A hypersonic vehicle trajectory planning guidance method, system and device

Abstract

The application discloses a hypersonic vehicle trajectory planning guidance method, system and equipment, relates to the field of missile trajectory planning, and comprises the following steps: constructing an irregular no-fly zone model according to a dynamics model and constraints and terminal constraints in a flight process; determining the influence range of a segmented polygon no-fly zone by using an irregular no-fly zone segmentation and recombination algorithm according to the irregular no-fly zone model; determining a heading angle corridor and a lateral roll angle flip logic according to the influence range of the segmented polygon no-fly zone; determining a lateral guidance adjustment factor according to the heading angle corridor and the lateral roll angle flip logic; iteratively profiling a roll angle in longitudinal guidance according to the lateral guidance adjustment factor; and realizing hypersonic vehicle trajectory planning guidance according to the lateral guidance adjustment factor and the roll angle profile. The application enables the hypersonic vehicle to evade irregular no-fly zone threats while reaching an expected terminal position, thereby realizing hypersonic vehicle trajectory planning guidance.

Description

Technical Field

[0001] This invention relates to the field of missile trajectory planning, and in particular to a method, system and equipment for trajectory planning and guidance of hypersonic vehicles. Background Technology

[0002] Hypersonic vehicles are aircraft that can reach speeds of Mach 5 or higher in near-space. They possess extremely high speeds and relatively long longitudinal and lateral ranges, enabling rapid and devastating attacks on ground targets, thus possessing significant strategic deterrent value. Furthermore, their unique unconventional flight trajectories can greatly increase their penetration probability, allowing them to accomplish missions impossible for conventional aircraft. How to guide hypersonic vehicles safely through no-fly zones under various typical constraints to strike targets has become a research hotspot in recent years.

[0003] In recent decades, researchers have studied hypersonic vehicles. The trajectory planning methods for hypersonic vehicles are mainly divided into reference trajectory tracking methods and predictive correction guidance methods. Reference trajectory tracking methods employ offline trajectory planning and online trajectory tracking, independent of the onboard computer's computing power. The advantage is that the online trajectory tracking part is easy to implement without considering computational latency. However, this method is prone to errors when encountering complex and unknown environments and cannot make online decisions based on the environment. Predictive correction guidance does not require pre-designed profiles. This method parameterizes the control variables throughout the flight process. During flight, the onboard computer calculates the numerical integral of the motion equations to predict the terminal state, and corrects the control variables based on the terminal error, exhibiting better robustness in non-nominal missions. Regarding no-fly zone constraints during flight, the current mainstream research method abstracts them as circular no-fly zones with infinite altitude, considering the avoidance problem in a two-dimensional plane. However, due to the influence of terrain and political factors, abstracting the no-fly zone as a circle is inaccurate. Therefore, studying how hypersonic vehicles avoid irregular no-fly zones and conducting simulation verification remains a technical challenge. Summary of the Invention

[0004] The purpose of this invention is to provide a hypersonic vehicle trajectory planning and guidance method, system and equipment, which enables hypersonic vehicles to reach the expected terminal position while avoiding the threat of irregular no-fly zones, thus realizing hypersonic vehicle trajectory planning and guidance.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] A hypersonic vehicle trajectory planning and guidance method includes:

[0007] Construct a dynamic model of a hypersonic vehicle;

[0008] Based on the dynamic model and constraints during and at the end of the flight process, an irregular no-fly zone model is constructed. Constraints during the flight process include: no-fly zone constraints as well as constraints on overload, heat flux density, dynamic pressure, and quasi-equilibrium gliding conditions; constraints at the end of the flight process include: end-of-flight range constraints and end-of-flight latitude and longitude constraints.

[0009] Based on the irregular no-fly zone model, an irregular no-fly zone segmentation and recombination algorithm is used to determine the influence range of the segmented polygonal no-fly zone.

[0010] Based on the influence range of the segmented polygonal no-fly zone, determine the heading angle corridor and the lateral tilt angle flip logic;

[0011] Based on the heading angle corridor and the lateral tilt angle flip logic, determine the lateral guidance adjustment factor in lateral guidance;

[0012] Based on the lateral guidance adjustment factor, iterate the tilt angle profile in longitudinal guidance;

[0013] The trajectory planning and guidance of hypersonic vehicles are achieved based on the lateral guidance adjustment factor and the tilt angle profile.

