Angle guidance method, device, medium and product for optimal expected sight angle constraint

Abstract

The present invention discloses an angle guidance method, device, medium, and product with optimal expected line-of-sight angle constraint, relating to the field of missile guidance technology. The method comprises: performing relative kinematic analysis of a coordinated guidance system to obtain a set of kinematic equations for the missile and target; the coordinated guidance system comprises multiple missiles and a target; designing an angle-constrained guidance law based on sliding mode control; designing a capture cost function, and determining an optimal capture terminal line-of-sight angle vector set based on the capture cost function; designing an angle error cost function, and determining an optimal terminal line-of-sight angle vector based on the angle error cost function and the optimal capture terminal line-of-sight angle vector set; and utilizing the angle-constrained guidance law and the optimal terminal line-of-sight angle vector to perform coordinated angle control on each missile in the coordinated guidance system. The present invention ensures both strong anti-interference performance and the optimality of the capture effect throughout the entire process.

Description

Technical Field

[0001] The present invention relates to the field of missile guidance technology, and in particular to an angle guidance method, device, medium and product with optimal expected sight angle constraint. Background Art

[0002] With the continuous advancement of aerospace technology, aircraft maneuverability is also increasing. To effectively deal with high-speed, maneuvering targets, guidance methods are rapidly developing towards collaborative guidance. Multiple missiles work together to achieve more effective saturation attacks or target encirclement, thereby enhancing the effectiveness of the strike. Therefore, collaborative guidance has become a highly sought-after development direction in guidance technology.

[0003] In cooperative guidance, to achieve a target capture strategy, the guidance law requires constraints on the desired attack angle. Coordinated missile attack can be categorized into preset angle guidance and relative angle guidance.

[0004] In preset angle guidance, a predetermined sequence of intercept angles is assigned to a missile formation, enabling multiple missiles to intercept targets at the desired angle sequence. Preset angle guidance often employs biased proportional guidance, with the guidance law consisting of both basic and biased proportional guidance terms. The advantages of preset angle guidance are its simplicity and ease of engineering implementation. However, for moving targets, the preset angle sequence cannot guarantee optimal guidance, and the capture effect deteriorates as the target maneuvers. Therefore, this method is only suitable for stationary or slow-moving targets.

[0005] In relative angle guidance, instead of specifying a specific intercept angle for each missile, formation configuration is achieved by controlling the relative intercept angles of missiles in the formation. In relative angle guidance, each missile must form a specific relative angle with the others, thereby creating a specific relative interception situation during the terminal guidance phase. Differential game control methods are often employed, using differential game theory to calculate the optimal intercept maneuver for missiles under relative angle constraints. However, this approach requires high modeling accuracy, is sensitive to interference, and suffers from complex solution processes and poor real-time performance.

[0006] In order to adjust the expected angle in real time during the guidance process, achieve the optimal encirclement effect, strike maneuvering targets, and have good anti-interference performance, a collaborative angle guidance law based on the optimal expected line of sight angle is required. Summary of the Invention

[0007] The purpose of the present invention is to provide an angle guidance method, device, medium and product with optimal expected sight angle constraint, which has strong anti-interference performance and ensures the optimality of the round-up effect throughout the process.

[0008] To achieve the above object, the present invention provides the following solutions:

[0009] An angle guidance method with optimal expected sight angle constraint, comprising:

[0010] Performing relative kinematic analysis on a coordinated guidance system comprising multiple missiles and a target to obtain a set of kinematic equations for the missile and the target;

[0011] Design an angle-constrained guidance law based on sliding mode control;

[0012] Designing a capture cost function, and determining an optimal capture terminal sight angle vector set based on the capture cost function;

[0013] Designing an angle error cost function, and determining an optimal terminal sight angle vector based on the angle error cost function and the optimal capture terminal sight angle vector set;

[0014] The angle-constrained guidance law and the optimal terminal sight angle vector are used to perform coordinated angle control on each missile in the coordinated guidance system.

