A Cooperative Terminal Guidance Method for Intercepting High-Speed and High-Maneuverability Targets

Abstract

The present invention relates to a cooperative terminal guidance method for intercepting high-speed and highly maneuverable targets. By adopting a new cooperative guidance method and formation strategy based on reachable set analysis, in the case where the assumptions required for linearized kinematics do not hold, nonlinear kinematics is used for analysis; by using the method of covering the target reachable set with the reachable set of interceptors, the target reachable set is segmented and assigned to each interceptor to construct a dominant intercept formation. Each interceptor realizes multi-missile cooperative interception through the terminal guidance law and the corresponding trigger time, thereby improving the cooperative interception effect and having good compatibility with aircraft of different performances.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and particularly to an interception formation method and a cooperative guidance strategy, which are applicable to the guidance and control of aerospace vehicles. Background Art

[0002] There is little existing research on cooperative terminal guidance for intercepting high-speed and highly maneuverable targets, mainly based on research under linearized kinematic assumptions. Linearized kinematics generally includes two assumptions. One is that the deviation between the missile-to-target heading angles θ Mi and θ T from the collision trajectory is very small, and the other is that the duration of the terminal guidance interception process is very short. The linearized kinematic assumptions are not applicable to scenarios dealing with high-speed and highly maneuverable targets, and there are problems such as the invalidation of linearized assumptions and poor guidance performance when solving problems in cooperative guidance.

[0003] In existing interception methods based on linearized motion assumptions, the deviation of both sides of the interception rendezvous from the collision trajectory is very small. Therefore, the acceleration directions of both sides are perpendicular to the initial line of sight LOS. In the analysis of zero-effort miss distance, the rendezvous line is fixed and perpendicular to the line of sight. Therefore, in the process of multi-to-one interception of high-speed and highly maneuverable targets, it is difficult for the guidance method based on linearized motion assumptions to achieve cooperative interception from different directions. Summary of the Invention

[0004] Technical Problems to be Solved

[0005] In traditional linearized kinematic guidance methods, it is very difficult to achieve the interception of high-speed and highly maneuverable targets when the interceptor missile is at a disadvantage in terms of speed and maneuverability. In some specific scenarios, the interception success rate using traditional guidance methods is not high. In order to fully transform the numerical advantage of the interceptor missile group into an interception advantage, a new type of cooperative interception method and formation strategy need to be designed.

[0006] The present invention adopts a strategy of terminal guidance cooperative interception of high-speed and highly maneuverable targets based on reachable set analysis, aiming to propose an effective formation configuration and cooperative strategy for the interceptor missile group, solve the problem that existing traditional linearized kinematics is not applicable to describe highly maneuverable flight, fully transform the numerical advantage of the interceptor missile group into an interception advantage, and effectively improve the interception effect.

[0007] Technical Solution

[0008] A cooperative terminal guidance method for intercepting high-speed and highly maneuverable targets, characterized by the following steps:

[0009] Step 1: Establish a mathematical model between the missile and the target

[0010] Suppose there are n interceptor missiles M iand a maneuvering target T, where i = 1, 2, 3... n-1, n; an inertial coordinate system X is established I -O I -Y I , with subscripts M and T representing the interceptor and the target respectively, r i denotes the line-of-sight distance between the i-th interceptor and the target, and λ i is the corresponding line-of-sight angle;

[0011] The motion equations and related constraints of both sides are as follows:

[0012]

[0013] |a i | ≤ a i,max (2)

[0014]

[0015]

[0016] where the subscript i ∈ {T, M1,..., M n} represents a certain interceptor or target, V i and θ i are its velocity and course angle, (x i , y i ) are the corresponding coordinates, a i is the acceleration perpendicular to its velocity direction, and a i,max is the acceleration upper limit;

[0017] Step 2: Analyze the reachable sets of each missile

[0018] The kinematic equation in Equation (1) can be expressed in the following form:

[0019]

[0020] where x and u i (t) represent the state vector (x i , y i , θ i ), and the control input, then the state vector at time t + Δt is

[0021]

[0022] The reachable set of a certain missile or target i at time t + Δt is defined as the set of all possible positions that can be reached at time t + Δt under the initial position x i (t), that is

[0023]

[0024] where \(u\) i (t, t + Δt) is a continuous control command within the time range [t, t + Δt], and Φ represents all feasible control commands within the constraints of Equation (3);

