A multi-missile cooperative encirclement guidance method, device, medium and product considering detection field constraints

Abstract

The present invention discloses a multi-missile collaborative encirclement guidance method, device, medium, and product that considers detection field constraints, and relates to the fields of navigation, guidance, and control. The method includes: constructing a relative kinematic model between the missile and the target; calculating the remaining flight time of the missile based on the relative kinematic model; determining a cost function for the tracking error of the lead angle tracking guidance based on the maximum detection range of the missile seeker and the remaining flight time of the missile; determining a cost function for the lead angle restriction constraint based on the maximum detection range of the missile seeker; and determining a collaborative detection and encirclement guidance law based on the cost function of the tracking error of the lead angle tracking guidance and the cost function of the lead angle restriction constraint. The present invention overcomes the problem that existing collaborative guidance methods cannot display the design of collaborative detection angle configurations, and improves the multi-directional detection and interception effects of stealth targets.

Description

Technical Field

[0001] The present invention relates to the field of navigation, guidance and control, and in particular to a method, device, medium and product for cooperatively encircling and guiding multiple missiles taking into account detection field constraints. Background Art

[0002] With technological advancements, especially increased intelligence, aircraft such as fighter jets and missiles are increasingly capable of stealth and other maneuverable maneuvers. For example, the F-22 fighter and the B-21 stealth bomber have become the mainstays of future combat. Furthermore, the concept of smart missiles has been proposed, and their intelligent stealth and other mission modes also demonstrate their intelligent penetration capabilities. In addition to utilizing radar-absorbing materials, stealth fighters employ a more crucial integrated design approach, integrating wing and body fusion. This significantly reduces the radar cross-section (RCS) of the entire aircraft, making it increasingly difficult for radar seekers to detect it. In modern warfare, precise defense and interception of stealthy, maneuverable targets like the F-22 fighter and the B-21 stealth bomber have become crucial factors in determining success or failure. As the threat posed by these stealth aircraft grows, intercepting them becomes increasingly difficult, posing new challenges to interception strategies and modes.

[0003] Coordinated multi-missile interception is a key operational method for countering stealthy, maneuvering targets. This method utilizes multiple missiles for multi-directional coordinated detection, enabling several missiles to detect targets from locations with larger RCSs. Distributed information exchange significantly improves target detection capabilities. Simultaneously, coordinated guidance from different locations, similar to a wolf pack approach, enables effective interception of stealthy, maneuvering targets. This coordinated approach significantly reduces the performance requirements for individual missiles, significantly lowering the development costs of seekers and ground-based radar detection equipment, and enabling the effective interception of stealthy, maneuvering targets by multiple, low-cost missiles. Therefore, researching multi-missile coordinated encirclement and guidance methods that consider detection field constraints is a pressing challenge in current engineering.

[0004] The problem of cooperative guidance with detection field of view constraints is essentially based on research conducted under the constraints of a single missile seeker, primarily to ensure that the target remains within the seeker's field of view. Three main approaches exist for cooperative guidance with detection field of view constraints. The first method superimposes a bias term or a logical judgment term on the traditional cooperative guidance law to ensure that the missile's field of view angle always satisfies the constraints. The second method, based on the barrier Lyapunov method, constructs a detection and interception effectiveness cost function to solve an analytical system guidance law with detection constraints. The third method involves trajectory planning methods based on model prediction or online optimization. By applying the detection constraint as a hard constraint in the online optimization guidance problem, a numerical cooperative guidance law can be derived using a rolling optimization method. In summary, these approaches can only ensure that the target remains within the seeker's field of view. The detection angle constraint is a passive condition and cannot achieve cooperative interception of the target from a specific detection angle. Moreover, most existing approaches are targeted at stationary targets and cannot be applied to the cooperative capture and interception of stealthy maneuvering targets.