[0015] Optionally, the kinematic equations include:

[0016]

[0017] in, is the distance r from the i-th missile to the target i The first derivative of v T is the speed of the target; η T,i is the lead angle of the target relative to the i-th missile; v M,i is the speed of the i-th missile; η M,i is the lead angle of the i-th missile; is the true sight angle q of the i-th missile i The first derivative of ; σ M,i is the ballistic deviation angle of the i-th missile; σ T is the ballistic deviation angle of the target; is σ M,i The first derivative of a M,i is the acceleration of the i-th missile; is σ T The first derivative of a T is the acceleration of the target.

[0018] Optionally, the angle-constrained guidance law includes:

[0019]

[0020] Among them, s i is the sliding mode of the i-th missile; c is the sliding mode coefficient, c>0; q d,iis the expected sight angle of the i-th missile; ε and λ are both reaching law coefficients, ε>0, λ>0; sgn(·) is the sign function, a Tmax The maximum available overload for the target.

[0021] Optionally, the round-up cost function includes:

[0022]

[0023] in, is the value of the roundup cost function; is the ascending vector The j+1th component in ; is the ascending vector The jth component in ; The vector is obtained by sorting the principal values ​​and the inverse principal values ​​of the terminal sight angles of all missiles in the cooperative guidance system in ascending order. The principal value and the inverse principal value of the terminal sight angle of the missile are determined according to the terminal sight angle of the missile.

[0024] Optionally, the optimal capture terminal sight angle vector set includes:

[0025]

[0026] Among them, Θ W is the optimal capture terminal sight angle vector set; is the optimal capture terminal sight angle vector; α and β are coefficient vectors; n is the number of missiles in the cooperative guidance system; is the offset, 1 1×n is an n-dimensional row vector whose components are all 1.

[0027] Optionally, the angle error cost function includes:

[0028]

[0029] in, For about The angle error cost function value; is the optimal capture terminal sight angle of the i-th missile in the optimal capture terminal sight angle vector.

[0030] Optionally, the optimal terminal sight angle vector includes:

[0031]

[0032] in, is the optimal terminal sight angle vector; is the set of coefficient vectors α; is the set of coefficient vectors β; For α, β and The angle error cost function value.

[0033] 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 above-mentioned angle guidance methods with optimal expected sight angle constraints.

[0034] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements any of the above-mentioned angle guidance methods with optimal expected sight angle constraints.

[0035] A computer program product comprises a computer program, which, when executed by a processor, implements any of the above-mentioned angle guidance methods with optimal expected sight angle constraints.

[0036] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0037] The present invention discloses an angle guidance method, device, medium and product with optimal expected line of sight angle constraint. First, based on sliding mode control, an anti-interference angle constraint guidance law is designed; then, the capture cost function and initial angle error cost function of the projectile group are designed, and the terminal line of sight angle is optimized in two steps; finally, a coordinated angle guidance law is obtained, which not only ensures strong anti-interference performance but also ensures the optimality of the capture effect throughout the process, thereby achieving the optimal capture effect for maneuvering targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] 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.

[0039] Figure 1 A schematic flow chart of the angle guidance method with optimal desired sight angle constraint provided in Example 1 of the present invention;

[0040] Figure 2 Schematic diagram of the implementation flow of the coordinated angle guidance law with optimal expected line of sight angle constraint;

[0041] Figure 3 This is a schematic diagram of the missile-target relationship in the cooperative guidance system;

[0042] Figure 4 Schematic diagram of trajectory simulation results of three missiles attacking one target;

[0043] Figure 5 Schematic diagram of missile acceleration change;

[0044] Figure 6 Schematic diagram of the missile's expected sight angle and actual sight angle. DETAILED DESCRIPTION

[0045] 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.

[0046] The purpose of the present invention is to provide an angle guidance method, device, medium and product with optimal expected line of sight angle constraint, aiming to ensure strong anti-interference performance and the overall optimality of the capture effect.

[0047] 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.

[0048] Example 1

[0049] like Figure 1 and Figure 2 As shown, the angle guidance method for optimal desired sight angle constraint in this embodiment includes:

[0050] Step 101: Perform relative kinematic analysis on the coordinated guidance system to obtain a set of kinematic equations for the missile and the target; the coordinated guidance system includes multiple missiles and one target.

