A multi-missile coordinated guidance method under low network bandwidth

Abstract

The present invention relates to a method for coordinated multi-missile guidance under low network bandwidth, belonging to the field of multi-missile coordinated guidance control technology, and is used to solve the problem of coordinated multi-missile guidance under low network bandwidth in the prior art. The method of the present invention includes the following steps: Step 1: Establishing a three-dimensional relative motion model of missiles and targets and determining the communication network topology between missile groups; Step 2: Obtaining a guidance law for the leader missile so that its attack time approaches an expected value; Step 3: Determining the coordinated state variables of the missile group as data to be transmitted and tracked between missiles; Packing the coordinated state variables of the missile group to obtain a combined vector of the coordinated state variables of the missiles; Quantizing and encoding the combined vector of the missile coordinated state variables and transmitting it; The receiving missile decodes the vector and obtains an estimate of the communicating missile state information; Step 4: Obtaining a guidance law for the follower missile based on the coordinated state variables of the missile group and the estimated communicating missile state information obtained in Step 3.

Description

Technical Field

[0001] The present invention belongs to the technical field of multi-missile coordinated guidance control, and in particular relates to a multi-missile coordinated guidance method under low network bandwidth. Background Art

[0002] As the form of warfare evolves from mechanization and informatization to intelligence and collaboration, intelligent coordinated combat of missile swarms can not only improve the overall penetration capability, detection and perception capability, and strike and damage capability, but also reduce combat costs and improve combat effectiveness. Intelligent coordinated combat of missile swarms has become a current research hotspot.

[0003] As for multi-missile coordination, it means launching multiple missiles according to the requirements of combat missions. The missiles form a formation through the communication network, and conduct coordinated flight control based on status information and coordination algorithms to ultimately complete a coordinated strike on the target.

[0004] Currently, methods for coordinated multi-missile guidance have been proposed in the prior art. For example, Chinese Patent CN113359813B discloses a method for coordinated guidance of multiple leader and follower missiles. Chinese Patent CN112558634B discloses a method and system for coordinated multi-missile guidance. However, the coordinated guidance laws in these patents require expensive communication resources, making them difficult to apply in actual multi-missile coordination due to environmental factors, electromagnetic interference, and bandwidth limitations. Summary of the Invention

[0005] In view of the above problems, the present invention discloses a multi-missile cooperative guidance method under low network bandwidth, which is used to solve the problem of multi-missile cooperative guidance under low network bandwidth in the prior art.

[0006] The present invention provides a multi-missile coordinated guidance method under low network bandwidth, comprising the following steps:

[0007] Step 1: Establish a three-dimensional relative motion model between missiles and targets and determine the topology of the communication network between missile groups;

[0008] Step 2: Determine the guidance law of the missile so that its attack time approaches the expected value;

[0009] Step 3: Determine the coordinated state variables of the missile group; package the coordinated state variables of the missile group to obtain the coordinated state variable combination vector of the missile; quantize and encode the coordinated state variable combination vector of the missile and transmit it, and the receiving missile decodes it to obtain an estimate of the communicated missile state information;

[0010] Step 4: Based on the estimation of the coordinated state variables of the missile group and the communication missile state information in step 3, the guidance law of the slave missile is obtained.

[0011] Specifically, the expression of the missile-target relative motion three-dimensional model in step 1 is:

[0012]

[0013] Among them, R i is the relative distance between missile i and target; V mi is the speed of missile i; ψ mi and θ mi They are respectively the line of sight coordinate system OX of missile i Li Y Li Z Li and velocity coordinate system OX vi Y vi Z vi Velocity pre-deflection angle and velocity pre-inclination angle under time conversion; ψ Li and θ Li They are the ground coordinate system OX of missile i Ii Y Ii Z Ii With the line of sight coordinate system OX Li Y Li Z Li The sight deflection angle and sight inclination angle under the time conversion; a yi and a zi are the yaw overload and pitch overload of missile i in the missile body coordinate system; σ i is the velocity lead angle of missile i; represents the target approach speed of missile i; represents the angular velocity of the line of sight of missile i; represents the angular velocity of the line of sight deflection of missile i; represents the velocity leading tilt angular velocity of missile i; represents the velocity leading deflection angular velocity of missile i.

