Game guidance instruction forming method based on interceptor cluster collaboration

Abstract

The invention discloses a game guidance instruction forming method based on interceptor cluster cooperation, and the method comprises the following steps: S1, obtaining target detection position information, and calculating a target maneuvering region; s2, the number of interceptor clusters is obtained, an airspace cooperative calculation formula is constructed, and an airspace cooperative coverage result is calculated; and S3, calculating the remaining flight time of the interceptor, and forming a game guidance instruction according to the remaining flight time of the interceptor and the airspace cooperative coverage result through an offset proportion guidance method. According to the method, in an interception strong penetration target confrontation scene, design of an interceptor cluster collaborative coverage interception strategy is completed through online prediction of a target interception area in a confrontation process, and an interceptor cluster game guidance instruction is formed under constraint conditions of interception overload, limited flight time, airspace collaborative coverage and the like based on a residual flight time consistency principle; and the interceptor cluster responds to the game guidance instruction to complete interception guidance flight, so that high-precision interception of the strong penetration target is realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of aircraft cooperative guidance, and in particular relates to a method for forming game guidance instructions based on interceptor cluster cooperation. Background Art

[0002] In the scenario of intercepting strong penetration target confrontation, traditional guidance line design methods are difficult to meet the high-precision interception requirements of cluster targets. The main manifestations are: traditional guidance line design is based on the linearized guidance model to design the correction link to form a linear game guidance instruction. Under conditions such as target penetration maneuvers, the linear game guidance instruction is difficult to quickly converge the guidance deviation, and the guidance deviation cannot be converged within the limited guidance time, resulting in low interception accuracy and interception failure. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a method for forming game guidance instructions based on interceptor cluster collaboration.

[0004] The present invention is achieved through the following technical solutions.

[0005] The present invention provides a method for forming a game guidance instruction based on interceptor cluster collaboration, comprising the following steps:

[0006] S1. Obtain target detection position information, and calculate the target maneuvering area according to the target detection position information;

[0007] S2. Obtain the number of interceptor clusters, construct an airspace coordination calculation formula, and calculate the airspace coordination coverage result according to the number of interceptor clusters, the airspace coordination calculation formula and the target maneuvering area;

[0008] S3. Calculate the remaining flight time of the interceptor, and form a game guidance instruction based on the remaining flight time of the interceptor and the airspace collaborative coverage results through the biased proportional guidance method.

[0009] Preferably, the target detection position information includes a position vector, a velocity vector, a terminal guidance time, a target initial pitch angle, a target initial azimuth angle and a maximum maneuvering displacement perpendicular to the direction of the initial velocity vector.

[0010] Preferably, the expression for calculating the target maneuvering area according to the target detection position information is as follows:

[0011]

[0012] In the formula, Δβ ±T,max is the minor semi-axis of the maneuvering area ellipse, Δα ±T,max is the major semi-axis of the maneuvering area ellipse, r T =|v T0 T f| is the position vector, r T,xz =r T cosβ0、v T0 is the velocity vector, T f is the terminal guidance time, β0 is the target initial azimuth, S T，max is the maximum maneuvering displacement perpendicular to the direction of the initial velocity vector;

[0013]

[0014] Where α is the target pitch angle, β is the target azimuth, α0 is the target initial pitch angle, and β0 is the target initial pitch angle.

[0015] Preferably, the airspace coordination calculation formula includes a calculation formula for the second number of interceptors, a calculation formula for the third number of interceptors, and a calculation formula for the fourth number of interceptors.

[0016] Preferably, the second calculation formula for the number of interceptors is expressed as follows:

[0017]

[0018] In the formula, α mi and β mi is the pitch angle and azimuth angle of the i-th interceptor, i = 1, 2, α0 is the target initial pitch angle, β0 is the target initial azimuth angle, Δα T，max is the major semi-axis of the maneuvering area ellipse.

[0019] Preferably, the calculation formula for the number of interceptors is as follows:

[0020]

[0021] In the formula, α mi0 and β mi0 is the pitch angle and azimuth angle of the i-th interceptor, i = 1, 2, 3, α0 is the target initial pitch angle, β0 is the target initial azimuth angle, Δα T，max is the major semi-axis of the maneuvering area ellipse, Δβ T，max is the minor semi-axis of the maneuvering area ellipse.