[0051] As an optional embodiment, the motion of the missile in three-dimensional space can be decomposed into two planes, horizontal and vertical. The present invention performs relative kinematic analysis of the missile and the target in the horizontal plane. The kinematic equations include:

[0052]

[0053] in, is the distance r from the i-th missile to the target i The first derivative of v T is the speed of the target; η T,i is the lead angle of the target relative to the i-th missile; v M,i is the speed of the i-th missile; η M,i is the lead angle of the i-th missile; is the true sight angle q of the i-th missile i The first derivative of ; σM,i is the ballistic deviation angle of the i-th missile; σ T is the ballistic deviation angle of the target; is σ M,i The first derivative of a M,i is the acceleration of the i-th missile; is σ T The first derivative of a T is the acceleration of the target.

[0054] Specifically, the missile-target relationship in the cooperative guidance system is as follows: Figure 3 As shown, Oxy is the absolute coordinate system in the horizontal plane; v M,1 is the speed of the first missile; η M,1 is the lead angle of the first missile; q1 is the true sight angle of the first missile; σ M,1 is the ballistic deviation angle of the first missile; a M,1 is the acceleration of the first missile; M1 is the first missile; r1 is the distance from the first missile to the target; v M,2 is the speed of the second missile; η M,2 is the lead angle of the second missile; q2 is the true sight angle of the second missile; σ M,2 is the ballistic deviation angle of the second missile; a M,2 is the acceleration of the second missile; M2 is the second missile; r2 is the distance from the second missile to the target; T is the target; M i is the i-th missile; η T,1 is the lead angle of the target relative to the first missile; η T,2 is the lead angle of the target relative to the second missile.

[0055] Step 102: Design an angle-constrained guidance law based on sliding mode control.

[0056] As an optional implementation, the angle-constrained guidance law includes:

[0057]

[0058] Among them, s i is the sliding mode of the i-th missile; c is the sliding mode coefficient, c>0; q d,i is the expected sight angle of the i-th missile; ε and λ are both reaching law coefficients, ε>0, λ>0; sgn(·) is the sign function, a Tmax The maximum available overload for the target.

[0059] Specifically, the design process of the angle-constrained guidance law includes:

[0060] 1. Define angular error.

[0061] The purpose of the angle-constrained guidance law is to hit the target at the desired sight angle. The actual sight angle q of the i-th missile is i and the expected sight angle q d,i The difference between them is defined as the angle error e of the i-th missile i ,Right now:

[0062] e i =q i -q d,i .

[0063] According to the kinematic equations of the missile and the target, the angular error e of the i-th missile is i First derivative with respect to time and the second-order derivative The calculation is as follows:

[0064]

[0065] 2. Design sliding mode.

[0066] The sliding mode control method is used to design the angle constraint guidance law. The sliding mode s of the i-th missile i Designed to:

[0067]

[0068] Where c is the sliding mode coefficient, satisfying c>0. Derivative of the sliding mode yields:

[0069]

[0070] 3. Design convergence law.

[0071] The reaching law of the sliding mode is designed as:

[0072]

[0073] Among them, ε and λ are both reaching law coefficients, satisfying ε>0, λ>0.

[0074] According to the reaching law, we have the following equation:

[0075]

[0076] a T and η T,i is the relevant information of the target, which has measurement error and cannot be used as a known quantity. T and η T,i The estimated values ​​are and Can get interference Guidance law:

[0077]

[0078] 4. Interference item design.

[0079] Distractors The design of needs to be determined according to the Lyapunov stability condition. Select the Lyapunov function V corresponding to the i-th missile i as follows:

[0080]

[0081] V i First derivative with respect to time Calculated by the following formula:

[0082]

[0083] To make V i >0 hours The following equation needs to be satisfied:

[0084]

[0085] Since the target's maneuverability is limited, the interference is bounded. Let the target's maximum available overload be a Tmax , that is, |aT|≤a Tmax , then the interference term can be designed as:

[0086]

[0087] 5. Guidance law results.

[0088] In summary, the angle-constrained guidance law based on sliding mode control is as follows:

[0089]

[0090] Step 103: Design a capture cost function, and determine the optimal capture terminal sight angle vector set based on the capture cost function.

