Distributed collaborative guidance method, system and electronic equipment for attacking mobile targets

Abstract

The present invention discloses a distributed collaborative guidance method, system and electronic equipment for attacking a maneuvering target, and relates to the field of target guidance technology. The method comprises: obtaining the speed and normal overload of the maneuvering target and the current missile, and the missile-target sight angle between the current missile and the maneuvering target; determining the estimation of the remaining flight time based on the speed and normal overload of the current missile and the maneuvering target, and the missile-target sight angle; calculating the estimated consistency error based on the estimation of the remaining flight time of the current missile and the estimation of the remaining flight time of all non-current missiles; determining the parameters of a fixed time jammer and a distributed time collaborative guidance law based on the speed, normal overload and estimated consistency error of the current missile, the missile-target sight angle, and the speed and normal overload of the maneuvering target, obtaining the target fixed time jammer and the target distributed time collaborative guidance law, and guiding the current missile. The present invention realizes a salvo attack on a maneuvering target.

Description

Technical Field

[0001] The present invention relates to the field of target guidance technology, and in particular to a distributed collaborative guidance method, system and electronic equipment for attacking maneuvering targets. Background Art

[0002] With the continuous development of weaponry and the increasing sophistication of defense systems, traditional single-missile combat models are facing significant challenges, making it difficult to effectively intercept or strike targets independently. Consequently, multi-missile coordinated attack strategies have garnered widespread attention. These strategies can achieve saturation attacks on high-value targets. For intercepting enemy manned and unmanned aerial vehicles, they can reduce their ability to penetrate and evade defenses, thereby improving our own interception effectiveness.

[0003] Commonly used time-based coordinated guidance strategies include pre-set impact time guidance and remaining flight time estimation. In the former, missiles are assigned the same attack time before launch. During flight, each missile adjusts its trajectory so that all missiles simultaneously impact the target at the designated time. In scenarios involving intercepting maneuvering targets, the target's maneuvers are unknown, making it impossible to accurately calculate the required attack time before launch. Therefore, it is difficult to assign a reasonable attack time to all missiles. The latter eliminates the need for pre-launch target designation. Instead, each missile estimates its remaining flight time in real time and interacts based on a communication topology to achieve consistency. However, this method is mostly used for strike missions against stationary targets; estimating the remaining flight time is more difficult for maneuvering targets.

[0004] Therefore, the research on distributed collaborative guidance methods for attacking maneuvering targets is particularly important. Summary of the Invention

[0005] The purpose of the present invention is to provide a distributed collaborative guidance method, system and electronic equipment for attacking maneuvering targets, thereby realizing a salvo attack on maneuvering targets.

[0006] To achieve the above objectives, the present invention provides the following solutions.

[0007] A distributed collaborative guidance method for attacking a maneuvering target includes: obtaining the speed and normal overload of the maneuvering target.

[0008] Any missile used to strike the maneuvering target is determined as a current missile, and all missiles used to strike the maneuvering target except the current missile are determined as non-current missiles.

[0009] The velocity and normal overload of the current missile, and the missile-to-target sight angle between the current missile and the maneuvering target are obtained.

[0010] An estimate of the remaining flight time of the current missile is determined based on the velocity and normal overload of the current missile, the velocity and normal overload of the maneuvering target, and a missile-target line-of-sight angle between the current missile and the maneuvering target.

[0011] The estimated consistency error of the current missile is calculated based on the estimate of the remaining flight time of the current missile and the estimates of the remaining flight time of all the non-current missiles; wherein the estimate of the remaining flight time of the non-current missile is determined using the speed and normal overload of the non-current missile, the speed and normal overload of the maneuvering target, and the missile-target line-of-sight angle between the non-current missile and the maneuvering target.

[0012] Based on the speed, normal overload and estimated consistency error of the current missile, the missile-target line-of-sight angle between the current missile and the maneuvering target, and the speed and normal overload of the maneuvering target, parameters of the fixed-time jammer and parameters of the distributed-time cooperative guidance law of the current missile are determined to obtain a target fixed-time jammer and a target distributed-time cooperative guidance law.

