A distributed cooperative guidance law based on line-of-sight direction for attacking stationary targets
By enabling information exchange and line-of-sight acceleration adjustments between missiles, real-time consistency control of remaining missile time is achieved, solving the problems of synchronous arrival and anti-disturbance in multi-missile coordinated attacks, and improving the efficiency and robustness of missile coordinated attacks.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- NANJING UNIV OF SCI & TECH
- Filing Date
- 2023-08-30
- Publication Date
- 2026-07-03
AI Technical Summary
Existing technologies suffer from problems such as strict initial conditions, insufficient robustness, and poor anti-disturbance performance in multi-missile coordinated attacks. In particular, when there is no network interaction between missiles, it is difficult to achieve real-time status adjustment and synchronous arrival of missiles.
Design a distributed cooperative guidance law based on line-of-sight direction. Through information interaction between missiles, and by adjusting the line-of-sight acceleration and relative velocity, achieve real-time consistency control of the missile's remaining time. Establish a missile dynamics model and perform feedback adjustments.
It improves the efficiency and robustness of coordinated missile attacks, is able to resist disturbances during missile flight, ensures that each missile arrives at the target synchronously within a limited time, and enhances the success rate and destructive power of the strike.
Smart Images
Figure CN117091459B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of automated cooperative control technology, specifically relating to a distributed cooperative guidance law for attacking stationary targets based on line-of-sight direction. Background Technology
[0002] In recent years, with the rapid development of military technology, weapon systems have increasingly adopted multi-missile coordinated attacks in certain missions, where multiple missiles arrive at the target simultaneously to achieve maximum destructive power. For example, when attacking heavily defended naval vessels, a single missile is unlikely to penetrate their weapon interception systems, severely impacting the success rate and reliability of an effective strike. Therefore, to effectively improve the success rate of missiles penetrating anti-missile defense systems, attacking targets simultaneously in swarms can significantly enhance missile strike efficiency.
[0003] According to existing literature, there are two main ways to achieve multi-missile coordinated strikes: one is the non-network interaction method (e.g., Dhananjay N, Ghose D. Accurate Time-to-Go Estimation for Proportional Navigation Guidance[J]. Journal of Guidance, Control, and Dynamics, 2014, 37(4):1378-1383.). In this method, a specified arrival time is set before missile launch, and each missile sets its own guidance law according to the mission. During the guidance process, there is no information exchange between missiles, which is an open-loop control. This type of method does not require consideration of the communication network between missiles, is simple to implement, and has a low cost. However, this type of method requires the strike time to be set in advance, which is quite strict on the initial conditions. In other words, if the accuracy of the target status information is insufficient, it will have a significant impact on the strike effect. In addition, if some of the missiles encounter disturbances during flight, they will not be able to arrive at the same time, and the robustness is obviously insufficient.
[0004] Secondly, establishing network interaction among missiles is a key feature of this approach, allowing the missile swarm to exchange information in real time during flight to achieve coordinated strikes. This method fully leverages the advantages of swarm control (Zhou J, Yang J. Guidance Law Design for Impact Time Attack Against Moving Targets[J].IEEE Transactions on Aerospace and Electronic Systems, 2018:1-1.DOI:10.1109 / TAES.2018.2824679.). During flight, each missile adjusts its own flight status based on information from neighboring missiles. Even if the target status changes or some missiles are affected by disturbances, the flight status information of other missiles in the swarm can be obtained in a timely manner through network interaction to make appropriate adjustments.
[0005] In light of the above, to effectively strike key targets, a multi-missile network-based coordinated attack is a reliable method. The core of multi-missile coordinated attacks lies in the real-time adjustment of the motion state of each missile during flight, ensuring that the remaining time of each missile is consistent before arrival. Therefore, within the limited time from launch point to destination, a coordinated guidance law needs to be designed to ensure that the missile group adjusts its state during the process, synchronizes with the missile group, and guarantees the consistency of remaining flight time. Summary of the Invention
[0006] This invention proposes a distributed cooperative guidance law for attacking stationary targets based on line-of-sight direction, so as to precisely control multiple missiles to attack the target simultaneously.
[0007] The technical solution for implementing this invention is as follows: a distributed cooperative guidance law for attacking stationary targets based on line-of-sight direction, comprising the following steps:
[0008] Step 1: When a swarm of n missiles attacks a stationary target simultaneously, the distance r of the target detected by the sensor on the i-th missile is... i Self-movement velocity V i The angle φ between the missile's flight speed direction and the missile's line of sight. i Proceed to step 2.
[0009] Step 2, based on r i V i φ i Obtain the estimated remaining flight time of the i-th missile. This leads to the estimated remaining flight time for n missiles. Proceed to step 3.
