A three-dimensional collaborative guidance method, device and medium for a specified time considering wind disturbance

Abstract

This application discloses a wind-interference-considered, designated-time, three-dimensional coordinated guidance method, device, and medium. The method relates to the field of guidance technology. The method comprises: establishing a dynamic model for a three-dimensional multi-missile interception of a stationary target; establishing a wind interference model; determining a wind-interference-considered three-dimensional guidance model based on the wind-interference-considered dynamic model and the wind interference model; determining an estimated remaining flight time of the missile system against the stationary target based on the wind-interference-considered three-dimensional guidance model; determining a sliding mode surface of the missile system's attack time error based on the total flight time of the designated missiles and the estimated remaining flight time of the missile system against the stationary target; determining a wind-interference-overcoming designated-time coordinated guidance law based on the missile system's wind-interference-overcoming sliding mode surface based on the adaptive theory and Lyapunov theory; and guiding the missile system based on the wind-interference-considered designated-time coordinated guidance law. This application can improve the accuracy and stability of missiles.

Description

Technical Field

[0001] The present application relates to the field of guidance technology, and in particular to a three-dimensional collaborative guidance method, device and medium for a specified time taking into account wind disturbance. Background Art

[0002] In recent years, with the development of fortifications, classic guidance laws have often failed to meet their mission. Salvo attacks are considered an effective attack method. Multiple-missile salvo attacks can improve the overall effectiveness of missiles, and specifying the attack time is considered an effective way to achieve this goal.

[0003] Currently, there are many solutions to the problem of specified collision time. One approach involves combining classic proportional guidance with additional feedback terms to achieve target impact at the desired time. Advanced guidance strategies such as sliding mode control, Lyapunov function-based control, and feedback linearization have also been successfully applied to meet specified time constraints. However, missiles are subject to numerous and often unavoidable disturbances during actual strikes, with wind disturbance being the most significant. Strong winds can cause missiles to deviate from their intended trajectory, potentially leading to misses and instability during flight, while also increasing flight energy consumption. However, limited research has been conducted on the impact of wind disturbances on missile flight. Wind disturbances are often uncertain and difficult to identify, making analysis of their effects challenging. In practice, overcoming wind disturbances remains a worthy research topic. Summary of the Invention

[0004] The purpose of this application is to provide a specified time three-dimensional collaborative guidance method, equipment and medium taking into account wind disturbance, which can improve the accuracy and stability of missiles.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides a three-dimensional collaborative guidance method for a specified time considering wind disturbance, comprising:

[0007] Establishing a dynamic model for a three-dimensional plane multi-missile interception of a stationary target; the dynamic model for a three-dimensional plane multi-missile interception of a stationary target represents the relative motion between the missile system and the stationary target; the missile system includes a plurality of missiles;

[0008] Establishing a wind interference model; the wind interference model represents the disturbance force of actual wind on the missile system; the actual wind includes basic wind and random wind;

[0009] According to the dynamic model of three-dimensional plane multi-missile interception of stationary targets and the wind interference model, a three-dimensional plane guidance model considering wind disturbance is determined;

[0010] Determine the remaining flight time estimate of the missile system against a stationary target based on a three-dimensional planar guidance model taking into account wind disturbance;

[0011] Determine the missile system attack time error sliding mode surface based on the total missile flight time and the remaining flight time estimate of the missile system against the stationary target;

[0012] Based on the adaptive theory and Lyapunov theory, the designated time cooperative guidance law to overcome wind interference is determined according to the sliding mode surface of the missile system attack time error.

[0013] The missile system is guided according to a specified time coordinated guidance law that overcomes wind interference.

[0014] Optionally, the expression of the dynamic model of the three-dimensional plane multi-missile interception of a stationary target is:

[0015]

[0016]

[0017]

[0018]

[0019]

[0020] in, For the The relative distance between the missile and the stationary target, for The first derivative of For the The missile's line of sight angle, for The first derivative of For the The line of sight angle of the missile, for The first derivative of For the The ballistic inclination of the missile, for The first derivative of For the The ballistic deflection angle of the missile, for The first derivative of For the The speed of the missile, For the The acceleration of a missile along the velocity coordinate system of The axis weight, For the The acceleration of a missile along the velocity coordinate system of The axis weight, Indicates the missiles.

