Target maneuvering overload tracking and guidance method and system considering measurement noise
By adopting target maneuver overload tracking and guidance methods that consider noise measurement in the missile guidance system, a state tracking model with feedback was established and smooth filtering was performed, the problem of degradation of interception effect caused by hypersonic target maneuver overload is solved, and the problem of deterioration of interception effect caused by hypersonic target maneuverage is realized. Higher interception accuracy and reduced off-target volume.
Patent Information
- Application Number
- CN202411502269.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-25
- Publication Date
- 2025-02-11
AI Technical Summary
When intercepting hypersonic targets, the target maneuvering overload leads to a significant decrease in the interception effect, including the problem of significant amplification of off-target volume and the failure of time-space collaborative interception.
The target maneuver overload tracking and guidance method that considers the measurement of noise is adopted. By selecting the state tracking variables and measurable quantities, a theoretical relative kinematic model and a state tracking model with feedback are established, the measured values are updated and smooth filtering is performed. The state tracking model is judged to converge and decide whether to add the target maneuver compensation term, and finally form a guidance command.
Through simulation, it is shown that the proposed method can reduce the tracking maneuverability error of the target by 2 orders of magnitude and reduce the intercepted off-target amount of the target by more than 30%.
Smart Images
Figure CN119414704A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the general technical field of missiles, and in particular to a target maneuvering overload tracking and guidance method and system taking measurement noise into consideration. Background Art
[0002] In actual combat environments, air defense missile weapons and incoming targets need to engage in offensive and defensive game confrontation. The target aircraft will perform various "C"-shaped, "S"-shaped and other high-overload penetration maneuvers, and the air defense missile needs to overcome the miss error caused by the target maneuver to achieve effective interception of various target maneuvers. From the perspective of air defense missiles, to achieve the above goals, the key link lies in the design and implementation of the interception guidance law. In various optimal control guidance laws, target maneuver compensation terms are generally introduced, that is, the maneuver overload of the target is identified by various means, and the compensation overload is added to the guidance instructions of the interception missile.
[0003] At present, the classic proportional guidance method without target maneuver compensation is usually used to deal with target maneuver penetration at home and abroad. In the classic proportional guidance, due to the difficulty of unpredictable target maneuver, this item is ignored, and then the missile-target motion deviates from the theoretical control range, and the line of sight angular velocity item is fed back from the large loop to perform an indirect closed loop. This approach has certain feasibility in scenarios where the target maneuver range is small and the miss amount is not constrained, and has passed the actual assessment of many engineering projects. In the scenario of intercepting hypersonic targets with high-precision space-time coordination constraints, the target maneuver will greatly affect the expected strike interception effect, including obvious amplification of the miss amount and failure of space-time coordination interception. Some other studies have given theoretical prediction methods for target maneuvers, but they are usually extremely sensitive to noise, resulting in a divergence of the target maneuver prediction error of 1 to 2 orders of magnitude, which greatly limits the application of such theoretical methods. Summary of the invention
[0004] In view of the defects in the prior art, an object of the present invention is to provide a method and system for target maneuvering overload tracking and guidance taking measurement noise into consideration.
[0005] The target maneuvering overload tracking and guidance method considering measurement noise provided by the present invention comprises:
[0006] Step S1: Select state tracking variables and measurable quantities;
[0007] Step S2: Establishing a theoretical projectile-target relative kinematics model;
[0008] Step S3: Establish a state tracking model with feedback;
[0009] Step S4: setting the initial value of the state tracking model with feedback;
[0010] Step S5: Update the measurement value and update the state tracking model state with feedback;
[0011] Step S6: performing smoothing filtering on the tracking results;
[0012] Step S7: performing convergence judgment on the state tracking model with feedback, and determining whether to add a target maneuver compensation term to the guidance law according to the judgment result;
[0013] Step S8: Determine whether the projectile-target encounter condition is met. Before the projectile-target encounter condition is met, steps S5 to S8 are iterated in a loop. If the condition is met, the entire tracking and guidance process is terminated.
