A multi-strategy online penetration trajectory planning method based on multi-curve combination

Abstract

The present invention discloses a multi-strategy online penetration trajectory planning method with a multi-curve combination, comprising the following steps: Step 1: setting flight parameters, target position coordinates, attack position coordinates, and target position situation information of a current position of an aircraft, wherein the target position situation information includes defense facilities; Step 2: calculating critical maneuvering point information according to the flight parameters, target position coordinates, and attack position coordinates of the current position of the aircraft, wherein the critical maneuvering point is the latest starting maneuvering turning position under the flight parameters of the current position of the aircraft; Step 3: after determining the current position and target position of the aircraft, arbitrarily selecting a starting maneuvering turning position according to the critical maneuvering point, and the circle at the maneuvering turning position is the maneuvering circle; Step 4: selecting a penetration strategy, and planning a trajectory according to the penetration strategy.

Description

Technical Field

[0001] The present invention belongs to the technical field of aircraft trajectory planning applications, and in particular relates to a multi-strategy online penetration trajectory planning method with multiple curve combinations. Background Art

[0002] The existing defense system includes early warning radar systems, long-range weapon defense systems, short-range weapon defense systems, etc. The strict interception system has brought greater challenges to the combat effectiveness of high-speed aircraft. Therefore, aircraft maneuver penetration and online trajectory planning technology have become increasingly important. The focus of penetration technology is to formulate reasonable penetration strategies based on the enemy situation, effectively circumvent enemy defense facilities and make it difficult for the enemy to predict attack intentions and flight trajectories.

[0003] Due to the limited computing resources of aircraft platforms, computational efficiency is a key consideration when selecting online trajectory planning algorithms. The rapid position changes of high-speed aircraft place higher demands on the computational time of online trajectory planning. Existing online planning algorithms often use sampling search algorithms or other numerical calculation methods. These methods are computationally expensive, require smoothing of the acquired trajectories to be suitable for aircraft, and are not very scalable. Therefore, the development of a new planning method is necessary. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art and to provide a multi-strategy online penetration trajectory planning method with a multi-curve combination.

[0005] In order to solve the technical problem, the technical solution of the present invention is: a multi-strategy online penetration trajectory planning method with multiple curve combinations, comprising the following steps:

[0006] Step 1: Set the flight parameters of the aircraft's current position, the target position coordinates, the attack position coordinates, and the target position situation information, including the defense facilities;

[0007] Step 2: Calculate the critical maneuvering point information based on the flight parameters of the aircraft's current position, the target position coordinates, and the attack position coordinates. The critical maneuvering point is the latest starting maneuvering turning position under the aircraft's current flight parameters.

[0008] Step 3: After determining the current position and target position of the aircraft, arbitrarily select the starting maneuvering position based on the critical maneuvering point. The circle at the maneuvering position is the maneuvering circle.

[0009] Step 4: Select a penetration strategy and plan the trajectory according to the penetration strategy;

[0010] Penetration strategies include maneuver mode, single feint attack mode, and multi-circle combined feint attack mode;

[0011] The maneuvering mode uses the arc-straight-arc form to construct a trajectory from the current position of the aircraft to the target position;

[0012] The single feint mode uses an arc-straight-arc pattern to construct a trajectory from the aircraft's current position to the target position, with the straight line pointing to any defensive facility.

[0013] The multi-circle combination feint mode uses the form of arc-straight line-arc-straight line-arc to construct a trajectory from the current position of the aircraft to the target position, where the two straight lines point to any two defensive facilities.

[0014] Preferably, the flight parameters of the current position of the aircraft include the minimum turning radius r min 、Initial velocity direction θ S 、Initial position coordinates (x S ,y S ) and the attack direction θ to the target position E , where the target position coordinates (x tar ,y tar ), attack position coordinates (x A ,y A ), defense facility coordinates (x dei ,y dei )(i=1,2,...,n), n is the number of defense facilities.

[0015] Preferably, the critical maneuvering point information is calculated in step 2 according to the flight parameters of the current position of the aircraft, the target position coordinates and the attack position coordinates as follows: after determining the attack direction θ of the target position E and the attack position coordinates (x A ,y A ) and then, according to the minimum turning radius r min The information of the critical maneuvering circle and the terminal maneuvering circle can be calculated. The cut-out point of the terminal maneuvering circle is the attack position. The critical maneuvering circle is tangent to the terminal maneuvering circle. The critical maneuvering circle is tangent to the initial velocity direction θ. S and the target position coordinates (x tar ,y tar ) are tangent to each other, and the point of tangency is the critical maneuvering point.

