Guidance control method and system for composite guidance aircraft considering flight angle constraints

Abstract

The present invention belongs to the field of aircraft control and discloses a guidance and control method and system for a composite guidance aircraft that considers flight time and angle of impact constraints. The method comprises: inputting target values ​​for flight time and terminal angle of impact according to specific mission requirements; pre-planning the flight trajectory; during flight, estimating the remaining flight time to reach the target in real time and performing feedback adjustment on the flight time error; during the flight approach phase, calculating the angle of impact error in real time based on the aircraft's attitude and speed, and correcting the flight attitude; comprehensively balancing the flight time and angle of impact constraints through a nonlinear optimal control algorithm; adjusting the aircraft's engine thrust, control surface angle, attitude control nozzle, and other actuators in real time according to the composite guidance algorithm instructions; and performing a final angle of impact correction when the aircraft is about to reach the target to ensure that the aircraft hits the target at a precise angle. The present invention effectively solves the problem of balancing the flight time and angle of impact constraints, significantly improving the aircraft's guidance accuracy and mission success rate.

Description

Technical Field

[0001] The present invention belongs to but is not limited to the field of aircraft control technology, and in particular relates to a guidance and control method and system for a composite guidance aircraft taking into account flight angle constraints. Background Art

[0002] In the research field of "composite guidance and control methods for aircraft with flight time and landing angle constraints," the most relevant existing technology is aircraft guidance and control methods based on proportional guidance. This method is widely used in missiles, aircraft, and other fields, particularly in the guidance of medium- and long-range ballistic missiles and cruise missiles. However, traditional proportional guidance methods face certain technical bottlenecks, particularly in the precise control of flight time and landing angle. To address these shortcomings, the present invention offers significant technical advancements, particularly in the combined control of flight time and terminal landing angle constraints.

[0003] In view of the above analysis, the technical problems that need to be solved urgently in the existing technology are:

[0004] (1) Insufficient flight time constraint control: Traditional proportional guidance methods usually only consider the trajectory adjustment of the missile or aircraft along the way, ignoring the precise control of flight time. This results in the missile being unable to reach the target within the scheduled time, affecting the control of the battlefield situation and the effectiveness of multi-missile coordinated operations.

[0005] (2) Limited accuracy of angle of impact control: Proportional guidance methods are generally unable to accurately control the terminal impact angle of an aircraft. The impact angle is the angle at which a missile or aircraft hits its target. This parameter is particularly critical in different mission scenarios, especially in vertical strike and high-precision attack missions, where the control of the impact angle directly affects the strike effect.

[0006] (3) The challenge of complex control that takes into account both flight time and landing angle: Traditional proportional guidance methods make it difficult to simultaneously take into account both flight time constraints and terminal landing angle constraints. How to optimize control during flight to meet flight time requirements while ensuring landing angle accuracy is a difficult problem that needs to be solved urgently. Summary of the Invention

[0007] In view of the problems existing in the prior art, the present invention provides a guidance and control method and system for a composite guided aircraft taking into account the constraints of landing angle during flight.

[0008] The present invention is achieved by a guidance and control method for a composite guided aircraft considering flight angle constraints, characterized in that the guidance and control method for a composite guided aircraft considering flight angle constraints specifically comprises:

[0009] S1: Determine the flight mission requirements and input the target values ​​of flight time and terminal landing angle according to the specific mission requirements;

[0010] S2: Flight trajectory planning: Before launch, the flight trajectory is pre-planned based on mission requirements;

[0011] S3: Real-time flight time estimation: During flight, the remaining flight time to the target is estimated in real time, and feedback is adjusted for the flight time error.

[0012] S4: Terminal landing angle control. When approaching the target, the landing angle calculation module calculates the landing angle error in real time based on the aircraft's attitude and speed, and corrects the flight attitude.

[0013] S5: Execution of the composite guidance algorithm, which uses a nonlinear optimal control algorithm to comprehensively balance the two constraints of flight time and landing angle;

[0014] S6: Aircraft actuator control, the aircraft's engine thrust, control surface angle, attitude control nozzle and other actuators are adjusted in real time according to the instructions of the composite guidance algorithm;

[0015] S7: Mission completion and landing point correction. When the aircraft is about to reach the target, the system performs the final landing angle correction to ensure that the aircraft hits the target at a precise angle.

[0016] Furthermore, the S1 flight mission requirements include clear settings for flight time and landing angle. Flight time refers to the total time it takes for the aircraft to reach the target from the launch point, and landing angle refers to the angle between the aircraft and the horizontal plane when it hits the target. The guidance system uses these target values ​​as a control benchmark and begins to control the flight path of the aircraft in real time.

[0017] Furthermore, in S2, the guidance and control system performs preliminary flight trajectory planning based on the initial state, target position and mission requirements of the aircraft before the flight begins. The trajectory planning is based on the dynamic model of the aircraft and ensures a balance between flight time and landing angle through a multi-objective optimization algorithm.

