Trajectory Correction Method of Guided Missile in Exoatmospheric Interception Based on Perturbation Guidance

Abstract

A mid-course missile trajectory correction method for exo-atmospheric interception based on perturbation guidance solves the problem that existing mid-course guidance technologies cannot intercept maneuvering attacking missiles and belongs to the field of precision guidance and control. The present invention includes: searching and predicting the impact point and launching an interception missile; if the zero-control miss distance of the interception missile is greater than the threshold due to the maneuver of the attacking missile, updating the predicted impact point; performing a Taylor series expansion of the spatial position of the interception missile at time t2 around the ballistic parameters at time t1 based on the perturbation guidance theory, converting it into a perturbation expression that only requires iterative launch system three-axis velocity increments, and determining the velocity increment Δv for ballistic correction according to the predicted impact point xk , Δv yk , Δv zk , and applying Δv to the interception missile at time t1 xk , Δv yk , Δv zk so that the deviation between the spatial position of the interception missile at time t2 and the predicted impact point is within a set range. Applying Δv to the initial velocity of the k-th iteration of the interception missile at time t1 xk , Δv yk , Δv zk , enabling the interception missile to continuously fly towards the attacking missile to complete ballistic correction.

Description

Technical Field

[0001] The invention relates to a perturbation-guided guided missile trajectory correction method for exoatmospheric interception, and belongs to the field of precision guidance and control. Background Art

[0002] The method of mid-range guidance trajectory correction for anti-missile interceptor missiles based on predicted hit points is a key technology in the field of anti-missile interception and command and control. In order to achieve collision kill, the current main solution is to search for the predicted hit point based on the predicted offensive trajectory and interception position, and determine the launch parameters of the interceptor missile so that the interceptor missile and the offensive missile arrive at the same spatial position at the same time. The above method has the following shortcomings: the mid-range guidance parameters bound based on the predicted hit point are only suitable for intercepting non-maneuvering ballistic targets. The large mid-range guidance error generated when intercepting maneuvering targets will cause interception failure. Summary of the invention

[0003] In view of the problem that the existing mid-range guided missile technology cannot intercept mobile attack missiles, the present invention provides a trajectory correction method for mid-range guided missiles intercepted outside the atmosphere based on perturbation guidance.

[0004] The present invention provides a method for correcting a guided missile trajectory during exoatmospheric interception based on perturbation guidance, the method comprising:

[0005] S1, search for the predicted hit point and launch the interceptor missile;

[0006] S2. If the attack missile maneuvers and causes the interceptor missile to miss the target by zero control greater than the threshold, the predicted hit point is updated;

[0007] S3. Determine the velocity increment Δv for trajectory correction based on the predicted impact point xk ,Δv yk ,Δv zk ,include:

[0008] S31, determine the trajectory correction time t 1 and the time t at which the interceptor missile flies to the updated predicted impact point 2 ;

[0009] S32, the interceptor missile will be at t 2 The spatial position at a moment is expressed as 1 The Taylor series expansion form of the velocity increment at time t 1 Apply the three-axis perturbation increment Δv′ at each time xk , Δv′ yk , Δv′ zk Obtain the sensitivity coefficient matrix of the velocity increment in the Taylor series expansion form. During the iteration process, the three-axis perturbation increment is calculated according to t 2 The size of the distance deviation between the spatial position at the moment and the predicted hit point is increased or decreased;

[0010] S33, subscript k represents the number of iterations, the initial value is 1, and t is obtained according to the sensitivity coefficient matrix. 1 The velocity increment Δv at the moment xk ,Δv yk ,Δv zk , then at t 1 The velocity increment Δv is applied to the initial velocity of the interceptor missile in the current iteration at all times. xk ,Δv yk ,Δv zk Fly to t 2 moment, if t 2 If the distance between the spatial position at the moment and the predicted hit point is less than the given threshold, go to S4. Otherwise, update t 1 The initial velocity of the interceptor in the next iteration is the applied velocity increment Δv xk ,Δv yk ,Δv zk The speed after that is k=k+1, and the process goes to S32;

[0011] S4, at t 1 At the moment, a velocity increment Δv is applied to the initial velocity of the interceptor missile at the kth iteration. xk ,Δv yk ,Δv zk , so that the interceptor missile continues to fly towards the attacking missile to complete the trajectory correction.