[0014] Specifically, the velocity pre-bias angle ψ mi is the velocity vector of missile i in the line of sight coordinate system X Li OZ Li Plane projection and OX Li The angle between the axes.

[0015] Specifically, the velocity lead angle θ mi is the velocity vector of missile i and the X coordinate system of the line of sight Li OZ Li The angle between the planes.

[0016] Specifically, the guidance law of the missile in step 2 is expressed as:

[0017]

[0018] Among them, N is the navigation ratio; u0 is the virtual control amount; a y0 and a z0 Respectively represent the yaw overload and pitch overload of the missile; V m0 Indicates the speed of the lead bullet; R0 indicates the relative distance between the lead bullet and the target; θ m0 Indicates the leading angle of velocity of the lead bullet; ψ m0 It represents the lead angle of velocity of the lead projectile; σ0 represents the lead angle of velocity of the lead projectile.

[0019] Specifically, the expression of the coordinated state variable of the missile group is:

[0020]

[0021] Among them, η i represents the relative distance between missile i and its target; V represents the closing speed between missile i and target; mi is the speed of missile i; R i is the relative distance between missile i and target; σ i is the velocity lead angle of missile i.

[0022] Specifically, based on the first scaling factor l1 and the second scaling factor l2, the coordinated state variables of the missile group are respectively packaged to obtain the coordinated state variable combination vector of the missile, which is expressed as:

[0023]

[0024] Among them, f i Represents the coordinated state variable combination vector of the packaged missile i.

[0025] Specifically, the missile's coordinated state variable combination vector is quantized and encoded to obtain the quantized encoding output at the corresponding moment, which is expressed as:

[0026]

[0027] Among them, ξ i (0) represents the initial encoder state of missile i; T is the communication time interval; Δ i (kT) represents the quantized coded output of missile i at the kth communication; ξ i (kT) represents the encoder state of missile i at the kth communication; Q(g) represents the logarithmic quantizer with a finite number of quantization levels; f i (kT) represents the packaged coordinated state variable combination vector of missile i during the kth communication; ξ i ((k-1)T) represents the encoder state of missile i at the k-1th communication; g((k-1)T) represents the scaling function at the k-1th communication.

[0028] Specifically, the expression of the logarithmic quantizer Q(·) with a finite number of quantization levels is:

[0029]

[0030] Where x represents the input of the logarithmic quantizer with a finite number of quantization levels; q τ is the quantized value; q0 is the initial parameter in the quantized value; δ represents the quantizer parameter.

[0031] Specifically, missile i receives the quantized coded output Δ of missile j j Then decode to get the state of the decoder at this time As an estimate of the communicated missile status information, the decoding method is:

[0032]

[0033] in, represents the initial state of the decoder of missile i; represents the decoder state of missile i during the kth communication; Δ j (kT) represents the quantized coded output of missile j during the kth communication; represents the decoder status of missile i at the k-1th communication.

[0034] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0035] (1) The method of the present invention reduces the requirement for transmission bandwidth by means of quantization coding, and can improve the success rate of multi-missile coordinated strikes when network bandwidth is limited.

[0036] (2) Even in the case of complete communication interruption or in a non-strong communication environment, the guidance law adopted by the method of the present invention can at least ensure that the missile hits the target at the expected attack time.

[0037] (3) The logarithmic quantizer selected by the method of the present invention is a non-uniform quantizer, which is conducive to processing a wide range of inputs and can provide a smaller quantization interval for small input signals. Compared with the static quantizer, it can make full use of the limited quantization level to optimize the quantization result. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a flow chart of the multi-missile coordinated guidance method of the present invention.

[0039] Figure 2 It is a schematic diagram of the leader-slave cooperative guidance under quantized coding of the multi-missile cooperative guidance method of the present invention.

