Asynchronous pulse collaborative guidance law for multi-missile synchronous strike

Abstract

The invention discloses an asynchronous pulse collaborative guidance law for synchronous strike of multiple missiles, which avoids continuous and synchronous communication requirements of a traditional guidance law, so that each missile is controlled to update the position and speed at the pulse moment based on the sampling period and sampling information of the missile, and the state of the missile tends to be consistent with that of other missiles. And finally, the missile group is promoted to complete striking on the target in a synchronous form. And meanwhile, the strike time constraint is embedded into the guidance law, so that the missile group can initiate an attack to the target at the expected strike time. Guiding laws are designed in the missile visual line direction and the perpendicular direction according to a missile dynamics model, design parameters of the guiding laws are mutually independent, the parameters can be matched according to system performance requirements, a smooth function is introduced into the guiding laws to avoid system buffeting, and the guiding laws are simple in structure and easy to achieve.

Description

Technical Field

[0001] The present invention belongs to the field of automated coordinated control, and in particular relates to an asynchronous pulse coordinated guidance law for synchronous attack of multiple missiles. Background Art

[0002] Compared to traditional single-missile systems, multi-missile systems offer advantages such as high attack efficiency, strong penetration, and increased flexibility. According to existing literature, there are two common methods for achieving simultaneous multi-missile attacks on targets: one is independent guidance (e.g., in the reference: Jeon, I., J. Lee and M. Tahk, Impact-time-control guidance law for anti-ship missiles. IEEE Transactions on Control Systems Technology, 2006. 14(2): p260-266). This approach sets a common strike time for each missile before launch. All missiles are then independently guided to their target locations. However, this scheme requires an appropriate joint attack time before launch, otherwise the simultaneous attack may fail. However, some missiles in the swarm may not be able to meet the set attack time due to their own speed and acceleration limitations. Therefore, this single-guidance scheme is likely to cause the simultaneous attack to fail. The second is cooperative guidance (for example, in the reference: Zhou, J. and J. Yang, Distributed guidance law design for cooperative simultaneous attacks with multiple missiles. Journal of Guidance, Control, and Dynamics, 2016. 39 (10): p. 2436-2444.). This scheme establishes a communication network in the swarm so that each missile can transmit its own status information to its neighboring missiles in the network, such as remaining flight time, remaining flight distance, speed, heading angle, etc. By transmitting this information, each missile adjusts its own motion state through the guidance law so that the states of each missile are consistent, thereby achieving synchronous attack.

[0003] In actual application scenarios, missiles face constraints such as limited communication capabilities and hardware energy disparity, resulting in asynchrony in information cross-linking and status updates within a swarm, severely impacting the quality of consistent control. To achieve effective swarm control, interaction can only occur through sampling communication. Summary of the Invention

[0004] The purpose of the present invention is to provide an asynchronous pulse coordinated guidance law for synchronous attack of multiple missiles, so as to accurately control the missile group to complete the simultaneous attack on the target under asynchronous sampling communication.

[0005] The technical solution to implement the present invention is: an asynchronous pulse coordinated guidance law for synchronous multi-missile strikes, the steps of which are as follows:

[0006] Step 1: When n missiles attack the same target simultaneously, n ≥ 2, at time t, the i-th missile obtains the distance r from the target detected by its own sensor i (t), own motion speed V i (t), elevation angle γ i (t), azimuth ψ i (t), yaw homing angle Pitch search angle θ i (t), target speed V Tm (t), yaw angle of target flight The pitch angle θ of the target flight m (t); where i = 1, 2, ..., n, go to step 2.

[0007] Step 2: According to r i (t), V i (t), γ i (t), ψ i (t), θ i (t), V Tm (t), θ m (t), combined with the missile dynamics relationship, the relative velocity V along the missile-target line of sight at the current moment is obtained r，i (t), the relative velocity V of the longitudinal plane perpendicular to the sight line of sight of the missile and the target q，i (t), relative velocity V of the horizontal plane perpendicular to the sight line of sight of the missile ψ，i (t) and the strike time deviation e i (t), go to step 3.

