A missile precision guidance method and system

Abstract

The present invention is applicable to the field of missile guidance technology and provides a missile precision guidance method and system, comprising the following steps: obtaining a theoretical flight route and a target position point; detecting the three-dimensional coordinates of the missile in real time to obtain an actual flight route, and determining the engine thrust direction and the rudder deflection angle according to the actual flight route and the theoretical flight route at set intervals; determining the missile position, and when the distance between the missile position and the target position point is less than a set distance value, calculating a predicted flight route each time the engine thrust direction and the rudder deflection angle are changed; determining a prediction error between the predicted flight route and the target position point, and when the prediction error is within a set miss distance, no further adjustment of the flight route is made; otherwise, the engine thrust direction and the rudder deflection angle are continuously adjusted until the guidance accuracy meets the standard. In this way, even if the engine thrust direction and the rudder deflection angle cannot be adjusted in real time, the guidance accuracy of the missile can still be guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of missile guidance technology, and in particular to a missile precision guidance method and system. Background Art

[0002] A missile guidance system is a system that guides and controls a missile, adjusting its flight path according to a selected pattern and guiding it toward its target. Its function is to measure and calculate the difference between the missile's actual flight path and its theoretical flight path, then adjust the missile's engine thrust direction or control surface deflection angle to control the missile's flight path, ensuring it approaches or hits its target within an acceptable error. However, since the engine thrust direction and control surface deflection angles are not actively adjusted in real time, and flight interference factors are constantly changing, these factors affect missile guidance accuracy. Therefore, a method and system for precision missile guidance is needed to address these issues. Summary of the Invention

[0003] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a missile precision guidance method and system to solve the problems existing in the above-mentioned background technology.

[0004] The present invention is achieved by a missile precision guidance method comprising the following steps:

[0005] Obtain theoretical flight route and target location points;

[0006] The missile's three-dimensional coordinates are detected in real time to obtain the actual flight path. The engine thrust direction and rudder deflection angle are determined based on the actual flight path and the theoretical flight path at set intervals, so that the actual flight path approaches the theoretical flight path.

[0007] The missile position is determined. When the distance between the missile position and the target position is less than the set distance value, the predicted flight path is calculated each time the engine thrust direction and the control surface deflection angle change;

[0008] Determine the prediction error between the predicted flight path and the target position point. When the prediction error is within the set miss distance, the flight path is no longer adjusted; otherwise, the engine thrust direction and rudder deflection angle continue to be adjusted.

[0009] As a further solution of the present invention, the step of detecting the missile's three-dimensional coordinates in real time and obtaining the actual flight path specifically includes:

[0010] Determine the three-dimensional coordinates of the missile based on the satellite positioning system and altitude sensor built into the missile;

[0011] Perform path curve simulation on all determined three-dimensional coordinates of the missile to determine the actual flight route.

[0012] As a further solution of the present invention: the step of determining the engine thrust direction and the control surface deflection angle according to the actual flight path and the theoretical flight path specifically includes:

[0013] Determining flight interference information based on the actual flight route and the theoretical flight route, wherein the flight interference information includes interference force and interference direction;

[0014] Determine the missile's current three-dimensional coordinates, flight direction, flight speed, and missile weight, and generate a new theoretical flight path based on the target location and flight interference information. The new theoretical flight path replaces the original theoretical flight path.

[0015] The engine thrust direction and rudder deflection angle are determined based on the new theoretical flight path.

[0016] As a further solution of the present invention: the step of determining the flight interference information based on the actual flight route and the theoretical flight route specifically includes:

[0017] Determine the current three-dimensional coordinates, flight direction, flight speed, and flight time of the actual flight route, where both the actual flight route and the theoretical flight route are functions of the three-dimensional coordinates and the flight time, and each flight time is annotated with the flight direction and flight speed;

[0018] According to the flight time, the three-dimensional coordinates, flight direction and flight speed of the theoretical flight route at the corresponding time are retrieved;

[0019] The interference force and interference direction are determined according to the actual three-dimensional coordinates, actual flight direction, actual flight speed, theoretical three-dimensional coordinates, theoretical flight direction, theoretical flight speed and missile weight, and the interference force and interference direction are integrated to form flight interference information.