[0040] Figure 3 This is a communication topology diagram of one leader missile leading three followers in an embodiment of the present invention.

[0041] Figure 4 It is a three-dimensional flight trajectory diagram of the leader-follower group coordinated attack in an embodiment of the present invention.

[0042] Figure 5 2 is a diagram of the relative distance between the projectile and the target in an embodiment of the present invention.

[0043] Figure 6 It is the communication transmission data corresponding to the relative distance between the projectile and the target in the embodiment of the present invention.

[0044] Figure 7 It is the communication transmission data corresponding to the missile-target approach speed in the embodiment of the present invention. DETAILED DESCRIPTION

[0045] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0046] A specific embodiment of the present invention, as Figure 1-Figure 7 As shown, a multi-missile coordinated guidance method under low network bandwidth is disclosed, comprising the following steps:

[0047] Step 1: Establish a three-dimensional relative motion model between missiles and targets and determine the topology of the communication network between missile groups;

[0048] The target of the missile attack can be considered as a stationary target, for example, a fixed building or a ship whose speed is much slower than that of the missile.

[0049] Specifically, the expression of the missile-target relative motion three-dimensional model is:

[0050]

[0051] Among them, R i V is the relative distance between missile i and its target; mi is the speed of missile i; ψ mi and θ mi They are respectively the line of sight coordinate system OX of missile i Li Y Li Z Li and velocity coordinate system OX vi Y vi Z vi Velocity pre-deflection angle and velocity pre-inclination angle under time conversion; ψ Li and θ Li They are the ground coordinate system OX of missile i Ii Y Ii Z Ii With the line of sight coordinate system OX Li Y Li Z LiThe sight deflection angle and sight inclination angle under the time conversion; a yi and a zi are the yaw overload and pitch overload of missile i in the missile body coordinate system; σ i is the velocity lead angle of missile i, which is the angle between the velocity vector and the sight vector; represents the target approach speed of missile i; represents the angular velocity of the line of sight of missile i; represents the angular velocity of the line of sight deflection of missile i; represents the velocity leading tilt angular velocity of missile i; represents the velocity leading deflection angular velocity of missile i.

[0052] Specifically, the line of sight coordinate system OX Li Y Li Z Li The origin is located at the center of mass of missile i, OX Li The line connecting the axis and the center of mass of the projectile coincides, and the line pointing to the target is positive. Li The axis is in the vertical plane and perpendicular to OX Li Axis, pointing upward is positive, OZ Li The axis is determined according to the right-hand rule.

[0053] Velocity coordinate system OX vi Y vi Z vi The origin of is also located at the center of mass of missile i, OX vi The axis coincides with the missile's velocity vector, with the velocity direction as positive, OY vi The axis is located in the longitudinal symmetry plane of the missile body and is perpendicular to OX vi Axis, pointing upward is positive, OZ vi The axis is determined according to the right-hand rule.

[0054] Furthermore, the velocity pre-angle ψ mi is the velocity vector V of missile i (i.e. OX vi Axis) in the X-axis of the sight coordinate system Li OZ Li Plane projection and OX Li The angle between the axes, the velocity lead angle θ mi is the velocity vector V of missile i and the X of the line of sight coordinate system Li OZ Li The angle between the planes.

[0055] Furthermore, the expression of the communication network topology between missile groups is:

[0056] G=(V,E,A)

[0057] Where G is the directed graph of the missile group communication network; V is the set of missile nodes, V = {v0,v1,…,v n}, n is the total number of bullets, v0 is the lead bullet, v i (when i=1,2,...,n) is the slave missile; E={(i,j)∈V×V} is the set of directed edges between missiles; is the adjacency matrix of weight coefficients, a ij represents the weight of the edge starting from missile j and ending at missile i, i, j = 0, 1, ..., n, where n is the total number of missiles. Represents the field of real numbers.

[0058] Furthermore, if (j,i)∈E, then a ij =1, that is, missile i can receive the information sent by missile j, otherwise a ij =0; In addition, a ii =0.