[0021] Optionally, the wind interference model is expressed as:

[0022]

[0023]

[0024]

[0025]

[0026] in, is the actual wind disturbance force on the missile system, is the air density around the missile, is the missile's wind-exposed area, For actual wind, is the proportion of basic wind, is the proportion of random wind, The basic wind, is the maximum value of basic wind, For random wind, is the maximum value of random wind, For arrive A random number between and are all positive real numbers.

[0027] Optionally, based on the dynamic model of the three-dimensional plane multi-missile interception of a stationary target and the wind interference model, the influence of lateral normal wind interference on the missile system is considered, so that the ballistic deviation angle of the missile system is changed, thereby obtaining a three-dimensional plane guidance model that considers wind interference; in the three-dimensional plane guidance model that considers wind interference, the expression of the ballistic deviation angle of the missile system is:

[0028]

[0029]

[0030]

[0031] in, To consider the normal acceleration after wind interference, is the normal acceleration of the missile due to wind disturbance, For the missile mass.

[0032] Optionally, the remaining flight time estimation of the missile system against a stationary target is expressed as:

[0033]

[0034] in, For the The estimated remaining flight time of the missiles, is the navigation ratio, For the The lead angle of the missile in the yaw direction.

[0035] Optionally, the missile system attack time error sliding mode surface is expressed as:

[0036]

[0037] in, For the The attack time error sliding mode surface of the missile, For the The flight duration of the missile, The total flight time of the specified missile.

[0038] Optionally, the expression of the specified time cooperative guidance law for overcoming wind interference is:

[0039]

[0040]

[0041] in, For the The adaptive function of the missile, For the Adaptive parameters of missiles, is the convergence parameter of the Lyapunov function, is the intermediate parameter The upper bound of , is a symbolic function.

[0042] In a second aspect, the present application provides 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 three-dimensional collaborative guidance method for a specified time considering wind disturbance.

[0043] In a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the three-dimensional collaborative guidance method for a specified time taking into account wind disturbance.

[0044] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0045] This application provides a three-dimensional collaborative guidance method, device, and medium for a specified time that takes into account wind disturbances. By introducing the impact of wind disturbances on missiles and remodeling the missile system, a specified time collaborative guidance law that overcomes wind disturbances based on the remaining flight time of proportional guidance is proposed, enabling salvo attacks on stationary targets. This application uses an adaptive control method based on adaptive theory and Lyapunov theory to compensate for wind disturbances, thereby improving the accuracy and stability of the missiles. The guidance law uses a specified total missile flight time control to enable multiple missiles to perform tasks in a coordinated manner, improving combat efficiency and battlefield flexibility. It also has strong real-time adaptability and can dynamically adjust the control strategy in real time according to actual wind disturbance conditions and missile status, thereby more accurately performing tasks and coping with complex battlefield environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present application 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0047] Figure 1 A flow chart of the three-dimensional collaborative guidance method for a specified time considering wind disturbance provided in this application;

[0048] Figure 2 A schematic diagram of the three-dimensional plane guidance model provided in this application;

[0049] Figure 3 Schematic diagram of the effect of wind disturbance on normal acceleration provided in this application;

[0050] Figure 4 interceptor missile and target trajectory diagrams provided for this application;

[0051] Figure 5 The interceptor missile overload curve provided for this application;

[0052] Figure 6 A graph estimating the remaining flight time of the interceptor missile provided for this application;

[0053] Figure 7 This is the adaptive error curve diagram of the interceptor missile provided in this application. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0055] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0056] like Figure 1 As shown, the specified time three-dimensional collaborative guidance method considering wind disturbance provided by the present application includes the following steps 1 to 7.

[0057] Step 1: Establish a dynamic model for a three-dimensional plane multi-missile interception of a stationary target. The dynamic model for a three-dimensional plane multi-missile interception of a stationary target represents the relative motion between the missile system and the stationary target; the missile system includes a plurality of missiles.

