Method, device, medium and product for cooperative penetration of hypersonic vehicle cluster

Abstract

The application discloses a hypersonic vehicle cluster cooperative penetration method and device, medium and product, and relates to the technical field of cooperative penetration. The method comprises the following steps: selecting an attack missile with the minimum residual flight distance in the field of view of all the interceptor missiles as a sacrificial missile in an attack missile cluster; constructing an overall cover penetration guidance law of the attack missile cluster; optimizing the overall cover penetration guidance law of the attack missile cluster to obtain an optimized overall cover penetration guidance law; solving the optimized overall cover penetration guidance law to obtain the maneuvering time of each attack missile; inputting the maneuvering time of each attack missile into the overall cover penetration guidance law of the attack missile cluster to obtain the lateral acceleration of each attack missile; guiding each attack missile according to the lateral acceleration of each attack missile; and then using the sacrificial missile to lure all the interceptor missiles, so that the cooperative penetration of the hypersonic vehicle cluster is realized. The application can realize the cooperative penetration of the hypersonic vehicle cluster.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of cooperative penetration technology, in particular to a hypersonic vehicle cluster cooperative penetration method, device, medium and product. BACKGROUND

[0002] The cluster cooperative penetration can achieve more comprehensive attack on the enemy defense system, thereby greatly increasing the interception difficulty of the enemy defense system, not only improving the combat efficiency, but also reducing the risk of single platform being intercepted by the enemy, thereby enhancing the overall combat success rate. However, the hypersonic unpowered gliding vehicle has the characteristics of large flight environment uncertainty, severe parameter time-varying, serious coupling, high precision requirement for control system, etc., so that the realization of its cluster cooperative combat technology has high difficulty and challenge. At present, there are many relevant research results on the trajectory planning and guidance control problems of single hypersonic unpowered gliding vehicle. Although there are some research results on cooperative combat problems, most of them are concentrated in the relatively classic "1 vs. 1", "1 vs. 2" or "2 vs. 2" attack and defense scenarios, and there are still few discussions on the cooperative penetration technology of hypersonic unpowered gliding vehicle in the real cluster sense. For the cooperative penetration problem of the vehicle, the existing research results are mostly concentrated in the "1 vs. 2" or "2 vs. 2" attack and defense scenarios. Eloy et al. proposed and solved the optimal control problem for the "2 vs. 1" attack and defense scenario of "target-defense-interception" to maximize the distance between the interceptor and the target. Sinha provided a new type of nonlinear feedback control law for a similar scenario. Liang proposed two differential game guidance laws for the "2 vs. 2" attack and defense scenario.

[0003] However, the above research does not really touch the attack and defense mode of the cluster. For the problem of multi-missile cooperative penetration, some documents have also been studied. For example, Wang Shaoping et al. used the method of artificially setting virtual targets to design a single-platform multi-missile multi-direction cooperative penetration guidance law; Chen Jieqing et al. introduced the game idea for the hypersonic trajectory cluster, and proposed a cooperative penetration guidance algorithm for supersonic missile group in the game framework. Compared with the specific and simple scenarios of "1 vs. 1", "2 vs. 2", the related research results on the cooperative penetration strategy of hypersonic vehicles in the cluster mode are still few, so there is an urgent need for a cooperative penetration strategy of hypersonic vehicles in the cluster mode. SUMMARY

[0004] The purpose of the present application is to provide a hypersonic vehicle cluster cooperative penetration method, device, medium and product, which can realize the cooperative penetration of hypersonic vehicle cluster.

[0005] To achieve the above purpose, the present application provides the following scheme:

[0006] A method for cooperative penetration of a hypersonic vehicle cluster, comprising:

[0007] Selecting, in the offensive missile cluster, an offensive missile with the minimum remaining flight distance within the field of view of the guidance head of all interceptor missiles as a sacrificial missile;

[0008] Constructing an overall cover penetration guidance law for the offensive missile cluster; the overall cover penetration guidance law for the offensive missile cluster comprises the penetration guidance law of each offensive missile in the offensive missile cluster;

[0009] Optimizing the overall cover penetration guidance law for the offensive missile cluster to obtain an optimized overall cover penetration guidance law;

[0010] Solving the optimized overall cover penetration guidance law to obtain the large-amplitude maneuver time and the small-amplitude maneuver time of each offensive missile in the offensive missile cluster;

[0011] Inputting the large-amplitude maneuver time and the small-amplitude maneuver time of each offensive missile in the offensive missile cluster into the overall cover penetration guidance law for the offensive missile cluster to obtain the lateral acceleration of each offensive missile, guiding each offensive missile according to the lateral acceleration of each offensive missile, and then using the sacrificial missile to lure all interceptor missiles to achieve cooperative penetration of the hypersonic vehicle cluster.

