Guidance method and guidance system for unknown maneuvering target aircraft
By establishing the aircraft motion model and sliding mode guidance method, the problem of maneuver target hitting of the aircraft under the constrained line of sight is solved, accurate attacks on maneuver targets are achieved, and hit accuracy and effect are improved.
Patent Information
- Application Number
- CN202410054636.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-01-15
- Publication Date
- 2024-12-17
- Estimated Expiration
- 2044-01-15
AI Technical Summary
Existing aircraft guidance methods are difficult to accurately hit the maneuverable target, especially under the constraints of line-of-view angle, and fail to effectively consider the geometric shape and maneuverable information of the target, resulting in poor hitting effect.
By establishing a motion model of attack aircraft and target aircraft, a guide method based on sliding mode was designed. The effectiveness of the guidance method was verified by using Lyapunov theory, and the precise attack angle and view angle under the constraints of sight angle are achieved. It is estimated that ensure that the attack aircraft can accurately hit the maneuvering target.
It achieves accurate hits on maneuverable targets while meeting the line-of-sight angle constraints of the navigation system, improves the interception effect of the aircraft, ensures the expected value of the attack angle, and enhances the attack ability of maneuverable targets.
Smart Images
Figure CN118034333B_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of aircraft navigation, and in particular relates to a guidance method and a guidance system for a target aircraft with unknown maneuvers. Background Art
[0002] In the problem of aircraft guidance, the main goal of the traditional guidance law is to attack the target with the minimum miss distance, while optimizing energy consumption to increase the flight radius of the aircraft. To achieve this, since the 1970s, proportional guidance law has been widely used in aircraft guidance systems, and its main control strategy is to generate instructions proportional to the line of sight angular rate. The advantages of proportional navigation guidance are that it requires less guidance information and is simple in structure and implementation.
[0003] With the development of navigation technology and defense systems, on the one hand, the traditional guidance method that only aims to hit the aircraft cannot meet the requirements. On the other hand, in actual application, due to the limitations of the aircraft's sensor system, when the line of sight angle between the attacking aircraft and the target aircraft is too large, the attacking aircraft cannot lock the target. This requires constraints on the aircraft's line of sight angle and attack angle to improve the attack capability against various aircraft.
[0004] Due to the complexity of the actual flight environment, the aircraft guidance and control system will be affected by unknown external disturbances. In particular, with the diversification of target aircraft maneuvering methods and the enhancement of maneuverability, the navigation system cannot accurately obtain maneuvering information. To achieve coordinated attacks on maneuvering targets by multiple aircraft, it is necessary to use each aircraft to coordinately estimate the state information of the target. Therefore, it is necessary to study a robust terminal guidance method that can accurately estimate the target maneuvering information online. Therefore, in this process, the target state estimation algorithm is the core and key to improving the guidance accuracy.
[0005] The prior art has the following problems:
[0006] The current guidance law is mainly aimed at fixed and slow-moving targets, and has poor hitting effect on maneuvering targets;
[0007] For maneuvering aircraft, existing methods regard the target maneuvering information as a known quantity. However, the maneuvering information of the actual target aircraft may be partially known or completely unknown.
[0008] Current algorithms do not take into account the problem of line-of-sight constraints in the actual aircraft navigation system. When the line-of-sight angle between the attacking aircraft and the target aircraft is too large, the navigation system on the attacking aircraft cannot detect the target, causing the guidance system to fail.
[0009] The current guidance algorithm only takes hitting the aircraft as the mission objective, and does not consider the impact of the geometry of the target on the aircraft. Summary of the invention
[0010] The present invention provides a guidance method for a target aircraft with unknown maneuvers, so as to solve the problems mentioned in the above background technology.
[0011] The present invention is achieved through the following technical solutions:
[0012] A guidance method for a target aircraft with unknown maneuvers, the guidance method comprising the following steps:
[0013] Step 1: Establish the motion models of the attacking aircraft and the target aircraft;
[0014] Step 2: Based on the motion model in step 1, in order to meet the situation where the actual aircraft navigation system has line of sight angle constraints, the guidance problem, line of sight angle constraint and attack angle constraint problems are transformed into a mathematical model, and the range of parameters is analyzed and defined;
[0015] Step 3: Based on the mathematical model defined in step 2, a method for estimating the sight angle of the target aircraft is designed, which enables the attacking aircraft to attack the target aircraft at an accurate desired attack angle;
[0016] Step 4: Based on the mathematical model defined in steps 2 and 3 and the method for estimating the expected attack angle, a guidance method based on sliding mode is designed under the condition of satisfying the line of sight angle constraint of the navigation system. This method can enable the attacking aircraft to attack the target aircraft at the expected attack angle when the maneuvering state of the target aircraft is unknown. The effectiveness of the proposed guidance method is verified by using Lyapunov theory.