[0058] The dynamic model of the three-dimensional plane multi-missile interception of a stationary target, that is, the original three-dimensional plane guidance model is as follows Figure 2 As shown, and are the inertial coordinate systems of the missile and the target in three-dimensional space, and Respectively represent Missiles and targets, The speed of the missile is (Assumed to be a constant value), The acceleration of the missile is , in three-dimensional space, the acceleration can be Along the velocity coordinate system of and Axis decomposition into and , and Respectively The ballistic inclination and deviation of a missile. and Respectively The inclination and deflection angles of the missile's line of sight, is the relative distance between the projectile and the target, i.e. The relative distance between a missile and a stationary target.

[0059] Specifically, the dynamic model of a three-dimensional plane multi-missile interception of a stationary target is expressed as:

[0060]

[0061]

[0062]

[0063]

[0064]

[0065] in, For the The relative distance between the missile and the stationary target, for The first derivative of For the The missile's line of sight angle, for The first derivative of For the The missile's line of sight angle, for The first derivative of For the The ballistic inclination of the missile, for The first derivative of For the The ballistic deflection angle of the missile, for The first derivative of For the The speed of the missile, For the The acceleration of a missile along the velocity coordinate system of The axis weight, For the The acceleration of a missile along the velocity coordinate system of The axis weight, Indicates the missiles.

[0066] Step 2: Establish a wind interference model. The wind interference model characterizes the disturbance force of actual wind on the missile system; the actual wind includes basic wind and random wind.

[0067] During the entire attack process, the missile is interfered by many factors. In extreme cases, wind disturbance may become a significant interference factor and even directly affect the accuracy of the hit. Considering the impact of wind disturbance on the guidance model, the wind can be decomposed into continuous basic wind , sudden gusts of wind , gradient style and random wind , due to sudden gusts of wind and gradient style It is also a kind of random wind, so it does not need to be analyzed and only basic wind and random wind are considered.

[0068] Basic Wind The expression is as follows:

[0069]

[0070] in, is the maximum value of the basic wind and is an unknown constant.

[0071] Random Wind It is usually a random fluctuating wind with upper and lower bounds, and its expression is as follows:

[0072]

[0073] in, is the maximum value of random wind, For arrive A random number between and are all positive real numbers.

[0074] Therefore, the combination of these two winds can be expressed as the actual wind, as follows:

[0075]

[0076] in, is the actual wind, i.e. the total wind speed, and are the proportions of basic wind and random wind respectively, .

[0077] The actual wind disturbance force on the missile system Can represent:

[0078]

[0079] in, is the missile's wind-exposed area, is the density of the air around the missile.

[0080] Step 3: Determine the three-dimensional plane guidance model considering wind disturbance based on the dynamic model of three-dimensional plane multiple missiles intercepting stationary targets and the wind interference model.

[0081] Specifically, based on the dynamic model and wind interference model of three-dimensional plane multi-missile interception of stationary targets, the influence of lateral normal wind interference on the missile system is considered, which changes the ballistic deviation angle of the missile system and obtains a three-dimensional plane guidance model considering wind interference.

[0082] For missiles, the effect of wind interference on missile speed is very small and can be ignored, so the main analysis is the effect of lateral normal wind interference on the missile system. It can be expressed as the following formula:

[0083]

[0084] in, is the normal acceleration of the missile due to wind disturbance, For the missile mass.

[0085] Substitute the above formula and sort it out, Can be expressed as:

[0086]

[0087] Among them, the intermediate parameters 、 , Bounded, that is .

[0088] Therefore, in Figure 3 In the case of wind interference as shown, the ballistic deflection angle of the missile system in the three-dimensional plane guidance model considering wind interference, that is, the expression of the lateral acceleration of the three-dimensional plane guidance model is:

[0089]

[0090] in, , is the normal resultant acceleration after considering wind disturbance.

[0091] Step 4: Determine the remaining flight time estimate of the missile system against a stationary target based on the three-dimensional planar guidance model taking into account wind disturbance.

[0092] Remaining flight time estimation for stationary targets The following forms can be used:

[0093]

[0094] in, Representative The estimated remaining flight time of the missiles, is the navigation ratio, generally taken as , For the The lead angle of the missile in the yaw direction is generally considered to be an accurate estimate of the remaining flight time for stationary targets.

