Target continuous tracking method based on circling fly-around
Through real-time positioning and calculation control instructions, the patrol missile is guided into the circle, solving the problem of short decision-making time after the patrol missile detects a suspected target, achieving continuous tracking and stability of the target, and improving combat effectiveness.
Patent Information
- Application Number
- CN202411140381.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-20
- Publication Date
- 2024-12-17
AI Technical Summary
After the patrol missile detects a suspected target, the ground commander has a short decision-making time, making it difficult to conduct effective continuous tracking and confirmation of targets, resulting in the possible loss of targets.
The target continuous tracking method based on hovering orbiting flight is adopted, and the cruise missile is guided into the circle through real-time positioning and calculation control instructions. The outside-circle guidance method, the inside-circle guidance method or the circular flight method are used to continue with the target as the center of the circle. track.
The continuous and stable tracking of the target is achieved, providing commanders with more decision-making time, and allowing strike opportunities from any angle and at any time, improving the combat effectiveness of cruise missiles.
Smart Images
Figure CN119148730A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the field of cruise missile system design, and in particular to a target continuous tracking method based on circling flight. Background Art
[0002] Cruise missiles are a type of low-cost precision strike weapon with autonomous combat capabilities that integrate long-range reconnaissance and real-time strikes. They have outstanding advantages such as low cost, small size, moderate lethality, good concealment, fast response speed, and flexible combat use. They can achieve single or multiple tasks such as precision strikes, surveillance, reconnaissance, damage assessment, target indication, and air alert. During flight, cruise missiles detect the area through the seeker. If a suspected target is detected and identified, the target information will be transmitted to the ground operation terminal, and the commander will confirm whether to strike the target. Since the detection distance of the seeker is limited, and the target is basically close when the specific attributes of the target can be clearly identified, the time left for the commander to make a decision is relatively short. The ground operator needs to confirm the strike on the target in a short time, which is not conducive to the operation of the target personnel. Therefore, it is necessary to continuously track the suspected target so that the commander has sufficient time to decide whether to attack the target without losing the target, and the target can be struck at any angle and at any time by flying around. Summary of the invention
[0003] The purpose of the present invention is to provide a method for continuous target tracking based on circling flight, which is used for a cruise missile weapon system to continuously track a suspected target to facilitate the commander's decision-making.
[0004] In order to achieve the above tasks, the present invention adopts the following technical solutions:
[0005] A method for continuous target tracking based on circling and circling flight, after a cruise missile detects a target, it measures the distance and positions the target; at this time, if an instruction for continuous target tracking is received, the missile-target plane distance is calculated according to the real-time positioning result, and a control instruction is calculated in real time to guide the cruise missile into a circling circle; through the relationship between the missile-target plane distance and the preset circling circle radius, it is determined whether the cruise missile's guidance method is an outside-circle guidance method, an inside-circle guidance method or a circular circling method; after entering the circling circle, the cruise missile will continue to circle around the target as the center to achieve continuous tracking of the target.
[0006] Furthermore, the coordinate system used by the cruise missile during guidance is established in the following manner:
[0007] The origin o is the projection of the center of gravity of the cruise missile on the ground when it is launched. The ox axis points to the north, which is positive; the oy axis is in the plumb plane containing the ox axis, is perpendicular to the ox axis, and is positive upward; the oz axis is perpendicular to the plane formed by oxy.
[0008] Furthermore, the method of determining the guidance of the cruise missile by the relationship between the missile-target plane distance and the preset radius of the fly-around circle is to adopt the outer-circle guidance method, the inner-circle guidance method or the circular fly-around method, including:
[0009] After the cruise missile locates the target, if it receives an order from the commander to continue tracking the target, it will calculate the plane distance between the missile and the target, and the angle between the missile and the target and the north direction based on the positioning result:
[0010]
[0011]
[0012] Among them, x m 、z m represents the current x and z axis position of the cruise missile in the north sky east coordinate system, x t 、z t Represents the x- and z-axis positions of the target coordinates obtained after the target is positioned in the North Celestial East coordinate system;
[0013] After calculating the missile-target plane distance, the radius of the flyby circle is set to determine the guidance method of the cruise missile entering the flyby circle:
[0014]
[0015] Here, R represents the flyby circle.