[0012] Optionally, the penetration guidance law of the offensive missile T i is wherein a Ti represents the lateral acceleration of the offensive missile T i , n A represents the available overload, g represents the gravity acceleration, N i1 represents the number of sine periods of the lateral acceleration change within t i1 , N i2 represents the number of sine periods of the lateral acceleration change within t i2 , t i1 represents the large-amplitude maneuver time, t i2 represents the small-amplitude maneuver time, V Ti represents the speed of the offensive missile T i , t represents the time for the offensive missile to execute the guidance law, K T1 represents the guidance ratio of proportional guidance of all offensive missiles to the estimated intersection point, represents the rate of change of the line-of-sight angle of the offensive missile T i to the estimated intersection point, K T2 represents the guidance ratio of proportional guidance of all offensive missiles to the interceptor missile in the middle position, represents the rate of change of the line-of-sight angle of the offensive missile T i to the interceptor missile in the middle position, and r i represents the distance between the offensive missile T ithe remaining flight distance of the attack missile, r g the terminal guidance distance of the attack missile cluster.

[0013] The optimized overall cover penetration guidance law is:

[0014] min J i1 = l Ti (t l ) (i = 1, 2, …, N m ) and wherein J i1 represents the cost function of the attack missile T i , l Ti (t l ) represents the corresponding nonlinear function of the attack missile T i , ξ1 represents a vector composed of the large-amplitude maneuvering time of each attack missile, and ξ2 represents a vector composed of the small-amplitude maneuvering time of each attack missile, represents the first-order derivative of x(t), x(t) represents the state vector of the interceptor missile at t, x(0) represents the state vector of the interceptor missile at 0, x0 represents the initial value of the state vector, f() represents the relative motion equation set between the interceptor missile and the corresponding attack missile, t s represents the time when the distance between one attack missile and the corresponding interceptor missile is reduced to the safe penetration distance, represents the minimum value of the attack missile guidance ratio, represents the maximum value of the attack missile guidance ratio, t l represents the time when the decoy missile launches the decoy to all the interceptor missiles, t f represents the time when each attack missile enters the terminal guidance distance range of the corresponding interceptor missile, a Ti represents the lateral acceleration of the attack missile T i , n A represents the available overload, and g represents the gravity acceleration, K T is the guidance ratio of the attack missile for proportional guidance, J i2 represents the cost function of the interceptor missile M i , l Mi (t l ) represents the corresponding nonlinear function of the interceptor missile M i .

[0015] Optionally, the large-amplitude maneuvering time and the small-amplitude maneuvering time of the attack missile cluster are obtained by solving the optimized overall cover penetration guidance law, specifically as follows:

[0016] The large-amplitude maneuvering time and the small-amplitude maneuvering time of the attack missile cluster are obtained by solving the optimized overall cover penetration guidance law using the Newton optimization algorithm.

[0017] A computer device comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor executing the computer program to implement the hypersonic vehicle cluster cooperative penetration method described above.

[0018] A computer readable storage medium having stored thereon a computer program, the computer program being executed by a processor to implement the hypersonic vehicle cluster cooperative penetration method described above.

[0019] A computer program product comprising a computer program, the computer program being executed by a processor to implement the hypersonic vehicle cluster cooperative penetration method described above.

[0020] According to the specific embodiments of the present application, the following technical effects are disclosed.