[0059] Step 2: Determine the guidance law of the missile so that its attack time approaches the expected value. The expression is:

[0060]

[0061] Among them, N is the navigation ratio; u0 is the virtual control amount,

[0062] Among them, sgn(g) is the sign function, k1, k2 and μ1, μ2 are the control parameters of the virtual control quantity u0, e L is the error between the expected remaining time and the estimated remaining time; k1, k2>0, 0<μ1<1, μ2>1, T d is the expected attack time, t is the current time, is the estimate of the remaining time; a y0 and a z0 Respectively represent the yaw overload and pitch overload of the missile; V m0 represents the speed of the lead bullet; R0 represents the relative distance between the lead bullet and the target; θ m0 Indicates the leading angle of velocity of the lead bullet; ψ m0 It represents the lead angle of velocity of the lead projectile; σ0 represents the lead angle of velocity of the lead projectile.

[0063] Step 3: Determine the coordinated state variables of the missile group as the data to be transmitted and tracked between missiles; package the coordinated state variables of the missile group to obtain the coordinated state variable combination vector of the missile; quantize and encode the coordinated state variable combination vector of the missile and transmit it, and the receiving missile obtains an estimate of the communicated missile state information after decoding.

[0064] Among them, the expression of the coordinated state variable of the missile group is:

[0065]

[0066] Among them, η i represents the relative distance between missile i and its target; Indicates the closing speed between missile i and its target.

[0067] It can be understood that when the relative distance and approach speed between each missile and the target tend to be consistent, it can be considered that the missile group can achieve a coordinated attack with consistent time.

[0068] Furthermore, based on the first scaling factor l1 and the second scaling factor l2, the coordinated state variables of the missile group are respectively packaged to obtain the coordinated state variable combination vector of the missile, which is expressed as:

[0069]

[0070] Among them, f i Represents the coordinated state variable combination vector of the packaged missile i.

[0071] The missile's coordinated state variable combination vector is quantized and coded to obtain the quantized coding output at the corresponding time. The expression is:

[0072]

[0073] Among them, ξ i (0) represents the initial encoder state of missile i; k is the number of communications, T is the communication time interval, Δ i (kT) represents the quantized coded output of missile i during the kth communication (i.e., during the time period t∈[kT,(k+1)T)); ξ i (kT) represents the encoder state of missile i at the kth communication; Q(g) represents the logarithmic quantizer with a finite number of quantization levels; f i (kT) represents the packaged coordinated state variable combination vector of missile i during the kth communication; ξ i ((k-1)T) represents the encoder state of missile i at the k-1th communication; g((k-1)T) represents the scaling function at the k-1th communication, g((k-1)T) = g0γ k-1 , g0>0 and γ∈(0,1) are both control variables of the scaling function, which makes the scaling function exponentially decreasing.

[0074] Furthermore, the expression of the logarithmic quantizer Q(·) with a finite number of quantization levels is:

[0075]

[0076] Where x represents the input of the logarithmic quantizer with a finite number of quantization levels; qτ is the quantized value; q0 is the initial parameter in the quantized value, q τ =ρ -τ q0, And τ≤τ max , is a set of natural numbers, τ max is the control parameter of the quantized value; α is the maximum input, if it exceeds the limit, the quantizer will be saturated; ρ represents the quantization density, ρ∈(0,1); δ represents the quantizer parameter,

[0077] Furthermore, missile i receives the quantized coded output Δ from missile j. j Then decode and get the state of the decoder at this time As an estimate of the communicated missile status, the decoding is as follows:

[0078]

[0079] in, represents the initial state of the decoder of missile i; represents the decoder state of missile i during the kth communication; Δ j (kT) represents the quantized coded output of missile j during the kth communication; represents the decoder status of missile i at the k-1th communication.

[0080] Step 4: Based on the estimation of the coordinated state variables of the missile group and the communication missile state information in step 3, the guidance law of the slave missile is obtained.

[0081] The leader guidance law and follower guidance law of the present invention can achieve state consistency of the leader and follower missiles, thereby completing a coordinated strike in time.

