An unmanned aerial vehicle compound guidance method based on variable structure and pursuit law

Abstract

The application provides a kind of unmanned plane compound guiding method based on variable structure and tracking method, the line-of-sight angle signal and line-of-sight angle rate signal of aircraft and target are measured by guide head, then the yaw angle and yaw angle velocity signal of aircraft are measured by gyroscope, and the tracking angle error signal and tracking angle error rate signal are obtained by comparison respectively;Then the final guiding acceleration signal is introduced to be converted into sideslip angle estimation signal, and then the tracking speed error signal is generated;The error proportion, differential, integral signal is mixed to obtain variable structure sliding mode signal;Then a third-order linear differential proportion hybrid filter is designed to obtain tracking angle error rate differential filtering signal and sliding mode filtering differential signal respectively;Then based on sliding mode signal and its differential signal, an adaptive method is used to design interference compensation guiding acceleration signal, and finally the variable structure sliding mode nonlinear and fractional power change guiding acceleration signal are superimposed to obtain the final guiding acceleration signal, to realize accurate guidance to target.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft navigation, guidance and control, in particular to a compound guidance method for unmanned aerial vehicle based on variable structure and pursuit method. BACKGROUND

[0002] The traditional pursuit guidance method has a large overload requirement in the terminal phase, which requires a large overload tracking capability of the aircraft overload tracking system, thus increasing the design difficulty of the overload tracking system and reducing the reliability of the whole guidance control system. If the rapidity of the overload tracking cannot meet the requirement, the guidance precision will be sharply reduced. Therefore, the above problems often limit the application range of the pursuit guidance method, which is not as widely used as the proportional guidance method, the lead guidance method or the extended proportional guidance method.

[0003] Based on the above background, the present application proposes a compound method of adaptive and variable structure, in particular, a sliding mode signal is formed by the tracking angle error and the differential signal of the angle error. At the same time, the signal filtering and differentiation are solved by the third-order filtering and differentiation, which greatly reduces the required overload in the terminal phase, improves the application range of the tracking guidance, and further improves the guidance precision. Therefore, the method provided by the present application has high engineering application value.

[0004] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present application, and therefore can include information that does not constitute prior art known to those skilled in the art. SUMMARY

[0005] The present application aims to provide a compound guidance method for unmanned aerial vehicle based on variable structure and pursuit method, thereby overcoming the problems of low guidance precision and narrow application range caused by the defects of related technologies.

[0006] According to one aspect of the present application, a compound guidance method for unmanned aerial vehicle based on variable structure and pursuit method is provided, which includes the following six steps:

[0007] Step S10: installing a radar seeker on the unmanned aerial vehicle to measure the line-of-sight angle signal and the line-of-sight angle rate signal of the unmanned aerial vehicle and the target in real time; installing an angle gyroscope on the unmanned aerial vehicle to measure the yaw angle signal of the unmanned aerial vehicle; installing an angular rate gyroscope to measure the yaw angle rate signal of the unmanned aerial vehicle; then comparing the yaw angle signal with the line-of-sight angle signal to obtain a tracking angle error signal, and integrating the tracking angle error signal to obtain a tracking angle error integral signal; comparing the yaw angle rate signal with the line-of-sight angle rate signal to obtain a tracking angle error rate signal.

[0008] Step S20, set the initial value of the integrated guidance acceleration signal to 0, then convert the integrated guidance acceleration signal to obtain the sideslip angle estimation signal; then compare the tracking angle error signal and the sideslip angle estimation signal to obtain the tracking speed error signal, and integrate it to obtain the tracking speed error integral signal.

[0009] Step S30, according to the tracking angle error rate signal, design a third-order linear differential proportional hybrid filter to obtain the tracking angle error rate differential filter signal; then linearly combine the tracking angle error signal, the tracking speed error signal, the tracking angle error rate signal, the tracking angle error rate differential filter signal, the tracking angle error integral signal, and the tracking speed error integral signal to obtain the tracking error variable structure sliding mode signal; and then pass through the third-order linear differential proportional hybrid filter to obtain the tracking error variable structure sliding mode filter differential signal.