[0021] The present application selects an attack missile with the smallest remaining flight distance in the field of view of the guidance head of all interceptor missiles as a sacrificial missile in the attack missile cluster; constructs an overall cover penetration guidance law of the attack missile cluster; optimizes the overall cover penetration guidance law of the attack missile cluster to obtain an optimized overall cover penetration guidance law; solves the optimized overall cover penetration guidance law to obtain large-amplitude maneuver time and small-amplitude maneuver time of each attack missile in the attack missile cluster; inputs the large-amplitude maneuver time and the small-amplitude maneuver time of each attack missile in the attack missile cluster into the overall cover penetration guidance law of the attack missile cluster to obtain a lateral acceleration of each attack missile, guides each attack missile according to the lateral acceleration of each attack missile, and then uses the sacrificial missile to lure all interceptor missiles, thereby realizing cooperative penetration of the hypersonic vehicle cluster. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0023] Figure 1 It is an illustration of the guidance relationship between the interceptor missile and the attack missile;

[0024] Figure 2 It is a principle diagram of the hypersonic vehicle cluster cooperative penetration method provided by the embodiments of the present application;

[0025] Figure 3 It is an internal structure diagram of the computer device;

[0026] Figure 4 It is a trajectory diagram of the attack missile and the interceptor missile cluster;

[0027] Figure 5 is a local enlarged view of the trajectory convergence point near the attack missile and the interception missile cluster;

[0028] Figure 6 A flow chart of the hypersonic vehicle cluster cooperative penetration method provided by the embodiment of the present application is shown in FIG. 6. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of protection of the present application.

[0030] In order to make the above objectives, characteristics and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0031] In the hypersonic vehicle cluster cooperative penetration problem, the missiles of our side (the attack side) need not only to be cooperatively coordinated with the rest of the missiles of our side through certain guidance laws to achieve the corresponding strategy, but also to restrain the interception missile cluster of the enemy side to achieve certain limiting conditions. For the problem of hypersonic vehicle cluster cooperative penetration, not only the motion control coupling problem of the attack missile and the interception missile cluster needs to be solved, but also the cooperative problem when there is a difference in flight speed and position in the missile cluster needs to be studied, the strategy is designed and the corresponding guidance law algorithm is designed. In the multi-to-multi interception-penetration combat scene, due to the complexity of the environment and the cluster combat, if all the missiles in the attack missile cluster are successfully penetrated, it is inevitable to need a relatively complex penetration strategy, which requires high accuracy of the precision of the missile flight control and the accuracy of the battlefield situation awareness, which is often uneconomical and may occupy too much on-board computer power. Therefore, in order to minimize the overall loss of the attack missile cluster, a certain sacrifice is inevitable. The present application proposes a cluster cover cooperative penetration strategy (a hypersonic vehicle cluster cooperative penetration method), the main goal of which is to: gather the interception missiles and the attack missile cluster in a small enough space range, and then select one attack missile as a sacrificial missile, which will lure all the interception missiles of the enemy side through certain means (such as enhancing the reflection signal of the enemy's detection radar), while ensuring that there is still enough escape distance between all the remaining attack missiles and the interception missiles at this time, so that the remaining attack missiles can successfully penetrate after the interception missiles are lured, such as Figure 2As shown, the present application firstly proposes a cluster shelter cooperative penetration strategy, and analyzes based on the strategy, and further extracts the strategy as an optimization problem. Newton optimization method is used to construct the algorithm for the optimization problem, that is, the Newton method is used for iteration, and the iteration is stopped when the stopping condition is met, and the optimization result is obtained, that is, the related control variables of the attack cluster, so that the cluster shelter cooperative penetration strategy is realized. The hypersonic vehicle cluster cooperative penetration method provided by the embodiment of the present application, like Figure 6 As shown, specifically includes:

[0032] Step 101: selecting an attack missile with the smallest remaining flight distance in the field of view of all interceptor missiles as a sacrificial missile in the attack missile cluster.

[0033] Step 102: constructing the overall shelter penetration guidance law of the attack missile cluster; the overall shelter penetration guidance law of the attack missile cluster includes the penetration guidance law of each attack missile in the attack missile cluster.

[0034] Step 103: optimizing the overall shelter penetration guidance law of the attack missile cluster to obtain the optimized overall shelter penetration guidance law.