[0017] Furthermore, the step 1 is specifically to define the attack aircraft M = (x m ,y m ) and the target aircraft T = (x t ,y t The kinematic model of ) is:
[0018]
[0019]
[0020] σ M =γ M -λ
[0021] σ T =γ T -λ
[0022]
[0023]
[0024] Where r is the distance between the attacking aircraft and the target aircraft, λ is the angle between the line connecting the attacking aircraft and the target aircraft and the horizontal reference line, V M and V T are the speeds of the attacking aircraft and the target aircraft, both are constant values, V r is the relative speed between the attacking aircraft and the target aircraft along the line of sight, V λ is the relative speed of the attacking aircraft and the target aircraft perpendicular to the line of sight, σ M and σ T are the sight angles of the attacking aircraft and the target aircraft, that is, the angle between the velocity vector and the sight line, γ M and γ T are the flight path angles of the attacking aircraft and the target aircraft, respectively, M and a T are the accelerations of the attacking and target aircraft, respectively, perpendicular to the velocity vector.
[0025] 3. According to the guidance method of a target aircraft with unknown maneuverability as described in claim 2, it is characterized in that the step 2 specifically comprises:
[0026] Step 2.1: Based on the kinematic models of the attacking aircraft and the target aircraft, the speeds of the attacking aircraft and the target aircraft, and the acceleration magnitude of the target aircraft should satisfy the constraints;
[0027] Step 2.2: Transform the guidance problem, line of sight constraint, and attack angle constraint problems into a mathematical model, and analyze and define the range of parameters.
[0028] Furthermore, the step 3 specifically includes the following steps:
[0029] Step 3.1: Define the attacking aircraft t f Mathematical model for hitting the target aircraft at all times;
[0030] Step 3.2: Based on the mathematical model in step 3.1, obtain the expected sight angle λ when the attacking aircraft hits the target aircraft d (t f );
[0031] Step 3.3: Based on the expected sight angle in step 3.2, a sight angle estimation method for unknown maneuvering target aircraft is designed, which enables the attack aircraft to attack the target aircraft at an accurate expected attack angle.
[0032] Furthermore, the step 4 specifically includes the following steps:
[0033] Step 4.1: Establish a sliding surface based on the aircraft's sight angle and the desired attack angle;
[0034] Step 4.2: Based on the sliding surface established in step 4.1, design a guidance law for the unknown maneuvering target so that the attacking aircraft can hit the unknown maneuvering target aircraft at the expected attack angle under the condition of satisfying the navigation line of sight angle constraint;
[0035] Step 4.2: Based on the guidance law and sliding surface defined in steps 4.1 and 4.2, the effectiveness of the proposed guidance method is verified using Lyapunov theory.
[0036] A guidance system for a target aircraft with unknown maneuvers, the guidance system comprising a model building module, a model parameter definition module, a target aircraft sight angle estimation module and a sliding mode guidance module.
[0037] The model building module is used to build the motion models of the attacking aircraft and the target aircraft;
[0038] The parameter definition module of the model converts the guidance problem, the line of sight angle constraint and the attack angle constraint problem into a mathematical model, and analyzes and defines the range of the parameters in order to meet the situation that the actual aircraft navigation system has line of sight angle constraints;
[0039] The target aircraft sight angle estimation module is used for the mathematical model of the model construction module to design a target aircraft sight angle estimation method, which enables the attacking aircraft to attack the target aircraft at a precise expected attack angle;
[0040] The sliding mode guidance module is based on the mathematical model defined by the model parameter definition module and the expected attack angle estimation method of the target aircraft line of sight angle estimation module. Under the condition of satisfying the line of sight angle constraint of the navigation system, a sliding mode-based guidance method is designed, which can enable the attack aircraft to attack the target aircraft at the expected attack angle when the maneuvering state of the target aircraft is unknown. The effectiveness of the proposed guidance method is verified by using Lyapunov theory.
[0041] The working principle of the model building module is as follows: define the attack aircraft M = (x m ,y m ) and the target aircraft T = (x t ,y t The kinematic model of ) is:
[0042]
[0043]
[0044] σ M =γ M -λ
[0045] σT =γ T -λ
[0046]
[0047]
[0048] Where r is the distance between the attacking aircraft and the target aircraft, λ is the angle between the line connecting the attacking aircraft and the target aircraft and the horizontal reference line, V M and V T are the speeds of the attacking aircraft and the target aircraft, both are constant values, V r is the relative speed between the attacking aircraft and the target aircraft along the line of sight, V λ is the relative speed of the attacking aircraft and the target aircraft perpendicular to the line of sight, σ M and σ T are the sight angles of the attacking aircraft and the target aircraft, that is, the angle between the velocity vector and the sight line, γ M and γ T are the flight path angles of the attacking aircraft and the target aircraft, respectively, M and a T are the accelerations of the attacking and target aircraft, respectively, perpendicular to the velocity vector.
