Collaboration method and system for sequential high-dynamic aircrafts, and storage medium

Abstract

The invention provides a sequential high-dynamic aircraft cooperation method and system and a storage medium. The method is used for cooperative control of the sequential launching cooperative projectile group. The cannonballs in the sequential launching cooperative projectile group have navigation and trajectory correction capabilities, and trajectory data are pre-installed. The method comprises the following steps: launching a sequential launching cooperative projectile group by adopting a sequential launching mode; dividing the bullets of the bullet group into front bullets and rear bullets according to a sequential launching sequence; when a target is found, the front projectile carries out data calculation and trajectory correction, and target information and trajectory correction are sent to a projectile group network; the rear projectile performs data calculation and trajectory correction by using navigation positioning information, the trajectory correction amount of the front projectile and target information in combination with the flight state of the rear projectile; after the front bomb hits the target or is intercepted and damaged, the rear bomb meeting the front bomb condition is converted into the front bomb in the cooperative bomb group; the forward bullet condition is that an image seeker is arranged. By means of the device, the problems that the bullet group hitting precision is not high, and the device cost is too high can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of high-dynamic aircraft cooperation, and in particular to a cooperation method, a cooperation system and a storage medium for sequential high-dynamic aircraft. Background Art

[0002] Distributed, intelligent, and systematic are the important directions for the development of weapons and equipment today. Against this background, a new combat concept of missile group coordination has been proposed. Through the networking and empowerment of missile groups, the missiles in the missile group can share information with each other to form a combat cluster, and have autonomous attack capabilities such as coordinated formation, coordinated reconnaissance, and coordinated guidance, realizing intelligent combat of "integrated reconnaissance and attack", greatly improving the robustness of missiles to the combat environment, and improving the accuracy and efficiency of missile group coordinated attacks.

[0003] Missiles have a long range, a fast-response servo drive system that adjusts the trajectory in real time, and can track dynamic targets with the assistance of a high-precision seeker. They are often used for high-value military targets. Missiles are expensive, and the sensors and actuators attached to them provide the hardware foundation for missile group coordination. The accuracy and cost-effectiveness of missile strikes on targets also constitute the inherent driving force for missile group coordination. At present, a large number of studies on missile coordinated networking, navigation and guidance technologies have been carried out, and considerable results have been achieved.

[0004] Compared with missiles, barreled artillery shells such as grenades and rockets are cheap and have poor accuracy. They often do not have ballistic correction or guidance capabilities. They are usually used in a "fire and forget" manner. At the same time, in order to make up for their poor accuracy, saturation attack methods are often used. The above factors generally do not consider the coordination of grenade and rocket groups. However, due to the reduction in hardware costs in recent years and the demand for higher strike accuracy, grenades, rockets, etc. have begun to develop in the direction of "smart ammunition", such as terminal-sensitive bombs and ballistic correction bombs, so that grenades, rockets and other artillery shells have certain correction and guidance capabilities after being intelligent. This provides the premise for the networking of bomb groups.

[0005] At present, there have been relevant studies and achievements on intelligent ammunition, but most of them are limited to a single shell itself, and there is little research on its networking and coordination. Under the premise of controlling costs, through the intelligent transformation of conventional grenades and rockets, it can be networked and coordinated with the shell group, greatly improving the strike accuracy and combat cost-effectiveness. At the same time, it has great practical application value and significance for the upgrade of weapons and equipment and the transformation of conventional ammunition stocks. Summary of the invention

[0006] In view of this, the present invention provides a method, system and storage medium for coordinating sequential high-dynamic aircraft, which can solve the problems of low accuracy of group strikes and high device costs.

[0007] According to one aspect of an embodiment of the present invention, a sequential high-dynamic aircraft coordination method is provided. The sequential method refers to equally spaced launches from the same position and the same initial launch parameters. The high-dynamic aircraft are two types of grenades or rockets with slight structural differences, which are respectively referred to as "front projectiles" and "rear projectiles" according to their sequential launch order. It should be particularly pointed out that when the "front projectile" hits the target or is intercepted and damaged, if the subsequent "rear projectile" has the hardware conditions to become the "front projectile", then the "rear projectile" assumes the function of the "front projectile" in the coordinated projectile group and becomes the new "front projectile". The hardware conditions of the "front projectile" should meet the following requirements: on the basis of the hardware of the "rear projectile", it also has an image seeker at the end that can detect the target position and speed information in real time. The hardware conditions that the "rear projectile" should have include but are not limited to devices with the same functions: a communication transceiver module for real-time communication networking of the projectile group, a satellite navigation module and an inertial navigation module for realizing self-navigation positioning and speed measurement, an on-board computer for navigation information unpacking and real-time operation of the correction algorithm, a pulse engine for trajectory correction, and a setting module for setting the initial launch parameters and correction amount estimation before launch. Therefore, the artillery shells in the sequential launch coordinated projectile group have navigation and trajectory correction capabilities, and can be pre-installed with trajectory data.

[0008] In an exemplary embodiment, the collaborative method includes:

[0009] Step 1: Use a sequential firing method to fire a sequential firing coordinated shell group; the sequential firing method refers to using multiple barreled artillery with the same firing angle and firing azimuth in the firing position to fire shells in sequence according to a fixed firing time interval;

[0010] Step 2: Divide the shells in the swarm into front shells and rear shells according to the order of sequential firing, and communicate with each other through the swarm network; during the flight, each shell publishes its own navigation and positioning information to the swarm network for other shells to correct their own navigation and positioning information;

[0011] Step 3: When the target is found, the front missile performs data calculation and trajectory correction, and sends the target information and trajectory correction value to the missile group network; the rear missile uses the corrected navigation positioning information, the front missile trajectory correction value, and the target information, combined with the flight status of the rear missile itself, to perform data calculation and trajectory correction to improve the strike accuracy;

[0012] Step 4: After the front missile hits the target or is intercepted and destroyed, the rear missile that meets the front missile condition is converted into the front missile in the coordinated missile group; the front missile condition is that it has an image guidance head.

[0013] Preferably, the sequentially fired coordinated shell group includes at least two shells with forward firing conditions, which are distributed at intervals in the sequential firing sequence.