[0018] Furthermore, in S3, during the flight, the flight time calculation module will estimate in real time the remaining time for the current aircraft to reach the target based on the current position, speed, altitude and other parameters of the aircraft. The real-time position data provided by the aircraft's inertial navigation system and GPS will serve as the input for the flight time estimation. The system will generate a feedback signal based on the calculated flight time error and adjust the thrust and flight trajectory to ensure that the flight time error is minimized.

[0019] Furthermore, the S4 calculates the attitude angle and speed of the aircraft in real time through the landing angle calculation module to ensure that the landing angle error is within a controllable range. If the system detects a landing angle deviation, the attitude control system corrects the aircraft attitude by adjusting the aerodynamic control surfaces or thrust vectors to ensure that the target is hit at an appropriate angle.

[0020] Furthermore, the S5 dynamically adjusts the flight trajectory and attitude of the aircraft in real time based on nonlinear optimal control theory. The system uses the flight time and landing angle as optimization functions to ensure that the aircraft can reach the target on time and hit the target at a predetermined landing angle during the entire flight process.

[0021] Furthermore, the terminal correction operation in step S7 is accomplished through aerodynamic control surfaces and a thrust vector control system, ensuring the aircraft hits the target at the optimal attitude and angle. If the system detects a deviation in the landing point, the aircraft can also make corrections through attitude adjustment.

[0022] Another object of the present invention is to provide a composite guidance aircraft guidance and control system that takes into account flight angle constraints, the system specifically comprising:

[0023] (1) Aircraft guidance control unit, including flight time calculation module, landing angle calculation module, composite guidance algorithm module and flight state estimation module:

[0024] The flight time calculation module estimates the remaining time for the current aircraft to reach the target in real time based on the flight trajectory and aircraft dynamics model, and satisfies the flight time constraints through feedback adjustment;

[0025] The landing angle calculation module calculates the landing angle error based on the target position and the current state of the aircraft, and corrects the flight attitude and speed through control instructions to ensure that the landing angle is within the required range;

[0026] Composite guidance algorithm module: This module integrates an optimized control algorithm for flight time and landing angle constraints. It can dynamically adjust the flight trajectory and attitude during flight to ensure that both flight time and landing angle meet mission requirements. Based on nonlinear optimal control theory, a composite guidance control model is established. Through multi-objective optimization methods, the vehicle's thrust, angular velocity, attitude control and other parameters are adjusted in real time to ensure dual constraints of flight time and landing angle.

[0027] (2) Sensor system: This includes a sophisticated inertial navigation system (INS) and a satellite positioning system (GPS), which can obtain real-time information such as the aircraft's speed, acceleration, and attitude angle, providing accurate input for the guidance and control algorithm. The system also integrates aerodynamic control sensors to monitor flight environment parameters (such as wind speed and air density) in real time, assisting the control algorithm in performing more refined trajectory optimization.

[0028] (3) Aircraft actuator: By controlling the aircraft's engine thrust, aerodynamic control surfaces, and attitude control system (such as control nozzles, thrust vector control systems, etc.), it executes the output of the guidance control algorithm in real time and adjusts the flight trajectory.

[0029] In combination with the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solutions to be protected by the present invention are as follows:

[0030] First, composite constraint control of flight time and landing angle: This system and method enables aircraft to precisely control landing angle while ensuring flight time. Compared to traditional proportional guidance methods, the composite guidance algorithm achieves efficient and stable flight control even under complex mission requirements and high guidance accuracy.

[0031] Dynamic Optimization Control Algorithm: Utilizing a nonlinear optimal control algorithm, combined with real-time sensor data and flight state estimation, the system dynamically adjusts flight trajectory and attitude. Compared to existing technologies, this new approach is able to adaptively adjust to complex weather conditions or sudden flight state changes, ensuring mission success.

[0032] Multi-objective optimization balance: The system achieves a high degree of balance between flight time and landing angle. Traditional proportional guidance often focuses on a single objective while ignoring other mission requirements. This system comprehensively considers multiple constraints, giving the aircraft enhanced mission execution capabilities.

[0033] Improved hit accuracy: Improved accuracy in terminal impact angle control enables the aircraft to more effectively hit targets during vertical strikes or penetrating strikes, enhancing tactical strike effectiveness. Furthermore, precise flight control provides technical support for coordinated multi-missile strikes.

[0034] Improved intelligence: The system integrates adaptive control algorithms and intelligent sensor data fusion technology, enabling the aircraft to autonomously adjust flight parameters in complex battlefield environments, reducing human intervention and improving operational flexibility and automation.

[0035] In summary, the present invention has achieved significant technological progress in the field of aircraft guidance and control. Through the collaborative work of multiple modules, it has effectively solved the balance problem between flight time and landing angle constraints. Compared with traditional proportional guidance methods, it has significantly improved the guidance accuracy and mission success rate of the aircraft, and enhanced its survivability and combat effectiveness in complex battlefield environments.

[0036] This composite guidance and control method is applicable to a variety of complex mission scenarios, such as precision strikes, high-speed maneuvering flight, and multi-target coordinated attacks, and represents significant technological advancement.