[0049] Furthermore, the working principle of the parameter definition module of the model is specifically as follows:
[0050] Based on the kinematic models of the attacking aircraft and the target aircraft, the speeds of the attacking aircraft and the target aircraft, and the acceleration magnitude of the target aircraft should satisfy the constraints;
[0051] The guidance problem, sight angle constraint and attack angle constraint problems are transformed into mathematical models, and the range of parameters is analyzed and defined.
[0052] Furthermore, the working principle of the target aircraft sight angle estimation module is as follows:
[0053] Define attack aircraft t f Mathematical model for hitting the target aircraft at all times;
[0054] Based on the mathematical model, the expected sight angle λ when the attack aircraft hits the target aircraft is obtained d (t f );
[0055] Based on the expected sight angle, a sight angle estimation method for unknown maneuvering target aircraft is designed, which enables the attacking aircraft to attack the target aircraft with the accurate expected attack angle.
[0056] Furthermore, the working principle of the target aircraft sight angle estimation module is specifically as follows:
[0057] Establish a sliding surface based on the aircraft's sight angle and the desired attack angle;
[0058] Based on the established sliding surface, a guidance law for unknown maneuvering targets is designed, so that the attacking aircraft can hit the unknown maneuvering target aircraft at the expected attack angle under the condition of satisfying the navigation line of sight angle constraint.
[0059] Based on the defined guidance law and sliding surface, the effectiveness of the proposed guidance method is verified using Lyapunov theory.
[0060] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the above-mentioned guidance method for a target aircraft with unknown maneuvers is implemented.
[0061] The beneficial effects of the present invention are:
[0062] The present invention enables an attack aircraft to hit a maneuverable target.
[0063] The present invention enables an aircraft to hit a maneuvering target under the condition that the sight angle constraint of a navigation system is met.
[0064] The present invention enables an aircraft to hit a maneuvering target at a desired attack angle, thereby achieving a maximum interception effect on the target aircraft.
[0065] The present invention enables an attacking aircraft to accurately hit the target at a desired attacking angle through a sight angle estimation method for an unknown maneuvering target aircraft. BRIEF DESCRIPTION OF THE DRAWINGS
[0066] Figure 1 Flow chart of the method of the present invention.
[0067] Figure 2 Schematic diagram of the guidance of the present invention.
[0068] Figure 3 A schematic diagram of an aircraft trajectory of an embodiment of the present invention.
[0069] Figure 4 A schematic diagram of the sight angle constraint of an attack aircraft according to an embodiment of the present invention.
[0070] Figure 5 Schematic diagram of attack angles of an embodiment of the present invention. DETAILED DESCRIPTION
[0071] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.
[0072] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.
[0073] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural forms unless the context clearly indicates otherwise.
[0074] The following is attached to this application specification Figure 1-5 , the technical solutions in the embodiments of the present application are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.
[0075] In the following description, many specific details are set forth to facilitate a full understanding of the present application, but the present application may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.
[0076] Embodiment 1
[0077] like Figure 1-2 A guidance method for a target aircraft with unknown maneuvers is shown, the guidance method comprising the following steps:
[0078] Step 1: Establish the motion models of the attacking aircraft and the target aircraft;
[0079] Step 2: Based on the motion model in step 1, in order to meet the situation where the actual aircraft navigation system has line of sight angle constraints, the guidance problem, line of sight angle constraint and attack angle constraint problems are transformed into a mathematical model, and the range of parameters is analyzed and defined;
[0080] Step 3: Based on the mathematical model defined in step 2, a method for estimating the sight angle of the target aircraft is designed, which enables the attacking aircraft to attack the target aircraft at an accurate desired attack angle;
[0081] Step 4: Based on the mathematical model defined in steps 2 and 3 and the method for estimating the expected attack angle, a guidance method based on sliding mode is designed under the condition of satisfying the line of sight angle constraint of the navigation system. This method can enable the attacking aircraft to attack the target aircraft at the expected attack angle when the maneuvering state of the target aircraft is unknown. The effectiveness of the proposed guidance method is verified by using Lyapunov theory.