[0014] Preferably, before launching, initial information is set by a ground setting device and an onboard setting module. The ground setting device should at least have the following functional modules: a calculation module capable of performing full trajectory solution and correction amount estimation calculation for each trajectory position according to the launch parameters, and a sending module capable of transmitting trajectory information, correction amount estimation and navigation error function to the onboard setting module through short-range wireless communication. The initial setting information should at least include: the target position of the shell on standby, the predicted landing point of the shell itself, the launch parameters of the shell, the ideal solution trajectory information of the shell, and the estimated values ​​of the correction amount at different positions on the ideal trajectory.

[0015] In an exemplary embodiment, a sequential firing mode is adopted after the shell group is set. During the flight, each shell publishes its own navigation and positioning information to the shell group network for other shells to correct their own navigation and positioning information. Specifically, the front shell and the rear shell are both equipped with navigation components; the shell with the front shell condition is equipped with a navigation component including a satellite navigation module and an inertial navigation module; the shell without the front shell condition is at least equipped with an inertial navigation module;

[0016] When the target is not found, the shell group network transmits the navigation and positioning information of adjacent shells to each other. The shells that receive the adjacent navigation and positioning information combine the pre-installed ballistic data and the sequential launch time interval to estimate their own position information, and use this position information to assist in correcting the position information obtained by their own navigation components.

[0017] Preferably, the auxiliary correction can obtain the corrected navigation positioning data through a linear combination of confidence weighted coefficients, or can be corrected by using the deviation value of the two positions as the observation value of the Kalman filter.

[0018] When the artillery shell has both a satellite navigation module and an inertial navigation module, the onboard satellite navigation module and the inertial navigation module perform combined navigation, and provide the position, attitude and velocity information of the artillery shell corrected by the Kalman filter in real time through a loosely coupled manner. It should be pointed out that when the combat environment is under satellite denial conditions or the satellite navigation module is cancelled for the purpose of reducing costs, the inertial navigation module alone provides all the position, attitude and velocity information. The real-time trajectory is calculated through the above position, attitude and velocity information, and the trajectory deviation value is obtained by subtracting it from the ideal trajectory.

[0019] In an exemplary embodiment, after the “front missile” finds the target to be attacked in the final guidance phase, it performs data solution and trajectory correction, and sends the target information and trajectory correction value to the missile group network. Among them:

[0020] The data solution of the "front missile" includes: the front missile measures the relative position information of the target through the image seeker at the end of the trajectory, and calculates the absolute position information of the target in combination with its own navigation and positioning data. On the one hand, it subtracts the target from the initial position of the target to obtain the target deviation value, and on the other hand, obtains the target motion speed estimate through differential calculation. After the above solution is completed, the "front missile" packages the target information and its own flight data through the communication module and sends them to the subsequent missile group network, wherein the target information should at least include: target deviation value and target motion speed estimate, and the own flight data should at least include the navigation and positioning information of the "front missile" itself and the current correction data.

[0021] Furthermore, the front projectile calculates the current trajectory data according to the navigation and positioning information, compares it with the pre-set ideal trajectory, and obtains the trajectory deviation value of the landing point deviation; estimates the corrected remaining flight time according to its own remaining flight time in the trajectory data, combined with the pre-set correction amount data, and calculates the target predicted movement distance in combination with the target movement speed estimation; substitutes its own flight state, navigation and positioning data and the navigation and positioning data of the adjacent shells into the pre-set navigation error function to calculate the navigation error value;

[0022] The trajectory correction of the "front missile" includes: the front missile comprehensively considers the current trajectory deviation value, target deviation value, navigation error value, and target predicted movement distance, and obtains the total deviation value after linear weighting; compares the total deviation value with the pre-set current correction value of the front missile to see whether it meets the preset threshold value, so as to determine whether to enable the pulse engine on the front missile and the ignition phase and number of ignitions under the pulse engine; the on-board computer of the "front missile" updates the above process in real time, so that under a limited number of pulse engine pulse corrections, the final landing point error can be reduced to within the preset threshold value, thereby improving the strike accuracy.

[0023] The front missile further sends the target deviation value, target movement speed estimation, front missile navigation positioning information and current correction data to the missile group network.

[0024] In an exemplary embodiment, the "rear missile" in the missile group network receives the data packet sent by the front missile, unpacks it according to a predetermined communication protocol, and obtains at least the target deviation value, the target motion speed estimate, and the navigation positioning information and correction amount estimate of the "front missile". Considering that the "front missile" and the "rear missile" in the missile group network adopt a sequential launch mode, and their launch interval is a known fixed time, the "rear missile" can correct its own navigation positioning data according to the navigation positioning information and the launch interval time of the "front missile". The correction method is not limited to the positioning data fusion through the pre-set confidence weight coefficient to obtain more accurate navigation positioning data, and the navigation error value is calculated by substituting the original data into the pre-set navigation error function. The "rear missile" calculates the target predicted motion distance according to the estimate of the remaining flight time and the target motion speed estimate obtained by the communication network, and calculates the correction amount difference according to the correction amount estimate of the "front missile" and the correction amount estimate of the "rear missile" itself. The "rear bullet" comprehensively considers the current trajectory deviation value, target deviation value, navigation error value, target predicted movement distance and correction value difference, and uses different linear weighted combinations to obtain the total deviation value according to the different launch order of the "rear bullet". The total deviation value is compared with the current correction value pre-set by the "rear bullet" to see if it meets the preset threshold, so as to determine whether to enable the pulse engine and the ignition phase and number of ignitions under the pulse engine. The onboard computer of the "rear bullet" updates the above process in real time, so that under the limited pulse engine pulse correction, the final landing point can be reduced to within the preset threshold, thereby improving the strike accuracy.

