Trajectory Generation Method for Mid-course Maneuver Penetration

Abstract

The present application relates to a trajectory generation method for mid-course maneuvering penetration. The method includes: defining a landing point coordinate system, a velocity coordinate system, and a missile body coordinate system; constructing a dynamic equation expression of a ballistic missile in the landing point coordinate system; the dynamic equation expression includes a thrust vector and an aerodynamic force vector to be solved; calculating the thrust vector according to the thrust magnitude, the coordinate transformation matrix from the velocity coordinate system to the landing point coordinate system, and the coordinate transformation matrix from the missile body coordinate system to the velocity coordinate system; solving the control quantity in the thrust vector by making the direction of the trajectory change velocity increment of the maneuvering penetration perpendicular to the expected interception direction of the interceptor missile and making the landing point deviation after the maneuvering trajectory change as small as possible to obtain the maneuvering trajectory change velocity increment; using the direction of the maneuvering trajectory change velocity increment to calculate the thrust in the trajectory generation, and then calculating the dynamic equation of the ballistic missile to realize the trajectory generation. The present method can realize the mid-course maneuvering penetration trajectory generation.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a trajectory generation method for mid-course maneuverable penetration. Background Art

[0002] Mid-course maneuver penetration of ballistic missiles refers to the process of applying trajectory change speed increment to evade interception to the greatest extent when the ballistic missile is in the mid-course of flight outside the atmosphere, and achieving the original strike target through terminal guidance. The mid-course of ballistic missile flight is outside the atmosphere, and it cannot use aerodynamic lift to implement maneuvering and evasion, and can only rely on its own rocket engine. Therefore, its maneuverability is relatively weak. Penetration refers to the process of applying trajectory change on the basis of inertial ballistics, so that the ballistic missile exceeds the target detection range or interception maneuver range of the terminal guidance stage of the interceptor missile.

[0003] For the problem of mid-course maneuvering penetration of ballistic missiles, currently available literature usually uses differential game or optimal control theory to study. Such methods have certain theoretical value, but such methods are usually based on the complete target state information, complete self-control ability, and do not consider the ballistic missile's own landing point and terminal correction. In actual situations, it is difficult to obtain complete and accurate state information such as the real-time position and speed of the interceptor missile. At the same time, the ballistic missile does not have the control ability to flexibly adjust the thrust size, and it is difficult to implement maneuvering trajectory according to the control rate given by the theory. Therefore, a mid-course maneuvering penetration method suitable for actual engineering constraints is needed. Summary of the invention

[0004] Based on this, it is necessary to provide a trajectory generation method for mid-course maneuverable penetration of a ballistic trajectory that does not require complex and accurate target state information, nor does it require complex thrust size and direction control, and is suitable for achieving mid-course maneuverable penetration trajectory generation under actual engineering constraints.

[0005] A trajectory generation method for mid-course maneuver penetration, the method comprising:

[0006] Define the impact point coordinate system, velocity coordinate system and missile body coordinate system; construct the dynamic equation expression of the ballistic missile in the impact point coordinate system; the dynamic equation expression includes the thrust vector and aerodynamic force vector to be solved;

[0007] The thrust vector is calculated according to the thrust magnitude, the coordinate transformation matrix from the velocity coordinate system to the landing point coordinate system, and the coordinate transformation matrix from the missile body coordinate system to the velocity coordinate system; the control quantity in the thrust vector is solved by making the direction of the trajectory change speed increment of the maneuvering penetration perpendicular to the expected interception direction of the interceptor missile and making the landing point deviation after the maneuvering trajectory change minimum, and the maneuvering trajectory change speed increment is obtained;

[0008] The thrust in trajectory generation is calculated using the direction of the velocity increment of the maneuvering trajectory change. The dynamic equation of the ballistic missile is calculated based on the thrust and the known aerodynamic force and gravity to achieve trajectory generation.