[0014] Preferably, in step S1, the missile-target line-of-sight angular velocity and the target maneuvering overload are selected as state tracking variables; the missile-target line-of-sight angular velocity, the missile-target distance, the missile-target relative motion speed, the missile's own velocity inclination angle, the missile's axial acceleration, and the missile's normal acceleration are selected as measurable quantities;
[0015] In step S2, the established projectile-target relative kinematics model expression is:
[0016]
[0017] Among them, q(t) is the elevation angle of the target at time t, abbreviated as q x1; is the angular velocity of the missile-target line of sight at time t, abbreviated as x2; r is the distance between the missile and the target, measured by the seeker; is the relative velocity between the missile and the target, measured by the seeker; θ m is the missile's own velocity pitch angle, measured by the missile's onboard inertial group; a m is the normal acceleration of the missile itself, measured by the inertial group on the missile; a x is the axial acceleration of the missile itself, measured by the onboard inertial group; is the interference term of target maneuver on line of sight acceleration.
[0018] Preferably, in step S3, the state tracking model with feedback is expressed as:
[0019]
[0020] in, for The estimate, for The derivative with respect to time increases with the number of iterations The estimated value gradually converges to the true value; is the estimate of x2, for The derivative with respect to time increases with the number of iterations The estimated value gradually converges to the true value; k1 and k2 are the measurement feedback coefficients of the tracker, both of which are positive numbers;
[0021] In step S4, the initial value of the state tracking model with feedback is set, and the expression is:
[0022]
[0023] Preferably, in step S6, the tracking result smoothing filter processing method is a 60-point 3-times smoothing method, specifically:
[0024] Waiting for the state tracking model state in step S5 When the updated data reaches 60 data points, the smoothing algorithm is started. Starting from the 60th data point, the current point and the past 59 data points are taken, the average of these 60 data points is calculated, and the smoothed value of the current point is formed. In this way, with the regular update of the state tracking model state in step S5, the first smoothed data sequence will be formed.
[0025] The continuously updated sequence in the above step To smooth the object, perform a second 60-point smoothing to form the second smoothed data sequence
[0026] The continuously updated sequence in the above step For the smoothing object, a third 60-point smoothing is performed to form the third smoothing data sequence
[0027] Preferably, in step S7, the basis for judging the convergence of the state tracking model is the statistical smoothing data sequence If the standard deviation of the past five data points is less than 0.5, if the state tracking model converges, then the target maneuver compensation term is added to the guidance law to form a guidance instruction, which is in the form of:
[0028]
[0029] Among them, A is other guidance items excluding target maneuver overload compensation, and the second item is the target maneuver compensation item;
[0030] In step S8, the criterion for whether the missile and the target meet the encounter condition is that the missile has passed through the target plane where the target is located in the missile-target relative velocity coordinate system.
[0031] The target maneuvering overload tracking and guidance system considering measurement noise provided by the present invention comprises:
[0032] Module M1: Select state tracking variables and measurable quantities;
[0033] Module M2: Establish theoretical projectile-target relative kinematics model;
[0034] Module M3: Establish a state tracking model with feedback;
[0035] Module M4: Setting the initial value of the state tracking model with feedback;
[0036] Module M5: Update the measurement value and the state tracking model state with feedback;
[0037] Module M6: smoothing and filtering the tracking results;
[0038] Module M7: Conduct convergence judgment on the state tracking model with feedback, and determine whether to add a target maneuver compensation term to the guidance law based on the judgment result;
[0039] Module M8: Determine whether the missile-target encounter conditions are met. Before the missile-target encounter, the module M5 to the module M8 are triggered cyclically. If the conditions are met, the entire tracking and guidance process ends.
[0040] Preferably, in the module M1, the missile-target line of sight angular velocity and the target maneuvering overload are selected as state tracking variables; the missile-target line of sight angular velocity, the missile-target distance, the missile-target relative motion speed, the missile's own velocity inclination angle, the missile's axial acceleration, and the missile's normal acceleration are selected as measurable quantities;
[0041] In the module M2, the relative kinematic model expression of the projectile and target is established as follows:
[0042]
[0043] Among them, q(t) is the elevation angle of the target at time t, abbreviated as q x1; is the angular velocity of the missile-target line of sight at time t, abbreviated as x2; r is the distance between the missile and the target, measured by the seeker; is the relative velocity between the missile and the target, measured by the seeker; θ m is the missile's own velocity pitch angle, measured by the missile's onboard inertial group; a m is the normal acceleration of the missile itself, measured by the inertial group on the missile; a x is the axial acceleration of the missile itself, measured by the onboard inertial group; is the interference term of target maneuver on line of sight acceleration.