[0037] Second, the present invention provides a guidance and control method for a composite guided aircraft that takes into account flight angle constraints. This method solves several key problems in the prior art in industrial applications and achieves significant technological progress, as embodied in the following aspects:

[0038] 1. Solve the dual constraints of flight time and landing angle in aircraft guidance

[0039] Traditional aircraft guidance methods often struggle to simultaneously meet the precise control requirements for both flight time and terminal impact angle. This invention, by incorporating a nonlinear optimal control algorithm, comprehensively balances these dual constraints, ensuring that aircraft can reach their targets on schedule and impact them at precise angles in complex environments. This technological advancement is of great significance in precision strike missions, particularly for the guidance and control of missiles and long-range weapons.

[0040] 2. Implementation of real-time angle correction

[0041] Existing guidance technologies often struggle to precisely control an aircraft's terminal impact angle during the approach phase, resulting in insufficient strike accuracy. This invention utilizes real-time calculation of impact angle error and an attitude correction mechanism based on a PID control algorithm to ensure dynamic adjustment of the aircraft's impact angle as it approaches the target area, significantly improving guidance accuracy. This enables the aircraft to accurately strike the target, enhancing the system's operational capabilities in complex battlefield environments.

[0042] 3. Intelligent control and adaptive adjustment

[0043] Existing technologies lack sufficient flexibility and responsiveness to environmental disturbances or changes in aircraft state. This present invention, by incorporating the Extended Kalman Filter (EKF) and adaptive control technology, allows for real-time correction of the aircraft's attitude and trajectory. This automatic adjustment, particularly as the aircraft approaches its target, ensures stability and accuracy. Compared to traditional guidance methods, this present invention significantly enhances the system's intelligence and adaptability.

[0044] 4. The comprehensive application of multiple algorithms improves control accuracy

[0045] This invention utilizes a variety of advanced algorithms, including extended Kalman filtering, nonlinear optimal control algorithms, and genetic algorithms, to perform operations such as aircraft attitude control, trajectory correction, and landing angle control. Through the integrated application of these algorithms, the invention maintains high-precision guidance in complex flight environments, resolving the existing problem of insufficient control accuracy due to a single algorithm.

[0046] This invention significantly improves the accuracy, flexibility, and adaptability of aircraft guidance, effectively addressing existing technology shortcomings in flight control, landing angle correction, and intelligent adjustment. It provides reliable technical support for the precision guidance of missiles, drones, and other aircraft. This advancement has broad application prospects in the defense and aerospace fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1This is a flow chart of a guidance and control method for a composite guided aircraft taking into account flight angle constraints provided by an embodiment of the present invention;

[0048] Figure 2 This is a diagram of a guidance and control module for a composite guided aircraft taking into account flight angle constraints, provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0050] like Figure 1 As shown, an embodiment of the present invention provides a guidance and control method for a composite guidance aircraft considering flight angle constraints, the method specifically comprising:

[0051] S1: Determine the flight mission requirements and input the target values ​​of flight time and terminal landing angle according to the specific mission requirements;

[0052] S2: Flight trajectory planning: Before launch, the flight trajectory is pre-planned based on mission requirements;

[0053] S3: Real-time flight time estimation: During flight, the remaining flight time to the target is estimated in real time, and feedback is adjusted for the flight time error.

[0054] S4: Terminal landing angle control. When approaching the target, the landing angle calculation module calculates the landing angle error in real time based on the aircraft's attitude and speed, and corrects the flight attitude.

[0055] S5: Execution of the composite guidance algorithm, which uses a nonlinear optimal control algorithm to comprehensively balance the two constraints of flight time and landing angle;

[0056] S6: Aircraft actuator control, the aircraft's engine thrust, control surface angle, attitude control nozzle and other actuators are adjusted in real time according to the instructions of the composite guidance algorithm;

[0057] S7: Mission completion and landing point correction. When the aircraft is about to reach the target, the system performs the final landing angle correction to ensure that the aircraft hits the target at a precise angle.

[0058] The composite guidance aircraft guidance and control method of the present invention combines flight time and terminal landing angle constraints, and implements guidance and control through multiple algorithm modules to ensure that the aircraft can accurately hit the target. The specific implementation process can be divided into the following steps:

[0059] 1. Determination of flight mission requirements (S1)

[0060] During the mission requirements determination phase, the system first inputs target values ​​for flight time and terminal angle of approach based on the mission requirements. Flight time refers to the time it takes for the aircraft to reach the target from the launch point, while the terminal angle of approach refers to the angle between the aircraft and the ground as it approaches the target. Mission requirements often vary depending on the mission objectives and environmental conditions, so this step requires manual input of mission parameters.

[0061] 2. Flight trajectory planning (S2)

[0062] Before launch, a flight trajectory is pre-planned based on mission requirements. Trajectory planning employs trajectory optimization algorithms (such as the Pseudospectral Method or Direct Collocation Method) to solve the vehicle's dynamic model and generate an optimal trajectory that meets flight time and landing angle constraints. During the planning process, the system considers environmental factors such as ground topography, wind speed, gravity, and air density, as well as the vehicle's dynamic characteristics, such as thrust, lift, and drag. The resulting trajectory serves as a reference for the vehicle's path during flight.