[0020] As a further solution of the present invention, each time the engine thrust direction and the control surface deflection angle change, the step of calculating and obtaining the predicted flight path specifically includes:

[0021] Determine the three-dimensional coordinates of several missiles each time the engine thrust direction and rudder deflection angle change;

[0022] The three-dimensional coordinates of several missiles are fitted using the least square method to obtain a fitting function;

[0023] The predicted flight route is obtained according to the fitting function, and the predicted flight route is continuously extended.

[0024] Another object of the present invention is to provide a missile precision guidance system, the system comprising:

[0025] Target determination module, used to obtain theoretical flight path and target location points;

[0026] The path adjustment module is used to detect the missile's three-dimensional coordinates in real time to obtain the actual flight path. At set intervals, the engine thrust direction and rudder deflection angle are determined based on the actual flight path and the theoretical flight path, so that the actual flight path approaches the theoretical flight path.

[0027] The predicted flight module is used to determine the missile's position. When the distance between the missile's position and the target point is less than the set distance value, the predicted flight path is calculated each time the engine thrust direction and the control surface deflection angle change;

[0028] The guidance determination module is used to determine the prediction error between the predicted flight path and the target position point. When the prediction error is within the set miss distance, the flight path will no longer be adjusted; otherwise, the engine thrust direction and rudder deflection angle will continue to be adjusted.

[0029] As a further solution of the present invention: the path adjustment module includes:

[0030] a three-dimensional coordinate determination unit, for determining the three-dimensional coordinates of the missile based on a satellite positioning system and an altitude sensor built into the missile;

[0031] The actual flight path unit is used to simulate the path curve of all determined three-dimensional coordinates of the missile and determine the actual flight path.

[0032] As a further solution of the present invention: the path adjustment module further includes:

[0033] a flight interference determination unit, configured to determine flight interference information based on the actual flight route and the theoretical flight route, wherein the flight interference information includes interference force and interference direction;

[0034] Theoretical flight path resetting unit is used to determine the missile's current three-dimensional coordinates, flight direction, flight speed and missile weight, and generate a new theoretical flight path based on the target position and flight interference information. The new theoretical flight path replaces the original theoretical flight path.

[0035] The missile path adjustment unit is used to determine the engine thrust direction and control surface deflection angle according to the new theoretical flight path.

[0036] As a further solution of the present invention: the flight interference determination unit includes:

[0037] An actual flight determination subunit is used to determine the current three-dimensional coordinates, flight direction, flight speed, and flight time of the actual flight route. The actual flight route and the theoretical flight route are both functions of the three-dimensional coordinates and the flight time, and each flight time is marked with the flight direction and flight speed;

[0038] Theoretical flight retrieval subunit, used to retrieve the three-dimensional coordinates, flight direction and flight speed of the theoretical flight route at the corresponding time according to the flight time;

[0039] The flight interference determination subunit is used to determine the interference force and interference direction based on the actual three-dimensional coordinates, actual flight direction, actual flight speed, theoretical three-dimensional coordinates, theoretical flight direction, theoretical flight speed and missile weight, and integrate the interference force and interference direction to form flight interference information.

[0040] As a further solution of the present invention: the flight prediction module includes:

[0041] A three-dimensional coordinate acquisition unit, used to determine the three-dimensional coordinates of several missiles each time the engine thrust direction and the control surface deflection angle change;

[0042] A fitting function determination unit is used to fit the three-dimensional coordinates of a plurality of missiles using a least square method to obtain a fitting function;