[0025] Step 3: Develop a minimum-time guidance strategy based on the shortest path, and further analyze the reachable set frontiers of each missile and the target. The formula for the reachable set frontier is as follows:

[0026] Denote the selected missile or target as i, and its reachable set frontier is called RSF i , and the calculation formula is:

[0027] RSF i (t, t + Δt|x i (t)) = g(V i , a i,max , x i (t), Δt) = RSF i,R ∪RSF i,L (7)

[0028] where RSF i,R and RSF i,L are the right and left halves of RSF with respect to the course, respectively, and the calculation formulas are: i

[0029]

[0030]

[0031] where θ i is the course angle, and are the center coordinates of the right and left minimum-radius turning circles, respectively equal to and is the minimum turning radius, and its value is V i 2 / a i,max ;

[0032] Step 4: Analyze the rendezvous situation of each missile and the target

[0033] Define the equal-time line ETL as a continuous boundary that both sides of the rendezvous can reach simultaneously when adopting the MTG guidance strategy. The points on the equal-time line are defined as equal-time points. Calculate the total length of the fastest interception trajectory corresponding to the earliest equal-time point. The length of the interception trajectory corresponding to the earliest equal-time point is:

[0034]

[0035] where r Miand r T are the minimum turning radii of missile M i and target T, and their values are respectively equal to and and φ T is the central angle corresponding to the turning trajectory in the circle of the minimum turning radius, L tan,i is the length of the common tangent line of the two turning circles, L tan,i The value of L is different depending on whether the two circles are internally or externally tangent:

[0036]

[0037] where and are the coordinates of points O1 and O2, and r1 and r2 are the corresponding turning radii; for missile M i the earliest interception time is denoted as t ELT,i , which is calculated from the total trajectory length L ELT,i and the sum of the velocities of the two rendezvousing parties V Mi +V T and the earliest equal-time point is the reachable set tangent point corresponding to the time t ELT,i of both parties;

[0038] The necessary condition for zero miss distance interception under the improved non-linear kinematics is: if the target flies to any position on the ETL line, the resulting zero-control miss distance ZEM′ is eliminable, and finally target interception is achieved;

[0039] Step 5: Develop a cooperative interception terminal guidance law:

[0040]

[0041] where N is the proportionality coefficient, t i is the trigger time, is the estimated target acceleration, which is set here as the true acceleration of the target, t go,i is the estimated missile-target rendezvous time, and ZEM i is the key element to achieve cooperation, as follows:

[0042]

[0043] Equation 12 shows that the trajectory formed by this guidance law consists of a straight line and an arc of the minimum turning radius. The trajectory of the above guidance law belongs to the Dubins trajectory; if the target uses the MTG guidance law to fly to any position on the ETL i line, the guidance law will be equivalent to MTG. If the target uses other guidance laws to fly, the guidance law will form a collision trajectory with maximum maneuverability;

[0044] Use an odd number of interceptors M1, …, M n to intercept a maneuvering target T. At the mid-course to terminal guidance handover moment t0, the missile located in the middle is on a head-on collision trajectory with the target, and the relative distance between the two is The coverage range of the target's course angle is

[0045] The cooperative formation is set as:

[0046]

[0047]

[0048] where Δt is the time it takes for the target T to escape from the coverage range of the interceptor M i and its value is

[0049]

[0050] The trigger time in Equation (12) is

[0051]

[0052] where t T,man is the interval between the moment when the target starts to maneuver and the moment t0;

[0053] Step 6: Calculate the required number of interceptors:

[0054] To cover the entire maneuvering range of the target measured by the course angle, the total number of interceptors required is

[0055]

[0056] where the symbol is the ceiling function.

[0057] A computer system, characterized in that it includes: one or more processors, a computer-readable storage medium for storing one or more programs, wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the above method.

[0058] A computer-readable storage medium, characterized in that it stores computer-executable instructions, and the instructions are used to implement the above method when executed.

[0059] Beneficial effects

[0060] The present invention solves the problem that existing traditional linear kinematics is not applicable to describing highly maneuverable flight, fully converts the numerical advantage of an interceptor missile group into an interception advantage, and effectively improves the interception effect. By using the method of covering the target reachable set with the reachable set of interceptor missiles, the target reachable set is segmented and assigned to each interceptor missile, and a dominant interception formation is constructed. Each interceptor missile achieves multi-missile cooperative interception through a terminal guidance law and corresponding trigger times, thereby effectively enhancing the interception performance.