[0063] 3. Real-time flight time estimation (S3)

[0064] During flight, the system needs to estimate the remaining flight time until the aircraft reaches its target point in real time. This is accomplished using the Extended Kalman Filter (EKF) algorithm, which combines the aircraft's current position, velocity, and planned trajectory to estimate the remaining flight time. The EKF's prediction and update process continuously integrates sensor data, corrects for deviations between the aircraft's current position and the planned trajectory, and provides feedback on the flight time error. The system uses this feedback to adjust the flight time to ensure the aircraft reaches its target within the scheduled time.

[0065] 4. Terminal angle control (S4)

[0066] As the aircraft approaches its target, controlling landing angle error becomes critical. By monitoring the aircraft's attitude and velocity in real time, the system uses an attitude control algorithm to calculate the error between the current landing angle and the target landing angle and then corrects the aircraft's attitude. This process utilizes a proportional-integral-derivative (PID) control algorithm to precisely control the aircraft's pitch, roll, and yaw angles, ensuring the final landing angle meets mission requirements.

[0067] 5. Composite guidance algorithm execution (S5)

[0068] To simultaneously meet the dual constraints of flight time and landing angle, the system employs nonlinear optimal control algorithms (such as Model Predictive Control (MPC)) to comprehensively balance the entire flight process. Based on the aircraft's current attitude, velocity, and position, this algorithm generates multi-step predictions and calculates the optimal control inputs to minimize both flight time and landing angle errors. By predicting future flight conditions, MPC adjusts control surface angles, engine thrust, and attitude control nozzles to ensure the aircraft's flight attitude and trajectory meet mission requirements.

[0069] 6. Aircraft actuator control (S6)

[0070] Based on the control commands generated by the composite guidance algorithm, the system adjusts the aircraft's actuators in real time, including engine thrust, control surface angles, and the spray direction of the attitude control nozzle. These actuator adjustments are achieved through dynamic control algorithms (such as PID control or adaptive control algorithms) to ensure that the aircraft's attitude changes quickly and stably respond to the guidance system's commands.

[0071] 7. Mission completion and landing point correction (S7)

[0072] When the aircraft is about to reach the target point, the system enters the final correction phase, using terminal angle error feedback to make final attitude adjustments to ensure the aircraft hits the target at the precise angle. At this point, the system once again combines the *PID control algorithm* and *nonlinear optimal control algorithm* to make final corrections to the angle and trajectory.

[0073] Through the above steps, the present invention combines *Extended Kalman Filter (EKF)*, *Nonlinear Optimal Control Algorithm (MPC)*, *Trajectory Optimization Algorithm*, and *PID Control Algorithm* to provide comprehensive support for the aircraft's trajectory planning, real-time flight time estimation, terminal landing angle control, and final correction, ensuring that the aircraft can accurately complete the mission while meeting the flight time and landing angle constraints.

[0074] Specific implementation example: Application of the guidance control method of composite guidance aircraft considering flight angle constraints in missile guidance

[0075] When a missile strikes a precise target, the composite guidance control method of the present invention can be used to ensure that the missile hits the target at a suitable angle and reaches the designated position within the specified flight time. The following is the specific implementation process of missile guidance:

[0076] 1. Determine task requirements

[0077] Suppose a missile's mission is to strike a long-range target 500 kilometers away, requiring the missile to reach the target within 400 seconds and achieve a 30-degree impact angle. In this case, the mission requirement determination step inputs the target location, a 400-second flight time, and a 30-degree terminal impact angle.

[0078] 2. Flight trajectory planning

[0079] Before launch, the system uses trajectory optimization algorithms (such as the Pseudospectral Method) to pre-plan the missile's flight trajectory based on target location, flight time, and landing angle requirements. Taking into account factors such as wind speed fluctuations and gravity disturbances encountered during flight, the system also calculates thrust adjustments and pitch angle changes. Through iterative algorithmic solutions, the optimal flight trajectory is determined.

[0080] 3. Real-time flight time estimation

[0081] After the missile is launched, the system activates the Extended Kalman Filter (EKF) algorithm to update the missile's current position and velocity in real time. By combining data from the Inertial Navigation Unit (IMU) and GPS, the EKF continuously corrects the error between the missile's actual position and planned trajectory, providing a real-time estimate of the remaining flight time. Based on this time-of-flight error, the system promptly adjusts the missile's attitude and thrust to ensure it reaches its target within the prescribed 400 seconds.

[0082] 4. Terminal angle control

[0083] As the missile approaches its target, the system begins to focus on controlling the terminal impact angle. During this phase, the attitude control module acquires real-time missile attitude information (such as pitch, roll, and yaw angles) to calculate the error between the current impact angle and the target of 30 degrees. It then uses a PID control algorithm to perform attitude corrections. For example, if the missile's impact angle deviates from the target, the system adjusts the control surfaces or the control nozzle angle to gradually adjust the missile's attitude, ensuring that the impact angle meets the required 30-degree angle upon impact.