[0025] The present invention also provides a sequential high-dynamic aircraft coordination system, the system comprising a sequentially launched coordinated bomb group and a ground setting device;

[0026] The sequential launch coordinated shell group contains at least 3 shells, all of which have navigation and trajectory correction capabilities and are pre-loaded with trajectory data; at least one shell has the forward launch condition;

[0027] The sequential firing coordinated shell group adopts the sequential firing mode, and multiple barreled guns with the same firing angle and firing azimuth in the firing position fire shells in sequence according to the fixed firing time interval; the shells of the shell group are divided into front shells and rear shells according to the order of sequential firing, and the shell group communicates through the shell group network; in the sequential firing coordinated shell group, after the front shell hits the target or is intercepted and damaged, the rear shell that meets the conditions of the front shell is converted into the front shell;

[0028] The shells in the sequential launch coordinated shell group all have an onboard computer and a setting module connected to the onboard computer, a pulse engine, a communication transceiver module, and a navigation component; the shells with forward launch conditions further include an image seeker at the end that can detect the target position and speed information in real time;

[0029] The navigation and positioning information obtained by the navigation component is published to the missile group network through the communication transceiver module, so that other shells can correct their own navigation and positioning information;

[0030] The communication transceiver module can package and send data information to other shells in the shell group network according to the preset communication protocol, and can also receive information from other projectiles or command information from other friendly units; the pulse engine can perform real-time trajectory control through a limited number of pulse ignitions; the setting module is used for wireless sensing with the ground setting device before launch to set the launch parameters, ballistic data and other information;

[0031] The missile-borne computer is responsible for data solution and trajectory correction. The leading missile sends the target information and trajectory correction value to the missile group network. The trailing missile uses the corrected navigation positioning information, the leading missile's trajectory correction value, and the target information, combined with the trailing missile's own flight status, to perform data solution and trajectory correction.

[0032] Specifically, the onboard computer can calculate the current trajectory data in real time based on the navigation information provided by the satellite navigation module and the inertial navigation module, and obtain the trajectory deviation value by subtracting it from the pre-set ideal trajectory; the onboard computer can also calculate the target predicted movement distance and the target current absolute position based on the target movement speed estimate and target relative position received by the communication module or detected by the image seeker, combined with the remaining flight time and its own absolute position; the onboard computer can also correct its own navigation and positioning results in combination with the "previous missile" positioning information received by the communication module and the fixed time interval of sequential launch. The correction method is not limited to positioning data fusion through preset confidence weight coefficients, and substituting the original data into a pre-set navigation error function to calculate the navigation error value.

[0033] In an exemplary embodiment, the above-mentioned onboard computer is also used for the coordinated correction calculation of the "front bullet" and the "rear bullet". For the "front bullet", the onboard computer comprehensively considers the trajectory deviation value, target deviation value, navigation error value and target predicted movement distance obtained above, and obtains the total deviation value after linear weighting. Compare the total deviation value with the pre-set current correction value of the "front bullet" to see whether it meets the preset threshold, so as to determine whether to enable the pulse engine and the ignition phase and number of ignitions under the pulse engine. Before the number of ignitions of the pulse engine is exhausted, the onboard computer of the "front bullet" loops the above calculations. For the onboard computer of the "rear bullet", in addition to comprehensively considering the above four parameters, the correction value difference with the "front bullet" is also considered. Different linear weighted combinations are used to obtain the total deviation value for the "rear bullet" with different launch orders. The deviation value is compared with the pre-set "after-bomb" current correction value to see whether it meets the preset threshold, so as to determine whether to enable the pulse engine and the ignition phase and number of ignitions under the pulse engine. Before the number of ignitions of the pulse engine is exhausted, the on-board computer of the "after-bomb" cycles the above calculations.

[0034] The ground setting device is used for wireless sensing data setting with the missile-borne setting module before launching, and the internal solution module can calculate the ideal trajectory data and the estimated value of the correction value according to the launch parameters. The ground setting device includes a solution module and a transmission module; the solution module solves the ideal trajectory information and the estimated value of the trajectory correction value according to the launch parameters, and transmits them to the missile-borne setting module through the transmission module in the form of short-range wireless communication.

[0035] According to another aspect of an embodiment of the present invention, there is also provided a missile-borne computer-readable storage medium, in which a computer program and initialization parameters are stored, wherein the computer program is used to run the above-mentioned collaborative method, and the initialization parameters include but are not limited to: the mass, moment of inertia, center of mass, center of pressure, projectile shape coefficient, and pulse engine equivalent impulse of the projectile.

[0036] In the embodiment of the present invention, after completing the pre-setting and sequential launch, the "front missile" detects the relative position information of the target at the end, and calculates the absolute position and the moving speed of the target in combination with its own navigation and positioning data, and packages the above-mentioned solution results and the flight data of the "front missile" itself to the missile group network through the communication transceiver module, and the said own flight data should at least include the navigation and positioning information and the current correction data of the "front missile" itself. The "front missile" comprehensively considers the ballistic deviation value, target deviation value, navigation error value, and target predicted movement distance at the current moment, and obtains the total deviation value after linear weighting, and compares the said total deviation value with the pre-set current correction value of the "front missile" to see whether it meets the preset threshold, so as to determine whether to enable the pulse engine and the ignition phase and ignition number under the pulse engine. After receiving the data of the "front missile" and unpacking it, the "rear missile" uses the navigation data of the "front missile" and the sequential launch interval time to correct its own navigation information and calculate the navigation deviation value. In addition to comprehensively considering the above four parameters, the "rear projectile" also takes into account the difference in correction amount with the "front projectile". Different linear weighted combinations are used to obtain the total deviation value for the "rear projectile" with different firing orders. The deviation value is compared with the pre-set current correction amount of the "rear projectile" to see whether it meets the preset threshold, so as to determine whether to enable the pulse engine and the ignition phase and number of ignitions under the pulse engine. Before the number of ignitions of the pulse engine is exhausted, the on-board computer of the "rear projectile" will cycle the above calculations. This solves the problem in the related art that the "intelligentization" and ballistic correction of artillery shells are limited to a single artillery shell, the accuracy of ballistic correction is low, and the cost of ballistic correction of artillery shells is high. The networking intelligence of conventional artillery shells is realized, and the strike accuracy, efficiency and cost-effectiveness are improved.

[0037] Beneficial effects:

[0038] (1) The present invention does not adopt the leader-follower mode in the prior art, but defines a sequential launch coordination mode and two roles: "front missile" and "rear missile". The "rear missile" can be converted into the front missile role, so that after the front missile hits the target or is destroyed, it can continue to lead the missile group and act in a targeted manner, which can reduce the deviation between the final landing point and the target to within a preset threshold, thereby improving the strike accuracy.

[0039] (2) The shells involved in sequential coordination can be directly used or modified from conventional grenades and rockets. The degree of intelligence required for the "front shells" and "rear shells" is different, and the difficulty of modification is reduced. Conventional shells can be used to the greatest extent to achieve flight coordination and ensure strike accuracy.

