A batch arrival control method for aircraft based on HK model

Abstract

The invention discloses a method for controlling the arrival of aircraft in batches based on the HK model, comprising the following steps: step one, calculating the remaining flight time of the aircraft; step two, determining a set of aircraft neighbors; step three, calculating a consensus approach speed; step four, generating a guidance control instruction; step five, converting the guidance instruction to an aircraft system; step six, guiding and controlling and updating a state; the invention is improved on the basis of the existing proportional guidance law, and establishes communication between the aircraft and aircraft with similar remaining flight time by calculating the remaining flight time of the aircraft without establishing a communication topology in advance, and obtains an actual error value by subtracting the normalized aircraft-target distance between the current aircraft and the neighboring aircraft from the normalized aircraft-target relative speed, and adding the actual error value to the existing proportional guidance law, thereby realizing the coordinated attack of the aircraft on the stationary target in batches in the three-dimensional coordinate system, and improving the penetration capability and damage effect of the firepower equipment on the high defense facilities at the attack end.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft guidance and control, and in particular to an aircraft batch arrival control method based on a HK model. Background Art

[0002] In modern warfare, aircraft, as a representative of precision strike equipment, plays a vital role in complex combat environments. However, with the increasing complexity of the combat environment, the increased mobility of targets, and the increasing strength of defense facilities, it has become increasingly difficult for a single aircraft to deal with high-speed, highly maneuverable targets or solid defense targets alone. To this end, the aircraft not only needs to improve its guidance accuracy, but also has the ability to cooperate with other aircraft. Therefore, a batch arrival control method for aircraft based on the HK model is proposed. Summary of the invention

[0003] The purpose of the present invention is to provide an aircraft batch arrival control method based on the HK model to solve the problems raised in the above background technology.

[0004] To achieve the above object, the present invention provides the following technical solution: a method for controlling the arrival of aircraft in batches based on the HK model, comprising the following steps: step 1, calculating the remaining flight time of the aircraft; step 2, determining the set of aircraft neighbors; step 3, calculating the consensus approach speed; step 4, generating guidance control instructions; step 5, converting the guidance instructions to the aircraft system; step 6, guiding control and updating the state;

[0005] In the above step 1, the remaining flight time of each aircraft is calculated based on the relative position information of the aircraft and the target;

[0006] In the above step 2, based on the HK model, the neighbor set of each aircraft is determined according to a preset confidence radius;

[0007] In the above step 3, the consensus approach speed is calculated using the normalized aircraft and target distances between the neighbor and itself and the normalized aircraft and target relative speeds;

[0008] In the above step 4, according to the consensus approach speed obtained in step 3, the guidance control instructions under the reference inertial system are generated in the longitudinal y-axis and the lateral z-axis respectively in combination with the proportional guidance law;

[0009] In the above step 5, the guidance command in the reference inertial system obtained in step 4 is converted to the aircraft system;

[0010] In the above step six, the aircraft generates overload and updates the status according to the guidance control instruction converted in step five.

[0011] Preferably, in step 1, the expression for the remaining flight time of the aircraft is as follows:

[0012]

[0013] In the formula, r i represents the distance between the i-th aircraft and the target, Represents r i Differentiation with respect to time.

[0014] Preferably, in step one, the relative position information of the aircraft and the target includes: the starting speed and launch angle of each aircraft, the distance between each aircraft and the target and the reciprocal, and the line of sight inclination angle and line of sight deflection angle and the reciprocal between each aircraft and the target.

[0015] Preferably, in step 2, specifically: at time t k When and only when the remaining flight time of aircraft j is is within the confidence radius of aircraft i, that is, When aircraft j is the neighbor of aircraft i, that is, j∈N i (t k ).

[0016] Preferably, in step 3, the expression for normalizing the distance between the aircraft and the target is as follows:

[0017]

[0018] In the formula, v i Indicates the speed of the i-th aircraft;

[0019] The expression of the normalized relative velocity between the aircraft and the target is as follows:

[0020]

[0021] The consensus approach speed expression is as follows:

[0022]

[0023] In the formula, h 1 and h 2 are controller parameters and are all positive.

[0024] Preferably, in step 4, the longitudinal y-axis guidance instruction expression is as follows:

[0025]

[0026] Where K represents the longitudinal effective navigation ratio in the proportional guidance law, represents the inverse of the line of sight angle of aircraft i relative to the target over time, qεi It represents the line of sight inclination of aircraft i relative to the target.

[0027] Preferably, in step 4, the lateral z-axis guidance instruction expression is as follows:

[0028]

[0029] Where N is the lateral effective navigation ratio in the proportional guidance law, represents the inverse of the line of sight angle of aircraft i relative to the target over time, q βi Indicates the line of sight angle of aircraft i relative to the target.

