Long-distance gliding jump type guidance control method

Abstract

The invention relates to the field of aircraft control, in particular to a long-distance gliding jump type guidance control method, which comprises the following steps of: S1, carrying out trajectory optimization on an energy supplementing boosting mode in an atmosphere through a guidance control system; s2, in a simulation analysis stage, constraining a reentry gliding jump trajectory; s3, setting the minimum spacing distance in adjacent flight paths according to the constraint condition of the simulated single aircraft, installing a laser ranging and velocimeter at the warhead of each aircraft, and performing data comparison on the spacing distance between the aircrafts obtained by the laser ranging and velocimeters and the minimum spacing distance in the simulation analysis stage; s4, adjusting the flight attitude or speed of the aircraft; and S5, accurate guidance. According to the method, the minimum distance of the nearest perturbation trajectory of the adjacent aircraft is restrained by simulating the multiple perturbation trajectories of the single aircraft, and distance data are monitored in real time through laser ranging and the tachymeter, so that the purposes of controlling the trajectory of the aircraft and avoiding the collision risk are achieved.

Description

Technical Field

[0001] The invention relates to the field of aircraft control, and in particular to a long-distance gliding and jumping guidance control method. Background Art

[0002] With the rapid development of modern military technology, long-range gliding and jumping guidance technology has become an important technology in the field of aircraft control. This technology is mainly used in long-range gliding aircraft, such as hypersonic gliding missiles, which can achieve high-precision and high-maneuverability strike or reconnaissance missions at long distances. Long-range gliding and jumping guidance refers to the process of precise calculation and control, so that the aircraft can fly according to the predetermined trajectory during the gliding process, and finally reach the target position accurately. The emergence of this guidance technology has greatly improved the strike accuracy and survivability of the aircraft. In a complex battlefield environment, aircraft need to face various complex threats and challenges, such as interception by enemy air defense systems, complex meteorological conditions, etc. By adopting long-range gliding and jumping guidance technology, the aircraft can glide and jump multiple times during the flight, thereby effectively avoiding enemy threats and improving survivability. At the same time, this technology can also enable aircraft to achieve high-precision strikes at long distances, causing serious damage and threats to enemy targets.

[0003] However, in the process of multiple aircraft flying at the same time, the existing long-distance gliding and jumping guidance technology still has some defects. Specifically, when the aircraft is traveling on a calculated regular trajectory, the aircraft may be disturbed due to environmental problems, such as changes in meteorological conditions, terrain undulations, etc. This disturbance will cause the actual trajectory of the aircraft to deviate from the regular trajectory and continue to fly near it. In order to ensure the safety of multiple aircraft during flight, when multiple aircraft are flying, it is urgent to calculate and monitor the minimum constraint distance between adjacent perturbed trajectories to achieve guidance control of the long-distance gliding and jumping segments of the aircraft. Summary of the invention

[0004] To solve the above problems, the present invention provides a long-distance gliding jumping guidance control method, which simulates multiple perturbation trajectories of a single aircraft to constrain the minimum distance of the nearest perturbation trajectory of its adjacent aircraft, and monitors the distance data in real time through laser rangefinders and speed meters, so as to achieve the purpose of controlling the trajectory of the aircraft and avoiding the risk of collision.

[0005] In order to achieve the above object, the technical solution of the present invention is as follows: a long-distance gliding jumping guidance control method, comprising the following steps:

[0006] S1, for long-distance jump gliding motion, the trajectory of the energy-replenishing boost in the atmosphere is optimized through the guidance and control system, and the glide ballistic motion model and the dimensionless motion equation of the energy-replenishing gliding phase are established according to the unpowered three-degree-of-freedom reentry polar coordinate system motion equation of the boost-glide vehicle;

[0007] S2, in the simulation analysis stage, constrains the reentry glide jump trajectory;

[0008] S3, setting the minimum separation distance in adjacent flight trajectories according to the constraints of a simulated single aircraft, installing a laser rangefinder and velocimeter at the warhead of each aircraft to measure the round-trip time and frequency change of the laser pulse to calculate the position and speed of the aircraft, and comparing the data between the aircraft obtained by the laser rangefinder and velocimeter with the minimum separation distance in the simulation analysis stage;

[0009] S4, after comparing the distance between the aircrafts obtained by the laser rangefinder and the speed meter with the minimum distance between the aircrafts in the simulation analysis phase, if the distance between the aircrafts is less than the set minimum distance between the aircrafts, adjusting the flight attitude or speed of the aircrafts;

[0010] S5, when the aircraft approaches the target area, the guidance and control system accurately guides the aircraft according to the target position information to ensure that the aircraft can accurately reach the target position.