[0005] With the increasing threat posed by stealthy, maneuvering targets like the F-22 fighter and the B-21 stealth bomber, breakthroughs in multi-missile coordinated interception technology are urgently needed. In scenarios involving multiple missiles intercepting stealthy, maneuvering targets, multiple interceptors must coordinate detection and interception from different angles to achieve optimal interception effectiveness. However, the target's stealth (radar cross section (RCS)) is dependent on its flight characteristics and maneuvering pattern. Given the limited detection capability of each missile, determining the number of interceptor missiles and the appropriate interception configuration is a key and challenging issue. In nature, wolves employ coordinated hunting tactics when hunting large, maneuverable prey such as deer, forming a specific hunting formation that surrounds the target. This improves detection and capture effectiveness, preventing prey from suddenly escaping the wolves' field of view. Therefore, drawing on the hunting model of wolves, we developed a multi-missile coordinated hunting guidance method that takes into account detection field constraints, and through appropriate optimization methods, we online design and generate the desired detection field of view configuration based on the detection capability and interception position of each interceptor. This method is an effective approach for the coordinated interception of stealthy, maneuvering targets. Summary of the Invention

[0006] The purpose of the present invention is to provide a multi-missile collaborative encirclement guidance method, device, medium and product that takes into account the detection field of view constraints, overcomes the problem that the existing collaborative guidance method cannot display the designed collaborative detection angle configuration, and improves the multi-directional detection and interception effect of stealth targets.

[0007] To achieve the above objectives, the present invention provides the following solutions.

[0008] A multi-missile cooperative encirclement and guidance method considering detection field constraints includes: constructing a relative kinematic model between the missile and the target.

[0009] The remaining flight time of the missile is calculated according to the relative kinematic model.

[0010] A cost function of a tracking error of a lead angle tracking guidance system is determined according to a maximum detection range of a missile seeker and a remaining flight time of the missile.

[0011] According to the maximum detection range of the missile seeker, a cost function of the lead angle restriction constraint is determined.

[0012] The cooperative detection and encirclement guidance law is determined according to the cost function of the lead angle tracking guidance tracking error and the cost function of the lead angle restriction constraint.

[0013] Optionally, the relative kinematic model is:

[0014] Among them, λ i (t) represents the sight angle in the two-dimensional plane, θ M,i (t) represents the lead angle of missile i; θ T,i (t) represents the lead angle of the target; V T (t) is the speed of the target; V M,i (t) is the speed of missile i; r i (t) is the relative distance between missile i and the target; is the relative speed between missile i and target; is the line-of-sight angular velocity between missile i and the target.

[0015] Optionally, the remaining flight time of the missile is determined according to the ratio of the relative distance between the missile i and the target and the relative speed between the missile i and the target in the relative kinematic model.

[0016] Optionally, the cost function V of the lead angle tracking guidance tracking error is L,i (t) is:

[0017] Among them, k1 is a parameter; θ M,i (t) represents the lead angle of missile i; θ i,d is the expected lead angle; x is the symbol of the integral independent variable with respect to time t; t go,i (t) is the remaining flight time of the missile.

[0018] Optionally, the cost function V of the lead angle constraint is F,i (t) is:

[0019] Among them, k2 is a parameter; θ M,i (t) represents the lead angle of missile i; θi,d is the desired lead angle; x is the symbol of the integral independent variable with respect to time t; θ max is the maximum detection field of view.

[0020] Optionally, a collaborative detection and encirclement guidance law is determined based on the cost function of the lead angle tracking guidance tracking error and the cost function of the lead angle restriction constraint, specifically including: when the remaining flight time of the missile is greater than a first preset time, the cost function of the lead angle tracking guidance tracking error and the cost function of the lead angle restriction constraint are summed and then differentiated with respect to time to obtain a multi-missile collaborative encirclement guidance law that considers the detection time constraint, and the multi-missile collaborative encirclement guidance law that considers the detection time constraint is used as the collaborative detection and encirclement guidance law.

[0021] When the remaining flight time of the missile is less than or equal to a second preset time, the proportional guidance law is used as the cooperative detection and encirclement guidance law.

[0022] When the remaining flight time of the missile is less than or equal to the first preset time and greater than the second preset time, the sine function is used as the cooperative detection and encirclement guidance law.