[0035] Step 104: solving the optimized overall shelter penetration guidance law to obtain the large-amplitude maneuver time and small-amplitude maneuver time of each attack missile in the attack missile cluster.

[0036] Step 105: inputting the large-amplitude maneuver time and small-amplitude maneuver time of each attack missile in the attack missile cluster into the overall shelter penetration guidance law of the attack missile cluster to obtain the lateral acceleration of each attack missile, guiding each attack missile according to the lateral acceleration of each attack missile, and then using the sacrificial missile to lure all interceptor missiles to realize the cooperative penetration of the hypersonic vehicle cluster. After the guidance is completed, the sacrificial missile lures at t l There are many methods for luring, such as enhancing the radar reflection signal of the enemy, etc., which are existing methods.

[0037] In practical application, the penetration guidance law of the attack missile T i is Where a Ti represents the lateral acceleration of the attack missile T i , A a =n A g, n A represents the available overload, g represents the gravity acceleration, N i1 represents the number of sine periods of the lateral acceleration change in t i1 , N i2 represents the number of sine periods of the lateral acceleration change in t i2 , t i1 represents the large-amplitude maneuver time, and ti2 denotes the small maneuver time, V Ti denotes the velocity of the attacking missile T i , t denotes the time when the attacking missile executes the guidance law, K T1 denotes the guidance ratio of all attacking missiles to the estimated intersection point in proportion guidance, denotes the line-of-sight angle rate of the attacking missile T i to the estimated intersection point, K T2 denotes the guidance ratio of all attacking missiles to the intercepting missile in the middle position in proportion guidance, denotes the line-of-sight angle rate of the attacking missile T i to the intercepting missile in the middle position, r i denotes the remaining flight distance of the attacking missile T i , r g is the terminal guidance distance of the attacking missile cluster.

[0038] In practical applications, the optimized overall cover penetration guidance law is:

[0039] min J i1 = l Ti (t l )(i = 1, 2,..., N m ) and wherein J i1 denotes the cost function of the attacking missile T i , l Ti (t l ) denotes the corresponding nonlinear function of the attacking missile T i , ξ1 denotes a vector composed of the large maneuver time of each attacking missile, ξ2 denotes a vector composed of the small maneuver time of each attacking missile, denotes the first-order derivative of x(t), i.e., the first-order derivative of each component in the state variable, x(t) denotes the state vector of the intercepting missile at time t x = (x1, x2,..., x Nm ), x i = (q i , r i , θ Mi , θ Ti , η Mi , η Ti , V Ti , V Mi ), i = 1, 2,..., N m , x(0) denotes the state vector of the intercepting missile at time 0, x0 denotes the initial value of the state vector, f() denotes the relative motion equation set between the intercepting missile and the corresponding attacking missile, i.e., the following formula (1), t srepresents the time when the distance between one attacking missile and the corresponding intercept missile is reduced to the safe penetration distance, represents the minimum value of the attacking missile guidance ratio, represents the maximum value of the attacking missile guidance ratio, l represents the time when the decoy is launched by the sacrificial missile to all intercept missiles, f represents the time when each attacking missile enters the terminal guidance distance range of the corresponding intercept missile, T i represents the lateral acceleration of the attacking missile T i , n A represents the available overload, g represents the gravity acceleration, K T is the guidance ratio for proportional guidance of the attacking missile, J i2 represents the cost function of the intercept missile M i , l Mi (t l ) represents the corresponding nonlinear function of the intercept missile M i .

[0040] In practical applications, the large-amplitude maneuvering time and the small-amplitude maneuvering time of the attacking missile cluster are obtained by solving the optimized overall cover penetration guidance law, and specifically are as follows:

[0041] The large-amplitude maneuvering time and the small-amplitude maneuvering time of the attacking missile cluster are obtained by solving the optimized overall cover penetration guidance law by using the Newton optimization algorithm.

[0042] The application also provides an embodiment for introducing the above method in detail:

[0043] Step one: modeling the motion model of the aircraft.