[0011] Further, in step S1, based on the force analysis, assumptions and coordinate definitions, the model building module establishes a three-degree-of-freedom motion equation for the jump gliding segment, and the assumptions of the motion equation are: the earth is a rotating sphere; the energy replenishment reasoning is along the direction of the aircraft body axis, and the thrust angle of attack is equal to the flight angle of attack.

[0012] Further, in step S1, the three-degree-of-freedom motion equation of the jump gliding section is:

[0013]

[0014] Among them, the position parameters of the motion equation are described in the geocentric system using polar coordinates, including the geocentric distance r, the longitude λ of the sub-satellite point, and the geocentric latitude φ of the sub-satellite point; the velocity parameters are described in the local north celestial east coordinate system, consisting of the velocity magnitude V, the track angle γ, and the heading angle ψ; L and D are the aerodynamic lift and drag, respectively, and have:

[0015]

[0016] Where ρ, S ref , C L , C Dare respectively the atmospheric density, aerodynamic reference area, lift coefficient and drag coefficient; m is the total mass of the aircraft including the booster engine, t is the flight time, I is the specific impulse of the booster engine; ω, g, σ, α are respectively the angular velocity of the earth's rotation, gravitational acceleration, roll angle and angle of attack.

[0017] Furthermore, in step S1, in order to improve the efficiency of solving the trajectory optimization problem of the energy replenishment jump gliding stage, the model building module further non-dimensionalizes the three-degree-of-freedom motion equation of the jump gliding stage, and defines the dimensionless distance from the center of the earth z, speed u, flight time τ and the earth's rotation angle Ω as follows:

[0018]

[0019] Among them, g0 and R0 are the gravitational acceleration at sea level and the average radius of the earth respectively.

[0020] Further, in step S2, the model building module simulates the drag coefficient C under hypersonic flight conditions. D It can be expressed as the lift coefficient C L The parabolic form of is:

[0021]

[0022] The lift coefficient corresponding to the maximum lift-to-drag ratio is obtained as follows:

[0023]

[0024] The maximum lift-to-drag ratio and dimensionless lift coefficient are defined as:

[0025]

[0026] The lift coefficient and drag coefficient are:

[0027]

[0028] Further, in step S2, various constraints are as follows:

[0029] Among the control variable constraints, the dimensionless lift coefficient and roll angle constraints are:

[0030] c l mib ≤c l ≤c l max ;

[0031] σ min ≤σ≤σ max ;

[0032] The dynamic pressure constraint is:

[0033]

[0034] The total overload constraint is:

[0035]

[0036] Further, in step S3, the laser ranging and speed measurement module obtains the distance and speed between the aircraft by using the laser ranging and speed meter: emitting laser pulses to adjacent aircraft, receiving reflected laser pulses, and calculating the distance and relative speed between the aircraft based on the round-trip time and frequency change of the laser pulses.

[0037] Further, in step S4, if the distance between the aircraft is less than the set minimum separation distance, the flight attitude of the aircraft is adjusted through the collision avoidance control module, including changing the angle of attack and the roll angle, or adjusting the speed of the aircraft, including increasing or decreasing the thrust, to avoid collision between the aircraft.

[0038] The above scheme has the following beneficial effects:

[0039] 1. This solution realizes the accurate measurement of the distance and speed between aircrafts by installing a laser rangefinder and speedometer at the warhead of each aircraft. The introduction of this technology significantly improves the safety and reliability of aircrafts in complex flight environments: the laser rangefinder and speedometer can emit laser pulses to adjacent aircrafts in real time and receive the reflected laser pulses, so as to quickly calculate the distance and relative speed between aircrafts. This real-time monitoring mechanism enables the flight control system to detect potential collision risks in a timely manner, providing a strong guarantee for the safe flight of aircrafts; the measurement accuracy of the laser rangefinder and speedometer is extremely high, and can accurately reflect the actual distance and speed changes between aircrafts. This high-precision measurement capability provides reliable data support for the flight control system, enabling the aircraft to make accurate trajectory adjustments based on real-time measurement data, ensuring that the aircraft can maintain a safe distance during flight, avoiding collision accidents, and improving the safety and reliability of flight; during long-distance gliding and jumping flights, aircrafts may face complex and changeable flight environments. The introduction of laser rangefinders and speedometers enables aircrafts to flexibly respond to various flight conditions, adjust flight attitude or speed based on real-time measurement data, and ensure flight safety.