[0043] The predicted flight route unit is used to obtain the predicted flight route according to the fitting function, and the predicted flight route is continuously extended.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] The present invention detects the three-dimensional coordinates of a missile in real time to obtain an actual flight route, determines the engine thrust direction and the rudder deflection angle according to the actual flight route and the theoretical flight route at set intervals, so that the actual flight route approaches the theoretical flight route; determines the missile position, and when the distance between the missile position and the target position point is less than a set distance value, calculates and obtains a predicted flight route each time the engine thrust direction and the rudder deflection angle are changed; determines a prediction error between the predicted flight route and the target position point, and when the prediction error is within a set miss distance, no further adjustment of the flight route is made; otherwise, the engine thrust direction and the rudder deflection angle are continuously adjusted until the guidance accuracy meets the standard. In this way, even if the engine thrust direction and the rudder deflection angle cannot be adjusted in real time, the guidance accuracy of the missile can be guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 The figure is a flow chart of a missile precision guidance method.

[0047] Figure 2 This is a flowchart for real-time detection of missile three-dimensional coordinates and acquisition of actual flight path in a missile precision guidance method.

[0048] Figure 3 The present invention is a flowchart for determining the engine thrust direction and the control surface deflection angle according to the actual flight path and the theoretical flight path in a missile precision guidance method.

[0049] Figure 4 The present invention is a flowchart for determining flight interference information based on actual flight routes and theoretical flight routes in a missile precision guidance method.

[0050] Figure 5 The present invention is a flow chart for calculating the predicted flight path each time the engine thrust direction and the control surface deflection angle are changed in a missile precision guidance method.

[0051] Figure 6 This is a structural diagram of a missile precision guidance system.

[0052] Figure 7 This is a structural diagram of a path adjustment module in a missile precision guidance system.

[0053] Figure 8 This is a structural diagram of a flight interference determination unit in a missile precision guidance system.

[0054] Figure 9 This is a schematic diagram of the structure of a predictive flight module in a missile precision guidance system. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0056] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0057] like Figure 1 As shown, an embodiment of the present invention provides a missile precision guidance method, the method comprising the following steps:

[0058] S100, obtaining a theoretical flight route and a target location point;

[0059] S200: Real-time detection of the missile's three-dimensional coordinates to obtain the actual flight path. The engine thrust direction and control surface deflection angle are determined at set intervals based on the actual flight path and the theoretical flight path, so that the actual flight path approaches the theoretical flight path.

[0060] S300, determining the missile position. When the distance between the missile position and the target position is less than a set distance value, a predicted flight path is calculated each time the engine thrust direction and the control surface deflection angle change.

[0061] S400, determining the prediction error between the predicted flight path and the target position point. When the prediction error is within the set miss distance, the flight path is no longer adjusted; otherwise, the engine thrust direction and the control surface deflection angle are continuously adjusted.

[0062] It should be noted that the missile guidance system is a system that guides and controls the missile to adjust its flight path according to a selected rule and guide it to the target. Its function is to measure and calculate the difference between the actual flight path of the missile and the theoretical flight path, and then adjust the missile's engine thrust direction or rudder deflection angle to control the missile's flight path and approach or hit the target within the allowable error. Since the engine thrust direction and rudder deflection angle will not be actively adjusted in real time, and flight interference factors are constantly changing, they affect the missile guidance accuracy.

[0063] In an embodiment of the present invention, a theoretical flight path is first determined based on the characteristics of the missile and the target location. After the missile is launched, the actual three-dimensional coordinates of the missile are detected in real time to obtain the actual flight path. The engine thrust direction and the control surface deflection angle are determined at set intervals based on the actual flight path and the theoretical flight path, so that the actual flight path approaches the theoretical flight path. In addition, the embodiment of the present invention also determines the missile position. When the distance between the missile position and the target location is less than a set distance value, the set distance value is a pre-set constant value. After each change in the engine thrust direction and the control surface deflection angle, a predicted flight path is calculated and a prediction error between the predicted flight path and the target location is determined. The prediction error is the closest distance between the target location and the predicted flight path. When the prediction error is within the set miss distance, it indicates that the guidance accuracy has met the standard and the flight path is no longer adjusted. Otherwise, the engine thrust direction and the control surface deflection angle are continuously adjusted until the guidance accuracy meets the standard. In this way, even if the engine thrust direction and the control surface deflection angle cannot be adjusted in real time, the guidance accuracy of the missile can be guaranteed.