[0044] It is assumed that both our side and the enemy side are high-speed aircrafts, and the number is equal, denoted as N m . The attacking missile cluster (our side) and the intercept missile cluster (the enemy side) are represented by sets and , wherein T Nm represents the N m th attacking missile, and M Nm represents the N m th intercept missile. The attacking missile penetration stage of the application occurs in the reentry gliding stage, in which the aircraft is in a quasi-equilibrium gliding state, and the trajectory height changes little, so the change in the height direction is ignored, and the cover-penetration guidance law design in the horizontal two-dimensional plane is studied. Figure 1 It is an illustrative diagram of the guidance relationship between the intercept missile and the attacking missile, wherein xOy is an inertial coordinate system.

[0045] It is assumed that the intercept missile uses proportional guidance to intercept the corresponding attacking missile of our side, and the relative motion equation group between the intercept missile and the corresponding attacking missile is as follows:

[0046]

[0047] wherein, and denote the first derivative of the variable r i ,θ Ti ,θ Mi ,q i ,V Mi ,V Ti , respectively, V Ti and V Mi are the speed of the attacking missile T i and the intercepting missile M i , q i and r i represent the angle of line of sight and the relative distance between the i-th intercepting missile M i and the i-th attacking missile T i , θ Mi ,η Mi are the speed direction angle and the lead angle of the intercepting missile M i , respectively, θ Ti ,η Ti are the speed direction angle and the lead angle of the attacking missile T i .a Ti is the normal acceleration of the i-th attacking missile T i , K M is the navigation ratio of the intercepting missile, D Mi and D Ti are the resistance acceleration of the i-th intercepting missile M i and the i-th attacking missile T i , respectively. The present application realizes the cluster cover cooperative penetration strategy by designing the guidance law of the attacking missile and the corresponding normal acceleration a Ti , i = 1, 2,..., N m , so as to improve the overall penetration rate of the attacking missile cluster.

[0048] According to formula (1), the motion model simulation modeling of the intercepting missile and the attacking missile can be carried out by Euler method or Runge-Kutta method and the like.

[0049] Step two: establishing the cooperative penetration guidance law of the attacking missile cluster.

[0050] (b1) establishing the selection logic of the sacrificial missile

[0051] For a specific attacking missile, due to the limitation of its maneuverability and flight speed, there is a minimum safe penetration distance. Assuming that the minimum safe penetration distance of the attacking missile cluster of our side is r s , that is, when the remaining flight distance of the attacking missile is greater than the minimum safe penetration distance, that is, r i> r s A successful penetration can be achieved at time t s , provided that there exists one attacking missile M s and the corresponding intercept missile M s i.e.:

[0052]

[0053]

[0054] where r j (t s ) denotes the remaining flight distance of the jth attacking missile at time t s , and r i (t s ) denotes the remaining flight distance of the ith intercept missile at time t s .

[0055] Suppose that at time t f , all attacking missiles enter the terminal guidance distance r f (range of the seeker) of the corresponding intercept missile, i.e.:

[0056]

[0057] Suppose that at time t l , the sacrificial missile launches the decoy to all intercept missiles, then it must satisfy the following inequality:

[0058] t s < t l < t f (4)

[0059] Define the time interval (t s , t f ) as the "decoyable time interval".

[0060] Suppose that the seeker's field of view angle of the intercept missile is ±σ (σ > 0), then at time t l , the sacrificial missile must be within the field of view of all intercept missiles, i.e. for the ith intercept missile M i (i = 1, 2,..., N m ), there is:

[0061]

[0062] where x Tk (t l ), y Tk (t l ) are the coordinates of the sacrificial missile at time t lThe x and y coordinates of the sacrificial missile at time t Mi (t l ) are the x and y coordinates of the i-th attacking missile M Mi (t l ) at time t l . i

[0063] According to formula (4) and formula (5), the attacking missile satisfying the condition is determined as the sacrificial missile. If there are multiple attacking missiles satisfying the above condition, the attacking missile in the frontmost position, i.e., the closest to the cluster of intercepting missiles, is selected as the sacrificial missile, and the remaining attacking missiles are provided with the largest possible maneuvering evasion distance.

[0064] (b2) The guidance law of all attacking missiles (including the sacrificial missile) in the cluster of attacking missiles is designed as follows:

[0065] ① Maneuvering segment: the attacking missile performs large and small amplitude maneuvers to reduce the longitudinal position difference between the attacking missile and the cluster of intercepting missiles.