[0082] A guidance method for a target aircraft with unknown maneuverability, wherein step 1 specifically defines an attack aircraft M = (x m ,y m ) and the target aircraft T = (x t ,y t The kinematic model of ) is:
[0083]
[0084]
[0085] σ M =γ M -λ
[0086] σ T =γ T -λ
[0087]
[0088]
[0089] Where r is the distance between the attacking aircraft and the target aircraft, λ is the angle between the line connecting the attacking aircraft and the target aircraft and the horizontal reference line, V M and V T are the speeds of the attacking aircraft and the target aircraft, both are constant values, V r is the relative speed between the attacking aircraft and the target aircraft along the line of sight, V λ is the relative speed of the attacking aircraft and the target aircraft perpendicular to the line of sight, σ M and σ T are the sight angles of the attacking aircraft and the target aircraft, that is, the angle between the velocity vector and the sight line, γ M and γ T are the flight path angles of the attacking aircraft and the target aircraft, respectively, M and a T are the accelerations of the attacking and target aircraft, respectively, perpendicular to the velocity vector.
[0090] A guidance method for a target aircraft with unknown maneuvers, wherein step 2 specifically comprises:
[0091] Step 2.1: Based on the kinematic models of the attacking aircraft and the target aircraft, the speeds of the attacking aircraft and the target aircraft, and the acceleration magnitude of the target aircraft should satisfy the constraints;
[0092] Specifically, the speed of the attacking aircraft, the speed of the target aircraft, and the acceleration of the target aircraft should satisfy the following constraints:
[0093] V T <V M sinσ M max
[0094] |a T |≤a T max
[0095] Among them, σ M max and a T max They are the maximum sight angle of the attacking aircraft and the maximum acceleration of the target aircraft.
[0096] Step 2.2: Transform the guidance problem, line of sight constraint, and attack angle constraint problems into a mathematical model, and analyze and define the range of parameters.
[0097] Specifically, step 2.2 is that when the attacking aircraft hits the target aircraft at the expected attack angle, the sight angle during the flight needs to be always less than a fixed value to meet the sight angle constraint of the navigation system. The mathematical model is used to constrain this process as follows:
[0098] r(t f )=0
[0099] γ T (t f )-γ M (t f )=γ d
[0100] |σ M (t)|≤σ Mmax <π / 2,0≤t≤t f
[0101] Among them, t f is the time from the attack aircraft taking off to hitting the target aircraft, γ d is the expected angle of attack when hitting the target aircraft.
[0102] A guidance method for a target aircraft with unknown maneuvers, wherein step 3 specifically comprises the following steps:
[0103] Step 3.1: Define the attacking aircraft t f Mathematical model for hitting the target aircraft at all times;
[0104] Step 3.2: Based on the mathematical model in step 3.1, obtain the expected sight angle λ when the attacking aircraft hits the target aircraft d (t f );
[0105] Step 3.3: Based on the expected sight angle in step 3.2, a sight angle estimation method for unknown maneuvering target aircraft is designed, which enables the attack aircraft to attack the target aircraft at an accurate expected attack angle.
[0106] The step 3.1 is specifically as follows: when the attacking aircraft is at t f When the target aircraft is hit at any moment, the distance r between the aircraft and the relative speed V perpendicular to the line of sight λ for,
[0107]
[0108] V λ (t f )=V T sin(γ T (t f )-λ(t f ))-V M sin(γ M (t f )-λ(t f ))=0
[0109] Specifically, step 3.2 includes: when the attacking aircraft hits the target aircraft, the expected sight angle λ d (t f ) should satisfy the relationship:
[0110]
[0111] Specifically, in order to enable the attacking aircraft to attack the target aircraft at an accurate expected attack angle, a method for estimating the sight angle of the target aircraft with unknown maneuvers is designed:
[0112]
[0113] A guidance method for a target aircraft with unknown maneuverability, wherein step 4 specifically includes the following steps:
[0114] Step 4.1: Establish a sliding surface based on the aircraft's sight angle and the desired attack angle;
[0115] Step 4.2: Based on the sliding surface established in step 4.1, design a guidance law for the unknown maneuvering target so that the attacking aircraft can hit the unknown maneuvering target aircraft at the expected attack angle under the condition of satisfying the navigation line of sight angle constraint;
[0116] Step 4.2: Based on the guidance law and sliding surface defined in steps 4.1 and 4.2, the effectiveness of the proposed guidance method is verified using Lyapunov theory.
[0117] Specifically, step 4.1 is to establish a sliding surface according to the difference between the speed of the aircraft perpendicular to the sight angle and the sight angle,
[0118]
[0119] Where x1 = λ-λ d , x2=V λ , taking the derivative of x1 and x2, we get
[0120]
[0121]
[0122] Parameters k1 and k2 should meet the following requirements,
[0123] 0<k1≤V M sinσ M max -V T
[0124] k2>0
[0125] The step 4.2 is specifically to design a guidance law for an unknown maneuvering target by taking the derivative of the sliding surface established in step 4.1.
