular velocity.

[0039]

[0040] Among them, Θ εi (t) is the trigger error of the i-th missile in the first direction.

[0041] Step S202: construct a trigger mechanism for the first direction based on the trigger error in the first direction and the tracking error of the angular velocity in the first direction. The trigger mechanism for the first direction is an event trigger. Where 0 < η ε <1.

[0042] like Figure 2 As shown in the figure, Ts is the guidance period. By applying this configuration, by adopting an event trigger mechanism along the height direction of the line of sight, the event-triggered collaborative guidance will not be updated and will remain unchanged until the trigger condition is met. This can reduce the update frequency of the collaborative guidance command, save the limited resources of the multi-missile system, and at the same time ensure a fast convergence speed and good guidance performance.

[0043] After completing the guidance command and trigger mechanism in the first direction, in order to achieve cooperative guidance in the second direction at the desired relative collision angle, step S3 is entered to construct a cooperative guidance command in the second direction, where the second direction is along the line of sight, specifically including:

[0044] Step S301, constructing a consistency error of the second direction relative to the line of sight angle and a consistency error of the angular velocity in the second direction;

[0045] This configuration predefines the relative impact angles required for coordinated space guidance between missiles in a first direction. Because the relative impact angles on targets rarely change significantly under certain disturbances (such as unknown target maneuvers and model uncertainty), there's no need to constantly maneuver the multi-missile system to maintain a constant desired impact angle. Consequently, the collaborative guidance principle of the present invention is more flexible and can reduce fuel consumption.

[0046] Step S302: construct the tracking error of the angular velocity in the second direction based on the consistency error of the second direction relative to the line of sight angle; Step S303: construct the coordinated guidance command in the second direction based on the consistency error of the second direction relative to the line of sight angle, the consistency error of the angular velocity in the second direction, and the tracking error of the angular velocity in the second direction

[0047]

[0048] Among them, a Mβi(t) is the guidance command for the i-th missile in the second direction, α β1 ,α β2 ,α β3 ,α β4 and μ β is a positive constant, b β and c β are two that satisfy b β / c β >2 positive odd number, Υ i (t) is the consistency error of the second direction relative to the line of sight angle of the i-th missile, Ψ i (t) is the consistency error of the angular velocity of the second direction of the i-th missile, e vβi (t) is the tracking error of the angular velocity of the second direction of the i-th missile.

[0049] By applying this configuration, by adopting the collaborative guidance command of the second direction of the present invention, only the consistent error of the relative line of sight angle along the line of sight height direction is used as the coordination variable to realize spatial collaborative guidance along the line of sight height direction, avoiding continuous maneuvering to maintain a constant desired collision angle, thereby reducing fuel consumption.

[0050] In order to realize event triggering of the azimuth direction guidance command and further reduce fuel consumption, after completing step S3 to construct the coordinated guidance command for the second direction, step S4 is entered to construct a trigger mechanism for the second direction. The trigger mechanism for the second direction is event triggering, which specifically includes:

[0051] Step S401: construct a trigger error in the second direction based on the consistency error of the second direction angular velocity, the consistency error of the second direction angular velocity, and the tracking error of the second direction angular velocity.

[0052]

[0053] Among them, Θ βi (t) is the trigger error of the i-th missile in the second direction.

[0054] Step S402: construct a second direction trigger mechanism based on the trigger error in the second direction and the tracking error of the angular rate in the second direction. The second direction trigger mechanism is an event trigger.

[0055] Applying this configuration, an event-triggered mechanism is adopted along the line of sight. The event-triggered collaborative guidance will not be updated and will remain unchanged until the trigger condition is met. This can further reduce the update frequency of the collaborative guidance command, save the limited resources of the multi-missile system, and at the same time ensure fast convergence speed and good guidance performance.

[0056] In order to achieve coordinated attack of multiple missiles at the desired relative collision angle, after completing step S4, step S5 is entered, and the guidance command in the first direction is updated according to the trigger mechanism of the first direction, and the coordinated guidance command in the second direction is updated according to the trigger mechanism of the second direction to achieve attack at the desired relative collision angle.

[0057] In order to have a further understanding of the present invention, the following Figures 1 to 2 The present invention provides a detailed description of an event-triggered simultaneous attack collaborative guidance method along the line of sight, wherein Figure 2 Ts is the guidance period.