[0009] The above-mentioned trajectory generation method for mid-course maneuverable penetration first defines the landing point coordinate system, the velocity coordinate system and the missile body coordinate system; constructs the dynamic equation expression of the ballistic missile in the landing point coordinate system; the dynamic equation expression includes the thrust vector and the aerodynamic force vector to be solved; calculates the thrust vector according to the thrust magnitude, the coordinate transformation matrix from the velocity coordinate system to the landing point coordinate system and the coordinate transformation matrix from the missile body coordinate system to the velocity coordinate system; and minimizes the landing point deviation after the maneuverable trajectory change by making the trajectory change velocity increment direction of the maneuverable penetration perpendicular to the expected interception direction of the interceptor missile. The control quantity in the thrust vector is solved to obtain the maneuvering trajectory speed increment; the thrust in trajectory generation is calculated using the direction of the maneuvering trajectory speed increment, and then the dynamic equation of the ballistic missile is calculated to realize trajectory generation. The present application does not require complex target state information, nor does it require complex thrust size and direction control. Only rough interception azimuth information is required to implement penetration maneuver calculation and trajectory generation. The thrust size and change of maneuverable penetration do not need to be restricted. It is suitable for simulation calculations under actual engineering constraints, and has the advantages of moderate accuracy, simple, fast and stable calculation. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 The figure is a flow chart of a trajectory generation method for mid-course maneuverable penetration in one embodiment. DETAILED DESCRIPTION

[0011] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0012] In one embodiment, Figure 1 As shown, a trajectory generation method for mid-course maneuver penetration is provided, comprising the following steps:

[0013] Step 102, defining a landing point coordinate system, a velocity coordinate system and a missile body coordinate system; constructing a dynamic equation expression of the ballistic missile in the landing point coordinate system; the dynamic equation expression includes a thrust vector and an aerodynamic force vector to be solved.

[0014] 1) Define the coordinate system of the landing point , the nominal point is the coordinate origin , The axis points due east. The axis points due north, The axis is perpendicular to the local horizontal plane and points to the sky. The nominal impact point is the impact point of the ballistic missile when it does not perform mid-course maneuver penetration.

[0015] 2) Define the velocity coordinate system , the nominal ballistic missile mass center is the coordinate origin , The axis points in the direction of velocity, The axis is perpendicular to the velocity direction and points to the sky. The axes form a right-hand system.

[0016] The coordinate transformation matrix from the velocity coordinate system to the landing point coordinate system is recorded as .

[0017] 3) Define the projectile coordinate system , the nominal ballistic missile mass center is the coordinate origin , The axis points to the longitudinal axis of the projectile, which is also the thrust direction. The axis is perpendicular to the longitudinal axis of the projectile. The axes form a right-hand system.

[0018] The coordinate transformation matrix from the projectile coordinate system to the velocity coordinate system is recorded as ,remember

[0019] ;

[0020] in, is the azimuth of the projectile's longitudinal axis, is the pitch angle of the projectile's longitudinal axis.

[0021] The dynamic equation of the ballistic missile in the impact point coordinate system is constructed as follows:

[0022] ;

[0023] in, is the missile mass, is the position vector of the multi-point coordinate system, is the velocity vector in the coordinate system of the landing point, is the aerodynamic force vector, is the aerodynamic force vector, is the gravitational acceleration vector, ignoring the rotation of the earth.

[0024] The aerodynamic force vector is calculated as

[0025] ;

[0026] ;

[0027] ;

[0028] ;

[0029] Among them, is the frontal area with a given value, is the drag coefficient, is the lift coefficient, is the side force coefficient, is the atmospheric density.

[0030] Drag coefficient is calculated as

[0031] ;

[0032] Among them, is the angle of attack, in degrees; is the sideslip angle, in degrees.

[0033] Lift coefficient is calculated as

[0034] ;

[0035] Among them, in degrees.

[0036] Side force coefficient is calculated as

[0037] ;

[0038] Among them, in degrees.

[0039] Atmospheric density is calculated using the following simplified formula. Denote

[0040] ;

[0041] ;

[0042] Among them, is the geometric height, km is the radius of the earth.

[0043] 1) When 0km < h <= 11.0191km

[0044] ;

[0045] 2) When 11.0191km < h <= 20.0631km

[0046] ;

[0047] 3) When 20.0631 km < h <= 32.1619 km

[0048] ;

[0049] 4) When 32.1619 km < h <= 47.3501 km

[0050] ;

[0051] 5) When 47.3501 km < h <= 51.4125 km

[0052] ;

[0053] 6) When 51.4125 km < h <= 71.8020 km

[0054] ;

[0055] 7) When 71.8020 km < h <= 86.0000 km

[0056] ;

[0057] 8) When 86.0000 km < h <= 91.0000 km

[0058] ;

[0059] Gravity calculation

[0060] ;

[0061] Thrust vector calculation

[0062] ;

[0063] Among them, is the thrust magnitude, and both the absolute value and the startup time length are given values without design and requirements.