[0126]
[0127]
[0128]
[0129] Among them, k3>0, a=20.
[0130] From the guidance law of the attacking aircraft M As can be seen from the formula, there is no maneuver a of the target aircraft in the formula T Therefore, it is possible to guide target aircraft in unknown maneuvering state.
[0131] Specifically, step 4.3 is to design a Lyapunov function based on step 4.2 to prove that the proposed guidance law can reach the sliding surface proposed in step 4.1. The derivation is:
[0132]
[0133] Depend on It can be proved that when the attack aircraft guidance law instruction is a M When the aircraft navigation system has a line of sight angle constraint and the maneuvering state of the target aircraft is unknown, the attack aircraft hits the target aircraft at the desired attack angle.
[0134] Specifically, Figure 3 As shown, in order to illustrate the performance of a guidance method for a target aircraft with unknown maneuverability of the present invention, Figure 3 The attack aircraft departs from the starting point (0,6000)m and moves at γ d =60° to attack a target aircraft with unknown maneuvering state. The target aircraft starts from the starting point (8000,0)m. The speeds of the attack aircraft and the target aircraft are V M =500m / s and V T =200m / s, attack aircraft maximum input |a m |≤20*9.81m / s 2 The initial flight angles of the attacking aircraft and the target aircraft are γ M (0) = -15° and γ T (0) = 0°, the maximum sight angle is set to σ Mmax =50°, the parameters are set as k1=183, k2=0.2, k3=100, a=20, the target aircraft has an unknown maneuver a T =1m / s 2 , Figure 4 This is a schematic diagram of the sight angle constraint of the attack aircraft according to an embodiment of the present invention. Figure 5 Schematic diagram of attack angles according to an embodiment of the present invention.
[0135] Embodiment 2
[0136] Based on the first embodiment, a guidance system for a target aircraft with unknown maneuvers is provided. The guidance system includes a model building module, a model parameter definition module, a target aircraft sight angle estimation module, and a sliding mode guidance module.
[0137] The model building module is used to build the motion models of the attacking aircraft and the target aircraft;
[0138] The parameter definition module of the model converts the guidance problem, the line of sight angle constraint and the attack angle constraint problem into a mathematical model, and analyzes and defines the range of the parameters in order to meet the situation that the actual aircraft navigation system has line of sight angle constraints;
[0139] The target aircraft sight angle estimation module is used for the mathematical model of the model construction module to design a target aircraft sight angle estimation method, which enables the attacking aircraft to attack the target aircraft at a precise expected attack angle;
[0140] The sliding mode guidance module is based on the mathematical model defined by the model parameter definition module and the expected attack angle estimation method of the target aircraft line of sight angle estimation module. Under the condition of satisfying the line of sight angle constraint of the navigation system, a sliding mode-based guidance method is designed, which can enable the attack aircraft to attack the target aircraft at the expected attack angle when the maneuvering state of the target aircraft is unknown. The effectiveness of the proposed guidance method is verified by using Lyapunov theory.
[0141] The working principle of the model building module is as follows: define the attack aircraft M = (x m ,y m ) and the target aircraft T = (x t ,y t The kinematic model of ) is:
[0142]
[0143]
[0144] σ M =γ M -λ
[0145] σ T =γ T -λ
[0146]
[0147]
[0148] Where r is the distance between the attacking aircraft and the target aircraft, λ is the angle between the line connecting the attacking aircraft and the target aircraft and the horizontal reference line, V M and V T are the speeds of the attacking aircraft and the target aircraft, both are constant values, V r is the relative speed between the attacking aircraft and the target aircraft along the line of sight, V λ is the relative speed of the attacking aircraft and the target aircraft perpendicular to the line of sight, σ M and σ T are the sight angles of the attacking aircraft and the target aircraft, that is, the angle between the velocity vector and the sight line, γ M and γ T are the flight path angles of the attacking aircraft and the target aircraft, respectively, M and aT are the accelerations of the attacking and target aircraft, respectively, perpendicular to the velocity vector.
[0149] A guidance system for a target aircraft with unknown maneuvers, wherein the working principle of the parameter definition module of the model is as follows:
[0150] Based on the kinematic models of the attacking aircraft and the target aircraft, the speeds of the attacking aircraft and the target aircraft, and the acceleration magnitude of the target aircraft should satisfy the constraints;
[0151] Furthermore, the speed of the attacking aircraft, the speed of the target aircraft, and the acceleration of the target aircraft should satisfy the following constraints:
[0152] V T <V M sinσ M max
[0153] |a T |≤a T max
[0154] Among them, σ M max and a T max are the maximum sight angle of the attacking aircraft and the maximum acceleration of the target aircraft, respectively;
[0155] The guidance problem, sight angle constraint and attack angle constraint problems are transformed into mathematical models, and the range of parameters is analyzed and defined.