[0064] like Figure 2 As shown, as a preferred embodiment of the present invention, the step of detecting the missile's three-dimensional coordinates in real time and obtaining the actual flight path specifically includes:

[0065] S201, determines the three-dimensional coordinates of the missile based on the satellite positioning system and altitude sensor built into the missile;

[0066] S202, performing path curve simulation on all determined three-dimensional coordinates of the missile to determine the actual flight path.

[0067] In an embodiment of the present invention, a satellite positioning system and an altitude sensor are built into the missile. The satellite positioning system can obtain plane coordinates, and the altitude sensor can obtain vertical coordinates, thereby obtaining the three-dimensional coordinates of the missile. Then, a path curve simulation is performed on all determined three-dimensional coordinates of the missile to determine the actual flight path.

[0068] like Figure 3 As shown in FIG. 1 , as a preferred embodiment of the present invention, the step of determining the engine thrust direction and the control surface deflection angle according to the actual flight path and the theoretical flight path specifically includes:

[0069] S203, determining flight interference information based on the actual flight route and the theoretical flight route, wherein the flight interference information includes interference force and interference direction;

[0070] S204, determining the current three-dimensional coordinates, flight direction, flight speed, and missile weight of the missile, generating a new theoretical flight path based on the target location and flight interference information, and replacing the original theoretical flight path with the new theoretical flight path;

[0071] S205: Determine the engine thrust direction and the control surface deflection angle according to the new theoretical flight path.

[0072] In an embodiment of the present invention, flight interference information is automatically determined based on the actual flight route and the theoretical flight route. The flight interference information specifically includes the interference force and interference direction. The missile's current three-dimensional coordinates, flight direction, flight speed, and missile weight are then determined. Combining the target location and the flight interference information, a new theoretical flight route is generated. This new theoretical flight route replaces the original theoretical flight route. The new theoretical flight route takes into account the flight interference information and is more accurate. The engine thrust direction and rudder deflection angle are then determined based on the new theoretical flight route. Furthermore, both the theoretical flight route and the actual flight route are continuously updated, and the flight interference information is also continuously updated accordingly, resulting in more accurate determinations of the engine thrust direction and rudder deflection angle.

[0073] like Figure 4 As shown, as a preferred embodiment of the present invention, the step of determining the flight interference information based on the actual flight route and the theoretical flight route specifically includes:

[0074] S2031, determining the current three-dimensional coordinates, flight direction, flight speed, and flight time of the actual flight route, where both the actual flight route and the theoretical flight route are functions of the three-dimensional coordinates and the flight time, and each flight time is marked with the flight direction and flight speed;

[0075] S2032, retrieve the three-dimensional coordinates, flight direction, and flight speed of the theoretical flight route at the corresponding time based on the flight time;

[0076] S2033, determining the interference force and interference direction based on the actual three-dimensional coordinates, actual flight direction, actual flight speed, theoretical three-dimensional coordinates, theoretical flight direction, theoretical flight speed and missile weight, and integrating the interference force and interference direction to form flight interference information.

[0077] In an embodiment of the present invention, in order to determine the flight interference information, it is necessary to obtain the current three-dimensional coordinates, flight direction, flight speed and flight time of the actual flight route. It should be noted that the actual flight route and the theoretical flight route are both functional relationships between three-dimensional coordinates and flight time, and each flight time is marked with the flight direction and flight speed. According to the current flight time, the three-dimensional coordinates, flight direction and flight speed of the theoretical flight route at the flight time are retrieved; finally, the interference force and interference direction are determined based on the actual three-dimensional coordinates, actual flight direction, actual flight speed, theoretical three-dimensional coordinates, theoretical flight direction, theoretical flight speed and missile weight. The integration of the interference force and interference direction can form the flight interference information.

