Prevention penetration method based on isotimeline situation assessment

Abstract

The invention discloses a penetration method based on isotimeline situation assessment, which comprises the following steps: acquiring motion parameters of an interceptor and a penetration party, and establishing motion equations and related constraints of the interceptor and the penetration party under an inertial coordinate system; drawing an isotimeline according to the motion equation under the inertial coordinate system and related constraints, and performing situation assessment according to the isotimeline; and adopting a maneuvering strategy to carry out penetration according to a situation assessment result. According to the method, the comparison condition of the maneuvering parameters of the interceptor and the maneuvering characteristics of the interceptor can be accurately analyzed in real time through equitimeline situation evaluation, so that a more accurate maneuvering strategy is formulated, and the success rate of a penetration party in a complex and changeable interception environment can be remarkably increased.

Description

Technical Field

[0001] The invention belongs to the field of aerospace guidance and control, and relates to a penetration method based on equal timeline situation assessment. Background Art

[0002] Penetration technology is divided into anti-identification penetration technology and anti-interception penetration technology. Anti-identification penetration technology usually includes stealth penetration technology, electromagnetic interference technology, etc.; anti-interception penetration technology usually includes ultra-low altitude penetration technology, high-speed penetration technology and maneuverable penetration technology. Maneuverable penetration can not only interfere with the enemy's detection system's prediction of its own trajectory, but also increase the overload requirements for the enemy's interceptor. Therefore, situation assessment methods and maneuver strategies to enhance penetration performance have received widespread attention from academia and industry.

[0003] Maneuverable penetration usually increases the difficulty of prediction and interception of the enemy's multi-interceptor encirclement system by continuously changing the trajectory of the aircraft, which can give full play to the speed advantage. Traditional aircraft penetration methods often use periodic control and intelligent control methods based on line of sight angle or line of sight angular rate. However, the above methods still have certain limitations in the case of multi-interceptor encirclement. Since the periodic maneuver amplitude and timing are relatively fixed, the periodic control method has the problem of difficulty in adjusting the maneuver parameters, and lacks consideration and evaluation of the offensive and defensive situation, making it difficult to cope with complex and changing situations. In the case of multi-interceptor encirclement, the intelligent control method needs to consider complex situations, and there are problems such as large amount of calculation and non-smooth overload instructions. Therefore, it is necessary to design a penetration method that covers the evaluation of offensive and defensive situation and has low calculation amount. Summary of the invention

[0004] The purpose of the present invention is to provide a penetration method based on equal timeline situation assessment to solve the problems that the existing penetration method lacks assessment of the attack and defense situation and has a large amount of calculation.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A penetration method based on equal timeline situation assessment, comprising: Obtain the motion parameters of the interceptor and the penetration party, and establish the motion equations and related constraints of the interceptor and the penetration party in the inertial coordinate system; According to the motion equations and related constraints in the inertial coordinate system, draw isotime lines and conduct situation assessment based on the isotime lines; Based on the situation assessment results, a mobile strategy is adopted to penetrate the defense.

[0006] Furthermore, the motion equation in the inertial coordinate system is:

[0007] Among them, the subscript Indicates an interceptor or penetrator. represents the corresponding coordinates, Indicates speed, represents the heading angle, It represents the acceleration perpendicular to the direction of its velocity.

[0008] Furthermore, the relevant constraints of the motion equation are

[0009] in, represents the maximum acceleration, Indicates the speed of the penetrator. represents the speed of a certain interceptor, represents the maximum acceleration of the penetrator, Indicates the maximum acceleration of a certain interceptor.

[0010] Furthermore, the method for drawing the isotimeline is as follows: According to the motion equations and related constraints in the inertial coordinate system, the maneuvering parameters of the interceptor and the penetrator are evaluated at the current moment; The reachable set and isotime points are calculated according to the maneuvering parameters, and the isotime lines are drawn using the reachable set and isotime points.

[0011] Furthermore, the expression of the reachable set is

[0012] in, Indicates aircraft exist The initial position at time, Indicates aircraft exist The possible locations that can be reached at any time, Indicates time range Continuous control instructions within represents all feasible control instructions within the constraints.