[0022] Preferably, the calculation formula for the number of interceptors is as follows:

[0023]

[0024] In the formula, α mi00 and β mi00 is the pitch angle and azimuth angle of the i-th interceptor, i = 1, 2, 3, 4, α0 is the target initial pitch angle, β0 is the target initial azimuth angle, Δα T，max is the major semi-axis of the maneuvering area ellipse, ΔβT，max is the minor semi-axis of the maneuvering area ellipse.

[0025] Preferably, the expression for calculating the remaining flight time of the interceptor is as follows:

[0026]

[0027] In the formula, t goi is the remaining flight time of the i-th interceptor, r i is the relative distance between the ith interceptor and the target, V mi is the speed of the i-th interceptor, σ i is the velocity lead angle of the i-th interceptor, and N is the proportional guidance coefficient.

[0028] Preferably, the expression for forming the game guidance instruction according to the remaining flight time of the interceptor and the airspace cooperative coverage result by the biased proportional guidance method is as follows:

[0029]

[0030] In the formula, a zi , a yi is the game guidance instruction of interceptor i in the z direction and y direction, k zi , k yi is the angle constraint coefficient, N is the proportional guidance coefficient, α mi and β mi is the pitch angle and azimuth angle of the i-th interceptor, V mi is the speed of the i-th interceptor, V t is the target speed, σ i is the velocity lead angle of the i-th interceptor, r i is the relative distance between the i-th interceptor and the target, a bi , a ci , a oi is the intermediate variable, θ mi and φ mi are the orbital inclination and orbital deviation of interceptor i, k i is the correction factor, e i is the remaining time error, i is the coefficient and ι i >0,t ci is the time compensation term, R is the relative distance between the interceptor and the target, and R i , d i , P i is the calculation parameter.

[0031] The beneficial effects of the present invention are:

[0032] In the scenario of intercepting strong penetration and defense targets, the interceptor cluster collaborative coverage interception strategy design is completed through online prediction of the target interception area during the confrontation process. Based on the principle of consistency of remaining flight time, under the constraints of interception overload, limited flight time and airspace collaborative coverage, the interceptor cluster game guidance instructions are formed, so that the interceptor can form the required overload instructions under the available overload constraint, and the guidance deviation converges and achieves target maneuver coverage within the limited guidance time. The interceptor cluster responds to the game guidance instructions to complete the interception guidance flight, thereby achieving high-precision interception of strong penetration and defense targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a flow chart of a method provided by an embodiment of the present invention;

[0034] Figure 2 It is a schematic diagram of the cooperative guidance principle of an interceptor cluster provided by an embodiment of the present invention;

[0035] Figure 3 is a schematic diagram of interceptor distribution provided by an embodiment of the present invention;

[0036] Figure 4 It is a schematic diagram of the collaborative interception curve of the interceptor cluster provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The technical solution of the present invention is further described below, but the scope of protection claimed is not limited to the description.

[0038] like Figure 1 , 2 As shown, a method for forming a game guidance instruction based on interceptor cluster collaboration includes the following steps:

[0039] S1. Obtain target detection position information, and calculate the target maneuvering area according to the target detection position information;

[0040] The target detection position information includes a position vector, a velocity vector, a terminal guidance time, a target initial pitch angle, a target initial azimuth angle and a maximum maneuvering displacement perpendicular to the direction of the initial velocity vector.

[0041] The expression for calculating the target maneuvering area according to the target detection position information is as follows:

[0042]

[0043] In the formula, Δβ ±T,max is the minor semi-axis of the maneuvering area ellipse, Δα ±T,max is the major semi-axis of the maneuvering area ellipse, r T =|v T0 T f | is the position vector, r T,xz =rT cosβ0、v T0 is the velocity vector, T f is the terminal guidance time, β0 is the target initial azimuth, S T，max is the maximum maneuvering displacement perpendicular to the direction of the initial velocity vector;

[0044]

[0045] Where α is the target pitch angle, β is the target azimuth, α0 is the target initial pitch angle, and β0 is the target initial pitch angle.

[0046] S2. Obtain the number of interceptor clusters, construct an airspace coordination calculation formula, and calculate the airspace coordination coverage result according to the number of interceptor clusters, the airspace coordination calculation formula and the target maneuvering area;

[0047] The airspace coordination calculation formula includes a second interceptor number calculation formula, a third interceptor number calculation formula, and a fourth interceptor number calculation formula.