[0014] Optionally, the construction of the dynamic model of the hypersonic vehicle specifically includes the following formulas:

[0015]

[0016] Where θ and φ represent the longitude and latitude of the hypersonic vehicle, V represents the dimensionless velocity of the hypersonic vehicle, R represents the dimensionless distance of the hypersonic vehicle from the Earth's center, γ represents the trajectory inclination angle, ψ represents the heading angle, σ represents the roll angle of the hypersonic vehicle, and Ω represents the dimensionless angular velocity of Earth's rotation. This represents the dimensionless lift acceleration of a hypersonic vehicle. This represents the dimensionless drag acceleration of a hypersonic vehicle.

[0017] Optionally, the constraints during the flight process include:

[0018] No-fly zone constraints:

[0019] W nf ={w nf,1 ,w nf,2 ,…w nf,N};

[0020] Overload, heat flux density, dynamic pressure, and quasi-equilibrium gliding condition constraints:

[0021]

[0022]

[0023] q=0.5ρV 2 ≤q max ;

[0024]

[0025] Among them, W nf Let N be the boundary of the no-fly zone, and w represent the number of vertices in the no-fly zone. nf,i (θ i ,φ i () represents the latitude and longitude coordinates of the i-th vertex, with the vertices marked in counter-clockwise order. Let K represent heat flux density, n represent overload during flight, q represent dynamic pressure during flight, and K represent the dynamic pressure during flight. Q Let ρ represent the heat flux density constant, ρ represent the atmospheric density at the current altitude, and L and D represent the lift acceleration and drag acceleration during the flight of the hypersonic vehicle, respectively. n max q max These represent the maximum permissible heat flux density, maximum overload, and maximum dynamic pressure during flight, respectively.

[0026] Optionally, the terminal constraints include:

[0027]

[0028] Where, θ f , The latitude and longitude coordinates of the terminal state f. s represents the desired terminal constraint value for the latitude and longitude coordinates of the terminal state f. togo,f This refers to the flight path of a terminal with terminal status f. The value of the terminal constraint is the expected terminal constraint value for the terminal's waiting flight range when the terminal state is f.

[0029] Optionally, the irregular no-fly zone segmentation and reorganization algorithm specifically includes:

[0030] Initialize the current number of irregular polygonal no-fly zones in the irregular no-fly zone model;

[0031] Traverse the vertices s in the set of polygonal no-fly zones i ;

[0032] If s i Construct s to be a concave point. i s i-1 and s i s i+1 The reverse extension of the line intersects the current polygon boundary to form vertex s. i The visible area; if within the visible area excluding s i-1 ,si+1 There is more than one concave point on the outside, connecting s i sum and ∠s i-1 s i s i+1 The concave point s with the smallest angle between the angle bisectors k This will cut the current polygon; if it is outside the visible area except for s i-1 ,s i+1 There are no concave points on the outside, but there is more than one convex point, connecting s i sum and ∠s i-1 s i s i+1 The convex point s with the smallest angle between the angle bisectors k Cut the current polygon until there are no more concave points within the current polygon;

[0033] Traverse each vertex of the polygon; if the current vertex s of the polygon... i If the angle is greater than 90° and the current polygon has more than 4 vertices, connect s. i sum and ∠s i-1 s i s i+1 The convex point s with the smallest angle between the angle bisectors k Cut the current polygon; if the current polygon vertex s i If the angle is greater than 90° and the number of vertices of the polygon is less than 4, connect s i sum and ∠s i-1 s i s i+1 The boundary point s where the angle bisectors intersect k The polygon is cut into sections until there are no vertices greater than 90° within the polygon.

[0034] Construct the circumcircles of all the segmented triangles; and recalculate the number of no-fly zones in the merged polygons to determine the influence range of the no-fly zones based on the segmented polygons.

[0035] Optionally, the heading angle corridor and lateral tilt angle flipping logic includes:

[0036]

[0037] Where Δψ is the heading angle corridor, Δψ max It is the upper boundary of the heading angle corridor, Δψ min It is the lower boundary of the heading angle corridor, σ p This indicates the tilt angle in the previous guidance round.

[0038] A hypersonic vehicle trajectory planning and guidance method includes:

[0039] The dynamics model building module is used to build dynamics models of hypersonic vehicles;

[0040] The irregular no-fly zone model construction module is used to construct an irregular no-fly zone model based on the dynamic model and constraints during flight and terminal constraints. Constraints during flight include: no-fly zone constraints as well as constraints on overload, heat flux density, dynamic pressure and quasi-equilibrium gliding conditions; terminal constraints include: terminal waiting flight range constraints and terminal latitude and longitude constraints.