[0156] Furthermore, when the attacking aircraft hits the target aircraft at the expected attack angle, the sight angle during the flight must always be less than a fixed value to satisfy the sight angle constraint of the navigation system. The mathematical model used to constrain this process is:
[0157] r(t f )=0
[0158] γ T (t f )-γ M (t f )=γ d
[0159] |σ M (t)|≤σ M max <π / 2,0≤t≤t f
[0160] Among them, t f is the time from the attack aircraft taking off to hitting the target aircraft, γ d is the expected angle of attack when hitting the target aircraft.
[0161] A guidance system for a target aircraft with unknown maneuvers, wherein the working principle of the target aircraft sight angle estimation module is as follows:
[0162] Define attack aircraft t f Mathematical model for hitting the target aircraft at all times;
[0163] Based on the mathematical model, the expected sight angle λ when the attack aircraft hits the target aircraft is obtained d (t f );
[0164] Based on the expected sight angle, a sight angle estimation method for unknown maneuvering target aircraft is designed, which enables the attacking aircraft to attack the target aircraft with the accurate expected attack angle.
[0165] Furthermore, when the attacking aircraft is at t f When the target aircraft is hit at any moment, the distance r between the aircraft and the relative speed V perpendicular to the line of sight λ for,
[0166]
[0167] V λ (t f )=V T sin(γ T (t f )-λ(t f ))-V M sin(γ M (t f )-λ(t f ))=0
[0168] Furthermore, when the attacking aircraft hits the target aircraft, the expected sight angle λ d (t f ) should satisfy the relationship:
[0169]
[0170] Furthermore, in order to enable the attacking aircraft to attack the target aircraft at an accurate expected attack angle, a method for estimating the sight angle of the target aircraft with unknown maneuvers is designed as follows:
[0171]
[0172] A guidance system for a target aircraft with unknown maneuvers, wherein the working principle of the target aircraft sight angle estimation module is as follows:
[0173] Establish a sliding surface based on the aircraft's sight angle and the desired attack angle;
[0174] Furthermore, the sliding surface is established based on the difference between the speed of the aircraft perpendicular to the sight angle and the sight angle:
[0175]
[0176] Where x1 = λ-λ d , x2=V λ , taking the derivative of x1 and x2, we get
[0177]
[0178]
[0179] Parameters k1 and k2 should meet the following requirements,
[0180] 0<k1≤V M sinσ M max -V T
[0181] k2>0
[0182] Based on the established sliding surface, a guidance law for unknown maneuvering targets is designed, so that the attacking aircraft can hit the unknown maneuvering target aircraft at the expected attack angle under the condition of satisfying the navigation line of sight angle constraint.
[0183] Furthermore, a guidance law for unknown maneuvering targets is designed by taking derivatives of the established sliding surface.
[0184]
[0185]
[0186]
[0187] Among them, k3>0, a=20.
[0188] From the guidance law of the attacking aircraft M As can be seen from the formula, there is no maneuver a of the target aircraft in the formula T Therefore, it is possible to guide target aircraft in unknown maneuvering state.
[0189] Based on the defined guidance law and sliding surface, the effectiveness of the proposed guidance method is verified by using Lyapunov theory.
[0190] Furthermore, based on the design of a Lyapunov function, it is proved that the proposed guidance law can reach the sliding surface of The derivation is:
[0191]
[0192] Depend on It can be proved that when the attack aircraft guidance law instruction is a M When the aircraft navigation system has a line of sight angle constraint and the maneuvering state of the target aircraft is unknown, the attack aircraft hits the target aircraft at the desired attack angle.
[0193] Specifically, Figure 3 As shown, in order to illustrate the performance of a guidance method for a target aircraft with unknown maneuverability of the present invention, Figure 3 The attack aircraft departs from the starting point (0,6000)m and moves at γ d =60° to attack a target aircraft with unknown maneuvering state. The target aircraft starts from the starting point (8000,0)m. The speeds of the attack aircraft and the target aircraft are V M =500m / s and V T =200m / s, attack aircraft maximum input |a m |≤20*9.81m / s 2 The initial flight angles of the attacking aircraft and the target aircraft are γ M (0) = -15° and γ T (0) = 0°, the maximum sight angle is set to σ Mmax =50°, the parameters are set as k1=183, k2=0.2, k3=100, a=20, the target aircraft has an unknown maneuver a T =1m / s 2 , Figure 4 This is a schematic diagram of the sight angle constraint of the attack aircraft according to an embodiment of the present invention. Figure 5 Schematic diagram of attack angles according to an embodiment of the present invention.