[0016] Furthermore, the value of R is 600-1000m
[0017] Furthermore, the outer ring guiding method is:
[0018] After entering the outer circle guidance method, a circle will be drawn with the target as the center and R as the radius to establish a flyby circle, and the self-position will be used as a point outside the circle to draw a tangent to the flyby circle. At this time, the outer circle guidance algorithm will make the cruise missile use this tangent as the route and control the cruise missile to reach the flyby circle along the tangent.
[0019] Furthermore, the specific calculation process of the outer ring guidance algorithm is:
[0020] First calculate the distance from the cruise missile to the tangent point:
[0021]
[0022] Then calculate the angle between the tangent and the line connecting the projectile and the target:
[0023]
[0024] Calculate the unit vector from the cruise missile to the center of the circle:
[0025]
[0026] There are two tangent lines from the cruise missile to a point on the circle, so we can use β and Calculate the unit vectors of the two tangent lines:
[0027]
[0028]
[0029] At this time, with the target as the center, north as the x-axis and east as the z-axis, an auxiliary rectangular coordinate system for quadrant judgment can be established. The coordinates of the tangent point can be calculated according to the position of the cruise missile in the auxiliary rectangular coordinate system:
[0030] When the cruise missile is in the 1st and 4th quadrants of the coordinate system, the coordinates of the tangent point are
[0031] When the cruise missile is in the 2nd and 3rd quadrants of the coordinate system, the coordinates of the tangent point are
[0032] After calculating the coordinates of the tangent point, the current expected heading of the cruise missile can be calculated:
[0033] When the cruise missile is in the 1st and 4th quadrants of the coordinate system, the expected heading is
[0034] When the cruise missile is in the 2nd and 3rd quadrants of the coordinate system, the expected heading is
[0035] The cruise missile calculates the desired heading in real time during flight, and controls the cruise missile to fly along the desired heading to reach the flyby circle and achieve outer circle guidance.
[0036] Furthermore, the inner ring guiding method is:
[0037] After entering the inner circle guidance method, a circle is drawn with the target as the center and the missile-target distance as the radius. The two tangent directions of the cruise missile's current position on the circle are calculated, and the tangent direction corresponding to the current heading on the inner side is selected; the maximum guideable angle is determined based on the frame angle range of the cruise missile's seeker, and the cruise missile is guided to fly outward to the flyby circle based on the angle and the tangent direction.
[0038] Furthermore, the specific calculation process of the inner circle guidance method is:
[0039] First, we can calculate the angle between the two tangent lines on the circle and the north direction based on the geometric relationship:
[0040] α1=α
[0041]
[0042] At this point, two tangent lines and the unit vector of the cruise missile's current heading can be obtained:
[0043]
[0044]
[0045]
[0046] Among them, ρ is the current heading angle of the cruise missile;
[0047] Based on this, the cosine value of the angle between the two tangents and the cruise missile course can be calculated:
[0048]
[0049]
[0050] By taking the positive value, we can obtain the tangent direction L that is most consistent with the current course of the cruise missile:
[0051]
[0052] At this time, the maximum guidance angle can be given according to the frame angle range of the cruise missile seeker: max =KJJ max -90, including KJJ max represents the maximum value that the seeker frame angle can reach. According to this angle, the desired heading angle is changed so that the cruise missile approaches the tangent direction L by adding the previous heading angle to the tangent direction L. max The desired heading angle of the cruise missile is moved closer to the flyby circle to guide the cruise missile to reach the flyby circle and fly around.
[0053] Furthermore, the circular fly-around method is:
[0054] When the cruise missile has reached the flyby circle, the lateral position deviation and the expected heading can be calculated through the current missile-target distance and the tangent direction of the cruise missile on the circle. The calculated heading is sent to the flight control module of the cruise missile to control the cruise missile to complete a circular flyby with the target as the center and a fixed radius, thereby achieving continuous tracking of the target.
[0055] A terminal device includes a processor, a memory, and a computer program stored in the memory; when the processor is executed by a computer, the method for continuous target tracking based on circling is implemented.
[0056] A computer-readable storage medium stores a computer program; when the computer program is executed by a processor, the method for continuous target tracking based on circling is implemented.
[0057] Compared with the prior art, the present invention has the following technical features:
[0058] The method of the present invention can rely on the real-time positioning result of the target and calculate the control instructions according to different methods based on the distance between the missile and the target, so as to achieve the goal of guiding the cruise missile to fly to the desired flyby circle and perform continuous circular flyby, thereby realizing the demand for continuous and stable tracking of the target and having broad application prospects in UAV swarm combat systems. BRIEF DESCRIPTION OF THE DRAWINGS
[0059] Figure 1 It is a schematic diagram of the process of the present invention.