[0010] Step S40, according to the tracking error variable structure sliding mode signal, perform nonlinear transformation to obtain a nonlinear variable structure guidance acceleration signal; and according to the tracking error variable structure sliding mode signal, perform fractional power transformation to obtain a fractional power variable structure guidance acceleration signal.

[0011] Step S50, according to the tracking error variable structure sliding mode signal, the nonlinear variable structure guidance acceleration signal, and the fractional power variable structure guidance acceleration signal, use an adaptive method to design a sliding mode first-order disturbance adaptive compensation coefficient growth rate signal, a sliding mode differential disturbance adaptive compensation coefficient growth rate signal, and a sliding mode constant disturbance adaptive compensation coefficient growth rate signal, and then integrate them to obtain a sliding mode first-order disturbance adaptive compensation coefficient signal, a sliding mode differential disturbance adaptive compensation coefficient signal, and a sliding mode constant disturbance adaptive compensation coefficient signal, respectively.

[0012] Step S60, according to the sliding mode first-order disturbance adaptive compensation coefficient signal, the sliding mode differential disturbance adaptive compensation coefficient signal, and the sliding mode constant disturbance adaptive compensation coefficient signal, and the tracking error variable structure sliding mode signal and the tracking error variable structure sliding mode filter differential signal, combine them to obtain a disturbance compensation guidance acceleration signal; then superimpose the nonlinear variable structure guidance acceleration signal, the fractional power variable structure guidance acceleration signal, and the tracking error variable structure sliding mode signal to obtain the final integrated guidance acceleration signal, and then convert it to a lateral overload expectation instruction to be sent to the aircraft lateral overload tracking control system, so as to realize the variable structure and tracking compound guidance of the aircraft to the target.

[0013] In an example embodiment of the present application, a radar seeker is installed on the UAV to measure the line-of-sight angle signal and the line-of-sight angle rate signal of the UAV and the target in real time; an angle gyroscope is installed on the UAV to measure the yaw angle signal of the UAV; an angle rate gyroscope is installed to measure the yaw angle rate signal of the UAV; the yaw angle signal is compared with the line-of-sight angle signal to obtain the tracking angle error signal, and the tracking angle error signal is integrated to obtain the tracking angle error integral signal; the yaw angle rate signal is compared with the line-of-sight angle rate signal to obtain the tracking angle error rate signal, including:

[0014] ;

[0015] ;

[0016] ;

[0017] wherein is the line-of-sight angle signal, is the line-of-sight angle rate signal; is the yaw angle signal; is the yaw angle rate signal; is the tracking angle error signal, is the tracking angle error integral signal; is the tracking angle error rate signal;

[0018] In an example embodiment of the present application, the initial value of the integrated guidance acceleration signal is set to 0, and then the integrated guidance acceleration signal is converted to obtain the sideslip angle estimation signal; the tracking speed error signal is obtained by comparing the tracking angle error signal and the sideslip angle estimation signal, and the tracking speed error integral signal is obtained by integrating the tracking speed error signal, including:

[0019] ;

[0020] ;

[0021] ;

[0022] wherein is the integrated guidance acceleration signal; is the sideslip angle estimation signal; is the tracking speed error signal; is the tracking speed error integral signal; is a constant conversion parameter.

[0023] In an example embodiment of the present application, a third-order linear differential proportional hybrid filter is designed according to the tracking angle error rate signal to obtain a tracking angle error rate differential filtered signal; then linear combination is performed according to the tracking angle error signal, the tracking speed error signal, the tracking angle error rate signal, the tracking angle error rate differential filtered signal, the tracking angle error integral signal and the tracking speed error integral signal to obtain a tracking error variable structure sliding mode signal; and then a third-order linear differential proportional hybrid filter is used to obtain a tracking error variable structure sliding mode filtered differential signal including:

[0024] ;

[0025] ;

[0026] ;

[0027] wherein is a differential operator of a transfer function of the third-order linear differential proportional hybrid filter, , , , , is a constant time parameter of the transfer function of the third-order linear differential proportional hybrid filter; is the tracking angle error rate differential filtered signal; is the tracking error variable structure sliding mode signal; , , , , , is a constant sliding mode parameter; is the tracking error variable structure sliding mode filtered differential signal;

[0028] In an example embodiment of the present application, nonlinear variable structure guidance acceleration signals are obtained by performing nonlinear change on the tracking error variable structure sliding mode signals; and fractional power variable structure guidance acceleration signals are obtained by performing fractional power change on the tracking error variable structure sliding mode signals including:

[0029] ;

[0030] ;

[0031] wherein , is a constant transformation parameter; is the nonlinear variable structure guidance acceleration signal, is the fractional power variable structure guidance acceleration signal.