[0048] The expression of the calculation formula of the number of interceptors is as follows:

[0049]

[0050] In the formula, α mi and β mi is the pitch angle and azimuth angle of the i-th interceptor, i = 1, 2, α0 is the target initial pitch angle, β0 is the target initial azimuth angle, Δα T，max is the major semi-axis of the maneuvering area ellipse.

[0051] The expression of the calculation formula of the number of interceptors is as follows:

[0052]

[0053] In the formula, α mi0 and β mi0 is the pitch angle and azimuth angle of the i-th interceptor, i = 1, 2, 3, α0 is the target initial pitch angle, β0 is the target initial azimuth angle, Δα T，max is the major semi-axis of the maneuvering area ellipse, Δβ T，max is the minor semi-axis of the maneuvering area ellipse.

[0054] The expression of the calculation formula of the number of interceptors is as follows:

[0055]

[0056] In the formula, α mi00 and β mi00is the pitch angle and azimuth angle of the i-th interceptor, i = 1, 2, 3, 4, α0 is the target initial pitch angle, β0 is the target initial azimuth angle, Δα T，max is the major semi-axis of the maneuvering area ellipse, Δβ T，max is the minor semi-axis of the maneuvering area ellipse.

[0057] When calculating the airspace coordination coverage results, it is necessary to select the corresponding airspace coordination calculation formula according to the number of interceptors; if the number of interceptors N = 2, select the calculation formula for the number of interceptors two; if the number of interceptors N = 3, select the calculation formula for the number of interceptors three; if the number of interceptors N = 4, select the calculation formula for the number of interceptors four.

[0058] In this embodiment, the number of interceptors is N=3, and the calculation formula for the number of interceptors is selected accordingly, and the airspace cooperative coverage result is calculated according to the calculation formula for the number of interceptors. Figure 3 As shown, it is a schematic diagram of interceptor distribution when the number of interceptors N=3, that is, the airspace collaborative coverage result calculated in this embodiment.

[0059] S3. Calculate the remaining flight time of the interceptor, and form a game guidance instruction based on the remaining flight time of the interceptor and the airspace collaborative coverage results through the biased proportional guidance method.

[0060] The expression for calculating the remaining flight time of the interceptor is as follows:

[0061]

[0062] In the formula, t goi is the remaining flight time of the i-th interceptor, r i is the relative distance between the ith interceptor and the target, V mi is the speed of the i-th interceptor, σ i is the velocity lead angle of the i-th interceptor, and N is the proportional guidance coefficient.

[0063] The expression for forming the game guidance instruction according to the remaining flight time of the interceptor and the airspace cooperative coverage result by the biased proportional guidance method is as follows:

[0064]

[0065] In the formula, a zi , a yi is the game guidance instruction of interceptor i in the z direction and y direction, k zi , k yi is the angle constraint coefficient, N is the proportional guidance coefficient, α mi and β mi is the pitch angle and azimuth angle of the i-th interceptor, V mi is the speed of the i-th interceptor, Vt is the target speed, σ i is the velocity lead angle of the i-th interceptor, r i is the relative distance between the i-th interceptor and the target, a bi , a ci , a oi is the intermediate variable, θ mi and φ mi are the orbital inclination and orbital deviation of interceptor i, k i is the correction factor, e i is the remaining time error, i is the coefficient and ι i >0,t ci is the time compensation term, R is the relative distance between the interceptor and the target, and R i , d i , P i is the calculation parameter.

[0066] In this embodiment, the number of interceptors N=3, the obtained game guidance instructions, and the interception curve obtained through the experiment are as follows: Figure 4 As shown in the figure, it can be seen that the present invention achieves the purpose of online maneuvering game guidance and efficient interception of the target.

[0067] In the scenario of intercepting strong penetration and defense targets, the interceptor cluster collaborative coverage interception strategy design is completed through online prediction of the target interception area during the confrontation process. Based on the principle of consistency of remaining flight time, under the constraints of interception overload, limited flight time and airspace collaborative coverage, the interceptor cluster game guidance instructions are formed, so that the interceptor can form the required overload instructions under the available overload constraint, realize the convergence of guidance deviation and target maneuver coverage within the limited guidance time, and the interceptor cluster responds to the game guidance instructions to complete the interception guidance flight, thereby achieving high-precision interception of strong penetration and defense targets.