[0013] The target fixed time jammer and target distributed time cooperative guidance law of each missile used to strike the maneuvering target are used to guide the corresponding missile.

[0014] Optionally, based on the speed and normal overload of the current missile, the speed and normal overload of the maneuvering target, and the missile-target line-of-sight angle between the current missile and the maneuvering target, an estimate of the remaining flight time of the current missile is determined, specifically including: calculating the missile-target relative distance, a first relative velocity component, and a second relative velocity component between the current missile and the maneuvering target based on the speed and normal overload of the current missile, the speed and normal overload of the maneuvering target, and the missile-target line-of-sight angle between the current missile and the maneuvering target; the first relative velocity component is the component of the relative velocity between the current missile and the maneuvering target along the missile-target line-of-sight direction, and the second relative velocity component is the component of the relative velocity between the current missile and the maneuvering target in the direction perpendicular to the missile-target line of sight.

[0015] An estimate of the remaining flight time of the current missile is calculated based on the velocity and normal overload of the current missile, the velocity of the maneuvering target, and the relative distance between the current missile and the maneuvering target, the first relative velocity component, and the second relative velocity component.

[0016] Optionally, based on the speed and normal overload of the current missile, the speed and normal overload of the maneuvering target, and the missile-target line of sight angle between the current missile and the maneuvering target, the missile-target relative distance, the first relative velocity component, and the second relative velocity component between the current missile and the maneuvering target are calculated, including: calculating the ballistic inclination angle of the current missile based on the speed and normal overload of the current missile.

[0017] The forward tilt angle of the current missile is calculated according to the ballistic inclination angle of the current missile and the missile-target line-of-sight angle between the current missile and the maneuvering target.

[0018] The ballistic inclination angle of the maneuvering target is calculated according to the speed and normal overload of the maneuvering target.

[0019] The forward inclination angle of the maneuvering target is calculated according to the ballistic inclination angle of the maneuvering target and the missile-target line-of-sight angle between the current missile and the maneuvering target.

[0020] Based on the speed and the forward tilt angle of the current missile and the speed and the forward tilt angle of the maneuvering target, the missile-target relative distance, the first relative velocity component and the second relative velocity component between the current missile and the maneuvering target are calculated.

[0021] Optionally, an estimate of the remaining flight time of the current missile is calculated based on the speed and normal overload of the current missile, the speed of the maneuvering target, and the relative distance between the current missile and the maneuvering target, the first relative velocity component and the second relative velocity component, including: calculating the ballistic inclination angle of the current missile based on the speed and normal overload of the current missile.

[0022] The forward tilt angle of the current missile is calculated according to the ballistic inclination angle of the current missile and the missile-target line-of-sight angle between the current missile and the maneuvering target.

[0023] An estimate of the remaining flight time of the current missile is calculated based on the speed and the lead angle of the current missile, the speed of the maneuvering target, and the missile-target relative distance, the first relative speed component, and the second relative speed component between the current missile and the maneuvering target.

[0024] A distributed collaborative guidance system for attacking maneuvering targets includes a maneuvering target parameter acquisition module for acquiring the speed and normal overload of the maneuvering target.

[0025] The current missile determination module is used to determine any missile used to strike the maneuvering target as the current missile, and to determine all missiles used to strike the maneuvering target except the current missile as non-current missiles.

[0026] The current missile parameter acquisition module is used to obtain the speed and normal overload of the current missile, and the missile-target line-of-sight angle between the current missile and the maneuvering target.

[0027] A time estimation module is used to determine an estimate of the remaining flight time of the current missile based on the speed and normal overload of the current missile, the speed and normal overload of the maneuvering target, and the missile-target line-of-sight angle between the current missile and the maneuvering target.