[0008] Step 3: Determine whether the following constraints are met at the same time:

[0009]

[0010] Wherein, j and i have the same meaning, both are missile numbers j = 1, 2, ..., n;

[0011] If the three constraints are met at the same time, the current flight status of each missile is maintained;

[0012] If the three constraints are not met at the same time, each missile determines whether the current time t is equal to the sampling time tk，i If they are not equal, go to step 4.1; if they are equal, go to step 4.2.

[0013] Step 4.1: If the current time t is equal to the sampling time t k，i If they are not equal, the i-th missile has not reached its own sampling time and cannot exchange information with adjacent ammunition, then r i (t), t a 、V r，i (t), V q，i (t), V ψ，i (t) is input into the guidance law to obtain the control input u along the missile-target line of sight r，i (t), the control input u of the longitudinal plane perpendicular to the missile-target line of sight q，i (t), the control input u of the lateral plane perpendicular to the missile-target line of sight ψ，i (t), go to step 5.

[0014] Step 4.2: If the current time t is equal to the sampling time t k，i If the sampling time of the i-th missile is equal, it needs to use the inter-missile network to exchange information with the adjacent ammunition and transmit its own flight status information r i (t), V r,i (t), V q，i (t), V ψ，i (t), calculate the distance consistency deviation ξ from the target r，i (t), and the velocity consistency deviation ξ along the missile-target line of sight Vr,i (t), obtain the difference in flight state between the i-th missile and its adjacent missiles; and input the result into the guidance law to obtain u r，i (t),u q，i (t) and u ψ，i (t), go to step 5.

[0015] Step 5: Establish the missile dynamics model according to u r，i (t),u q，i (t) and u ψ，i (t), the next moment r is obtained by the missile dynamics model i (t+1), V i (t+1),γ i (t+1),ψ i (t+1), θ i (t+1), set t=t+1, and return to step 2.

[0016] Compared with the prior art, the present invention has the following significant advantages:

[0017] (1) Most existing multi-missile cooperative control laws are based on continuous synchronous communication between missiles, and the cooperative control effect is heavily dependent on the quality of the communication network. However, the guidance law proposed in this patent can achieve cooperative control based on individual missiles in the form of sampling communication, and the communication frequency of each missile can be different, which greatly reduces the communication dependence and saves the missile's own energy;

[0018] (2) The proposed guidance law only outputs control instructions by comparing the state of each missile with that of adjacent missiles at each sampling moment, forming a state difference. This is a pulse control method that does not require continuous control and reduces the dependence on the performance of the missile drive mechanism.

[0019] (3) Design guidance laws in different directions, and the guidance laws in each direction are independent of each other;

[0020] (4) The smooth function is introduced to avoid system chattering, and the guidance law structure is simple and the algorithm is easy to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of multiple missiles attacking a target simultaneously according to the present invention.

[0022] Figure 2 It is a planar dynamic model diagram of multiple missiles simultaneously attacking a maneuvering target according to the present invention.

[0023] Figure 3 It is a communication topology diagram of multiple missiles of the present invention.

[0024] Figure 4 It is a missile guidance law flow chart of the present invention.

[0025] Figure 5 It is a sampling time diagram of each missile of the present invention.

[0026] Figure 6 It is a trajectory diagram of multiple missiles striking maneuvering targets controlled by the guidance law of the present invention.

[0027] Figure 7 This is a comparison of the guidance law of the present invention on the consumption of missile energy. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below with reference to the accompanying drawings.

[0029] In order to avoid the dependence of the multi-missile cooperative control process on the quality of the communication network and reduce the energy consumption of the missile itself, the asynchronous sampling control technology is sampled. A guidance law is proposed that can realize cooperative control in the form of sampling communication according to the communication frequency of the individual missiles. The state difference output control is formed only by comparing the state of each missile with that of the adjacent missiles at the sampling moment, which belongs to pulse control.