[0010] Step 3: Designate missile number 1 as the lead missile, and the remaining missiles will each have their estimated remaining flight time. The data is sent to missile number 1, which calculates the average remaining time of the missile swarm. And share it with other missiles; calculate the estimated remaining flight time for each missile. Average Remaining Time of the Barrage The deviation is ε i (t), and determine ε at time t. i The sign of (t); if ε i (t) equals 0, meaning the missile has achieved consistency with the missile group; if ε i If (t) is not equal to 0, proceed to step 4.
[0011] Step 4: Adjust the non-zero deviation ε i (t) is input into the guidance law to obtain the control input a for the i-th missile. r,i Proceed to step 5.
[0012] Step 5: Establish the dynamic model of a single missile, based on the control input a of the i-th missile. r,i The r at time t+1 is obtained from the dynamic model of a single missile. i V i φ i Return to step 2.
[0013] Compared with the prior art, the significant advantages of this invention are:
[0014] (1) When designing the guidance law, the acceleration input in the line of sight of the missile and the target is controlled, and the relative velocity of the missile and the target is directly adjusted, which greatly improves the efficiency of coordinated guidance.
[0015] (2) The design does not rely on the initial state information of the missile and has continuity. There are no singularity or chattering problems. It has good anti-disturbance performance and strong robustness during flight.
[0016] (3) The guidance law has a simple structure and is easy to implement in terms of algorithm. Attached Figure Description
[0017] Figure 1 This is a planar schematic diagram of the simultaneous attack of multiple missiles on a stationary target according to the present invention.
[0018] Figure 2 This is a schematic diagram of the dynamic plane of the i-th missile of the present invention. In the figure, λ i This refers to the angle between the bullet's line of sight and the horizontal line, also known as the line-of-sight angle.
[0019] Figure 3 This is a schematic diagram of the bullet network of the present invention.
[0020] Figure 4This is a flowchart of the distributed cooperative guidance law for attacking stationary targets based on line-of-sight direction, as described in this invention. Detailed Implementation
[0021] 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 a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.
[0022] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.
[0023] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible to those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.
[0024] The following section will further introduce the specific implementation method, as well as the technical difficulties and inventive points of this invention, using this design example as an example.
[0025] Combination Figure 1 , Figure 3 and Figure 4 A distributed cooperative guidance law for attacking stationary targets based on line-of-sight direction, comprising the following steps:
[0026] Step 1: When a swarm of n missiles attacks a stationary target simultaneously, the distance r of the target detected by the sensor on the i-th missile is... i Self-movement velocity V i The angle φ between the missile's flight speed direction and the missile's line of sight. i Proceed to step 2.
[0027] Step 2, based on r i V i φ i Obtain the estimated remaining flight time of the i-th missile. This leads to the estimated remaining flight time for n missiles.
[0028] According to r i V i φ i Obtain the estimated remaining flight time of the i-th missile.
[0029]
[0030] Among them, V r,i Let V be the component of the velocity of the i-th missile along the line of sight. i cosφ i .
[0031] Proceed to step 3.
[0032] Step 3: Designate missile number 1 as the lead missile, and the remaining missiles will each have their estimated remaining flight time. The data is sent to missile number 1, which calculates the average remaining time of the missile swarm. Missile No. 1 communicates with other missiles, forming a communication network:
[0033]
[0034] Will Shared with other missiles; calculate the estimated remaining flight time for each missile. Average Remaining Time of the Barrage The deviation is ε i (t):
[0035]
[0036] in Let t be the average remaining time of the swarm.
[0037] And determine ε at time t i The sign of (t); if ε i (t) equals 0, meaning the missile has achieved consistency with the missile group; if ε i If ε(t) is greater than zero, it means that the velocity of the i-th missile is lower than the velocity of the missile swarm; conversely, it means that the velocity is higher than the velocity of the missile swarm. That is, ε i If (t)≠0, then the current deviation ε i (t) is input into the guidance law to obtain the control input a for the i-th missile. r,i Proceed to step 4.
[0038] Step 4: Referencing existing literature (Zhou J, Yang J. Guidance Law Design for Impact Time Attack Against Moving Targets[J]. IEEE Transactions on Aerospace and Electronic Systems, 2018:1-1.DOI:10.1109 / TAES.2018.2824679.), establish a missile dynamics model based on the multiple missile control inputs a r The deviation ε that is not equal to 0 i (t) is input into the guidance law to obtain the control input a for the i-th missile. r,i :
[0039]
[0040] Among them, V λ,i (t) represents the component of the velocity of the i-th missile in the direction perpendicular to the line of sight, denoted as V. i sinφ i .