[0016] Preferably, the step 2 specifically includes the following steps:

[0017] Step 2-1: Build a basic XOY coordinate system with the target position as the origin, and establish the initial velocity direction θ based on the current position of the aircraft. S The X1OY1 coordinate system is the horizontal axis. The positive direction of the X1 axis is opposite to the direction of the aircraft's movement. The origins of the two coordinate systems are the same. After determining the attack direction θ of the target position Eand the attack position coordinates (x A ,y A ) can determine the center coordinates of the terminal maneuvering circle, and calculate the center coordinates of the terminal maneuvering circle in the X1OY1 coordinate system (x E ,y E );

[0018]

[0019]

[0020] Among them, (x A1 ,y A1 ) is the attack position coordinate (x A ,y A ) is the coordinate in the X1OY1 coordinate system, θ is the attack direction of the target position θ E The angle formed with the X1 axis;

[0021] Step 2-2: Since the critical maneuvering circle is tangent to both the X1 axis and the terminal maneuvering circle, the center of the critical maneuvering circle is (x f ,R), R≥minimum turning radius r min Since the distance between the center of the terminal maneuvering circle and the center of the critical maneuvering circle is 2R, the distance formula can be used to solve x s , ΔL is the distance between the two circle centers along the x-axis. The coordinates of the center of the critical maneuvering circle in the X1OY1 system are solved by the following formula:

[0022]

[0023] The above calculation is based on the X1OY1 coordinate system. The calculation results are converted to the global coordinate system using the following formula:

[0024]

[0025] Among them, (x st ,y st ) is the coordinate of the critical maneuvering point in the global coordinate system, (x tar ,y tar ) is the coordinate of the target position in the global coordinate system, θ is the attack direction of the target position θ E The angle formed with the X1 axis.

[0026] Preferably, in step 3, the starting maneuvering steering position is arbitrarily selected according to the critical maneuvering point. Specifically, when the aircraft is flying towards the target position, any position before the critical maneuvering point on the line connecting the aircraft and the target position can be selected to start the maneuvering steering.

[0027] Preferably, the maneuvering mode in step 4 is to construct a trajectory that meets the needs of the aircraft from the current position to the target position in the form of arc-straight line-arc, design the attack position according to the position of the defense facility, and achieve breakthrough by passing through the middle of the defense facility through two changes in movement direction.

[0028] Preferably, the step 4 is specifically as follows:

[0029] Step 4-1: Based on the aircraft's current position and the aircraft's status information at the attack position, calculate the coordinates of the centers of the left and right maneuvering circles, as shown in the following formula:

[0030]

[0031]

[0032] Among them, (x S1 ,y S1 ),(x S2 ,y S2 ) are the center coordinates of the initial maneuvering circles on the left and right sides of the current position of the aircraft, (x E1 ,y E1 ),(x E2 ,y E2 ) are the center coordinates of the maneuvering circles at the left and right ends of the attack position, (x S ,y S ) is the initial position coordinate, (x A ,y A ) is the attack position coordinate, R S and R E are the radii of the initial maneuvering circle and the final maneuvering circle, R S and R E Not less than the minimum turning radius r min ,θ S is the initial velocity direction, θ E is the attack direction towards the target location;

[0033] Step 4-2: Calculate the equation of the tangent line connecting the initial maneuvering circle and the final maneuvering circle using the following formula:

[0034]

[0035] Among them, (x Si ,y Si ),(x Ei ,y Ei )(i=1,2) are the coordinates of the centers of the initial maneuvering circle and the final maneuvering circle respectively, l is the distance between the centers, R S and R Eare the radii of the initial and final maneuvering circles, respectively. α and θ represent the angles between the line connecting the tangent point and the center of the circle and the line containing the centers of the two circles. β represents the angle between the line connecting the centers of the two circles and the x-axis. The straight line segment track and circular arc track are obtained by calculating the tangent line and the tangent point.

[0036] Preferably, the single feint attack mode in step 4 is to construct a trajectory from the current position of the aircraft to the target position in the form of arc-straight line-arc, wherein the straight line points to any defense facility, and the defense facility is used as a feint attack target.