[0030] Combine Figures 1 to 4The asynchronous pulse coordinated guidance law for synchronous multi-missile strikes described in the present invention comprises the following steps:

[0031] Step 1: If Figure 1 As shown in the figure, when n missiles attack the same target (static or moving target) at the same time, n≥2, at time t, the i-th missile obtains the distance r from the target detected by its own sensor i (t), own motion speed V i (t), elevation angle γ i (t), azimuth ψ i (t), yaw homing angle Pitch search angle θ i (t), target speed V Tm (t), yaw angle of target flight The pitch angle θ of the target flight m (t); where i = 1, 2, ..., n, go to step 2.

[0032] Step 2: If Figure 2 As shown, combining the missile dynamics relationship of formula (1) to formula (4), according to r i (t), V i (t), γ i (t), ψ i (t), θ i (t), V Tm (t), θ m (t), combined with the missile dynamics relationship, the relative velocity V along the missile-target line of sight at the current moment is obtained r，i (t), the relative velocity V of the longitudinal plane perpendicular to the sight line of sight of the missile and the target q，i (t), relative velocity V of the horizontal plane perpendicular to the sight line of sight of the missile ψ，i (t) and the strike time deviation e i (t):

[0033] V q，i (t) = V Tm (t)sinθ m (t)-V i (t)sinθ i (t) (2)

[0034] V ψ，i (t) = V Tm (t)sinθ m (t)-V i (t)sinθ i (t) (3)

[0035] e i (t) = t + t go，i (t)-t a (4)

[0036] Among them, t go，i (t) is the remaining flight time of missile i from the target, which can be expressed as t go，i (t) = -r i (t) / V r，i (t), t a is the expected swarm attack time.

[0037] Go to step 3.

[0038] Step 3: Determine whether the following constraints are met at the same time:

[0039]

[0040] Here, j and i have the same meaning, both are missile numbers j = 1, 2, ..., n.

[0041] If e i (t) = e j (t), V q，i (t) = 0 and V ψ，i If the three constraints (t) = 0 hold simultaneously, the current flight state of each missile is maintained. This indicates that the remaining flight time for each missile to reach the target is consistent, and the relative angular velocity between each missile and the target remains constant. This means that at any future time, the time it takes for each missile to reach the target will be the same, and the angle of attack on the target will remain stable. Therefore, the multi-missile system can achieve simultaneous attacks on the target by maintaining the current flight state of each missile.

[0042] If e i (t)≠e j (t), V q，i (t)≠0, V ψ，i (t)≠0. If the three constraints do not hold true at the same time, it means that the missile states are different or are still adjusting their states. i (t), ta, Vr, i(t), Vq, i(t), Vψ, i(t) are input into the guidance law for state adjustment. Each missile determines whether the current time t is consistent with the sampling time t k , i are equal. If they are not equal, go to step 4.1. If they are equal, go to step 4.2.

[0043] Step 4.1: If the current time t is equal to the sampling time t k , i are not equal, then the i-th missile has not reached its own sampling time and cannot exchange information with adjacent ammunition, so r i (t), ta 、V r，i (t), V q，i (t), V ψ，i (t) is input into the guidance law to obtain the control input u along the missile-target line of sight r，i (t), the control input u of the longitudinal plane perpendicular to the missile-target line of sight q，i (t), the control input u of the lateral plane perpendicular to the missile-target line of sight ψ，i (t).

[0044] If t≠t k,i , r i (t), t a 、V r，i (t), V q，i (t), V ψ，i (t) is input into the guidance law, which is as follows:

[0045]

[0046]