[0040] (3) In a preferred embodiment, the shells with a seeker that can become "front shells" can be evenly inserted in the sequential firing sequence, so that the advantages of coordination can be dispersedly covered to the entire shell group. In the above manner, the embodiment of the present invention uses the advantages of shell group networking to perform collaborative navigation and correction, while controlling the cost of the shell group, achieving improved strike accuracy and efficiency, and improving the combat cost-effectiveness of the shell group. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is a flow chart of a sequential high-dynamic aircraft coordination method according to an embodiment of the present invention;

[0042] Figure 2 is a block diagram of a sequential high-dynamic aircraft coordination device according to an optional embodiment of the present invention;

[0043] Figure 3 is a flow chart of a sequential high-dynamic aircraft collaboration algorithm according to an optional embodiment of the present invention;

[0044] Figure 4 is a schematic diagram of sequential high-dynamic aircraft coordination according to an optional embodiment of the present invention;

[0045] Figure 5 is a horizontal plane motion trajectory diagram of a sequential high-dynamic aircraft according to an optional embodiment of the present invention;

[0046] Figure 6 It is a partial enlarged view of the landing point of a sequential high-dynamic aircraft according to an optional embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0048] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0049] The present invention proposes a sequential high-dynamic aircraft coordination scheme, the basic idea of ​​which is that instead of adopting the leader-follower mode in the prior art, a sequential launch coordination mode and two roles, "front launch" and "rear launch" are defined.

[0050] In the present invention, sequential means launching at equal intervals from the same position and the same initial launch parameters. The high-dynamic aircraft are two types of grenades or rockets with subtle structural differences, which are respectively called "front projectiles" and "rear projectiles" according to their sequential launch order. When the "front projectile" hits the target or is intercepted and damaged, if the subsequent "rear projectile" has the hardware conditions to become the "front projectile", then the "rear projectile" will assume the function of the "front projectile" in the coordinated projectile group and become the new "front projectile". The hardware conditions of the "front projectile" should meet the following requirements: on the basis of the hardware of the "rear projectile", it also has an image seeker at the end that can detect the target position and speed information in real time. The hardware conditions that the "rear missile" should have include but are not limited to devices with the same functions: a communication transceiver module used for real-time communication networking of the missile group; a navigation component that realizes its own navigation positioning and speed measurement, such as a satellite navigation module and an inertial navigation module; an on-board computer for unpacking navigation information and running correction algorithms in real time; a pulse engine for trajectory correction; and a setting module for setting trajectory data such as initial launch parameters and correction amount estimation before launch.

[0051] For conventional artillery shells, if the above modules are available, they can be used directly. If some of the above modules are missing, corresponding modules can be added. Depending on the different roles of "front shell" and "rear shell" to be assumed by the shells, the modules to be added are also different. It can be seen that the shells participating in sequential coordination can be realized by directly using conventional grenades and rockets or through limited modification. The degree of intelligence required for "front shells" and "rear shells" is different, and the difficulty of modification is reduced. Conventional shells can be used to the greatest extent to achieve flight coordination and ensure strike accuracy.

[0052] The present invention proposes a sequential high-dynamic aircraft coordination method. Figure 1 One of the flow charts of the sequential high dynamic aircraft coordination method provided by the present invention is as follows: Figure 1 As shown, the collaborative method steps of this embodiment include:

[0053] Step S102, calculating and setting information before launching.

[0054] Specifically, before launching, the launch parameters need to be input through the calculation module of the ground setting device to calculate the expected ideal trajectory information and the correction amount estimation of the pulse engine correction at each trajectory position. The launch parameters include at least but are not limited to: the projectile firing angle, the projectile firing azimuth, the projectile muzzle velocity, the projectile rolling initial velocity, the initial relative angular position of the pulse engine nozzle, the altitude of the launch site, the atmospheric pressure, temperature, wind speed, and gravity acceleration.

[0055] Furthermore, the calculated ideal trajectory information and trajectory correction estimate are transmitted to the missile-borne setting module by wireless induction through the setting module of the ground setting device. In addition to the two information calculated above, at least the following pre-set information should be set through the setting module: the initial position of the target, the launch time interval of the sequential launch, the swarm communication key, and the navigation error function. Among them, the swarm communication key is used to decode the correct data through the key when the swarm communication transmits information. Among them, the navigation error function is used to take the flight status of the artillery shell, the original navigation information, and the swarm navigation information as input, and output an estimate of the navigation error. The specific form of the navigation error function can be determined by, but not limited to, experimental fitting to achieve an error estimate within a certain accuracy range.

[0056] Furthermore, after receiving various types of setting information, the onboard setting module transmits the setting information to the storage module of the onboard computer through the internal IO interface for storage, which is used for subsequent navigation correction, trajectory calculation, and calculation of coordination methods.

[0057] Step S104, sequentially launching the "front bullet" and the "rear bullet".

[0058] Step S106, missile group communication networking and navigation correction.

[0059] Specifically, after the sequential launch, the "front projectile" and "rear projectile" establish a data link through the onboard communication transceiver module to implement the set communication protocol and conduct communication networking. During this flight, the onboard satellite navigation module and the inertial navigation module perform combined navigation, and provide real-time position, attitude and velocity information of the projectile after Kalman filter correction in a loosely coupled manner. It should be pointed out that when the combat environment is under satellite denial conditions or when the satellite navigation module is cancelled for the purpose of reducing costs, the inertial navigation module alone provides all the position, attitude and velocity information. The onboard computer calculates the real-time trajectory through the above position, attitude and velocity information, and obtains the trajectory deviation value by subtracting it from the ideal trajectory.

[0060] Specifically, at this time, it is still in the stage where the target has not been found. The shell group network transmits the navigation and positioning information of the adjacent shells to each other. The shells that receive the adjacent navigation and positioning information can estimate their own position information in combination with the pre-set ballistic data and the sequential launch time interval, and use this position information to assist in correcting the position information obtained by the navigation module. The correction method can be but is not limited to obtaining higher-precision position data through a linear combination of confidence weighted coefficients. A weight can be given to the position information of each sensor or navigation module from the perspective of confidence, and the complementary information of multiple sensors can be calculated using linear combination models, filtering algorithms and other methods to improve positioning accuracy, or the deviation value of the two positions is used as the observation value of the Kalman filter for correction.

[0061] Step S108: The “front missile” terminal detects the target information and sends it to the missile group.

