Attack time and angle control guidance method, device, equipment and medium

Abstract

The invention discloses an attack time and angle control guidance method, device and equipment and a medium, and relates to the field of missile control guidance, and the method comprises the steps: building a dynamic model based on a scene in which a single missile intercepts a static target in a two-dimensional plane; based on the dynamic model, taking attack time, attack angle and maximum normal acceleration as constraints, and adopting a cubic Bezier curve to generate an expected trajectory of the missile; calculating a trajectory tracking error according to the current position and the expected trajectory of the missile; calculating an expected course angle according to the tracking error and the course angle of the expected trajectory; calculating a course angle tracking error according to the actual course angle and the expected course angle of the missile; and determining a normal overload instruction required by the missile according to the course angle tracking error and a preset time tracking guidance law. According to the application, accurate tracking of an expected trajectory is realized.

Description

Technical Field

[0001] The present application relates to the field of missile control and guidance, and in particular to an attack time and angle control and guidance method, device, equipment and medium based on a cubic Bezier curve. Background Art

[0002] As enemy fortifications become increasingly powerful, in order to effectively damage enemy fortifications, higher requirements are placed on the capabilities of missiles and guidance tasks. Modern guidance tasks require not only that missiles hit targets accurately, but also that they hit targets at a specified time or at a specific angle. However, in some combat scenarios, both the expected time and the expected angle are required at the same time, so higher requirements are placed on the design of guidance laws. The attack time angle guidance law allows missiles to hit targets at a specific angle at a specified attack time, which has important application value in actual combat and has also been widely studied by scholars.

[0003] At present, there are two main methods to achieve specified attack time and attack angle guidance. The first is to directly design the guidance law to meet the specified attack angle and attack time constraints using optimal control theory or sliding mode control theory. The second way to achieve attack time and angle guidance is polynomial guidance or trajectory shaping guidance, which indirectly designs the state quantity profile that meets the attack time and angle constraints, and further designs the guidance law to track the proposed state quantity profile.

[0004] However, the existing attack time and attack angle guidance methods have low guidance accuracy. Summary of the invention

[0005] The purpose of this application is to provide an attack time and angle control guidance method, device, equipment and medium, which can achieve accurate tracking of the desired trajectory.

[0006] To achieve the above objectives, this application provides the following solutions:

[0007] In a first aspect, the present application provides an attack time and angle control guidance method, comprising:

[0008] Based on the scenario of a single missile intercepting a stationary target in a two-dimensional plane, a dynamic model is established;

[0009] Based on the dynamic model, the desired trajectory of the missile is generated using a cubic Bezier curve with attack time, attack angle and maximum normal acceleration as constraints;

[0010] Calculate the trajectory tracking error based on the missile's current position and desired trajectory;

[0011] Calculate a desired heading angle based on the tracking error and the heading angle of the desired trajectory;

[0012] Calculate the heading angle tracking error according to the actual heading angle and the expected heading angle of the missile;

[0013] The normal overload command required by the missile is determined based on the heading angle tracking error and the preset time tracking guidance law.

[0014] In a second aspect, the present application provides an attack time and angle control guidance device, comprising:

[0015] The dynamic model building module is used to: build a dynamic model based on the scenario of a single missile intercepting a stationary target in a two-dimensional plane;

[0016] The expected trajectory generation module of the missile is used to: generate the expected trajectory of the missile using a cubic Bezier curve based on the dynamic model and taking the attack time, attack angle and maximum normal acceleration as constraints;

[0017] The trajectory tracking error calculation module is used to calculate the trajectory tracking error according to the current position of the missile and the expected trajectory;

[0018] The expected heading angle calculation module is used to calculate the expected heading angle according to the tracking error and the heading angle of the expected trajectory;

[0019] A heading angle tracking error calculation module is used to calculate a heading angle tracking error according to an actual heading angle and an expected heading angle of the missile;

[0020] The normal overload instruction determination module is used to determine the normal overload instruction required by the missile based on the heading angle tracking error and the preset time tracking guidance law.

[0021] In a third aspect, the present application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-mentioned attack time and angle control guidance method.

[0022] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned attack time and angle control guidance method.