[0023] Optionally, the collaborative detection and encirclement guidance law is:

[0024] Among them, a M,i (t) is the cooperative detection and capture guidance law; a M,i,1 (t) is the multi-missile cooperative capture guidance law considering the detection time constraint; a M,i,2 (t) is a sine function; a M,i,3 (t) is the proportional guidance law; V M,i (t) is the speed of missile i; is the line-of-sight angular velocity between missile i and target; θ M,i (t) represents the lead angle of missile i; θ i,d is the desired lead angle; θ max is the maximum detection field of view; k1, k2 and N are parameters; T0 is the first preset time; T0-T g is the second preset time; T g is the guidance rate handover time; t go,i (t) is the remaining flight time of the missile.

[0025] A computer device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any of the steps of the multi-missile cooperative encirclement and guidance method considering detection field of view constraints as described above.

[0026] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of any of the above-mentioned methods for cooperatively encircling and guiding multiple missiles taking into account detection field constraints.

[0027] A computer program product includes a computer program, which, when executed by a processor, implements the steps of any of the above-mentioned methods for cooperatively encircling and guiding multiple missiles taking into account detection field constraints.

[0028] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects: 1. The present invention uses a suitable optimization method to online design and generate the desired detection field of view configuration based on the detection capability and interception position of each interceptor missile, thereby improving the detection effect of the target.

[0029] 2. The present invention constructs an additional lead angle restricted constraint cost function, and introduces its negative gradient term into the cooperative guidance law to ensure that the target is always within the seeker during the cooperative interception process.

[0030] 3. The present invention has good feasibility by providing an analytical form of a multi-missile cooperative encirclement and guidance method taking into account the detection field of view constraint. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 A schematic flow chart of a multi-missile collaborative encirclement and guidance method considering detection field constraints provided in Example 1 of the present invention.

[0033] Figure 2 Schematic diagram of multi-missile coordinated encirclement guidance considering detection field of view constraints.

[0034] Figure 3 Schematic diagram of the actual trajectory of multi-missile coordinated encirclement and guidance considering detection field of view constraints.

[0035] Figure 4 Schematic diagram of missile and target overload.

[0036] Figure 5 Schematic diagram of the missile's expected lead angle, maximum lead angle, and actual lead angle.

[0037] Figure 6 This is a diagram of the internal structure of a computer device. DETAILED DESCRIPTION

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0039] The purpose of the present invention is to provide a multi-missile collaborative encirclement guidance method, device, medium and product that takes into account the detection field of view constraints, overcomes the problem that the existing collaborative guidance method cannot display the designed collaborative detection angle configuration, and improves the multi-directional detection and interception effect of stealth targets.

[0040] The present invention is used for the coordinated guidance of air defense and anti-missile missiles.

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] Example 1: Figure 1 As shown, the multi-missile cooperative encirclement and guidance method considering detection field constraints in this embodiment includes steps S1 to S5.

[0043] Step S1: Construct the relative kinematic model between the missile and the target.

[0044] Step S2: Calculate the remaining flight time of the missile according to the relative kinematics model.

[0045] Step S3: Determine the cost function of the tracking error of the lead angle tracking guidance according to the maximum detection range of the missile seeker and the remaining flight time of the missile.

[0046] Step S4: determining a cost function of the lead angle restriction constraint according to the maximum detection range of the missile seeker.

[0047] Step S5: Determine the cooperative detection and encirclement guidance law according to the cost function of the lead angle tracking guidance tracking error and the cost function of the lead angle restriction constraint.

[0048] Specifically, based on the cost function of the lead angle tracking guidance tracking error and the cost function of the lead angle limited constraint, a collaborative detection and encirclement guidance law is determined, specifically including: when the remaining flight time of the missile is greater than a first preset time, the cost function of the lead angle tracking guidance tracking error and the cost function of the lead angle limited constraint are summed and then differentiated with respect to time to obtain a multi-missile collaborative encirclement guidance law that considers the detection time constraint, and the multi-missile collaborative encirclement guidance law that considers the detection time constraint is used as the collaborative detection and encirclement guidance law.

[0049] When the remaining flight time of the missile is less than or equal to a second preset time, the proportional guidance law is used as the cooperative detection and encirclement guidance law.