[0032] In an example embodiment of the present application, according to the tracking error variable structure sliding mode signal and the nonlinear variable structure guidance acceleration signal, the fractional power variable structure guidance acceleration signal, the adaptive method is used to design the sliding mode first-order disturbance adaptive compensation coefficient growth rate signal, the sliding mode differential disturbance adaptive compensation coefficient growth rate signal, and the sliding mode constant disturbance adaptive compensation coefficient growth rate signal, and then the integral is performed to obtain the sliding mode first-order disturbance adaptive compensation coefficient signal, the sliding mode differential disturbance adaptive compensation coefficient signal, and the sliding mode constant disturbance adaptive compensation coefficient signal, including:

[0033] ;

[0034] ;

[0035] ;

[0036] ;

[0037] ;

[0038] ;

[0039] wherein , , are constant parameters for adjusting the fast and slow growth rate of the disturbance adaptive compensation coefficient; is the sliding mode first-order disturbance adaptive compensation coefficient growth rate signal, is the sliding mode differential disturbance adaptive compensation coefficient growth rate signal, is the sliding mode constant disturbance adaptive compensation coefficient growth rate signal, is the sliding mode first-order disturbance adaptive compensation coefficient signal, is the sliding mode differential disturbance adaptive compensation coefficient signal, is the sliding mode constant disturbance adaptive compensation coefficient signal.

[0040] In an example embodiment of the present application, according to the sliding mode first-order disturbance adaptive compensation coefficient signal, the sliding mode differential disturbance adaptive compensation coefficient signal, and the sliding mode constant disturbance adaptive compensation coefficient signal, and the tracking error variable structure sliding mode signal and the tracking error variable structure sliding mode filter differential signal, the disturbance compensation guidance acceleration signal is obtained; then the nonlinear variable structure guidance acceleration signal, the fractional power variable structure guidance acceleration signal, and the tracking error variable structure sliding mode signal are superimposed to form the final comprehensive guidance acceleration signal, and then converted into a lateral overload expectation instruction, including:

[0041] ;

[0042] ;

[0043] ;

[0044] wherein , , is a constant control parameter; is an interference compensation guidance acceleration signal, is a comprehensive guidance acceleration signal, is a lateral overload expected instruction, is a weight acceleration, is a constant parameter.

[0045] Advantageous effects

[0046] The present application provides a kind of unmanned aerial vehicle compound guidance method based on variable structure and tracking method, and its main innovation points have following three points: first is by introducing the final guidance acceleration signal conversion into sideslip angle estimation signal mode, solve the problem of accurate measurement of sideslip angle, simultaneously make the tracking angle error signal correction of traditional tracking method into tracking speed error signal, to further improve the accuracy of tracking method.The second is by introducing tracking angle error signal, tracking speed error signal and tracking angle error rate signal to form variable structure sliding mode, form variable structure guidance law, so that the required overload of final guidance law is greatly reduced, so as to reduce the severe bending of guidance trajectory, so as to reduce the burden of overload tracking control system, also improve the stability and reliability of the entire vehicle system.The third is by the method of three-order linear differential proportion mixing filter, the filter differential of angle and sliding mode signal is solved, further improves the damping of system, so as to enhance the application range and robustness of the entire guidance method.The fourth is based on sliding mode, sliding mode and sliding mode differential three levels of adaptive design, form interference adaptive compensation guidance acceleration signal and variable structure sliding mode signal combination, further improve the accuracy of the entire guidance.

[0047] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0048] The drawings incorporated into the specification and forming part thereof, show embodiments consistent with the present application, and together with the specification serve to explain the principles of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained according to these drawings without creative labor for those skilled in the art.