[0194] Embodiment 3
[0195] An embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the memory is used to store software programs and modules, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory and the processor are connected via a bus. Specifically, the processor implements any step in the first embodiment above by running the computer program stored in the memory.
[0196] It should be understood that in the embodiments of the present invention, the processor referred to may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.
[0197] The memory may include a read-only memory, a flash memory, and a random access memory, and provides instructions and data to the processor. A part or all of the memory may also include a nonvolatile random access memory.
[0198] It can be seen from the above that the electronic device provided in the embodiment of the present invention can implement the guidance method for the target aircraft with unknown maneuverability as described in Example 1 by running a computer program, thereby obtaining a new guidance method, which can enable the attacking aircraft to hit the maneuvering target, can enable the aircraft to hit the maneuvering target under the condition of satisfying the line of sight angle constraint of the navigation system, and can enable the aircraft to hit the maneuvering target at the desired attack angle, so as to achieve the maximum interception effect on the target aircraft.
[0199] It should be understood that if the above-mentioned integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The above-mentioned computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the above-mentioned computer program includes computer program code, and the above-mentioned computer program code can be in source code form, object code form, executable file or some intermediate form. The above-mentioned computer-readable medium may include: any entity or device capable of carrying the above-mentioned computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the above-mentioned computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.
[0200] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.
[0201] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the above-mentioned device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.
[0202] It should be noted that the methods and detailed examples provided in the above embodiments can be combined with the devices and equipment provided in the embodiments, and references can be made to each other, and no further details will be given.
[0203] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.
[0204] In the embodiments provided by the present invention, it should be understood that the disclosed apparatus / terminal equipment and method can be implemented in other ways. For example, the apparatus / equipment embodiments described above are only illustrative, for example, the division of the above modules or units is only a logical function division, and in actual implementation, other division methods can be used, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.
[0205] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.
Claims
1. A guidance method for a target aircraft with unknown maneuvers, characterized in that: The guidance method comprises the following steps: Step 1: Establish the motion models of the attacking aircraft and the target aircraft; Step 2: Based on the motion model in step 1, in order to meet the situation where the actual aircraft navigation system has line of sight angle constraints, the guidance problem, line of sight angle constraint and attack angle constraint problems are transformed into a mathematical model, and the range of parameters is analyzed and defined; Step 3: Based on the mathematical model defined in step 2, a method for estimating the sight angle of the target aircraft is designed, which enables the attacking aircraft to attack the target aircraft at an accurate desired attack angle; The step 3 specifically includes the following steps: Step 3.1: Define the attack vehicle The mathematical model of hitting the target aircraft at any time. The distance between the aircraft when hitting the target aircraft at any time and the relative velocity perpendicular to the line of sight for, ； in, The angle between the line connecting the attacking aircraft and the target aircraft and the horizontal reference line is the sight angle. and are the speeds of the attacking aircraft and the target aircraft, both are constant values, and are the flight path angles of the attacking aircraft and the target aircraft respectively, and define the attacking aircraft and the target aircraft ; Step 3.2: Based on the mathematical model in step 3.1, obtain the expected sight angle when the attacking aircraft hits the target aircraft , when the attack aircraft hits the target aircraft, the expected sight angle is The relationship should be satisfied as follows: ； Step 3.3: Based on the expected sight angle in step 3.2, a sight angle estimation method for the unknown maneuvering target aircraft is designed, which enables the attack aircraft to attack the target aircraft at an accurate expected attack angle; In order to enable the attacking aircraft to attack the target aircraft at an accurate expected attack angle, a method for estimating the sight angle of the target aircraft with unknown maneuvers is designed: ； Step 4: Based on the mathematical model defined in steps 2 and 3 and the method for estimating the expected attack angle, a guidance method based on sliding mode is designed under the condition of satisfying the line of sight angle constraint of the navigation system. This method can enable the attacking aircraft to attack the target aircraft at the expected attack angle when the maneuvering state of the target aircraft is unknown. The effectiveness of the proposed guidance method is verified by using Lyapunov theory.
2. A guidance method for a target aircraft with unknown maneuvers according to claim 1, characterized in that: The step 1 specifically includes defining the attack aircraft and the target aircraft The kinematic model of is: in, is the distance between the attacking aircraft and the target aircraft, is the relative speed between the attacking aircraft and the target aircraft along the line of sight, is the relative speed of the attacking aircraft and the target aircraft perpendicular to the line of sight, and are the sight angles of the attacking aircraft and the target aircraft, that is, the angle between the velocity vector and the sight line, and are the accelerations of the attacking and target aircraft, respectively, perpendicular to the velocity vector.