[0061] Specifically as follows:

[0062] (1) Based on reachability analysis, the present invention proposes a cooperative guidance strategy for intercepting high-speed and highly maneuverable targets. By analyzing the rendezvous geometry through reachable sets and equal-time lines, the necessary conditions for zero miss distance interception under non-linear kinematics are proposed. By using reachable sets, the numerical advantage of the interceptor missile group is fully converted into an interception advantage. Compared with the guidance method in traditional linear kinematics analysis, the interception miss distance is smaller and the interception probability is higher.

[0063] (2) The scale of the interceptor missile group of the present invention is easy to expand and is adaptable to individuals with different performances, and has strong practicability and expansibility. Description of the Drawings

[0064] The drawings are only for the purpose of showing specific embodiments and are not considered to be a limitation of the present invention. Throughout the drawings, the same reference signs denote the same components.

[0065] Figure 1 is a flow block diagram of the method for terminal guidance cooperative interception of high-speed and highly maneuverable targets based on reachable set analysis proposed by the present invention;

[0066] Figure 2 is a schematic diagram of the relationship between the reachable set and the minimum turning radius circle;

[0067] Figure 3 is an example diagram of the equal-time line ETL;

[0068] Figure 4 is the geometric situation analysis of terminal guidance cooperative interception;

[0069] Figure 5 is the ETL line between the interceptor missile group and the target at the moment of t0 + Δt;

[0070] Figure 6 is the flight trajectory of the missile group using RCS cooperative guidance in Embodiment 1 and Embodiment 2;

[0071] Figure 7 is the flight trajectory of the missile group using DGL and APN guidance in Embodiment 3 and Embodiment 4. Detailed Embodiments

[0072] To make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0073] A cooperative terminal guidance method for intercepting high-speed and highly maneuverable targets provided by the present invention, by adopting a new cooperative guidance method and formation strategy based on reachable set analysis, analyzes through non-linear kinematics in the case where the assumptions required for linearized kinematics do not hold, gives the initial formation of the terminal guidance that is beneficial to interception, thereby improving the cooperative interception effect, and has good compatibility with aircraft of different performances. The method includes the following steps:

[0074] Step 1: Establish a mathematical model between the missile and the target.

[0075] Suppose there are n interceptor missiles M i (i = 1, 2, 3... n - 1, n) and a maneuvering target T, and an inertial coordinate system X I -O I -Y I is established, and the subscripts M and T represent the interceptor missile and the target respectively, and r i represents the line-of-sight distance between the i-th interceptor missile and the target, and λ i is the corresponding line-of-sight angle.

[0076] The motion equations and related constraints of both sides are:

[0077]

[0078] |a i | ≤ a i,max (2)

[0079]

[0080]

[0081] Among them, the subscript i ∈ {T, M1,..., M n} represents a certain interceptor missile or target, P i = (X i , Y i ) ∈ R 2 is the corresponding coordinate, V i and θ i are its speed and course angle, a i is the acceleration perpendicular to its speed direction, and a i,max is the acceleration upper limit.

[0082] Step 2: Analyze the reachable sets of each missile.

[0083] The kinematic equation in Equation (1) can be expressed in the following form:

[0084]

[0085] where x and u i (t) represents the state vector (x i , y i , θ i ), and the control input. Then the state vector at time t + Δt is

[0086]

[0087] The reachable set of a certain missile or target i at time t + Δt is defined as the set of all possible positions that can be reached at time t + Δt under the initial position x i (t), that is

[0088]

[0089] where u i (t, t + Δt) is the continuous control command within the time range [t, t + Δt], and Φ represents all feasible control commands within the constraints of Equation (3).

[0090] Step 3:

[0091] Based on the shortest path (Dubins trajectory), formulate the Minimum Time Guidance (MTG) strategy, and further analyze the Reachable Set Front (RSF) of each missile and the target. The so-called Reachable Set Front (RSF) is a curve composed of the farthest distance points that can be reached within a period of time. The reachable set of a certain missile or target can be obtained through the involutes of the left and right turning radius circles, and these involutes are composed of the endpoints of all Dubins trajectories of equal length.