[0013] Furthermore, the timeline is represented as

[0014] in, Indicates aircraft exist The timeline of time, represents the speed of a certain interceptor, represents the maximum acceleration of a certain interceptor, Indicates the position information of a certain interceptor at different times. The speed of the penetrator, represents the maximum acceleration of the penetrator, Indicates the position information of the penetrating party at different times. Indicates that equal time points can be generated.

[0015] Furthermore, the maneuver strategy includes: In the early stage of the penetration process, the penetrating party interferes with the interceptor through serpentine maneuvers; When there is a gap in the equal time line, the necessary and sufficient conditions for penetration are met, and the Dubins shortest path trajectory is taken for penetration.

[0016] Furthermore, the expression of the serpentine maneuver is:

[0017] in, Indicates the maximum acceleration of the penetrating party, is a symbolic function.

[0018] Furthermore, the Dubins shortest path trajectory is a Dubins path trajectory taken by maneuvering through a straight path, a path turning with a minimum turning radius, and a path turning with a minimum turning radius plus a straight path under a given starting position, a target position and a minimum turning radius constraint of the aircraft.

[0019] Furthermore, the Dubins path trajectory includes a straight segment, a right turn segment and a left turn segment.

[0020] Compared with the prior art, the present invention has the following beneficial effects: The invention provides a penetration method based on isotimeline situation assessment. By using the maneuvering parameters of the current interceptor and combining its own maneuvering performance, an isotimeline is drawn to perform situation assessment, and a maneuvering strategy is adopted according to the situation. By adopting the isotimeline to perform situation assessment, the penetration party can quickly understand the current battlefield situation in a short time, and make a quick decision based on this information, thereby avoiding blind actions and improving the pertinence and effectiveness of the actions. In the early stage of the penetration process, the interceptor forms a relatively strict encirclement formation for the penetration party, and the penetration party interferes with the interception party through a serpentine maneuver, which can not only effectively interfere with the interception party, but also demonstrate a high degree of operational flexibility. Through the situation assessment of the isotimeline, it is accurately judged whether the current situation meets the necessary and sufficient conditions for penetration, and the penetration party can flexibly adjust tactics according to the changes in the battlefield situation, thereby enhancing the adaptability to different interception strategies and formations. When the necessary and sufficient conditions for penetration are met, the Dubins shortest path trajectory can be adopted for penetration, forming a situation assessment and penetration method based on the isotimeline, and by accurately judging the penetration timing and taking the optimal path, it is helpful to reduce the uncertainty and risk in the penetration process. The present invention can analyze the comparison between the maneuvering parameters of the interceptor and its own maneuvering performance in real time and accurately through isotimeline situation assessment, so as to formulate a more accurate maneuvering strategy, which can significantly increase the success rate of the penetrating party in a complex and changeable interception environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 It is a flow chart of the penetration method based on equal timeline situation assessment of the present invention.

[0023] Figure 2 It is a schematic diagram of the geometric motion relationship of the interceptor of the present invention to encircle and capture the penetrating party.

[0024] Figure 3 It is a schematic diagram of equal timeline situation assessment in a many-to-one interception situation of the present invention.

[0025] Figure 4 This is a penetration trajectory simulation diagram of Example 1 of the present invention.

[0026] Figure 5 It is a schematic diagram of the structure of a penetration system based on equal timeline situation assessment according to a preferred embodiment of the present invention.

[0027] Figure 6It is a schematic diagram of the structure of an electronic device according to a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] The following is a description of exemplary embodiments of the present application in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0031] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of this application.

[0032] It should be noted that the terminals involved in the embodiments of the present application may include but are not limited to mobile phones, personal digital assistants (PDAs), wireless handheld devices, tablet computers, personal computers (PCs), MP3 players, MP4 players, wearable devices (for example, smart glasses, smart watches, smart bracelets, etc.), smart home devices and other smart devices.