[0028] An error determination module is configured to calculate an estimated consistency error of the current missile based on an estimate of the remaining flight time of the current missile and estimates of the remaining flight time of all non-current missiles; wherein the estimate of the remaining flight time of the non-current missile is determined using a velocity and normal overload of the non-current missile, a velocity and normal overload of the maneuvering target, and a missile-to-target line-of-sight angle between the non-current missile and the maneuvering target.

[0029] The parameter determination module is used to determine the parameters of the fixed-time jammer and the parameters of the distributed time cooperative guidance law of the current missile based on the speed, normal overload and estimated consistency error of the current missile, the missile-target line-of-sight angle between the current missile and the maneuvering target, and the speed and normal overload of the maneuvering target, so as to obtain the target fixed-time jammer and the target distributed time cooperative guidance law.

[0030] The guidance module is used to guide the corresponding missile using the target fixed time jammer and target distributed time cooperative guidance law of each missile used to attack the maneuvering target.

[0031] An electronic device includes a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the above-mentioned distributed collaborative guidance method for striking maneuvering targets.

[0032] Optionally, the memory is a readable storage medium.

[0033] According to a specific embodiment provided by the present invention, the present invention discloses the following technical effects: the present invention discloses a distributed collaborative guidance method, system and electronic equipment for attacking a maneuvering target, which first obtains the speed and normal overload of the maneuvering target; determines any missile used to attack the maneuvering target as the current missile; obtains the speed and normal overload of the current missile, and the missile-target line-of-sight angle between the current missile and the maneuvering target; secondly, determines an estimate of the remaining flight time based on the speed and normal overload of the current missile, the speed and normal overload of the maneuvering target, and the missile-target line-of-sight angle between the current missile and the maneuvering target; thirdly, calculates an estimated consistency error of the current missile based on the estimate of the remaining flight time of the current missile and the estimates of the remaining flight time of all non-current missiles; finally, determines parameters of a fixed-time jammer of the current missile and parameters of a distributed time collaborative guidance law based on the speed, normal overload and estimated consistency error of the current missile, the missile-target line-of-sight angle between the current missile and the maneuvering target, and the speed and normal overload of the maneuvering target, and obtains the target fixed-time jammer and the target distributed time collaborative guidance law, thereby achieving guidance of the missile and a salvo attack on the maneuvering target. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 A flow chart of a distributed collaborative guidance method for striking maneuvering targets provided in Example 1 of the present invention.

[0036] Figure 2 Schematic diagram of the design process for distributed collaborative guidance to strike maneuvering targets.

[0037] Figure 3 Schematic diagram of the salvo guidance model in a two-dimensional plane.

[0038] Figure 4 Schematic diagram of missile communication topology.

[0039] Figure 5 Schematic diagram of the engagement curve.

[0040] Figure 6 Schematic diagram of the missile's overload curve.

[0041] Figure 7 Schematic diagram of the remaining flight time estimation curve.

[0042] Figure 8Schematic diagram of the disturbance estimation curve. DETAILED DESCRIPTION

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0044] The purpose of the present invention is to provide a distributed collaborative guidance method, system and electronic equipment for striking maneuvering targets, aiming to improve the distributed collaborative guidance accuracy for striking maneuvering targets.

[0045] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0046] Example 1 provides a distributed collaborative guidance method for attacking maneuvering targets.

[0047] Figure 1 This is a flow chart of a distributed collaborative guidance method for striking a maneuvering target provided by Example 1 of the present invention. Figure 1 As shown, the distributed collaborative guidance method for attacking maneuvering targets in this embodiment includes steps 1 to 7.

[0048] Step 1: Obtain the velocity and normal G of the maneuvering target.

[0049] Step 2: Determine any missile used to attack a maneuvering target as the current missile, and determine all missiles used to attack a maneuvering target except the current missile as non-current missiles.

[0050] Step 3: Obtain the current missile speed and normal overload, as well as the missile-to-target line-of-sight angle between the current missile and the maneuvering target.

[0051] Step 4: Determine an estimate of the remaining flight time of the current missile based on the current missile's velocity and normal overload, the maneuvering target's velocity and normal overload, and the missile-to-target line-of-sight angle between the current missile and the maneuvering target.