[0066] ② Predicted intersection point guidance segment: the attacking missile guides the estimated intersection point P through a proportional guidance law to reduce the position difference between the attacking missile and the cluster of intercepting missiles in the lateral direction.

[0067] ③ Terminal guidance segment: considering that the estimation of the intersection point may have deviations, in the terminal guidance, the attacking missile adopts a proportional guidance law to guide the intercepting missile in the middle of the cluster as the target.

[0068] The coordinate calculation formula of the estimated intersection point P is as follows:

[0069]

[0070] Wherein, x Ti ,y Ti are the x and y coordinates of the i-th attacking missile; x Mi ,y Mi are the x and y coordinates of the i-th intercepting missile, and x P and y P are the x and y coordinates of the estimated intersection point P.

[0071] According to the above segmented guidance law, the evasion guidance law of the i-th attacking missile is:

[0072]

[0073] Wherein, t i1 ,t i2 represent the duration of the two segments of maneuvering, respectively, as variables. N i1 and N i2 are the large and small maneuvering times at the maneuvering time t​i1 and t i2 The lateral acceleration a Ti The number of sine periods of the change; N i1 ,N i2 According to the actual scene setting for the appropriate constant value. A a = n A g, where n A is the available overload, and g is the acceleration of gravity. K T1 is the guidance ratio of proportional guidance of all attacking missiles to the estimated intersection point, is the line-of-sight angle change rate of the attacking missile T i to the estimated intersection point P. K T2 is the guidance ratio of proportional guidance of the attacking missile to the intermediate position intercept missile, is the line-of-sight angle change rate of the attacking missile T i to the intercept missile M m in the intermediate position. r g is the terminal guidance distance of the attacking missile cluster, that is, when the distance between the attacking missile and the corresponding intercept missile is reduced to r g , the attacking missile enters the terminal guidance segment.

[0074] The maneuver of the attacking missile not only restricts the movement of the intercept missile, thereby affecting its longitudinal position difference, but also affects the longitudinal position difference of the attacking missile cluster. That is, the influence of the maneuver of the attacking missile on the intercept missile cluster and the attacking missile cluster is coupled, making it difficult to solve or optimize the maneuver parameters. In order to decouple the influence of the attacking missile maneuver on the intercept missile cluster and the attacking missile cluster, a large-small amplitude attacking missile maneuver control law is designed. That is, the attacking missile first performs a large amplitude maneuver to restrict the adjustment of the longitudinal position difference of the intercept missile, and then performs a small amplitude maneuver to adjust the longitudinal position difference of the attacking missile. In summary, the guidance law of the attacking missile is designed in the above segments.

[0075] Step three: optimize the penetration guidance law of all attacking missiles.

[0076] During the flight of the attacking missile T i (1≤i≤N m ), it is limited by the overload and navigation ratio:

[0077]

[0078] Where K T is the guidance ratio of proportional guidance of the attacking missile.

[0079] Assume that the longitudinal coordinates (x-axis coordinates) of the most lagging missiles in the attacking missile cluster and the intercept missile cluster are and Define the longitudinal position difference l Mil Ti is the longitudinal position difference of the attacking missile cluster

[0080]

[0081] Since the small-amplitude maneuver of the attacking missile is considered to have negligible effect on the interceptor, the cooperative penetration guidance law of the attacking missile cluster can be described as the following multi-constraint optimal control optimization problem:

[0082]

[0083]

[0084] wherein, is the state vector, x i represents the state of the i-th attacking missile, x i = (q i , r i , θ Mi , θ Ti , η Mi , η Ti , V Ti , V Mi ), i = 1, 2, …, N m ; is the maneuvering time parameter to be optimized, representing the large-amplitude maneuvering time and the small-amplitude maneuvering time of the N m attacking missiles respectively, represents the large-amplitude maneuvering time of the N m -th attacking missile, represents the small-amplitude maneuvering time of the N m -th attacking missile, i.e., the overall optimized shelter penetration guidance law is formula (11) and formula (12).

[0085] For the above optimization problem, Newton optimization method is used for solving.

