A proportional guidance command generation method based on adaptive aim point selection

Abstract

A kind of proportional guidance instruction generation method based on adaptive aiming point selection, comprising the following steps: trajectory tracking is carried out to target, the predicted trajectory point of target is regarded as aiming point, and aiming point is adaptively selected based on the relative distance between the energy consumption of interceptor and target by adopting fuzzy control theory;Obtain the relative line-of-sight elevation rate of aiming point and the relative line-of-sight azimuth rate of aiming point;According to the relative line-of-sight elevation rate of aiming point and the relative line-of-sight azimuth rate of aiming point, proportional guidance instruction is generated.The present application is based on adaptive aiming point selection, in the process of forming guidance instruction, with the goal of reducing energy consumption in the process of interception, based on fuzzy control theory, the energy consumption and the relative distance between missile and target are used to adaptively select aiming point as virtual target point, which can effectively improve the ability of interceptor to deal with mobile target and high-speed target, while also reducing the energy consumption and miss distance of interceptor in the process of guidance, and improve the interception ability.

Description

Technical Field

[0001] This invention belongs to the field of guidance and control technology, and particularly relates to a method for generating guidance commands using proportional guidance. Background Technology

[0002] Based on the principles of guidance command generation, guidance laws can be broadly categorized into classical guidance laws and modern guidance laws. Classical guidance laws are derived from extensive flight practice, and typical guidance command generation methods include the three-point method, the tracking method, the parallel approach method, and the proportional guidance method. Classical guidance laws require relatively less information in the command formation process and are simpler to implement. Therefore, classical guidance laws are currently the primary guidance laws used in practical engineering. Among them, the proportional guidance law is widely used because it is effective against targets with low maneuverability and is simple to implement. When both the missile and the target are flying at constant speeds, and the target is not maneuvering, and the terminal miss distance is the sole indicator, the proportional guidance law is an optimal guidance law. The advantages of the proportional guidance law are its simple construction, ease of implementation, low requirements for component specifications, and strong noise suppression capabilities. However, the proportional guidance law is only suitable for attacking targets with low maneuverability, has poor forward attack capability, and is sensitive to guidance gain selection. When dealing with highly maneuverable targets, it is necessary to increase the guidance gain, but this leads to a decrease in noise suppression capabilities. Therefore, people are constantly seeking ways to improve the proportional guidance law to enhance the missile's ability to deal with maneuvering, high-speed targets. Summary of the Invention

[0003] The purpose of this invention is to provide a proportional guidance command generation method that can improve the missile's ability to deal with and intercept high-speed, maneuvering targets, and can be used for the guidance of interceptor missiles that intercept high-speed targets.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A method for generating proportional guidance commands based on adaptive aiming point selection includes the following steps:

[0006] Step S1: Track the target trajectory, calculate the aiming point based on the target trajectory, and use fuzzy control theory to adaptively select the aiming point based on the energy consumption of the interceptor missile and the relative distance between the interceptor missile and the target.

[0007] Step S2: Obtain the elevation angular velocity of the aiming point relative to the line of sight and the azimuth angular velocity of the aiming point relative to the line of sight;

[0008] Step S3: Generate proportional guidance commands based on the elevation and azimuth angular rates of the aiming point relative to the line of sight.

[0009] In the proportional guidance command generation method described above, the proportional guidance command further includes an interceptor ballistic inclination angle command. and interceptor ballistic deflection command

[0010] Interceptor ballistic tilt angle command

[0011] Interceptor ballistic deflection command In the formula The relative line-of-sight elevation angular rate of the aiming point. k is the relative line-of-sight azimuth rate of the aiming point. θ , This is the proportionality coefficient.

[0012] In the proportional guidance command generation method described above, further, in step S1, the aiming point is adaptively selected according to the following steps:

[0013] Step S101: Calculate the aiming point Pos according to the following formula. pre :

[0014] Pos pre =Pos T +c*t_miss*V T Pos in the formula T V represents the current position of the target. T t_miss is the target's current velocity, t_miss is the predicted encounter time, and c is the prediction duration adjustment coefficient;

[0015] Step S102: Adaptively select the aiming point based on fuzzy theory:

[0016] S102a. Normalize the relative distance between the interceptor missile and the target, and the interceptor missile overload:

[0017]

[0018] In the formula, Dis represents the relative distance between the interceptor missile and the target, Dis0 represents the initial value of the relative distance between the interceptor missile and the target, and n represents the overload of the interceptor missile at the previous moment. max This represents the maximum overload of the interceptor missile;

[0019] S102b, Set fuzzy sets to set fuzzy levels for the normalized relative distance between the interceptor missile and the target, the normalized overload value of the interceptor missile at the previous moment, and the prediction duration adjustment coefficient.