[0060] Figure 2 (a), (b), (c), and (d) are the fly-around effects when the target is at different positions during outer ring guidance.
[0061] Figure 3 (a), (b), (c), and (d) are the fly-around effects when the target is at different positions during inner circle guidance.
[0062] Figure 4 (a) and (b) are the fly-around effects when the target has a certain speed. DETAILED DESCRIPTION
[0063] After a cruise missile detects a suspected target, if the ground commander cannot confirm whether to strike the target immediately, the cruise missile will continue to fly along the route and pass over the target. Since the detection range of the seeker is limited, the commander has a relatively short decision time after detecting the target, so there is a need to continuously track the suspected target so that the commander has enough time to decide whether to attack the target without losing the target, and the target can be struck at any angle and at any time by flying around.
[0064] Referring to the attached drawings, the present invention provides a method for continuous target tracking based on circling and circling. After the cruise missile detects the target, it measures the distance and locates the target. If an instruction to continuously track the target is received at this time, the missile-target plane distance is calculated according to the real-time positioning result, and the control instruction is calculated in real time according to the size of the missile-target plane distance to guide the cruise missile into the circling circle. The relationship between the missile-target plane distance and the preset circling circle radius is used to determine the method of guiding the cruise missile to adopt the outer circle guidance method, the inner circle guidance method or the circular circling method. After entering the circling circle, the cruise missile will continue to circle around the target as the center to achieve continuous tracking of the target and wait for further instructions from the commander. This scheme has broad military application prospects in cruise missile reconnaissance and strike combat systems. The specific implementation process of the present invention is further described in detail below.
[0065] (1) Coordinate system definition
[0066] North-East coordinate system: The origin o is the projection of the center of gravity of the cruise missile on the ground when it is launched, and the ox axis points to the north as positive; the oy axis is in the plumb plane containing the ox axis, perpendicular to the ox axis, and positive upward; the oz axis is perpendicular to the plane formed by oxy, forming a right-handed coordinate system.
[0067] (2) Mathematical model
[0068] A. Guidance method judgment
[0069] After the cruise missile locates the target, if it receives an order from the commander to continue tracking the target, it will calculate the plane distance between the missile and the target, and the angle between the missile and the target and the north direction based on the positioning result:
[0070]
[0071]
[0072] Among them, x m 、z m represents the current position of the cruise missile in the north sky east coordinate system, x t 、z t Represents the position of the target coordinates obtained after target positioning in the North Celestial East coordinate system.
[0073] After calculating the missile-target plane distance, the radius of the flyby circle is set to determine the guidance method of the cruise missile entering the flyby circle:
[0074]
[0075] Among them, R represents the radius of the flying circle, which is generally selected as 600-1000m; a margin of ±20 meters is left when flying on the flying circle.
[0076] The flying circle described in this scheme refers to a circle with the target as the center and R as the radius.
[0077] B. Outer ring guidance method
[0078] When the cruise missile determines that the conditions for outer circle guidance are met, it will draw a circle with the target as the center and R as the radius to establish a flyby circle, and use its own position as a point outside the circle to draw a tangent to the flyby circle. At this time, the outer circle guidance algorithm makes the cruise missile use this tangent as the route and controls the cruise missile to reach the flyby circle along the tangent.
[0079] First calculate the distance from the cruise missile to the tangent point:
[0080]
[0081] Then calculate the angle between the tangent and the line connecting the projectile and the target:
[0082]
[0083] Calculate the unit vector from the cruise missile to the center of the circle:
[0084]
[0085] Since there are two tangent lines from the cruise missile to a point on the circle, we can use β and Calculate the unit vectors of the two tangent lines:
[0086]
[0087]
[0088] At this time, with the target as the center, north as the x-axis and east as the z-axis, an auxiliary rectangular coordinate system for quadrant judgment can be established. The coordinates of the tangent point can be calculated according to the position of the cruise missile in the auxiliary rectangular coordinate system:
[0089] When the cruise missile is in the 1st and 4th quadrants of the coordinate system, the coordinates of the tangent point are
[0090] When the cruise missile is in the 2nd and 3rd quadrants of the coordinate system, the coordinates of the tangent point are
[0091] After calculating the coordinates of the tangent point, the current expected heading of the cruise missile can be calculated:
[0092] When the cruise missile is in the 1st and 4th quadrants of the coordinate system, the expected heading is
[0093] When the cruise missile is in the 2nd and 3rd quadrants of the coordinate system, the expected heading is
[0094] The cruise missile calculates the desired heading in real time according to the above process during flight, and controls the cruise missile to fly along the desired heading to reach the flyby circle and realize outer circle guidance.