[0037] Preferably, the step 4 is specifically as follows:

[0038] Step 4-1: Use the following formula to obtain the information of the maneuvering circles on the left and right sides of the initial position;

[0039]

[0040] (x S1 ,y S1 ),(x S2 ,y S2 ) are the center coordinates of the initial maneuvering circles on the left and right sides of the aircraft’s current position respectively;

[0041] Step 4-2: Then calculate the tangent point between the feint target and the initial maneuvering circle, which is the starting point of the straight segment trajectory. Use the terminal maneuvering circle to point the aircraft's speed direction to the target position. The position of the terminal maneuvering circle (x E ,y E );

[0042]

[0043] Among them, y=k1x+b1, y=k2x+b2 are the expressions of the straight lines pointing to the feint target and the final target position respectively, and y=kx+b is the expression of the angle bisector of the two straight lines. (x j ,y j ) is the intersection of the two straight lines, R is the radius, (x E ,y E ) is the coordinate of the center of the terminal maneuvering circle that needs to be solved, and then the straight line segment track and circular arc track are obtained by calculating the tangent line and tangent point.

[0044] Preferably, the multi-circle combined feint mode in step 4 is to construct a trajectory that satisfies the current position of the aircraft to the target position in the form of arc-straight line-arc-straight line-arc, wherein two straight lines point to any two defense facilities at the target position, and the initial maneuvering circle adjusts the direction of movement of the aircraft to point to the first defense facility. After a straight line track, the feint target is changed through the arc track, that is, the direction of movement of the aircraft is adjusted to point to the second defense facility. Finally, according to the relative position relationship between the feint target and the target position, it is chosen to pass through the middle of the defense circle to achieve a breakthrough to the target position, thereby forming a complete trajectory.

[0045] Compared with the prior art, the advantages of the present invention are:

[0046] (1) The present invention discloses a multi-strategy online penetration trajectory planning method based on a multi-curve combination. First, a planning method based on geometric curves is adopted to directly obtain a smooth and usable trajectory. The algorithm model is simple and easy to adjust for different scenarios. It has an extremely fast calculation speed and can meet the requirements of online planning of high-speed aircraft. Then, according to the situation information of the target position, the penetration mission requirements of the high-speed aircraft are achieved by establishing penetration strategies such as multiple maneuvers, feints, and dynamic planning.

[0047] (2) Based on the feint attack strategy, the present invention adds the randomness of the maneuvering point and the feint attack distance. By changing factors such as the turning radius, initial maneuvering position, feint attack target, and feint attack distance, a variety of track combinations can be dynamically formed, effectively increasing the difficulty of the enemy's track prediction;

[0048] (3) The present invention adopts a planning method combining multiple curves, which consumes less computing resources and has low computational cost. It can quickly generate a trajectory that meets the curvature and start and end direction constraints, and can flexibly achieve penetration through different strategies, with strong scalability.

[0049] (4) The overall form of the track of the present invention is a combination of a circular arc and a straight line. The curvature of the circular arc track remains unchanged throughout the entire process, which makes it easier to track the track and easy to implement in actual engineering. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a schematic diagram of the critical maneuvering point of the present invention;

[0051] Figure 2 Schematic diagram of calculating critical maneuvering point for the present invention;

[0052] Figure 3 This is a schematic diagram of the initial maneuvering point adjustment of the present invention;

[0053] Figure 4 This is a schematic diagram of the trajectory of the maneuvering mode of the present invention;

[0054] Figure 5This is a schematic diagram of the feint attack mode track of the present invention;

[0055] Figure 6 This is a schematic diagram of the trajectory of the multi-circle combined feint mode of the present invention;

[0056] Figure 7 This is a schematic diagram of the feint distance adjustment of the present invention;

[0057] Figure 8 This is a schematic diagram of the simulation of the maneuvering mode of the present invention;

[0058] Figure 9 This is a schematic diagram of the simulation of the initial maneuvering point of the present invention;

[0059] Figure 10 This is a schematic diagram of the feint mode simulation of the present invention;

[0060] Figure 11 This is a schematic diagram of the simulation of the multi-circle combined feint mode of the present invention;

[0061] Figure 12 This is a simulation diagram of the feint distance adjustment of the present invention. DETAILED DESCRIPTION

[0062] The specific implementation of the present invention is described below in conjunction with embodiments:

[0063] Example 1

[0064] The present invention discloses a multi-strategy online penetration trajectory planning method of multi-curve combination, comprising the following steps:

[0065] Step 1: Set the flight parameters of the aircraft's current position, the target position coordinates, the attack position coordinates, and the target position situation information, including the defense facilities;

[0066] Step 2: Calculate the critical maneuvering point information based on the flight parameters of the aircraft's current position, the target position coordinates, and the attack position coordinates. The critical maneuvering point is the latest starting maneuvering turning position under the aircraft's current flight parameters.