[0082] Specifically, the coordinated state variables of the missile group obtained in step 3 are derived and the virtual follower missile control quantity is constructed. The expression is:

[0083]

[0084]

[0085] in, They represent the derivatives of the coordinated state variables of the missile group; u i (kT) represents the virtual slave control quantity of missile i during the kth communication; c1>0 and c2>0 are control gains; K=[k3,k4], k3>0 and k4>0 are feedback gains.

[0086] Furthermore, based on the principle that the arithmetic square root of the yaw overload and pitch overload of the slave missile is minimized, the yaw overload a of the slave missile is obtained. yiand pitch overload a zi , the expression is:

[0087]

[0088] To facilitate understanding of the present invention, the method of the present invention is described in detail below with examples. However, the present invention can also be applied to other embodiments different from this embodiment. Therefore, the protection scope of the present invention is not limited to the following examples.

[0089] In this implementation case, a group of four missiles is coordinated and guided, and missile node 0 is set as the leader missile in the group, and missile nodes 1, 2, and 3 are set as followers, that is, n=3.

[0090] According to the three-dimensional model of relative motion between missile and target established in step 1, the target is stationary and the initial motion parameters of the missile are set as follows, which correspond to the relative distance R of each missile. i , missile movement speed V mi 、Speed ​​pre-angle ψ mi 、Speed ​​pre-inclination angle θ mi , sight angle ψ Li 、Line of sight inclination angle θ Li (i=0,1,2,3):

[0091]

[0092] Set the communication topology between the groups as follows Figure 3 As shown, the corresponding adjacency matrix can be obtained for:

[0093]

[0094] Assume that the missile guidance ratio N = 1.5, the control parameters of the virtual control quantity u0 are k1 = 1.5, k2 = 2, and the related parameters of the sign function are set to μ1 = 0.5, μ2 = 1.5. In order to avoid chattering, a continuous function is used in the simulation. Instead of the sign function, the subsequent guidance law is also processed similarly, e represents the natural logarithm, and the expected attack time T d = 48s. Based on this, the pitch and yaw overloads of the lead missile can be calculated.

[0095] Set the scaling coefficients l1 = 0.025, l2 = 0.1 to package the coordination state variables selected in step 3. Assume that the communication time interval T = 0.25s and the scaling function parameter g0 = [10, 1] T ,γ=0.99. The relevant parameters of the quantizer are set to ρ=0.33,q0=0.2,α=8.

[0096] According to step 4, the guidance law of the missile is obtained, and the control gain is set to c1=1.5, c2=4, and the feedback gain is set to K=[-1 / 9,-6 / 9].

[0097] The simulation can obtain the three-dimensional flight trajectory of the leader-follower group coordinated attack as follows: Figure 4 As shown, the relative distance between the projectile and the target changes with time as Figure 5 As shown, the communication transmission data corresponding to the two coordination state variables are respectively as follows Figure 6 、 7 As shown in the figure, Δ i (i=0,1,2,3) represents the quantized encoded output of missile i. As can be seen from the figure, the follower missile sacrifices a certain degree of trajectory curvature to achieve time coordination with the leader missile. By converging the relative distances between the missiles and the target, less data is transmitted between the missile groups, enabling time-coordinated strikes.