[0030] Preferably, in step 5, the guidance instruction conversion specifically comprises the following steps:

[0031] Step 5.1, extract the line of sight inclination angle q of aircraft i εi and the line of sight deflection angle q βi , and the pitch angle θ i and the yaw angle ψ i ;

[0032] Step 5.2, calculate the transformation matrix C from the reference inertial coordinate system to the body coordinate system 1i

[0033]

[0034] Step 5.3, calculate the transformation matrix C from the reference inertial system to the line of sight coordinate system 2i

[0035]

[0036] Step 5.4, calculate the total transformation matrix C i , and according to the overload instruction of the body's x-axis direction being zero, the overload instructions of the body's longitudinal y-axis and lateral z-axis are obtained by reverse solution;

[0037] The total transformation matrix C i The expression is as follows:

[0038]

[0039] Machine system longitudinal y-axis control rate The expression is as follows:

[0040]

[0041] In the formula, g represents the magnitude of gravitational acceleration, which is generally taken as 9.8m / s 2 , which is used to compensate for the gravity component;

[0042] Machine system lateral z-axis control rate The expression is as follows:

[0043]

[0044] Preferably, in step 6, the equation of motion of the aircraft is expressed as follows:

[0045]

[0046] Where Nx i ,Ny i and Nz i They represent the overload of aircraft i in the x-axis, y-axis and z-axis directions respectively.

[0047] Preferably, in step six, the expression for generating overload according to the guidance control instruction is as follows:

[0048]

[0049] In the formula, sat(·) represents the saturation function, and the specific expression is:

[0050]

[0051] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention improves on the existing proportional guidance law, and establishes communication between the aircraft and aircraft with similar remaining flight time by calculating the remaining flight time of the aircraft without establishing a communication topology in advance. The actual error value is obtained by subtracting the normalized aircraft-target distance between the current aircraft and the neighboring aircraft from the normalized aircraft-target relative speed, and added to the existing proportional guidance law, thereby achieving self-organized coordinated strikes on stationary targets in batches by aircraft in a three-dimensional coordinate system, thereby improving the penetration capability and destructive effect of firepower equipment on high-defense facilities at the attack end. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 is a flow chart of the method of the present invention;

[0053] Figure 2 It is a schematic diagram of parameters between the aircraft and the target;

[0054] Figure 3 It is the trajectory diagram of multiple aircrafts in batches;

[0055] Figure 4 The change of the distance between aircraft and target over time for the guidance law of multiple aircraft in batches;

[0056] Figure 5 Predict the remaining flight time over time for the guidance law of multiple aircraft in batches;

[0057] Figure 6 It is the ballistic trajectory diagram of the aircraft with proportional guidance law;

[0058] Figure 7 The distance between the aircraft and the target changes with time for the proportional guidance law;

[0059] Figure 8 Predict the remaining flight time as a function of time for the proportional guidance law. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0061] See also Figure 1-8 , an embodiment provided by the present invention: a method for controlling the arrival of aircraft in batches based on the HK model, comprising the following steps: step 1, calculating the remaining flight time of the aircraft; step 2, determining the set of aircraft neighbors; step 3, calculating the consensus approach speed; step 4, generating guidance control instructions; step 5, converting the guidance instructions to the aircraft system; step 6, guiding control and updating the state;

[0062] In the above step 1, the remaining flight time of each aircraft is calculated according to the relative position information of the aircraft and the target; wherein the relative position information of the aircraft and the target includes: the starting speed and launch angle of each aircraft, the distance between each aircraft and the target and the reciprocal, the line of sight inclination angle and line of sight deflection angle and the reciprocal between each aircraft and the target; the expression of the remaining flight time of the aircraft is as follows:

[0063]

[0064] In the formula, r i represents the distance between the i-th aircraft and the target, Represents r i Differentiation of time;

[0065] In the above step 2, based on the HK model, the neighbor set of each aircraft is determined according to the preset confidence radius, specifically: at time t k When and only when the remaining flight time of aircraft j is is within the confidence radius of aircraft i, that is, When aircraft j is the neighbor of aircraft i, that is, j∈N i (t k );

[0066] In the above step 3, the consensus approach speed is calculated using the normalized aircraft and target distance between the neighbor and itself and the normalized aircraft and target relative speed. The expression of the normalized aircraft and target distance is as follows:

[0067]

[0068] In the formula, v i Indicates the speed of the i-th aircraft;

[0069] The expression of the normalized relative velocity between the aircraft and the target is as follows:

[0070]

[0071] The consensus approach speed expression is as follows:

[0072]

[0073] In the formula, h 1 and h 2 are all controller parameters and are positive values;

[0074] In the above step 4, according to the consensus approach speed obtained in step 3, combined with the proportional guidance law, guidance control instructions under the reference inertial system are generated in the longitudinal y-axis and lateral z-axis respectively. The longitudinal y-axis guidance instruction expression is as follows:

[0075]

[0076] Where K represents the longitudinal effective navigation ratio in the proportional guidance law, represents the inverse of the line of sight angle of aircraft i relative to the target over time, q εi represents the line of sight inclination of aircraft i relative to the target;

[0077] The lateral z-axis guidance command expression is as follows:

[0078]

[0079] Where N is the lateral effective navigation ratio in the proportional guidance law, represents the inverse of the line of sight angle of aircraft i relative to the target over time, q βi Indicates the line of sight angle of aircraft i relative to the target;

[0080] In the above step 5, the guidance command in the reference inertial system obtained in step 4 is converted to the aircraft system. The guidance command conversion specifically includes the following steps:

[0081] Step 5.1, extract the line of sight inclination angle q of aircraft i εi and the line of sight deflection angle q βi, and the pitch angle θ i and the yaw angle ψ i ;

[0082] Step 5.2, calculate the transformation matrix C from the reference inertial coordinate system to the body coordinate system 1i

[0083]

[0084] Step 5.3, calculate the transformation matrix C from the reference inertial system to the line of sight coordinate system 2i

[0085]

[0086] Step 5.4, calculate the total transformation matrix C i , and according to the overload instruction of the body's x-axis direction being zero, the overload instructions of the body's longitudinal y-axis and lateral z-axis are obtained by reverse solution;

[0087] The total transformation matrix C i The expression is as follows:

[0088]

[0089] Machine system longitudinal y-axis control rate The expression is as follows:

[0090]

[0091] In the formula, g represents the magnitude of gravitational acceleration, which is generally taken as 9.8m / s 2 , which is used to compensate for the gravity component;

[0092] Machine system lateral z-axis control rate The expression is as follows:

[0093]

[0094] In the above step 6, the aircraft generates overload and updates the state according to the guidance control command converted in step 5. The motion equation of the aircraft is expressed as follows:

[0095]

[0096] Where Nx i ,Ny i and Nz i Represent the overload of aircraft i in the x-axis, y-axis and z-axis directions respectively;

[0097] The expression for generating overload according to guidance control instructions is as follows:

[0098]

[0099] In the formula, sat(·) represents the saturation function, and the specific expression is:

[0100]

[0101] Experimental Example: A simulation experiment is conducted using the method provided in the above embodiment to verify the effectiveness of the present invention. The initial bullet group parameters and the target point position are defined as shown in the following table. The constant is defined as follows: gravitational acceleration g = 9.8 m / s 2 , total simulation time T simu =200s, simulation step length Δt=0.01s, longitudinal effective navigation ratio K=3, lateral effective navigation ratio N=3; the time update expression of the control algorithm is as follows:

[0102] t k+1 =t k +Δt

[0103]

[0104] Where Δt represents the simulation step length, T simu represents the total simulation time;

[0105] Definition parameters: Controller parameter h 1 =4,h 2 =12, confidence interval ε=4, simulation results are as follows Figure 3-5 As shown; define parameters: controller parameter h 1 =0,h 2 =0, confidence interval ε=0, simulation results are as follows Figure 6-8 shown; contrast Figure 5 and Figure 7 It can be concluded that aircraft numbers Agent2 and Agent5 form the first batch, aircraft number Agent4 alone forms the second batch, and aircraft numbers Agent1, Agent3, and Agent6 form the third batch, which proves the effectiveness of the present invention.

[0106]

[0107]

[0108] Based on the above, the advantage of the present invention is that when the present invention is used, the current time t is determined by using the HK (Hegselmann-Krause) model based on the prediction of the remaining flight time around the aircraft and target coordinate system and the body coordinate system. k The neighbor j of aircraft i is the average remaining flight time of the neighbor The remaining flight time of the aircraft i The missiles are split and normalized, and finally combined with the proportional guidance law to obtain the designed multi-aircraft batch collaborative guidance law, so that the missile group can attack the same target in batches. This method does not require the prior assumption of the communication topology structure, and the controller is simple and clear with fewer parameters, which can achieve efficient strikes on solid and difficult-to-penetrate targets.