[0078] like Figure 5 As shown in FIG. 1 , as a preferred embodiment of the present invention, each time the engine thrust direction and the control surface deflection angle change, the step of calculating and obtaining the predicted flight path specifically includes:

[0079] S301, each time the engine thrust direction and the control surface deflection angle change, determine the three-dimensional coordinates of a plurality of missiles;

[0080] S302, using the least squares method to fit the three-dimensional coordinates of the plurality of missiles to obtain a fitting function;

[0081] S303, obtaining a predicted flight route according to the fitting function, and continuously extending the predicted flight route.

[0082] In the embodiment of the present invention, it is easy to understand that as long as the set miss distance is met, the guidance accuracy meets the requirements. Even if the actual flight path does not coincide with the theoretical flight path, the actual flight path may meet the requirements. Specifically, when the distance between the missile position and the target position point is less than the set distance value, each time the engine thrust direction and the rudder deflection angle change, the three-dimensional coordinates of several missiles are determined, and the three-dimensional coordinates of the several missiles are fitted using the least squares method to obtain a fitting function. The predicted flight path is obtained based on the fitting function, and the predicted flight path is continuously extended. In this way, the closest distance between the target position point and the predicted flight path can be calculated. When the closest distance is within the set miss distance, it means that the guidance accuracy meets the standard.

[0083] like Figure 6As shown, an embodiment of the present invention further provides a missile precision guidance system, the system comprising:

[0084] Target determination module 100, used to obtain theoretical flight route and target location point;

[0085] The path adjustment module 200 is used to detect the missile's three-dimensional coordinates in real time, obtain the actual flight path, and determine the engine thrust direction and control surface deflection angle based on the actual flight path and the theoretical flight path at set intervals so that the actual flight path approaches the theoretical flight path;

[0086] The predicted flight module 300 is used to determine the missile position and calculate the predicted flight path each time the engine thrust direction and the control surface deflection angle change when the distance between the missile position and the target position point is less than the set distance value;

[0087] The guidance determination module 400 is used to determine the prediction error between the predicted flight path and the target position point. When the prediction error is within the set miss distance, the flight path is no longer adjusted; otherwise, the engine thrust direction and the control surface deflection angle are continued to be adjusted.

[0088] In an embodiment of the present invention, a theoretical flight path is first determined based on the characteristics of the missile and the target location. After the missile is launched, the actual three-dimensional coordinates of the missile are detected in real time to obtain the actual flight path. The engine thrust direction and the control surface deflection angle are determined at set intervals based on the actual flight path and the theoretical flight path, so that the actual flight path approaches the theoretical flight path. In addition, the embodiment of the present invention also determines the missile position. When the distance between the missile position and the target location is less than a set distance value, the set distance value is a pre-set constant value. After each change in the engine thrust direction and the control surface deflection angle, a predicted flight path is calculated and a prediction error between the predicted flight path and the target location is determined. The prediction error is the closest distance between the target location and the predicted flight path. When the prediction error is within the set miss distance, it indicates that the guidance accuracy has met the standard and the flight path is no longer adjusted. Otherwise, the engine thrust direction and the control surface deflection angle are continuously adjusted until the guidance accuracy meets the standard. In this way, even if the engine thrust direction and the control surface deflection angle cannot be adjusted in real time, the guidance accuracy of the missile can be guaranteed.

[0089] like Figure 7 As shown, as a preferred embodiment of the present invention, the path adjustment module 200 includes:

[0090] A three-dimensional coordinate determination unit 201 is used to determine the three-dimensional coordinates of the missile based on the satellite positioning system and altitude sensor built into the missile;

[0091] The actual flight path unit 202 is used to perform path curve simulation on all determined three-dimensional coordinates of the missile to determine the actual flight path.

[0092] like Figure 7 As shown, as a preferred embodiment of the present invention, the path adjustment module 200 further includes:

[0093] A flight interference determination unit 203 is configured to determine flight interference information based on the actual flight route and the theoretical flight route, wherein the flight interference information includes interference force and interference direction;

[0094] Theoretical flight path resetting unit 204 is used to determine the current three-dimensional coordinates, flight direction, flight speed and missile weight of the missile, and generate a new theoretical flight path based on the target position and flight interference information. The new theoretical flight path replaces the original theoretical flight path.