[0023] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0024] Based on the above problems, the present application provides an attack time and angle control guidance method, device, equipment and medium, which uses a cubic Bezier curve to generate the expected trajectory of the missile to meet the constraints of attack time, angle and maximum normal acceleration; calculates the trajectory tracking error according to the current position of the missile and the expected trajectory; calculates the expected heading angle according to the tracking error and the heading angle of the expected trajectory; calculates the heading angle tracking error according to the actual heading angle of the missile and the expected heading angle; determines the normal overload instruction required for the missile according to the heading angle tracking error and the preset time tracking guidance law, thereby achieving accurate tracking of the expected trajectory and solving the problem of trajectory shaping guidance under multiple constraints. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic diagram of a flow chart of an attack time and angle control guidance method provided in one embodiment of the present application;

[0027] Figure 2 A schematic diagram of a specific implementation process of an attack time and angle control guidance method provided in an embodiment of the present application;

[0028] Figure 3 A schematic diagram of a scenario in which a missile intercepts a stationary target in a two-dimensional plane according to an embodiment of the present application;

[0029] Figure 4 A schematic diagram of a Bezier curve provided in an embodiment of the present application;

[0030] Figure 5 A schematic diagram of a path tracking scenario provided in an embodiment of the present application;

[0031] Figure 6 A schematic diagram of a desired heading angle vector field under different parameters provided in an embodiment of the present application;

[0032] Figure 7 A schematic diagram of an iterative process of distance control parameters provided in an embodiment of the present application;

[0033] Figure 8 A schematic diagram of an iterative process of a cost function provided in an embodiment of the present application;

[0034] Fig. 9 A schematic diagram of a normal acceleration curve of a missile provided in one embodiment of the present application;

[0035] Fig.10 A schematic diagram of a heading angle curve of a missile provided in an embodiment of the present application;

[0036] Fig.11 A schematic diagram of a desired trajectory and a real trajectory of a missile provided in an embodiment of the present application;

[0037] Fig.12 A schematic diagram of a tracking error curve provided in an embodiment of the present application;

[0038] Fig.13 A schematic diagram of the functional modules of an attack time and angle control guidance device provided in one embodiment of the present application;

[0039] Fig.14 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] Most of the existing guidance laws that directly design the attack time angle based on optimal control theory or sliding mode control theory need to estimate the remaining flight time. When the initial heading angle or attack angle is large, it often produces a large estimation error, which affects the guidance accuracy. Most of the research results based on polynomial state profiles do not consider the overload constraint in the guidance process. In addition, the state profile with relative distance as the independent variable is also difficult to handle the situation of large initial heading angle or large attack angle because the relative distance is not monotonic. Trajectory shaping guidance is based on geometric design of guidance trajectory to meet the corresponding guidance task. However, most trajectory shaping guidance does not consider the overload constraint or cannot handle the situation where the initial heading angle or attack angle is too large or too small, which makes it difficult to meet multi-task requirements.

[0042] Based on the above problems, this application provides a trajectory shaping guidance strategy. On the one hand, the guidance trajectory that meets the guidance task is designed based on the Bezier curve considering the attack time, attack angle and overload constraints, and on the other hand, the expected heading angle vector field and path tracking guidance law are designed to achieve accurate tracking of the designed trajectory.

[0043] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0044] In an exemplary embodiment, Figure 1As shown, an attack time and angle control guidance method is provided, which includes the following steps 201 to 206.

[0045] Step 201: Establish a dynamic model based on a scenario in which a single missile intercepts a stationary target in a two-dimensional plane.

[0046] Step 202: Based on the dynamic model, the expected trajectory of the missile is generated using a cubic Bezier curve with attack time, attack angle and maximum normal acceleration as constraints.

[0047] Step 203: Calculate the trajectory tracking error based on the current position of the missile and the expected trajectory.

[0048] Step 204: Calculate the desired heading angle according to the tracking error and the heading angle of the desired trajectory.

[0049] Step 205: Calculate the heading angle tracking error according to the actual heading angle and the expected heading angle of the missile.

[0050] Step 206: Determine the normal overload command required for the missile according to the heading angle tracking error and the preset time tracking guidance law.

[0051] In implementing the above steps 201 to 206, the guidance trajectory is designed using a cubic Bezier curve to meet the constraints of attack time, angle and maximum normal acceleration; an optimization algorithm is introduced to solve the cost function to determine the control parameters of the trajectory, and a unique trajectory that meets the guidance task is obtained; on this basis, a hyperbolic sine vector field path tracking guidance algorithm is developed to achieve accurate tracking of the desired trajectory and solve the problem of trajectory shaping guidance under multiple constraints.