[0095] C. Inner circle guidance method
[0096] Considering the limited frame angle range of the seeker, if the cruise missile course is quickly deflected when the missile-target distance is too close, it is very likely to cause the target to be lost, which is not conducive to real-time and continuous tracking of the target. Therefore, it is necessary to propose a special inner circle guidance flyby method.
[0097] At this time, a circle is made with the target as the center and the distance between the missile and the target as the radius. The two tangent directions of the current position of the cruise missile on the circle are calculated, and the tangent direction corresponding to the current heading on the inner side is selected; the maximum guideable angle is determined based on the frame angle range of the cruise missile seeker, and the cruise missile is guided to fly outward to the flyaround circle based on the angle and the tangent direction, as follows:
[0098] First, we can calculate the angle between the two tangent lines on the circle and the north direction based on the geometric relationship:
[0099] α1=α
[0100]
[0101] At this point, two tangent lines and the unit vector of the cruise missile's current heading can be obtained:
[0102]
[0103]
[0104]
[0105] Where ρ is the current heading angle of the cruise missile;
[0106] Based on this, the cosine value of the angle between the two tangents and the cruise missile course can be calculated:
[0107]
[0108]
[0109] By taking the positive value, we can obtain the tangent direction L that is most consistent with the current course of the cruise missile:
[0110]
[0111] At this time, the maximum guidance angle can be given according to the frame angle range of the cruise missile seeker: max =KJJ max -90, including KJJ max represents the maximum value that the seeker frame angle can reach. According to this angle, the desired heading angle is changed so that the cruise missile approaches the tangent direction L by adding the previous heading angle to the tangent direction L. max The desired heading angle of the cruise missile is moved closer to the flyby circle to guide the cruise missile to reach the flyby circle and fly around.
[0112] D. Circular fly-around method
[0113] When the cruise missile has reached the flyby circle, the lateral position deviation and the expected heading can be calculated through the current missile-target distance and the tangent direction of the cruise missile on the circle. The calculated heading is sent to the flight control module of the cruise missile to control the cruise missile to complete a circular flyby with the target as the center and a fixed radius, thereby achieving continuous tracking of the target.
[0114] Example:
[0115] See also Figures 2 to 4 In this embodiment, the present invention first sets the flight route of the cruise missile and creates a virtual target point around the route; the cruise missile is set to discover the target at different times and receive a target continuous tracking instruction to achieve a simulation of the cruise missile's continuous tracking effect on the target at different directions and positions of the target; the flight results are analyzed to check the target continuous tracking effect; experiments show that the present invention can continuously and stably track the target.
[0116] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.
Claims
1. A method for continuous target tracking based on circling flight, characterized in that: After the cruise missile detects the target, it measures the distance and locates the target. If it receives an instruction to continuously track the target, it calculates the missile-target plane distance based on the real-time positioning result, and calculates the control instruction in real time to guide the cruise missile into the flyby circle. The relationship between the missile-target plane distance and the preset flyby circle radius is used to determine whether the cruise missile's guidance method is the outside-circle guidance method, the inside-circle guidance method, or the circular flyby method. After entering the flyby circle, the cruise missile will continue to fly in a circle with the target as the center to achieve continuous tracking of the target.
2. The method for continuous tracking of a target based on circling flight according to claim 1, characterized in that: The coordinate system used by the cruise missile during guidance is established as follows: The origin o is the projection of the center of gravity of the cruise missile on the ground when it is launched. The ox axis points to the north, which is positive; the oy axis is in the plumb plane containing the ox axis, is perpendicular to the ox axis, and is positive upward; the oz axis is perpendicular to the plane formed by oxy.
3. The method for continuous target tracking based on circling flight according to claim 1, characterized in that: The method of determining the guided cruise missile by the relationship between the missile-target plane distance and the preset orbiting circle radius adopts the outer-circle guidance method, the inner-circle guidance method or the circular orbiting method, including: After the cruise missile locates the target, if it receives an order from the commander to continue tracking the target, it will calculate the plane distance between the missile and the target, and the angle between the missile and the target and the north direction based on the positioning result: Among them, x m 、z m represents the current x and z axis position of the cruise missile in the north sky east coordinate system, x t 、z t Represents the x- and z-axis positions of the target coordinates obtained after the target is positioned in the North Celestial East coordinate system; After calculating the missile-target plane distance, the radius of the flyby circle is set to determine the guidance method of the cruise missile entering the flyby circle: Among them, R represents the flyby circle.