[0047] Among them, k1, k2, k3, k4, k5, χ1, χ2, χ3 are all control gains and are positive real numbers; tanh(·) is a smooth function; N i is the set of adjacent ammunition quantities of the i-th missile; l ij is the connectivity coefficient between the i-th missile and the j-th missile. If the i-th missile can receive information from the j-th missile, then l ij =1, otherwise it is 0, and there is no self-loop, i.e. l ii =0; δ(·) is the Dirac function with The time variable Δ is a small real number not equal to 0, is the sampling moment when the j-th missile is closest to the moment t, That is, the remaining flight distance information of the j-th missile from the target at the latest moment, A r,i (t) represents the adaptive gain along the missile-target line of sight, Indicates A r,i (t) first-order derivative, A q,i (t) represents the adaptive gain of the longitudinal plane perpendicular to the sight line of sight, Indicates A q,i The first derivative of (t), A ψ,i (t) represents the adaptive gain of the lateral plane perpendicular to the sight line of sight, Indicates A ψ,i The first derivative of (t);

[0048] Therefore, according to the properties of the Dirac function, when t≠t k,i Under these conditions, the guidance law (5) can be rewritten as follows:

[0049]

[0050] Formula (6) and formula (7) only need to rely on the V after operation r,i (t) is calculated and controlled based on its own normal velocity. It does not need to exchange information with other missiles, so it does not change.

[0051] Go to step 5.

[0052] Step 4.2: If the current time t is equal to the sampling time t k,i If the sampling time of the i-th missile is equal, it needs to use the adjacent ammunition Figure 3 The inter-missile network shown in the figure interacts with each other and transmits its own flight status information. i (t), V r，i (t), V q，i (t), V ψ，i (t), calculate the distance consistency deviation ξ from the target r，i (t), and the velocity consistency deviation ξ along the missile-target line of sight Vr,i (t), obtain the difference in flight state between the i-th missile and its adjacent missiles; and input the result into the guidance law to obtain u r，i (t),u q，i (t) and u ψ，i (t). Specifically:

[0053] If t = t k，i , then when the i-th missile reaches its own sampling time, it needs to use the inter-missile network to interact with the adjacent ammunition and transmit the r of the adjacent missile. j 、V r，j State parameters such as ξ are calculated using formula (9): r，i (t) and ξ Vr，i (t).

[0054]

[0055] Among them, N i is the set of adjacent ammunition quantities of the i-th missile;

[0056] According to the properties of the Dirac function, the guidance law (5) can be rewritten as follows:

[0057] u r，i (t)=-k2ξ r，i (t)-k3ξ Vr,i (t) (10)

[0058] Formula (6) and Formula (7) only need to rely on the V after operation r，i (t) is calculated and controlled based on its own normal velocity. It does not need to exchange information with other missiles, so it does not change.

[0059] When the current moment is different from the sampling moment of each missile, it can be seen from formula (8) that each missile does not exchange information with adjacent missiles, and only forms control output according to its own motion state parameters to adjust the motion state at the next moment. When the current moment is the same as the sampling moment of each missile, it can be seen from formula (10) that each missile exchanges information with adjacent missiles, transmits its own motion state parameters and compares them with its own state parameters to form control output.

[0060] To this end, the innovative aspect of this invention lies in the proposed pulse-coordinated guidance law for synchronized multi-missile strikes using asynchronous sampling interaction. This requires that each missile only interact with the swarm and generate control outputs during its own sampling moments. At other times, each missile relies on its own parameters for control, remaining in a communication-silent state. This asynchronous information exchange and pulse-controlled process significantly reduces the number of swarm communications and energy consumption.

[0061] Go to step 5.

[0062] Step 5: Establish the missile dynamics model shown in Equation (11), and according to the multi-missile system control input u r,i (t),u q,i (t) and u ψ,i (t), the next moment r is obtained by the missile dynamics model i (t+1), V i (t+1),γ i (t+1),ψ i (t+1), θ i (t+1), the next moment θ m (t+1) and For direct observation by the onboard sensor, set t = t + 1 and return to step 2.

[0063] Specifically: the control input u of the i-th missile along the missile-target line of sight r,i (t), the control input u of the longitudinal plane perpendicular to the missile-target line of sight q,i (t) Control input u perpendicular to the lateral plane and the sight line of sight ψ,i (t) is input into the missile dynamics model (11) to obtain r at the next moment i (t+1), V i (t+1),γ i (t+1),ψ i (t+1), θi (t+1).