[0044] Preferably, in the module M3, the state tracking model with feedback is expressed as:
[0045]
[0046] in, for The estimate, for The derivative with respect to time increases with the number of iterations The estimated value gradually converges to the true value; is the estimate of x2, for The derivative with respect to time increases with the number of iterations The estimated value gradually converges to the true value; k1 and k2 are the measurement feedback coefficients of the tracker, both of which are positive numbers;
[0047] In the module M4, the initial value of the state tracking model with feedback is set, and the expression is:
[0048]
[0049] Preferably, in the module M6, the tracking result smoothing filter processing method is a 60-point 3-times smoothing method, specifically:
[0050] Waiting for the state tracking model status in module M5 When the updated data reaches 60 data points, the smoothing algorithm is started. Starting from the 60th data point, the current point and the past 59 data points are taken, the average of these 60 data points is calculated, and the smoothed value of the current point is formed. In this way, with the regular update of the state tracking model state in module M5, the first smoothed data sequence will be formed.
[0051] The continuously updated sequence in the above step To smooth the object, perform a second 60-point smoothing to form the second smoothed data sequence
[0052] The continuously updated sequence in the above step For the smoothing object, a third 60-point smoothing is performed to form the third smoothing data sequence
[0053] Preferably, in the module M7, the basis for judging the convergence of the state tracking model is the statistical smoothing data sequence If the standard deviation of the past five data points is less than 0.5, if the state tracking model converges, then the target maneuver compensation term is added to the guidance law to form a guidance instruction, which is in the form of:
[0054]
[0055] Among them, A is other guidance items excluding target maneuver overload compensation, and the second item is the target maneuver compensation item;
[0056] In the module M8, the criterion for whether the missile-target encounter condition is that the missile has passed through the target plane where the target is located in the missile-target relative velocity coordinate system.
[0057] Compared with the prior art, the present invention has the following beneficial effects:
[0058] (1) The present invention adopts a target maneuver overload tracking and guidance method that takes measurement noise into consideration to solve the problem of a significant decrease in the interception and strike effectiveness of hypersonic maneuvering targets caused by the lack of target maneuvering items in the guidance law of the interceptor missile, including obvious amplification of the miss distance and failure of space-time coordinated interception.
[0059] (2) The present invention can adapt to the typical measurement noise environment of missile seeker in tracking target maneuvers, and comprehensively considers interference factors such as missile normal maneuver, missile axial acceleration, target maneuver, etc., and provides a complete set of guidance laws for intercepting maneuvering targets. Finally, simulation shows that the invented method can reduce the target tracking maneuver error by 2 orders of magnitude and reduce the target interception miss rate by more than 30%. BRIEF DESCRIPTION OF THE DRAWINGS
[0060] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:
[0061] Figure 1 It is a flow chart of the target maneuvering overload tracking and guidance method in the present invention;
[0062] Figure 2 A comparison diagram of the tracker filtering and smoothing results and the original results in the present invention;
[0063] Figure 3 The target acceleration prediction result and the true value comparison error in the present invention;
[0064] Figure 4 The figure is a comparison of the effect of whether or not the target maneuvering compensation is applied to the terminal required overload in the present invention. DETAILED DESCRIPTION
[0065] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.
[0066] Example 1
[0067] like Figure 1 , a target maneuvering overload tracking and guidance method considering measurement noise is provided in an embodiment of the present invention, comprising the following steps:
[0068] Step 1: Select state tracking variables and measurable quantities.
[0069] The state tracking variables are related to the missile's detector type and the target maneuver overload. Usually, the state tracking variables of the frame-type seeker can select the missile-target line-of-sight angular velocity and the target maneuver overload; and the measurable quantities generally select the missile-target line-of-sight angular velocity, the missile-target distance, the missile's own velocity inclination, the missile's axial acceleration, the missile's normal acceleration, etc.
[0070] Step 2: Establish a theoretical projectile-target relative kinematic model.
[0071] The theoretical projectile-target relative kinematics model is established as follows (taking the projectile-target longitudinal motion plane as an example):
[0072]
[0073] In the above formula, q(t) is the elevation angle of the target at time t, abbreviated as q,x1; is the angular velocity of the missile-target line of sight at time t, abbreviated as x2; r is the distance between the missile and the target, which can be measured by the seeker; is the relative velocity between the projectile and the target, which can be measured by the seeker; θ m is the missile's own velocity pitch angle, which can be measured by the missile's onboard inertial group; a m is the normal acceleration of the missile itself, which can be measured by the inertial group on the missile; a x It is the axial acceleration of the missile itself, which can be measured by the inertial group on the missile; The target maneuver is the interference term on the line of sight acceleration, which cannot be measured and needs to be estimated by the tracker.