[0058] like Figure 1 As shown, the consistency error of the sight angle along the height direction of the sight is constructed and the consistency error of the angular rate along the vertical and horizontal directions of the line of sight Among them, i (t) is the consistency error of the i-th missile along the line of sight height direction relative to the line of sight angle, i is a positive integer, j is a positive integer, i∈[1,N], j∈[1,N], N is the total number of missiles, when the missiles can detect each other a ij =1, otherwise a ij =0, t is the current time, is the deviation between the sight angle of the i-th missile along the height direction of the sight and the expected sight angle of the i-th missile along the height direction of the sight, is the deviation between the sight angle of the j-th missile in the elevation direction and the sight angle of the j-th missile in the expected elevation direction, Π i (t) is the consistency error of the angular velocity of the i-th missile along the line of sight height-low direction, q εi (t) is the sight angle of the i-th missile along the sight height direction, q εj (t) is the sight angle of the j-th missile along the height direction of the sight.

[0059] The tracking error of the angular rate along the height direction of the line of sight is constructed based on the consistency error of the relative line of sight angle along the height direction of the line of sight. Among them, e vεi (t) is the tracking error of the angular velocity of the i-th missile along the vertical direction of the line of sight, α ε1 , α ε2 and μ ε are all positive numbers, b ε and c ε are two that satisfy b ε / c ε A positive odd number greater than 2.

[0060] The coordinated guidance command along the height direction of the line of sight is constructed based on the consistency error of the relative line of sight angle along the height direction of the line of sight, the consistency error of the angular rate along the height direction of the line of sight, and the tracking error of the angular rate along the height direction of the line of sight.

[0061]

[0062] Among them, a Mεi (t) is the guidance command of the i-th missile in the direction of the line of sight, r i (t) is the relative distance between the i-th missile and the target, t is the current time, q εi (t) is the sight angle of the i-th missile along the sight height direction, q βi (t) is the sight angle of the azimuth direction of the i-th missile, α ε1 , α ε2 , α ε3 , α ε4 and μ ε are all positive numbers, b ε and c ε are two that satisfy b ε / c ε Positive odd numbers > 2, is the triggering moment of the i-th missile closest to the current time, and yes The next trigger moment, Ξ i (t) is the consistency error of the i-th missile along the line of sight elevation direction relative to the line of sight angle. i (t) is the consistency error of the angular velocity of the i-th missile along the height direction of the line of sight, e vεi (t) is the tracking error of the angular velocity of the i-th missile along the vertical direction of the line of sight, p ε and g ε are two satisfying p ε / g ε A positive odd number greater than 1.

[0063] The trigger error along the height direction of the sight is constructed based on the consistency error of the relative sight angle along the height direction of the sight, the consistency error of the angular rate along the height direction of the sight, and the tracking error of the angular rate along the height direction of the sight.

[0064]

[0065] Among them, Θ εi (t) is the trigger error of the i-th missile in the vertical direction along the line of sight.

[0066] like Figure 2 As shown, a trigger mechanism along the height direction of the sight is constructed according to the trigger error along the height direction of the sight and the tracking error of the angular rate in the height direction of the sight. Where 0 < ηε <1.

[0067] Construct the consistency error along the sight azimuth relative to the sight angle and the consistency error of the angular rate along the line of sight azimuth relative to the line of sight angle Υ i (t) is the consistency error of the i-th missile along the line of sight azimuth direction relative to the line of sight angle, is the deviation between the sight angle of the azimuth direction of the i-th missile and the sight angle of the expected azimuth direction of the i-th missile, is the deviation between the sight angle of the j-th missile azimuth direction and the sight angle of the j-th missile expected azimuth direction, Ψ i (t) is the consistency error of the angular velocity of the i-th missile along the line of sight azimuth relative to the line of sight angle, q βi (t) is the sight angle of missile i in azimuth direction, q βj (t) is the sight angle of the j-th missile in the azimuth direction i.

[0068] The tracking error of the angular rate along the line of sight is constructed based on the consistency error of the line of sight angle along the line of sight direction. e vβi (t) is the tracking error of the angular velocity of the i-th missile along the line of sight, α β1 ,α β2 and μ β is a positive constant, b β and c β are two that satisfy b β / c β A positive odd number greater than 2.

[0069] The coordinated guidance command in the azimuth direction is constructed based on the consistency error of the relative line of sight angle along the line of sight azimuth direction, the consistency error of the azimuth direction angular rate and the tracking error of the azimuth direction angular rate.

[0070]

[0071] Among them, a Mβi (t) is the guidance command of the i-th missile in the direction of the line of sight, α β1 ,α β2 ,α β3 ,α β4 and μ β is a positive constant, b β and c β are two that satisfy b β / c β >2 positive odd number, Υ i (t) is the consistency error of the azimuth direction of the i-th missile relative to the line of sight angle, Ψ i(t) is the consistency error of the azimuth angular velocity of the i-th missile, e vβi (t) is the tracking error of the azimuth angular velocity of the i-th missile.

[0072] The trigger error along the height direction of the line of sight is constructed based on the consistency error of the azimuth direction relative to the line of sight angle, the consistency error of the angular rate of the azimuth direction relative to the line of sight angle, and the tracking error of the angular rate of the azimuth direction.