[0050] When the remaining flight time of the missile is less than or equal to the first preset time and greater than the second preset time, the sine function is used as the cooperative detection and encirclement guidance law.

[0051] Furthermore, the collaborative detection and capture guidance law is:

[0052]

[0053] Among them, a M,i (t) is the cooperative detection and capture guidance law; a M,i,1 (t) is the multi-missile cooperative capture guidance law considering the detection time constraint; a M,i,2 (t) is a sine function; a M,i,3 (t) is the proportional guidance law; V M,i (t) is the speed of missile i; is the line-of-sight angular velocity between missile i and target; θ M,i (t) represents the lead angle of missile i; θ i,d is the desired lead angle; θ max is the maximum detection field of view; k1, k2 and N are parameters; T0 is the first preset time; T0-T g is the second preset time; T g is the guidance rate handover time; t go,i (t) is the remaining flight time of the missile.

[0054] In practical applications, the specific implementation process of the multi-missile cooperative encirclement and guidance method considering detection field constraints provided by the present invention includes steps one to nine.

[0055] Step 1: Establish a relative kinematic model between the missile and the target to generate actual motion state information.

[0056] In the inertial coordinate system in a two-dimensional plane, the kinematic model can be described as:

[0057] The speed control loop of aircraft i is:

[0058] Among them, (x i (t),y i (t)) is the coordinate of missile i, (x T (t),y T (t)) is the coordinate of the target, γ M,i (t) and γ T (t) are the velocity direction angles of missile i and target, V M,i (t) is the velocity of missile i; V T (t) is the speed of the target; a M,i (t) is the cooperative detection and capture guidance law of aircraft i, a n,T (t) is the acceleration of the target perpendicular to the velocity direction; is the corresponding x i (t),y i (t),x T (t),y T (t) derivative with respect to time t; γ M,i (t) derivative with respect to time t; γ T (t) The derivative of time t.

[0059] In the line-of-sight coordinate system in the two-dimensional plane, the kinematic model is obtained:

[0060] Among them, λ i (t) represents the sight angle in the two-dimensional plane, θ M,i (t), θ T,i (t) represents the lead angle of the aircraft i and the target respectively. This invention studies the strapdown seeker. In practical application scenarios, if the change of the angle of attack is not considered, the lead angle can be considered to be approximately equal to the deviation angle of the target's field of view center in the seeker. i (t) is the relative distance between missile i and the target; is the relative speed between missile i and target; is the line-of-sight angular velocity between missile i and the target.

[0061] Step 2: According to the actual capability of the seeker, the maximum detection field of view θ is given max .

[0062] For a strapdown seeker, the seeker generally has a maximum detection range, so the maximum detection field of view θ of a given seeker is max , that is, the following constraints need to hold: -θ max ≤θi (t)≤θ max (4) and -θ max ≤θ i (0)≤θ max (5).

[0063] Step 3: For each mission scenario, give the expected lead angle θ for each missile i i,d , and at the same time determine the number of missiles needed to intercept the target T, i = 1, 2, ... (in actual circumstances, generally 2 to 3 missiles can meet the requirements).

[0064] Let T represent the position of the target at the current time t. Considering that the target will perform maneuvers to penetrate the interceptor missile during its forward flight, or that the ground detection equipment has errors in the target detection trajectory, the trajectory of the target in the subsequent flight will present an uncertain envelope, that is, the arc segment T u T c T d , where T c is the position of the target T when it flies forward without maneuvering, T u is the position of the target's upward continuous maneuver (and the maximum detection error in this direction), T d The position where the target continues to maneuver downward (and the maximum detection error in that direction).

[0065] M u and M d are the positions of the two boundaries that all missiles can detect; M c，ik is the detection cone of the i-th missile and the k-th missile ( Figure 2 The intersection of the gray triangles in c，jk is the detection cone of the j-th missile and the k-th missile ( Figure 2 Multiple missiles are guided at a specific lead angle. In order to ensure that the field of view of multiple missiles can simultaneously cover the target escape area during the shift, that is, the arc segment T u T c T d Requires M u M c，ik M c,jk M d Therefore, it is necessary to design the appropriate number of missiles and the desired lead angle of each missile. Given the maximum detection range of the seeker ψ max , and the maximum detection distance R that meets the detection accuracy max The maximum range of the interceptor missile lead angle is -θ max ≤θ i (t)≤θ max The following algorithm is given.