[0033] In addition, the term "and / or" in this article is only a description of the association relationship between the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0034] The present invention is further described in detail below in conjunction with the accompanying drawings: See also Figure 1 The present invention provides a penetration method based on equal timeline situation assessment, comprising the following steps: Step 1: Obtain the motion parameters of the interceptor and the penetration party, and establish the motion equations and related constraints of the interceptor and the penetration party in the inertial coordinate system according to the motion parameters of the interceptor and the penetration party; The equation of motion in the inertial coordinate system is:

[0035] The relevant constraints of the equation of motion in the inertial coordinate system are:

[0036] Among them, the subscript Indicates an interceptor or penetrator. represents the corresponding coordinates, Indicates speed, represents the heading angle, represents the acceleration perpendicular to its velocity direction, represents the maximum acceleration, Indicates the speed of the penetrator. represents the speed of a certain interceptor, represents the maximum acceleration of the penetrator, Indicates the maximum acceleration of a certain interceptor.

[0037] Step 2: The penetrating party needs to evaluate the interceptor's maneuvering parameters such as flight speed and overload capacity at the current moment, and then calculate the reachable set and equal time points based on the maneuvering parameters, draw equal time lines, and determine the necessary and sufficient conditions for penetration through the geometric relationship of the equal time lines.

[0038] The reachable set is defined as: a certain aircraft exist Initial position at time Next, in The set of all possible locations that can be reached at any time. The expression of the reachable set is as follows:

[0039] in, Indicates aircraft exist The possible locations that can be reached at any time, Is the time range Continuous control instructions within represents all feasible control instructions within the constraints.

[0040] The equal-time line (ETL) is a continuous boundary that can be reached at the same time when the two encountering parties adopt the shortest time guidance strategy. The points on the equal-time line are called equal-time points (ETP), which can be obtained by the intersection of the frontiers of the reachable set. During the penetration process, the equal-time line (ETL) can be drawn through the maneuvering parameters of the interceptor and the penetration party. The ETL line can be established through the intersection of the frontiers of the reachable sets of both parties, as shown below:

[0041] in, represents the speed of a certain interceptor, represents the maximum acceleration of a certain interceptor, Indicates the position information of a certain interceptor at different times. The speed of the penetrator, is the maximum acceleration of the penetrator, It is the position information of the penetrating party at different times. It is the moment when the waiting time point can be generated.

[0042] Step 3: Analyze the isotimeline generated in step 2. In the early stage of penetration, the penetrating party uses a serpentine maneuver to destroy the interceptor's encirclement and capture situation. The corresponding serpentine maneuver expression is:

[0043] in, Indicates the maximum acceleration of the penetrating party, is a symbolic function.

[0044] Step 4: When a gap appears on the equal time line, the necessary and sufficient conditions for penetration are met, and the penetration strategy is switched to adopt the Dubins shortest path trajectory to go to the minimum gap on the equal time line before the interceptor, and then use the Dubins path trajectory to achieve penetration from the gap on the equal time line.

[0045] The Dubins path consists of the following three basic curve segments: straight line segments ( )、Right turning section( ) and left turn ( ). The complete Dubins path is composed of three basic curve segments.

[0046] The Dubins path trajectory expression is as follows:

[0047] in, Represents the path of the aircraft.

[0048] The Dubins shortest path trajectory is to maneuver in three ways: a straight path, a path with a minimum turning radius, and a path with a minimum turning radius plus a straight path under the given starting position, target position and the constraint of the minimum turning radius of the aircraft.

[0049] The present invention is further described in detail below in conjunction with specific embodiments: Embodiment 1: In order to verify the effectiveness and superiority of the penetration method based on equal timeline situation assessment in the multi-interceptor encirclement situation proposed in the present invention, a simulation verification method is used to perform simulation.

[0050] Set the initial motion parameters of the penetrator and the interceptor: Movement speed of the penetrator: , the movement speed of the interceptor: , initial track angle of interceptor 1: , interceptor 2 initial track angle: , the initial track angle of the penetrating party: , the initial position of the penetrating party: , Interceptor 1 initial position: , Interceptor 2 initial position: , the maximum maneuvering acceleration of the interceptor is: , the maximum maneuvering acceleration of the penetrating party is .

