Multi-aircraft time-sharing attack cooperative guidance method

Abstract

The application designs a multi-aircraft time-sharing attack cooperative guidance method, realizes that the aircraft hits the target in turn in the specified time interval, and specifically comprises the following steps: step 1, a motion relationship model of the aircraft relative to the target is established; step 2, the residual hitting time of the aircraft is predicted; step 3, a time consistency time-sharing attack cooperative error variable is defined; step 4, a time-varying function is introduced; and step 5, a multi-aircraft time-sharing attack cooperative guidance law is given. Compared with the existing cooperative guidance method, the designed method can make the aircraft cluster hit the target in turn in the specified time interval.

Description

Technical Field

[0001] This invention relates to a multi-vehicle time-sharing coordinated guidance method, belonging to the field of aircraft guidance and control. Specifically, it is an invention of a time-sharing coordinated guidance method with fixed-time convergence, which enables aircraft to hit targets one by one at specified time intervals and ensures that the coordinated time-sharing attack error can converge within a fixed time. Background Technology

[0002] Cooperative guidance methods enable aircraft to simultaneously hit targets, offering unique advantages for missions requiring coordinated attacks. Existing cooperative guidance methods primarily control coordinated attacks by constructing and stably converging cooperative errors. However, these methods only guarantee simultaneous target hits and do not meet the requirement of sequential hits at specified time intervals. Attack time convergence methods mainly include asymptotic time convergence and finite time convergence. Asymptotic time convergence guarantees zero attack time error, but the convergence time tends towards infinity. For attack time control guidance methods, the attack time error should converge before the expected attack time. If the algorithm's convergence time exceeds the desired attack time, the final attack time will be inconsistent with the expected attack time. While finite time control methods guarantee error convergence within a finite time, the upper bound of the convergence time depends on the initial system state. For systems where the initial state is difficult to measure, the upper bound of the convergence time cannot be predicted. Therefore, researchers have proposed fixed-time convergence methods that do not depend on the initial system state.

[0003] Therefore, this invention designs a multi-aircraft time-sharing coordinated strike guidance method based on fixed-time convergence theory. The constructed distributed coordinated time-sharing strike error enables the aircraft swarm to hit the target sequentially at specified time intervals. The fixed-time convergence method enables the coordinated time-sharing strike error to converge rapidly before the first aircraft hits the target, and the designed method allows the aircraft swarm to hit the target sequentially at specified time intervals. Summary of the Invention

[0004] This invention addresses the problem of aircraft sequentially hitting targets at specified time intervals by proposing a multi-aircraft time-sharing coordinated guidance method. This method enables the constructed coordinated time-sharing strike error to converge rapidly, thereby achieving time-sharing strikes against the target.

[0005] The technical concept of this invention is to design a fixed-time convergence cooperative time-sharing strike guidance law for aircraft, enabling a swarm of aircraft to sequentially hit the target at specified time intervals. This method first establishes a mathematical model of the motion of the swarm of aircraft relative to the target, where communication between the aircraft is possible. It then predicts the remaining hit time of the swarm and constructs a distributed cooperative time-sharing strike error, finally guaranteeing a time-sharing strike cooperative guidance law that ensures the fixed-time convergence of the cooperative time-sharing strike error.

[0006] This invention relates to a fixed-time convergence time-division coordinated strike guidance method that enables aircraft to sequentially and collaboratively hit targets at specified time intervals, comprising the following steps:

[0007] Step 1: Establish a motion relationship model between the aircraft and the target.

[0008] The motion relationship of an aircraft in a three-dimensional plane can be expressed as:

[0009] (1)

[0010] In the formula, [ x i , y i , z i ] T and[ v x,i , v y,i , v z,i ] T They represent the first i An aircraft in an inertial coordinate system x , y , z The position and velocity vectors of the direction. V i , θ i and ψ i Let these represent the aircraft's velocity, track inclination angle, and track deflection angle, respectively. Their dynamic equations satisfy:

[0011] (2)

[0012] In the formula, , and Representing the ballistic coordinates respectively x , y and z The acceleration component in the direction.

[0013] Define acceleration components in the inertial coordinate system ax,i, a y,i and a z,i for:

[0014] (3)

[0015] Inertial coordinate system acceleration components a x,i, a y,i and a z,i acceleration components relative to the ballistic coordinate system , and The conversion relationship is as follows:

[0016] (4)

[0017] The first line of sight coordinate system i The relative motion relationship between the aircraft and the target can be expressed as:

[0018] (5)

[0019] In the formula, R i This represents the distance between the aircraft and the target. ε i and η i Indicates the angle of inclination and the angle of deflection of the line of sight. This represents the acceleration vector in the line-of-sight coordinates.

[0020] The transformation relationship of the acceleration vector from the inertial coordinate system to the line-of-sight coordinate system is as follows:

[0021] (6)

[0022] The following formula can be used to calculate the position information of the aircraft and the target. R i , ε i and η i information:

[0023] (7)

[0024] (8)

[0025] (9)

[0026] In the formula, [ x t ,y t , z t ] T This indicates the target's position coordinates in the inertial coordinate system.