[0066] (1) First, let the number of missiles i = 1. If the arc segment M under this condition u M d Able to cover the target escape arc T u T c T d , then only one missile is needed in the group to conduct coordinated detection and interception of the target. u M d Cannot cover Can cover target escape arc T u T c T d , then it is necessary to increase the number of missiles to coordinate detection and interception of the target.

[0067] (2) Let the number of missiles i = 2. When the detection range of all missiles can cover the target, set the lead angle of the two missiles in a limited range θ1(t)∈[-θ max ,-θ max +1°,-θ max +2°,…,θ max ] and θ2(t)∈[-θ max ,-θ max +1°,-θ max +2°,…,θ max ], if we can find the appropriate θ1(t) and θ2(t) so that M u M c M d Coverage can cover the target escape arc T u T c T d , then only one missile is needed in the group to conduct cooperative detection and interception of the target. If we cannot find θ1(t) and θ2(t) such that arc segment M u M c M d Coverage can cover the target escape arc T u T c T d , then it is necessary to increase the number of missiles to three to carry out coordinated detection and interception of the target.

[0068] (3) Let the number of missiles i = 3. When the detection range of all missiles can cover the target, set the leading angles of the three missiles in a limited range θ1(t)∈[-θ max ,-θ max +1°,-θ max +2°,…,θ max ],θ2(t)∈[-θ max ,-θ max +1°,-θ max +2°,…,θ max] and θ3(t)∈[-θ max ,-θ max +1°,-θ max +2°,…,θ max ], if we can find suitable θ1(t), θ2(t) and θ3(t) so that M u M c12 M c23 M d Coverage can cover the target escape arc T u T c T d , then only one missile is needed in the group to conduct cooperative detection and interception of the target. If we cannot find θ1(t), θ2(t) and θ3(t) so that arc segment M u M c12 M c23 M d Coverage can cover the target escape arc T u T c T d , then it is necessary to increase the number of missiles to 4 to carry out coordinated detection and interception of the target.

[0069] (4) Let the number of missiles i ≥ 4, and repeat the above steps until the appropriate number of missiles and the desired lead angle of each missile are designed. In practical applications, according to the target escape capability, the target trajectory detection error of the ground detection equipment and the maximum detection range of the seeker ψ max Generally, 2-3 missiles can realize the coordinated detection and handover of the target, such as Figure 2-Figure 5 shown. Figure 3 A simulation result is given, which is a scenario where two missiles cooperate to detect and intercept the target. Figure 5 Schematic diagram of the missile's expected lead angle, maximum lead angle, and actual lead angle.

[0070] Step 4: Calculate the remaining flight time t of each missile based on the current state go,i (t).

[0071] Based on the relative distance r obtained in step 1 i (t) and relative speed Then the remaining flight time between the missile and the target can be approximately obtained as:

[0072] where t go,i (t)=0 means the missile hits the target. go,i (t) = 0, the guidance mission is completed after the missile hits the target; the present invention mainly considers t go,i (t)>0.

[0073] Step 5: Establish the cost function of the tracking error of the lead angle tracking guidance and take its derivative.

[0074] The cost function of the tracking error of the lead angle tracking guidance is as follows:

[0075] Among them, k1 is a parameter; θ M,i (t) represents the lead angle of missile i; θ i,d is the expected lead angle; x is the symbol of the integral independent variable with respect to time t; t go,i (t) is the remaining flight time of the missile.

[0076] Since in step 4, t go,i (t)>0, then: V L,i (t)>0(8).

[0077] V L,i (t) Taking the derivative with respect to time t gives:

[0078] Since θ M,i (t) = λ i (t)-γ M,i (t)(10).

[0079] Taking its derivative we can get:

[0080] Then, by substituting formula (2) into the equation, we can obtain:

[0081] So we have:

[0082] Step 6: Establish the cost function of the lead angle constraint and derive it.