[0095] The missile path adjustment unit 205 is used to determine the engine thrust direction and the control surface deflection angle according to the new theoretical flight path.

[0096] like Figure 8 As shown, as a preferred embodiment of the present invention, the flight interference determination unit 203 includes:

[0097] The actual flight determination subunit 2031 is used to determine the current three-dimensional coordinates, flight direction, flight speed, and flight time of the actual flight route. The actual flight route and the theoretical flight route are both functions of the three-dimensional coordinates and flight time, and each flight time is marked with the flight direction and flight speed;

[0098] Theoretical flight retrieval subunit 2032 is used to retrieve the three-dimensional coordinates, flight direction and flight speed of the theoretical flight route at the corresponding time according to the flight time;

[0099] The flight interference determination subunit 2033 is used to determine the interference force and interference direction based on the actual three-dimensional coordinates, actual flight direction, actual flight speed, theoretical three-dimensional coordinates, theoretical flight direction, theoretical flight speed and missile weight, and integrate the interference force and interference direction to form flight interference information.

[0100] like Figure 9 As shown, as a preferred embodiment of the present invention, the flight prediction module 300 includes:

[0101] A three-dimensional coordinate acquisition unit 301 is used to determine the three-dimensional coordinates of several missiles each time the engine thrust direction and the control surface deflection angle change;

[0102] The fitting function determination unit 302 is used to fit the three-dimensional coordinates of a plurality of missiles using the least square method to obtain a fitting function;

[0103] The predicted flight route unit 303 is used to obtain a predicted flight route according to the fitting function, and the predicted flight route is continuously extended.

[0104] The above is only a detailed description of the preferred embodiments of the present invention, which is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0105] It should be understood that, although the various steps in the flow chart of each embodiment of the present invention are shown in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless otherwise specified herein, the execution of these steps is not strictly limited in order, and these steps can be performed in other orders. Moreover, at least a portion of the steps in each embodiment may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0106] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0107] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the disclosure in the specification and examples. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered merely as exemplary, and the true scope and spirit of the present disclosure are indicated by the claims.

Claims

1. A missile precision guidance method, characterized in that: The method comprises the following steps: S100, obtaining a theoretical flight route and a target location point; S200, detecting the missile's three-dimensional coordinates in real time to obtain an actual flight path, and determining the engine thrust direction and control surface deflection angle at set intervals based on the actual flight path and the theoretical flight path, so that the actual flight path approaches the theoretical flight path; The step of determining the engine thrust direction and the control surface deflection angle according to the actual flight route and the theoretical flight route specifically includes: determining the current three-dimensional coordinates, flight direction, flight speed, and flight time of the actual flight route, wherein both the actual flight route and the theoretical flight route are functional relationships between the three-dimensional coordinates and the flight time, and each flight time is marked with the flight direction and flight speed; retrieving the three-dimensional coordinates, flight direction, and flight speed of the theoretical flight route at the corresponding time based on the flight time; determining the interference force and interference direction based on the actual three-dimensional coordinates, actual flight direction, actual flight speed, theoretical three-dimensional coordinates, theoretical flight direction, theoretical flight speed, and missile weight, and integrating the interference force and interference direction to form flight interference information; Determine the missile's current three-dimensional coordinates, flight direction, flight speed, and missile weight, and generate a new theoretical flight path based on the target location and flight interference information. The new theoretical flight path replaces the original theoretical flight path. Determine the engine thrust direction and control surface deflection angle based on the new theoretical flight path; S300, determining the missile position, and when the distance between the missile position and the target position is less than a set distance value, calculating a predicted flight path each time the engine thrust direction and the control surface deflection angle change; S400: Determine the prediction error between the predicted flight path and the target position point. When the prediction error is within the set miss distance, the flight path is no longer adjusted; otherwise, the engine thrust direction and the control surface deflection angle are continuously adjusted.