[0052] As an optional implementation, step 4 specifically includes steps 41 and 42.

[0053] Step 41: Calculate the missile-target relative distance, the first relative velocity component, and the second relative velocity component between the current missile and the maneuvering target based on the velocity and normal overload of the current missile, the velocity and normal overload of the maneuvering target, and the missile-target line-of-sight angle between the current missile and the maneuvering target; the first relative velocity component is the component of the relative velocity between the current missile and the maneuvering target along the missile-target line-of-sight direction, and the second relative velocity component is the component of the relative velocity between the current missile and the maneuvering target perpendicular to the missile-target line-of-sight direction.

[0054] Step 42: Calculate an estimate of the remaining flight time of the current missile based on the velocity and normal overload of the current missile, the velocity of the maneuvering target, and the relative distance between the current missile and the maneuvering target, the first relative velocity component, and the second relative velocity component.

[0055] As an optional implementation, step 41 includes steps 411 to 415.

[0056] Step 411: Calculate the ballistic inclination angle of the current missile based on the current missile speed and normal overload.

[0057] Step 412: Calculate the forward tilt angle of the current missile based on the ballistic inclination angle of the current missile and the missile-to-target sight angle between the current missile and the maneuvering target.

[0058] Step 413: Calculate the ballistic inclination angle of the maneuvering target according to the speed and normal overload of the maneuvering target.

[0059] Step 414: Calculate the forward tilt angle of the maneuvering target based on the ballistic inclination angle of the maneuvering target and the missile-target line-of-sight angle between the current missile and the maneuvering target.

[0060] Step 415: Based on the current missile's velocity and pitch angle, and the velocity and pitch angle of the maneuvering target, calculate the missile-target relative distance, the first relative velocity component, and the second relative velocity component between the current missile and the maneuvering target.

[0061] As an optional implementation, step 42 includes steps 421 to 423.

[0062] Step 421: Calculate the ballistic inclination angle of the current missile based on the current missile speed and normal overload.

[0063] Step 422: Calculate the forward tilt angle of the current missile based on the ballistic inclination angle of the current missile and the missile-to-target sight angle between the current missile and the maneuvering target.

[0064] Step 423: Calculate an estimate of the remaining flight time of the current missile based on the current missile's velocity and lead angle, the velocity of the maneuvering target, and the relative distance between the current missile and the maneuvering target, the first relative velocity component, and the second relative velocity component.

[0065] Step 5: Based on the estimate of the remaining flight time of the current missile and the estimates of the remaining flight time of all non-current missiles, calculate the estimated consistency error of the current missile.

[0066] Among them, the estimation of the remaining flight time of the non-current missile is determined by using the speed and normal overload of the non-current missile, the speed and normal overload of the maneuvering target, and the missile-target line-of-sight angle between the non-current missile and the maneuvering target.

[0067] Step 6: Based on the current missile's speed, normal overload, and estimated consistency error, the missile-to-target line-of-sight angle between the current missile and the maneuvering target, and the maneuvering target's speed and normal overload, determine the parameters of the current missile's fixed-time jammer and the parameters of the distributed-time cooperative guidance law. Obtain the target fixed-time jammer and target distributed-time cooperative guidance law.

[0068] Step 7: Guide the corresponding missile using the target fixed time jammer and target distributed time cooperative guidance law of each missile used to attack the maneuvering target.

[0069] In order to implement the method in Example 1, Figure 2 As shown, the present invention also provides a design process for distributed collaborative guidance for attacking maneuvering targets, and the specific process includes steps 101 to 106.

[0070] Step 101: Establish a dynamic model for multiple missiles to intercept maneuvering targets.

[0071] Consider a two-dimensional plane In the scenario where a missile intercepts a maneuvering target, the guidance model is as follows Figure 3 shown.

[0072] The relative kinematic model of the missile and the target is as follows.

[0073] .