[0052] This application considers a scenario where a missile M intercepts a stationary target T in a two-dimensional plane. Figure 3 As shown in the figure, xoy represents the inertial coordinate system. Assuming that the missile speed is constant, V m Indicates the velocity direction by γ m Indicates that γ m ∈(-π,π); γ m0 represents the initial heading angle. The initial position of the missile is at (x0, y0), and the position of the target is at (x f ,y f ).

[0053] The following is a dynamic model of a single missile intercepting a single stationary target. The dynamic model includes the relative motion equations of the missile and the target and the motion equations of the missile.

[0054] The relative motion equation between the missile and the target is shown in the following formula (1).

[0055]

[0056] Among them, R m It indicates the line-of-sight distance between the missile and the target, that is, the line-of-sight distance between the missile and the target; is the first-order derivative of the missile-target line-of-sight distance; q m It indicates the sight angle between the missile and the target, that is, the sight angle between the missile and the target; is the first-order derivative of the missile-to-eye sight angle; η m Indicates the lead angle of the missile; a m and γ m denote the normal acceleration and heading angle of the missile, respectively. It represents the first-order derivative of the heading angle of the missile. Considering that the target is stationary, this application studies the guidance problem of the missile in an inertial Cartesian coordinate system, and the motion equation of the missile is shown in the following formula (2).

[0057]

[0058] Where x is the horizontal coordinate of the missile's current position, is the first-order derivative of the abscissa of the missile’s current position, y is the ordinate of the missile’s current position, is the first-order derivative of the ordinate of the missile's current position.

[0059] In another exemplary embodiment of the present application, the above step 202 is replaced by the following steps 301 to 305.

[0060] Step 301: Designing a trajectory of a single missile intercepting a stationary target based on a cubic Bezier curve, and determining a Bezier curve expression; the Bezier curve expression includes a first angle control parameter, a second angle control parameter, a first distance control parameter, and a second distance control parameter;

[0061] Step 302: Establish a cost function with attack time and maximum normal acceleration as constraints;

[0062] Step 303: determining a first angle control parameter and a second angle control parameter according to an initial heading angle and an initial attack angle of the missile;

[0063] Step 304: Solve the cost function to obtain a first distance control parameter and a second distance control parameter;

[0064] Step 305: Determine the expected position coordinates of the missile and the first-order derivative and the second-order derivative of each expected position coordinate according to the first angle control parameter, the second angle control parameter, the first distance control parameter, the second distance control parameter, and the initial position and the target position of the missile; the expected position coordinates of the missile constitute the expected trajectory.

[0065] This application uses a cubic Bezier trajectory combined with initial launch angle, attack angle, and attack time constraints to ensure accurate attack on stationary targets at ideal attack time and angle, while minimizing the maximum normal acceleration during the guidance process. Therefore, the guidance tasks of this application are summarized as follows:

[0066]

[0067] Where t represents the time, T d and γ f are the expected attack time and expected attack angle respectively. The maximum normal acceleration of the missile during the guidance process is expressed as f max (a m ) represents, Ja is the expected normal acceleration.

[0068] A Bezier curve is a parameterized curve. Figure 4 It takes the form of a polynomial of the trajectory parameter ε, whose order is determined by the number of control points, and the relative positions of the control points determine the shape of the curve.

[0069] This application uses a cubic Bezier curve to design the trajectory, with four control points P i (i=0,1,2,3), where the control point P i The coordinates of (x i ,y i ). The expression of the cubic Bezier curve is as follows:

[0070]

[0071] Where P(ε) is the coordinate of the point on the cubic Bezier curve,

[0072] The cubic Bezier curve provides a high degree of control flexibility. The shape of the curve can be easily adjusted by moving the control points to meet specific design requirements. In addition, the cubic Bezier curve generates a smooth trajectory, where the normal acceleration of the missile at each point can be calculated analytically. Therefore, this application uses the cubic Bezier curve to obtain the optimal trajectory that meets the guidance task.

[0073] It can be seen from formula (4) that when ε = 0, P(0) = P0, corresponding to the first control point, and when ε = 1, P(1) = P3, corresponding to the last control point. Next, three properties of the Bezier curve are given.

[0074] Property 1: The starting point and end point of the cubic Bezier curve correspond to the first control point and the last control point respectively.