[0041] The module for determining the influence range of the segmented polygonal no-fly zone is used to determine the influence range of the segmented polygonal no-fly zone based on the irregular no-fly zone model and using the irregular no-fly zone segmentation and recombination algorithm.

[0042] The heading angle corridor and lateral roll angle flip logic determination module is used to determine the heading angle corridor and lateral roll angle flip logic based on the influence range of the segmented polygonal no-fly zone.

[0043] The lateral guidance adjustment factor determination module is used to determine the lateral guidance adjustment factor in lateral guidance based on the heading angle corridor and the lateral tilt angle flip logic.

[0044] The tilt angle profile determination module is used to iterate the tilt angle profile in longitudinal guidance based on the lateral guidance adjustment factor.

[0045] The trajectory planning and guidance module is used to realize trajectory planning and guidance of hypersonic vehicles based on the lateral guidance adjustment factor and the tilt angle profile.

[0046] A hypersonic vehicle trajectory planning and guidance device includes: at least one processor, at least one memory, and computer program instructions stored in the memory, wherein the method described herein is implemented when the computer program instructions are executed by the processor.

[0047] Optionally, the memory is a computer-readable storage medium.

[0048] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0049] This invention provides a hypersonic vehicle trajectory planning and guidance method, system, and device. Based on a dynamic model and constraints during flight and at the terminal stage, an irregular no-fly zone model is constructed. This allows the hypersonic vehicle to avoid irregular no-fly zones while meeting constraints related to overload, heat flux density, dynamic pressure, quasi-equilibrium gliding conditions, and terminal flight range. This invention enables avoidance of threats from irregular no-fly zones, which are more general than traditional circular no-fly zones. This invention can plan a reasonable hypersonic vehicle glide trajectory while satisfying overload, heat flux density, dynamic pressure, and quasi-equilibrium gliding condition constraints, and meeting terminal flight range constraints. Based on the influence range of the segmented polygonal no-fly zone, the heading angle corridor and lateral roll angle flip logic are determined. Based on the heading angle corridor and lateral roll angle flip logic, the lateral guidance adjustment factor in lateral guidance is determined. Based on the lateral guidance adjustment factor, the roll angle profile in longitudinal guidance is iteratively analyzed using a predictive correction guidance method, which has good robustness and real-time performance, and can effectively improve computational efficiency. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 This is a schematic diagram of a hypersonic vehicle trajectory planning and guidance method provided by the present invention;

[0052] Figure 2 A schematic diagram illustrating an algorithm for segmenting and recombining irregular polygons;

[0053] Figure 3 This is a schematic diagram of the heading angle corridor;

[0054] Figure 4 Ground trajectory map for hypersonic vehicle trajectory planning;

[0055] Figure 5 The altitude-dimensionless energy curve of a hypersonic vehicle;

[0056] Figure 6 A plot of the tilt angle-dimensional energy curve of a hypersonic vehicle;

[0057] Figure 7 This is a three-dimensional trajectory diagram of a hypersonic vehicle. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] The purpose of this invention is to provide a hypersonic vehicle trajectory planning and guidance method, system and equipment, which enables hypersonic vehicles to reach the expected terminal position while avoiding the threat of irregular no-fly zones, thus realizing hypersonic vehicle trajectory planning and guidance.

[0060] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0061] like Figure 1 As shown, the hypersonic vehicle trajectory planning and guidance method provided by the present invention includes:

[0062] S101, construct the dynamic model of the hypersonic vehicle.

[0063] The dynamic model for constructing a hypersonic vehicle specifically includes the following formulas:

[0064]

[0065] Where θ and φ represent the longitude and latitude of the hypersonic vehicle, V represents the dimensionless velocity of the hypersonic vehicle, R represents the dimensionless distance of the hypersonic vehicle from the Earth's center, γ represents the trajectory inclination angle, ψ represents the heading angle, σ represents the roll angle of the hypersonic vehicle, and Ω represents the dimensionless angular velocity of Earth's rotation. This represents the dimensionless lift acceleration of a hypersonic vehicle. This represents the dimensionless drag acceleration of a hypersonic vehicle.

[0066] The dynamic model chosen is the High-performance Common AeroVehicle (CAV-H) model, which uses energy variables as a criterion. It is constructed as an independent variable.

