Maneuvering target interception guidance method with arrival angle and field angle constraints

Abstract

The invention discloses a maneuvering target interception guidance method with arrival angle and field angle constraints. The maneuvering target interception guidance method comprises the following steps: establishing a relative motion equation of an aircraft intercepting a maneuvering target; the relative motion equation is converted into a relative motion model with the distance between the aircraft and the target as an independent variable; setting a change curve of an expected relative front angle, and obtaining a guidance law expression based on a relative motion model; field angle constraint is carried out by limiting the maximum value of the relative front angle curve, the reachable range of the arrival angle is obtained, and under the condition that the arrival angle meets the reachable range, the aircraft adopts the obtained guidance law to carry out flight control. According to the method disclosed by the invention, linear approximate processing does not need to be carried out on the relative motion mathematical model of the aircraft and the target, the precondition hypothesis of a small preposed angle is not needed, and the method has the characteristics of simple design and use method, high applicability and the like.

Description

Technical Field

[0001] The invention relates to a maneuvering target interception guidance method with arrival angle and field angle constraints, belonging to the technical field of aircraft control. Background Art

[0002] The main task of the guidance law is to guide the aircraft to successfully intercept the target with zero miss distance. At present, in some tasks, in order to improve the interception probability and strike effect of the target, it is also necessary to constrain the arrival angle. In addition, when the aircraft is tracking a maneuvering target, it is necessary to make the aircraft's target detector always lock the maneuvering target to prevent the target from flying out of the target detector's field of view. This requires limiting the aircraft's field of view angle during the guidance process to not exceed the maximum field of view of the target detector, which is called the field of view angle constraint.

[0003] Most of the existing guidance methods with arrival angle and field of view angle constraints require linear approximation of the mathematical model describing the relative motion between the aircraft and the target, or assume that the lead angle can be kept near zero during the guidance process. Naturally, the guidance methods designed based on these approximate assumptions have certain limitations. When the conditions of the approximate assumptions are not met, the guidance performance will inevitably decline.

[0004] Therefore, it is necessary to conduct more in-depth research on the maneuvering target interception guidance method to solve the above problems. Summary of the invention

[0005] In order to overcome the above problems, the inventors have conducted in-depth research and proposed a maneuvering target interception guidance method with arrival angle and field of view angle constraints, preferably comprising the following steps:

[0006] S1. Establish the relative motion equation of the aircraft intercepting the maneuvering target;

[0007] S2, converting the relative motion equation into a relative motion model with the distance between the aircraft and the target as the independent variable;

[0008] S3. Setting a desired relative lead angle variation curve and obtaining a guidance law expression based on a relative motion model;

[0009] S4. The field of view angle is constrained by limiting the maximum value of the relative lead angle curve, thereby obtaining a reachable range of the arrival angle. When the arrival angle satisfies the reachable range, the aircraft uses the obtained guidance law to perform flight control.

[0010] In a preferred embodiment, in S1, the relative motion equation of the aircraft intercepting the maneuvering target is expressed as:

[0011]

[0012] σ M =γ M -λ

[0013]

[0014] Where R represents the distance between the aircraft and the target, V M is the flight speed of the aircraft, V T is the flight speed of the maneuvering target, γ M is the ballistic inclination angle of the aircraft, γ T is the target's ballistic inclination, λ is the sight angle, σ M is the field of view of the aircraft, and satisfies the field of view constraint σ max is the maximum field of view angle, a M is the normal acceleration of the aircraft, a T is the normal acceleration of the target.

[0015] In a preferred embodiment, in S2, the relative motion equation is converted into a relative motion model with the distance between the aircraft and the target as the independent variable by setting relative variables.

[0016] In a preferred embodiment, the relative variable is set to:

[0017] K=V T / V M

[0018] γ R =arctan[(sinγ M -Ksinγ T )(cosγ M -Kcosγ T )]

[0019]

[0020] a R =a M cos(γ M -γ R )-a T cos(γ T -γ R )

[0021] Among them, K is the speed ratio, γ R , η R 、V R 、a R Respectively represent the relative inclination angle, relative lead angle, relative velocity and relative acceleration, and there is

[0022]

[0023] In a preferred embodiment, the relative motion model is expressed as:

[0024]

[0025] In a preferred embodiment, in S3, a cubic function with distance R as an independent variable is set as a desired relative lead angle variation curve, which is expressed as:

[0026]

[0027] Among them, R0 is the initial relative distance between the aircraft and the target, is the desired relative lead angle to be designed, and a, b, c, d are design parameters determined by boundary conditions and arrival angle constraints.