[0020] S102c. Set fuzzy rules and establish fuzzy logic;

[0021] S102d. Establish the fuzzy membership function and solve for the prediction duration adjustment coefficient c.

[0022] The proportional guidance instruction generation method described above further predicts the encounter time. V in the formula M For the velocity of the interceptor missile, (·) T This indicates the matrix transpose.

[0023] As described above, the proportional guidance command generation method further includes the relative distance between the interceptor missile and the target. Pos in the formula Δ This is the relative distance vector between the interceptor missile and the target.

[0024] As described above, the proportional guidance command generation method further includes the relative distance vector Pos between the interceptor missile and the target. Δ =Pos M -Pos T Pos M This indicates the location of the interceptor missile.

[0025] As described above, the proportional guidance command generation method further includes the overload of the interceptor missile at the previous moment. θ in the formula m For the interceptor missile's tilt angle, For the rate of change of the interceptor missile's tilt angle, V is the rate of change of the interceptor missile's deflection angle. m =|V M | represents the speed of the interceptor missile.

[0026] In the proportional guidance command generation method described above, further, in step S102b, the relative distance between the interceptor missile and the target is normalized. Let B, M, and S be the three fuzzy levels, representing large, medium, and small relative distances respectively, and let the overload of the interceptor missile at the previous moment be the normalized value. Two fuzzy levels, B and S, are set to represent large and small energy consumption, respectively. The prediction duration adjustment coefficient c is set to three fuzzy levels, B, M and S.

[0027] In step S102c, the fuzzy logic is as follows;

[0028] when The fuzziness level is B and When the fuzziness level is B, the fuzziness level of the prediction duration adjustment coefficient c is M;

[0029] when The fuzziness level is B and When the fuzziness level is S, the fuzziness level of the prediction duration adjustment coefficient c is B;

[0030] when The fuzziness level is M and When the fuzziness level is B, the fuzziness level of the prediction duration adjustment coefficient c is M.

[0031] when The fuzziness level is M and When the fuzziness level is S, the fuzziness level of the prediction duration adjustment coefficient c is also S.

[0032] when The fuzziness level is S and When the fuzziness level is B, the fuzziness level of the prediction duration adjustment coefficient c is M;

[0033] when The fuzziness level is S and When the fuzziness level is S, the fuzziness level of the prediction duration adjustment coefficient c is also S.

[0034] In step S102d, the Gaussian function is selected as the fuzzy membership function.

[0035] for Choose the membership function y i as follows:

[0036] if is B, then

[0037] if is M, then

[0038] if is S, then

[0039] for Choose the membership function y i as follows:

[0040] if is B, then

[0041] if is S, then

[0042]

[0043] For c, choose the membership function y. i as follows:

[0044] If c is B, then y i =gaussmf(c,[0.3 0.8]);

[0045] If c is M, then y i =gaussmf(c,[0.3 0.5]);

[0046] If c is S, then y i =gaussmf(c,[0.30.2]);

[0047] Prediction duration adjustment coefficient Among them, g i The three fuzzy level centers of c are "B, M, S" respectively, and S i These represent the membership degrees of the three levels, i = 1, 2, 3.

[0048] In the proportional guidance command generation method described above, further, in step S2, the elevation angular velocity and azimuth angular velocity of the aiming point relative to the line of sight are obtained according to the following steps:

[0049] S201. Calculate the aiming point pointing vector R. pre ;

[0050] Aiming point pointing vector

[0051] S202, Based on the aiming point pointing vector R pre Calculate the relative line-of-sight elevation angle θ of the aiming point. LOS The relative line of sight azimuth of the aiming point

[0052]

[0053] S203, Relative line-of-sight elevation angle θ to the aiming point LOS The relative line of sight azimuth of the aiming point By performing differential calculations, the relative line-of-sight elevation angular velocity of the aiming point is obtained. The relative line-of-sight azimuth rate with the aiming point