[0073]

[0074] Among them, Θ βi (t) is the trigger error of the i-th missile in the second direction.

[0075] The azimuth triggering mechanism is constructed based on the azimuth triggering error and the azimuth angular rate tracking error.

[0076]

[0077] The guidance commands along the height direction of the line of sight are updated according to the trigger mechanism along the height direction of the line of sight, and the collaborative guidance commands in the azimuth direction are updated according to the trigger mechanism in the azimuth direction, so as to achieve simultaneous attacks at the expected relative collision angles and realize the space collaborative guidance target.

[0078] The following describes that the consistency error of the sight angle along the sight height direction of the present invention can converge within a fixed time.

[0079] Consider the Lyapunov candidate function Among them, V ε2 (t) is the Lyapunov alternative function for proving that the angular velocity along the vertical direction of the line of sight can reach virtual consistency in a fixed time. Ξ(t)=[Ξ1(t)Ξ2(t)...Ξ N (t)] T , can be obtained

[0080]

[0081] in, κ ε ∈(0,1) is a constant, It is the upper bound of nonlinear and uncertain perturbations along the height direction of the line of sight, and is a non-negative constant. For a missile group with N missiles, its communication topology can be mathematically described as G = (V, E), where V = {1, 2, ..., N} is the vertex set related to the missile members. Is the edge set related to the communication link. i and vertex V j The edge between them is represented as (V j ,Vi )∈E, which means that the i-th missile can obtain the information of the j-th missile. i The degrees of freedom are expressed as d i , defined as missile V i The number of neighbors of the graph G. The degree matrix of the graph G is expressed as D = diag{d i}(i∈[1,2,...,N]). The Laplacian matrix of graph G Defined as A=[a ij ]. For a connected undirected graph, the Laplacian matrix is symmetric and semi-positive definite. The undirected connected graph G corresponds to The eigenvalues ​​of are 0,λ2,...,λ N And satisfy 0<λ2≤...≤λ N . The smallest eigenvalue is zero and the corresponding eigenvector is 1=[1,1,...,1] T . Laplacian matrix The second smallest eigenvalue λ2 of is greater than zero, that is, λ2>0, which can be regarded as an indicator for evaluating the connectivity of the graph G. The constant ζ ε Satisfaction ε >0, its minimum value ζ * Yes * =x * (1-tanhx * ), where x * satisfy

[0082] Thus we can obtain the following set

[0083]

[0084] Therefore, the relative sight angles in the vertical and horizontal directions can be consistent within a fixed time, and the upper bound of the total convergence time satisfies

[0085]

[0086] Similarly, it can be seen that the consistency error of the azimuth direction relative to the sight angle of the present invention can converge within a fixed time.

[0087] The following illustrates that the present invention's guidance command along the line of sight elevation direction does not have Zeno behavior. Zeno behavior refers to triggering an infinite number of events within a limited time interval.

[0088] Known

[0089] According to Π i The definition of (t) can be obtained

[0090]

[0091] where e vεj (t) is the tracking error of the angular velocity of the j-th missile along the vertical direction of the line of sight, j (t) is the consistency error of the j-th missile along the line of sight height direction relative to the line of sight angle, l ii for The diagonal elements in row i,

[0092] e vε (t)=[e vε1 (t)e vε2 (t)e vε3 (t)…e vεN (t)] T ,

[0093]

[0094] V ε1 (0) is V ε1 Initial value of (t), V ε2 (0) is V ε2 The initial value of (t), λ N express The maximum eigenvalue of .

[0095]

[0096] Where D+(·) is the right derivative, a Mεj (t) is the guidance command for the jth missile in the first direction.

[0097]

[0098]

[0099]

[0100]

[0101] because Available

[0102]

[0103] Based on the trigger mechanism,

[0104]

[0105] Further available

[0106]

[0107] in, yes The maximum value of is the triggering moment of the j-th missile closest to the current time.

[0108] That is, there are strict positive bounds on the intervals between events. Therefore, no Zeno behavior occurs.

[0109] Similarly, it can be seen that there is no Zeno behavior in the guidance command along the line of sight azimuth direction of the present invention.

[0110] In summary, the present invention proposes a collaborative guidance method for attacking at a desired relative collision angle. By constructing a guidance law perpendicular to the line of sight, spatial collaborative guidance is achieved using only the consistent error of the relative collision angle as a coordination variable, thus satisfying the relative collision angle constraint. The guidance law of the present invention exhibits excellent stability and lacks Zeno behavior. Furthermore, the present invention employs an event-triggered approach to reduce the computational burden of collaborative guidance instructions and lower fuel consumption. The technical solution of the present invention enhances the lethality of multi-launch missiles.