[0012] As a preferred embodiment, in S32, the interceptor missile is 2 The spatial position at a moment is expressed as 1 The Taylor series expansion form of the instantaneous velocity increment is:

[0013]

[0014] Among them, x m2 ,y m2 ,z m2 Indicates interceptor missile 2 The spatial position at the moment, x m20 ,y m20 ,z m20 Indicates interceptor missile 1 When no trajectory correction is performed at time t 2 The spatial position at the moment, x, y, z represent the three-axis direction of the spatial position, Δx mk ,Δy mk ,Δz mk represents the kth iteration t 1 The deviation of the spatial position of the interceptor relative to the nominal position at the moment, v x ,v y ,v zIndicates the three-axis direction of velocity, represents the sensitivity coefficient matrix.

[0015] As a preference, at t 1 The method of applying three-axis perturbation increments at each time to obtain the sensitivity coefficient matrix of velocity increment in Taylor series expansion form includes:

[0016] t 1 Apply the three-axis perturbation increment Δv′ at the same time xk , Δv′ yk , Δv′ zk , find t 2 The spatial position at the moment (x 0k ,y 0k ,z 0k );

[0017] t 1 Only the x-axis perturbation increment Δv′ is applied at this moment xk , find t 2 The spatial position at the moment (x 1k ,y 1k ,z 1k );

[0018] The corresponding coefficients in the sensitivity coefficient matrix are:

[0019] t 1 Only the y-axis perturbation increment Δv′ is applied at this moment yk , find t 2 The spatial position at the moment (x 2k ,y 2k ,z 2k );

[0020] The corresponding coefficients in the sensitivity coefficient matrix are:

[0021] t 1 Only the z-axis perturbation increment Δv′ is applied at this moment zk , find t 2 The spatial position at the moment (x 3k ,y 3k ,z 3k );

[0022] The corresponding coefficients in the sensitivity coefficient matrix are:

[0023] Preferably, in S32, the three-axis perturbation increment is: x-axis perturbation increment Y-axis perturbation increment z-axis perturbation increment

[0024] Predict the coordinates of the hit point Pa =(x a ,y a ,z a ), x m2 ,y m2 ,z m2 Indicates t in S33 2 The spatial position at a moment.

[0025] Preferably, S1 comprises:

[0026] Establish interceptor trajectory families under different first-level maximum negative attack angles, and store the time and interception slant range data of each interception trajectory;

[0027] The attack trajectory is compared with the interception trajectory family. When the spatial position deviation ΔR of the attack missile and the interception trajectory at a certain moment is less than the set threshold and the launch time of the interception missile is later than the current moment, the spatial position of the interception trajectory is determined as the predicted hit point, and the first-level maximum negative angle of attack corresponding to the interception trajectory is bound as the first-level maximum negative angle of attack of the interceptor missile to be launched.

[0028] As a preferred method, the launch azimuth angle A of the interceptor missile is determined based on the vector coordinates of the predicted impact point and the interception position in the earth-fixed coordinate system. 0 :

[0029]

[0030] in, O E O N Represents the vector from the center of the Earth to the North Pole, O E F is the vector pointing from the center of the earth to the launch point, O E T represents the vector from the center of the earth to the target point.

[0031] The beneficial effect of the present invention is that the present invention proposes a method for correcting the guided pulse trajectory during exoatmospheric interception based on the prediction of hit and remaining flight time. At the same time, the three-axis pulse velocity increment of the launch system is iterated, which improves the calculation speed while reducing the energy consumption of the interceptor missile, reduces the miss amount and realizes collision killing of the attacking missile. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a flow chart of the guided missile trajectory correction method for intercepting a missile in this embodiment;

[0033] Figure 2 The trajectory of the attack missile and the interceptor missile in this embodiment;

[0034] Figure 3 is the X-axis position deviation of the interceptor missile and the attack missile in this embodiment;

[0035] Figure 4is the Y-axis position deviation of the interceptor missile and the attack missile in this implementation mode;

[0036] Figure 5 It is the Z-axis position deviation of the interceptor missile and the attack missile in this embodiment. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0039] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0040] The method for correcting the trajectory of a guided missile during exoatmospheric interception based on perturbation guidance in this embodiment comprises:

[0041] Step 1: Search for the predicted hit point, bind all the parameters for launching the interceptor missile, and launch the interceptor missile at the launch time determined by the search for the predicted hit point;

[0042] Step 2: Use the zero effort miss (ZEM) as an indicator for prediction. If the attack missile maneuvers and causes the interceptor missile to miss the target by zero effort greater than the threshold, update the predicted hit point. If the attack missile maneuvers after the interceptor missile is launched, it is necessary to predict the new trajectory based on the trajectory parameters after the maneuver and re-search to obtain the new predicted hit point P. a =(x a ,y a ,z a ) and the time t when the attacking missile arrives at that point 2 .