[0041] Here, control input a r,i It is based on line-of-sight control, which directly changes the real-time relative distance between the projectile and the target, and has high control efficiency. Proceed to step 5.
[0042] Step 5: Establish the dynamic model of a single missile, based on the control input a of the i-th missile. r,i , will a r,i Inputting the data into the missile dynamics model, we obtain r at time t+1. i V i φ i The details are as follows:
[0043] Step 5-1: Establish a dynamic model of a single missile.
[0044] Step 5-2: Obtain r at the current moment based on the single missile dynamics model. i V i φ i and the control input a of the i-th missile r,i The value is input into the missile dynamics model to obtain r at the next moment. i V i φ i :
[0045]
[0046] Among them, a r a represents the acceleration of the missile along the line of sight. λThe acceleration representing the missile's perpendicular line of sight. It represents the derivative.
[0047] Return to step 2 until ε i (t) = 0, the remaining time for each missile to reach the target tends to be consistent, and the current flight status of each missile is maintained.
[0048] The following is a stability analysis of the control guidance law:
[0049] First, define the variance of the estimated remaining time.
[0050] When the estimated remaining time variance approaches 0, i.e. s 2 When →0, a group of missiles simultaneously hit the target. Lyapunov stability theory proves that the cooperative guidance law proposed in this invention can achieve s 2 Drive to zero. Select s 2 Let V be a Lyapunov function, and let V = s 2 And by differentiating it, we get:
[0051]
[0052] (Note: )
[0053] The calculation continues as follows:
[0054]
[0055] when get If and only if achievable It can be proven It is the single stable equilibrium point of V. In any This moment must be unstable, because ε must exist. j For any j ∈ {1, 2, 3, ..., n}, if j > 0, then ε must exist. i If ε < 0, i ∈ {1, 2, 3, ..., n}, the balance will be disrupted. Therefore, ε i =0 is the only stable equilibrium point of this Lyapunov function. This proves that the guidance law can drive a swarm of missiles to complete simultaneous attacks within the same time frame, achieving maximum destructive effectiveness.
[0056] Example 1
[0057] Combination Figures 1-4 A distributed cooperative guidance law for attacking stationary targets based on line-of-sight direction, comprising the following steps:
[0058] Step 1: When a swarm of n missiles simultaneously attacks a stationary target T, the distance r of the target detected by the sensor on the i-th missile is... i Self-movement velocity V i The angle φ between the missile's flight speed direction and the missile's line of sight. i Proceed to step 2.
[0059] Step 2, based on r i V i φ i Obtain the i-th missile M i Estimated remaining flight time This leads to the estimated remaining flight time for n missiles.
[0060] According to r i V i φ i Obtain the estimated remaining flight time of the i-th missile.
[0061]
[0062] Among them, V r,i Let V be the component of the velocity of the i-th missile along the line of sight. i cosφ i .
[0063] Step 3: Designate missile number 1 as the lead missile, and the remaining missiles will each have their estimated remaining flight time. The data is sent to missile number 1, which calculates the average remaining time of the missile swarm. Missile No. 1 communicates with other missiles, forming a communication network to achieve consistency across the missile group. Figure 3 In the inter-missile network, missiles 2, 3, 4, and 5 send their real-time estimated remaining time to missile 1. Then, missile 11 sends its calculated average remaining time to the other missiles in the swarm. This network is denoted as...
[0064]
[0065] Calculate the estimated remaining flight time for each missile. Average Remaining Time of the Barrage The deviation is ε i (t):
[0066]
[0067] in Let t be the average remaining time of the swarm.
[0068] And determine ε at time t i The sign of (t); if ε i (t) equals 0, meaning the missile has achieved consistency with the missile group; if ε i If ε(t) is greater than zero, it means that the velocity of the i-th missile is lower than the velocity of the missile swarm; conversely, it means that the velocity is higher than the velocity of the missile swarm. That is, ε i If (t)≠0, then the current deviation ε i (t) is input into the guidance law to obtain the control input a for the i-th missile. r,i Proceed to step 4.
[0069] Step 4: For deviations ε that are not equal to 0 i (t) is input into the guidance law to obtain the control input a for the i-th missile. r,i :
[0070]
[0071] Proceed to step 5.
[0072] Step 5: Establish a dynamic model of a single missile, based on the control input a of the i-th missile. r,i , will a r,i Inputting the data into the missile dynamics model, we obtain r at time t+1. i V i φ i The details are as follows:
[0073] Step 5-1: Establish a dynamic model of a single missile.