[0049] Figure 1is a method flow chart of a UAV compound guidance method based on variable structure and tracking method provided by the application;

[0050] Figure 2 is a line-of-sight angle signal curve (unit: degree) of the aircraft and the target of the method provided by the embodiment of the application;

[0051] Figure 3 is a yaw angle signal curve (unit: degree) of the method provided by the embodiment of the application;

[0052] Figure 4 is a tracking angle error signal curve (unit: degree) of the method provided by the embodiment of the application;

[0053] Figure 5 is a tracking angle error integral signal curve (unitless) of the method provided by the embodiment of the application;

[0054] Figure 6 is a comprehensive guidance acceleration signal (unit: meter per second square) of the method provided by the embodiment of the application;

[0055] Figure 7 is a lateral overload expected command curve (unit: g) of the method provided by the embodiment of the application;

[0056] Figure 8 is a zoomed-in view of the overload command end segment (unit: g) of the method provided by the embodiment of the application;

[0057] Figure 9 is a relative motion situation plot (unit: meter) of the aircraft and the target of the method provided by the embodiment of the application;

[0058] Figure 10 is a zoomed-in view of the situation plot end segment (unit: meter) of the method provided by the embodiment of the application. DETAILED DESCRIPTION

[0059] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations may, however, be implemented in many different forms and should not be construed as limited to the implementations set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the inventive aspects to those skilled in the art. The described features, structures, or characteristics can be combined in one or more implementations. In the following description, numerous specific details are provided to give a thorough understanding of implementations of the application. One skilled in the relevant art will recognize, however, that the aspects of the application can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In other instances, well-known structures have not been described in detail so as not to obscure the aspects of the application.

[0060] The application provides a UAV compound guidance method based on variable structure and tracking method, the line-of-sight angle signal and the line-of-sight angle rate signal of the aircraft and the target are measured by a guidance head, the yaw angle and the yaw angle rate signal of the aircraft are measured by a gyroscope, and the tracking angle error signal and the tracking angle error rate signal are obtained by comparison respectively; the final guidance acceleration signal is introduced to be converted into a sideslip angle estimation signal, and a tracking speed error signal is generated; the error proportional, differential and integral signals are mixed to obtain a variable structure sliding mode signal; a third-order linear differential proportional hybrid filter is designed to obtain the tracking angle error rate differential filter signal and the sliding mode filter differential signal respectively; based on the sliding mode signal and the differential signal thereof, an adaptive method is used to design an interference compensation guidance acceleration signal, and finally the variable structure sliding mode nonlinearity and the fractional power change guidance acceleration signal are superimposed to obtain the final guidance acceleration signal, so that the target is accurately guided.

[0061] In the following, the application will be described in detail with reference to the accompanying drawings. Figure 1 The application further explains and describes a UAV compound guidance method based on variable structure and tracking method. Referring to the accompanying drawings, the UAV compound guidance method based on variable structure and tracking method comprises the following steps: Figure 1 The application further explains and describes a UAV compound guidance method based on variable structure and tracking method. Referring to the accompanying drawings, the UAV compound guidance method based on variable structure and tracking method comprises the following steps:

[0062] Step S10, specifically, can be divided into the following four sub-steps.

[0063] Firstly, a radar guidance head is installed on the UAV to measure the line-of-sight angle signal and the line-of-sight angle rate signal of the UAV and the target in real time; an angle gyroscope is installed on the UAV to measure the yaw angle signal of the UAV; and an angular rate gyroscope is installed to measure the yaw angle rate signal of the UAV.

[0064] Secondly, the yaw angle signal and the line-of-sight angle signal are compared to obtain the tracking angle error signal as follows:

[0065] ;

[0066] Wherein is the line-of-sight angle signal, is the yaw angle signal; is the tracking angle error signal.

[0067] Thirdly, the tracking angle error signal is integrated to obtain the tracking angle error integral signal as follows:

[0068] ;

[0069] Wherein is the tracking angle error integral signal.

[0070] The fourth step is to compare the yaw angle rate signal with the line-of-sight angle rate signal to obtain a tracking angle error rate signal.

[0071] ;

[0072] wherein is the line-of-sight angle rate signal; is the yaw angle rate signal; is the tracking angle error rate signal.