[0067] Step 3: After determining the current position and target position of the aircraft, arbitrarily select the starting maneuvering position based on the critical maneuvering point. The circle at the maneuvering position is the maneuvering circle.

[0068] Step 4: Select a penetration strategy and plan the trajectory according to the penetration strategy;

[0069] Penetration strategies include maneuver mode, single feint attack mode, and multi-circle combined feint attack mode;

[0070] The maneuvering mode uses the arc-straight-arc form to construct a trajectory from the current position of the aircraft to the target position;

[0071] The single feint mode uses an arc-straight-arc pattern to construct a trajectory from the aircraft's current position to the target position, with the straight line pointing to any defensive facility.

[0072] The multi-circle combination feint mode uses the form of arc-straight line-arc-straight line-arc to construct a trajectory from the current position of the aircraft to the target position, where the two straight lines point to any two defensive facilities.

[0073] Example 2

[0074] Preferably, the flight parameters of the current position of the aircraft include the minimum turning radius r min 、Initial velocity direction θ S 、Initial position coordinates (x S ,y S ) and the attack direction θ to the target position E , where the target position coordinates (x tar ,y tar ), attack position coordinates (x A ,y A ), defense facility coordinates (x dei ,y dei )(i=1,2,...,n), n is the number of defense facilities.

[0075] like Figure 1 As shown, the target position is the star position of the coordinate origin, and the attack position is the cut-out position of the terminal maneuvering circle.

[0076] Example 3

[0077] Preferably, the critical maneuvering point information is calculated in step 2 according to the flight parameters of the current position of the aircraft, the target position coordinates and the attack position coordinates as follows: after determining the attack direction θ of the target position E and the attack position coordinates (x A ,y A ) and then, according to the minimum turning radius r min The information of the critical maneuvering circle and the terminal maneuvering circle can be calculated. The cut-out point of the terminal maneuvering circle is the attack position. The critical maneuvering circle is tangent to the terminal maneuvering circle. The critical maneuvering circle is tangent to the initial velocity direction θ. S and the target position coordinates (x tar ,y tar ) are tangent to each other, and the point of tangency is the critical maneuvering point.

[0078] like Figure 1As shown in the figure, once the initial position or the initial maneuvering position exceeds the critical maneuvering point, there is no reasonable path solution set. The two circles in the figure are the initial maneuvering circle and the terminal maneuvering circle, respectively. The attack position is the position that directly points to the target position after the final change of direction, that is, the cut-out point of the terminal maneuvering circle.

[0079] Depend on Figure 2 As shown, preferably, the step 2 specifically includes the following steps:

[0080] Step 2-1: Build a basic XOY coordinate system with the target position as the origin, and establish the initial velocity direction θ based on the current position of the aircraft. S The X1OY1 coordinate system is the horizontal axis. The positive direction of the X1 axis is opposite to the direction of the aircraft's movement. The origins of the two coordinate systems are the same. After determining the attack direction θ of the target position E and the attack position coordinates (x A ,y A ) can determine the center coordinates of the terminal maneuvering circle, and calculate the center coordinates of the terminal maneuvering circle in the X1OY1 coordinate system (x E ,y E );

[0081]

[0082]

[0083] Among them, (x A1 ,y A1 ) is the attack position coordinate (x A ,y A ) is the coordinate in the X1OY1 coordinate system, θ is the attack direction of the target position θ E The angle formed with the X1 axis;

[0084] like Figure 2 As shown, step 2-2: Since the critical maneuvering circle is tangent to both the X1 axis and the terminal maneuvering circle, it can be seen that the center of the critical maneuvering circle is (x f ,R), R≥minimum turning radius r min Since the distance between the center of the terminal maneuvering circle and the center of the critical maneuvering circle is 2R, the distance formula can be used to solve x s , ΔL is the distance between the two circle centers along the x-axis. The coordinates of the center of the critical maneuvering circle in the X1OY1 system are solved by the following formula:

[0085]

[0086] The above calculation is based on the X1OY1 coordinate system. The calculation results are converted to the global coordinate system using the following formula:

[0087]

[0088] Among them, (x st ,y st ) is the coordinate of the critical maneuvering point in the global coordinate system; (x tar ,y tar ) is the coordinate of the target position in the global coordinate system; θ is the attack direction of the target position θ E The angle formed with the X1 axis;

[0089] R only needs to be no less than the minimum turning radius. The radius of the maneuvering circle is r only when calculating the critical maneuvering point. min .