[0054] As can be seen from the above technical solutions, this invention integrates target trajectory tracking into an improvement of the proportional guidance method. Based on adaptive aiming point selection, during the formation of guidance commands, it aims to reduce energy consumption during the interception process. Based on fuzzy control theory, it adaptively selects the aiming point as a virtual target point using the energy consumption of the previous moment and the relative distance between the missile and the target, forming a virtual connection between the interceptor missile and the target. The rotation vector information of this virtual connection is then used to form the guidance command. This invention, through adaptive target aiming point selection to form guidance commands, can effectively improve the interceptor missile's ability to deal with maneuvering and high-speed targets, while also reducing the interceptor missile's energy consumption and miss distance during the guidance process, thus improving interception capability. Attached Figure Description

[0055] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 This is a flowchart of the method of the present invention;

[0057] Figure 2 The longitudinal trajectory curve of the interceptor missile is shown in the simulation diagram when the target velocity is lower than the interceptor missile velocity using the method of the present invention.

[0058] Figure 3 The diagram shows the lateral ballistic trajectory of the interceptor missile when simulating interception of a target with a velocity lower than that of the interceptor missile using the method of this invention.

[0059] Figure 4 This is a simulation curve of the interceptor's velocity when the target velocity is lower than the interceptor's velocity using the method of this invention;

[0060] Figure 5 This is a curve showing the overload demand of the interceptor missile when simulating an interception where the target velocity is lower than the interceptor missile velocity using the method of this invention;

[0061] Figure 6 This is a curve showing the prediction time adjustment coefficient when simulating interception of a target with a velocity lower than that of an interceptor missile using the method of this invention;

[0062] Figure 7 The diagram shows a comparison of the miss azimuth distribution of the method of this invention and the guidance method based on the traditional proportional guidance law when the target velocity is lower than the interceptor missile velocity.

[0063] Figure 8 This is a comparison curve of energy consumption between the method of this invention and the guidance method based on the traditional proportional guidance law when the target velocity is lower than the interceptor missile velocity.

[0064] Figure 9 The longitudinal trajectory curve of the interceptor missile is shown in the simulation diagram when the target velocity is higher than the interceptor missile velocity using the method of the present invention.

[0065] Figure 10 The diagram shows the lateral ballistic trajectory of the interceptor missile when simulating an interception where the target velocity is higher than the interceptor missile's velocity using the method of this invention.

[0066] Figure 11This is a simulation curve of the interceptor's velocity when the target velocity is higher than the interceptor's velocity using the method of this invention;

[0067] Figure 12 This is a curve showing the overload demand of the interceptor missile when simulating an interception where the target velocity is higher than the interceptor missile velocity using the method of this invention;

[0068] Figure 13 The graph shows the prediction time adjustment coefficient curve when simulating interception of a target with a velocity higher than that of the interceptor missile using the method of this invention.

[0069] Figure 14 This is a comparison diagram of the longitudinal plane interception range of the method of the present invention and the guidance method based on the traditional proportional guidance law when the target velocity is higher than the interceptor missile velocity.

[0070] Figure 15 This is a comparison diagram of the horizontal plane interception range of the method of the present invention and the guidance method based on the traditional proportional guidance law when the target velocity is higher than the interceptor missile velocity.

[0071] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. Detailed Implementation

[0072] The present invention will now be described in detail with reference to the accompanying drawings. In the detailed description of the embodiments of the present invention, for ease of explanation, the drawings illustrating the device structure will be partially enlarged without adhering to the general scale. Furthermore, the schematic diagrams are merely examples and should not be construed as limiting the scope of protection of the present invention. It should be noted that the drawings are in a simplified form and use non-precise scales, solely for the purpose of conveniently and clearly illustrating the embodiments of the present invention. Additionally, in the description of this application, terms such as "first" and "second" are used only to distinguish descriptions and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Terms such as "positive," "negative," "bottom," "upper," and "lower" indicate orientation or positional relationships based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0073] Currently, the core idea behind research on improved forms of proportional guidance laws is to compensate for the effects of missile acceleration, gravitational acceleration, and target maneuvering on the basis of proportional guidance laws. However, these improvement methods still have their own shortcomings. This invention improves the method of generating proportional guidance commands by using fuzzy control theory to adaptively select the target aiming point based on energy consumption and the relative distance between the missile and the target. When the command is generated, the guidance command is formed using the line-of-sight information of the adaptive aiming point relative to the interceptor missile, instead of the traditional line-of-sight information of the target relative to the interceptor missile.