[0073] In the example of the present application, the initial position of the missile is (0, 0) meters, and the initial position of the target is (6000, 600) meters; the speed of the missile is 400 meters per second, and the initial direction is 0 degrees; the speed of the target is 60 meters per second, and the direction is 40 degrees; the line-of-sight angle signal of the flying object and the target is as shown in Figure 2 , the yaw angle signal is as shown in Figure 3 , the tracking angle error signal is as shown in Figure 4 , and the tracking angle error integral signal is as shown in Figure 5 .

[0074] The step S20 can be specifically divided into the following three sub-steps.

[0075] The first step is to set the initial value of the comprehensive guidance acceleration signal to 0, and then convert the comprehensive guidance acceleration signal to obtain a sideslip angle estimation signal as follows:

[0076] ;

[0077] wherein is a constant conversion parameter; is the comprehensive guidance acceleration signal; is the sideslip angle estimation signal. In the example of the present application, the value of is selected.

[0078] The second step is to compare the tracking angle error signal shown in with the sideslip angle estimation signal to obtain a tracking speed error signal as follows:

[0079] ;

[0080] wherein is the tracking speed error signal.

[0081] The third step is to integrate the tracking speed error signal to obtain a tracking speed error integral signal as follows:

[0082] ;

[0083] wherein is the tracking speed error integral signal.

[0084] Step S30, specifically, can be divided into the following three small steps.

[0085] The first step, according to the tracking angle error rate signal, a third-order linear differential proportional hybrid filter is designed to obtain a tracking angle error rate differential filtered signal as follows:

[0086] ;

[0087] Wherein is the differential operator of the transfer function of the third-order linear differential proportional hybrid filter, , , , , is the constant time parameter of the transfer function of the third-order linear differential proportional hybrid filter; is the tracking angle error rate differential filtered signal. In the example of the present application, , , , , .

[0088] The second step, according to the tracking angle error signal, the tracking speed error signal, the tracking angle error rate signal, the tracking angle error rate differential filtered signal, the tracking angle error integral signal, and the tracking speed error integral signal, a linear combination is performed to obtain a tracking error variable structure sliding mode signal as follows:

[0089] ;

[0090] Wherein is the tracking error variable structure sliding mode signal; , , , , , is the constant sliding mode parameter. In the example of the present application, , , , , , .

[0091] The third step, the tracking error variable structure sliding mode signal is passed through the third-order linear differential proportional hybrid filter to obtain a tracking error variable structure sliding mode filtered differential signal as follows:

[0092] ;

[0093] Wherein is the tracking error variable structure sliding mode filtered differential signal;

[0094] Step S40, specifically, can be divided into the following two small steps.

[0095] The first step, according to the tracking error variable structure sliding mode signal, nonlinear change is carried out, and the nonlinear variable structure guiding acceleration signal is obtained as follows:

[0096] ;

[0097] Wherein is a constant transformation parameter; is a nonlinear variable structure guiding acceleration signal.

[0098] The second step, according to the tracking error variable structure sliding mode signal, fractional power change is carried out, and the fractional power variable structure guiding acceleration signal is obtained as follows:

[0099] ;

[0100] Wherein is a constant transformation parameter, is a fractional power variable structure guiding acceleration signal.

[0101] In the example of the present application, the constant transformation parameter is selected as , .

[0102] Step S50, specifically, can be divided into the following two small steps.

[0103] The first step, according to the tracking error variable structure sliding mode signal and the nonlinear variable structure guiding acceleration signal and the fractional power variable structure guiding acceleration signal, an adaptive method is used to design a sliding mode first-order disturbance adaptive compensation coefficient growth rate signal, a sliding mode differential disturbance adaptive compensation coefficient growth rate signal, and a sliding mode constant disturbance adaptive compensation coefficient growth rate signal as follows:

[0104] ;

[0105] ;

[0106] ;

[0107] Wherein , , is a constant parameter for adjusting the fast and slow growth rate of the disturbance adaptive compensation coefficient; is a sliding mode first-order disturbance adaptive compensation coefficient growth rate signal, is a sliding mode differential disturbance adaptive compensation coefficient growth rate signal, is a sliding mode constant disturbance adaptive compensation coefficient growth rate signal.

[0108] In the present application, the following values are selected , , .