[0074] in, Indicates the The relative distance between a missile and a maneuvering target The derivative of Indicates the speed of a maneuvering target; Indicates the lead angle of the maneuvering target, which is the angle between the velocity and the sight angle between the missile and the target; Indicates the The speed of the missile; Indicates the The lead angle of the missile; Indicates the The component of the relative velocity between a missile and a maneuvering target along the missile-target line of sight is the first relative velocity. Indicates the The line-of-sight angle between a missile and a maneuvering target The derivative of Indicates the The component of the relative velocity between the missile and the maneuvering target in the direction perpendicular to the missile-target line of sight, namely the second relative velocity; Indicates the The ballistic inclination of the missile The derivative of Indicates the The normal overload of a missile, the normal overload is the normal overload perpendicular to the velocity direction; Indicates the ballistic inclination angle of a maneuvering target The derivative of Indicates the normal overload of the maneuvering target.

[0075] Each missile communicates with each other using an undirected topology, and the corresponding adjacency matrix for , Indicates the The missile and the The communication between the missiles, when the A missile can receive the When the information of the missile is ,otherwise The Laplace matrix corresponding to the communication topology for: , defined as follows: . Indicates the The missile and the The communication between the missiles, when the A missile can receive the When the information of the missile is ,otherwise .

[0076] Step 102: Provide an expression for estimating the remaining flight time and apply it to complete subsequent steps.

[0077] Estimating a missile's remaining flight time is crucial for achieving coordinated strikes against maneuvering targets. Because target maneuvers are unknown, accurately deriving the missile's remaining flight time through analytical expressions is difficult. Instead, an expression for the remaining flight time, derived under certain assumptions, is typically used to estimate the missile's remaining flight time. The present invention employs the following remaining flight time expression.

[0078] .

[0079] in, Indicates the An estimate of the remaining flight time of a missile.

[0080] This remaining flight time expression is derived under the conditions of a non-maneuvering target and a missile pursuing it using a constant lead angle. When a missile intercepts a non-maneuvering target using a constant lead angle, an accurate value for the missile's remaining flight time can be obtained. However, conventional remaining flight time expressions are derived under the assumption that the target is stationary and the lead angle is small. For maneuvering targets, this form of remaining flight time estimation results in significant errors. In comparison, the remaining flight time expression employed by the present invention is more suitable for intercepting moving targets.

[0081] Step 103: Design a fixed-time disturbance observer to observe external disturbances of the system.

[0082] Consider a nonlinear system of the following form.

[0083] .

[0084] in, For the system A set of states, and is a known nonlinear function, is the control input of the system, is the external disturbance of the system. Assume that the external disturbance of the system is bounded. By designing a nonlinear disturbance observer to observe the external disturbance of the system, the control input of the system can be designed later. to eliminate the influence of external disturbances.

[0085] Based on the consideration of the above nonlinear system, the present invention designs a fixed-time disturbance observer in the following form.

[0086] .

[0087] in, and Indicates the The auxiliary state defined for each missile, For The approach, is the corresponding approximation error; Indicates the system's Dimensional state; express The derivative of 、 、 、 and Indicates the The parameters of the fixed-time jammer of the missile, where Indicates the missiles, 、 、 、 and are the parameters of the fixed-time jammer, , , , , ; ; represents a symbolic function; For the Maneuver information of a missile against a maneuvering target Since the fixed-time disturbance observer designed by the present invention has the fixed-time convergence property, in order to prevent the use of fixed-value parameters This causes a large vibration to the system. It can be designed as a monotonically decreasing time-varying parameter.

[0088] Step 104: Consider the target maneuver information as an external disturbance and obtain a target acceleration estimate based on a fixed-time nonlinear disturbance observer.

[0089] The missile dynamics equation The line-of-sight angle between a missile and a maneuvering target The second derivative of It is expressed as follows.

[0090] .

[0091] remember , , Considered as control input , is considered as external interference, i.e. , , it can be rewritten as the following system.

[0092] .