3. A guidance method for a target aircraft with unknown maneuvers according to claim 2, characterized in that: The step 2 is specifically as follows: Step 2.1: Based on the kinematic models of the attacking aircraft and the target aircraft, the speeds of the attacking aircraft and the target aircraft, and the acceleration magnitude of the target aircraft should satisfy the constraints; Step 2.2: Transform the guidance problem, line of sight constraint, and attack angle constraint problems into a mathematical model, and analyze and define the range of parameters.
4. A guidance method for a target aircraft with unknown maneuvers according to claim 1, characterized in that: The step 4 specifically comprises the following steps: Step 4.1: Establish a sliding surface based on the aircraft's sight angle and the desired attack angle; Step 4.2: Based on the sliding surface established in step 4.1, design a guidance law for the unknown maneuvering target so that the attacking aircraft can hit the unknown maneuvering target aircraft at the expected attack angle under the condition of satisfying the navigation line of sight angle constraint; Step 4.2: Based on the guidance law and sliding surface defined in steps 4.1 and 4.2, the effectiveness of the proposed guidance method is verified using Lyapunov theory.
5. A guidance system for a target aircraft with unknown maneuvers, characterized in that: The guidance system uses a guidance method for a target aircraft with unknown maneuverability as claimed in claim 1, and the guidance system includes a model building module, a model parameter definition module, a target aircraft sight angle estimation module and a sliding mode guidance module. The model building module is used to build the motion models of the attacking aircraft and the target aircraft; The parameter definition module of the model converts the guidance problem, the line of sight angle constraint and the attack angle constraint problem into a mathematical model, and analyzes and defines the range of the parameters in order to meet the situation that the actual aircraft navigation system has line of sight angle constraints; The target aircraft sight angle estimation module is used for the mathematical model of the model construction module to design a target aircraft sight angle estimation method, which enables the attacking aircraft to attack the target aircraft at a precise expected attack angle; The sliding mode guidance module is based on the mathematical model defined by the model parameter definition module and the expected attack angle estimation method of the target aircraft sight angle estimation module. Under the condition of satisfying the sight angle constraint of the navigation system, a sliding mode-based guidance method is designed, which can enable the attack aircraft to attack the target aircraft at the expected attack angle when the maneuvering state of the target aircraft is unknown. The effectiveness of the proposed guidance method is verified by Lyapunov theory. The working principle of the model building module is as follows: and the target aircraft The kinematic model of is: in, is the distance between the attacking aircraft and the target aircraft, The angle between the line connecting the attacking aircraft and the target aircraft and the horizontal reference line is the sight angle. and are the speeds of the attacking aircraft and the target aircraft, both are constant values, is the relative speed between the attacking aircraft and the target aircraft along the line of sight, is the relative speed of the attacking aircraft and the target aircraft perpendicular to the line of sight, and are the sight angles of the attacking aircraft and the target aircraft, that is, the angle between the velocity vector and the sight line, and are the flight path angles of the attacking aircraft and the target aircraft, and are the accelerations of the attacking and target aircraft, respectively, perpendicular to the velocity vector.
6. A guidance system for a target aircraft with unknown maneuvers according to claim 5, characterized in that: The working principle of the parameter definition module of the model is specifically as follows: Based on the kinematic models of the attacking aircraft and the target aircraft, the speeds of the attacking aircraft and the target aircraft, and the acceleration magnitude of the target aircraft should satisfy the constraints; The guidance problem, sight angle constraint and attack angle constraint problems are transformed into mathematical models, and the range of parameters is analyzed and defined.
7. A guidance system for a target aircraft with unknown maneuvers according to claim 6, characterized in that: The working principle of the target aircraft sight angle estimation module is as follows: Defining Attack Aircraft Mathematical model for hitting the target aircraft at all times; Based on the mathematical model, the expected sight angle when the attack aircraft hits the target aircraft is obtained ; Based on the expected sight angle, a sight angle estimation method for unknown maneuvering target aircraft is designed, which enables the attacking aircraft to attack the target aircraft with the accurate expected attack angle.
8. A guidance system for a target aircraft with unknown maneuvers according to claim 7, characterized in that: The working principle of the target aircraft sight angle estimation module is specifically as follows: Establish a sliding surface based on the aircraft's sight angle and the desired attack angle; Based on the established sliding surface, a guidance law for unknown maneuvering targets is designed, so that the attacking aircraft can hit the unknown maneuvering target aircraft at the expected attack angle under the condition of satisfying the navigation line of sight angle constraint. Based on the defined guidance law and sliding surface, the effectiveness of the proposed guidance method is verified using Lyapunov theory.
9. A computer device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method according to any one of claims 1 to 4 is implemented.