[0090] Example 4

[0091] Preferably, in step 3, the arbitrarily selected starting maneuvering steering position according to the critical maneuvering point is specifically as follows: when the aircraft is flying towards the target position, on the line connecting the aircraft and the target position, any position before the critical maneuvering point on the line can be selected to start maneuvering steering as the initial maneuvering point, and the trajectories generated by different initial maneuvering points are quite different.

[0092] like Figure 3 As shown in the figure, after determining the initial velocity direction and target position of the aircraft, the starting position of the maneuver can be arbitrarily selected according to the critical maneuvering point. The trajectories generated by different starting maneuvering positions are quite different, such as trajectory 1 and trajectory 2, which increases the possible forms of the trajectory and thus increases the difficulty of trajectory prediction.

[0093] Example 5

[0094] like Figure 4 As shown, preferably, the maneuvering mode in step 4 is to construct a trajectory that satisfies the current position of the aircraft to the target position in the form of arc-straight line-arc, design the attack position according to the position of the defense facility, and achieve breakthrough by passing through the middle of the defense facility through two changes in movement direction.

[0095] The maneuvering mode uses an arc-straight-line-arc pattern to construct a trajectory that meets the needs of the aircraft from the current position to the target position. The attack is achieved by changing the speed direction through arc segment maneuvers. The target position attack direction needs to be selected according to the form of the defense facilities, and the attack direction that does not pass through the attack range of the defense facilities should be selected as much as possible.

[0096] Figure 4 The star in the middle is the target location, the black dot is the defense facility, and the solid black line is the track.

[0097] Preferably, the step 4 is specifically as follows:

[0098] Step 4-1: Based on the aircraft's current position and the aircraft's status information at the attack position, calculate the coordinates of the center of the maneuvering circle on the left and right sides (looking along the aircraft's flight direction, you can choose to turn left or right, and the two sides are the left and right sides of the aircraft's current speed direction) as shown in the following formula:

[0099]

[0100]

[0101] Among them, (x S1 ,y S1 ),(x S2 ,y S2 ) are the center coordinates of the initial maneuvering circles on the left and right sides of the aircraft’s current position, (x E1 ,y E1 ),(x E2 ,y E2 ) are the center coordinates of the maneuvering circles at the left and right ends of the attack position, (x S ,y S ) is the initial position coordinate, (x A ,y A ) is the attack position coordinate, R S and R E are the radii of the initial maneuvering circle and the final maneuvering circle, R S and R E Not less than the minimum turning radius r min ,θ S is the initial velocity direction, θ E is the attack direction towards the target location;

[0102] Step 4-2: Calculate the equation of the tangent line connecting the initial maneuvering circle and the final maneuvering circle using the following formula:

[0103]

[0104] Among them, (x Si ,y Si ),(x Ei ,y Ei )(i=1,2) are the coordinates of the centers of the initial maneuvering circle and the final maneuvering circle respectively, l is the distance between the centers, R S and R E are the radii of the initial and final maneuvering circles, respectively. α and θ represent the angles between the line connecting the tangent point and the center of the circle and the line containing the centers of the two circles. β represents the angle between the line connecting the centers of the two circles and the x-axis. The straight line segment track and circular arc track are obtained by calculating the tangent line and the tangent point.

[0105] Example 6

[0106] like Figure 5 As shown, preferably, the single feint attack mode in step 4 is to construct a trajectory that satisfies the current position of the aircraft to the target position in the form of arc-straight line-arc, wherein the straight line points to any defense facility, and the defense facility is used as a feint target.

[0107] The single feint mode hides the relationship between the current heading and the final target position, making it difficult for the defender to predict the flight trajectory. It also uses an arc-straight-line-arc track combination to determine the final attack direction based on the position of the feint target.

[0108] Figure 5 The star in the middle is the target location, the black dot is the defense facility, the black solid line is the track, and the straight line segment points to the defense facility, which is the feint target.