[0067] Because the dynamic equations of hypersonic vehicles require the calculation of lift acceleration related to the angle of attack. and drag acceleration Consider a hypersonic vehicle whose angle of attack is a linear function of velocity, expressed as follows:

[0068]

[0069] Where α is the angle of attack during the flight of the hypersonic vehicle, α max α represents the maximum angle of attack during the flight of a hypersonic vehicle. min V is the minimum angle of attack during the flight of a hypersonic vehicle. min V represents the minimum velocity of the hypersonic vehicle after dimensionless scaling. max This represents the maximum speed of the hypersonic vehicle after dimensionless scaling.

[0070] To ensure integration accuracy, the dimensionless operations for variables are as shown in Table 1:

[0071] Table 1

[0072]

[0073]

[0074] Wherein, the Earth's radius R0 = 6378140m, and the gravitational acceleration at the Earth's surface g0 = 9.807m / s². 2 Since variables such as longitude, latitude, heading angle, and ballistic inclination angle are all in radians, there is no need to perform dimensionless processing.

[0075] S102, based on the dynamic model and constraints during flight and at the terminal, an irregular no-fly zone model is constructed; constraints during flight include: no-fly zone constraints as well as constraints on overload, heat flux density, dynamic pressure and quasi-equilibrium gliding conditions; terminal constraints include: terminal waiting flight range constraints and terminal latitude and longitude constraints.

[0076] The irregular no-fly zone configuration is described using a set approach, considering only the problem of avoiding irregular no-fly zones in a two-dimensional plane, and the no-fly zone constraint W is described by a point set. nf ={w nf,1 ,w nf,2 ,…w nf,N}, where N represents the number of vertices in the no-fly zone, w nf,i (θ i ,φ i Let represent the latitude and longitude coordinates of the i-th vertex, with the vertices marked counter-clockwise. The distance s between two points is calculated using the great circle distance of the Earth, and can be expressed as:

[0077] s(w nf,i ,w nf,j )=R0cos -1 [cosφ i cosφ j cos(φ i -φ j )+sinφi sinφ j ].

[0078] The following definition is given for the problem of hypersonic vehicles avoiding no-fly zones: For a hypersonic vehicle, at any moment during its flight, if the distance between it and any point in the no-fly zone is greater than the distance between the intersection of the line connecting that point and the hypersonic vehicle and the boundary of the no-fly zone, then the hypersonic vehicle is considered to have avoided the no-fly zone.

[0079] The constraints during the flight process include:

[0080] No-fly zone constraints:

[0081] W nf ={w nf,1 ,w nf,2 ,…w nf,N}

[0082] Overload, heat flux density, dynamic pressure, and quasi-equilibrium gliding condition constraints:

[0083]

[0084]

[0085] q=0.5ρV 2 ≤q max .

[0086]

[0087] Among them, W nf Let N be the boundary of the no-fly zone, and w represent the number of vertices in the no-fly zone. nf,i (θ i ,φ i () represents the latitude and longitude coordinates of the i-th vertex, with the vertices marked in counter-clockwise order. Let K represent heat flux density, n represent overload during flight, q represent dynamic pressure during flight, and K represent the dynamic pressure during flight. Q Let ρ represent the heat flux density constant, ρ represent the atmospheric density at the current altitude, and L and D represent the lift acceleration and drag acceleration during the flight of the hypersonic vehicle, respectively. n max q max These represent the maximum permissible heat flux density, maximum overload, and maximum dynamic pressure during flight, respectively.

[0088] The terminal constraints include:

[0089]

[0090] Where, θ f , The latitude and longitude coordinates of the terminal state f. s represents the desired terminal constraint value for the latitude and longitude coordinates of the terminal state f. togo,f This refers to the flight path of a terminal with terminal status f. The value of the terminal constraint is the expected terminal constraint value for the terminal's waiting flight range when the terminal state is f.

[0091] S103. Based on the irregular no-fly zone model, the irregular no-fly zone segmentation and recombination algorithm is used to determine the influence range of the segmented polygonal no-fly zone.

[0092] like Figure 2 As shown, the irregular no-fly zone segmentation and reorganization algorithm specifically includes:

[0093] Initialize the number of irregular polygonal no-fly zones in the irregular no-fly zone model, n. g =1.

[0094] Traverse the vertices s in the set of polygonal no-fly zones i .