2. The missile precision guidance method according to claim 1, characterized in that: The step of detecting the missile's three-dimensional coordinates in real time to obtain the actual flight path specifically includes: Determine the three-dimensional coordinates of the missile based on the satellite positioning system and altitude sensor built into the missile; Perform path curve simulation on all determined three-dimensional coordinates of the missile to determine the actual flight route.

3. The missile precision guidance method according to claim 1, characterized in that: Each time the engine thrust direction and control surface deflection angle change, the steps to calculate the predicted flight path include: Determine the three-dimensional coordinates of several missiles each time the engine thrust direction and rudder deflection angle change; The three-dimensional coordinates of several missiles are fitted using the least square method to obtain a fitting function; The predicted flight route is obtained according to the fitting function, and the predicted flight route is continuously extended.

4. A missile precision guidance system, characterized in that: The system includes a target determination module, a path adjustment module, a flight prediction module and a guidance determination module; The target determination module is used to obtain the theoretical flight route and target location point; The path adjustment module is used to detect the three-dimensional coordinates of the missile in real time to obtain the actual flight path, and determine the engine thrust direction and the control surface deflection angle according to the actual flight path and the theoretical flight path at set intervals so that the actual flight path approaches the theoretical flight path; The path adjustment module also includes a flight interference determination unit, a theoretical flight route resetting unit, and a missile path adjustment unit; The flight interference determination unit is used to determine flight interference information according to the actual flight route and the theoretical flight route, wherein the flight interference information includes interference force and interference direction; The system comprises an actual flight determination subunit, a theoretical flight retrieval subunit and a flight interference determination subunit. The actual flight determination subunit is used to determine the current three-dimensional coordinates, flight direction, flight speed and flight time of the actual flight route. The actual flight route and the theoretical flight route are both functional relationships between the three-dimensional coordinates and the flight time, and each flight time is marked with the flight direction and flight speed. The theoretical flight retrieval subunit is used to retrieve the three-dimensional coordinates, flight direction and flight speed of the theoretical flight route at the corresponding time according to the flight time. The flight interference determination subunit is used to determine the interference force and interference direction according to the actual three-dimensional coordinates, actual flight direction, actual flight speed, theoretical three-dimensional coordinates, theoretical flight direction, theoretical flight speed and missile weight, and integrate the interference force and interference direction to form flight interference information. The theoretical flight route resetting unit is used to determine the current three-dimensional coordinates, flight direction, flight speed and missile weight of the missile, and generate a new theoretical flight route according to the target position point and flight interference information, and the new theoretical flight route replaces the original theoretical flight route; The missile path adjustment unit is used to determine the engine thrust direction and the control surface deflection angle according to the new theoretical flight path; The predicted flight module is used to determine the missile position and calculate the predicted flight path each time the engine thrust direction and the control surface deflection angle change when the distance between the missile position and the target position point is less than the set distance value; The guidance determination module is used to determine the prediction error between the predicted flight path and the target position point. When the prediction error is within the set miss distance, the flight path is no longer adjusted; otherwise, the engine thrust direction and the control surface deflection angle are continued to be adjusted.

5. The missile precision guidance system according to claim 4, characterized in that: The path adjustment module includes: a three-dimensional coordinate determination unit, for determining the three-dimensional coordinates of the missile based on a satellite positioning system and an altitude sensor built into the missile; The actual flight path unit is used to simulate the path curve of all determined three-dimensional coordinates of the missile and determine the actual flight path.

6. The missile precision guidance system according to claim 4, characterized in that: The predicted flight module includes: A three-dimensional coordinate acquisition unit, used to determine the three-dimensional coordinates of several missiles each time the engine thrust direction and the control surface deflection angle change; A fitting function determination unit is used to fit the three-dimensional coordinates of a plurality of missiles using a least square method to obtain a fitting function; The predicted flight route unit is used to obtain the predicted flight route according to the fitting function, and the predicted flight route is continuously extended.

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