Claims

1. A method for forming game guidance instructions based on interceptor cluster collaboration, characterized in that: The following steps are involved: S1. Obtain target detection position information, and calculate the target maneuvering area according to the target detection position information; S2. Obtain the number of interceptor clusters, construct an airspace coordination calculation formula, and calculate the airspace coordination coverage result according to the number of interceptor clusters, the airspace coordination calculation formula and the target maneuvering area; S3. Calculate the remaining flight time of the interceptor, and form a game guidance instruction based on the remaining flight time of the interceptor and the airspace collaborative coverage results through the biased proportional guidance method.

2. The method for forming a game guidance instruction according to claim 1, characterized in that: The target detection position information includes a position vector, a velocity vector, a terminal guidance time, a target initial pitch angle, a target initial azimuth angle and a maximum maneuvering displacement perpendicular to the direction of the initial velocity vector.

3. The method for forming a game guidance instruction according to claim 1, characterized in that: The expression for calculating the target maneuvering area according to the target detection position information is as follows: In the formula, Δβ ±T,max is the minor semi-axis of the maneuvering area ellipse, Δα ±T,max is the major semi-axis of the maneuvering area ellipse, r T =|v T0 T f | is the position vector, r T,xz =r T cosβ0、v T0 is the velocity vector, T f is the terminal guidance time, β0 is the target initial azimuth, S T,max is the maximum maneuvering displacement perpendicular to the direction of the initial velocity vector; Where α is the target pitch angle, β is the target azimuth angle, α0 is the target initial pitch angle, and β0 is the target initial pitch angle.

4. The method for forming a game guidance instruction according to claim 1, characterized in that: The airspace coordination calculation formula includes a second interceptor number calculation formula, a third interceptor number calculation formula, and a fourth interceptor number calculation formula.

5. The method for forming a game guidance instruction according to claim 4, characterized in that: The expression of the calculation formula of the number of interceptors is as follows: In the formula, α mi and β mi is the pitch angle and azimuth angle of the i-th interceptor, i = 1, 2, α0 is the target initial pitch angle, β0 is the target initial azimuth angle, Δα T,max is the major semi-axis of the maneuvering area ellipse.

6. The method for forming a game guidance instruction according to claim 4, characterized in that: The expression of the calculation formula of the number of interceptors is as follows: In the formula, α mi0 and β mi0 is the pitch angle and azimuth angle of the i-th interceptor, i = 1, 2, 3, α0 is the target initial pitch angle, β0 is the target initial azimuth angle, Δα T,max is the major semi-axis of the maneuvering area ellipse, Δβ T,max is the minor semi-axis of the maneuvering area ellipse.

7. The method for forming a game guidance instruction according to claim 4, characterized in that: The calculation formula of the number of interceptors is as follows: In the formula, α mi00 and β mi00 is the pitch angle and azimuth angle of the i-th interceptor, i = 1, 2, 3, 4, α0 is the target initial pitch angle, β0 is the target initial azimuth angle, Δα T,max is the major semi-axis of the maneuvering area ellipse, Δβ T,max is the minor semi-axis of the maneuvering area ellipse.

8. The method for forming a game guidance instruction according to claim 1, characterized in that: The expression for calculating the remaining flight time of the interceptor is as follows: In the formula, t goi is the remaining flight time of the i-th interceptor, r i is the relative distance between the ith interceptor and the target, V mi is the speed of the i-th interceptor, σ i is the velocity lead angle of the i-th interceptor, and N is the proportional guidance coefficient.

9. The method for forming a game guidance instruction according to claim 1, characterized in that: The expression for forming the game guidance instruction according to the remaining flight time of the interceptor and the airspace cooperative coverage result by the biased proportional guidance method is as follows: In the formula, a zi ,a yi is the game guidance instruction of interceptor i in the z direction and y direction, k zi ,k yi is the angle constraint coefficient, N is the proportional guidance coefficient, α mi and β mi is the pitch angle and azimuth angle of the i-th interceptor, V mi is the speed of the i-th interceptor, V t is the target speed, σ i is the velocity lead angle of the i-th interceptor, r i is the relative distance between the ith interceptor and the target, a bi ,a ci ,a oi is the intermediate variable, θ mi and φ mi are the orbital inclination and orbital deviation of interceptor i, k i is the correction factor, e i is the remaining time error, i is the coefficient and ι i >0,t ci is the time compensation term, R is the relative distance between the interceptor and the target, and R i ,d i ,P i is the calculation parameter.

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