[0075] Property 2: The direction of the tangent line at the starting point of a cubic Bezier curve is determined by the straight line connecting the first two control points. Similarly, the direction of the tangent line at the end point is determined by the straight line connecting the last two control points.

[0076] Property 3: The shape of a cubic Bezier curve depends entirely on the relative positions of the control points and has nothing to do with the choice of coordinate system.

[0077] According to property 1, the initial position of the missile is selected as the first control point P0, and the target position is selected as the last control point P3. The coordinates of the cubic Bezier curve are expressed as follows:

[0078]

[0079] In the formula, x(ε) and y(ε) are the horizontal and vertical coordinates of the points on the cubic Bezier curve respectively; the distance from the first control point P0 to the second control point P1 is recorded as the first distance control parameter R1, and the vector The angle with the x-axis is the first angle control parameter γ1, and the vector The distance from the third control point P2 to the fourth control point P3 is recorded as the second distance control parameter R2, and the vector The angle between the x-axis and the second angle control parameter γ2 is the vector It is composed of the third control point P2 to the fourth control point P3. The coordinates (x1, y1) of the second control point P1 and the coordinates (x2, y2) of the third control point P2 can generally be expressed as:

[0080]

[0081] Substituting formula (6) into formula (5) yields:

[0082]

[0083] Among them, x0, y0 are the horizontal and vertical coordinates of the first control point respectively; f1, f2, f3, f4 are intermediate parameters; f1 = (1-ε) 3 +3ε(1-ε) 2 , f2=ε(1-ε) 2 , f3=ε 2 (1-ε), f4=ε 3 +3ε 2 (1-ε).

[0084] R1, R2, γ1 and γ2 are selected as the control parameters that determine the trajectory shape. Property 3 indicates that once the positions of the first control point P1 and the second control point P2 are determined, the desired trajectory of the designed missile is unique. Therefore, the trajectory design is transformed into determining the control parameters R1, R2, γ1 and γ2 according to the guidance task (3) and the initial state of the missile.

[0085] The guidance trajectory constraints are analyzed below, including initial heading angle and attack angle constraints, attack time constraints, and maximum normal acceleration constraints.

[0086] (1) Initial heading angle and attack angle constraints

[0087] Assuming the initial time t = 0, the initial heading angle and attack angle constraints are:

[0088]

[0089] contrast Figure 3 and Figure 4 , the first angle control parameter and the second angle control parameter can be obtained from property 2:

[0090] γ1=γ m0 ,γ2=π+γ f (9).

[0091] (2) Attack time constraints

[0092] The attack time constraint means that starting from t = 0, the missile will d Attack the target. From the perspective of trajectory design, the duration of the entire trajectory is T d .

[0093] definition By differentiating equation (7) with respect to parameter ε, we can obtain the first-order derivative of the missile's expected position coordinates, namely the first-order derivative x' of the missile's expected position abscissa and the first-order derivative y' of the missile's expected position ordinate:

[0094]

[0095] Among them, f1', f2', f3', f4' are the first-order derivatives of f1, f2, f3, f4 respectively.

[0096] The expected trajectory length l is:

[0097]

[0098] Consider the missile speed V m Constant, expected attack time t = T d , then the attack time The normalized equation is:

[0099]

[0100] Note that the above equation is difficult to obtain an analytical solution. Therefore, a numerical calculation method is used to obtain the normalized attack time:

[0101]

[0102] Therefore, the attack time constraint in the guidance task (3) can be restated as:

[0103]

[0104] (3) Maximum normal acceleration constraint

[0105] Considering the limited overload of the missile, it is usually necessary to impose a normal acceleration constraint to minimize its maximum value. The normal acceleration of the missile during the guidance process along the Bessel trajectory will be analyzed below.

[0106] Define the second derivative of the abscissa of the missile's desired position and the second derivative of the ordinate of the desired position of the missile By taking the second-order derivative of parameter ε in equation (7), we can obtain:

[0107]

[0108] Among them, f1", f2", f3", f4" are the second-order derivatives of f1, f2, f3, and f4 respectively.

[0109] The normal acceleration of the missile is a m It can be calculated according to the following formula:

[0110]

[0111] The maximum normal acceleration directly reflects the maximum turning rate of the missile. Observing formula (16), its form is relatively complex and cannot be solved analytically. Therefore, the maximum normal overload of the missile can be obtained by numerical calculation:

[0112] f max (a m )=max|a m (iΔε)|,i=0,1,...,n (17).