[0064]

[0065] in, Control input for the tracked target along the missile-target line of sight; The control input for the longitudinal plane of the tracked target to be perpendicular to the missile-target line of sight; The control input for the lateral plane of the tracked target to be perpendicular to the missile-target line of sight; is the distance r from the target i (t) first-order derivative; is the relative velocity V along the line of sight between the missile and the target r,i (t) first-order derivative; is the relative velocity in the longitudinal plane perpendicular to the sight line of sight between the missile and the target; The relative velocity in the lateral plane perpendicular to the line of sight of the missile and target; is the elevation angle γ i (t) first-order derivative; is the first-order derivative of the azimuth angle. The control input of the target in different directions can be estimated and determined according to the target type and is a known quantity.

[0066] The distance r from the target at the next moment i (t+1), own motion speed V i (t+1), elevation angle γ i (t+1), azimuth ψ i (t+1), yaw homing angle Pitch search angle θ i (t+1), as shown in formula (12):

[0067]

[0068] Example 1

[0069] Consider 5 missiles with Figure 3 The connection method shown in the figure is used for information exchange, and the guidance laws (5), (6) and (7) are used in Figure 5 Interactive communication is carried out at the sampling time shown, which can be achieved Figure 6 The five missiles shown here are simultaneously attacking a maneuvering target. Figure 7 The effect shown.

Claims

1. An asynchronous pulse coordinated guidance law for synchronous attack of multiple missiles, characterized in that: Here are the steps: Step 1: When n missiles attack the same target at the same time, n ≥ 2, at time t, the i-th missile obtains the distance r from the target detected by its own sensor i (t), own motion speed V i (t), elevation angle γ i (t), azimuth ψ i (t), yaw angle Pitch angle θ i (t), target speed V Tm (t), yaw angle of target flight The target's pitch angle θ m (t); where i = 1, 2, ..., n, go to step 2; Step 2: According to r i (t), V i (t), γ i (t),ψ i (t) θ i (t), V Tm (t) θ m (t), combined with the missile dynamics equation, the relative velocity V along the missile-target line of sight at the current moment is obtained r,i (t), the relative velocity V of the longitudinal plane perpendicular to the line of sight of the missile q,i (t), relative velocity V of the lateral plane perpendicular to the line of sight of the missile ψ,i (t) and the strike time deviation e i (t), go to step 3; Step 3: Determine whether the following constraints are met at the same time: Among them, j and i have the same meaning, both are missile numbers j = 1, 2, ..., n; If the three constraints are met at the same time, the current flight status of each missile is maintained; If the three constraints are not met at the same time, each missile determines whether the current time t is equal to the sampling time t k,i If they are equal, go to step 4.1; if they are equal, go to step 4.2; Step 4.1: If the current time t is equal to the sampling time t k,i If they are not equal, then the i-th missile has not reached its own sampling time and cannot exchange information with adjacent ammunition. i (t), t a 、V r,i (t), V q,i (t), V ψ,i (t) is input into the guidance law to obtain the control input u along the missile-target line of sight r,i (t), the control input u of the longitudinal plane perpendicular to the missile-target line of sight q,i (t), the control input ψ of the lateral plane perpendicular to the missile-target line of sight ψ,i (t), go to step 5; Step 4.2: If the current time t is equal to the sampling time t k,i If the i-th missile reaches its own sampling time, it needs to use the inter-missile network to exchange information with adjacent ammunition and transmit its own flight status information r i (t), V r,i (t), V q,i (t), V ψ,i (t), calculate the distance consistency deviation ξ from the target r,i (t), and the velocity consistency deviation ξV along the missile-to-target line of sight r,i (t), obtain the difference in flight state between the ith missile and its adjacent missiles; and input the result into the guidance law to obtain u r,i (t),u q,i (t) and u ψ,i (t), go to step 5; Step 5: Establish the missile dynamics model according to u r,i (t),u q,i (t) and u ψ,i (t), the next moment r is obtained by the missile dynamics model i (t+1), V i (t+1),γ i (t+1),ψ i (t+1), θ i (t+1), set t=t+1, and return to step 2.