[0062] Specifically, when the "front missile" flies to the end of the trajectory, the image seeker detects the target and measures the relative position information of the target. The onboard computer combines the relative position information of the target with its own navigation and positioning data to calculate the absolute position information of the target, and subtracts it from the initial position of the target to obtain the target deviation value. At the same time, the "front missile" differentiates the absolute position information of the target to obtain the target motion speed estimate. After completing the above calculations, the "front missile" packages and encodes the target information and its own flight data through the communication module, and sends it to the subsequent missile group network according to the prescribed communication protocol, wherein the target information should at least include: target deviation value and target motion speed estimate, and the own flight data should at least include the navigation and positioning information of the "front missile" itself and the current correction value data.

[0063] Step S110, "forward bullet" performs data solution and trajectory correction.

[0064] Specifically, the onboard computer of the "front projectile" estimates the corrected remaining flight time based on its own remaining flight time in the trajectory information and the pre-set correction data, and calculates the target predicted movement distance based on the target movement speed estimation in the previous step. The onboard computer of the "front projectile" substitutes its own flight status, navigation positioning data and the navigation positioning data of the adjacent shells into the pre-set navigation error function to calculate the navigation error value.

[0065] Furthermore, the "front bullet" comprehensively considers the current trajectory deviation value, target deviation value, navigation error value, and target predicted movement distance, and obtains the total deviation value after linear weighting. The total deviation value is compared with the pre-set current correction value of the "front bullet" to see whether it meets the preset threshold, thereby determining whether to enable the pulse engine and the ignition phase and ignition number under the pulse engine. Under the limited number of corrections of the pulse engine, the deviation between the final landing point of the "front bullet" and the target is reduced, effectively improving the strike accuracy.

[0066] Step S112: The “rear bullet” receives the “front bullet” information to perform data calculation and trajectory correction.

[0067] Specifically, after the communication transceiver module of the "rear missile" in the missile group receives the communication data of the "front missile", the missile-borne computer decodes the data with the pre-installed communication key to obtain the navigation and positioning information, current correction data, target deviation value and target motion speed estimate of the "front missile". The missile-borne computer of the "rear missile" estimates the corrected remaining flight time based on its own remaining flight time in the trajectory information, combined with the installed correction data, and calculates the target predicted motion distance in combination with the target motion speed estimate obtained through communication. The missile-borne computer of the "rear missile" substitutes its own flight status, navigation and positioning data and the navigation and positioning data of the "front missile" into the pre-installed navigation error function to calculate the navigation error value.

[0068] Furthermore, the "rear bullet" comprehensively considers the current trajectory deviation value, target deviation value, navigation error value, target predicted movement distance and correction value difference, and uses different linear weighted combinations according to the different launch order of the "rear bullet". The total deviation value is compared with the current correction value pre-set by the "rear bullet" to see whether it meets the preset threshold, so as to determine whether to enable the pulse engine and the ignition phase and ignition number under the pulse engine. Under the pulse correction of the limited pulse engine, the deviation between the final landing point and the target can be reduced to within the preset threshold, thereby improving the strike accuracy.

[0069] In this embodiment, steps S106-S112 of the coordination method are repeatedly executed in a loop during the attack process of the entire shell group until the number of projectiles in the shell group is less than 2 due to being intercepted or the target being hit is damaged. It should be pointed out that during the entire attack process, there can be more than one "front projectile" of the shell group, and the information data of multiple "front projectiles" received by the "rear projectile" will be fused to perform the above steps. Preferably, since the projectile needs to have a certain precision image guidance head to become a "front projectile", the hardware cost is higher than that of an ordinary "rear projectile", so in order to reduce the cost of the entire shell group as much as possible while ensuring the accuracy and efficiency of the shell group coordination, the shells with guidance heads that can become "front projectiles" can be evenly inserted in the sequential firing sequence, and the advantages of coordination are dispersedly covered to the entire shell group. In the above manner, the embodiment of the present invention uses the advantages of shell group networking to perform coordinated navigation and correction, while controlling the cost of the shell group, it achieves the improvement of strike accuracy and efficiency, and improves the combat cost-effectiveness of the shell group.

[0070] like Figure 2 As shown, a block diagram of the coordinated system of a sequential high-dynamic aircraft is provided. It should be noted that the modules listed here are the main functional modules mainly used for the coordination of the shell group. The fuze, warhead, shell connector and other components used to ensure the normal operation of the shells are still needed, but they are not listed here one by one. The modules involved in the figure can be replaced by other devices with at least equivalent functions.

[0071] The devices proposed in this embodiment are three types of instance objects: front missile 21, rear missile 22, and ground setting device 23. The front missile 21 includes the following devices for missile group coordination: image guidance head 211, satellite navigation module 212, inertial navigation module 213, missile-borne computer 214, communication transceiver module 215, pulse engine 216, and setting module 217. The rear missile 22 includes the following devices for missile group coordination: communication transceiver module 221, satellite navigation module 222, inertial navigation module 223, missile-borne computer 224, pulse engine 225, and setting module 226. The modules included in the ground setting device 23 are: solution module 231 and sending module 232.

[0072] The calculation module 231 of the ground setting device 23 is used to calculate the expected ideal trajectory information and the correction amount estimation of the pulse engine correction at each trajectory position according to the launch parameters. The launch parameters include at least but not limited to: the firing angle of the shell, the azimuth of the shell, the initial velocity of the shell, the initial rolling velocity of the shell, the initial relative angular position of the pulse engine nozzle, the altitude of the launch position, the atmospheric pressure, the temperature, the wind speed, and the gravity acceleration. The sending module 232 of the ground setting device 23 is used to transmit the calculated ideal trajectory information and the estimated trajectory correction amount to the missile-borne setting module through the setting module of the ground setting device in the form of short-range wireless communication. In addition to the two information calculated above, at least the following pre-set information should be set through the setting module: the initial position of the target, the launch time interval of the sequential launch, the missile group communication key, and the navigation error function. The missile group communication key is used to decode the correct data through the key when the missile group communication transmits information. The navigation error function is used to take the flight state of the shell, the original navigation information, and the shell group navigation information as input, and output an estimated value of the navigation error. The specific form of the navigation error function can be determined by, but not limited to, experimental fitting to achieve an error estimate within a certain accuracy range. The specific implementation scheme of the short-range wireless communication includes, but is not limited to, WIFI, Bluetooth, Zigbee, IrDA, NFC, UWB and other technologies.