[0113] Note that x', y', x", y" are all functions of the control parameters R1, R2, γ1, γ2 and the trajectory parameter ε. Therefore, the normal acceleration a of the missile is mIt is also a function of the control parameters R1, R2, γ1, γ2 and the trajectory parameter ε. For a designed guidance trajectory, its control parameters have been determined, and the normal acceleration a of the missile m is only a function of the trajectory parameter ε. Therefore, the maximum normal acceleration on the trajectory can be calculated using formula (17).

[0114] Similar to the attack time constraint, normalizing formula (17) yields the maximum normal acceleration:

[0115]

[0116] Among them, a n It is a positive constant representing the available overload of the missile, which is determined by the physical structure of the missile.

[0117] The trajectory design under the guidance task (3) and the missile initial state constraints is reformulated as the problem of solving the control parameters R1, R2, γ1 and γ2, where γ1 and γ2 can be obtained by equation (9). In order to satisfy (14), constraints (15) and the minimum minf max (a m ), the first distance control parameter R1 and the second distance control parameter R2 are determined by minimizing the following cost function, and the cost function is expressed as follows:

[0118]

[0119] Where J(R) represents the cost function, R = [R1, R2] T , R1 is the first distance control parameter, R2 is the second distance control parameter, ω1 and ω2 are two positive constants. Considering that formula (14) is a hard constraint, ω1>ω2 is selected; Time for attack.

[0120] Next, a zero-order Adam algorithm is given to solve the cost function (19). Then the above step 304 specifically includes: using the zero-order Adam algorithm to solve the cost function to obtain the first distance control parameter and the second distance control parameter. The form of the zero-order Adam algorithm is as follows:

[0121]

[0122] Among them, the subscript k represents the current iteration step, and k-1 represents the previous iteration step; represents the zero-order gradient of the cost function J, express The square of each element of k and v kare the first-order moment estimate and the second-order moment estimate respectively; β1 and β2 are the exponential decay rates that control these moment estimates, usually set to 0.9 and 0.999 respectively; σ is a small positive constant (e.g. 10 -8 ), η represents the learning rate, μ is a small positive constant, and u is a random vector following a Gaussian distribution.

[0123] Based on the zero-order Adam algorithm to minimize the cost function, the relative distances R1 and R2 are obtained, and all control parameters are calculated in combination with equation (9). Therefore, the guided trajectory that meets the guidance task and the initial state of the missile is uniquely defined. Using the first angle control parameter γ1, the second angle control parameter γ2, the first distance control parameter R1 and the second distance control parameter R2, combined with equations (7), (10) and (15), the position coordinates of the desired trajectory of the designed missile and its first-order derivative and second-order derivative can be obtained.

[0124] The hyperbolic sine vector field path tracking guidance algorithm is designed below to track the designed guidance trajectory:

[0125] Path tracking scenarios such as Figure 5 As shown, the curve represents the desired trajectory. The missile's initial position deviates from the intended path. p represents the heading angle on the desired trajectory, γ m represents the actual heading angle of the missile. Assume that the desired path can be expressed as y p =h(x p (t)), x p (t) is the horizontal coordinate of the desired trajectory, y p (t) is the ordinate of the desired trajectory, and h() is the fitting function of the desired trajectory. The trajectory tracking error is expressed as follows:

[0126] e y =h(x)-y(21).

[0127] Note that after trajectory design is completed, x p and p are just functions of the trajectory parameter ε. p and p There is a functional relationship, which means that for every x p Corresponding to a unique y p , according to the horizontal coordinate x of the current position, the unique corresponding trajectory parameter ε and vertical coordinate y can be obtained. p and p The functional relationship between them does not hold (as shown in the figure Figure 5 ), or when the current position coordinate x is outside the projection range of the desired trajectory x-axis (as shown Figure 5 Point P in l), select the point on the desired trajectory closest to the current position (point P l Corresponding point P0), take its ε and y values.