[0109] Second, the integral of the sliding mode first-order disturbance adaptive compensation coefficient growth rate signal, the sliding mode differential disturbance adaptive compensation coefficient growth rate signal, and the sliding mode constant disturbance adaptive compensation coefficient growth rate signal is taken to obtain the sliding mode first-order disturbance adaptive compensation coefficient signal, the sliding mode differential disturbance adaptive compensation coefficient signal, and the sliding mode constant disturbance adaptive compensation coefficient signal as follows:

[0110] ;

[0111] ;

[0112] ;

[0113] wherein is the sliding mode first-order disturbance adaptive compensation coefficient signal, is the sliding mode differential disturbance adaptive compensation coefficient signal, is the sliding mode constant disturbance adaptive compensation coefficient signal. is a constant integral parameter, and in the present application, the following value is selected .

[0114] Step S60, specifically, can be decomposed into the following three sub-steps.

[0115] First, the sliding mode first-order disturbance adaptive compensation coefficient signal, the sliding mode differential disturbance adaptive compensation coefficient signal, and the sliding mode constant disturbance adaptive compensation coefficient signal are combined with the tracking error variable structure sliding mode signal and the tracking error variable structure sliding mode filtered differential signal to obtain the disturbance compensation guide acceleration signal as follows:

[0116] ;

[0117] wherein is the disturbance compensation guide acceleration signal.

[0118] Second, the disturbance compensation guide acceleration signal is superimposed with the nonlinear variable structure guide acceleration signal, the fractional power variable structure guide acceleration signal, and the tracking error variable structure sliding mode signal to obtain the final comprehensive guide acceleration signal as follows:

[0119] ;

[0120] wherein , , are constant control parameters; To synthesize the guidance acceleration signal.

[0121] In the example of the present application , , The final synthesized guidance acceleration signal is shown in Figure 6 .

[0122] Thirdly, the synthesized guidance acceleration signal is converted into lateral overload expected command and delivered to the lateral overload tracking control system of the aircraft, so that the variable structure and tracking compound guidance of the aircraft to the target can be realized as follows:

[0123] ;

[0124] Wherein is the lateral overload expected command, is the weight acceleration, which is a constant parameter. In the example of the present application , the final lateral overload expected command is shown in Figure 7 , and the enlarged view of the last segment of the overload command is shown in Figure 8 . The relative motion situation diagram of the aircraft and the target is shown in Figure 9 , and the enlarged view of the last segment of the situation diagram is shown in Figure 10 .

[0125] As can be seen from Figure 9 , the final aircraft can accurately hit the target, and in the process of hitting, the trajectory is relatively smooth and gentle. As can be seen from the enlarged view of Figure 10 , the final miss distance is less than 0.15 meters. As can be seen from Figure 7 , the overload during the entire guidance process is less than 1.2g, and as can be seen from the enlarged view of Figure 8 , the final last segment overload is -0.31g, and it is in a shrinking trend in the last segment, which is better than the traditional tracking method guidance and the proportional guidance, because the traditional tracking method and the proportional guidance are prone to appear the trend of increasing or even diverging in the last segment. As can be seen from Figure 2 , the line-of-sight angle changes smoothly and does not diverge, which is better than the traditional proportional guidance, so the traditional proportional guidance is prone to the phenomenon of line-of-sight angle divergence when the distance to the target is particularly close. In summary, the case shows that the method provided by the present application has high guidance accuracy and high engineering application value.