[0086] Since l Ti (t l ) and l Mi (t l ) are nonlinear functions of unknown expressions, the corresponding derivatives in the Newton optimization method cannot be accurately obtained, and the Newton iteration is solved by replacing the tangent line with a secant line, and the iteration formula is:

[0087]

[0088] wherein, n is the iteration number of the Newton optimization method, represents t ij under the n+1th iteration, represents tij , t represents the number of iterations n-1. ij , J represents the number of iterations n. ij , J represents the number of iterations in the (n-1)th iteration. ij .

[0089] Because the secant method suffers from slow convergence and poor stability, restrictions are placed on the size of the optimization parameters and the optimization step size, namely:

[0090]

[0091] and They represent t respectively ij The minimum and maximum values; Indicates t ij The maximum optimization step size.

[0092] Therefore, the Newton's method iterative formula for the above optimization problem is:

[0093]

[0094] Where n is the number of iterations in the Newton optimization.

[0095] In summary, the above optimization problems can be solved using the following Newton optimization algorithm:

[0096]

[0097]

[0098]

[0099] Note: The superscript in the text indicates the iteration step. Let n1 and n2 represent the values ​​of ξ1 and ξ2 at the x-th iteration step, where n1 is the number of iteration optimization steps for ξ1 and n2 is the number of iteration optimization steps for ξ2.

[0100] This invention also provides an embodiment of numerical simulation in a "5 vs. 5" scenario using the above method, with a local magnification of the trajectories of the attack and interceptor missile clusters and the vicinity of the convergence point. Figure 4 and Figure 5 As shown, Figure 4 and Figure 5 The dashed line at the end of the interceptor trajectory represents the field of view of each interceptor. It is evident that all attack missiles are within the field of view of the interceptors; * indicates that the selected sacrificial missile is attack missile number 5, i.e., at the end of the simulation at time t. l, the 5th offensive missile is launched as a decoy, at this time the rest of the offensive missiles can successfully achieve maneuvering penetration, that is, in this scenario, the success penetration rate of the offensive missile cluster is 80%.

[0101] The present application aims at the motion control coupling problem of offensive missile and interceptor missile clusters in the cooperative penetration technology of hypersonic vehicle clusters and the cooperative difficulty problem of the existence of flight speed and position differences of missile clusters, and proposes a cooperative penetration method of hypersonic vehicle clusters. The strategy of "ensuring the successful penetration of the rest of the offensive missiles by sacrificing one missile" and the segmented guidance law design are adopted, the corresponding cost function is designed and the Newton optimization method is used to solve it, and it can adapt to the influence of the speed and position differences of missile clusters on the penetration success rate of offensive missiles, thereby significantly improving the penetration success rate of offensive missile clusters.

[0102] In one embodiment, a computer device is also provided, including a memory and a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the cooperative penetration method of hypersonic vehicle clusters described in the above method embodiments when executing the computer program. The computer device can be a database, and its internal structure diagram can be as shown in Figure 3 The computer device includes a processor, a memory, an input / output interface (I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output 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 the computer program in the non-volatile storage medium. The database of the computer device is used to store transactions to be processed. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals through network connection. The computer program is executed by the processor to implement a data processing method.

[0103] In one embodiment, a computer readable storage medium is provided, which stores a computer program, wherein the computer program is executed by a processor to implement the cooperative penetration method of hypersonic vehicle clusters described in the above method embodiments.

[0104] In one embodiment, a computer program product is provided, including a computer program, wherein the computer program is executed by a processor to implement the cooperative penetration method of hypersonic vehicle clusters described in the above method embodiments.

[0105] 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 for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the object or fully authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards.

[0106] It can be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, it can include the processes of the above-mentioned embodiments of each method. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric memory (Ferroelectric Random Access Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0107] The technical features of the above embodiments can be combined in any way. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0108] The principles and implementation manners of the present application are described by using specific examples in the present application, and the above examples are only used to help understand the method of the present application and its core idea; meanwhile, for the general technical personnel in the art, the specific implementation manners and application ranges will be changed according to the idea of the present application. In conclusion, the content of the present specification should not be understood as the limitation of the present application.