[0092] The calculation formula for the reachable set front is as follows:

[0093] Denote the selected missile or target as i, then its reachable set front is called RSF i , and the calculation formula is:

[0094] RSF i (t, t + Δt|x i (t)) = g(V i , a i,max , x i (t), Δt) = RSFi,R ∪RSF i,L (7)

[0095] where RSF i,R and RSF i,L are the right and left halves of RSF with respect to the course, respectively, and the calculation formula is: i

[0096]

[0097]

[0098] where θ i is the velocity course angle, and are the center coordinates of the right and left minimum turning radius circles, respectively equal to and is the minimum turning radius, and its value is V i 2 / a i,max .

[0099] Step 4:

[0100] Analyze the intersection points of each missile and the target. The Equal-time Line (ETL) is a continuous boundary that can be reached simultaneously when both sides of the rendezvous adopt the MTG guidance strategy. The points on the equal-time line are called Equal-time Points (ETP). Calculate the total length of the fastest interception trajectory corresponding to the earliest equal-time point. The length of the interception trajectory corresponding to the earliest equal-time point is:

[0101]

[0102] where r Mi and r T are the minimum turning radii of missile M i and target T, and their values are respectively equal to and and φ T is the central angle corresponding to the turning trajectory in the minimum turning radius circle, L tan,i is the length of the common tangent of the two turning circles, and the value of L tan,i varies depending on whether the two circles are internally or externally tangent:

[0103]

[0104] where and are the coordinates of points O1 and O2, and r1 and r2 are the corresponding turning radii. Missile M i ​The earliest interception time is denoted as t ELT,i , which is calculated from the total trajectory length L ELT,i and the sum of the velocities of the two rendezvousing objects V Mi +V T , and the earliest equal-time point is the reachable set tangent point corresponding to the time t ELT,i moment of both sides.

[0105] The necessary condition for zero miss distance interception under the improved non-linear kinematics is: if the target flies to any position on the ETL line, the resulting zero-control miss distance ZEM′ is eliminable, and finally target interception is achieved.

[0106] Step 5:

[0107] Formulate the cooperative interception terminal guidance law (APN guidance):

[0108]

[0109] where N is the proportionality coefficient, t i is the trigger time, is the estimated target acceleration, which is set here as the true acceleration of the target, t go,i is the predicted rendezvous time between the missile and the target, ZEM i is as follows:

[0110]

[0111] is the key element to achieve cooperation. Equation (12) shows that the trajectory formed by this guidance law consists of a straight line and a circular arc with the minimum turning radius. The trajectory of the above guidance law belongs to the Dubins trajectory. If the target uses the MTG guidance law to fly to any position on the ETL i line, the guidance law (Equation 12) will be equivalent to MTG. If the target uses other guidance laws to fly, the guidance law will form a collision trajectory with the maximum ability to maneuver.

[0112] Consider using an odd number of interceptor missiles M1,…,M n to intercept the maneuvering target T. At the mid-course and terminal guidance handover moment t0, the missile in the middle is on a head-on collision trajectory with the target, and the relative distance between the two is The coverage range of the target heading angle is

[0113] The cooperative formation is set as:

[0114]

[0115]

[0116] where Δt is the time it takes for the target T to escape from the coverage of the interceptor M, and its value is i

[0117]

[0118] The trigger time in Equation (12) is

[0119]

[0120] where t T,man is the interval between the moment when the target starts to maneuver and the moment t0.

[0121] If the target continues to follow the optimal strategy at this time, it needs to maneuver to the left at the maximum turning rate r. According to the interception formation described in Equation (13), the guidance law described in Equation (12), and the trigger time described in Equation (16), at the moment t0 + Δt, the rendezvous situation will be as Figure 5 shown, and the mathematical expression is Equation (17).

[0122]

[0123] It can be analyzed from Equation (17) and Figure 5 that the interceptor and the target T are in a head-on collision situation at the moment t0 + Δt, and the relative position of the two at the moment t0 + Δt is equal to the relative position at the moment t0 . Therefore the rendezvous situation between and T at the moment t0 + Δt is the same as the rendezvous situation between and T at the moment t0. The target must continue to maneuver to the left to avoid being and intercepted. Continuing recursively like this, the same head-on rendezvous situation will occur between the target T and the interceptor at the moment t0 + jΔt, where j = 2,..., (n + 1) / 2 - 1. It should be emphasized that the time term Δt is very important for maintaining the effectiveness of the joint interception line.