[0095] If s i Construct s to be a concave point. i s i-1 and s i s i+1 The reverse extension of the line intersects the current polygon boundary to form vertex s. i The visible area; if within the visible area excluding s i-1 ,s i+1 There is more than one concave point on the outside, connecting s i sum and ∠s i-1 s i s i+1 The concave point s with the smallest angle between the angle bisectors k This will cut the current polygon; if it is outside the visible area except for s i-1 ,s i+1 There are no concave points on the outside, but there is more than one convex point, connecting s i sum and ∠s i-1 s i s i+1 The convex point s with the smallest angle between the angle bisectors k Cut the current polygon into smaller parts; increase the number of polygons by n. g =n g +1. Continue until there are no more concave points within the current polygon.

[0096] Traverse each vertex of the polygon; if the current vertex s of the polygon... i If the angle is greater than 90° and the current polygon has more than 4 vertices, connect s. i sum and ∠s i-1 s i si+1 The convex point s with the smallest angle between the angle bisectors k Cut the current polygon; if the current polygon vertex s i If the angle is greater than 90° and the number of vertices of the polygon is less than 4, connect s i sum and ∠s i-1 s i s i+1 The boundary point s where the angle bisectors intersect k Cut the polygons into smaller pieces; increase the number of polygons by n. g =n g +1. Continue until there are no vertices within the polygon with an angle greater than 90°.

[0097] Construct the circumcircle of all the partitioned triangles; use sets It means that g i (θ i ,φ i ,r i () represents the longitude, latitude, and radius of the circumcircle center of the i-th polygon. Considering that too many polygonal no-fly zones would increase computational latency, equivalent circumcircles that are too close together are merged. If the distance between the great circles of the centers of two circumcircles is less than the distance between the larger of the two circumcircles, i.e., s(g) i ,g j )≤max(r i ,r j If so, they can be merged. The equivalent center and radius of the merged circle are:

[0098]

[0099]

[0100] Recalculate the number n of polygonal no-fly zones after merging. g The influence range of the no-fly zone is determined based on the segmented polygon.

[0101] S104, based on the influence range of the segmented polygonal no-fly zone, determine the heading angle corridor and lateral roll angle flip logic, and as follows: Figure 3 As shown.

[0102] The heading angle corridor and lateral roll angle flipping logic described in S104 includes:

[0103]

[0104] Where Δψ is the heading angle corridor, Δψ max It is the upper boundary of the heading angle corridor, Δψ min It is the lower boundary of the heading angle corridor, σ p This indicates the tilt angle in the previous guidance round.

[0105] The following is a design method for a heading angle corridor, where T represents the target area, A represents the current position of the hypersonic vehicle, and AB and AC are the initial boundary constraints for reaching the terminal area.

[0106] Step 1: Determine the direction for the hypersonic vehicle to avoid the no-fly zone.

[0107] Step 2: Determine the boundary of the no-fly zone on the side where the hypersonic vehicle flies around it.

[0108] Step 3: Draw the common tangent line between any two adjacent no-fly zones in the flight path. For the Q-th no-fly zone, the common tangent line with the (Q-1)-th no-fly zone closer to the starting point intersects the Q-th no-fly zone at β. Q,1 The common tangent line of the Q+1th no-fly zone, which is farther from the starting point, intersects the Qth no-fly zone at β. Q,2 .

[0109] Step 4: Taking a hypersonic vehicle flying around the south side of a no-fly zone as an example. If the longitude of the hypersonic vehicle is less than that of the first no-fly zone, i.e., θ0 < θ(β) 1,2 ).

[0110]

[0111] If the longitude of the hypersonic vehicle is within the longitude of the no-fly zone, that is... And θ(β) Q,1 )<θ(β Q,2 If the heading angle is corrected, then the lower boundary of the heading angle is:

[0112] Δψ min =∠Tβ Q-1,2 β Q,1 ,θ0∈(β Q-1,2 β Q,2 ),

[0113] If the longitude of the hypersonic vehicle is within the longitude of the no-fly zone, that is... And θ(β) Q,1 )>θ(β Q,2 Then the lower boundary of the corrected heading angle is:

[0114] Δψ min =∠Tβ Q-1,2 β Q,1 ,θ0∈(β Q-1,2 β Q,1 ).

[0115] If the longitude of the hypersonic vehicle is greater than the longitude of the no-fly zone, that is... The corrected heading angle corridor is then:

[0116] |Δψ|=K ρ / θ(e)+Δψ(ef )-K ρ / θ(e f ).