[0095] Step 5: Determine the missile system attack time error sliding mode surface based on the specified total missile flight time and the estimated remaining flight time of the missile system against the stationary target.

[0096] First, estimate the remaining flight time Taking the derivative we get:

[0097]

[0098] When the leading angle is small, it can be assumed that , , , then the above formula can be expressed as:

[0099]

[0100] Secondly, in order to achieve the target hitting time, the first Sliding mode surface of the attack time error of a missile :

[0101]

[0102] in, For the The flight duration of the missile, The total flight time of the specified missile.

[0103] Step 6: Based on the adaptive theory and Lyapunov theory, the designated time cooperative guidance law to overcome wind interference is determined according to the sliding mode surface of the missile system attack time error.

[0104] Sliding mode surface of missile attack time error After derivation and sorting, we can get:

[0105]

[0106] According to the adaptive theory and Lyapunov theory, the three-dimensional plane is decoupled into two two-dimensional planes. A specified time cooperative guidance law that can overcome wind interference can be designed in the yaw plane as follows:

[0107]

[0108]

[0109] in, For the The adaptive function of the missile, For the Adaptive parameters of missiles, , is the convergence parameter of the Lyapunov function, for The upper bound of , is a symbolic function.

[0110] In actual engineering applications, in order to prevent frequent chattering, a saturation function can be used. , hyperbolic tangent function , inverse tangent function etc. to replace the symbolic functions in the controller and observer .

[0111] Step 7: Guide the missile system according to the specified time cooperative guidance law to overcome wind interference.

[0112] The following example uses a missile system consisting of three missiles (interceptors) to attack a stationary target to verify the effectiveness of the method proposed in this application. The specific implementation steps of this example are as follows:

[0113] (1) Missile simulation system settings

[0114] Basic Wind , the maximum value of random wind , each proportion , ; Air density , the acceleration due to gravity ; The speed of the three missiles is set to 500, 750, and 400 respectively; Maximum overload .

[0115] The initial simulation values ​​of each missile and target are shown in Table 1:

[0116] Table 1 Simulation initial parameters

[0117]

[0118] (2) Parameter settings:

[0119] Adaptive parameters of the three missiles They are 2229, 9946 and 431 respectively, and the navigation ratio .

[0120] (3) Result analysis:

[0121] The simulation results are as follows Figure 4 、 Figure 5 、 Figure 6 and Figure 7 As shown. Among them, Figure 4 The trajectory diagram of the three interceptor missiles and the target is shown in Figure 2. Figure 5 This is the overload curve of three interceptor missiles. Figure 6 The estimated remaining flight time curves for the three interceptor missiles are shown below. Figure 7 is the adaptive error curve of the three interceptor missiles. Figure 6 It can be seen that the remaining flight time converges to the true remaining flight time within a finite time, and within the preset specified missile total flight time Converges to 0, the three interceptor missiles can achieve coordinated attack on the target at the specified time; Figure 7 It can be seen that the adaptive term error converges within 5 seconds. The effectiveness of the specified time cooperative guidance law can be verified based on the simulation diagram.

[0122] In summary, this application considers the impact of wind disturbances on missiles, remodels the missile system, and proposes a specified-time collaborative guidance law based on the remaining flight time of proportional guidance to overcome wind disturbances, thus achieving a salvo attack on a stationary target. This application uses an adaptive control method based on adaptive theory and Lyapunov theory to compensate for wind disturbances, improving the accuracy and stability of the missiles. The guidance law uses a specified total missile flight time control, enabling multiple missiles to perform missions in a coordinated manner, improving combat efficiency and battlefield flexibility. The system also has strong real-time adaptability and can dynamically adjust the control strategy in real time based on actual wind disturbance conditions and missile status, thereby more accurately executing missions and coping with complex battlefield environments.

[0123] In an exemplary embodiment, a computer device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0124] In an exemplary embodiment, a computer-readable storage medium is further provided, storing a computer program, which implements the steps in the above-mentioned method embodiments when executed by a processor.

[0125] In an exemplary embodiment, a computer program product is further provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0126] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0127] 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 above-mentioned embodiments. In particular, any reference to memory, database, or other media used in the embodiments provided in this application 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 may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0128] The databases involved in the various embodiments provided herein 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 herein may include, but are not limited to, general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic units, data processing logic units based on quantum computing, and the like.