[0074] Step 3: Establish a state tracking model with feedback, which is the target maneuver tracker, or tracker for short. According to the state observer theory in modern control theory, a state tracking model with feedback can be established in the missile-target relative kinematics model as follows:
[0075]
[0076] In the above formula, for The estimate, for The derivative with respect to time increases with the number of iterations The estimated value will gradually converge to the true value. is the estimate of x2, for The derivative with respect to time increases with the number of iterations The estimated value will gradually converge to the true value. The relevant convergence proof process is as follows:
[0077] 1) Define the Lyapunov function as:
[0078]
[0079] In the formula, is the estimated error of the target maneuver term;
[0080] is the estimation error of the observable quantity x2;
[0081] Then the function V is always a non-negative number. The following proves that the derivative of the function V is always negative by taking the derivative;
[0082] 2) Prove that the derivative of function V is always negative
[0083] By taking the derivative of the function in step 1), we can get:
[0084]
[0085] Will And the expression of the state tracking model in step 3 is combined and simplified into the above formula to obtain:
[0086]
[0087] Observe the above formula and consider that the target maneuvering overload is a slowly changing quantity, that is, and It is a finite quantity (the target has limited maneuverability), so its predicted value It must also be a finite value, so the first term on the right side of the above formula must tend to 0 when k1 is large; and the right side must be negative as long as k2 is greater than zero. Therefore, the derivative of the entire function V is always negative.
[0088] According to the Lyapunov stability principle, this tracker error must be stably convergent.
[0089] Therefore, k1 and k2 are the measurement feedback coefficients of the tracker, both of which are positive numbers. In order to ensure rapid convergence of the results and avoid result oscillation, k1 can be taken as 20 and k2 can be taken as 20.
[0090] Step 4: Set the initial value of the state tracking model with feedback;
[0091] The initial value of the state tracking model with feedback can usually be set according to the following relationship:
[0092]
[0093] Step 5: The measurement value is updated, and the state tracker with feedback is updated one step.
[0094] The measurement value update means that within the next calculation cycle of the missile computer, all the measurement quantities required in step S3, such as the missile-target distance, the missile-target relative speed, the missile's own speed pitch angle, the missile's own normal acceleration, the missile's own axial acceleration, and the pitch line of sight angular velocity, are updated for one beat. The state update of the state tracker with feedback for one step means that the integral accumulation of one-step integral variables is performed according to the differential equation in step S3 according to the Euler iteration method or the Longo Kutta method. For example, the calculation process of the result of the n+1th beat is:
[0095]
[0096] Among them, step is the single-shot solution cycle of the missile on the machine, which is usually in milliseconds.
[0097] Step 6: Smoothing and filtering of tracking results.
[0098] The tracking result smoothing filter processing method is a 60-point 3-times smoothing method, and its specific steps are as follows:
[0099] 1) Wait for the tracker status in step S5 When the updated data reaches 60 data points, the smoothing algorithm is started. Starting from the 60th data point, the current point and the past 59 data points are taken, the arithmetic mean of these 60 data points is calculated, and the smoothed value of the current point is formed. In this way, with the regular update of the tracker state in step S5, the first smoothed data sequence will be formed.
[0100] 2) The continuous update sequence in the above step To smooth the object, perform a second 60-point smoothing to form the second smoothed data sequence
[0101] 3) Continuously update the sequence in the above step For the smoothing object, a third 60-point smoothing is performed to form the third smoothing data sequence
[0102] Step 7: Tracker convergence judgment: determine whether to add target maneuver compensation term to the guidance law based on the judgment result. The basis for tracker convergence judgment is the statistical smoothing data sequence. The standard deviation of the last 5 data points is less than 0.5.
[0103] The specific form of the guiding law is:
[0104]
[0105] In the above formula, A is other guidance items excluding target maneuvering overload compensation, which can be classic proportional guidance or modified proportional guidance items, and the second item is the target maneuvering compensation item.
[0106] Step 8: Determine whether the missile-target encounter condition is met. Before the missile-target encounter condition is met, loop through steps S5 to S8. If met, the entire tracking and guidance process ends.