[0043] Step 3: Determine the velocity increment Δv for trajectory correction based on the predicted impact point xk ,Δv yk ,Δv zk ,include:

[0044] Step 31: Determine trajectory correction time t 1 and the time t at which the interceptor missile flies to the updated predicted impact point 2 ;

[0045] The time at which the attack missile completes the maneuver in step 31 is t 1The interceptor missile flies to the updated predicted impact point P a =(x a ,y a ,z a ) Time is t 2 , then the remaining flight time of the interceptor missile is t go =t 2 -t 1 The goal of the missile trajectory correction is to 1 The velocity increment (Δv xk ,Δv yk ,Δv zk ) makes the interceptor missile t 2 The spatial position P at the moment m2 =(x m2 ,y m2 ,z m2 ) and the updated predicted hit point P a =(x a ,y a ,z a )coincide.

[0046] Step 32: Intercept missile 2 The spatial position P at the moment m2 =(x m2 ,y m2 ,z m2 ) can be written as t 1 The functional of the ballistic parameters at time t 2 The spatial position at a moment is expressed as 1 The Taylor series expansion form of the instantaneous velocity increment is then simplified into a perturbation-oriented guided iteration form for easy iteration;

[0047] In t 1 Apply the three-axis perturbation increment Δv at each time x ' k , Δv′ yk , Δv z ' k Obtain the sensitivity coefficient matrix of the velocity increment in the Taylor series expansion form. During the iteration process, the three-axis perturbation increment is calculated according to t 2 The size of the deviation between the spatial position at the moment and the predicted hit point is increased or decreased; if the deviation is large in the previous iteration, the three-axis perturbation increment is increased; if the deviation is small in the previous iteration, the three-axis perturbation increment is increased, and the sensitivity coefficient of the velocity increment is updated.

[0048] Step 33, subscript k represents the number of iterations, the initial value is 1, and t is obtained according to the sensitivity coefficient matrix 1 The velocity increment Δv at the moment xk ,Δvyk ,Δv zk , then at t 1 The velocity increment Δv is applied to the initial velocity of the interceptor missile in the current iteration at all times. xk ,Δv yk ,Δv zk Fly to t 2 moment, if t 2 If the distance between the spatial position at the moment and the predicted hit point is less than the given threshold, go to step 4. Otherwise, update t 1 The initial velocity of the interceptor in the next iteration is the applied velocity increment Δv xk ,Δv yk ,Δv zk The speed after that, k=k+1, goes to step 32;

[0049] In the first iteration, a velocity increment Δv is applied to the uncorrected initial velocity. x1 ,Δv y1 ,Δv z1 The obtained speed is the initial speed of the second iteration, that is, the speed after correction by the first iteration; the uncorrected initial speed is determined by the launch parameters; in the second iteration, a speed increment Δv is applied on the basis of the initial speed x2 ,Δv y2 ,Δv z2 , the obtained speed is the initial speed of the third iteration, that is, the speed corrected by the second iteration..., until t 2 When the distance deviation between the spatial position at the moment and the predicted hit point is less than the given threshold, the iteration is stopped after convergence.

[0050] Step 4: 1 At the moment, a velocity increment Δv is applied to the initial velocity of the interceptor missile at the kth iteration. xk ,Δv yk ,Δv zk , so that the interceptor missile continues to fly towards the attacking missile to complete the trajectory correction.

[0051] In this implementation, the interceptor missile continues to fly towards the attacking missile after the mid-range guidance trajectory correction. If the attacking missile maneuvers so that the interceptor missile's zero-control miss amount is greater than a given threshold, the trajectory correction is performed. The mid-range guidance ends after the interceptor missile enters the terminal guidance with good mid-range handover conditions. This implementation is based on the perturbation guidance theory to 2 The spatial position P at the moment m2 =(x m2 ,y m2 ,z m2 ) at t 1The Taylor series expansion is performed near the ballistic parameters at the moment, and it is converted into a perturbation expression that only requires iterative three-axis velocity increments of the launch system. The iterative convergence speed is fast and the iterative result is highly accurate.