[0093] Therefore, the fixed-time interference observer designed in step 103 can be used to obtain the first Estimation of maneuver information of a missile against a maneuvering target , and further obtain the Acceleration estimation of a missile on a maneuvering target The expression is as follows.

[0094] .

[0095] Step 105: Design a distributed time cooperative guidance law based on the remaining flight time estimation expression and the nonlinear disturbance observer.

[0096] The distributed time cooperative guidance law is designed based on the remaining flight time estimation expression and the nonlinear disturbance observer (i.e., fixed-time nonlinear disturbance observer), which is as follows.

[0097] .

[0098] in, Indicates the The estimated consistency error of the missile, , Indicates the An estimate of the remaining flight time of a missile; is the intermediate amount, ; 、 and represents the parameters of the distributed time cooperative guidance law, .

[0099] Combine the above formula with Acceleration estimation of a missile on a maneuvering target Combine the expressions of The expression of the distributed time cooperative guidance law of the missile is as follows.

[0100] .

[0101] In actual engineering applications, in order to prevent frequent chattering, a saturation function can be used. , hyperbolic tangent function , inverse tangent function etc. to replace the symbolic function in the distributed time cooperative guidance law and the fixed time interference observer .

[0102] Step 106: Guiding the missile system using the distributed time-coordinated guidance law.

[0103] The effectiveness of the method proposed in the present invention is verified by using a specific example of five missiles attacking a maneuvering target. The specific implementation steps of this example are as follows.

[0104] Consider a scenario where five missiles strike a maneuvering target, such as Figure 4 As shown in the figure, missiles use an undirected communication topology to exchange information, and the corresponding Laplace matrix is ​​as follows.

[0105] .

[0106] The target was set to maneuver with a small initial maneuver followed by a large one. The target overload was 1g for the first 40 seconds, followed by 2g. This simulated a scenario where multiple missiles coordinated to strike a maneuvering target. As the missiles approached, the target employed a large maneuver to escape. The maximum overload of the missiles was set to 17g.

[0107] The initial positions of the missile and target, ballistic inclination and other parameters are shown in Table 1.

[0108] .

[0109] (1) Parameter setting.

[0110] The parameters of the fixed-time disturbance observer are set as , , , , The parameters of the distributed time cooperative guidance law are set as , , .

[0111] (2) Result analysis.

[0112] The simulation results are as follows Figure 5-Figure 8 The miss distance and guidance time are shown in Table 2.

[0113] .

[0114] Figure 5 Schematic diagram of the engagement curve. Figure 6 This is a schematic diagram of the missile's overload curve. At 40 seconds, the target acceleration jump causes the missile's overload to jump. Figure 7 This is a schematic diagram of the remaining flight time estimation curve. It can be seen that the remaining flight time estimation of the missile converges to a consensus quickly, but since the speeds of the missile and the target are close, it takes a long time to hit the target. Figure 8 The diagram below shows the disturbance estimation curve. The rapid change of the disturbance causes the disturbance estimation curve to overshoot, which results in jitter in the remaining flight time estimation. When the missile is about to hit the target, the disturbance changes rapidly, resulting in a large observation error. Therefore, the previous target acceleration estimate is used in the last few seconds of the simulation. Figure 5-Figure 8 It can be seen from the simulation results in Figure 2 and Table 2 that the designed distributed time cooperative guidance law can ensure that multiple missiles can hit the maneuvering target simultaneously with high accuracy.

[0115] Example 2 provides a distributed collaborative guidance system for attacking maneuvering targets.

[0116] The distributed collaborative guidance system for attacking maneuvering targets in this embodiment includes: a maneuvering target parameter acquisition module, which is used to obtain the speed and normal overload of the maneuvering target.

[0117] The current missile determination module is used to determine any missile used to attack a mobile target as a current missile, and to determine all missiles used to attack a mobile target except the current missile as non-current missiles.

[0118] The current missile parameter acquisition module is used to obtain the current missile speed and normal overload, as well as the missile-to-target line-of-sight angle between the current missile and the maneuvering target.