[0107] The criterion for whether the missile meets the encounter condition is that the missile has passed through the target plane where the target is located in the missile-target relative velocity coordinate system.
[0108] The present invention utilizes the state observer principle based on measurement feedback in modern control theory, realizes the iterative recursion of the target maneuvering overload through the line of sight angular velocity and missile motion information measurement, and improves the tracker's adaptability to the seeker measurement noise through the 60-point 3-times smoothing method. Finally, it is applied to the guidance law, which greatly reduces the target tracking maneuvering error (from Figure 2 It can be seen that after the tracker output is filtered and smoothed, the error is reduced by at least 2 orders of magnitude. Figure 3 It can be seen that the maximum deviation between the tracker prediction error and the true value does not exceed 5m / s 2 ;from Figure 4 It can be seen that after the target maneuver compensation is added, the terminal overload required is reduced to 1 / 4, and the miss distance is also reduced from 0.12 meters to 0.08 meters (not shown in the figure). The target maneuver overload tracking and guidance method implemented by the present invention solves the problems of the influence of the seeker noise, the large miss distance of the interception, and the excessive overload required at the terminal, and is expected to be realized in the field of coordinated interception of hypersonic targets in near space.
[0109] Example 2
[0110] The present invention also provides a target maneuvering overload tracking and guidance system taking measurement noise into consideration. The target maneuvering overload tracking and guidance system taking measurement noise into consideration can be realized by executing the process steps of the target maneuvering overload tracking and guidance method taking measurement noise into consideration, that is, those skilled in the art can understand the target maneuvering overload tracking and guidance method taking measurement noise into consideration as a preferred implementation of the target maneuvering overload tracking and guidance system taking measurement noise into consideration.
[0111] The target maneuver overload tracking and guidance system considering measurement noise provided by the present invention comprises: module M1: selecting state tracking variables and measurable quantities; module M2: establishing a theoretical projectile-target relative kinematic model; module M3: establishing a state tracking model with feedback; module M4: setting the initial value of the state tracking model with feedback; module M5: updating the measurement value, and updating the state of the state tracking model with feedback; module M6: performing smoothing filtering on the tracking result; module M7: performing convergence judgment on the state tracking model with feedback, and determining whether to add a target maneuver compensation item to the guidance law according to the judgment result; module M8: judging whether the projectile-target meets the encounter condition, and before the projectile-target encounters, cyclically triggering modules M5 to M8, and if the condition is met, the entire tracking and guidance process is terminated.
[0112] In the module M1, the missile-target line of sight angular velocity and the target maneuvering overload are selected as state tracking variables; the missile-target line of sight angular velocity, the missile-target distance, the missile-target relative motion speed, the missile's own velocity inclination angle, the missile's axial acceleration, and the missile's normal acceleration are selected as measurable quantities;
[0113] In the module M2, the relative kinematic model expression of the projectile and target is established as follows:
[0114]
[0115] Among them, q(t) is the elevation angle of the target at time t, abbreviated as q x1; is the angular velocity of the missile-target line of sight at time t, abbreviated as x2; r is the distance between the missile and the target, measured by the seeker; is the relative velocity between the missile and the target, measured by the seeker; θ m is the missile's own velocity pitch angle, measured by the missile's onboard inertial group; a m is the normal acceleration of the missile itself, measured by the inertial group on the missile; a x is the axial acceleration of the missile itself, measured by the onboard inertial group; is the interference term of target maneuver on line of sight acceleration.
[0116] In the module M3, the state tracking model with feedback is expressed as:
[0117]
[0118] in, for The estimate, for The derivative with respect to time increases with the number of iterations The estimated value gradually converges to the true value; is the estimate of x2, for The derivative with respect to time increases with the number of iterations The estimated value gradually converges to the true value; k1 and k2 are the measurement feedback coefficients of the tracker, both of which are positive numbers;
[0119] In the module M4, the initial value of the state tracking model with feedback is set, and the expression is:
[0120]
[0121] In the module M6, the tracking result smoothing filter processing method is a 60-point 3-times smoothing method, specifically:
[0122] Waiting for the state tracking model status in module M5 When the updated data reaches 60 data points, the smoothing algorithm is started. Starting from the 60th data point, the current point and the past 59 data points are taken, the average of these 60 data points is calculated, and the smoothed value of the current point is formed. In this way, with the regular update of the state tracking model state in module M5, the first smoothed data sequence will be formed.