[0052] In a preferred embodiment, step 32 of this implementation is:

[0053] Interceptor missile 2 The spatial position P at the moment m2 =(x m2 ,y m2 ,z m2 ) can be written as t 1 The trajectory parameters at time (t 1 ,v mx1 ,v my1 ,v mz1 ,x m1 ,y m1 ,z m1 )’s functional:

[0054]

[0055] Interceptor missile 2 The spatial position P at the moment m2 =(x m2 ,y m2 ,z m2 ) at t 1 The trajectory parameters at time (t 1 ,v mx1 ,v my1 ,v mz1 ,x m1 ,y m1 ,z m1 ) and perform Taylor series expansion around it to obtain (x m2 ,y m2 ,z m2 ) About the interceptor missile in t 1 The first-order linear expression for the velocity increment applied at all times to correct the trajectory:

[0056]

[0057] Among them, x, y, z represent the three-axis directions of the spatial position, v x ,v y ,v z Indicates the three-axis direction of velocity, (x m20 ,y m20 ,z m20 ) represents the interceptor missile t 1 When no trajectory correction is performed at time t 2 The spatial position at the time. 1The deviation of the spatial position relative to the nominal position at a certain moment (Δx mk ,Δy mk ,Δz mk ) as the disturbance term, with the velocity increment (Δv x ,Δv y ,Δv z ) as the trajectory correction control quantity; simplify formula (2) into the form of perturbation-oriented guidance iteration:

[0058]

[0059] in, represents the sensitivity coefficient matrix.

[0060] Invert the matrix equation to obtain the trajectory correction velocity increment obtained by one iteration of the interceptor missile.

[0061]

[0062] In step 33, the trajectory correction velocity increment (Δv xk ,Δv yk ,Δv zk ) is applied at t 1 The iterative calculation continues at the initial velocity of the interceptor missile until t 2 The spatial position at the moment and the updated predicted hit point (x m2 ,y m2 ,z m2 ) error meets the accuracy requirement, otherwise continue to iterate (Δv xk ,Δv yk ,Δv zk ).

[0063] This embodiment adopts a high-precision dynamic model of the launch system and uses the perturbation guidance theory to move the interceptor missile t 2 The spatial position P at the moment m2 =(x m2 ,y m2 ,z m2 ) at t 1 The trajectory parameters at time (t 1 ,v mx1 ,v my1 ,v mz1 ,x m1 ,y m1 ,z m1 ) is expanded by Taylor series and converted into the iterative velocity increment of the three axes of the launch system (Δv x ,Δv y ,Δv z). Without introducing the two-body assumption, the interceptor missile velocity increment is directly dependent on the high-precision launch system trajectory dynamics model, so the trajectory correction velocity increment has a high accuracy.

[0064] In a preferred embodiment, in step 32, at t 1 The method of applying three-axis perturbation increments at each time to obtain the sensitivity coefficient matrix of velocity increment in Taylor series expansion form includes:

[0065] t 1 Apply the three-axis perturbation increment Δv′ at the same time xk , Δv′ yk , Δv′ zk , find t 2 The spatial position at the moment (x 0k ,y 0k ,z 0k );

[0066] t 1 Only the x-axis perturbation increment Δv′ is applied at this moment xk , find t 2 The spatial position at the moment (x 1k ,y 1k ,z 1k );

[0067] The corresponding coefficients in the sensitivity coefficient matrix are:

[0068]

[0069] t 1 Only the y-axis perturbation increment Δv′ is applied at this moment yk , find t 2 The spatial position at the moment (x 2k ,y 2k ,z 2k );

[0070] The corresponding coefficients in the sensitivity coefficient matrix are:

[0071]

[0072] t 1 Only the z-axis perturbation increment Δv′ is applied at this moment zk , find t 2 The spatial position at the moment (x 3k ,y 3k ,z 3k );

[0073] The corresponding coefficients in the sensitivity coefficient matrix are:

[0074]

[0075] In a preferred embodiment, the three-axis perturbation increment is adjusted according to the flight time and the deviation:

[0076] Selection of three-axis perturbation increment size:

[0077] x-axis perturbation increment size = (x-coordinate of predicted hit point - interceptor missile t 2 x coordinate at time) / (t 2 -t 1 ),Right now

[0078] Y-axis perturbation increment size = (predicted hit point y coordinate - interceptor missile t 2 y coordinate at time) / (t 2 -t 1 ),Right now

[0079] The size of the z-axis perturbation increment = (the predicted hit point z coordinate - the interceptor missile t 2 z coordinate at time t 2 -t 1 ),Right now

[0080] Interceptor missile 1 The speed of each moment is continuously updated, so the interceptor missile t 2 The position of is also updated with the iteration.