[0109] Preferably, the step 4 is specifically as follows:

[0110] Step 4-1: Use the following formula to obtain the information of the maneuvering circles on the left and right sides of the initial position;

[0111]

[0112] (x S1 ,y S1 ),(x S2 ,y S2 ) are the center coordinates of the initial maneuvering circles on the left and right sides of the aircraft’s current position respectively;

[0113] Step 4-2: Then calculate the tangent point between the feint target and the initial maneuvering circle, which is the starting point of the straight segment trajectory. Use the terminal maneuvering circle to point the aircraft's speed direction to the target position. The position of the terminal maneuvering circle (x E ,y E );

[0114]

[0115] Among them, y=k1x+b1, y=k2x+b2 are the expressions of the straight lines pointing to the feint target and the final target position respectively, and y=kx+b is the expression of the angle bisector of the two straight lines. (x j ,y j ) is the intersection of the two straight lines, R is the radius, (x E ,y E ) is the coordinate of the center of the terminal maneuvering circle that needs to be solved, and then the straight line segment track and circular arc track are obtained by calculating the tangent line and tangent point.

[0116] Example 7

[0117] like Figure 6As shown, preferably, the multi-circle combined feint mode in step 4 is to construct a trajectory that satisfies the current position of the aircraft to the target position in the form of arc-straight line-arc-straight line-arc, wherein two straight lines point to any two defense facilities at the target position, and the initial maneuvering circle adjusts the direction of movement of the aircraft to point to the first defense facility. After a straight line trajectory, the feint target is changed through the arc trajectory, that is, the direction of movement of the aircraft is adjusted to point to the second defense facility. Finally, according to the relative position relationship between the feint target and the target position, it is selected to pass through the middle of the defense circle to achieve a breakthrough to the target position, thereby forming a complete trajectory.

[0118] The multi-circle combination feint mode conducts two feints and adds the concept of feint distance, that is, the distance flown in the feint direction. By dynamically adjusting the feint distance, it is easier to conceal the relationship between the current heading and the final attack target.

[0119] like Figure 6 As shown, the first straight line is the feint distance 1, which points to the feint target 1, and the second straight line is the feint distance 2, which points to the feint target 2.

[0120] like Figure 7 As shown in the figure, by dynamically adjusting the feint attack distance, the track form is effectively changed, making it easier to conceal the relationship between the current heading and the final attack target.

[0121] Application Examples

[0122] The following trajectory simulation was performed on an i5-7300 device, and the calculation time is based on this device. The turning radius of the simulation example is set to 100km. All circle radii can be adjusted based on the aircraft's maneuverability. The trajectory forms of the present invention include but are not limited to the trajectory shown in the simulation example.

[0123] For the maneuvering mode (strategy 1), set the initial position of the aircraft (-400km, 400km), the target position (100km, -50km), and set four defense facilities. The simulation results are as follows: Figure 8 As shown in the figure, the attack on the target is achieved by passing through the middle of the defense facility, and the calculation time is 0.007s.

[0124] like Figure 9 As shown in the figure, in the maneuvering mode, changing the position of the initial maneuvering point will significantly change the track without changing the target position. This shows that the track can be effectively changed by changing the maneuvering position, increasing the dynamic adjustability of the track.

[0125] Feint mode (Strategy 2), set the initial position of the aircraft (-400km, 400km), the target position (100km, -50km), set up four defense facilities, the simulation results are as follows Figure 10As shown in the figure, a feint attack is made on the defense facilities, and a turn is made at the end to achieve a breakthrough. The calculation time is 0.005s.

[0126] In the multi-circle combined feint attack mode (strategy three), the initial position of the aircraft is set to (-400km, 400km), the target position is (100, -50), and four defense facilities are set. The simulation results are as follows: Figure 11 As shown in the figure, two feint attacks are carried out while maintaining a certain feint attack distance, and finally a breakthrough is achieved from the middle of the defense facility to attack the target. The calculation time is 0.008s.

[0127] Based on strategy 3, change the feint distance, such as Figure 12 As shown in the figure, without changing the feint target and feint sequence, the diversification of track forms can be effectively achieved.

[0128] Table 1 Comparison of penetration strategies

[0129]

[0130] Based on the above simulation results and analysis, the online trajectory planning method provided by the present invention has extremely short calculation time and meets the requirements of online planning. It adopts a feint attack strategy that can conceal the attack target and adopts methods such as reasonable changes in the starting maneuver point, feint attack target, and feint attack distance to quickly plan various trajectory forms and improve the probability of penetration.