[0123] The continuously updated sequence in the above step To smooth the object, perform a second 60-point smoothing to form the second smoothed data sequence
[0124] The continuously updated sequence in the above step For the smoothing object, a third 60-point smoothing is performed to form the third smoothing data sequence
[0125] In the module M7, the basis for judging the convergence of the state tracking model is the statistical smoothing data sequence If the standard deviation of the past five data points is less than 0.5, if the state tracking model converges, then the target maneuver compensation term is added to the guidance law to form a guidance instruction, which is in the form of:
[0126]
[0127] Among them, A is other guidance items excluding target maneuver overload compensation, and the second item is the target maneuver compensation item;
[0128] In the module M8, the criterion for whether the missile-target encounter condition is that the missile has passed through the target plane where the target is located in the missile-target relative velocity coordinate system.
[0129] Those skilled in the art know that, in addition to implementing the system, device and its various modules provided by the present invention in a purely computer-readable program code, it is entirely possible to implement the same program in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, the system, device and its various modules provided by the present invention can be considered as a hardware component, and the modules included therein for implementing various programs can also be considered as structures within the hardware component; the modules for implementing various functions can also be considered as both software programs for implementing the method and structures within the hardware component.
[0130] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.
Claims
1. A target maneuvering overload tracking and guidance method considering measurement noise, characterized in that: include: Step S1: Select state tracking variables and measurable quantities; Step S2: Establishing a theoretical projectile-target relative kinematics model; Step S3: Establish a state tracking model with feedback; Step S4: setting the initial value of the state tracking model with feedback; Step S5: Update the measurement value and update the state tracking model state with feedback; Step S6: performing smoothing filtering on the tracking results; Step S7: performing convergence judgment on the state tracking model with feedback, and determining whether to add a target maneuver compensation term to the guidance law according to the judgment result; Step S8: Determine whether the projectile-target encounter condition is met. Before the projectile-target encounter condition is met, steps S5 to S8 are iterated in a loop. If the condition is met, the entire tracking and guidance process is terminated.
2. The target maneuvering overload tracking and guidance method considering measurement noise according to claim 1, characterized in that: In the step S1, the missile-target line of sight angular velocity and the target maneuvering overload are selected as state tracking variables; the missile-target line of sight angular velocity, the missile-target distance, the missile-target relative motion speed, the missile's own velocity inclination angle, the missile's axial acceleration, and the missile's normal acceleration are selected as measurable quantities; In step S2, the established projectile-target relative kinematics model expression is: Among them, q(t) is the elevation angle of the target at time t, abbreviated as qx1; is the angular velocity of the missile-target line of sight at time t, abbreviated as x2; r is the distance between the missile and the target, measured by the seeker; is the relative velocity between the missile and the target, measured by the seeker; θ m is the missile's own velocity pitch angle, measured by the missile's onboard inertial group; a m is the normal acceleration of the missile itself, measured by the inertial group on the missile; a x is the axial acceleration of the missile itself, measured by the onboard inertial group; is the interference term of target maneuver on line of sight acceleration.
3. The target maneuvering overload tracking and guidance method considering measurement noise according to claim 2, characterized in that: In step S3, the state tracking model with feedback is expressed as: in, for The estimate, for The derivative with respect to time increases with the number of iterations The estimated value gradually converges to the true value; is the estimate of x2, for The derivative with respect to time increases with the number of iterations The estimated value gradually converges to the true value; k1 and k2 are the measurement feedback coefficients of the tracker, both of which are positive numbers; In step S4, the initial value of the state tracking model with feedback is set, and the expression is:
4. The target maneuvering overload tracking and guidance method considering measurement noise according to claim 3, characterized in that: In step S6, the tracking result smoothing filter processing method is a 60-point 3-times smoothing method, specifically: Waiting for the state tracking model state in step S5 When the updated data reaches 60 data points, the smoothing algorithm is started. Starting from the 60th data point, the current point and the past 59 data points are taken, the average of these 60 data points is calculated, and the smoothed value of the current point is formed. In this way, with the regular update of the state tracking model state in step S5, the first smoothed data sequence will be formed. The continuously updated sequence in the above step To smooth the object, perform a second 60-point smoothing to form the second smoothed data sequence The continuously updated sequence in the above step For the smoothing object, a third 60-point smoothing is performed to form the third smoothing data sequence 5. The target maneuvering overload tracking and guidance method considering measurement noise according to claim 4, characterized in that: In step S7, the basis for judging the convergence of the state tracking model is the statistical smoothing data sequence If the standard deviation of the past five data points is less than 0.5, if the state tracking model converges, then the target maneuver compensation term is added to the guidance law to form a guidance instruction, which is in the form of: Among them, A is other guidance items excluding target maneuver overload compensation, and the second item is the target maneuver compensation item; In step S8, the criterion for whether the missile and the target meet the encounter condition is that the missile has passed through the target plane where the target is located in the missile-target relative velocity coordinate system.