2. The asynchronous pulse coordinated guidance law for synchronous attack of multiple missiles according to claim 1 is characterized in that: In step 2, according to the r measured by the sensor on the i-th missile i (t), V i (t), γ i (t),ψ i (t) θ i (t), V Tm (t) θ m (t), combined with the missile dynamics relationship, we can obtain V at time t r,i (t), V q,i (t), V ψ,i (t) and e i (t), as follows: V q,i (t)=V Tm (t)sinθ m (t)-V i (t)sinθ i (t) (2) V ψ,i (t)=V Tm (t)sinθ m (t)-V i (t)sinθ i (t) (3) e i (t)=t+t go,i (t)-t a (4) Among them, t go,i (t) is the remaining flight time of the ith missile from the target, expressed as t go,i (t) = -r i (t) / V r,i (t), t a is the expected swarm attack time.

3. The asynchronous pulse coordinated guidance law for synchronous attack of multiple missiles according to claim 2 is characterized in that: Step 4.1 is as follows: If t≠t k,i , r i (t), t a 、V r,i (t), V q,i (t), V ψ,i (t) is input into the guidance law, which is as follows: Among them, k1, k2, k3, k4, k5, χ1, χ2, χ3 are all control gains and are positive real numbers; tanh(·) is a smooth function; N i is the number set of adjacent ammunition for the i-th missile; l ij is the connectivity coefficient between the ith missile and the jth missile. If the ith missile can receive information from the jth missile, then l ij =1, otherwise 0, and there is no self-loop, i.e. l ii =0; δ(·) is the Dirac function, with The time variable Δ is a small real number not equal to 0, is the sampling time when the j-th missile is closest to time t, That is, the remaining flight distance of the j-th missile from the target at the latest moment, A r,i (t) represents the adaptive gain along the missile-target line of sight, Indicates A r,i (t) First-order derivative, A q,i (t) represents the adaptive gain of the longitudinal plane perpendicular to the sight line of sight, Indicates A q,i The first derivative of (t), A ψ,i (t) represents the adaptive gain of the lateral plane perpendicular to the sight line of sight, A ψ,i (t) first-order derivative; According to the properties of the Dirac function, when t≠t k,i Under these conditions, equation (5) can be rewritten as follows:

4. The asynchronous pulse coordinated guidance law for synchronous attack of multiple missiles according to claim 3 is characterized in that: Step 4.2 is as follows: If t = t k,i , then when the i-th missile reaches its own sampling time, it needs to interact with the adjacent ammunition using the inter-missile network to transmit the state parameter r of the adjacent j-th missile j 、V r,j , use formula (9) to calculate the state deviation ξ r,i (t) and ξ Vr,i (t): Among them, N i is the set of adjacent ammunition quantities of the i-th missile; According to the properties of the Dirac function, equation (5) can be rewritten as follows: u r,i (t)=-k2ξ r,i (t)-k3ξ Vr,i (t) (10)。 5. The asynchronous pulse coordinated guidance law for synchronous attack of multiple missiles according to claim 4 is characterized in that: In step 5, the missile dynamics model is established as follows: in, Control input for the tracked target along the missile-to-target line of sight; The control input for the longitudinal plane of the tracked target to be perpendicular to the missile-target line of sight; The control input for the lateral plane of the tracked target to be perpendicular to the missile-target line of sight; is the distance r from the target i (t) first-order derivative; is the relative speed V along the line of sight between the missile and the target r,i (t) first-order derivative; is the relative velocity in the longitudinal plane perpendicular to the sight line of sight of the missile and the target; The relative velocity in the lateral plane perpendicular to the line of sight of the missile and the target; is the elevation angle γ i (t) first-order derivative; is the first-order derivative of the azimuth; The distance from the target at the next moment r i (t+1), own motion speed V i (t+1), elevation angle γ i (t+1), azimuth ψ i (t+1), yaw angle Pitch angle θ i (t+1), expressed as:

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