[0064] Step 104, calculate the thrust vector according to the thrust magnitude, the coordinate transformation matrix from the velocity coordinate system to the impact point coordinate system, and the coordinate transformation matrix from the body coordinate system to the velocity coordinate system; solve the control quantity in the thrust vector by making the direction of the velocity increment for maneuvering penetration perpendicular to the expected interception direction of the interceptor missile, and at the same time minimizing the impact point deviation after maneuvering orbit change, so as to obtain the velocity increment for maneuvering orbit change.

[0065] Calculation of control quantity, that is, solving and The control quantity in the thrust vector is solved by making the incremental direction of the trajectory change speed of the maneuverable penetration perpendicular to the expected interception direction of the interceptor missile and minimizing the landing point deviation after the maneuverable trajectory change.

[0066] When the interceptor missile enters the terminal guidance stage, the azimuth and pitch angles of the interception direction in the ballistic missile velocity coordinate system are and , then the interceptor missile’s unit position vector in the ballistic missile’s velocity coordinate system is It can be expressed as

[0067] ;

[0068] Define the following unit vector

[0069] ;

[0070] ;

[0071] ;

[0072] Then the unit vector of the trajectory change speed increment direction that satisfies the optimal miss distance is , which can be expressed as

[0073] ;

[0074] For any one , a drop point deviation can be obtained by numerical calculation , the mapping relationship is recorded as ,Right now

[0075] ;

[0076] By finding the minimum value, we can get The minimum corresponding value , Iteration initial value Take ,or , take the point deviation between the two iterative results Smaller For the final result. Two initial values ​​are used to avoid a single initial value causing the iteration to converge to a local minimum and fail to obtain the global minimum.

[0077] According to the solution obtained , calculate the corresponding maneuvering speed increment direction and for

[0078] ;

[0079] ;

[0080] in, is the direction of the velocity increment of the maneuvering track change, and its projection in the velocity coordinate system is

[0081] ;

[0082] Step 106, using the direction of the maneuvering velocity increment to calculate the thrust in trajectory generation, and calculating the dynamic equation of the ballistic missile based on the thrust and known aerodynamic force and gravity to achieve trajectory generation.

[0083] The dynamic equation includes gravity calculation, aerodynamic calculation and thrust calculation, among which gravity and aerodynamic calculation are known, and the thrust magnitude is known in thrust calculation, but the direction needs to be solved. Therefore, after solving the direction of the maneuvering velocity increment, that is, the thrust direction (the direction of the maneuvering velocity increment is consistent with the inference direction), the thrust calculation is known, and all dynamic calculations can be completed to realize trajectory generation.

[0084] The above-mentioned trajectory generation method for mid-course maneuverable penetration first defines the landing point coordinate system, the velocity coordinate system and the missile body coordinate system; constructs the dynamic equation expression of the ballistic missile in the landing point coordinate system; the dynamic equation expression includes the thrust vector and the aerodynamic force vector to be solved; calculates the thrust vector according to the thrust magnitude, the coordinate transformation matrix from the velocity coordinate system to the landing point coordinate system and the coordinate transformation matrix from the missile body coordinate system to the velocity coordinate system; and minimizes the landing point deviation after the maneuverable trajectory change by making the trajectory change velocity increment direction of the maneuverable penetration perpendicular to the expected interception direction of the interceptor missile. The control quantity in the thrust vector is solved to obtain the maneuvering trajectory speed increment; the thrust in trajectory generation is calculated using the direction of the maneuvering trajectory speed increment, and then the dynamic equation of the ballistic missile is calculated to realize trajectory generation. The present application does not require complex target state information, nor does it require complex thrust size and direction control. Only rough interception azimuth information is required to implement penetration maneuver calculation and trajectory generation. The thrust size and change of maneuverable penetration do not need to be restricted. It is suitable for simulation calculations under actual engineering constraints, and has the advantages of moderate accuracy, simple, fast and stable calculation.

[0085] In one embodiment, defining a landing point coordinate system, a velocity coordinate system, and a projectile body coordinate system includes:

[0086] Define the coordinate system of the drop point , the nominal point is the coordinate origin , The axis points due east, The axis points due north, The axis points to the sky perpendicular to the local horizontal plane;

[0087] Define the velocity coordinate system , the nominal ballistic missile mass center is the coordinate origin , The axis points in the direction of velocity, The axis is perpendicular to the velocity direction and points to the sky. The axes form a right-hand system; the coordinate transformation matrix from the velocity coordinate system to the landing point coordinate system is recorded as ;

[0088] Define the projectile body coordinate system , the nominal ballistic missile mass center is the coordinate origin , The axis points to the longitudinal axis of the projectile, which is also the thrust direction. The axis is perpendicular to the longitudinal axis of the projectile. The axes form a right-hand system; the coordinate transformation matrix from the projectile coordinate system to the velocity coordinate system is recorded as ,remember

[0089] ;

[0090] in, is the azimuth of the projectile's longitudinal axis, is the pitch angle of the missile body’s longitudinal axis, Represents the coordinate rotation matrix around the z-axis, A coordinate rotation matrix representing a rotation around the y-axis.