Claims

1. A collaborative guidance method for attacking at a desired relative collision angle, characterized in that: The following steps are involved: Step 1: Construct the collaborative guidance command for the first direction; specifically including: 1.1 Construct the consistency error of the first direction relative to the line of sight angle and the consistency error of the first direction angular rate; 1.2 Constructing the tracking error of the angular rate in the first direction based on the consistency error of the first direction relative to the line of sight angle; 1.3 constructing a coordinated guidance command in the first direction based on the consistency error of the first direction relative to the line of sight angle, the consistency error of the angular velocity in the first direction, and the tracking error of the angular velocity in the first direction; Step 2: Build the trigger mechanism for the first direction, which is event-triggered. Specifically, it includes: 2.1 Constructing a trigger error in the first direction based on the consistency error of the first direction relative to the line of sight angle, the consistency error of the angular velocity in the first direction, and the tracking error of the angular velocity in the first direction; 2.2 A trigger mechanism for the first direction is established based on the trigger error in the first direction and the tracking error of the angular rate in the first direction. The trigger mechanism for the first direction is event triggered. Step 3: Construct the collaborative guidance command for the second direction; specifically including: 3.1 Construct the consistency error of the second direction relative to the line of sight angle and the consistency error of the second direction angular rate; 3.2 Constructing the tracking error of the angular rate in the second direction based on the consistency error of the second direction relative to the line of sight angle; 3.3 Constructing a coordinated guidance command in the second direction based on the consistency error of the second direction relative to the line of sight angle, the consistency error of the angular velocity in the second direction, and the tracking error of the angular velocity in the second direction; Step 4: Build the trigger mechanism for the second direction, which is event-triggered. Specifically, it includes: 4.1 Constructing a trigger error in the second direction based on the consistency error of the second direction relative to the line of sight angle, the consistency error of the angular velocity in the second direction, and the tracking error of the angular velocity in the second direction; 4.2 A second direction trigger mechanism is established based on the trigger error in the second direction and the tracking error of the angular rate in the second direction. The second direction trigger mechanism is event triggered. Among them, the first direction is along the height direction of the line of sight, and the second direction is along the azimuth direction of the line of sight; the guidance command of the first direction is updated according to the trigger mechanism of the first direction, and the collaborative guidance command of the second direction is updated according to the trigger mechanism of the second direction to achieve an attack at the expected relative collision angle.

2. The collaborative guidance method for attacking at a desired relative collision angle according to claim 1, characterized in that: The coordinated guidance command for the first direction is: Among them, a Mεi (t) is the guidance command of the i-th missile in the first direction, r i (t) is the relative distance between the i-th missile and the target, t is the current time, q εi (t) is the sight angle of the first direction of the i-th missile, q βi (t) is the sight angle of the second direction of the i-th missile, α ε1 , α ε2 , α ε3 , α ε4 and μ ε are all positive numbers, b ε and c ε are two that satisfy b ε / c ε Positive odd numbers > 2, is the triggering moment of the i-th missile closest to the current time, and yes The next trigger moment, Ξ i (t) is the consistency error of the first direction of the i-th missile relative to the line of sight angle, Π i (t) is the consistency error of the angular velocity of the first direction of the i-th missile, e vεi (t) is the tracking error of the angular velocity of the first direction of the i-th missile, p ε and g ε are two satisfying p ε / g ε A positive odd number greater than 1.

3. The collaborative guidance method for attacking at a desired relative collision angle according to claim 2, characterized in that: The trigger error in the first direction is: Among them, Θ εi (t) is the trigger error of the i-th missile in the first direction.

4. The collaborative guidance method for attacking at a desired relative collision angle according to claim 3, characterized in that: The first direction trigger mechanism is: Where 0 < η ε <1.

5. The collaborative guidance method for attacking at a desired relative collision angle according to claim 4, characterized in that: The coordinated guidance command for the second direction is: Among them, a Mβi (t) is the guidance command for the i-th missile in the second direction, α β1 ,α β2 ,α β3 ,α β4 and μ β is a positive constant, b β and c β are two that satisfy b β / c β >2 positive odd number, Υ i (t) is the consistency error of the second direction relative to the line of sight angle of the i-th missile, Ψ i (t) is the consistency error of the angular velocity of the second direction of the i-th missile, e vβi (t) is the tracking error of the angular velocity of the second direction of the i-th missile, p β and g β are two satisfying p β / g β A positive odd number greater than 1.

6. The collaborative guidance method for attacking at a desired relative collision angle according to claim 5, characterized in that: The trigger error in the second direction is: Among them, Θ βi (t) is the trigger error of the i-th missile in the second direction.

7. The collaborative guidance method for attacking at a desired relative collision angle according to claim 6, characterized in that: The second direction trigger mechanism is:

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