[0131] The present invention discloses a multi-strategy online penetration trajectory planning method with a multi-curve combination. First, a planning method based on geometric curves is adopted to directly obtain a smooth usable trajectory. The algorithm model is simple and easy to adjust for different scenarios. It has an extremely fast calculation speed and can meet the online planning requirements of high-speed aircraft. Then, according to the situation information of the target position, the penetration mission requirements of the high-speed aircraft are realized by establishing penetration strategies such as multiple maneuvers, feints, and dynamic planning.

[0132] Based on the feint attack strategy, the present invention adds the randomness of the maneuvering point and the feint attack distance factors. By changing factors such as the turning radius, the initial maneuvering position, the feint attack target, and the feint attack distance, a variety of track combinations can be dynamically formed, effectively increasing the difficulty of the enemy's track prediction.

[0133] The present invention adopts a planning method of multi-curve combination, which consumes less computing resources and has low computing cost. It can quickly generate a track that meets the curvature and start and end point direction constraints, and flexibly realize penetration through different strategies, with strong scalability.

[0134] The overall form of the track of the present invention is a combination of a circular arc and a straight line. The curvature of the circular arc track remains unchanged throughout the entire process, which makes it easier to track the track and easy to implement in actual engineering.

[0135] The preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in this field without departing from the scope of the present invention.

[0136] Many other changes and modifications can be made without departing from the spirit and scope of the present invention. It should be understood that the present invention is not limited to the specific embodiments, and the scope of the present invention is defined by the appended claims.

Claims

1. A multi-strategy online penetration trajectory planning method based on multi-curve combination, characterized in that: The following steps are involved: Step 1: Set the flight parameters of the aircraft's current position, the target position coordinates, the attack position coordinates, and the target position situation information, including the defense facilities; Step 2: Calculate the critical maneuvering point information based on the flight parameters of the aircraft's current position, the target position coordinates, and the attack position coordinates. The critical maneuvering point is the latest starting maneuvering turning position under the aircraft's current flight parameters. Step 3: After determining the current position and target position of the aircraft, arbitrarily select the starting maneuvering position based on the critical maneuvering point. The circle at the maneuvering position is the maneuvering circle. Step 4: Select a penetration strategy and plan the trajectory according to the penetration strategy; Penetration strategies include maneuver mode, single feint attack mode, and multi-circle combined feint attack mode; The maneuvering mode uses the arc-straight-arc form to construct a trajectory from the current position of the aircraft to the target position; The single feint mode uses an arc-straight-arc pattern to construct a trajectory from the aircraft's current position to the target position, with the straight line pointing to any defensive facility. The multi-circle feint mode uses arc-straight-arc-straight-arc to construct a trajectory from the aircraft's current position to the target position, with two straight lines pointing to any two defensive facilities. The single feint mode uses an arc-straight-arc pattern to construct a trajectory from the current position of the aircraft to the target position, where the straight line points to any defense facility, and the defense facility is used as the feint target; The single feint mode is specifically as follows: Step 4-1: Use the following formula to obtain the information of the maneuvering circles on the left and right sides of the initial position; are the center coordinates of the initial maneuvering circles on the left and right sides of the aircraft's current position respectively; in, is the radius of the initial maneuvering circle, is the initial velocity direction; Step 4-2: Then calculate the tangent point between the feint target and the initial maneuvering circle, which is the starting point of the straight segment trajectory. Use the terminal maneuvering circle to point the aircraft's speed direction to the target position. The position of the terminal maneuvering circle is obtained by the following formula: ; in, are the straight line expressions pointing to the feint target and the final target position, respectively. is the expression for the angle bisector of two straight lines, is the intersection of two straight lines, is the radius, The coordinates of the center of the terminal maneuvering circle that need to be solved are then used to obtain the straight line segment track and circular arc track by calculating the tangent line and tangent point.

2. The multi-strategy online penetration trajectory planning method of multi-curve combination according to claim 1 is characterized in that: The flight parameters of the aircraft at the current position include the minimum turning radius , initial velocity direction , initial position coordinates and the direction of attack towards the target location , where the target position coordinates , attack position coordinates , defense facility coordinates The number of defense facilities.

3. The multi-strategy online penetration trajectory planning method of multi-curve combination according to claim 2 is characterized in that: The critical maneuvering point information is calculated in step 2 based on the flight parameters of the current position of the aircraft, the target position coordinates and the attack position coordinates. Specifically, after determining the attack direction of the target position, and attack position coordinates Then, according to the minimum turning radius The information of the critical maneuvering circle and the terminal maneuvering circle can be calculated. The cut-out point of the terminal maneuvering circle is the attack position. The critical maneuvering circle is tangent to the terminal maneuvering circle. The critical maneuvering circle is tangent to the initial velocity direction. and target position coordinates The connecting lines are tangent, and the tangent point is the critical maneuvering point.