[0129] 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.

[0130] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the method and core concept of this application. At the same time, for those skilled in the art, based on the concept of this application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A three-dimensional coordinated guidance method for a specified time considering wind disturbance, characterized in that: include: Establishing a dynamic model for a three-dimensional plane multi-missile interception of a stationary target; the dynamic model for a three-dimensional plane multi-missile interception of a stationary target represents the relative motion between the missile system and the stationary target; the missile system includes a plurality of missiles; Establishing a wind interference model; the wind interference model represents the disturbance force of actual wind on the missile system; the actual wind includes basic wind and random wind; According to the dynamic model of three-dimensional plane multi-missile interception of stationary targets and the wind interference model, a three-dimensional plane guidance model considering wind disturbance is determined; Determine the remaining flight time estimate of the missile system against a stationary target based on a three-dimensional planar guidance model taking into account wind disturbance; Determine the missile system attack time error sliding mode surface based on the total missile flight time and the remaining flight time estimate of the missile system against the stationary target; Based on the adaptive theory and Lyapunov theory, the designated time cooperative guidance law to overcome wind interference is determined according to the sliding mode surface of the missile system attack time error. The missile system is guided according to a specified time coordinated guidance law that overcomes wind interference.

2. The method for three-dimensional coordinated guidance at a specified time considering wind disturbance according to claim 1, characterized in that: The expression of the dynamic model of the three-dimensional plane multi-missile interception of a stationary target is: in, For the The relative distance between the missile and the stationary target, for The first derivative of For the The missile's line of sight angle, for The first derivative of For the The missile's line of sight angle, for The first derivative of For the The ballistic inclination of the missile, for The first derivative of For the The ballistic deflection angle of the missile, for The first derivative of For the The speed of the missile, For the The acceleration of a missile along the velocity coordinate system of The axis weight, For the The acceleration of a missile along the velocity coordinate system of The axis weight, Indicates the missiles.

3. The method for three-dimensional coordinated guidance at a designated time considering wind disturbance according to claim 2, characterized in that: The expression of the wind interference model is: in, is the actual wind disturbance force on the missile system, is the air density around the missile, is the missile's wind-exposed area, For actual wind, is the proportion of basic wind, is the proportion of random wind, The basic wind, is the maximum value of basic wind, For random wind, is the maximum value of random wind, For arrive A random number between and are all positive real numbers.

4. The method for three-dimensional coordinated guidance at a specified time considering wind disturbance according to claim 3, characterized in that: According to the dynamic model of the three-dimensional plane multi-missile interception of a stationary target and the wind interference model, the influence of the lateral normal wind interference on the missile system is considered, so that the ballistic deviation angle of the missile system is changed, and a three-dimensional plane guidance model considering wind interference is obtained. In the three-dimensional plane guidance model considering wind interference, the ballistic deviation angle of the missile system is expressed as follows: in, To consider the normal acceleration after wind interference, is the normal acceleration of the missile due to wind disturbance, The mass of the missile.

5. The method for three-dimensional coordinated guidance at a specified time considering wind disturbance according to claim 4, characterized in that: The expression for estimating the remaining flight time of the missile system against a stationary target is: in, For the The remaining flight time of the missile is estimated. is the navigation ratio, For the The lead angle of the missile in the yaw direction.

6. The method for three-dimensional coordinated guidance at a specified time considering wind disturbance according to claim 5, characterized in that: The expression of the sliding mode surface of the missile system attack time error is: in, For the The attack time error sliding mode surface of the missile, For the The flight duration of the missile, The total flight time of the specified missile.

7. The method for three-dimensional coordinated guidance at a designated time considering wind disturbance according to claim 6, characterized in that: The expression of the specified time cooperative guidance law to overcome wind interference is: in, For the The adaptive function of the missile, For the Adaptive parameters of missiles, is the convergence parameter of the Lyapunov function, is the intermediate parameter The upper bound of , is a symbolic function.

8. 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 three-dimensional collaborative guidance method with specified time considering wind disturbance according to any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the three-dimensional collaborative guidance method with designated time considering wind disturbance according to any one of claims 1 to 7 is implemented.

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