[0074] The following is combined Figure 1 The proportional guidance instruction generation method of the present invention will be described below. Figure 1 As shown, the proportional guidance instruction generation method of the present invention includes the following steps:

[0075] Step S1: Adaptive selection of aiming point; The target targeted by the method of this invention is assumed to have a constant motion state; When adaptively selecting the aiming point, the target is tracked, and the tracking points of the target's trajectory over a certain time period are used as aiming points. The method adaptively selects from the multiple aiming points obtained, specifically including the following sub-steps:

[0076] Step S101: Calculate the aiming point Pos pre When calculating the aiming point, the target's trajectory needs to be tracked, and the aiming point Pos is calculated based on the target's trajectory tracking. pre The target's trajectory is tracked to obtain its current position and velocity. Specifically, the aiming point Pos is calculated using the following formula. pre :

[0077] Pos pre =Pos T +c*t_miss*V T Pos in the formula T V represents the current position of the target. T The target's current velocity, t_miss is the predicted encounter time, c is the prediction duration adjustment coefficient, c>0, and the value of c is between 0 and 1, Pos pre =[x pre ,y pre ,z pre ] T The position of the aiming point;

[0078] Based on the above principle, the aiming point Pos pre The target's position in the tracking trajectory can be dynamically adjusted using the prediction duration adjustment coefficient c, thereby achieving adaptive selection of the aiming point; existing methods can be used to track the target's trajectory and obtain the target's current position Pos. T =[x t ,yt ,z t ] T and the target's current velocity V T =[v tx ,v ty ,v tz ] T There are already many mature methods to achieve target trajectory tracking, such as stable tracking methods like KALMAN filtering. Target trajectory tracking is not an innovation of this invention, so it will not be elaborated here.

[0079] Furthermore, the predicted encounter time t_miss can be calculated using the following formula:

[0080] In the formula, Dis represents the relative distance between the interceptor missile and the target (hereinafter referred to as missile-target relative distance, which varies with the predicted trajectory of the target), and V M =[v mx ,v my ,v mz ] T For the velocity of the interceptor missile, (·) T Indicates matrix transpose;

[0081] Furthermore, the relative distance Dis between the interceptor missile and the target can be calculated using the following formula:

[0082] Pos in the formula Δ Pos is the relative distance vector between the interceptor missile and the target. Δ =Pos M -Pos T Pos M =[x m ,y m ,z m ] T The location of the interceptor missile is known, and its velocity and location are both known.

[0083] Step S102: Adaptive selection of aiming point; This step is based on fuzzy control theory and aims to reduce energy consumption. It uses the relative distance between the missile and the target Dis and the energy consumption at the previous moment to adaptively calculate the prediction time adjustment coefficient c, thereby realizing the adaptive selection of the aiming point obtained in step S101, which is the target prediction trajectory point. The specific steps are as follows.

[0084] S102a. Normalize the relative distance between the missile and the target and the interceptor missile overload: In the formula, Dis0 is the initial value of the relative distance between the interceptor missile and the target, and n maxis the maximum overload of the interceptor missile, and n is the overload of the interceptor missile at the previous moment. The overload of the interceptor missile at the previous moment is also the energy consumption of the interceptor missile at the previous moment.

[0085] The overload of the interceptor missile at the previous moment θ in the formula m For the interceptor missile's tilt angle, V m =|V M | represents the modulus of the interceptor's velocity. For the rate of change of the interceptor missile's tilt angle, The interceptor's tilt angle change rate, tilt angle change rate, and tilt angle change rate can all be directly measured by the interceptor's onboard inertial measurement unit.

[0086] S102b, Set a fuzzy set, and set the fuzzy level for the normalized value of the relative distance between the missile and the target, the normalized value of the overload of the interceptor missile at the previous moment, and the prediction duration adjustment coefficient, respectively; In this embodiment, the normalized value of the relative distance between the missile and the target is set as follows: Let B, M, and S be the three fuzzy levels, representing large, medium, and small relative distances respectively, and let the overload of the interceptor missile at the previous moment be the normalized value. Two fuzzy levels, B and S, are set to represent large and small energy consumption, respectively. The prediction duration adjustment coefficient c is set to three fuzzy levels, B, M and S.

[0087] S102c. Set fuzzy rules and establish fuzzy logic, that is, establish the mapping relationship between the output and input of the fuzzy set. In this embodiment, the establishment of the mapping relationship adopts the expert knowledge method. In this embodiment, the following expert knowledge is used to establish the fuzzy logic mapping relationship:

[0088] when When the fuzziness level is large (B) and When the fuzziness level is large (B), in order to maintain accuracy and reduce energy consumption, the prediction duration adjustment coefficient c is chosen to be moderate, and the fuzziness level is (M).