[0073] Among them, the image seeker 211 is used for detecting the strike target and measuring the relative position of the strike target when the "main missile" is at the end of flight, and sending the data through the data bus to the missile-borne computer for subsequent processing and the communication transceiver module for collaborative information sharing; the communication transceiver modules 215 and 221 have the same information sending and receiving functions, and use a consistent communication protocol for missile group networking and data exchange; the pulse engines 216 and 225 are evenly distributed around the missile body, and have the function of adjusting the trajectory through short-term pulses. The number of pulse corrections is limited by the mass of the charge; the setting modules 217 and 226 are used to set the initial information with the ground setting device 23 through wireless induction before launch, and the initial information includes but is not limited to: ideal trajectory data, correction amount estimation based on the ideal trajectory, initial position of the target, launch time interval of sequential launch, missile group communication key and navigation error function.

[0074] Among them, the satellite navigation modules 212, 222 and the inertial navigation modules 213, 223 perform combined navigation in a loosely coupled manner, and the position information output by the satellite navigation module and the inertial navigation module are subtracted as the observation input of the Kalman filter, and the original data is compensated by the error estimation of the Kalman filter. When the satellite navigation module cannot work under satellite denial conditions, or when the satellite navigation module is removed for cost control, the inertial navigation module provides all navigation data alone to ensure the normal operation of the entire process.

[0075] Among them, the onboard computers 214 and 224 are mainly responsible for processing and calculating relevant data and issuing digital instructions: the onboard computer obtains the current ballistic information based on the corrected navigation information, compares it with the pre-set ideal trajectory, and calculates the ballistic deviation value; the onboard computer substitutes its own flight status, navigation positioning data and the navigation positioning data of adjacent shells into the pre-set navigation error function to calculate the navigation error value; the onboard computer estimates the corrected remaining flight time based on its own remaining flight time in the trajectory information and the pre-set correction data, and calculates the target predicted movement distance in combination with the target movement speed estimate obtained by the seeker; the onboard computer comprehensively considers the current moment's ballistic deviation value, target deviation value, navigation error value, and target predicted movement distance, obtains the total deviation value after linear weighting, compares the total deviation value with the pre-set current correction estimate to see if they meet the preset threshold, and thereby determines whether to enable the pulse engine and the ignition phase and number of ignitions under the pulse engine.

[0076] Optional, such as Figure 3 The figure shows a calculation flow diagram of a sequential high-dynamic aircraft coordination method according to an optional embodiment of the present invention, the specific object of which is the "backward rebound" described in the exemplary embodiment, and includes the following calculation process:

[0077] After the missile group is launched sequentially, the "rear missile" decides whether to perform loosely coupled integrated navigation based on whether it receives GPS signals: when it receives GPS signals, the "rear missile" uses the inertial navigation module and the GPS navigation module for loosely coupled integrated navigation; when it does not receive GPS signals, it uses the inertial navigation module alone to obtain navigation data. Assume that the integrated navigation is selected by the attitude angle error Speed ​​error [δV E ,δV N ,δV U ], position error [δL, δλ, δh], gyroscope error [ε x ,ε y ,ε z ] and accelerometer measurement error The state variables are:

[0078]

[0079] The position and velocity difference output by the inertial navigation module and the GPS navigation module is taken as the system's observation quantity Z. In order to facilitate programming in the computer, the system state equation and measurement equation are discretized, namely:

[0080]

[0081] Where X k ,X k-1 are the state variables of the system at time k-1 and k respectively, Φ k,k-1 is the state transfer matrix from time k-1 to time k, Γ k-1 is the noise input matrix at time k-1, W k-1 is the system noise at time k-1, V k is the measurement noise at time k. Preferably, the measurement noise and system noise both obey the zero-mean white noise statistical distribution and are independent and uncorrelated with each other. k is the observed value at time step k, H k is the observation matrix, which is used to transform the state vector X k Mapped to the observation space so that it is consistent with the actual observation value Z k Make a comparison.

[0082] After the initial state estimate is given, the Kalman filter time update equation and measurement update equation are established, namely:

[0083] X k,k-1 =Φ k,k-1 X k-1

[0084]

[0085] P k =(IK k H k ) k,k-1

[0086] X k =X k,k-1 +K k (Z k -H k X k,k-1 )

[0087] In the formula, To obtain the estimated value of the system state at time k, P k is the covariance matrix of the system state at time k, P k,k-1 for The covariance matrix, Q k-1 is the system noise covariance matrix at time k-1, R kis the measurement noise covariance matrix at time k, K k is the Kalman gain matrix at time k.

[0088] The next step is to calculate the current ballistic trajectory based on the navigation and positioning results. Preferably, in order to reduce the computing power burden of the onboard computer, the frequency of the trajectory calculation can be appropriately reduced. The trajectory change caused by interference within a certain time interval is not obvious and is within the acceptable range. The following takes the 3-DOF particle model as an example to calculate the ballistic trajectory. Assume that the current position and velocity obtained by the navigation module constitute the initial value of the state vector:

[0089] S=[x,y,z,v x ,v y ,v z ] T

[0090] Among them, x, y, and z are the three directions in the launch coordinate system, x points to the shooting plane in the horizontal plane, y points vertically upward, and the z direction and x and y satisfy the right-hand rule. x ,v y ,v z are the velocity components of the projectile in the x, y, and z directions respectively.

[0091] According to the type of current shell, shell shape parameters, aerodynamic parameters, flight phase, and meteorological parameters, the dynamic equation of its state is expressed as:

[0092]

[0093] The fourth-order Runge-Kutta method is used to numerically integrate the dynamic equation, namely:

[0094]

[0095] K 1 =F(t n ,S n )

[0096]

[0097] K 4 =F(t n +h,S n +hK 3 )

[0098] Among them, S n ,S n+1 are the system states at time n and time n+1 respectively, h is the numerical integration step, which can be selected by balancing the calculation accuracy and speed, K 1 ,K 2 ,K 3 ,K4 is the middle slope. The termination condition of the numerical integration is when the height y of the projectile is 0, and the corresponding x and z are the coordinates of the landing point. Preferably, the termination condition can be determined by comparing the height map of the actual terrain. For projectiles with a longer range, the influence of the earth's curved surface can be considered. The calculated current trajectory is subtracted from the landing point of the pre-set ideal trajectory to obtain the trajectory deviation value E t .