4. The method for continuous target tracking based on circling flight according to claim 1, characterized in that: The outer ring guiding method is: After entering the outer circle guidance method, a circle will be drawn with the target as the center and R as the radius to establish a flyby circle, and the self-position will be used as a point outside the circle to draw a tangent to the flyby circle. At this time, the outer circle guidance algorithm will make the cruise missile use this tangent as the route and control the cruise missile to reach the flyby circle along the tangent.
5. The method for continuous target tracking based on circling flight according to claim 4, characterized in that: The specific calculation process of the outer ring guidance algorithm is as follows: First calculate the distance from the cruise missile to the tangent point: Then calculate the angle between the tangent and the line connecting the projectile and the target: Calculate the unit vector from the cruise missile to the center of the circle: There are two tangent lines from the cruise missile to a point on the circle, so we can use β and Calculate the unit vectors of the two tangent lines: At this time, with the target as the center, north as the x-axis and east as the z-axis, an auxiliary rectangular coordinate system for quadrant judgment can be established. The coordinates of the tangent point can be calculated according to the position of the cruise missile in the auxiliary rectangular coordinate system: When the cruise missile is in the 1st and 4th quadrants of the coordinate system, the coordinates of the tangent point are When the cruise missile is in the 2nd and 3rd quadrants of the coordinate system, the coordinates of the tangent point are After calculating the coordinates of the tangent point, the current expected heading of the cruise missile can be calculated: When the cruise missile is in the 1st and 4th quadrants of the coordinate system, the expected heading is When the cruise missile is in the 2nd and 3rd quadrants of the coordinate system, the expected heading is The cruise missile calculates the desired heading in real time during flight, and controls the cruise missile to fly along the desired heading to reach the flyby circle and achieve outer circle guidance.
6. The method for continuous tracking of a target based on circling flight according to claim 1, characterized in that: The inner ring guiding method is: After entering the inner circle guidance method, a circle is drawn with the target as the center and the missile-target distance as the radius. The two tangent directions of the cruise missile's current position on the circle are calculated, and the tangent direction corresponding to the current heading on the inner side is selected; the maximum guideable angle is determined based on the frame angle range of the cruise missile's seeker, and the cruise missile is guided to fly outward to the flyby circle based on the angle and the tangent direction.
7. The method for continuous target tracking based on circling flight according to claim 6, characterized in that: The specific calculation process of the inner circle guidance method is: First, we can calculate the angle between the two tangent lines on the circle and the north direction based on the geometric relationship: α1＝α At this point, two tangent lines and the unit vector of the cruise missile's current heading can be obtained: Among them, ρ is the current heading angle of the cruise missile; Based on this, the cosine value of the angle between the two tangents and the cruise missile course can be calculated: By taking the positive value, we can obtain the tangent direction L that is most consistent with the current course of the cruise missile: At this time, the maximum guidance angle can be given according to the frame angle range of the cruise missile seeker: max =KJJ max -90, including KJJ max represents the maximum value that the seeker frame angle can reach. According to this angle, the desired heading angle is changed so that the cruise missile approaches the tangent direction L by adding the previous heading angle to the tangent direction L. max The desired heading angle of the cruise missile is moved closer to the flyby circle to guide the cruise missile to reach the flyby circle and fly around.
8. The method for continuous target tracking based on circling flight according to claim 1, characterized in that: The circular fly-around method is: When the cruise missile has reached the flyby circle, the lateral position deviation and the expected heading can be calculated through the current missile-target distance and the tangent direction of the cruise missile on the circle. The calculated heading is sent to the flight control module of the cruise missile to control the cruise missile to complete a circular flyby with the target as the center and a fixed radius, thereby achieving continuous tracking of the target.
9. A terminal device comprising a processor, a memory and a computer program stored in the memory; characterized in that: When the processor is executed by a computer, the method for continuous target tracking based on circling according to any one of claims 1 to 8 is implemented.
10. A computer-readable storage medium, wherein a computer program is stored in the medium; characterized in that: When the computer program is executed by a processor, the method for continuous target tracking based on circling according to any one of claims 1 to 8 is implemented.