[0040] 2. This scheme optimizes the trajectory of the energy-replenishing boost method in the atmosphere through the guidance and control system, establishes an accurate gliding trajectory motion model and dimensionless motion equations for the energy-replenishing gliding segment, and ensures that the aircraft can fly according to the predetermined trajectory during the long-distance gliding jump process; by making the three-degree-of-freedom motion equations of the jumping gliding segment dimensionless, the efficiency of solving the trajectory optimization problem is improved, so that the aircraft can quickly find the optimal flight trajectory in a complex flight environment.

[0041] 3. In this scheme, the relationship between the drag coefficient and the lift coefficient is accurately described under simulated hypersonic flight conditions, which helps to accurately calculate the flight performance of the aircraft and further improves the accuracy of guidance control.

[0042] Further, in step S1, the guidance control system includes a model building module, a trajectory constraint module, a laser ranging and speed measurement module, a collision avoidance control module and a guidance control module;

[0043] Model building module, used to establish the gliding trajectory motion model and the dimensionless motion equation of the energy replenishment gliding stage;

[0044] Trajectory constraint module, used to constrain the reentry glide jump trajectory;

[0045] Laser distance and speed measurement module, used to measure the distance and speed between aircraft;

[0046] A collision avoidance control module is used to adjust the flight attitude or speed of the aircraft according to the measurement data;

[0047] Guidance and control module, a guidance and control module used to accurately guide the aircraft.

[0048] Beneficial effects:

[0049] 1. Through the model building module, the gliding trajectory motion model and the dimensionless motion equation of the energy-replenishing gliding phase can be accurately established, providing an accurate mathematical basis for the flight of the aircraft, thereby improving the accuracy and reliability during the flight process.

[0050] 2. The trajectory constraint module can constrain the re-entry glide jump trajectory to ensure that the aircraft flies according to the predetermined and optimized trajectory, which helps to reduce energy loss during flight and improve flight efficiency.

[0051] 3. The laser distance measurement and speed measurement module can measure the distance and speed between aircraft in real time, providing key data for the collision avoidance control module. The collision avoidance control module can adjust the flight attitude or speed of the aircraft in time according to these data, effectively avoiding collisions between aircraft and improving flight safety.

[0052] 4. The guidance control module can accurately guide the aircraft according to the requirements of the flight mission to ensure that the aircraft can accurately reach the predetermined target. This helps to improve the completion rate and success rate of the flight mission.

[0053] Further, the guidance and control system also includes a flight status monitoring module and a communication module;

[0054] A flight status monitoring module is used to monitor the flight status of the aircraft in real time. The flight status monitoring module transmits the real-time monitoring data to the collision avoidance control module and the guidance control module. The guidance control module dynamically adjusts the flight trajectory of the aircraft according to the real-time monitoring data.

[0055] The communication module is used to communicate with the ground control center, receive instructions and data from the ground control center, and send the flight status and data of the aircraft to the ground control center.

[0056] Beneficial effects: 1. The flight status monitoring module can monitor the flight status of the aircraft in real time, including key parameters such as position, speed, and attitude. These real-time monitoring data are transmitted to the collision avoidance control module and the guidance control module, so that the system can be dynamically adjusted according to the current flight status. For example, the collision avoidance control module can more accurately adjust the flight attitude or speed of the aircraft to avoid collision based on the real-time monitoring of the aircraft spacing and speed changes. At the same time, the guidance control module can also fine-tune the flight trajectory based on the real-time monitoring data to ensure that the aircraft can reach the target position more accurately; the introduction of real-time monitoring data enables the system to respond more quickly to abnormal situations during flight. For example, when the aircraft encounters sudden meteorological conditions or obstacles, the flight status monitoring module can immediately capture these changes and transmit the information to the ground control center through the communication module. The ground control center can make decisions quickly and send adjustment instructions to the aircraft through the communication module. This real-time information exchange and response mechanism greatly improves the system's response capability and safety.

[0057] 2. The communication module enables the ground control center to obtain the flight status and data of the aircraft in real time, and to monitor and control it remotely. This helps the ground control center to have a more comprehensive understanding of the progress of the flight mission and to promptly discover and resolve potential problems. At the same time, the ground control center can also send instructions to the aircraft according to actual needs to adjust the flight plan or mission objectives of the aircraft. This remote control capability improves the flexibility and controllability of the flight mission.

[0058] 3. The addition of real-time monitoring and communication functions enables the system to more comprehensively monitor the flight status of the aircraft, and timely discover and warn of potential safety risks. For example, when the aircraft fails or an abnormal situation occurs, the flight status monitoring module can immediately capture these changes and send an alarm to the ground control center through the communication module. The ground control center can quickly take measures to ensure the safe return of the aircraft or take other necessary emergency measures. This real-time monitoring and early warning mechanism greatly improves the reliability and safety of the system.