[0099] The missile-borne computer repeats the above steps until it receives information about the missile group. At this time, if the pulse engine still has the number of corrections left, it will perform further calculations. The "rear missile" decodes the information received by the communication transceiver module to obtain the current position of the target, the estimated target movement speed, the current position of the "front missile" and the estimated correction amount. The missile-borne computer obtains the target deviation E by subtracting the current position of the target from the initial position of the target. r Combined with the trajectory information calculated by the pre-set correction value, the remaining flight time is estimated. Assuming that the equivalent specific impulse value of the current correction value is I sp =[I spx ,I spy ,I spz ] T , the current velocity value in the y direction is v y , then optionally, the remaining flight time can be estimated as:

[0100]

[0101] Where Δm is the mass of propellant consumed by the pulse engine when it is activated once, m is the current mass of the projectile, g is the local gravitational acceleration, and ΔT tg is the correction compensation. Estimate v based on the remaining flight time and target motion speed t The target motion estimate E can be calculated p :

[0102]

[0103] According to the pre-set navigation error function F navi Calculate the navigation error E n

[0104] E n =F navi (S i ,S j )

[0105] Where S i ,S j are the flight states of the front projectile and the rear projectile respectively. The navigation error function can be obtained based on experimental statistics.

[0106] According to the current correction estimates of "forward rebound" and "backward rebound", the correction difference E is obtained. c .

[0107] The above deviation estimates are linearly weighted to obtain the total deviation estimate E a :

[0108]

[0109] Among them, K t ,K r ,K n ,K p ,K c are the weighting coefficients of each deviation value, and Δn is the difference in the launch sequence between the “latter bullet” and the “front bullet” that sends information. The total deviation estimate E a and the current correction estimate C p After comparison, when E a >C p When the pulse engine is enabled, it is enabled, otherwise it is not enabled.

[0110] If the pulse engine is enabled for correction, in the process of using the Runge-Kutta method to solve the ballistic equation, additional thrust is given to the projectile in the xyz direction in each solution cycle. The established mathematical model is:

[0111]

[0112] Among them, V x , V y , V z are the x, y, and z axis velocity components of the guided projectile in the ground coordinate system, C is the drag coefficient, H(y) is the air weight function, G(v r ,c z ) is the air resistance coefficient, v r is the relative velocity of the projectile, c z is the drag coefficient obtained by interpolation, Ω is the angular velocity of the earth's rotation, g 0 is the acceleration due to gravity, α is the angle of incidence, Λ is the sideslip angle, R is the radius of the earth, and w x is the lateral wind speed, w z is the longitudinal wind speed, P x , P y , P z It is the pulse thrust of the pulse engine acting on three axes.

[0113] Table 1 Guided projectile parameters

[0114]

[0115] Based on the above steps, a guided artillery shell simulation experiment was conducted. The simulation used 8 guided artillery shells. The shells were fired sequentially at a time interval of 7.5 seconds. The pulse engine ignited a maximum of 8 times. The first four shells and the last four shells used the same algorithm for comparison. The shell launch point was (0, 0, 0), the preset impact point was (23373m, 437m, 0), and the target moved along the x-axis at 11 meters per second. The results of the guided artillery shell simulation experiment are shown in Table 2. In each of the four guided artillery shells, the deviation between the shell landing point and the actual target position was significantly reduced after the pulse correction, and the effect was particularly obvious in the last three shells.

[0116] Table 2 Simulation results after adding pulse thrust

[0117]

[0118] The simulation experiment image of the guided artillery shell after the pulse engine is pulse corrected is as follows Figure 5 and Figure 6 As shown, after the "rear projectile" receives the correction information of the "front projectile" and performs pulse correction, the landing point error is significantly reduced. After correction, the landing point error is about 10m, which proves that the present invention can effectively reduce the strike error of guided artillery shells and improve the strike accuracy.

[0119] The missile group coordination method provided in the embodiment of the present invention completes a limited number of trajectory corrections under collaborative information sharing through the above calculations, thereby making the trajectory landing point closer to the target and the strike more accurate.

[0120] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored. The computer program is configured to execute the steps in the above embodiment.

[0121] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, an optical disk, a magnetic disk, and a flash memory.

[0122] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above embodiments.

[0123] In an exemplary embodiment, the above-mentioned electronic device may also include a data bus, a control bus, a digital input and output IO interface, and a power chip, wherein the power chip is responsible for providing the rated operating voltage to each device; the data bus connects the memory, the processor and the digital IO interface, and is responsible for the transmission of data information; the control bus connects the memory, the processor and the digital IO interface, and is responsible for transmitting control information; the digital input and output IO interface is responsible for connecting the digital input or output ports of various external devices to the processor.

[0124] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0125] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be distributed and made into various integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0126] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for coordinating sequential high-dynamic aircraft, characterized in that: This method is used for the coordinated control of sequentially launched coordinated missile groups; The artillery shells in the sequentially fired coordinated shell group have navigation and trajectory correction capabilities and are pre-loaded with trajectory data; the method includes: Step 1: Use a sequential firing method to fire a sequential firing coordinated shell group; the sequential firing method refers to using multiple barreled artillery with the same firing angle and firing azimuth in the firing position to fire shells in sequence according to a fixed firing time interval; Step 2: Divide the shells in the swarm into front shells and rear shells according to the order of sequential firing, and communicate with each other through the swarm network; during the flight, each shell publishes its own navigation and positioning information to the swarm network for other shells to correct their own navigation and positioning information; Step 3: When the target is found, the front missile performs data calculation and trajectory correction, and sends the target information and trajectory correction value to the missile group network; the rear missile uses the corrected navigation positioning information, the front missile trajectory correction value, and the target information, combined with the flight status of the rear missile itself, to perform data calculation and trajectory correction to improve the strike accuracy; Step 4: After the front missile hits the target or is intercepted and destroyed, the rear missile that meets the front missile condition is converted into the front missile in the coordinated missile group; the front missile condition is that it has an image guidance head.

2. The method according to claim 1, characterized in that The sequentially fired coordinated shell group includes at least two shells with forward firing conditions, which are distributed at intervals in the sequential firing sequence.