[0109] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A method for controlling the arrival of aircraft in batches based on the HK model, comprising the following steps: Step 1: calculate the remaining flight time of the aircraft; Step 2: determine the set of aircraft neighbors; Step 3: calculate the consensus approach speed; Step 4: generate guidance and control instructions; Step 5: convert the guidance and control instructions to the aircraft system; Step 6: guide control and update the status; It is characterized by: In the above step 1, the remaining flight time of each aircraft is calculated based on the relative position information of the aircraft and the target; In the above step 2, based on the HK model, the neighbor set of each aircraft is determined according to a preset confidence radius; In the above step 3, the consensus approach speed is calculated using the normalized aircraft and target distances between the neighbor and itself and the normalized aircraft and target relative speeds; In the above step 4, according to the consensus approach speed obtained in step 3, the guidance control instructions under the reference inertial system are generated in the longitudinal y-axis and the lateral z-axis respectively in combination with the proportional guidance law; In the above step 5, the guidance control command in the reference inertial system obtained in step 4 is converted to the aircraft system; In the above step 6, the aircraft generates an overload and updates the state according to the guidance control command converted in step 5; In step 3, the expression for normalizing the distance between the aircraft and the target is as follows: In the formula, v i represents the speed of the i-th aircraft; r i represents the distance between the i-th aircraft and the target; The expression of the normalized relative velocity between the aircraft and the target is as follows: in, Represents r i Differentiation of time; The consensus approach speed expression is as follows: In the formula, h1 and h2 are controller parameters, and both are positive values; In the step 2, specifically: at time t k When and only when the remaining flight time of aircraft j is is within the confidence radius of aircraft i, that is, When aircraft j is the neighbor of aircraft i, that is, j∈N i (t k ), ε represents the confidence radius of the aircraft’s neighbor identification, N i (t k ) represents t k The neighbor set of the i-th aircraft at time.

2. The method for controlling the arrival of aircraft in batches based on the HK model according to claim 1, characterized in that: In step 1, the expression of the remaining flight time of the aircraft is as follows: In the formula, r i represents the distance between the i-th aircraft and the target, Represents r i Differentiation with respect to time.

3. The method for controlling the arrival of aircraft in batches based on the HK model according to claim 2, characterized in that: In step 1, the relative position information of the aircraft and the target includes: the starting speed and launch angle of each aircraft, the distance between each aircraft and the target and the reciprocal, and the line of sight inclination angle and line of sight deflection angle and the reciprocal between each aircraft and the target.

4. The method for controlling the arrival of aircraft in batches based on the HK model according to claim 3, characterized in that: In step 4, the longitudinal y-axis guidance control instruction expression is as follows: Where K represents the longitudinal effective navigation ratio in the proportional guidance law, represents the inverse of the line of sight angle of aircraft i relative to the target over time, q εi It represents the line of sight inclination of aircraft i relative to the target.

5. The method for controlling the arrival of aircraft in batches based on the HK model according to claim 4, characterized in that: In step 4, the lateral z-axis guidance control instruction expression is as follows: Where N is the lateral effective navigation ratio in the proportional guidance law, represents the inverse of the line of sight angle of aircraft i relative to the target over time, q βi Indicates the line of sight angle of aircraft i relative to the target.

6. The method for controlling the arrival of aircraft in batches based on the HK model according to claim 5, characterized in that: In step 5, the guidance control instruction conversion specifically includes the following steps: Step 5.1: Extract the line of sight inclination angle q of aircraft i relative to the target εi and the line of sight deflection angle q βi , and the pitch angle θ i and the yaw angle ψ i ; Step 5.2, calculate the transformation matrix C from the reference inertial coordinate system to the body coordinate system 1i Step 5.3, calculate the transformation matrix C from the reference inertial system to the line of sight coordinate system 2i Step 5.4, calculate the total transformation matrix C i , and according to the overload instruction of the body's x-axis direction being zero, the overload instructions of the body's longitudinal y-axis and lateral z-axis are obtained by reverse solution; The total transformation matrix C i The expression is as follows: Machine system longitudinal y-axis control rate The expression is as follows: In the formula, g represents the magnitude of gravitational acceleration, which is 9.8 m / s 2 , which is used to compensate for the gravity component; Machine system lateral z-axis control rate The expression is as follows:

7. The method for controlling the arrival of aircraft in batches based on the HK model according to claim 6, characterized in that: In step 6, the equation of motion of the aircraft is expressed as follows: Where Nx i ,Ny i and Nz i Represent the overload of aircraft i in the x-axis, y-axis and z-axis directions respectively; represents the moving speed of the i-th aircraft on the forward x-axis, represents the moving speed of the i-th aircraft on the longitudinal y-axis, Represents the moving speed of the i-th aircraft on the lateral z-axis.

8. The method for controlling the arrival of aircraft in batches based on the HK model according to claim 7, characterized in that: In step 6, the expression for generating overload according to the guidance control instruction is as follows: Among them, Nx i ,Ny i and Nz i Represent the overload of aircraft i in the x-axis, y-axis and z-axis directions respectively; is the lateral z-axis control rate of the machine system, is the longitudinal y-axis control rate of the machine system; u y max Indicates the maximum value of the longitudinal y-axis guidance control command, u z max Indicates the maximum value of the lateral z-axis guidance control command; In the formula, sat(·) represents the saturation function, and the specific expression is: Where a>0.

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