[0128] The goal of path tracking is to guide the missile to a predetermined path and ensure that it tracks accurately. When the missile starts on the desired trajectory, it can track that path by aligning the heading angle on the desired trajectory. If the missile's initial position deviates from the desired path, its heading angle should contain an additional component in addition to the heading angle on the desired path. This adjustment ensures that the missile moves in the direction of the desired trajectory while gradually reducing the distance from the desired trajectory until it reaches the desired trajectory. Therefore, the missile's desired heading angle γ d The expression is as follows:

[0129]

[0130] Among them, k1 is a positive constant, γ p is the heading angle on the desired trajectory, and defines Due to the boundedness of the hyperbolic tangent function, we know that when |e y |>>0 o'clock, Δγ p The sign of cos(γ p ) and e y Parameter k1 reflects the change in the heading angle of the missile near the desired trajectory. The larger the k1 value, the steeper the change in heading angle. Figure 6 The expected heading angle vector field under different parameters is shown. Figure 6 (a) is the desired heading angle vector field when k1=1, Figure 6 (b) in FIG. 5 is the expected heading angle vector field when k1=5.

[0131] Next, we design a preset time tracking guidance law to track the proposed desired heading angle. The heading angle tracking error is defined as:

[0132]

[0133] The preset time tracking guidance law is as follows:

[0134]

[0135] Among them, T s is the preset time, k a is a normal number, satisfying k a >1, is the first derivative of the desired heading angle of the missile.

[0136] Since a trajectory with an attack time constraint is introduced, the path tracking guidance law cannot directly handle the attack time constraint, so the time error is minimized as much as possible by timely tracking the required heading angle command. Considering the conservatism of the convergence time in the application of finite and fixed time theories, this application chooses the preset time theory to design the tracking guidance law, that is, formula (24).

[0137] Therefore, the implementation of the guidance task (3) using the trajectory shaping guidance strategy proposed in this application can be described as the following steps:

[0138] First, according to the initial heading angle γ m0 and the angle of attack γ f The control parameters γ1 and γ2 are calculated based on formula (9), and the cost function (19) is solved based on the zero-order Adam algorithm to obtain the control parameters R1 and R2.

[0139] Secondly, the control parameters γ1, γ2, R1 and R2 as well as the initial position and target position of the missile are substituted into equations (7), (10) and (15) to obtain the position coordinates of the designed trajectory and its first-order derivatives and second-order derivatives.

[0140] Then, the tracking error e is calculated based on the current position of the missile and the expected trajectory based on equation (21): y , combined with the heading angle γ of the desired trajectory p Further get the desired heading angle γ d .

[0141] Finally, based on formula (21), according to the actual heading angle γ of the missile m and the desired heading angle γ d Calculate heading tracking error Combined with the preset time tracking guidance law, the normal overload instruction a required by the missile is obtained m .

[0142] In an exemplary embodiment, Figure 2 As shown, an attack time and angle control guidance method is provided, which includes the following steps 101 to 106.

[0143] Step 101: Establish a dynamic model of a single missile intercepting a single stationary target.

[0144] Step 102: Parameterize the Bezier curve expression.

[0145] Step 103: Analyze guidance trajectory constraints.

[0146] Step 104: Establish a cost function and solve for control parameters.

[0147] Step 105: Design a hyperbolic sine vector field path tracking guidance algorithm to track the designed guidance trajectory.

[0148] Step 106: Implementing the guidance process of the missile system through the trajectory shaping guidance strategy.

[0149] The effectiveness of the method proposed in this application is verified by a specific example of a single missile attacking a single stationary target. The specific implementation steps are as follows:

[0150] (1) Missile simulation system settings: Consider a scenario in which a single missile intercepts a stationary target in a two-dimensional plane. The missile’s initial position is at the origin (0, 0), its speed is 300 m / s, its initial heading angle is -120°, and the available overload is set to 200 m / s. 2 The target's position is (12000m, 0m). The expected attack angle is γ f =-30°, expected attack time T d =55s.

[0151] (2) Solving the control parameters: The initial values ​​of the control parameters are set to R1 = 5000m and R2 = 2500m. The control parameters obtained are shown in Table 1.

[0152] Table 1 Control parameters

[0153] <![CDATA[γ1]]> <![CDATA[γ2]]> <![CDATA[R1]]> <![CDATA[R2]]> -120° 150° 9120m 2458m

[0154] (3) Path tracking: The path tracking error is set to Δx = -20m, Δy = 10m, Δγ m =10°, indicating the difference from the expected trajectory. The path tracking algorithm parameters are set as: k1 = 0.01, k2 = 30, k a =3.2, T s =8s. g = 9.8m / s 2 When the sight distance between the projectile and the target meets R m When <1m, the simulation terminates.