[0091] As an optional implementation, the round-up cost function includes:

[0092]

[0093] in, is the value of the roundup cost function; is the ascending vector The j+1th component in ; is the ascending vector The jth component in ; The vector is obtained by sorting the principal values ​​and the inverse principal values ​​of the terminal sight angles of all missiles in the cooperative guidance system in ascending order. The principal value and the inverse principal value of the terminal sight angle of the missile are determined according to the terminal sight angle of the missile.

[0094] As an optional implementation, the optimal capture terminal sight angle vector set includes:

[0095]

[0096] Among them, Θ W is the optimal capture terminal sight angle vector set; is the optimal capture terminal sight angle vector; α and β are coefficient vectors; n is the number of missiles in the cooperative guidance system; is the offset, 1 1×n is an n-dimensional row vector whose components are all 1.

[0097] Specifically, the process of determining the optimal capture terminal sight angle vector set includes:

[0098] 1) Design a roundup cost function.

[0099] In a coordinated attack scenario involving multiple missiles, the missiles perform offensive maneuvers while the target performs defensive maneuvers. The goal of the missiles' offensive maneuvers is to maximize the probability of hitting the target, regardless of the target's maneuvering direction. The goal of the target's defensive maneuvers is to minimize misses, avoid attacks, and minimize the probability of being hit. The probability of a target being hit depends on the maximum hit probability of all missiles. If the target evades only one or some missiles, while the hit probability of the remaining missiles remains high, the target's hit probability remains high, and the target's defense will be ineffective. Therefore, for effective defense, the target must evade all missiles.

[0100] Assume the positive direction of the target acceleration is γ T ,but Target T to the i-th missile M i The defensive effect can be expressed as the component of the target acceleration in the normal direction of the line of sight of the i-th missile, namely |sin(γ T -θ i )|, where the line of sight of the i-th missile is the straight line passing through the target and the i-th missile. The target T has a total of missiles M1, M2, ..., M n The total defense effect of the missile depends on the minimum value of the defense effect on a single missile, that is, θ i is the terminal sight angle of the i-th missile.

[0101] For all γ TThe maximum total defense effect of target T against multiple missiles can be defined as the capture cost function of the missile group, which is expressed as follows:

[0102]

[0103] Roundup cost function value The smaller the target, the more difficult it is to defend and the better the capture effect of the missile group. The purpose of missile angle coordination is to determine the optimal capture terminal sight angle vector. Make the roundup cost function Reach the minimum value, that is:

[0104]

[0105] in, is the optimal terminal sight angle of the first missile; is the optimal terminal sight angle for the second missile; is the optimal terminal sight angle for the nth missile.

[0106] 2) Construct an ascending vector.

[0107] For any terminal sight angle θ, its principal value in [0,2π) is defined as <θ>, that is:

[0108] <θ>=θ+kπ,<θ>∈[0,2π),

[0109] in, is a set of integers.

[0110] Calculate the components θ of the vector θ formed by the terminal sight angles of all missiles i The principal value <θ i >, and θ i The inverse principal value, θ i + π principal value < θ i +π>, where i∈{1,2,…,n}. will <θ i >,<θ i +π> merge and arrange in ascending order to obtain an ascending vector The set of components in the i > and <θ i +π> is the same set, which can be expressed as Among them, j∈{1,2,…,2n}.

[0111] For the ascending vector The following conclusions can be drawn:

[0112]

[0113] 3) Calculate the optimal ramp-up vector.

[0114] According to the above conclusions, the roundup cost function is calculated:

[0115]

[0116] because The sum of the first n items of :

[0117]

[0118] Therefore, when hour, Take the minimum value at this time Get the minimum value

[0119]

[0120] Get the minimum value When the optimal ascending vector The jth component in It can be expressed as:

[0121]

[0122] in, j∈{1,2,…,2n}.

[0123] 4) Calculate the optimal capture terminal sight angle vector.

[0124] According to the relationship between the optimal capture terminal sight angle vector and the ascending vector, the components of the optimal capture terminal sight angle vector can be expressed as:

[0125]

[0126] Among them, the coefficient α i Satisfying {α1,α2,…,α n}={0,1,…,n-1}, coefficient β i ∈{0,1},

[0127] Let coefficient vector α=[α1 α2 … α n ],β=[β1 β2 … β n ], then the optimal capture terminal sight angle vector can be expressed as:

[0128]

[0129] Among them, 1 1×nRepresents an n-dimensional row vector whose components are all 1.