[0084] 5. Composite guidance algorithm execution

[0085] During missile flight, the system continuously executes nonlinear optimal control algorithms (such as Model Predictive Control (MPC)), comprehensively considering the dual constraints of flight time and landing angle. MPC calculates control variables such as thrust and attitude that require adjustment in real time based on the missile's current flight state. For example, if flight time estimates indicate the missile will reach its target early, the system will extend flight time by reducing thrust or adjusting the flight trajectory, ensuring the missile hits the target at the precise time and angle.

[0086] 6. Aircraft actuator control

[0087] The missile's engine thrust, control surface angles, attitude control nozzles, and other actuators are adjusted in real time based on the instructions of the composite guidance algorithm. For example, during mid-course flight, the system adjusts engine thrust and attitude nozzle spray to ensure the missile maintains the optimal flight path. During the terminal flight, the system controls the control surfaces in real time based on the landing angle error, gradually adjusting the missile to the ideal terminal attitude during the final stages of flight.

[0088] 7. Mission completion and landing point correction

[0089] As the missile neared its target, the system entered the final correction phase. Using feedback from the attitude control module, the system ultimately adjusted the missile's impact angle to 30 degrees and further corrected its position, ensuring it accurately impacted the target. At this point, the missile's flight time control, trajectory correction, and impact angle adjustment met requirements, completing the mission.

[0090] In this implementation example, the present invention ensures that the missile can hit the target within the specified time and at a precise angle of 30 degrees through the coordinated operation of trajectory optimization, flight time estimation, terminal impact angle control, and a composite guidance algorithm. During application, the system achieves high-precision flight control through various algorithms such as the extended Kalman filter (EKF), nonlinear optimal control (MPC), and PID control. This solves the problem of traditional missile guidance methods that makes it difficult to simultaneously meet multiple constraints, significantly improving the missile's strike accuracy and flight stability.

[0091] In S1, the flight mission requirements include the explicit setting of flight time and impact angle. Before the mission begins, the desired flight time and impact angle targets are entered. Flight time refers to the total time it takes for the aircraft to reach the target from the launch point, while impact angle refers to the angle between the aircraft and the horizontal plane when it impacts the target. The guidance system uses these target values ​​as a control baseline and begins real-time control of the aircraft's flight path.

[0092] Before flight begins, the guidance and control system performs preliminary flight trajectory planning based on the vehicle's initial state, target location, and mission requirements. This trajectory planning is based on the vehicle's dynamic model and utilizes a multi-objective optimization algorithm to ensure a balance between flight time and landing angle. The planned flight trajectory not only considers the shortest distance along the flight path but also optimizes flight time and terminal landing angle.

[0093] During flight, the flight time calculation module estimates the remaining time until the aircraft reaches its destination in real time based on the aircraft's current position, speed, altitude, and other parameters. The aircraft's inertial navigation system and GPS provide real-time position data as input for the flight time estimation. Based on the calculated flight time error, the system generates a feedback signal to adjust thrust and flight trajectory to minimize the flight time error.

[0094] As the aircraft approaches its target in S4, controlling the impact angle becomes particularly important. The system uses the impact angle calculation module to calculate the aircraft's attitude angle and velocity in real time, ensuring that the impact angle error remains within a controllable range. If the system detects an impact angle deviation, the attitude control system corrects the aircraft's attitude by adjusting the aerodynamic control surfaces or thrust vectoring to ensure the target is hit at the appropriate angle.

[0095] The S5 composite guidance algorithm module plays a central role throughout the flight process. Based on nonlinear optimal control theory, it dynamically adjusts the aircraft's flight trajectory and attitude in real time. The system optimizes flight time and landing angle, ensuring the aircraft reaches its target on time and at the desired landing angle throughout the flight.

[0096] In S6, the aircraft's thrust, control surfaces, and attitude control systems adjust flight attitude and speed in real time based on instructions generated by the composite guidance algorithm. Thrust control primarily affects the aircraft's speed and flight time, while aerodynamic control surfaces and thrust vectoring control influence the aircraft's attitude and terminal landing angle.

[0097] The terminal phase corrections during S7 are accomplished through aerodynamic control surfaces and the thrust vectoring system, ensuring the aircraft hits the target at the optimal attitude and angle. If the system detects a deviation in the landing point, the aircraft can also make corrections through attitude adjustments.

[0098] like Figure 2 As shown, an embodiment of the present invention provides a composite guidance aircraft guidance and control system that takes into account flight angle constraints, specifically including:

[0099] (1) Aircraft guidance control unit, including flight time calculation module, landing angle calculation module, composite guidance algorithm module and flight state estimation module:

[0100] The flight time calculation module estimates the remaining time for the current aircraft to reach the target in real time based on the flight trajectory and aircraft dynamics model, and satisfies the flight time constraints through feedback adjustment;

[0101] The landing angle calculation module calculates the landing angle error based on the target position and the current state of the aircraft, and corrects the flight attitude and speed through control instructions to ensure that the landing angle is within the required range.