3. The method according to claim 1, characterized in that In step 2, each shell publishes its own navigation and positioning information to the shell group network, so that other shells can correct their own navigation and positioning information as follows: The front shell and the rear shell are both equipped with navigation components; the shell with the front shell condition is equipped with a navigation component including a satellite navigation module and an inertial navigation module; the shell without the front shell condition is at least equipped with an inertial navigation module; When the target is not found, the shell group network transmits the navigation and positioning information of adjacent shells to each other. The shells that receive the adjacent navigation and positioning information combine the pre-installed ballistic data and the sequential launch time interval to estimate their own position information, and use this position information to assist in correcting the position information obtained by their own navigation components.

4. The method according to claim 3, characterized in that The auxiliary correction of the position information obtained by the self-navigation component is as follows: The corrected navigation positioning data is obtained through the linear combination of confidence weighted coefficients; Alternatively, the deviation between the two positions is used as the observation value of the Kalman filter for correction.

5. The method according to claim 1, characterized in that In step 3, when the target is found, the front missile performs data calculation and trajectory correction, and sends the target information and trajectory correction value to the missile group network: Data solution includes: the front projectile measures the relative position information of the target through the image seeker at the end of the trajectory, combines its own navigation and positioning data, calculates the absolute position information of the target, and subtracts it from the initial position of the target to obtain the target deviation value, thereby obtaining the target motion speed estimate; solves the current trajectory data according to the navigation and positioning information, compares it with the pre-set ideal trajectory, and obtains the trajectory deviation value of the landing point deviation; estimates the corrected remaining flight time according to its own remaining flight time in the trajectory data, combines the pre-set correction amount data, and calculates the target predicted motion distance in combination with the target motion speed estimate; substitutes its own flight status, navigation and positioning data and the navigation and positioning data of adjacent shells into the pre-set navigation error function to calculate the navigation error value; The trajectory correction includes: the front projectile comprehensively considers the trajectory deviation value, target deviation value, navigation error value, and target predicted movement distance at the current moment, and obtains a total deviation value after linear weighting; compares the total deviation value with the pre-set current correction value of the front projectile to see whether it meets the preset threshold value, so as to determine whether to enable the pulse engine on the front projectile and the ignition phase and ignition quantity under the pulse engine; The target deviation value, target motion speed estimation, forward missile navigation positioning information and current correction data are sent to the missile group network.

6. The method according to claim 5, characterized in that In step 3, the data calculation and trajectory correction of the back bullet are as follows: The rear projectile estimates the corrected remaining flight time based on its own remaining flight time in the pre-installed trajectory data and the set correction data, and calculates the predicted movement distance of the second target based on the target movement speed estimate obtained through communication; According to the correction result of the navigation positioning information, the current trajectory data is solved and compared with the pre-set ideal trajectory to obtain the second trajectory deviation value of the landing point deviation; Substituting its own flight status, navigation positioning data and previous missile navigation positioning information into a pre-set navigation error function, and calculating a second navigation error value; The correction difference is obtained by subtracting the trajectory correction data of the preceding projectile obtained through the group communication from the current trajectory correction estimate of the projectile itself; The rear bullet comprehensively considers the second ballistic deviation value, the second target deviation value, the second navigation error value, the second target predicted movement distance and the correction value difference at the current moment, and can use a linear weighted combination to obtain the second total deviation value under the perspective of the rear bullet. According to the different firing order of the rear bullet, different linear weighted combinations are used to obtain the second total deviation value, and the second total deviation value is compared with the current correction value pre-set for the rear bullet to see whether it meets the preset threshold, so as to determine whether to enable the pulse engine on the rear bullet and the ignition phase and ignition number under the pulse engine. The remaining rear bullets can be calculated in sequence to obtain their own second total deviation values. According to the above steps, it is judged whether it meets the threshold value, so as to determine the control instructions of the remaining rear bullets themselves.

7. The method according to claim 1, characterized in that The method further includes: performing initial information setting by a ground setting device and a missile-borne setting module before launching, including: The ground setting device calculates the expected ideal trajectory information and estimates the correction amount of the pulse engine correction at each trajectory position based on the input launch parameters; The calculated ideal trajectory information, trajectory correction estimate, together with the target's initial position, sequential launch time interval, group communication key, and navigation error function are transmitted to the missile-borne setting module through the ground setting device by wireless induction.

8. The method according to claim 1, characterized in that The launch parameters include: the projectile firing angle, the projectile launching azimuth, the projectile muzzle velocity, the projectile rolling initial velocity, the initial relative angular position of the pulse engine nozzle, the altitude of the launch site, the atmospheric pressure, temperature, wind speed, and gravity acceleration.

9. A sequential high-dynamic aircraft coordination system, characterized in that: The system includes a sequential launch coordinated bomb group and ground setting device; The sequential launch coordinated shell group contains at least 3 shells, all of which have navigation and trajectory correction capabilities and are pre-loaded with trajectory data; at least one shell has the forward launch condition; The sequential firing coordinated shell group adopts the sequential firing mode, and multiple barreled guns with the same firing angle and firing azimuth in the firing position fire shells in sequence according to the fixed firing time interval; the shells of the shell group are divided into the front shells and the rear shells according to the order of sequential firing, and the shell group communicates through the shell group network; In a sequentially launched coordinated missile group, after the leading missile hits the target or is intercepted and destroyed, the trailing missile that meets the leading missile conditions will be converted into the leading missile; The shells in the sequential launch coordinated shell group all have an onboard computer and a setting module connected to the onboard computer, a pulse engine, a communication transceiver module, and a navigation component; the shells with forward launch conditions further include an image seeker at the end that can detect the target position and speed information in real time; The navigation and positioning information obtained by the navigation component is published to the missile group network through the communication transceiver module, so that other shells can correct their own navigation and positioning information; The onboard computer is responsible for data analysis and trajectory correction, including; The leading missile sends the target information and trajectory correction to the missile group network; the trailing missile uses the corrected navigation and positioning information, the trajectory correction of the leading missile, and the target information, combined with the flight status of the trailing missile itself, to perform data calculation and trajectory correction; The ground setting device includes a calculation module and a sending module; the calculation module calculates ideal trajectory information and trajectory correction amount estimation according to various launch parameters, and transmits them to the missile-borne setting module through the sending module in a short-range wireless communication mode.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program, when running, executes the sequential high-dynamic aircraft coordination method described in any one of claims 1 to 8.

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