[0051] Step 1: In the inertial coordinate system The geometric motion relationship diagram of the interceptor encircling the penetrator is as follows: Figure 2 As shown, the initial track angle of interceptor 1 is: , interceptor 2 initial track angle: , the initial track angle of the penetrating party: , the initial position of the penetrating party: , Interceptor 1 initial position: , Interceptor 2 initial position: , establish the motion equations and related constraints of the interceptor and the penetrator in the inertial coordinate system; The equation of motion in inertial coordinates is:

[0052] The equation of motion in inertial coordinates based on isotimeline situation assessment is:

[0053] Among them, the subscript Indicates an interceptor or penetrator. are the corresponding coordinates, Indicates speed, represents the heading angle, represents the acceleration perpendicular to its velocity direction, represents the maximum acceleration, Indicates the speed of the penetrator. represents the speed of a certain interceptor, represents the maximum acceleration of the penetrator, Indicates the maximum acceleration of a certain interceptor.

[0054] Step 2: The penetrating party evaluates the intercepting party’s flight speed and overload capacity at the current moment and obtains , Then, the reachable set and equal time points are calculated according to the maneuver parameters, and the following is drawn: Figure 3 The isotime lines shown are used to determine the necessary and sufficient conditions for penetration through the geometric relationship of the isotime lines.

[0055] The expression of reachable set is as follows:

[0056] in, Indicates aircraft exist The possible locations that can be reached at any time, Is the time range Continuous control instructions within represents all feasible control instructions within the constraints.

[0057] The equal time line (ETL) is established by the intersection of the frontiers of the reachable sets of both parties, as shown below:

[0058] in, represents the speed of a certain interceptor, represents the maximum acceleration of a certain interceptor, Indicates the position information of a certain interceptor at different times. The speed of the penetrator, is the maximum acceleration of the penetrator, It is the position information of the penetrating party at different times. It is the moment when the waiting time point can be generated.

[0059] Step 3: At the beginning of the penetration, the penetrating party uses a serpentine maneuver to destroy the interceptor's encirclement and capture situation. The corresponding serpentine maneuver expression is:

[0060] Among them, the maximum maneuvering acceleration of the penetrating party is , is a symbolic function.

[0061] Step 4: Analyze the isotimeline generated in step 2. As shown by the dotted line, there is a gap in the isotimeline, which meets the necessary and sufficient conditions for penetration. Switch the penetration strategy and use the Dubins shortest path trajectory to go to the smallest gap in the isotimeline before the interceptor. Then use the Dubins path trajectory to achieve penetration from the gap in the isotimeline.

[0062] The Dubins path consists of the following three basic curve segments: straight line segments ( )、Right turning section( ) and left turning section ( ). The complete Dubins path is composed of three basic curve segments.

[0063] The Dubins trajectory expression is as follows:

[0064] in, Represents the path of the aircraft.

[0065] The Dubins shortest path trajectory is to maneuver in three ways: a straight path, a path with a minimum turning radius, and a path with a minimum turning radius plus a straight path under the given starting position, target position and the constraint of the minimum turning radius of the aircraft.

[0066] The simulation results are as follows Figure 4 As shown in the figure, the penetrating party uses the Dubins shortest path trajectory to reach the gap between the intercepting parties' equal time lines before the interceptor, and then uses the Dubins path trajectory to successfully penetrate from the gap between the intercepting parties, and can successfully achieve penetration in the case of multiple interceptors encircling.

[0067] Embodiment 2: Embodiment 2 provided by the present invention is an embodiment of a penetration system based on equal timeline situation assessment provided by the present invention, such as Figure 5 As shown, an embodiment of the system includes: an acquisition module, an evaluation module and a penetration module.

[0068] An acquisition module, which is used to acquire motion parameters of the interceptor and the penetration party, and establish motion equations and related constraints of the interceptor and the penetration party in an inertial coordinate system; An evaluation module, the evaluation module is used to draw an isotimeline according to the motion equations and related constraints in the inertial coordinate system, and perform situation evaluation according to the isotimeline; The penetration module is used to adopt a maneuver strategy to penetrate according to the situation assessment result.

[0069] It can be understood that the penetration system based on equal timeline situation assessment provided by the present invention corresponds to the penetration method based on equal timeline situation assessment provided by the aforementioned embodiments. The relevant technical features of the penetration system based on equal timeline situation assessment can refer to the relevant technical features of the penetration method based on equal timeline situation assessment, which will not be repeated here.

[0070] Another object of the present invention is to provide an electronic device, such as Figure 6 As shown, it includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the steps of the penetration method based on equal timeline situation assessment.