[0130] 5) Obtain the optimal capture terminal sight angle vector set.

[0131] Optimal capture terminal sight angle vector set Θ W The expression is as follows:

[0132]

[0133] Step 104: Design an angle error cost function, and determine the optimal terminal sight angle vector based on the angle error cost function and the optimal capture terminal sight angle vector set.

[0134] As an optional implementation, the angle error cost function includes:

[0135]

[0136] in, For about The angle error cost function value; is the optimal capture terminal sight angle of the i-th missile in the optimal capture terminal sight angle vector.

[0137] As an optional implementation manner, the optimal terminal sight angle vector includes:

[0138]

[0139] in, is the optimal terminal sight angle vector; is the set of coefficient vectors α; is the set of coefficient vectors β; For α, β and The angle error cost function value.

[0140] Specifically, the process of determining the optimal terminal sight angle vector includes:

[0141] 1) Design the angle error cost function.

[0142] The angle error cost function is designed for missiles M1, M2, ..., M n The mean square error between the optimal capture terminal sight angle vector and the true sight angle is:

[0143]

[0144] Optimal terminal sight angle vector That is Θ W The angle error cost function value is smallest Right now:

[0145]

[0146] 2) Determine the extreme value search interval.

[0147] Let the set of coefficient vectors α be gather All elements in are 0, 1, ..., n-1 permutation vectors:

[0148]

[0149] Let the set of coefficient vectors β be gather All elements in are n-dimensional row vectors consisting of 0 and 1:

[0150]

[0151] The set of ordered pairs of coefficient vectors (α, β) is and The Cartesian product of

[0152] because It can be obtained by α, β, Completely determine the optimal terminal sight angle vector The problem of solving can be reformulated as:

[0153]

[0154] 3) Run the extreme value search algorithm.

[0155] The extreme value search algorithm for the optimal terminal sight angle vector is as follows:

[0156] ①Traverse the ordered pairs of coefficient vectors right Search and find the value of each (α, β) Minimum value of

[0157] ② Traverse all the obtained The minimum value of make The coefficient vector ordered pair corresponding to the minimum value is the optimal coefficient vector ordered pair (α * ,β * ).

[0158] ③ Calculate (α * ,β * ) corresponding to and

[0159] The formula of the above extreme value search algorithm is expressed as:

[0160]

[0161] Specifically, the expected sight angle q of the i-th missile is d,i The selection of θ should consider two indicators: one is the effect of capturing the target, and the other is the initial error of the sight angle. Suppose the sight angles of a group of terminals to be optimized are θ1, θ2, ... θ n , written in vector form as terminal sight angle vector θ=[θ1 θ2 … θ n ].

[0162] The optimization of the terminal's sight angle is divided into two steps:

[0163] 1) Design the capture cost function of the swarm Based on the optimization of the capture effect, the optimal capture terminal sight angle vector can be obtained Depend on The set formed is called the optimal capture terminal sight angle vector set, denoted as That is step 103.

[0164] 2) Design the initial angle error cost function Based on the initial angle error Continue to optimize and get the optimal terminal sight angle vector That is step 104.

[0165] Step 105: Utilize the angle-constrained guidance law and the optimal terminal sight angle vector to perform coordinated angle control on each missile in the coordinated guidance system.

[0166] Specifically, in each optimization cycle τ q A central node (leading missile or ground station) obtains global information, determines the extreme value search interval, executes the extreme value search algorithm of the optimal terminal line of sight angle vector, obtains the optimal terminal line of sight angle vector, and broadcasts it to all missiles.

[0167]

[0168] In each guidance cycle τ a , let the i-th missile M i The expected sight angle is equal to the Mth optimal terminal sight angle vector i components, executing the angle-constrained guidance law:

[0169]

[0170] In order to make the guidance process more accurate, the guidance period τ aIt needs to be as small as possible, and the expected angle needs to change steadily, so the cycle τ is optimized q It can be appropriately larger. In actual use, τ a =0.01s, τ q =1s.

[0171] The method of the present invention is verified by taking a coordinated guidance system of three missiles attacking one target as an example. The trajectory simulation results are as follows: Figure 4 As shown, the acceleration changes of the three missiles are as follows Figure 5 As shown, the expected sight angles and actual sight angles of the three missiles are as follows: Figure 6 shown.