[0089] when When the fuzziness level is large (B) and When the ambiguity level is relatively small (S), in order to quickly adjust the trajectory, the prediction time adjustment coefficient c is selected to be relatively large, and the ambiguity level is (B).

[0090] when Centering (fuzziness level M) and When the fuzziness level is relatively large (B), in order to reduce energy consumption, the prediction duration adjustment coefficient c should be chosen to be moderate, and the fuzziness level (M) should be selected.

[0091] when Centering (fuzziness level M) and When the fuzziness level (S) is relatively small, in order to reduce energy consumption and maintain guidance accuracy, the prediction duration adjustment coefficient c is chosen to be relatively small, and the fuzziness level (S) is relatively small.

[0092] when When the fuzziness level is small (S) and When the fuzziness level is relatively large (B), in order to maintain the guidance accuracy, the prediction duration adjustment coefficient c should be selected appropriately, and the fuzziness level (M) should be selected.

[0093] when When the fuzziness level is small (S) and When the fuzziness level (S) is relatively small, in order to reduce energy consumption and maintain guidance accuracy, the prediction duration adjustment coefficient c is chosen to be relatively small, and the fuzziness level (S) is relatively small.

[0094] In fuzzy logic mapping The fuzzy levels (B, M, S) can be designed based on the influence of relative motion relationships on guidance accuracy. One possible method is to divide them into three equal parts, assuming... but Larger (B) but Center (M), but Smaller (S); similarly, Divided into two fuzzy levels, it is believed that but Larger (B), otherwise Smaller (S);

[0095] Based on the expert knowledge mentioned above, fuzzy rules as shown in Table 1 can be established;

[0096] Table 1 Fuzzy Logic Table

[0097]

[0098] S102d. Establish the fuzzy membership function and solve for the prediction duration adjustment coefficient c. Solving for the prediction duration adjustment coefficient c is actually a defuzzification process. There are many known and mature methods for defuzzification. In this embodiment, the Gaussian function is chosen as the fuzzy membership function as an example to solve for the prediction duration adjustment coefficient c, as follows:

[0099] for Choose the membership function y i as follows:

[0100] if is B, then

[0101] if is M, then

[0102] if is S, then

[0103] for Choose the membership function y i as follows:

[0104] if is B, then

[0105] if is S, then

[0106] e is the natural constant;

[0107] For c, choose the membership function y. i as follows:

[0108] If c is B, then y i =gaussmf(c,[0.3 0.8]);

[0109] If c is M, then y i =gaussmf(c,[0.3 0.5]);

[0110] If c is S, then y i =gaussmf(c,[0.3 0.2]);

[0111] This embodiment uses the centroid method to solve for the prediction duration adjustment coefficient c: Among them, g i The three fuzzy level centers of c are "B, M, S" respectively, and S i The membership degrees of the three levels are i = 1, 2, 3; by solving the solution prediction time adjustment coefficient c, the aiming point can be determined.

[0112] It should be noted that this embodiment only provides one implementation method for the design and implementation of the universe of discourse. In specific applications, the setting of the number of fuzzy levels, the form of the corresponding membership function, and the parameters can be set and adjusted according to the background of the object.

[0113] Step S2: Obtain the relative information of the aiming point. The relative information of the aiming point mainly includes the elevation angle and azimuth angle of the aiming point relative to the line of sight, as well as the elevation rate and azimuth rate of the aiming point relative to the line of sight. Obtaining the relative information of the aiming point includes the following sub-steps:

[0114] S201. Calculate the aiming point pointing vector R.pre ;

[0115] Calculate the aiming point pointing vector R based on the position information of the interceptor missile and the position information of the adaptively selected aiming point. pre :

[0116]

[0117] S202, Based on the aiming point pointing vector R pre Calculate the relative angle information of the aiming point, including the relative elevation angle θ of the aiming point relative to the line of sight. LOS The relative line of sight azimuth of the aiming point

[0118]

[0119] S203. Calculate the relative line-of-sight elevation angular rate of the aiming point. The relative line-of-sight azimuth rate with the aiming point The relative elevation angle θ of the aiming point LOS The relative line of sight azimuth of the aiming point By performing differential calculations, the relative elevation angular velocity of the aiming point can be obtained. The relative line-of-sight azimuth rate with the aiming point There are many methods for calculating the differential based on tracking data. Commonly used methods include KALMAN filtering and differential tracking. These are all existing and mature methods and are not the innovation of this invention, so they will not be elaborated here.