[0124] Step 6:

[0125] Continue to complete the interception process. Continuing recursively from Equation (17), the same head-on rendezvous situation will occur between the target T and the interceptor at the moment t0 + jΔt, where j = 2,..., (n + 1) / 2 - 1.

[0126] To cover the entire maneuvering range of the target measured by the course angle, the total number of interceptors required is

[0127]

[0128] ​where the symbol is the ceiling function.

[0129] Regardless of the performance of each interceptor, it can be used to cover the maneuvering range of the target. Therefore, the guidance strategy proposed in the present invention can be used for an interceptor group composed of missiles with different performances.

[0130] Taking the following simulation parameter settings as an example:

[0131] The flight speed of all interceptors is 400 m / s, and the maximum maneuvering ability is 60 m / s 2 , and the speed and maneuvering ability of the target are 500 m / s and 100 m / s respectively 2 , and the upper limit of the cumulative change range of the target course angle is Δθ T,max = 80 deg. According to Equation (18), at least 3 missiles are required to intercept the target. Assume that the missile autopilot has a first-order lag link with a time constant of 0.2 s, the mid-course and terminal guidance handover time t0 is 0 s, the target initial position is placed at (0,0) m, its initial course angle is 90 deg, and the missile in the middle has an initial position of (0, 10000) m. Considering the damage range of the missile warhead, a miss distance not exceeding 10 m at the rendezvous terminal time is regarded as a successful interception.

[0132] Simulations are carried out and compared using APN and DGL guidance simultaneously. The expressions of these guidance laws are as follows

[0133]

[0134] The guidance coefficient N is 3.

[0135] Assume that the target T performs the maneuvering flight shown in Equation (20):

[0136] a T = μa T,max ·F(t - τ) (20)

[0137] where μ ∈ [-1, 1] represents the maneuvering amplitude, the sign of μ represents the maneuvering direction, and F(t - τ) is the unit step function starting from τ. Assume that the target performs the maneuvering flight described in Equation (20) at the initial time t = 0 of the terminal guidance, with the maneuvering amplitudes μ = 1 and μ = -0.8, and they are respectively denoted as Example 1 and Example 2. Since the course angle range of the target is limited to 80 deg, the time of the constant maneuvering flight is set to 6.98 s according to Equation (15). The target accelerations are respectively:

[0138]

[0139]

[0140] Let three missiles M1, M2 and M3 all adopt the RCS guidance strategy to intercept the target. According to the interception formation described in Equations (13) and (14), the initial positions of M1 and M3 are (-7910.3, 10337.0) m and (7910.3, 10337.0) m respectively, and the initial heading angles are -50 deg and -130 deg respectively.

[0141] In Embodiment 1 and Embodiment 2, under the guidance of the RCS guidance strategy, the interceptors M1 and M3 both formed collision trajectories with the target at the end of the rendezvous. Whether the target maneuvers to the left or to the right, it will face a new ETL interception line at t = 3.49 s and be intercepted by M1 on this interception line (Embodiment 1), or be intercepted by M3 near this interception line (Embodiment 2).

[0142] Change the intercept guidance law from RCS to DGL (Embodiment 3) and APN (Embodiment 4). The initial conditions such as the initial formation of the missile group and the maneuvering flight of the target are the same as those in Embodiments 1 and 2. The simulation results show that no collision trajectory is formed between the interceptors and the target at the end of the rendezvous process, and the target successfully escapes in both Embodiment 3 and Embodiment 4.

[0143] As described above, the above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present invention.