[0059] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 It is a schematic diagram of the method steps of an embodiment of the long-distance gliding and jumping guidance control method of the present invention. DETAILED DESCRIPTION

[0061] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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 are within the scope of protection of the present invention.

[0062] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0063] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0064] The following is further described in detail through specific implementation methods:

[0065] Embodiment 1:

[0066] As attached Figure 1 As shown: A long-distance gliding jumping guidance control method comprises the following steps:

[0067] S1, for long-distance jump-glide motion, the guidance and control system is used to optimize the trajectory of the energy-replenishing boost in the atmosphere. According to the force analysis, assumptions and coordinate definitions, the model building module establishes the three-degree-of-freedom motion equation for the jump-glide segment. The motion equation assumes that the earth is a rotating sphere; the energy-replenishing reasoning is along the direction of the vehicle's body axis, and the thrust attack angle is equal to the flight attack angle. The glide ballistic motion model and the dimensionless motion equation for the energy-replenishing glide segment are established based on the unpowered three-degree-of-freedom reentry polar coordinate system motion equation of the boost-glide vehicle.

[0068] The three-degree-of-freedom motion equation of the jump-glide stage is:

[0069]

[0070] Among them, the position parameters of the motion equation are described in the geocentric system using polar coordinates, including the geocentric distance r, the longitude λ of the sub-satellite point, and the geocentric latitude φ of the sub-satellite point; the velocity parameters are described in the local north celestial east coordinate system, consisting of the velocity magnitude V, the track angle γ, and the heading angle ψ; L and D are the aerodynamic lift and drag, respectively, and have:

[0071]

[0072] Where ρ, S ref , C L , C D are respectively the atmospheric density, aerodynamic reference area, lift coefficient and drag coefficient; m is the total mass of the aircraft including the booster engine, t is the flight time, I is the specific impulse of the booster engine; ω, g, σ, α are respectively the angular velocity of the earth's rotation, gravitational acceleration, roll angle and angle of attack.

[0073] In order to improve the efficiency of solving the trajectory optimization problem of the energy-replenishing jump-glide stage, the model building module further non-dimensionalizes the three-degree-of-freedom motion equation of the jump-glide stage, and defines the dimensionless distance from the center of the earth z, speed u, flight time τ and the earth's rotation angle Ω as follows:

[0074]

[0075] Among them, g0 and R0 are the gravitational acceleration at sea level and the average radius of the earth respectively.

[0076] S2, in the simulation analysis stage, the model building module simulates the drag coefficient C under hypersonic flight conditions. D It can be expressed as the lift coefficient C L The parabolic form of is:

[0077]

[0078] The lift coefficient corresponding to the maximum lift-to-drag ratio is obtained as follows:

[0079]

[0080] The maximum lift-to-drag ratio and dimensionless lift coefficient are defined as:

[0081]

[0082] The lift coefficient and drag coefficient are:

[0083]

[0084] Constrain the reentry glide jump trajectory. The various constraints are as follows:

[0085] Among the control variable constraints, the dimensionless lift coefficient and roll angle constraints are:

[0086] c l min ≤c l ≤c l max ;

[0087] σ min ≤σ≤σ max ;

[0088] The dynamic pressure constraint is:

[0089]

[0090] The total overload constraint is:

[0091]

[0092] S3, according to the constraints of simulating a single aircraft, the minimum separation distance in adjacent flight trajectories is set, and a laser rangefinder and speedometer for measuring the round-trip time and frequency change of laser pulses to calculate the position and speed of the aircraft is installed at the warhead of each aircraft. The laser rangefinder and speedometer module obtains the distance and speed between aircraft through the laser rangefinder and speedometer in the following way: emit laser pulses to adjacent aircraft and receive reflected laser pulses, calculate the distance and relative speed between aircraft according to the round-trip time and frequency change of laser pulses, and compare the distance between aircraft obtained by the laser rangefinder and speedometer with the minimum separation distance in the simulation analysis stage.

[0093] S4, after comparing the distance between the aircrafts obtained by the laser rangefinder and the speed meter with the minimum distance between the aircrafts in the simulation analysis phase, if the distance between the aircrafts is less than the set minimum distance between the aircrafts, the collision avoidance control module adjusts the flight attitude or speed of the aircraft, including changing the angle of attack and the roll angle, or adjusts the speed of the aircraft, including increasing or decreasing the thrust, to avoid collision between the aircrafts.