[0091] In one embodiment, constructing a dynamic equation expression of a ballistic missile in a landing point coordinate system includes:

[0092] The dynamic equation of the ballistic missile constructed in the impact point coordinate system is:

[0093] ;

[0094] in, is the missile mass, is the position vector of the multi-point coordinate system, is the velocity vector in the coordinate system of the landing point, is the thrust vector, is the aerodynamic force vector, is the gravitational acceleration vector, ignoring the rotation of the earth.

[0095] In one embodiment, the thrust vector expression is calculated according to the thrust magnitude, the coordinate transformation matrix from the velocity coordinate system to the landing point coordinate system, and the coordinate transformation matrix from the projectile coordinate system to the velocity coordinate system, including:

[0096] The thrust vector expression is calculated based on the thrust magnitude, the coordinate transformation matrix from the velocity coordinate system to the landing point coordinate system, and the coordinate transformation matrix from the missile body coordinate system to the velocity coordinate system:

[0097] ;

[0098] in, Indicates the thrust size, Represents the coordinate transformation matrix from the velocity coordinate system to the landing point coordinate system, Represents the coordinate transformation matrix from the projectile coordinate system to the velocity coordinate system, , is the azimuth of the projectile's longitudinal axis, is the pitch angle of the missile body’s longitudinal axis, Represents the coordinate rotation matrix around the z-axis, A coordinate rotation matrix representing a rotation around the y-axis.

[0099] In one embodiment, the control amount in the thrust vector is solved by making the direction of the trajectory change speed increment of the maneuvering penetration perpendicular to the expected interception direction of the interceptor missile and making the landing point deviation after the maneuvering trajectory change minimum, so as to obtain the maneuvering trajectory change speed increment, including:

[0100] When the interceptor missile enters the terminal guidance stage, the unit azimuth and pitch angle of the interceptor missile's interception direction in the ballistic missile's velocity coordinate system are used to construct the unit azimuth unit vector of the interceptor missile in the ballistic missile's velocity coordinate system;

[0101] A first unit vector, a second unit vector and a third unit vector are defined according to the unit orientation unit vector, and a unit vector of a track change speed increment direction satisfying an optimal miss amount is calculated by using the second unit vector and the third unit vector;

[0102] The maneuvering penetration direction angle is established by calculating the landing point deviation of the unit vector in the direction of the trajectory change speed increment using a numerical method The mapping relationship between the landing point deviation and the landing point deviation is obtained by iterative method to find the minimum value of the landing point deviation and obtain the maneuver penetration direction angle corresponding to the minimum landing point deviation. ;

[0103] according to Calculate the corresponding maneuvering track change speed increment.

[0104] In a specific embodiment, the maneuverable penetration direction angle, that is, the direction suitable for maneuverable penetration, forms a plane, and the direction of the maneuverable penetration direction in the plane is expressed by the maneuverable penetration direction angle.

[0105] In one embodiment, when the interceptor missile enters the terminal guidance phase, the unit vector of the unit azimuth of the interceptor missile in the ballistic missile velocity coordinate system is constructed using the azimuth and pitch angle of the predicted interception direction of the interceptor missile in the ballistic missile velocity coordinate system, including:

[0106] When the interceptor missile enters the terminal guidance stage, the unit vector of the unit azimuth of the interceptor missile in the ballistic missile velocity coordinate system is constructed by using the azimuth and pitch angle of the estimated interceptor missile interception direction in the ballistic missile velocity coordinate system:

[0107] ;

[0108] Among them, when the interceptor missile enters the terminal guidance stage, the azimuth and pitch angles of the estimated interceptor missile interception direction in the ballistic missile velocity coordinate system are and .

[0109] In one embodiment, defining the first unit vector, the second unit vector, and the third unit vector according to the unit orientation unit vector includes:

[0110] According to the unit orientation unit vector, the first unit vector is defined as

[0111] ;

[0112] in, represents the unit direction unit vector;

[0113] According to the unit orientation unit vector, the second unit vector is defined as

[0114] ;

[0115] According to the unit orientation unit vector, the third unit vector is defined as

[0116] .