[0074] Step 5-2: Obtain r at the current moment based on the single missile dynamics model. i V i φ i and the control input a of the i-th missile r,i The value is input into the missile dynamics model to obtain r at the next moment. i V i φ i :
[0075]
[0076] Among them, a r a represents the acceleration of the missile along the line of sight. λ The acceleration representing the missile's perpendicular line of sight. It represents the derivative.
[0077] Return to step 2 until ε iWhen (t) = 0, the remaining time for each missile to reach the target tends to be consistent. By maintaining the current flight state of each missile, a simultaneous attack on the target is formed, and the maximum destructive effect is obtained.
Claims
1. A distributed cooperative guidance law for attacking stationary targets based on line-of-sight direction, characterized in that, The steps are as follows: Step 1: When a swarm of n missiles attacks a stationary target simultaneously, the distance r of the target detected by the sensor on the i-th missile is... i Self-movement velocity V i The angle φ between the missile's flight speed direction and the missile's line of sight. i Proceed to step 2; Step 2, based on r i V i φ i Obtain the estimated remaining flight time of the i-th missile. This leads to the estimated remaining flight time for n missiles. Proceed to step 3; Step 3: Designate missile number 1 as the lead missile, and the remaining missiles will each have their estimated remaining flight time. The data is sent to missile number 1, which calculates the average remaining time of the missile swarm. And share it with other missiles; calculate the estimated remaining flight time for each missile. Average Remaining Time of the Barrage The deviation is ε i (t), and determine ε at time t. i The sign of (t); if ε i (t) equals 0, meaning the missile has achieved consistency with the missile group; if ε i (t) is not equal to 0, as detailed below: Calculate the estimated remaining flight time for each missile. Average Remaining Time of the Barrage The deviation is ε i (t), as follows: Transmitted to missile No. 1 via inter-missile network And combined with the average remaining time of the missile swarm Calculate the deviation ε i (t): in Let be the average remaining time of the swarm at time t; Determine ε i The sign of (t); the deviation ε that is not equal to 0. i (t) is input into the guidance law to obtain the control input a for the i-th missile. r,i The details are as follows: Judgment deviation ε i The sign of (t), if ε i If ε(t) is greater than zero, it means that the velocity of the i-th missile is lower than the velocity of the missile swarm; conversely, it means that the velocity is higher than the velocity of the missile swarm. That is, ε i If (t)≠0, then the current deviation ε i (t) is input into the guidance law to obtain the control input a for the i-th missile. r,i : Among them, V λ,i (t) represents the component of the velocity of the i-th missile in the direction perpendicular to the line of sight, denoted as V. i sinφ i ; If ε i If (t) is zero, it means that the i-th missile has reached the same speed as the average velocity of the missile group and maintains its current motion state; Proceed to step 4; Step 4: Adjust the non-zero deviation ε i (t) is input into the guidance law to obtain the control input a for the i-th missile. r,i Proceed to step 5; Step 5: Establish the dynamic model of a single missile, based on the control input a of the i-th missile. r,i The r at time t+1 is obtained from the dynamic model of a single missile. i V i φ i Return to step 2.
2. The distributed cooperative guidance law for attacking stationary targets based on line-of-sight direction as described in claim 1, characterized in that, In step 2, according to r i V i φ i Obtain the estimated remaining flight time of the i-th missile. Specifically as follows: According to r i V i φ i Obtain the estimated remaining flight time of the i-th missile. Among them, V r,i Let V be the component of the velocity of the i-th missile along the line of sight. i cosφ i .
3. The distributed cooperative guidance law for attacking stationary targets based on line-of-sight direction as described in claim 1, characterized in that, In step 3, each missile will estimate its remaining time. The data is sent to missile number 1, which calculates the average remaining time of the missile swarm. And shared with other missiles, specifically as follows: Sending data to missile number 1 via the inter-missile network. Information: Missile No. 1 has communication relationships with other missiles, forming a communication network; 4. The distributed cooperative guidance law for attacking stationary targets based on line-of-sight direction as described in claim 1, characterized in that, In step 5, a dynamic model of a single missile is established, based on the control input a of the i-th missile. r,i , will a r,i Inputting the data into the missile dynamics model, we obtain r at time t+1. i V i φ i The details are as follows: Step 5-1: Establish a dynamic model of a single missile; Step 5-2: Obtain r at the current moment based on the single missile dynamics model. i V i φ i and the control input a of the i-th missile r,i The value is input into the missile dynamics model to obtain r at the next moment. i V i φ i : Among them, a r a represents the acceleration of the missile along the line of sight. λ The acceleration representing the missile's perpendicular line of sight. Derivative; Return to step 2 until ε i (t) = 0, the remaining time for each missile to reach the target tends to be consistent, and the current flight status of each missile is maintained.