[0155] (4) Result analysis: The iterative process of distance control parameters and cost function is as follows: Figure 7 and Figure 8 As shown. Among them, Figure 7 (a) is the iterative process of the first distance control parameter R1, Figure 7 (b) in FIG. 5 is the iterative process of the second distance control parameter R2. Figure 7 (a) is the iterative process of the first distance control parameter R1, Figure 7 (b) is the iterative process of the second distance control parameter R2. Figure 7 and Figure 8 It can be seen that the optimization algorithm drives the iterative process from the initial value to the optimal solution, resulting in a gradual decrease in the cost function. In addition, the total number of iterations required is relatively small.

[0156] The path tracking simulation results are shown in Figure 9-12 As shown in the figure, the actual attack time is 55.089s. The time error of the attack time is within 0.1 second. Fig. 9 and Fig.10 The missile's normal acceleration curve and heading angle curve are shown. Fig.11 The designed expected trajectory and the actual trajectory of the missile are given. Fig.12 The tracking error curve is given. Fig.10 It can be seen that the actual heading angle of the missile can track the expected heading angle within the preset time, and then the state of the missile is aligned with the expected ballistic state. Fig.12 It can be seen that the tracking error of the missile in the later stage is basically 0, that is, the missile's later trajectory completely coincides with the expected trajectory, which can meet the guidance task. Therefore, the above simulation results fully verify the effectiveness of the guidance strategy proposed in this application.

[0157] The present application also provides an application scenario, which applies the above-mentioned attack time and angle control guidance method. Specifically: the attack time and angle control guidance method provided in this embodiment can be applied in a missile interception scenario. The missile interception scenario includes an information acquisition link, a control guidance link and an interception link; the initial parameters of the missile enter the control guidance link from the information acquisition link, obtain the normal overload instruction required by the missile, and enter the downstream interception link. The attack time and angle control guidance method provided in this embodiment belongs to the control guidance link. Specifically, in the control guidance link process for missile interception targets, a dynamic model can be established based on the scenario of a single missile intercepting a stationary target in a two-dimensional plane. Based on the dynamic model, with the attack time, attack angle and maximum normal acceleration as constraints, a cubic Bezier curve is used to generate the expected trajectory of the missile, and the trajectory tracking error is calculated according to the current position of the missile and the expected trajectory; the expected heading angle is calculated according to the tracking error and the heading angle of the expected trajectory, the heading angle tracking error is calculated according to the actual heading angle of the missile and the expected heading angle, and the normal overload instruction required for the missile is determined according to the heading angle tracking error and the preset time tracking guidance law.

[0158] Based on the same inventive concept, the embodiment of the present application also provides an attack time and angle control guidance device for implementing the above-mentioned attack time and angle control guidance method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in one or more attack time and angle control guidance device embodiments provided below can refer to the limitations of the attack time and angle control guidance method above, and will not be repeated here.

[0159] In an exemplary embodiment, Fig.13As shown, an attack time and angle control guidance device is provided, comprising:

[0160] The dynamic model building module T1 is used to: build a dynamic model based on the scenario of a single missile intercepting a stationary target in a two-dimensional plane;

[0161] The expected trajectory generation module T2 of the missile is used to: based on the dynamic model, with the attack time, attack angle and maximum normal acceleration as constraints, use a cubic Bezier curve to generate the expected trajectory of the missile;

[0162] The trajectory tracking error calculation module T3 is used to calculate the trajectory tracking error according to the current position of the missile and the expected trajectory;

[0163] The desired heading angle calculation module T4 is used to calculate the desired heading angle according to the tracking error and the heading angle of the desired trajectory;

[0164] The heading angle tracking error calculation module T5 is used to calculate the heading angle tracking error according to the actual heading angle and the expected heading angle of the missile;

[0165] The normal overload instruction determination module T6 is used to determine the normal overload instruction required by the missile according to the heading angle tracking error and the preset time tracking guidance law.

[0166] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Fig.14 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store missile control and guidance data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for controlling and guiding attack time and angle is implemented.