[0102] Composite guidance algorithm module: This module is the core of the system. It integrates the optimization control algorithm of flight time and landing angle constraints. It can dynamically adjust the flight trajectory and attitude during flight so that the flight time and landing angle meet the mission requirements. Based on nonlinear optimal control theory, a composite guidance control model is established. Through multi-objective optimization methods, the thrust, angular velocity, attitude control and other parameters of the aircraft are adjusted in real time to ensure the dual constraints of flight time and landing angle.

[0103] (2) Sensor system: This includes a sophisticated inertial navigation system (INS) and a satellite positioning system (GPS), which can obtain real-time information such as the aircraft's speed, acceleration, and attitude angle, providing accurate input for the guidance and control algorithm. The system also integrates aerodynamic control sensors to monitor flight environment parameters (such as wind speed and air density) in real time, assisting the control algorithm in performing more precise trajectory optimization.

[0104] (3) Aircraft actuator: By controlling the aircraft's engine thrust, aerodynamic control surfaces, and attitude control system (such as control nozzles, thrust vector control systems, etc.), it executes the output of the guidance control algorithm in real time and adjusts the flight trajectory.

[0105] The specific working principle of the composite guided aircraft guidance and control system taking into account the flight time and landing angle constraints provided by the embodiment of the present invention is based on the dynamic adjustment and optimization of the two key indicators of flight time and landing angle, and mainly ensures the guidance accuracy of the aircraft in complex flight missions through the coordinated operation of multiple modules.

[0106] The working principle of the aircraft guidance control unit is as follows:

[0107] Flight time calculation module: This module first calculates the aircraft's current flight path and speed using the aircraft's dynamic model. Based on the distance between the aircraft and the target point and the current flight status (such as speed, direction, etc.), the flight time calculation module estimates the remaining time for the aircraft to reach the target point from its current position in real time. Using GPS and inertial navigation data received by the aircraft during flight, the module continuously corrects the flight time. If the actual flight time deviates from the predetermined target time, the flight time calculation module will generate a feedback signal based on this difference and adjust the aircraft's thrust or flight trajectory to ensure that the aircraft reaches the target on time.

[0108] Angle of impact calculation module: Angle of impact is a critical parameter for an aircraft as it approaches a target, particularly in missions requiring precise strikes. The angle of impact calculation module calculates the relative angle between the aircraft and the target in real time based on the target's position and the aircraft's attitude. This module uses the aircraft's velocity, attitude, and position data to adjust the aircraft's angular velocity and attitude through feedback, ensuring the aircraft approaches the target at the predetermined angle of impact. This is crucial in vertical strikes and ground-penetrating strikes.

[0109] Composite Guidance Algorithm Module: This module utilizes a nonlinear optimal control algorithm, combined with flight time and landing angle constraints, to construct a multi-objective optimization model. This algorithm considers the vehicle's dynamics, flight environment, and mission requirements, and adjusts the vehicle's thrust, angular velocity, and attitude in real time. Using real-time sensor data input, the module continuously adjusts the vehicle's trajectory throughout flight, ensuring that both flight time and landing angle remain within controllable limits. This algorithm simultaneously addresses both constraints, achieving balanced control of flight time and landing angle.

[0110] The working principle of the sensor system is as follows:

[0111] Inertial Navigation System (INS) and Satellite Positioning System (GPS): These sensors are responsible for acquiring the aircraft's velocity, position, acceleration, and attitude angle in real time. The INS provides high-precision attitude and acceleration data through gyroscopes and accelerometers, while the GPS system provides global positioning information. This data is input into the guidance and control unit and serves as the basis for calculating flight time and landing angle.

[0112] Aerodynamic Control Sensors: These sensors detect changes in the flight environment, such as wind speed and air density. These environmental factors can affect the aircraft's trajectory and speed. These sensors transmit this data to the composite guidance algorithm module, enabling more refined adjustments and optimizations to the guidance and control system.

[0113] The working principle of the aircraft actuator is as follows:

[0114] Engine thrust control: Engine thrust is a crucial factor in adjusting an aircraft's flight time. By adjusting thrust in real time, the system controls the aircraft's acceleration and speed to ensure flight time constraints are met. If the system detects a flight time deviation, it adjusts thrust to accelerate or decelerate the aircraft, thereby correcting the flight time.

[0115] Aerodynamic Control Surfaces and Attitude Control System: The aircraft's attitude and trajectory are primarily controlled by aerodynamic control surfaces and a thrust vectoring system. Aerodynamic control surfaces adjust the aircraft's heading and angle, while the thrust vectoring system directly influences the aircraft's attitude by changing the direction of the engine nozzles. As the aircraft approaches its target, these control mechanisms help the system correct its flight attitude to ensure accurate landing angles.

[0116] The specific application fields or related products of the present invention.

[0117] (1) Example 1: Flight Time and Landing Angle Control in Precision Strike Missions

[0118] Mission Description: A missile was launched to strike a high-value ground target. The mission required the missile to reach the target within 300 seconds, with a terminal impact angle of 80 degrees to ensure vertical penetration and optimal destruction. The mission scenario involved a long-range precision strike, with highly variable ground wind speeds, which disrupted the aircraft's flight trajectory and timing.