[0028] In a preferred embodiment, the guidance law expression obtained is:

[0029]

[0030] In a preferred embodiment, in S4, the field of view angle constraint can be converted into a restriction on the maximum value of the relative leading angle, which is expressed as:

[0031]

[0032] Among them, η max Represents the maximum value of the relative lead angle curve,

[0033] The constraint of the design parameter a is obtained based on the maximum value of the relative lead angle:

[0034] Γ a ={aa min ≤a≤a max}

[0035] a min =κ1η max

[0036] a max =κ2η max

[0037] x=η R0 η max

[0038]

[0039] Among them, Γ a represents the constraint of design parameter a, a min represents the minimum value of the design parameter a, amax represents the maximum value of the design parameter a, κ1, κ2, x, κ 21 , κ 22 is an intermediate parameter.

[0040] In a preferred embodiment, the reachable range λ of the arrival angle d It is expressed as:

[0041] λ min ≤λ d ≤λ max

[0042]

[0043]

[0044] Among them, λ max represents the maximum value of the arrival angle, λ min Indicates the minimum value of the arrival angle.

[0045] The beneficial effects of the present invention include:

[0046] (1) Unlike the existing guidance methods for intercepting maneuvering targets, the present invention does not require linear approximation of the mathematical model of the relative motion between the aircraft and the target during the design process, and does not require the assumption of a small lead angle;

[0047] (2) The designed guidance law in analytical form has a simple design method and strong engineering practicality. It can meet the arrival angle and field of view constraints of the target detector while achieving accurate interception of the maneuvering target. It is suitable for guidance tasks with arrival angle constraints and limited field of view of the target detector.

[0048] (3) There is no need to linearize the mathematical model of the relative motion between the aircraft and the target, and there is no need to repeatedly try out the guidance parameters. It has the characteristics of simple design and use methods and strong applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 A schematic flow chart of a maneuvering target interception and guidance method with arrival angle and field of view angle constraints according to a preferred embodiment of the present invention is shown;

[0050] Figure 2 The simulation results of Example 1 are shown. DETAILED DESCRIPTION

[0051] The present invention will be further described in detail below through the accompanying drawings and embodiments. Through these descriptions, the characteristics and advantages of the present invention will become more clear and distinct.

[0052] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise noted.

[0053] According to a maneuvering target interception guidance method with arrival angle and field angle constraints provided by the present invention, Figure 1 As shown, the following steps are included:

[0054] S1. Establish the relative motion equation of the aircraft intercepting the maneuvering target;

[0055] S2, converting the relative motion equation into a relative motion model with the distance between the aircraft and the target as the independent variable;

[0056] S3. Setting a desired relative lead angle variation curve and obtaining a guidance law expression based on a relative motion model;

[0057] S4. The field of view angle is constrained by limiting the maximum value of the relative lead angle curve, thereby obtaining a reachable range of the arrival angle. When the arrival angle satisfies the reachable range, the aircraft uses the obtained guidance law to perform flight control.

[0058] In S1, the relative motion equation of the aircraft intercepting the maneuvering target is expressed as:

[0059]

[0060] σ M =γ M -λ

[0061]

[0062] Where R represents the distance between the aircraft and the target, V M is the flight speed of the aircraft, V T is the flight speed of the maneuvering target, γ M is the ballistic inclination angle of the aircraft, γ T is the ballistic inclination of the target, λ is the line of sight angle, that is, the angle between the line between the target and the aircraft and the horizontal plane, σ M is the field of view of the aircraft, and satisfies the field of view constraint σ max is the maximum field of view angle, a M is the normal acceleration of the aircraft, a T is the normal acceleration of the target.

[0063] In S2, by setting relative variables, the relative motion equation is transformed into a relative motion model with the distance between the aircraft and the target as the independent variable.

[0064] Specifically, the relative variable is set to:

[0065] K=V T / V M

[0066] γ R =arctan[(sinγ M -Ksinγ T )(cosγ M -Kcosγ T )]

[0067]

[0068] a R =a M cos(γ M -γ R )-a T cos(γ T -γ R )

[0069] Among them, K is the speed ratio, γ R , η R 、V R 、a R Respectively represent the relative inclination angle, relative lead angle, relative velocity and relative acceleration, and there is

[0070]

[0071] Combining the relative motion equation, we can get:

[0072]

[0073] η R =γ R -γ M +σ M

[0074] η R =γ R -γ M +σ M ≤γ R -γ M +σ M ≤η max

[0075]

[0076] Furthermore, taking the distance between the aircraft and the target as the independent variable, the above formula can be transformed into a relative motion model:

[0077]

[0078] In S3, a cubic function with distance R as an independent variable is set as the desired relative lead angle variation curve, which is expressed as:

[0079]

[0080] Among them, R0 is the initial relative distance between the aircraft and the target, is the desired relative lead angle to be designed, and a, b, c, d are design parameters determined by boundary conditions and arrival angle constraints.