[0081] Determine the x when the three-axis perturbation increment m2 ,y m2 ,z m2 is the t obtained in step 33 during the iteration 2 The spatial position at a moment.

[0082] In a preferred embodiment, step 1 comprises:

[0083] Establish interceptor trajectory families under different first-level maximum negative attack angles, and store the time and interception slant range data of each interception trajectory;

[0084] The attack trajectory is compared with the interception trajectory family. When the spatial position deviation ΔR of the attack missile and the interception trajectory at a certain moment is less than the set threshold and the launch time of the interception missile is later than the current moment, the spatial position of the interception trajectory is determined as the predicted hit point, and the first-level maximum negative angle of attack corresponding to the interception trajectory is bound as the first-level maximum negative angle of attack of the interceptor missile to be launched.

[0085] The launch azimuth A of the interceptor missile is determined based on the vector coordinates of the predicted hit point and the interception position in the earth-fixed coordinate system. 0 :

[0086]

[0087] in, O E O N Represents the vector from the center of the Earth to the North Pole, O E F is the vector pointing from the center of the earth to the launch point, O E T represents the vector from the center of the earth to the target point.

[0088] Example: Using the method of this embodiment, trajectory correction is performed, and the iterative process data is shown in Table 1. Figure 2 For attack and interceptor missile trajectories, Figure 3 It is the X-axis position deviation of the interceptor missile and the attack missile; Figure 4 It is the Y-axis position deviation of the interceptor missile and the attack missile; Figure 5 is the Z-axis position deviation of the interceptor missile and the attack missile. The results show that the trajectory correction velocity increment of the proposed method has a high accuracy.

[0089] Table 1: Iteration process data

[0090] No iteration Iteration 1 Iterate 2 times X-axis speed increment (m / s) 0 -41.4086 -41.4989 Y-axis speed increment (m / s) 0 283.529 283.052 Z-axis speed increment (m / s) 0 -360.519 -359.945 X-axis position deviation (m) 220468 -302.146 -0.0532228 Y-axis position deviation (m) -22549.7 43.0134 0.0692375 Z axis position deviation(m) -166163 349.753 -0.248788

[0091] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be used in other described embodiments.

Claims

1. A method for correcting the trajectory of guided missiles during exoatmospheric interception based on perturbation guidance. It is characterized in that The method comprises: S1, search for the predicted hit point and launch the interceptor missile; S2. If the attack missile maneuvers cause the interceptor missile to miss the target by zero control greater than the threshold, the predicted hit point is updated; S3. Determine the velocity increment Δv for trajectory correction based on the predicted impact point xk , Δv yk , Δv zk ,include: S31, determine the trajectory correction time t 1 and the time t at which the interceptor missile flies to the updated predicted impact point 2 ; S32, the interceptor missile will be at t 2 The spatial position at a moment is expressed as 1 The Taylor series expansion form of the velocity increment at time t 1 Apply the three-axis perturbation increment Δv′ at each time xk , Δv′ yk , Δv′ zk Obtain the sensitivity coefficient matrix of the velocity increment in the Taylor series expansion form. During the iteration process, the three-axis perturbation increment is calculated according to t 2 The size of the distance deviation between the spatial position at the moment and the predicted hit point is increased or decreased; S33, subscript k represents the number of iterations, the initial value is 1, and t is obtained according to the sensitivity coefficient matrix. 1 The velocity increment Δv at the moment xk , Δv yk , Δv zk , then at t 1 The velocity increment Δv is applied to the initial velocity of the interceptor missile in the current iteration at all times. xk , Δv yk , Δv zk Fly to t 2 moment, if t 2 If the distance between the spatial position at the moment and the predicted hit point is less than the given threshold, go to S4. Otherwise, update t 1 The initial velocity of the interceptor in the next iteration is the applied velocity increment Δv xk , Δv yk , Δv zk The speed after that is k=k+1, and the process goes to S32; S4, at t 1 At the moment, a velocity increment Δv is applied to the initial velocity of the interceptor missile at the kth iteration. xk , Δv yk , Δv zk , so that the interceptor missile continues to fly towards the attacking missile to complete the trajectory correction; In S32, the interceptor missile is placed at t 2 The spatial position at a moment is expressed as 1 The Taylor series expansion form of the instantaneous velocity increment is: Among them, x m2 ,y m2 , z m2 Indicates interceptor missile 2 The spatial position at the moment, x m20 ,y m20 , z m20 Indicates interceptor missile 1 When no trajectory correction is performed at time t 2 The spatial position at the moment, x, y, z represent the three-axis directions of the spatial position, Δx mk , Δy mk , Δz mk represents the kth iteration t 1 The deviation of the spatial position of the interceptor relative to the nominal position at the moment, v x , v y , v z Indicates the three-axis direction of velocity, represents the sensitivity coefficient matrix.