[0117] In one embodiment, the second unit vector and the third unit vector are used to calculate the track change speed increment direction unit vector that satisfies the optimal miss amount, including:

[0118] The second unit vector and the third unit vector are used to calculate the unit vector of the trajectory change speed increment direction that satisfies the optimal miss distance:

[0119] .

[0120] In one embodiment, the point deviation of the unit vector in the direction of the track change speed increment is calculated by numerical method to establish The mapping relationship between the landing point deviation and the landing point deviation is obtained by iterative method to minimize the landing point deviation and obtain the corresponding ,include:

[0121] For any track change velocity increment direction unit vector , a drop point deviation is obtained by numerical calculation , the mapping relationship is recorded as ,Right now

[0122] ;

[0123] By finding the minimum value, we can get The minimum corresponding value , Iteration initial value Take ,or , take the point deviation between the two iterative results Smaller For the final result.

[0124] In one embodiment, according to Calculate the corresponding maneuvering track change speed increment, including:

[0125] according to Calculate the corresponding maneuvering speed increment and for

[0126] ;

[0127] ;

[0128] in, is the direction of the velocity increment of the maneuvering track change, and its projection is

[0129] ;

[0130] in, It represents the x-coordinate value of the projection of the maneuvering direction in the velocity coordinate system. represents the y coordinate value of the projection of the maneuvering direction in the velocity coordinate system, represents the z coordinate value of the maneuvering direction projected in the velocity coordinate system, Indicates the maneuver penetration direction angle corresponding to the minimum landing point deviation, represents the third unit vector, represents the second unit vector.

[0131] It should be understood that although Figure 1The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0132] The technical features of the above embodiments may 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.

[0133] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A trajectory generation method for mid-course maneuver penetration, characterized in that: The method comprises: A landing point coordinate system, a velocity coordinate system and a missile body coordinate system are defined; a dynamic equation expression of a ballistic missile is constructed in the landing point coordinate system; the dynamic equation expression includes a thrust vector and an aerodynamic force vector to be solved; The thrust vector is calculated according to the thrust magnitude, the coordinate conversion matrix from the velocity coordinate system to the landing point coordinate system, and the coordinate conversion matrix from the missile body coordinate system to the velocity coordinate system; the control quantity in the thrust vector is solved by making the direction of the trajectory change speed increment of the maneuvering penetration perpendicular to the expected interception direction of the interceptor missile and making the landing point deviation after the maneuvering trajectory change minimum, so as to obtain the maneuvering trajectory change speed increment; The thrust in trajectory generation is calculated using the direction of the maneuvering trajectory change speed increment, and the dynamic equation of the ballistic missile is calculated based on the thrust and known aerodynamic force and gravity to realize trajectory generation; The dynamic equation expression of the ballistic missile is constructed in the landing point coordinate system, including: The dynamic equation of the ballistic missile constructed in the drop point coordinate system is: in, is the missile mass, is the position vector of the multi-point coordinate system, is the velocity vector in the coordinate system of the landing point, is the thrust vector, is the aerodynamic force vector, is the gravitational acceleration vector, ignoring the rotation of the earth; The thrust vector expression is calculated based on the thrust magnitude, the coordinate transformation matrix from the velocity coordinate system to the landing point coordinate system, and the coordinate transformation matrix from the missile body coordinate system to the velocity coordinate system, including: The thrust vector expression is calculated based on the thrust magnitude, the coordinate transformation matrix from the velocity coordinate system to the landing point coordinate system, and the coordinate transformation matrix from the missile body coordinate system to the velocity coordinate system: in, Indicates the thrust size, Represents the coordinate transformation matrix from the velocity coordinate system to the landing point coordinate system, Represents the coordinate transformation matrix from the projectile coordinate system to the velocity coordinate system, , is the azimuth of the projectile's longitudinal axis, is the pitch angle of the missile body’s longitudinal axis, Represents the coordinate rotation matrix around the z-axis, Represents the coordinate rotation matrix rotating around the y-axis; The control quantity in the thrust vector is solved by making the direction of the trajectory change speed increment of the maneuverable penetration perpendicular to the expected interception direction of the interceptor missile and making the landing point deviation after the maneuverable trajectory change minimum, and the maneuverable trajectory change speed increment is obtained, including: When the interceptor missile enters the terminal guidance stage, the unit azimuth and pitch angle of the interceptor missile's interception direction in the ballistic missile's velocity coordinate system are used to construct the unit azimuth unit vector of the interceptor missile in the ballistic missile's velocity coordinate system; Define a first unit vector, a second unit vector and a third unit vector according to the unit orientation unit vector, and use the second unit vector and the third unit vector to calculate a track change speed increment direction unit vector that satisfies the optimal miss amount; The maneuvering penetration direction angle is established by calculating the landing point deviation of the unit vector in the direction of the track change speed increment using a numerical method The mapping relationship between the landing point deviation and the landing point deviation is obtained by iterative method to find the minimum value of the landing point deviation and obtain the maneuver penetration direction angle corresponding to the minimum landing point deviation ; According to the Calculate the corresponding maneuvering track change speed increment.