[0081] In the present invention, the relative lead angle is set in the form of a cubic function to intercept a maneuvering target, which can effectively improve the interception stability of the maneuvering target, reduce parameter complexity, and improve parameter applicability.

[0082] Furthermore, the desired relative lead angle variation curve has boundary conditions, which are expressed as:

[0083]

[0084] Among them, η R0 is the relative lead angle at the time of starting interception, and η R0 ≤η max .

[0085] Combining the boundary conditions with the desired relative lead angle variation curve, we can obtain:

[0086]

[0087] Combined with the first equation in the relative motion model, we can get:

[0088] λ d =H(a)

[0089]

[0090] Among them, λ0 is the initial sight angle, that is, the sight angle at the beginning of interception.

[0091] According to the present invention, λ0, η R0 , R0 are known quantities. When the expected arrival angle λ d Once specified, the parameter a can be obtained by solving the above equation using a common numerical algorithm (such as Newton's iteration method).

[0092] Combined with the relative motion model, the guidance law expression is obtained as follows:

[0093]

[0094] In S4, the field of view angle constraint can be converted into a restriction on the maximum value of the relative leading angle, which is expressed as:

[0095]

[0096] Among them, η max Indicates the maximum value of the relative lead angle curve.

[0097] Solving the above inequality, we can get:

[0098] Γ a ={aa min ≤a≤a max}

[0099] a min =κ1η max

[0100] a max =κ2η max

[0101] x=η R0 η max

[0102]

[0103] Among them, Γ a represents the safe value range of the design parameter a, Γ a Any value in can ensure that the field of view angle constraint is satisfied, a min represents the minimum value of the design parameter a, a max represents the maximum value of the design parameter a, κ1, κ2, x, κ 21 , κ 22 is an intermediate parameter.

[0104] Furthermore, combined with the relative motion model, the reachable range λ of the arrival angle can be obtained d , expressed as:

[0105] λ min ≤λ d ≤λ max

[0106]

[0107] Among them, λ max represents the maximum value of the arrival angle, λ min Indicates the minimum value of the arrival angle.

[0108] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the disclosure of the present invention can be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.

[0109] Example

[0110] Example 1

[0111] Conduct a simulation experiment to intercept a maneuvering target, including the following steps:

[0112] S1. Establish the relative motion equation of the aircraft intercepting the maneuvering target;

[0113] S2, converting the relative motion equation into a relative motion model with the distance between the aircraft and the target as the independent variable;

[0114] S3. Setting a desired relative lead angle variation curve and obtaining a guidance law expression based on a relative motion model;

[0115] S4. The field of view angle is constrained by limiting the maximum value of the relative lead angle curve to obtain a reachable range of the arrival angle. When the arrival angle satisfies the reachable range, the aircraft uses the obtained guidance law to perform flight control.

[0116] In S1, the relative motion equation of the aircraft intercepting the maneuvering target is expressed as:

[0117]

[0118] σ M =γ M -λ

[0119]

[0120] In S2, the relative motion model is:

[0121]

[0122] In S3, a cubic function with distance R as an independent variable is set as the desired relative lead angle variation curve, which is expressed as:

[0123]

[0124] The guidance law expression obtained is:

[0125]

[0126] In S4, the reachable range λ of the arrival angle can be obtained d , expressed as:

[0127] λ min ≤λ d ≤λ max

[0128]

[0129] in,

[0130] a min =κ1η max

[0131] a max =κ2η max

[0132] x=η R0 η max

[0133]

[0134] During the simulation, three aircraft are set to intercept the target, and the terminal arrival angles of the three aircraft are set to 20 degrees, 40 degrees, and 60 degrees respectively. The flight speed of the aircraft is set to 500 m / s, the initial position of the aircraft is (0,5) km, the initial position of the maneuvering target is (10,15) km, the flight speed is 350 m / s, the maximum field of view of the aircraft target detector is limited to 70 degrees (deg), and the acceleration of the target is set to -50 m / s 2 .