[0120] Step S3: Generate proportional guidance commands, including interceptor ballistic tilt angle commands. and interceptor ballistic deflection command Based on the relative line of sight elevation and angular velocity of the aiming point The relative line-of-sight azimuth rate with the aiming point generate:

[0121] k in the formula θ , This is the proportionality coefficient, which is an empirical value.

[0122] After generating the proportional guidance command, the interceptor missile takes the aiming point as the target and guides itself according to the proportional guidance command.

[0123] In step S1, the present invention uses fuzzy control theory to adaptively select the aiming point based on the energy consumption and the relative distance between the missile and the target at the previous moment. In step S2, the adaptively selected aiming point is used as a virtual target point to form a virtual connection between the interceptor missile and the target. In step S3, the rotation vector information of the virtual connection is used to form a guidance command.

[0124] To verify the effectiveness of the method of the present invention, the inventors used MATLAB software to conduct comparative simulations with the traditional guidance method based on proportional guidance law, under the conditions that the target speed is higher than the interceptor speed and lower than the interceptor speed.

[0125] 1. Simulation of target velocity being lower than interceptor missile velocity

[0126] During the simulation, it is assumed that the target performs overload maneuvers of 2g and 3g in the horizontal and vertical directions, respectively, with a target speed of 300m / s and an interceptor speed of 1000m / s.

[0127] The verification process first verifies the interception process of the method of the present invention, from... Figures 2 to 6 As can be seen from the interception process curve, the method of the present invention can effectively intercept the target, the speed change during the interception process is stable, and the overload meets the requirements.

[0128] The capability characteristics of the proposed method and the traditional proportional guidance law-based guidance method were compared using 300 Monte Carlo simulations. The simulation comparison results are as follows: Figure 7 and Figure 8 As shown ( Figure 7 , Figure 8 , Figure 14 and Figure 15 The improved method in the text refers to the method of this invention, while the conventional method refers to the conventional guidance method based on the proportional guidance law. Figure 7 It can be seen that the method of the present invention has a more concentrated off-target distribution and a smaller off-target amount. Meanwhile, from... Figure 8 It can be seen that the method of the present invention has lower energy consumption during the interception process.

[0129] 2. Simulation of target velocity exceeding interceptor missile velocity

[0130] During the simulation, the target speed was assumed to be 1500 m / s and the trajectory inclination angle was -35 degrees. The interception process was first verified, and then 300 Monte Carlo simulations were used to compare the capabilities of the proposed method with those of a guidance method based on traditional proportional guidance laws.

[0131] from Figures 9 to 13 As can be seen from the interception process curve, the method of the present invention can effectively intercept the target, the speed change during the interception process is stable, and the overload meets the requirements.

[0132] The capability characteristics of the proposed method and a traditional proportional guidance law-based guidance method were compared using 300 Monte Carlo simulations. For the aforementioned target, interceptor missiles were selected to intercept the target from different azimuths, and the interceptable range of the two methods was determined using Monte Carlo simulations. Figure 14 and Figure 15 As shown. From Figure 14 and Figure 15 A comparison of the interceptable range in the vertical and horizontal planes shows that the interceptable range of the method of this invention is significantly larger than that of the traditional method.