Claims

1. A cooperative terminal guidance method for intercepting high-speed and highly maneuverable targets, characterized in that The steps are as follows: Step 1: Establish a mathematical model between the missile and the target Suppose there are n interceptors M i and a maneuvering target T, where i = 1, 2, 3... n - 1, n; establish an inertial coordinate system X I -O I -Y I , the subscripts M and T represent the interceptor and the target respectively, r i represents the line-of-sight distance between the i-th interceptor and the target, and λ i is the corresponding line-of-sight angle; The motion equations of both sides and the relevant constraints are: where the subscript \(i\in\{T,M_1,\ldots,M\) n \} represents a certain interceptor or target, \(V\) i and \(\theta\) i are its velocity and heading angle, \((x\) i ,y\) i ) are the corresponding coordinates, \(a\) i is the acceleration perpendicular to its velocity direction, \(a\) i,max is the acceleration upper limit; Step 2: Analyze the reachable sets of each missile The kinematic equation in Equation (1) can be expressed in the following form: where x and u i (t) represents the state vector (x i , y i , θ i ), and the control input. Then the state vector at time t + Δt is The reachable set of a certain missile or target i at time t+Δt is defined as the set of all possible positions that can be reached at time t+Δt under the initial position x i (t), that is where u i (t, t + Δt) is a continuous control command within the time range [t, t + Δt], and Φ represents all feasible control commands within the constraints of Equation (3); Step 3: Based on the shortest path, formulate a minimum-time guidance strategy, and further analyze the reachable set fronts of each missile and the target. The formula for calculating the reachable set front is as follows: Denote the selected missile or target as i, and its reachable set frontier is called RSF i , and the calculation formula is as follows: RSF i (t, t + Δt|x i (t)) = g(V i , a i,max , x i (t), Δt) = RSF i,R ∪RSF i,L (7) where RSF i,R and RSF i,L are the right half and the left half of the RSF with respect to the course respectively, and the calculation formula is: i ​ where θ i is the course angle, and are the center coordinates of the right and left minimum radius turning circles, respectively equal to and is the minimum turning radius, the value of which is V i 2 / a i,max ; Step 4: Analyze the encounter postures of each missile and the target Define the equal-time line (ETL) as a continuous boundary that the two sides of the encounter can reach simultaneously when adopting the MTG guidance strategy. The points on the equal-time line are defined as equal-time points. Calculate the total length of the fastest interception trajectory corresponding to the earliest equal-time point. The length of the interception trajectory corresponding to the earliest equal-time point is: where r Mi and r T are the minimum turning radii of the missile M i and the target T, and their values are respectively equal to and and φ T is the central angle corresponding to the turning trajectory in the circle of the minimum turning radius, L tan,i is the length of the common tangent of the two turning circles, and the value of L tan,i varies depending on whether the two circles are internally or externally tangent: where and are the coordinates of points O1 and O2, and r1 and r2 are the corresponding turning radii; the earliest interception time of missile M i is denoted as t ELT,i , which is calculated from the total trajectory length L ELT,i and the sum of the velocities of the two rendezvousing parties V Mi +V T , and the earliest equal-time point is the reachable set tangent point corresponding to the t ELT,i moment of both parties; The necessary condition for zero-miss-distance interception under the improved non-linear kinematics is: If the target flies to any position on the ETL line, the zero-effort miss (ZEM′) caused can be eliminated, and finally the target interception is achieved; Step 5: Formulate a cooperative interception terminal guidance law: where N is a proportionality coefficient, t i is the trigger time, is the estimated target acceleration, which is set here to the true acceleration of the target, t go,i is the estimated time of encounter between the missile and the target, and ZEM i is the key element to achieve cooperation, as follows: Equation 12 shows that the trajectory formed by this guidance law is composed of a straight line and an arc with the minimum turning radius. The trajectory of the above guidance law belongs to the Dubins trajectory; if the target flies to any position on the ETL using the MTG guidance law, the guidance law will be equivalent to MTG. If the target flies using other guidance laws, the guidance law will maneuver with maximum ability to form a collision trajectory. i At any position on the line, the guidance law will be equivalent to MTG. If the target flies using other guidance laws, the guidance law will maneuver with maximum ability to form a collision trajectory. Use an odd number of interceptors M1, …, M n to intercept a maneuvering target T. At the mid-course to terminal guidance handover moment t0, the missile located in the middle is on a head-on collision trajectory with the target, and the relative distance between the two is The coverage range of the target course angle is The cooperative formation is set as: where Δt is the time it takes for the target T to escape the coverage of the interceptor M i and its value is The trigger time in Equation (12) is where t T,man is the interval between the target start maneuvering time and the time t0; Step 6: Calculate the required number of interceptors: To cover the entire maneuvering range of the target measured by the course angle, the total number of interceptors required is where the symbol is the ceiling function.

2. A computer system, characterized in that Including: One or more processors, a computer-readable storage medium for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method described in claim 1.

3. A computer-readable storage medium, characterized in that Stored with computer-executable instructions that are used to implement the method described in claim 1 when executed.

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