[0083]

[0084] Since in step 2, -θ max ≤θ i (0)≤θ max , then: V F,i (t)>0(15).

[0085] V F,i (t) Taking the derivative with respect to time t, we can obtain formulas (16) and (17).

[0086]

[0087]

[0088] The purpose is to make the target not exceed the missile's field of view. The simulation results can be as follows: Figure 3 shown.

[0089] Step 7: Combining steps 5 and 6, we can get the total cost function V under the constraints of lead angle and tracking error. i (t) = V L,i (t)+V F,i (t), and taking the derivative we can get formula (18).

[0090]

[0091] Step 8: Design the acceleration control input and obtain the explicit expression of the multi-missile cooperative capture guidance law considering the detection field constraint. Can be designed The expected convergence form is shown in formula (19).

[0092]

[0093] Therefore, by solving (18) and (19) together, we can obtain a desired overload form as shown in formula (20).

[0094]

[0095] Step 9: Design a transition function to avoid large missile overload when approaching the target.

[0096] The coordinated encirclement guidance law obtained in step eight is prone to generating significant overload when approaching the target. Therefore, it is typically switched to other conventional guidance laws, such as proportional guidance laws, as the missile approaches the target. The design method is described below.

[0097] In t go,i When (t) ≥ T0, it means that the missile and the target are about to intersect with each other within T0 time. At this time, the collaborative guidance law is designed as the guidance law in step eight, as shown in formula (21).

[0098]

[0099] In t go,i (t)≤T0-T g When the missile is still T0-T away from the target g Time is about to intersect, where 0<T g <T0 is a relatively short smooth transition time. During this period, the desired guidance law is proportional guidance law:

[0100] In T0-T g ≤t go,iWhen (t)≤T0, that is, during the transition time, in order to prevent the switching process between the two guidance laws from jumping, it is necessary to design a smooth transition connection curve. A sinusoidal connection curve is designed as shown in formula (23).

[0101]

[0102] Therefore, the cooperative detection and capture guidance law can be designed as shown in formula (24).

[0103]

[0104] The simulation results can be shown as Figure 4 shown.

[0105] Step 10: Iteratively optimize parameters k1, k2 and N so that the actual overload instruction does not exceed the limit.

[0106] (1) When t go,i When (t)>T0, the parameters k1 and k2 play the main role in the overload instruction. At a certain time t, if |a M,i (t)|≥a max (a max is the maximum available overload), then it is necessary to determine the guidance law terms corresponding to k1 and k2 and size.

[0107] if At this time, we need to reduce k1 so that at this moment t |a M,i (t)|≤a max .

[0108] if Then it is necessary to reduce k2 so that at this moment t|a M,i (t)|≤a max .

[0109] (2) When t go,i When (t)≤T0, the parameter N plays the main role in the overload instruction. At a certain time t, if |a M,i (t)|≥a max , then we need to reduce N so that |a M,i (t)|≤a max The simulation results can be shown as Figure 4 shown.

[0110] Embodiment 2: A computer device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the multi-missile collaborative encirclement and guidance method considering detection field of view constraints in embodiment 1.

[0111] Example 3: A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the multi-missile collaborative encirclement and guidance method considering detection field constraints in Example 1.

[0112] Embodiment 4: A computer program product includes a computer program, which, when executed by a processor, implements the steps of the multi-missile collaborative encirclement and guidance method considering detection field constraints in embodiment 1.

[0113] Example 5: A computer device, which may be a database, and its internal structure diagram may be as follows Figure 6 As shown. The computer device includes a processor, a memory, an input / output interface (I / O) and a communication interface. The processor, memory and I / O interface are connected via a system bus, and the communication interface is connected to the system bus via the I / O interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device is used to store pending transactions. The I / O interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, the multi-missile cooperative encirclement and guidance method considering detection field of view constraints in Example 1 is implemented.

[0114] It should be noted that the object information (including but not limited to object device information, object personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the present invention are all information and data authorized by the object or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions.