[0119] The time estimation module is used to determine an estimate of the remaining flight time of the current missile based on the speed and normal overload of the current missile, the speed and normal overload of the maneuvering target, and the missile-target line-of-sight angle between the current missile and the maneuvering target.

[0120] The error determination module is configured to calculate an estimated consistency error for the current missile based on an estimate of the remaining flight time of the current missile and estimates of the remaining flight time of all non-current missiles; wherein the estimate of the remaining flight time of the non-current missile is determined using the velocity and normal overload of the non-current missile, the velocity and normal overload of the maneuvering target, and the missile-target line-of-sight angle between the non-current missile and the maneuvering target.

[0121] The parameter determination module is used to determine the parameters of the fixed-time jammer of the current missile and the parameters of the distributed time cooperative guidance law based on the current missile's speed, normal overload and estimated consistency error, the missile-target line-of-sight angle between the current missile and the maneuvering target, and the speed and normal overload of the maneuvering target, so as to obtain the target fixed-time jammer and the target distributed time cooperative guidance law.

[0122] The guidance module is used to guide the corresponding missile using the target fixed time jammer and target distributed time cooperative guidance law of each missile used to attack the maneuvering target.

[0123] Example 3 provides an electronic device, including a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the distributed collaborative guidance method for striking maneuvering targets in Example 1.

[0124] As an optional implementation, the memory is a readable storage medium.

[0125] The beneficial effects of the present invention are as follows: the present invention realizes online estimation of target maneuvering information based on a fixed-time interference observer; designs a distributed time collaborative guidance law, realizes salvo attack on maneuvering targets, and solves the problem of coordinated multi-missile strikes on maneuvering targets.

[0126] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0127] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A distributed collaborative guidance method for attacking a mobile target, characterized in that: The method comprises: Obtain the speed and normal G-load of the maneuvering target; Determine any missile used to strike the mobile target as a current missile, and determine all missiles other than the current missile among all missiles used to strike the mobile target as non-current missiles; Acquiring the velocity and normal overload of the current missile, and the missile-target sight angle between the current missile and the maneuvering target; Determining an estimate of the remaining flight time of the current missile based on the velocity and normal overload of the current missile, the velocity and normal overload of the maneuvering target, and a missile-target line-of-sight angle between the current missile and the maneuvering target; Calculating an estimated consistency error of the current missile based on an estimate of the remaining flight time of the current missile and an estimate of the remaining flight time of all the non-current missiles; wherein the estimate of the remaining flight time of the non-current missile is determined using a speed and a normal overload of the non-current missile, a speed and a normal overload of the maneuvering target, and a missile-target line-of-sight angle between the non-current missile and the maneuvering target; Based on the speed, normal overload and estimated consistency error of the current missile, the missile-target line-of-sight angle between the current missile and the maneuvering target, and the speed and normal overload of the maneuvering target, determine the parameters of the fixed-time jammer and the parameters of the distributed-time cooperative guidance law of the current missile, and obtain the target fixed-time jammer and the target distributed-time cooperative guidance law; The target fixed time jammer and the target distributed time cooperative guidance law of each missile used to attack the mobile target are used to guide the corresponding missile.

2. The distributed collaborative guidance method for attacking mobile targets according to claim 1 is characterized in that: Determining an estimate of the remaining flight time of the current missile based on the speed and normal overload of the current missile, the speed and normal overload of the maneuvering target, and a missile-target line-of-sight angle between the current missile and the maneuvering target, specifically includes: According to the speed and normal overload of the current missile, the speed and normal overload of the maneuvering target, and the missile-target line of sight angle between the current missile and the maneuvering target, the missile-target relative distance, the first relative velocity component and the second relative velocity component between the current missile and the maneuvering target are calculated; the first relative velocity component is the component of the relative velocity between the current missile and the maneuvering target along the missile-target line of sight, and the second relative velocity component is the component of the relative velocity between the current missile and the maneuvering target in the direction perpendicular to the missile-target line of sight; An estimate of the remaining flight time of the current missile is calculated based on the speed and normal overload of the current missile, the speed of the maneuvering target, and the relative distance between the current missile and the maneuvering target, the first relative velocity component, and the second relative velocity component.