[0071] The penetration method based on equal timeline situation assessment comprises the following steps: Obtain the motion parameters of the interceptor and the penetration party, and establish the motion equations and related constraints of the interceptor and the penetration party in the inertial coordinate system; According to the motion equations and related constraints in the inertial coordinate system, draw isotime lines and conduct situation assessment based on the isotime lines; Based on the situation assessment results, a mobile strategy is adopted to penetrate the defense.

[0072] A fourth object of the present invention is to provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the penetration method based on equal timeline situation assessment are implemented.

[0073] The penetration method based on equal timeline situation assessment comprises the following steps: Obtain the motion parameters of the interceptor and the penetration party, and establish the motion equations and related constraints of the interceptor and the penetration party in the inertial coordinate system; According to the motion equations and related constraints in the inertial coordinate system, draw isotime lines and conduct situation assessment based on the isotime lines; Based on the situation assessment results, a mobile strategy is adopted to penetrate the defense.

[0074] It should be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0075] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0076] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0077] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A penetration method based on equal timeline situation assessment, characterized in that: include: Obtain the motion parameters of the interceptor and the penetration party, and establish the motion equations and related constraints of the interceptor and the penetration party in the inertial coordinate system; According to the motion equations and related constraints in the inertial coordinate system, draw isotime lines and conduct situation assessment based on the isotime lines; Based on the situation assessment results, a mobile strategy is adopted to penetrate the defense.

2. A penetration method based on equal timeline situation assessment according to claim 1, characterized in that: The equation of motion in the inertial coordinate system is: Among them, the subscript Indicates an interceptor or penetrator. represents the corresponding coordinates, Indicates speed, represents the heading angle, It represents the acceleration perpendicular to the direction of its velocity.

3. The penetration method based on equal timeline situation assessment according to claim 2 is characterized in that: The relevant constraints of the equation of motion are in, represents the maximum acceleration, Indicates the speed of the penetrator. represents the speed of a certain interceptor, represents the maximum acceleration of the penetrator, Indicates the maximum acceleration of a certain interceptor.

4. The penetration method based on equal timeline situation assessment according to claim 1 is characterized in that: The method for drawing the isotimeline is as follows: According to the motion equations and related constraints in the inertial coordinate system, the maneuvering parameters of the interceptor and the penetrator are evaluated at the current moment; The reachable set and isotime points are calculated according to the maneuvering parameters, and the isotime lines are drawn using the reachable set and isotime points.

5. The penetration method based on equal timeline situation assessment according to claim 4 is characterized in that: The expression of the reachable set is in, Indicates aircraft exist The initial position at time, Indicates aircraft exist The possible locations that can be reached at any time, Indicates time range Continuous control instructions within represents all feasible control instructions within the constraints.

6. The penetration method based on equal timeline situation assessment according to claim 4 is characterized in that: The timeline is represented as in, Indicates aircraft exist The timeline of time, represents the speed of a certain interceptor, represents the maximum acceleration of a certain interceptor, Indicates the position information of a certain interceptor at different times. The speed of the penetrator, represents the maximum acceleration of the penetrator, Indicates the position information of the penetrating party at different times. Indicates that equal time points can be generated.

7. The penetration method based on equal timeline situation assessment according to claim 1 is characterized in that: The maneuver strategy includes: In the early stage of the penetration process, the penetrating party interferes with the interceptor through serpentine maneuvers; When there is a gap in the equal time line, the necessary and sufficient conditions for penetration are met, and the Dubins shortest path trajectory is taken for penetration.

8. The penetration method based on equal timeline situation assessment according to claim 7 is characterized in that: The expression of the serpentine maneuver is in, Indicates the maximum acceleration of the penetrating party, is a symbolic function.

9. The penetration method based on equal timeline situation assessment according to claim 7, characterized in that: The Dubins shortest path trajectory is a Dubins path trajectory taken by maneuvering through a straight path, a path turning with a minimum turning radius, and a path turning with a minimum turning radius plus a straight path under a given starting position, a target position, and a minimum turning radius constraint on the aircraft.

10. The penetration method based on equal timeline situation assessment according to claim 9, characterized in that: The Dubins path trajectory includes a straight line segment, a right turn segment and a left turn segment.

Images