[0117] Wherein, Δψ(e f Set to 0.8 times the desired terminal heading angle.

[0118] S105, based on the heading angle corridor and lateral roll angle flip logic, determine the lateral guidance adjustment factor K in lateral guidance. ρ .

[0119] In lateral guidance, using only the flight path as the iterative variable, the bank angle amplitude profile is established using three points {σ0(e0), σ... mid (e mid ),σ f (e f A linear function consisting of σ and σ', where σ' is the σ' ... mid =(σ0+σ f ) / 2. Define the flight path error as

[0120] The lateral guidance adjustment factor K is searched using the Newton-Raphson iterative method to roughly satisfy the flight range constraint. ρ The termination condition for the iteration is The iteration method is as follows:

[0121]

[0122] Where, η k =1 / 2 λ ,(λ=0,1,2…) is to satisfy The iterative adjustment factor.

[0123] S106, based on the lateral guidance adjustment factor, iterate the tilt angle profile in longitudinal guidance.

[0124] In longitudinal guidance, using only the flight path as the iterative variable, the bank angle amplitude profile is established by three points {σ0(e0), σ... mid (e mid ),σ f (e f The linear function formed by )}, with σ chosen as the iteration variable. mid Define the flight path error as...

[0125] The Newton-Raphson iteration method is used to search for the bank angle profile variable σ that satisfies the flight range constraint. mid The termination condition for the iteration is F(σ). mid )<s togo,error , where s togo,errorThe iterative method is as follows, based on the maximum allowable waiting flight range error:

[0126]

[0127] Where, η k =1 / 2 λ ,(λ=0,1,2…) is to satisfy F(σ u+1 )<F(σ u The iterative adjustment factor of ).

[0128] S107 enables hypersonic vehicle trajectory planning and guidance based on the lateral guidance adjustment factor and the tilt angle profile.

[0129] The designed algorithm was simulated and verified using Matlab simulation software to confirm its effectiveness.

[0130] The effectiveness of the proposed method is verified through a specific example of guidance planning for a hypersonic vehicle. The specific implementation steps of this example are as follows:

[0131] (1) Hypersonic vehicle system setup

[0132] Consider a hypersonic vehicle system consisting of three hypersonic vehicles with different initial conditions. The hypersonic vehicle model adopts the CAV-H model, with a mass of 907 kg and an aerodynamic reference area of ​​0.484 m². 2 They need to fly to the terminal area while avoiding irregular no-fly zones, and simultaneously meet the terminal waiting range constraints. The initial conditions for hypersonic vehicles are shown in Table 2. The constraints on overload, heat flux density, dynamic pressure, and quasi-equilibrium gliding conditions during flight are shown in Table 3. To facilitate the planning of the tilt angle profile, the constraints are transformed into constraints on the tilt angle, and the maximum tilt angle constraint is found to be 80°, which is more stringent than the constraints before the transformation. The latitude and longitude of the terminal area are (θ...). f ,φ f )=(94°,0°), the maximum allowable error of the terminal waiting flight range is s togo,error =3km.

[0133] Table 2

[0134]

[0135] Table 3

[0136] parameter Heat flux density (KW / m2) Overload (g0) Dynamic pressure (kPa) Maximum tilt angle (°) value 4000 3 70 80

[0137] (2) Modeling and design of irregular no-fly zones

[0138] For modeling a no-fly zone, the set of vertex coordinates of the no-fly zone is represented by W. nf ={wnf,1 ,w nf,2 ,w nf,3 ,w nf,4 The vertex coordinates are designed as follows:

[0139] w nf,1 = (56.5°, -3°).

[0140] w nf,2 = (65°, 7°).

[0141] w nf,3 = (69°, -4°).

[0142] w nf,4 = (63.5°, -0.5°).

[0143] (3) Simulation conditions setting and result analysis

[0144] In this example, let the Earth's radius R0 = 6378140m and the gravitational acceleration at the Earth's surface g0 = 9.807m / s². 2 The ground trajectory diagrams of the three hypersonic glide vehicles are as follows: Figure 4 As shown, the yellow area represents the designed irregular no-fly zone. Figure 5 This is a graph showing the altitude versus dimensionless energy curves during the flight of a hypersonic vehicle under different initial conditions. Figure 6 This is a graph showing the tilt angle and dimensionless energy curves during the flight of a hypersonic vehicle under different initial conditions. Figure 7 The diagram shows the three-dimensional trajectory of the hypersonic vehicle under different initial conditions. It can be seen that, using the algorithm proposed in this invention, the hypersonic vehicle successfully avoided the threat of irregular no-fly zones and reached the terminal area. The flight path error is shown in Table 4, meeting the maximum flight path error requirement. This example verifies the effectiveness of the proposed method.