[0119] System implementation steps:

[0120] 1. Flight trajectory planning:

[0121] Before launch, the system preliminarily plans the flight trajectory based on the target location and mission requirements. Because the mission scenario involves a long-range strike, the optimal range and power consumption of the aircraft must be considered. A multi-objective optimization algorithm uses flight time and landing angle as constraints to generate the optimal trajectory.

[0122] 2. Flight time estimation and adjustment:

[0123] After the missile is launched, the flight time calculation module monitors the missile's flight speed and position in real time, acquiring precise flight data through GPS and inertial navigation systems. Based on the real-time flight time estimate, the system detects that the missile's speed has decreased due to wind speed. To ensure it reaches the target within 300 seconds, the system increases engine thrust, accelerating the missile and ultimately adjusting to the predetermined flight time.

[0124] 3. Falling angle correction and control:

[0125] As the missile approached the target, the impact angle calculation module activated. It detected that the missile's attitude angle had deviated from the predetermined 80-degree impact angle by 5 degrees. The system adjusted the aerodynamic control surfaces and thrust vector control system to correct the missile's attitude, ultimately ensuring the missile hit the target at a precise 80-degree angle, achieving vertical penetration.

[0126] Effect: This embodiment uses a composite guidance algorithm to accurately control the flight time and landing angle of the missile, overcomes the interference of wind speed changes on the flight trajectory and time, and achieves long-range high-precision strikes.

[0127] (II) Example 2: Time-of-flight synchronization control in multi-missile coordinated attack

[0128] Mission Description: Two missiles were launched simultaneously, targeting two high-value enemy facilities. The missiles were required to reach their respective targets simultaneously on different trajectories, with terminal impact angles of 70 and 85 degrees, respectively. The mission required coordinated multi-missile attacks to prevent early or delayed arrivals from impacting the attack effectiveness.

[0129] System implementation steps:

[0130] 1. Flight trajectory planning:

[0131] The system independently plans the flight trajectory for each missile. The two missiles have different flight paths, but are required to arrive at the same time. Using a multi-objective optimization algorithm, the system ensures both the flight time and impact angle requirements for each missile, while also synchronizing the flight times of the two missiles. Once trajectory planning is complete, the missile begins flight.

[0132] 2. Dynamic adjustment during flight:

[0133] During flight, due to the different dynamic characteristics of the two missiles, the flight time calculation module detected that the first missile's flight time was slightly faster than expected, while the second missile's flight time was slightly slower due to air resistance. Using a composite guidance algorithm, the system adjusted the thrust of the two missiles in real time, slowing the first missile and accelerating the second, ensuring that they reached the target in sync.

[0134] 3. Falling angle control:

[0135] As the two missiles approached their targets, the impact angle calculation module controlled the impact angles of each missile separately. The first missile was required to hit the target at a 70-degree angle, while the second missile was required to hit the target at an 85-degree angle. Based on real-time data, the system adjusted the aerodynamic control surfaces and attitude control to ensure that both missiles successfully impacted their targets at the predetermined impact angles.

[0136] Results: This implementation demonstrated the system's superior performance in multi-missile coordinated attack missions. By dynamically adjusting flight time and impact angle control, it ensured that two missiles reached their targets simultaneously and engaged them precisely at different impact angles, improving operational coordination efficiency.

[0137] It should be noted that the embodiments of the present invention can be implemented by hardware, software, or a combination of software and hardware. The hardware portion can be implemented using dedicated logic; the software portion can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware. Those skilled in the art will appreciate that the above-mentioned devices and methods can be implemented using computer-executable instructions and / or contained in processor control code, for example, such as a carrier medium such as a disk, CD or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The devices and modules of the present invention can be implemented by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., can also be implemented by software executed by various types of processors, or can be implemented by a combination of the above-mentioned hardware circuits and software, such as firmware.

[0138] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with this technical field within the technical scope disclosed by the present invention and within the spirit and principles of the present invention should be covered by the scope of protection of the present invention.

Claims

1. A guidance and control method for a composite guided aircraft considering flight angle constraints, characterized in that: The method comprises the following steps: S1: Input the target values ​​of flight time and terminal landing angle according to the requirements of the flight mission; S2: Perform flight trajectory planning before launch and pre-calculate the flight trajectory using trajectory optimization algorithms; S3: During the flight, the remaining flight time is estimated in real time, and feedback adjustment is made to the flight time error; S4: When approaching the target, the landing angle error is calculated in real time and the landing angle is corrected through the attitude control module; S5: Adopts nonlinear optimal control algorithm to comprehensively balance the dual constraints of flight time and landing angle; S6: Controls the aircraft's actuators, including engine thrust, control surface angles, and attitude control nozzles, and adjusts the aircraft's flight state in real time. S7: When the aircraft is about to reach the target, make the final landing point correction to ensure that it hits the target at a precise landing angle.