[0115] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided by the present invention can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided by the present invention may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in each embodiment provided by the present invention may be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, etc., but are not limited to these.

[0116] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0117] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A multi-missile cooperative encirclement and guidance method considering detection field constraints, characterized in that: The method comprises: Construct the relative kinematic model between missile and target; Calculating the remaining flight time of the missile according to the relative kinematic model; determining a cost function of a tracking error of a lead angle tracking guidance system based on a maximum detection range of a missile seeker and a remaining flight time of the missile; determining a cost function for a lead angle restriction constraint based on a maximum detection range of the missile seeker; Determining a cooperative detection and encirclement guidance law according to a cost function of the lead angle tracking guidance tracking error and a cost function of the lead angle restriction constraint; Determining a cooperative detection and encirclement guidance law based on the cost function of the lead angle tracking guidance error and the cost function of the lead angle restriction constraint specifically includes: When the remaining flight time of the missile is greater than a first preset time, a cost function of the lead angle tracking guidance error and a cost function of the lead angle restriction constraint are summed and then differentiated with respect to time to obtain a multi-missile cooperative encirclement guidance law considering the detection time constraint, and the multi-missile cooperative encirclement guidance law considering the detection time constraint is used as the cooperative detection and encirclement guidance law; When the remaining flight time of the missile is less than or equal to a second preset time, the proportional guidance law is used as the cooperative detection and encirclement guidance law; When the remaining flight time of the missile is less than or equal to the first preset time and greater than the second preset time, a sine function is used as the cooperative detection and encirclement guidance law; The cooperative detection and capture guidance law is: Among them, a M,i (t) is the cooperative detection and capture guidance law; a M,i,1 (t) is the multi-missile cooperative capture guidance law considering the detection time constraint; a M,i,2 (t) is a sine function; a M,i,3 (t) is the proportional guidance law; V M,i (t) is the speed of missile i; is the line-of-sight angular velocity between missile i and target; θ M,i (t) represents the lead angle of missile i; θ i,d is the desired lead angle; θ max is the maximum detection field of view; k1, k2 and N are parameters; T0 is the first preset time; T0-T g is the second preset time; T g is the guidance rate handover time; t go,i (t) is the remaining flight time of the missile.

2. The multi-missile cooperative encirclement and guidance method considering detection field constraints according to claim 1 is characterized in that: The relative kinematic model is: Among them, λ i (t) represents the sight angle in the two-dimensional plane, θ M,i (t) represents the lead angle of missile i; θ T,i (t) represents the lead angle of the target; V T (t) is the speed of the target; V M,i (t) is the speed of missile i; r i (t) is the relative distance between missile i and the target; is the relative speed between missile i and target; is the line-of-sight angular velocity between missile i and the target.

3. The multi-missile cooperative encirclement and guidance method considering detection field constraints according to claim 1 is characterized in that: The remaining flight time of the missile is determined according to the ratio of the relative distance between the missile i and the target and the relative speed between the missile i and the target in the relative kinematics model.

4. The multi-missile cooperative encirclement and guidance method considering detection field constraints according to claim 1 is characterized in that: The cost function V of the tracking error of the lead angle tracking guidance L,i (t) is: Among them, k1 is a parameter; θ M,i (t) represents the lead angle of missile i; θ i,d is the expected lead angle; x is the symbol of the integral independent variable with respect to time t; t go,i (t) is the remaining flight time of the missile.

5. The multi-missile cooperative encirclement and guidance method considering detection field constraints according to claim 1 is characterized in that: The cost function V of the lead angle constraint is F,i (t) is: Among them, k2 is a parameter; θ M,i (t) represents the lead angle of missile i; θ i,d is the desired lead angle; x is the symbol of the integral independent variable with respect to time t; θ max is the maximum detection field of view.

6. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the steps of the multi-missile collaborative encirclement and guidance method considering detection field constraints as described in any one of claims 1-5.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the multi-missile cooperative encirclement and guidance method considering detection field constraints as described in any one of claims 1 to 5 are implemented.

8. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the multi-missile cooperative encirclement and guidance method considering detection field constraints as described in any one of claims 1 to 5 are implemented.

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