[0027] Step 2: Predict the remaining hit time of the aircraft.

[0028] No. i Remaining hit time for the aircraft The following formula can be used for prediction:

[0029] (10)

[0030] Step 3: Define the time-consistency time-sharing strike coordination error variable.

[0031] The time-sharing strike coordination error variable between the various aircraft is defined as follows:

[0032] (11)

[0033] In the formula a ij It is the adjacency matrix of the communication topology graph. i Line number j The element corresponding to the column, if the first i The aircraft is able to receive the first j Information about the aircraft a ij =1, otherwise a ij =0. Indicates the first i The attack interval of the aircraft, if Equation (11) can make the first i The aircraft in j The aircraft hit the target after hitting it, and the first... i aircraft and the first j The time interval between the aircraft hitting the target is .

[0034] Step 4: Introduce a time-varying function.

[0035] For guidance law design purposes, a time-varying function is introduced:

[0036] (12)

[0037] In the formula, m≥2 is a positive real number. T f >0.

[0038] Ψ The first-order time derivative satisfies:

[0039] (13)

[0040] Step 5: Propose the cooperative guidance law for multi-vehicle time-sharing strikes.

[0041] The guidance law design for multi-vehicle coordinated time-sharing strike is as follows:

[0042] (14)

[0043] In the formula , k 3 and k 4 is a positive real number.

[0044] The beneficial effects of this invention are as follows: This invention designs a multi-aircraft cooperative time-sharing strike guidance method. Under the designed guidance law, the aircraft cluster can hit the target sequentially at a specified time interval. Attached Figure Description

[0045] Figure 1 This is a communication topology diagram between aircraft in a simulation embodiment.

[0046] Figure 2 It is the trajectory curve of the aircraft under the multi-vehicle time-sharing coordinated guidance law.

[0047] Figure 3 It is the distance change curve between the aircraft and the target under the multi-vehicle time-sharing coordinated guidance law.

[0048] Figure 4 It is the curve of the cooperative error change under the cooperative guidance law of multi-vehicle time-sharing strike.

[0049] Figure 5 It is the velocity change curve of the aircraft under the multi-vehicle time-sharing coordinated guidance law.

[0050] Figure 6 It is the curve of the change of the line-of-sight tilt angle and angular rate of the aircraft under the multi-aircraft time-sharing strike cooperative guidance law.

[0051] Figure 7 It is the curve of the change in the line-of-sight deflection angle and angular rate of the aircraft under the multi-aircraft time-sharing coordinated guidance law.

[0052] Figure 8 It is the curve of the acceleration change in the line-of-sight direction of the aircraft under the multi-aircraft time-sharing coordinated guidance law.

[0053] Figure 9 It is the curve of the acceleration change in the line-of-sight tilt direction of the aircraft under the multi-aircraft time-sharing coordinated guidance law.

[0054] Figure 10It is the curve of the acceleration change in the line-of-sight deflection direction of the aircraft under the multi-aircraft time-sharing coordinated guidance law. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this invention clearer, please refer to the appendix. Figure 1 —10. Further explanation of the present invention.

[0056] The invented attack time control guidance method with switchable fixed-time convergence includes the following steps:

[0057] Step 1: Establish a mathematical model of the relative motion between the aircraft and the target.

[0058] The first line of sight coordinate system i The relative motion relationship between the aircraft and the target can be expressed as:

[0059] (15)

[0060] In the formula, R i This represents the distance between the aircraft and the target. ε i and η i Indicates the angle of inclination and the angle of deflection of the line of sight. This represents the acceleration vector in the line-of-sight coordinates.

[0061] Step 2: Predict the remaining hit time of the aircraft.

[0062] No. i Remaining hit time for the aircraft The following formula can be used for prediction:

[0063] (16)

[0064] Step 3: Define the time-consistency time-sharing strike coordination error variable.

[0065] The time-sharing strike coordination error variable between the various aircraft is defined as follows:

[0066] (17)

[0067] In the formula a ij It is the adjacency matrix of the communication topology graph. i Line number j The element corresponding to the column, if the first i The aircraft is able to receive the first j Information about the aircraft a ij =1, otherwise a ij=0. Indicates the first i The attack interval of the aircraft, if Equation (11) can make the first i The aircraft in j The aircraft hit the target after hitting it, and the first... i aircraft and the first j The time interval between the aircraft hitting the target is .

[0068] Step 4: Introduce time-varying functions

[0069] For guidance law design purposes, a time-varying function is introduced:

[0070] (18)

[0071] In the formula, m≥2 is a positive real number. T f >0.

[0072] Ψ The first-order time derivative satisfies:

[0073] (19)

[0074] Step 5: Propose the cooperative guidance law for multi-vehicle time-sharing strikes.