6. A target maneuvering overload tracking and guidance system taking into account measurement noise, characterized in that: include: Module M1: Select state tracking variables and measurable quantities; Module M2: Establish theoretical projectile-target relative kinematics model; Module M3: Establish a state tracking model with feedback; Module M4: Setting the initial value of the state tracking model with feedback; Module M5: Update the measurement value and the state tracking model state with feedback; Module M6: smoothing and filtering the tracking results; Module M7: Conduct convergence judgment on the state tracking model with feedback, and determine whether to add a target maneuver compensation term to the guidance law based on the judgment result; Module M8: Determine whether the missile-target encounter conditions are met. Before the missile-target encounter, the module M5 to the module M8 are triggered cyclically. If the conditions are met, the entire tracking and guidance process ends.
7. The target maneuvering overload tracking and guidance system considering measurement noise according to claim 6, characterized in that: In the module M1, the missile-target line of sight angular velocity and the target maneuvering overload are selected as state tracking variables; the missile-target line of sight angular velocity, the missile-target distance, the missile-target relative motion speed, the missile's own velocity inclination angle, the missile's axial acceleration, and the missile's normal acceleration are selected as measurable quantities; In the module M2, the relative kinematic model expression of the projectile and target is established as follows: Among them, q(t) is the elevation angle of the target at time t, abbreviated as qx1; is the angular velocity of the missile-target line of sight at time t, abbreviated as x2; r is the distance between the missile and the target, measured by the seeker; is the relative velocity between the missile and the target, measured by the seeker; θ m is the missile's own velocity pitch angle, measured by the missile's onboard inertial group; a m is the normal acceleration of the missile itself, measured by the inertial group on the missile; a x is the axial acceleration of the missile itself, measured by the onboard inertial group; is the interference term of target maneuver on line of sight acceleration.
8. The target maneuvering overload tracking and guidance system considering measurement noise according to claim 7, characterized in that: In the module M3, the state tracking model with feedback is expressed as: in, for The estimate, for The derivative with respect to time increases with the number of iterations The estimated value gradually converges to the true value; is the estimate of x2, for The derivative with respect to time increases with the number of iterations The estimated value gradually converges to the true value; k1 and k2 are the measurement feedback coefficients of the tracker, both of which are positive numbers; In the module M4, the initial value of the state tracking model with feedback is set, and the expression is:
9. The target maneuvering overload tracking and guidance system considering measurement noise according to claim 8, characterized in that: In the module M6, the tracking result smoothing filter processing method is a 60-point 3-times smoothing method, specifically: Waiting for the state tracking model status in module M5 When the updated data reaches 60 data points, the smoothing algorithm is started. Starting from the 60th data point, the current point and the past 59 data points are taken, the average of these 60 data points is calculated, and the smoothed value of the current point is formed. In this way, with the regular update of the state tracking model state in module M5, the first smoothed data sequence will be formed. The continuously updated sequence in the above step To smooth the object, perform a second 60-point smoothing to form the second smoothed data sequence The continuously updated sequence in the above step For the smoothing object, a third 60-point smoothing is performed to form the third smoothing data sequence 10. The target maneuvering overload tracking and guidance system considering measurement noise according to claim 9, characterized in that: In the module M7, the basis for judging the convergence of the state tracking model is the statistical smoothing data sequence If the standard deviation of the past five data points is less than 0.5, if the state tracking model converges, then the target maneuver compensation term is added to the guidance law to form a guidance instruction, which is in the form of: Among them, A is other guidance items excluding target maneuver overload compensation, and the second item is the target maneuver compensation item; In the module M8, the criterion for whether the missile-target encounter condition is that the missile has passed through the target plane where the target is located in the missile-target relative velocity coordinate system.
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Flight target tracking method, device and equipment and computer readable storage medium
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