Claims

1. A variable structure and pursuit-based hybrid guidance method for unmanned aerial vehicles, characterized in that, The method comprises the following steps: Step S10, installing a radar seeker on the UAV to measure the line-of-sight angle signal and the line-of-sight angle rate signal of the UAV and the target in real time; installing an angle gyroscope on the UAV to measure the yaw angle signal of the UAV; installing an angle rate gyroscope to measure the yaw angle rate signal of the UAV; then comparing the yaw angle signal with the line-of-sight angle signal to obtain a tracking angle error signal and integrating the tracking angle error signal to obtain a tracking angle error integral signal; comparing the yaw angle rate signal with the line-of-sight angle rate signal to obtain a tracking angle error rate signal as follows: ； ； ； wherein is a line-of-sight angle signal, is a line-of-sight angular rate signal; is a yaw angle signal; is a yaw angular rate signal; is a tracking angle error signal, is a tracking angle error integral signal; is a tracking angle error rate signal; Step S20, setting the initial value of the comprehensive guidance acceleration signal to 0, then converting the comprehensive guidance acceleration signal to obtain a sideslip angle estimation signal; then comparing the tracking angle error signal and the sideslip angle estimation signal to obtain a tracking speed error signal, and integrating the tracking speed error signal to obtain a tracking speed error integral signal as follows: ； ； ； wherein is a combined guidance acceleration signal; is a sideslip angle estimation signal; is a tracking velocity error signal; is a tracking velocity error integral signal; is a constant conversion parameter; Step S30, designing a third-order linear differential proportional hybrid filter according to the tracking angle error rate signal to obtain a tracking angle error rate differential filter signal; then linearly combining the tracking angle error signal, the tracking speed error signal, the tracking angle error rate signal, the tracking angle error rate differential filter signal, the tracking angle error integral signal, and the tracking speed error integral signal to obtain a tracking error variable structure sliding mode signal; then passing the tracking error variable structure sliding mode signal through the third-order linear differential proportional hybrid filter to obtain a tracking error variable structure sliding mode filter differential signal as follows: ； ； ； wherein is a differential operator of the transfer function of the third order linear differential proportional hybrid filter, , , , , is a constant time parameter of the transfer function of the third order linear differential proportional hybrid filter; is a tracking angle error rate differential filtered signal; is a tracking error variable structure sliding mode signal; , , , , , is a constant sliding mode parameter; is a tracking error variable structure sliding mode filtered differential signal; Step S40, performing nonlinear transformation on the tracking error variable structure sliding mode signal to obtain a nonlinear variable structure guidance acceleration signal; performing fractional power transformation on the tracking error variable structure sliding mode signal to obtain a fractional power variable structure guidance acceleration signal as follows: ； ； wherein , is a constant transformation parameter; is a nonlinearly transformed structure-guided acceleration signal, is a fractional power transformed structure-guided acceleration signal; Step S50, using an adaptive method to design a sliding mode first-order disturbance adaptive compensation coefficient growth rate signal, a sliding mode differential disturbance adaptive compensation coefficient growth rate signal, and a sliding mode constant disturbance adaptive compensation coefficient growth rate signal according to the tracking error variable structure sliding mode signal, the nonlinear variable structure guidance acceleration signal, and the fractional power variable structure guidance acceleration signal, and then integrating the three signals to obtain a sliding mode first-order disturbance adaptive compensation coefficient signal, a sliding mode differential disturbance adaptive compensation coefficient signal, and a sliding mode constant disturbance adaptive compensation coefficient signal as follows: ； ； ； ； ； ； wherein , , is a constant parameter for adjusting the fast and slow of the growth rate of the disturbance adaptive compensation coefficient; is a constant integral parameter; is a sliding mode first disturbance adaptive compensation coefficient growth rate signal, is a sliding mode differential disturbance adaptive compensation coefficient growth rate signal, is a sliding mode constant disturbance adaptive compensation coefficient growth rate signal, is a sliding mode first disturbance adaptive compensation coefficient signal, is a sliding mode differential disturbance adaptive compensation coefficient signal, is a sliding mode constant disturbance adaptive compensation coefficient signal; Step S60, combining the sliding mode first-order disturbance adaptive compensation coefficient signal, the sliding mode differential disturbance adaptive compensation coefficient signal, and the sliding mode constant disturbance adaptive compensation coefficient signal with the tracking error variable structure sliding mode signal and the tracking error variable structure sliding mode filter differential signal to obtain a disturbance compensation guidance acceleration signal; then superimposing the nonlinear variable structure guidance acceleration signal, the fractional power variable structure guidance acceleration signal, and the tracking error variable structure sliding mode signal to obtain a final comprehensive guidance acceleration signal, and then converting the final comprehensive guidance acceleration signal into a lateral overload expectation instruction to be sent to a lateral overload tracking control system of the aircraft, so that the variable structure and tracking compound guidance of the aircraft to the target can be realized as follows: ； ； ； wherein , , is a constant control parameter; is a disturbance compensation guidance acceleration signal, is a combined guidance acceleration signal, is a lateral overload desired command, is a weight acceleration, is a constant parameter.

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