[0075] The multi-vehicle time-sharing strike cooperative guidance law is designed as follows:

[0076] (20)

[0077] In the formula , k 3 and k 4 is a positive real number.

[0078] The designed algorithm was verified using the Matlab simulation platform to validate the effectiveness of the multi-aircraft time-sharing coordinated guidance method. For the embodiment, the scenario of striking a stationary aerial target was used, and the parameters were set as follows: k 1 = 10, k 2=5, =0.8, =2, k 3=20, k 4=20, T f =20, h =3. Considering practical considerations, the acceleration limit is at... 100m / s 2 The initial target position is (0,0,0). The initial data for each aircraft are shown in Table 1. The communication topology between the aircraft is as follows: Figure 1 As shown, 1-5 represent the first to fifth aircraft respectively. If two aircraft are connected by an arrow, it means that the two aircraft can communicate with each other and exchange information to coordinate and cooperate in time-sharing strike errors.

[0079] Table 1 Initial parameter settings for missiles and targets

[0080]

[0081] Simulation results of multi-vehicle time-sharing strike cooperative guidance are shown below Figures 2-10 ,like Figure 2 and Figure 3 As shown, the aircraft swarm hits the targets sequentially at specified attack intervals. Figure 5 It can be seen that after the cooperative error converges, the velocities of each aircraft no longer change. From Figure 4 , Figure 6 and Figure 7 It can be seen that the cooperative error, the angular rate of the line of sight tilt, and the angular rate of the line of sight deflection are in T f The system converges rapidly to achieve the desired control effect.

Claims

1. A multi-vehicle time-sharing coordinated guidance method, characterized in that: Includes the following steps: Step 1: Establish a motion model of the aircraft relative to the target: The motion relationships of an aircraft in a three-dimensional plane can be represented as follows: ； In the formula, [ x i , y i , z i ] T and[ v x,i , v y,i , v z,i ] T They represent the first i An aircraft in an inertial coordinate system x , y , z The position and velocity vectors of the direction. V i , θ i and ψ i These represent the aircraft speed, track inclination angle, and track deflection angle, respectively. Step 2: Predict the remaining hit time of the aircraft: No. i Remaining hit time for the aircraft Prediction is made using the following formula: ； in, This represents the distance between the aircraft and the target. Step 3: Define the time-consistency time-sharing strike coordination error variable: The time-sharing strike coordination error variable between the various aircraft is defined as follows: ； In the formula It is the adjacency matrix of the communication topology graph. i Line number j The element corresponding to the column, if the first i The aircraft is able to receive the first j Information about the aircraft =1, otherwise =0; Indicates the first i The attack interval of the aircraft, if , making the first i The aircraft in j The aircraft hit the target after hitting it, and the first... i aircraft and the first j The time interval between the aircraft hitting the target is ; Step 4: Introduce a time-varying function: For guidance law design purposes, a time-varying function is introduced: ； In the formula, m≥2 is a positive real number. T f >0; Ψ The first-order time derivative satisfies: ； Step 5: Determine the cooperative guidance law for multi-vehicle time-sharing strikes: The guidance law design for multi-vehicle coordinated time-sharing strike is as follows: ； In the formula , k 3 and k 4 is a positive real number.

2. The multi-vehicle time-sharing coordinated guidance method according to claim 1, characterized in that: In step 1, the dynamic equations for the track inclination angle and track yaw angle satisfy: ； In the formula, , and Representing the ballistic coordinates respectively x , y and z The acceleration component in the direction.

3. The multi-vehicle time-sharing coordinated guidance method according to claim 2, characterized in that: In step 1, the acceleration components in the inertial coordinate system are defined. a x,i, a y,i and a z,i for: 。 4. The multi-vehicle time-sharing coordinated guidance method according to claim 3, characterized in that: In step 1, the acceleration components of the inertial coordinate system a x,i, a y,i and a z,i acceleration components relative to the ballistic coordinate system , and The conversion relationship is as follows: 。 5. The multi-vehicle time-sharing coordinated guidance method according to claim 4, characterized in that: In step 1, the first line of sight coordinate system i The relative motion relationship between the aircraft and the target is expressed as follows: ； In the formula, R i This represents the distance between the aircraft and the target. ε i and η i Indicates the angle of inclination and the angle of deflection of the line of sight. This represents the acceleration vector in the line-of-sight coordinates.

6. The multi-vehicle time-sharing coordinated guidance method according to claim 5, characterized in that: In step 1, the transformation relationship of the acceleration vector from the inertial coordinate system to the line-of-sight coordinate system is as follows: 。 7. A multi-vehicle time-sharing coordinated guidance method for attack according to claim 6, characterized in that: In step 1, the following formula is used to calculate the position information of the aircraft and the target. R i , ε i and η i information: ； ； ； In the formula, [ x t , y t , z t ] T This indicates the target's position coordinates in the inertial coordinate system.

Images