[0098] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. A multi-missile coordinated guidance method under low network bandwidth, characterized in that: The following steps are involved: Step 1: Establish a three-dimensional relative motion model between missiles and targets and determine the topology of the communication network between missile groups; Step 2: Determine the guidance law of the missile, which is expressed as: Among them, N is the navigation ratio; u0 is the virtual control amount; a y0 and a z0 Respectively represent the yaw overload and pitch overload of the missile; V m0 Indicates the speed of the lead bullet; R0 indicates the relative distance between the lead bullet and the target; θ m0 Indicates the leading angle of velocity of the lead bullet; ψ m0 represents the velocity lead angle of the lead projectile; σ0 represents the velocity lead angle of the lead projectile; Among them, sgn(.) is the sign function, k1, k2 and μ1, μ2 are the control parameters of the virtual control quantity u0, e L The error between the expected remaining time to receive the ammunition and the estimated remaining time; Step 3: Determine the coordinated state variables of the missile group; based on the first scaling factor l1 and the second scaling factor l2, respectively package the coordinated state variables of the missile group to obtain a coordinated state variable combination vector of the missile; quantize and encode the coordinated state variable combination vector of the missile and transmit it, and the receiving missile decodes it to obtain an estimate of the communicated missile state information; The expression of the coordinated state variable of the missile group is: Among them, η i represents the relative distance between missile i and its target; V represents the closing speed between missile i and target; mi is the speed of missile i; R i is the relative distance between missile i and target; σ i is the velocity lead angle of missile i; The expression of the missile's coordinated state variable combination vector is: Among them, f i represents the coordinated state variable combination vector of the packaged missile i; Step 4: Based on the estimation of the coordinated state variables of the missile group and the communication missile state information in step 3, the guidance law of the slave missile is obtained.

2. The multi-missile coordinated guidance method according to claim 1, characterized in that: The expression of the missile-target relative motion three-dimensional model in step 1 is: Among them, R i is the relative distance between missile i and target; V mi is the speed of missile i; ψ mi and θ mi They are respectively the line of sight coordinate system OX of missile i Li Y Li Z Li and velocity coordinate system OX vi Y vi Z vi Velocity pre-deflection angle and velocity pre-inclination angle under time conversion; ψ Li and θ Li They are the ground coordinate system OX of missile i Ii Y Ii Z Ii With the line of sight coordinate system OX Li Y Li Z Li The sight deflection angle and sight inclination angle under the time conversion; a yi and a zi are the yaw overload and pitch overload of missile i in the missile body coordinate system; σ i is the velocity lead angle of missile i; represents the target approach speed of missile i; represents the angular velocity of the line of sight of missile i; represents the angular velocity of the line of sight deflection of missile i; represents the velocity leading tilt angular velocity of missile i; represents the velocity leading deflection angular velocity of missile i.

3. The multi-missile coordinated guidance method according to claim 2, characterized in that: Velocity lead angle ψ mi is the velocity vector of missile i in the line of sight coordinate system X Li OZ Li Plane projection and OX Li The angle between the axes.

4. The multi-missile coordinated guidance method according to claim 2, characterized in that: Speed ​​lead angle θ mi is the velocity vector of missile i and the X coordinate system of the line of sight Li OZ Li The angle between the planes.

5. The multi-missile coordinated guidance method according to claim 1, characterized in that: The missile's coordinated state variable combination vector is quantized and coded to obtain the quantized coding output at the corresponding time. The expression is: Among them, ξ i (0) represents the initial encoder state of missile i; T is the communication time interval; Δ i (kT) represents the quantized coded output of missile i at the kth communication; ξ i (kT) represents the encoder state of missile i at the kth communication; Q(g) represents the logarithmic quantizer with a finite number of quantization levels; f i (kT) represents the packaged coordinated state variable combination vector of missile i during the kth communication; ξ i ((k-1)T) represents the encoder state of missile i at the k-1th communication; g((k-1)T) represents the scaling function at the k-1th communication.

6. The multi-missile coordinated guidance method according to claim 5, characterized in that: The expression of the logarithmic quantizer Q(·) with a finite number of quantization levels is: Where x represents the input of the logarithmic quantizer with a finite number of quantization levels; q τ is the quantized value; q0 is the initial parameter in the quantized value; δ represents the quantizer parameter.

7. The multi-missile coordinated guidance method according to claim 6, characterized in that: Missile i receives the quantized coded output Δ from missile j j Then decode to get the state of the decoder at this time As an estimate of the communicated missile status information, the decoding method is: in, represents the initial state of the decoder of missile i; represents the decoder state of missile i during the kth communication; Δ j (kT) represents the quantized coded output of missile j during the kth communication; represents the decoder status of missile i at the k-1th communication.

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