2. The method for correcting the trajectory of a guided missile during exoatmospheric interception based on perturbation guidance according to claim 1, It is characterized in that In t 1 The method of applying three-axis perturbation increments at each time to obtain the sensitivity coefficient matrix of velocity increment in Taylor series expansion form includes: t 1 Apply the three-axis perturbation increment Δv′ at the same time xk , Δv′ yk , Δv′ zk , find t 2 The spatial position at the moment (x 0k ,y 0k , z 0k ); t 1 Only the x-axis perturbation increment Δv′ is applied at this moment xk , find t 2 The spatial position at the moment (x 1k ,y 1k , z 1k ); The corresponding coefficients in the sensitivity coefficient matrix are: t 1 Only the y-axis perturbation increment Δv′ is applied at this moment yk , find t 2 The spatial position at the moment (x 2k ,y 2k , z 2k ); The corresponding coefficients in the sensitivity coefficient matrix are: t 1 Only the z-axis perturbation increment Δv′ is applied at this moment zk , find t 2 The spatial position at the moment (x 3k ,y 3k , z 3k ); The corresponding coefficients in the sensitivity coefficient matrix are:

3. The method for correcting the trajectory of a guided missile during exoatmospheric interception based on perturbation guidance according to claim 1, It is characterized in that In S32, the three-axis perturbation increment is: x-axis perturbation increment Y-axis perturbation increment z-axis perturbation increment Predict the coordinates of the hit point P a =(x a ,y a ,z a ), x m2 ,y m2 , z m2 Indicates t in S33 2 The spatial position at a moment.

4. The method for correcting the trajectory of a guided missile during exoatmospheric interception based on perturbation guidance according to claim 1, It is characterized in that S1 includes: Establish interceptor trajectory families under different first-level maximum negative attack angles, and store the time and interception slant range data of each interception trajectory; The attack trajectory is compared with the interception trajectory family. When the spatial position deviation ΔR of the attack missile and the interception trajectory at a certain moment is less than the set threshold and the launch time of the interception missile is later than the current moment, the spatial position of the interception trajectory is determined as the predicted hit point, and the first-level maximum negative angle of attack corresponding to the interception trajectory is bound as the first-level maximum negative angle of attack of the interceptor missile to be launched.

5. The method for correcting the trajectory of a guided missile during exoatmospheric interception based on perturbation guidance according to claim 4, It is characterized in that The launch azimuth A of the interceptor missile is determined based on the vector coordinates of the predicted hit point and the interception position in the earth-fixed coordinate system. 0 : in, O E O N Represents the vector from the center of the Earth to the North Pole, O E F is the vector pointing from the center of the earth to the launch point, O E T represents the vector from the center of the earth to the target point.

6. A computer-readable storage device, the storage device storing a computer program, It is characterized in that When the computer program is executed, the method for correcting the guided missile trajectory during exoatmospheric interception based on perturbation guidance as claimed in any one of claims 1 to 5 is implemented.

7. A perturbation-guided guided missile trajectory correction device for exoatmospheric interception, comprising a storage device, a processor, and a computer program stored in the storage device and executable on the processor, It is characterized in that The processor executes the computer program to implement the method for correcting the guided missile trajectory during exoatmospheric interception based on perturbation guidance as claimed in any one of claims 1 to 5.

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