[0133] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A method for generating proportional guidance commands based on adaptive aiming point selection, characterized in that, Includes the following steps: Step S1: Track the target's trajectory, calculate the aiming point based on the target's trajectory, and use fuzzy control theory to adaptively select the aiming point based on the interceptor missile's energy consumption and the relative distance between the interceptor missile and the target. The steps for adaptively selecting the aiming point are as follows: Step S101: Calculate the aiming point Pos according to the following formula. pre : Pos in the formula T V represents the current position of the target. T t_miss is the target's current velocity, t_miss is the predicted encounter time, and c is the prediction duration adjustment coefficient; Predicted encounter time In the formula, Dis is the relative distance between the interceptor missile and the target, and V M For the velocity of the interceptor missile, (·) T Indicates matrix transpose; Step S102: Adaptively select the aiming point based on fuzzy theory: S102a. Normalize the relative distance between the interceptor missile and the target, and the interceptor missile overload: ， ， In the formula, Dis0 is the initial relative distance between the interceptor missile and the target, n is the overload of the interceptor missile at the previous moment, and n max This represents the maximum overload of the interceptor missile; S102b, Set fuzzy sets to set fuzzy levels for the normalized relative distance between the interceptor missile and the target, the normalized overload value of the interceptor missile at the previous moment, and the prediction duration adjustment coefficient. S102c. Set fuzzy rules and establish fuzzy logic; S102d. Establish the fuzzy membership function and solve for the prediction duration adjustment coefficient c. Step S2: Obtain the elevation angular velocity of the aiming point relative to the line of sight and the azimuth angular velocity of the aiming point relative to the line of sight; Step S3: Generate proportional guidance commands based on the elevation and azimuth angular rates of the aiming point relative to the line of sight. The proportional guidance command includes the interceptor ballistic inclination angle command. and interceptor ballistic deflection command : Interceptor ballistic tilt angle command , Interceptor ballistic deflection command In the formula The relative line-of-sight elevation angular rate of the aiming point. The relative line-of-sight azimuth rate of the aiming point. , φ is the proportionality coefficient. LOS The relative line-of-sight azimuth angle of the aiming point.

2. The proportional guidance instruction generation method as described in claim 1, characterized in that: Relative distance between the interceptor missile and the target Pos in the formula Δ This is the relative distance vector between the interceptor missile and the target.

3. The proportional guidance instruction generation method as described in claim 2, characterized in that: The relative distance vector between the interceptor missile and the target Pos M This indicates the location of the interceptor missile.

4. The proportional guidance instruction generation method as described in claim 1, characterized in that: The overload of the interceptor missile at the previous moment In the formula For the interceptor missile's tilt angle, The modulus of the interceptor's velocity. For the rate of change of the interceptor missile's tilt angle, This represents the rate of change of the interceptor missile's deflection angle.

5. The proportional guidance instruction generation method as described in claim 1, characterized in that: In step S102b, the relative distance between the interceptor missile and the target is normalized. Let B, M, and S be the three fuzzy levels, representing large, medium, and small relative distances respectively, and let the overload of the interceptor missile at the previous moment be the normalized value. Two fuzzy levels, B and S, are set to represent large and small energy consumption, respectively. The prediction duration adjustment coefficient c is set to three fuzzy levels, B, M and S. In step S102c, the fuzzy logic is as follows; when The fuzziness level is B and When the fuzziness level is B, the fuzziness level of the prediction duration adjustment coefficient c is M; when The fuzziness level is B and When the fuzziness level is S, the fuzziness level of the prediction duration adjustment coefficient c is B; when The fuzziness level is M and When the fuzziness level is B, the fuzziness level of the prediction duration adjustment coefficient c is M. when The fuzziness level is M and When the fuzziness level is S, the fuzziness level of the prediction duration adjustment coefficient c is also S. when The fuzziness level is S and When the fuzziness level is B, the fuzziness level of the prediction duration adjustment coefficient c is M; when The fuzziness level is S and When the fuzziness level is S, the fuzziness level of the prediction duration adjustment coefficient c is also S. In step S102d, the Gaussian function is selected as the fuzzy membership function. for Choose the membership function y i as follows: if is B,then ; if is M,then ; if is S,then ; for Choose the membership function y i as follows: if is B,then ; if is S,then ; ； For c, choose the membership function y. i as follows: if c is B, then ; if c is M, then ; if c is S, then ; Prediction duration adjustment coefficient ,in, The three fuzzy level centers "B, M, S" of c are respectively. These represent the membership degrees of the three levels, i=1,2,3.

6. The proportional guidance instruction generation method as described in claim 1, characterized in that: In step S2, the elevation and azimuth rates of the aiming point relative to the line of sight are obtained according to the following steps: S201. Calculate the aiming point pointing vector R. pre ; Aiming point pointing vector ; S202, Based on the aiming point pointing vector R pre Calculate the relative line-of-sight elevation angle θ of the aiming point. LOS The relative line-of-sight azimuth angle φ between the aiming point and the aiming point LOS : ； ； S203, Relative line-of-sight elevation angle θ of the aiming point LOS The relative line-of-sight azimuth angle φ between the aiming point and the aiming point LOS By performing differential calculations, the relative line-of-sight elevation angular velocity of the aiming point is obtained. The relative line-of-sight azimuth rate with the aiming point .

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