[0145] Table 4

[0146] Aircraft 1 Aircraft 2 Aircraft 3 Flight range error (km) 0.45 -0.53 -1.54

[0147] As another specific embodiment, the hypersonic vehicle trajectory planning and guidance method provided by the present invention includes:

[0148] The dynamics model building module is used to build dynamics models of hypersonic vehicles;

[0149] The irregular no-fly zone model construction module is used to construct an irregular no-fly zone model based on the dynamic model and constraints during flight and terminal constraints. Constraints during flight include: no-fly zone constraints as well as constraints on overload, heat flux density, dynamic pressure and quasi-equilibrium gliding conditions; terminal constraints include: terminal waiting flight range constraints and terminal latitude and longitude constraints.

[0150] The module for determining the influence range of the segmented polygonal no-fly zone is used to determine the influence range of the segmented polygonal no-fly zone based on the irregular no-fly zone model and using an irregular no-fly zone segmentation and recombination algorithm.

[0151] The heading angle corridor and lateral roll angle flip logic determination module is used to determine the heading angle corridor and lateral roll angle flip logic based on the influence range of the segmented polygonal no-fly zone.

[0152] The lateral guidance adjustment factor determination module is used to determine the lateral guidance adjustment factor in lateral guidance based on the heading angle corridor and the lateral tilt angle flip logic.

[0153] The tilt angle profile determination module is used to iterate the tilt angle profile in longitudinal guidance based on the lateral guidance adjustment factor.

[0154] The trajectory planning and guidance module is used to realize trajectory planning and guidance of hypersonic vehicles based on the lateral guidance adjustment factor and the tilt angle profile.

[0155] In order to implement the above-described method and achieve the corresponding functions and technical effects, the present invention also provides a hypersonic vehicle trajectory planning and guidance device, characterized in that it includes: at least one processor, at least one memory, and computer program instructions stored in the memory, wherein the method is implemented when the computer program instructions are executed by the processor.

[0156] The memory is a computer-readable storage medium.

[0157] Based on the above description, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned computer storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory, random access memory, magnetic disks, or optical disks.

[0158] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section.

[0159] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A trajectory planning and guidance method for a hypersonic vehicle, characterized in that, include: Construct a dynamic model of a hypersonic vehicle; Based on the dynamic model and the constraints during flight and terminal constraints, an irregular no-fly zone model is constructed; Constraints during flight include: no-fly zone constraints, as well as constraints related to overload, heat flux density, dynamic pressure, and quasi-equilibrium gliding conditions; terminal constraints include: terminal waiting flight range constraints and terminal latitude and longitude constraints. Based on the irregular no-fly zone model, an irregular no-fly zone segmentation and recombination algorithm is used to determine the influence range of the segmented polygonal no-fly zone. Based on the influence range of the segmented polygonal no-fly zone, determine the heading angle corridor and the lateral tilt angle flip logic; Based on the heading angle corridor and the lateral tilt angle flip logic, determine the lateral guidance adjustment factor in lateral guidance; Based on the lateral guidance adjustment factor, iterate the tilt angle profile in longitudinal guidance; The trajectory planning and guidance of hypersonic vehicles are achieved based on the lateral guidance adjustment factor and the tilt angle profile. The irregular no-fly zone segmentation and recombination algorithm specifically includes: Initialize the current number of irregular polygonal no-fly zones in the irregular no-fly zone model; Traverse the vertices of the polygon no-fly zone set ; like Concave point, construct and The reverse extension of the line intersects the current polygon boundary to form a vertex. The visible area; if within the visible area, except for There is more than one concave point on the outside, connecting... and with The concave point where the angle bisectors have the smallest included angle This will cut the current polygon; if it is outside the visible area... There are no concave points on the outside, but there is more than one convex point, connecting... and with The convex point where the angle bisectors have the smallest included angle Cut the current polygon until there are no more concave points within the current polygon; Traverse each vertex of the polygon; if the current polygon vertex... If the angle is greater than 90° and the current polygon has more than 4 vertices, connect... and with The convex point where the angle bisectors have the smallest included angle Cut the current polygon; if the current polygon vertices If the angle is greater than 90° and the number of vertices of the polygon is less than 4, connect... and with Boundary point where angle bisectors intersect The polygon is cut into sections until there are no vertices greater than 90° within the polygon. Construct the circumcircles of all the segmented triangles; and recalculate the number of no-fly zones in the merged polygons to determine the influence range of the no-fly zones based on the segmented polygons.