Claims

1. A method for coordinated penetration by a swarm of hypersonic vehicles, characterized in that, include: In the attack missile cluster, the attack missile with the shortest remaining flight distance within the field of view of all interceptor missiles' seekers is selected as the sacrificial missile; Constructing the overall protection and penetration guidance law for an offensive missile cluster; the overall protection and penetration guidance law for an offensive missile cluster includes the penetration guidance law of each offensive missile in the cluster; The overall protection and penetration guidance law of the offensive missile cluster was optimized to obtain the optimized overall protection and penetration guidance law. Solving the optimized overall cover and penetration guidance law yields the large-amplitude and small-amplitude maneuver times of each attack missile in the attack missile cluster. The large-amplitude and small-amplitude maneuver times of each attack missile in the attack missile cluster are input into the overall cover and penetration guidance law of the attack missile cluster to obtain the lateral acceleration of each attack missile. Guidance is then applied to each attack missile based on its lateral acceleration. Finally, the sacrificial missile is used to lure all interceptor missiles, achieving coordinated penetration of the hypersonic vehicle cluster; Attack missile T i The penetration guidance law is Among them, a Ti Indicates offensive missile T i Lateral acceleration, n A Indicates available overload, g represents gravitational acceleration, N i1 Indicates at t i1 The number of sinusoidal periods of the change in inner transverse lateral acceleration, N i2 Indicates at t i2 The number of sinusoidal periods of the change in inner transverse lateral acceleration, t i1 t represents the time for a large maneuver. i2 V represents the time for small-amplitude maneuvers. Ti Indicates offensive missile T i The velocity, t represents the time it takes for the attack missile to execute its guidance law, K T1 This represents the guidance ratio, which directs all attack missiles towards the estimated convergence point. Indicates offensive missile T i K represents the rate of change of the line-of-sight angle at the estimated intersection point. T2 This indicates the guidance ratio, which proportionally guides all attack missiles towards the interceptor missile positioned in the center. Indicates offensive missile T i The rate of change of the line-of-sight angle of an interceptor missile in the intermediate position, r i Indicates offensive missile T i The remaining flight distance, r g The terminal guidance range of an offensive missile cluster; The optimized overall cover penetration guidance law is as follows: and Among them, J i1 Indicates offensive missile T i The cost function, l Ti (t l ) indicates offensive missile T i The corresponding nonlinear functions are: ξ1 represents the vector composed of the large-amplitude maneuver times of each attack missile, and ξ2 represents the vector composed of the small-amplitude maneuver times of each attack missile. Let x(t) represent the first derivative of x(t), where x(t) represents the interceptor missile's state vector at time t, x(0) represents the interceptor missile's state vector at time 0, x0 represents the initial value of the state vector, and f() represents the system of equations of relative motion between the interceptor missile and the corresponding attack missile. s This indicates the moment when the distance between an offensive missile and its corresponding interceptor missile is reduced to a safe penetration distance. This represents the minimum guidance ratio of an offensive missile. t represents the maximum value of the guidance ratio of an offensive missile. l This indicates the moment when the sacrificial missile decoys all interceptor missiles. f This indicates the moment when each attack missile enters the terminal guidance range of its corresponding interceptor missile, a. Ti Indicates offensive missile T i Lateral acceleration, n A Indicates available overload, g represents gravitational acceleration, and K represents the acceleration due to gravity. T The guidance ratio for proportional guidance of offensive missiles, J i2 The interceptor missile M i The cost function, l Mi (t l ) indicates interceptor missile M i The corresponding nonlinear function.

2. The hypersonic vehicle swarm cooperative penetration method according to claim 1, characterized in that, Solving the optimized overall cover penetration guidance law yields the large-amplitude and small-amplitude maneuver times of the attack missile cluster, specifically: The Newton optimization algorithm is used to solve the optimized overall cover penetration guidance law to obtain the large-amplitude maneuver time and small-amplitude maneuver time of the attack missile cluster.

3. 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 hypersonic vehicle swarm cooperative penetration method according to any one of claims 1-2.

4. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the hypersonic vehicle swarm cooperative penetration method as described in any one of claims 1-2.

5. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the hypersonic vehicle swarm cooperative penetration method as described in any one of claims 1-2.

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