2. The method according to claim 1, characterized in that Define the drop point coordinate system, velocity coordinate system and projectile body coordinate system, including: Define the coordinate system of the drop point , the nominal point is the coordinate origin , The axis points due east. The axis points due north, The axis points to the sky perpendicular to the local horizontal plane; Define the velocity coordinate system , the nominal ballistic missile mass center is the coordinate origin , The axis points in the direction of velocity, The axis is perpendicular to the velocity direction and points to the sky. The axes form a right-hand system; the coordinate transformation matrix from the velocity coordinate system to the landing point coordinate system is recorded as ; Define the projectile body coordinate system , the nominal ballistic missile mass center is the coordinate origin , The axis points to the longitudinal axis of the projectile, which is also the thrust direction. The axis is perpendicular to the longitudinal axis of the projectile. The axes form a right-hand system; the coordinate transformation matrix from the projectile coordinate system to the velocity coordinate system is recorded as ,remember in, , Represents the coordinate rotation matrix around the z-axis, A coordinate rotation matrix representing a rotation around the y-axis.

3. The method according to claim 1, characterized in that: When the interceptor missile enters the terminal guidance phase, the unit vector of the unit azimuth of the interceptor missile in the ballistic missile velocity coordinate system is constructed using the azimuth and pitch angle of the estimated interceptor missile interception direction in the ballistic missile velocity coordinate system, including: When the interceptor missile enters the terminal guidance stage, the unit vector of the unit azimuth of the interceptor missile in the ballistic missile velocity coordinate system is constructed by using the azimuth and pitch angle of the estimated interceptor missile interception direction in the ballistic missile velocity coordinate system: Among them, when the interceptor missile enters the terminal guidance stage, the azimuth and pitch angles of the estimated interceptor missile interception direction in the ballistic missile velocity coordinate system are and .

4. The method according to claim 1, characterized in that: Defining a first unit vector, a second unit vector, and a third unit vector according to the unit orientation unit vector includes: According to the unit orientation unit vector, a first unit vector is defined as: in, represents the unit direction unit vector; According to the unit orientation unit vector, a second unit vector is defined as: According to the unit orientation unit vector, the third unit vector is defined as: 。 5. The method according to claim 1, characterized in that Calculating the track change speed increment direction unit vector that satisfies the optimal miss amount by using the second unit vector and the third unit vector includes: The second unit vector and the third unit vector are used to calculate the unit vector of the track change speed increment direction that satisfies the optimal miss amount: 。 6. The method according to claim 1, characterized in that The point deviation of the unit vector in the direction of the track change speed increment is calculated by numerical method to establish The mapping relationship between the landing point deviation and the landing point deviation is obtained by iterative method to minimize the landing point deviation and obtain the corresponding ,include: For any track change velocity increment direction unit vector , a drop point deviation is obtained by numerical calculation , the mapping relationship is recorded as ,Right now By finding the minimum value, we can get The minimum corresponding value , Iteration initial value Take ,or , take the point deviation between the two iteration results Smaller For the final result.

7. The method according to claim 1, characterized in that According to the Calculate the corresponding maneuvering track change speed increment, including: According to the Calculate the corresponding maneuvering speed increment and for in, is the direction of the velocity increment of the maneuvering track change, and its projection in the velocity coordinate system is in, It represents the x-coordinate value of the projection of the maneuvering direction in the velocity coordinate system. represents the y coordinate value of the projection of the maneuvering direction in the velocity coordinate system, represents the z coordinate value of the maneuvering direction projected in the velocity coordinate system, Indicates the maneuver penetration direction angle corresponding to the minimum landing point deviation, represents the third unit vector, represents the second unit vector.

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