2. The hypersonic vehicle trajectory planning and guidance method according to claim 1, characterized in that, The dynamic model for constructing a hypersonic vehicle specifically includes the following formulas: ； in, Indicates the longitude and latitude of the hypersonic vehicle. This represents the dimensionless velocity of the hypersonic vehicle. This represents the dimensionless distance of the hypersonic vehicle from the Earth's center. Indicates the trajectory inclination angle, Indicates the heading angle. Indicates the tilt angle of a hypersonic vehicle. This represents the dimensionless angular velocity of Earth's rotation. This represents the dimensionless lift acceleration of a hypersonic vehicle. This represents the dimensionless drag acceleration of a hypersonic vehicle.

3. The hypersonic vehicle trajectory planning and guidance method according to claim 2, characterized in that, The constraints during the flight process include: No-fly zone constraints: ； Overload, heat flux density, dynamic pressure, and quasi-equilibrium gliding condition constraints: ； ； ； ； in, This is the boundary of the no-fly zone. This indicates the number of vertices in the no-fly zone. Indicates the first The latitude and longitude coordinates of each vertex, with the vertices marked in counter-clockwise order. Represents heat flux density, Indicates overload during flight. This refers to the dynamic pressure during flight. Represents the heat flux density constant. This indicates the atmospheric density at the current altitude. These represent the lift acceleration and drag acceleration during the flight of a hypersonic vehicle, respectively. These represent the maximum permissible heat flux density, maximum overload, and maximum dynamic pressure during flight, respectively.

4. The hypersonic vehicle trajectory planning and guidance method according to claim 3, characterized in that, The terminal constraints include: ； in, , The terminal status is latitude and longitude coordinates , The terminal status is The expected value of the terminal constraint based on the latitude and longitude coordinates. The terminal status is Terminal flight range, The terminal status is The expected value of the terminal constraint for the terminal waiting flight range.

5. The hypersonic vehicle trajectory planning and guidance method according to claim 1, characterized in that, The heading angle corridor and lateral tilt angle flipping logic includes: ； in, For the heading angle corridor, It is the upper boundary of the heading angle corridor. It is the lower boundary of the heading angle corridor. This indicates the tilt angle in the previous guidance round.

6. A hypersonic vehicle trajectory planning and guidance system, used to implement the hypersonic vehicle trajectory planning and guidance method according to any one of claims 1-5, characterized in that, include: The dynamics model building module is used to build dynamics models of hypersonic vehicles; The irregular no-fly zone model building module is used to build an irregular no-fly zone model based on the dynamic model and constraints and terminal constraints during flight. Constraints during flight include: no-fly zone constraints, as well as constraints related to overload, heat flux density, dynamic pressure, and quasi-equilibrium gliding conditions; terminal constraints include: terminal waiting flight range constraints and terminal latitude and longitude constraints. The module for determining the influence range of the segmented polygonal no-fly zone is used to determine the influence range of the segmented polygonal no-fly zone based on the irregular no-fly zone model and using the irregular no-fly zone segmentation and recombination algorithm. The heading angle corridor and lateral roll angle flip logic determination module is used to determine the heading angle corridor and lateral roll angle flip logic based on the influence range of the segmented polygonal no-fly zone. The lateral guidance adjustment factor determination module is used to determine the lateral guidance adjustment factor in lateral guidance based on the heading angle corridor and the lateral tilt angle flip logic. The tilt angle profile determination module is used to iterate the tilt angle profile in longitudinal guidance based on the lateral guidance adjustment factor. The trajectory planning and guidance module is used to realize trajectory planning and guidance of hypersonic vehicles based on the lateral guidance adjustment factor and the tilt angle profile.

7. A trajectory planning and guidance device for a hypersonic vehicle, characterized in that, include: At least one processor, at least one memory, and computer program instructions stored in the memory, which, when executed by the processor, implement the method as described in any one of claims 1-5.

8. The hypersonic vehicle trajectory planning and guidance device according to claim 7, characterized in that, The memory is a computer-readable storage medium.

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