4. The multi-strategy online penetration trajectory planning method of multi-curve combination according to claim 3 is characterized in that: The step 2 specifically includes the following steps: Step 2-1: Build the foundation with the target location as the origin Coordinate system, and establish the initial velocity direction based on the current position of the aircraft For the horizontal axis coordinate system, The positive direction of the axis is opposite to the direction of the aircraft's movement, and the origins of the two coordinate systems are the same; after determining the attack direction of the target position and attack position coordinates The coordinates of the center of the terminal maneuvering circle can be determined and calculated according to the following formula: Coordinates of the center of the terminal maneuvering circle in the coordinate system ; in, Attack position coordinates exist Coordinates in the coordinate system, The attack direction to the target location and The angle formed by the axes; Step 2-2: Since the critical maneuvering circle is The axis and the end maneuvering circle are tangent to each other, so the center of the critical maneuvering circle is The system is , R≥minimum turning radius Since the distance between the center of the terminal maneuvering circle and the center of the critical maneuvering circle is 2R, the distance formula can be used to solve it inversely. , is the distance between the two centers along the x-axis, and the center of the critical maneuvering circle is solved by the following formula: The coordinates of the system, The above calculation is based on Coordinate system, the calculation results are converted to the global coordinate system by the following formula: in, is the coordinate of the critical maneuvering point in the global coordinate system, is the coordinate of the target position in the global coordinate system, The attack direction to the target location and The angle formed by the axes.

5. The multi-strategy online penetration trajectory planning method of multi-curve combination according to claim 4 is characterized in that: In step 3, the starting maneuvering steering position is arbitrarily selected according to the critical maneuvering point. Specifically, when the aircraft is flying toward the target position, any position before the critical maneuvering point on the line connecting the aircraft and the target position can be selected to start the maneuvering steering.

6. The multi-strategy online penetration trajectory planning method of multi-curve combination according to claim 1 is characterized in that: The maneuvering mode in step 4 is to construct a trajectory that meets the needs of the aircraft from the current position to the target position in the form of arc-straight line-arc, design the attack position according to the position of the defense facility, and achieve breakthrough by passing through the middle of the defense facility through two changes in movement direction.

7. The multi-strategy online penetration trajectory planning method of multi-curve combination according to claim 6 is characterized in that: The step 4 is specifically as follows: Step 4-1: Based on the aircraft's current position and the aircraft's status information at the attack position, calculate the coordinates of the centers of the left and right maneuvering circles, as shown in the following formula: in, are the center coordinates of the initial maneuvering circles on the left and right sides of the aircraft’s current position, are the center coordinates of the maneuvering circles at the left and right ends of the attack position, is the initial position coordinate, is the attack position coordinate, and are the radii of the initial maneuvering circle and the final maneuvering circle, and Not less than the minimum turning radius , is the initial velocity direction, is the attack direction towards the target location; Step 4-2: Calculate the equation of the tangent line connecting the initial maneuvering circle and the final maneuvering circle using the following formula: in, are the center coordinates of the initial maneuvering circle and the final maneuvering circle, is the distance between the centers of the circles, and are the radii of the initial maneuvering circle and the final maneuvering circle, and They represent the angles between the line connecting the tangent point and the center of the circle and the straight line containing the centers of the two circles; The line connecting the centers of two circles and x The angle between the axes is calculated, and the straight line segment track and circular arc track are obtained by calculating the tangent line and tangent point.

8. The multi-strategy online penetration trajectory planning method of multi-curve combination according to claim 1 is characterized in that: The multi-circle combined feint mode in step 4 is to construct a trajectory that satisfies the current position of the aircraft to the target position in the form of arc-straight line-arc-straight line-arc, wherein two straight lines point to any two defense facilities at the target position. The initial maneuvering circle adjusts the direction of the aircraft's movement to point to the first defense facility. After a straight line trajectory, the feint target is changed through an arc trajectory, that is, the direction of the aircraft's movement is adjusted to point to the second defense facility. Finally, according to the relative position relationship between the feint target and the target position, it is chosen to pass through the middle of the defense circle to achieve a breakthrough to the target position, thereby forming a complete trajectory.

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