3. The distributed collaborative guidance method for attacking mobile targets according to claim 2 is characterized in that: Calculating a missile-target relative distance, a first relative velocity component, and a second relative velocity component between the current missile and the maneuvering target according to the velocity and normal overload of the current missile, the velocity and normal overload of the maneuvering target, and a missile-target sight angle between the current missile and the maneuvering target, including: Calculating the ballistic inclination angle of the current missile according to the speed and normal overload of the current missile; Calculating the forward inclination angle of the current missile according to the ballistic inclination angle of the current missile and the missile-target line of sight angle between the current missile and the maneuvering target; Calculating the ballistic inclination angle of the maneuvering target according to the speed and normal overload of the maneuvering target; Calculating the forward inclination angle of the maneuvering target according to the ballistic inclination angle of the maneuvering target and the missile-target line of sight angle between the current missile and the maneuvering target; Based on the speed and the forward tilt angle of the current missile and the speed and the forward tilt angle of the maneuvering target, the missile-target relative distance, the first relative velocity component and the second relative velocity component between the current missile and the maneuvering target are calculated.

4. The distributed collaborative guidance method for attacking mobile targets according to claim 2 is characterized in that: Calculating an estimate of the remaining flight time of the current missile according to the speed and normal overload of the current missile, the speed of the maneuvering target, and the relative distance between the current missile and the maneuvering target, the first relative speed component, and the second relative speed component, including: Calculating the ballistic inclination angle of the current missile according to the speed and normal overload of the current missile; Calculating the forward inclination angle of the current missile according to the ballistic inclination angle of the current missile and the missile-target line of sight angle between the current missile and the maneuvering target; An estimate of the remaining flight time of the current missile is calculated based on the speed and the forward tilt angle of the current missile, the speed of the maneuvering target, and the relative distance between the current missile and the maneuvering target, the first relative speed component, and the second relative speed component.

5. A distributed collaborative guidance system for attacking mobile targets, characterized in that: The system comprises: A maneuvering target parameter acquisition module is used to obtain the speed and normal overload of the maneuvering target; a current missile determination module, used to determine any missile used to strike the mobile target as a current missile, and to determine all missiles other than the current missile among all missiles used to strike the mobile target as non-current missiles; A current missile parameter acquisition module, used to acquire the speed and normal overload of the current missile, and the missile-target sight angle between the current missile and the maneuvering target; a time estimation module, configured to determine an estimate of the remaining flight time of the current missile based on the velocity and normal overload of the current missile, the velocity and normal overload of the maneuvering target, and a missile-target line-of-sight angle between the current missile and the maneuvering target; an error determination module, configured to calculate an estimated consistency error of the current missile based on an estimate of the remaining flight time of the current missile and an estimate of the remaining flight time of all the non-current missiles; wherein the estimate of the remaining flight time of the non-current missile is determined using a speed and a normal overload of the non-current missile, a speed and a normal overload of the maneuvering target, and a missile-target line-of-sight angle between the non-current missile and the maneuvering target; A parameter determination module is used to determine the parameters of the fixed time jammer and the parameters of the distributed time cooperative guidance law of the current missile based on the speed, normal overload and estimated consistency error of the current missile, the missile-target line of sight angle between the current missile and the maneuvering target, and the speed and normal overload of the maneuvering target, so as to obtain the target fixed time jammer and the target distributed time cooperative guidance law; The guidance module is used to guide the corresponding missile using the target fixed time jammer and target distributed time cooperative guidance law of each missile used to attack the mobile target.

6. An electronic device, characterized in that: It comprises a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the distributed collaborative guidance method for attacking mobile targets as described in any one of claims 1 to 4.

7. An electronic device according to claim 6, characterized in that: The memory is a readable storage medium.

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