[0135] The simulation results are as follows Figure 2 As shown, Figure 2 (a) shows the flight trajectories of the aircraft and the target; Figure 2 (b) shows the variation trend of the normal acceleration of the aircraft; Figure 2 (c) shows the changing trend of the aircraft's sight angle; Figure 2 (d) shows the changing trend of the aircraft's field of view angle.

[0136] It can be seen that the aircraft can successfully intercept the maneuvering target at the desired arrival angle, and ensure that the aircraft's field of view angle is always smaller than the set maximum field of view angle of the aircraft target detector during the guidance process.

[0137] The present invention has been described above in conjunction with preferred embodiments, but these embodiments are only exemplary and serve only as an illustration. On this basis, the present invention may be subjected to a variety of substitutions and improvements, all of which fall within the scope of protection of the present invention.

Claims

1. A maneuvering target interception guidance method with arrival angle and field of view angle constraints, characterized in that: The following steps are involved: S1. Establish the relative motion equation of the aircraft intercepting the maneuvering target; S2, converting the relative motion equation into a relative motion model with the distance between the aircraft and the target as the independent variable; S3. Setting a desired relative lead angle variation curve and obtaining a guidance law expression based on a relative motion model; S4. The field of view angle is constrained by limiting the maximum value of the relative lead angle curve, thereby obtaining a reachable range of the arrival angle. When the arrival angle satisfies the reachable range, the aircraft uses the obtained guidance law to perform flight control.

2. The method for intercepting and guiding a maneuvering target with arrival angle and field of view angle constraints according to claim 1, characterized in that: In S1, the relative motion equation of the aircraft intercepting the maneuvering target is expressed as: s M =c M -l Where R represents the distance between the aircraft and the target, V M is the flight speed of the aircraft, V T is the flight speed of the maneuvering target, γ M is the ballistic inclination angle of the aircraft, γ T is the target's ballistic inclination, λ is the sight angle, σ M is the field of view of the aircraft, and satisfies the field of view constraint σ max is the maximum field of view angle, a M is the normal acceleration of the aircraft, a T is the normal acceleration of the target.

3. The method for intercepting and guiding a maneuvering target with arrival angle and field of view angle constraints according to claim 1, characterized in that: In S2, by setting relative variables, the relative motion equation is transformed into a relative motion model with the distance between the aircraft and the target as the independent variable.

4. The method for intercepting and guiding a maneuvering target with arrival angle and field of view angle constraints according to claim 3, characterized in that: The relative variables are set to: K=V T / V M c R =arctan[(sinγ M -Ksing T ) / (cosγ M -Kcosγ T )] a R =a M cos(γ M -c R )-a T cos(γ T -c R ) Among them, K is the speed ratio, γ R , η R 、V R 、a R Respectively represent the relative inclination angle, relative lead angle, relative velocity and relative acceleration, and there is 5. The method for intercepting and guiding a maneuvering target with arrival angle and field of view angle constraints according to claim 4, characterized in that: The relative motion model is expressed as:

6. The method for intercepting and guiding a maneuvering target with arrival angle and field of view angle constraints according to claim 1, characterized in that: In S3, a cubic function with distance R as an independent variable is set as the desired relative lead angle variation curve, which is expressed as: Among them, R0 is the initial relative distance between the aircraft and the target, is the desired relative lead angle to be designed, and a, b, c, d are design parameters determined by boundary conditions and arrival angle constraints.

7. The method for intercepting and guiding a maneuvering target with arrival angle and field of view angle constraints according to claim 6, characterized in that: The guidance law expression obtained is:

8. The method for intercepting and guiding a maneuvering target with arrival angle and field of view angle constraints according to claim 1, characterized in that: In S4, the field of view angle constraint can be converted into a restriction on the maximum value of the relative leading angle, which is expressed as: Among them, η max Represents the maximum value of the relative lead angle curve, The constraint of the design parameter a is obtained based on the maximum value of the relative lead angle: C a ={a|a min ≤a≤a max } a min =κ1η max a max =k2h max x=η R0 / or max Among them, Γ a represents the constraint of design parameter a, a min represents the minimum value of the design parameter a, a max represents the maximum value of the design parameter a, κ1, κ2, x, κ 21 , κ 22 is an intermediate parameter.

9. The method for intercepting and guiding a maneuvering target with arrival angle and field of view angle constraints according to claim 8, characterized in that: The reachable range of the angle of arrival λ d It is expressed as: l min ≤λ d ≤λ max Among them, λ max represents the maximum value of the arrival angle, λ min Indicates the minimum value of the arrival angle.

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