[0172] Example 2

[0173] A computer device includes: 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 angle guidance method with optimal desired sight angle constraint in embodiment 1.

[0174] Example 3

[0175] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the angle guidance method with optimal expected sight angle constraint in embodiment 1.

[0176] Example 4

[0177] A computer program product includes a computer program, which implements the angle guidance method with optimal expected sight angle constraint in embodiment 1 when the computer program is executed by a processor.

[0178] Example 5

[0179] A computer device, which may be a database. 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 via a system bus, and the communication interface is connected to the system bus via 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 computer program in the non-volatile storage medium. The database of the computer device is used to store pending transactions. The input / output 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 angle guidance method for optimal expected sight angle constraint in Example 1 is implemented.

[0180] 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.

[0181] 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 take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments 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 processors involved in the various embodiments provided by the present invention may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), data processing logic devices based on quantum computing, and the like.

[0182] 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.

[0183] 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. An angle guidance method with optimal expected sight angle constraint, characterized in that: The method comprises: Performing relative kinematic analysis on a coordinated guidance system comprising multiple missiles and a target to obtain a set of kinematic equations for the missile and the target; Design an angle-constrained guidance law based on sliding mode control; Designing a capture cost function, and determining an optimal capture terminal sight angle vector set based on the capture cost function; Designing an angle error cost function, and determining an optimal terminal sight angle vector based on the angle error cost function and the optimal capture terminal sight angle vector set; performing coordinated angle control on each missile in the coordinated guidance system using the angle-constrained guidance law and the optimal terminal line-of-sight angle vector; The angle-constrained guidance law includes: Among them, s i is the sliding mode of the i-th missile; c is the sliding mode coefficient, c>0; q d,i is the expected sight angle of the i-th missile; ε and λ are both reaching law coefficients, ε>0, λ>0; sgn(·) is the sign function, a Tmax The maximum available overload for the target; is the true sight angle q of the i-th missile i The first derivative of a M,i is the acceleration of the i-th missile; η M,i is the lead angle of the i-th missile; is the distance r from the i-th missile to the target i The first derivative of ; The round-up cost function includes: in, is the value of the roundup cost function; is the ascending vector The j+1th component in ; is the ascending vector The jth component in ; is a vector obtained by sorting the principal values ​​and inverse principal values ​​of the terminal sight angles of all missiles in the cooperative guidance system in ascending order, wherein the principal value and inverse principal value of the terminal sight angle of the missile are determined according to the terminal sight angle of the missile; The optimal capture terminal sight angle vector set includes: Among them, Θ W is the optimal capture terminal sight angle vector set; is the optimal capture terminal sight angle vector; α and β are coefficient vectors; n is the number of missiles in the cooperative guidance system; is the offset, 1 1×n is an n-dimensional row vector whose components are all 1; The angle error cost function includes: in, For about The angle error cost function value; is the optimal capture terminal sight angle of the i-th missile in the optimal capture terminal sight angle vector; The optimal terminal sight angle vector includes: in, is the optimal terminal sight angle vector; is the set of coefficient vectors α; is the set of coefficient vectors β; For α, β and The angle error cost function value.

2. The angle guidance method for optimal desired sight angle constraint according to claim 1, characterized in that: The kinematic equations include: in, is the distance r from the i-th missile to the target i The first derivative of v T is the speed of the target; η T,i is the lead angle of the target relative to the i-th missile; v M,i is the speed of the i-th missile; η M,i is the lead angle of the i-th missile; is the true sight angle q of the i-th missile i The first derivative of ; σ M,i is the ballistic deviation angle of the i-th missile; σ T is the ballistic deviation angle of the target; is σ M,i The first derivative of a M,i is the acceleration of the i-th missile; is σ T The first derivative of a T is the acceleration of the target.

3. A computer device comprising: 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 angle guidance method with the optimal desired sight angle constraint as described in any one of claims 1-2.

4. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the angle guidance method with the optimal expected sight angle constraint as described in any one of claims 1-2 is implemented.

5. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the angle guidance method with the optimal expected sight angle constraint as described in any one of claims 1-2 is implemented.

Images