[0167] Those skilled in the art will understand that Fig.14The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0168] In an exemplary embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0169] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0170] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0171] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0172] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0173] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0174] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A method for controlling attack time and angle, characterized in that: The attack time and angle control guidance method comprises: Based on the scenario of a single missile intercepting a stationary target in a two-dimensional plane, a dynamic model is established; Based on the dynamic model, the desired trajectory of the missile is generated using a cubic Bezier curve with attack time, attack angle and maximum normal acceleration as constraints; Calculate the trajectory tracking error based on the missile's current position and desired trajectory; Calculate a desired heading angle based on the tracking error and the heading angle of the desired trajectory; Calculate the heading angle tracking error according to the actual heading angle and the expected heading angle of the missile; The normal overload command required by the missile is determined based on the heading angle tracking error and the preset time tracking guidance law.

2. The attack time and angle control guidance method according to claim 1, characterized in that: Based on the dynamic model, the expected trajectory of the missile is generated using a cubic Bezier curve with the attack time, attack angle and maximum normal acceleration as constraints, including: Design a trajectory of a single missile to intercept a stationary target based on a cubic Bezier curve, and determine a Bezier curve expression; the Bezier curve expression includes a first angle control parameter, a second angle control parameter, a first distance control parameter, and a second distance control parameter; The cost function is established with attack time and maximum normal acceleration as constraints; Determine a first angle control parameter and a second angle control parameter according to an initial heading angle and an initial attack angle of the missile; Solving the cost function to obtain a first distance control parameter and a second distance control parameter; The expected position coordinates of the missile and the first-order derivative and the second-order derivative of each expected position coordinate are determined according to the first angle control parameter, the second angle control parameter, the first distance control parameter, the second distance control parameter, and the initial position and the target position of the missile; the expected position coordinates of the missile constitute an expected trajectory.

3. The attack time and angle control guidance method according to claim 2, characterized in that: The Bezier curve expression is as follows: Among them, ε is the trajectory parameter; x(ε), y(ε) are the horizontal and vertical coordinates of the point on the cubic Bezier curve respectively; x0, y0 are the horizontal and vertical coordinates of the first control point respectively; f1, f2, f3, f4 are intermediate parameters; R1 is the first distance control parameter, R2 is the second distance control parameter, γ1 is the first angle control parameter, and γ2 is the second angle control parameter.

4. The attack time and angle control guidance method according to claim 2, characterized in that: The cost function is expressed as follows: Where J(R) represents the cost function, R = [R1, R2] T , R1 is the first distance control parameter, R2 is the second distance control parameter, ω1 and ω2 are two positive constants, is the attack time, is the maximum normal acceleration.

5. The attack time and angle control guidance method according to claim 2, characterized in that: Solving the cost function to obtain a first distance control parameter and a second distance control parameter specifically includes: The cost function is solved by using a zero-order Adam algorithm to obtain a first distance control parameter and a second distance control parameter.

6. The attack time and angle control guidance method according to claim 1, characterized in that: The tracking error is expressed as follows: e y =h(x)-y; Among them, e y is the trajectory tracking error, h(·) is the fitting function of the desired trajectory, x is the abscissa of the missile’s current position, and y is the ordinate of the missile’s current position.

7. The attack time and angle control guidance method according to claim 1, characterized in that: The preset time tracking guidance law is expressed as follows: Among them, a m is the normal acceleration of the missile, V m is the missile speed, T s is the preset time, k a is a positive constant, t represents the time, is the heading angle tracking error, γ d is the desired heading angle of the missile, is the first derivative of the desired heading angle of the missile.

8. An attack time and angle control guidance device, characterized in that: The attack time and angle control guidance device comprises: The dynamic model building module is used to: build a dynamic model based on the scenario of a single missile intercepting a stationary target in a two-dimensional plane; The expected trajectory generation module of the missile is used to: generate the expected trajectory of the missile using a cubic Bezier curve based on the dynamic model and taking the attack time, attack angle and maximum normal acceleration as constraints; The trajectory tracking error calculation module is used to calculate the trajectory tracking error according to the current position of the missile and the expected trajectory; The expected heading angle calculation module is used to calculate the expected heading angle according to the tracking error and the heading angle of the expected trajectory; The heading angle tracking error calculation module is used to calculate the heading angle tracking error according to the actual heading angle and the expected heading angle of the missile; The normal overload instruction determination module is used to determine the normal overload instruction required by the missile based on the heading angle tracking error and the preset time tracking guidance law.

9. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the attack time and angle control guidance method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the attack time and angle control guidance method described in any one of claims 1 to 7 is implemented.

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