2. The guidance control method according to claim 1, wherein: The S3, based on the Extended Kalman Filter (EKF) algorithm, integrates inertial navigation system (IMU) and GPS data in real time to accurately estimate the missile's current position, speed, and remaining flight time, and dynamically corrects the error between the missile and the planned trajectory to ensure that the missile reaches the target within the scheduled flight time. The S1 flight mission requirements include clear settings for flight time and landing angle. Flight time refers to the total time it takes for the aircraft to reach the target from the launch point, and landing angle refers to the angle between the aircraft and the horizontal plane when it hits the target. The guidance system uses these target values ​​as the control benchmark and begins to control the aircraft's flight path in real time.

3. The guidance and control method for a composite guided aircraft considering the flight angle constraint as claimed in claim 1, characterized in that: Said S2, guidance and control system, before the start of flight, performs preliminary flight trajectory planning based on the initial state of the aircraft, target position and mission requirements. The trajectory planning is based on the dynamic model of the aircraft and uses a multi-objective optimization algorithm to ensure a balance between flight time and landing angle.

4. The guidance and control method for a composite guided aircraft considering the flight angle constraint as claimed in claim 1, characterized in that: In S3, during the flight, the flight time calculation module will estimate the remaining time for the current aircraft to reach the target in real time based on the current position, speed, and altitude parameters of the aircraft. The real-time position data provided by the aircraft's inertial navigation system and GPS are used as input for the flight time estimation. The system will generate a feedback signal based on the calculated flight time error and adjust the thrust and flight trajectory to ensure that the flight time error is minimized.

5. The guidance and control method for a composite guided aircraft considering the flight angle constraint as claimed in claim 1, characterized in that: The S4 calculates the attitude angle and speed of the aircraft in real time through the landing angle calculation module to ensure that the landing angle error is within a controllable range. If the system detects a landing angle deviation, the attitude control system corrects the aircraft attitude by adjusting the aerodynamic control surfaces or thrust vectors to ensure that the target is hit at the appropriate angle.

6. The guidance and control method for a composite guided aircraft considering the flight angle constraint as claimed in claim 1, characterized in that: The S5 is based on nonlinear optimal control theory and dynamically adjusts the flight trajectory and attitude of the aircraft in real time. The system uses the flight time and landing angle as optimization functions to ensure that the aircraft can reach the target on time and hit the target at a predetermined landing angle during the entire flight process.

7. The guidance and control method for a composite guided aircraft considering the flight angle constraint as claimed in claim 1, characterized in that: The correction operation in the terminal phase of S7 is completed through the aerodynamic control surfaces and thrust vector control system to ensure that the aircraft hits the target with the optimal attitude and angle; if the system detects a deviation in the landing point, the aircraft can also correct the landing point through attitude adjustment.

8. The guidance and control method for a composite guided aircraft considering flight angle constraints according to any one of claims 1 or 2, wherein: In the S4, the aircraft's control surface angle and nozzle jet force are adjusted in real time based on a proportional-integral-derivative (PID) control algorithm, and the landing angle error is dynamically corrected to ensure that the aircraft can be accurately adjusted to the predetermined landing angle when approaching the target. In S5, the flight path is optimized by a genetic algorithm (GA), and the optimal attitude control parameters are selected under the dual constraints of flight time and terminal landing angle to ensure trajectory correction and attitude adjustment of the aircraft in complex environments; The S7 combines the extended Kalman filter (EKF) algorithm with adaptive control technology to monitor the aircraft's landing angle deviation in real time, and corrects the aircraft's terminal trajectory by precisely adjusting the thrust and attitude control nozzle based on the target position and current flight status.

9. An aircraft guidance and control system based on the composite guidance aircraft guidance and control method considering flight angle constraints as described in any one of claims 1 to 8, characterized in that: The system specifically includes: (1) Aircraft guidance control unit, including flight time calculation module, landing angle calculation module, composite guidance algorithm module and flight state estimation module: The flight time calculation module estimates the remaining time for the current aircraft to reach the target in real time based on the flight trajectory and aircraft dynamics model, and satisfies the flight time constraints through feedback adjustment; The landing angle calculation module calculates the landing angle error based on the target position and the current state of the aircraft, and corrects the flight attitude and speed through control instructions to ensure that the landing angle is within the required range; Composite guidance algorithm module: This module integrates an optimized control algorithm for flight time and landing angle constraints. It can dynamically adjust the flight trajectory and attitude during flight to ensure that both flight time and landing angle meet mission requirements. Based on nonlinear optimal control theory, a composite guidance control model is established. Through multi-objective optimization methods, the thrust, angular velocity, and attitude control parameters of the aircraft are adjusted in real time to ensure dual constraints of flight time and landing angle. (2) Sensor system: It includes a sophisticated inertial navigation system (INS) and a satellite positioning system (GPS), which can obtain the aircraft's speed, acceleration, and attitude angle information in real time, providing accurate input for the guidance and control algorithm. The system also integrates a pneumatic control sensor to monitor the flight environment parameters in real time, assisting the control algorithm in more refined trajectory optimization. (3) Aircraft actuator: By controlling the aircraft's engine thrust, aerodynamic control surfaces, and attitude control system, it executes the output of the guidance and control algorithm in real time and adjusts the flight trajectory.

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