[0094] S5, when the aircraft approaches the target area, the guidance and control system accurately guides the aircraft according to the target position information to ensure that the aircraft can accurately reach the target position.

[0095] Embodiment 2:

[0096] The difference from Example 1 is that in step S1, in step S1, the guidance and control system includes a model building module, a trajectory constraint module, a laser ranging and speed measurement module, a collision avoidance control module, a guidance control module, a flight status monitoring module and a communication module.

[0097] The model building module is used to establish the gliding trajectory motion model and the dimensionless motion equation of the energy replenishing gliding stage.

[0098] Trajectory constraint module, used to constrain the reentry glide jump trajectory.

[0099] Laser ranging and speed measurement module, used to measure the distance and speed between aircraft.

[0100] The collision avoidance control module is used to adjust the flight attitude or speed of the aircraft according to the measurement data.

[0101] Guidance and control module, a guidance and control module used to accurately guide the aircraft.

[0102] A flight status monitoring module is a flight status monitoring module used to monitor the flight status of the aircraft in real time. The flight status monitoring module transmits real-time monitoring data to the collision avoidance control module and the guidance control module. The guidance control module dynamically adjusts the flight trajectory of the aircraft according to the real-time monitoring data.

[0103] The communication module is used to communicate with the ground control center, receive instructions and data from the ground control center, and send the flight status and data of the aircraft to the ground control center.

[0104] The specific implementation process is as follows: Assume that there is a cluster of aircraft, each of which is equipped with a guidance and control system, and performs a long-distance gliding and jumping mission. These aircraft need to optimize their trajectories by means of energy supplementation and boosting in a complex flight environment, while avoiding collisions with each other, and finally accurately reach their respective target positions. First, the model building module in the guidance and control system is used to establish the three-degree-of-freedom motion equations of the jumping and gliding section based on force analysis, assumptions and coordinate definitions. These equations take into account the conditions that the earth is a rotating sphere, the energy supplement thrust is along the direction of the aircraft body axis, and the thrust attack angle is equal to the flight attack angle. Based on the motion equations of the unpowered three-degree-of-freedom reentry polar coordinate system of the boost-gliding aircraft, the technicians further established the gliding ballistic motion model and the dimensionless motion equations of the energy supplementation and gliding section. With the help of these motion equations and models, the guidance and control system begins to perform trajectory optimization calculations to find the best energy supplementation and boosting method and flight trajectory.

[0105] During the simulation analysis phase, the trajectory constraint module simulated the aerodynamic performance of the aircraft under hypersonic flight conditions. The drag coefficient is expressed as a parabolic form of the lift coefficient, and the lift coefficient corresponding to the maximum lift-to-drag ratio is calculated. The technicians define the maximum lift-to-drag ratio and the dimensionless lift coefficient, and determine the specific values ​​of the lift coefficient and the drag coefficient accordingly; the trajectory constraint module imposes strict constraints on the reentry glide jump trajectory, including control variable constraints (such as dimensionless lift coefficient and roll angle constraints), dynamic pressure constraints, and total overload constraints. These constraints ensure that the aircraft can maintain a stable flight state during the flight while meeting various performance indicators and safety requirements.

[0106] During the flight, a laser rangefinder and speedometer are installed at the warhead of each aircraft. These instruments calculate the distance and relative speed between aircraft by emitting laser pulses to adjacent aircraft and receiving reflected laser pulses. The laser rangefinder and speedometer module transmits real-time measurement data to the collision avoidance control module for subsequent collision avoidance control operations.

[0107] The collision avoidance control module compares the measurement data provided by the laser ranging and speed measurement module with the minimum separation distance set in the simulation analysis phase. If the distance between the aircraft is less than the set minimum separation distance, the collision avoidance control module will immediately issue a command to adjust the flight attitude or speed of the aircraft. The adjustment of the flight attitude includes changing parameters such as the angle of attack and the roll angle to change the flight trajectory and speed direction of the aircraft. The collision avoidance control module ensures that the aircraft can avoid potential collision risks through precise calculation and adjustment.

[0108] When the aircraft approaches the target area, the guidance and control module starts working. It accurately guides the aircraft based on the target location information. The guidance and control module uses real-time monitoring data (such as position, speed, attitude, etc.) to dynamically adjust the flight trajectory of the aircraft to ensure that the aircraft can accurately reach the target location.

[0109] During the entire flight, the communication module always keeps in touch with the ground control center. It receives instructions and data from the ground control center and sends the aircraft's flight status and data to the ground control center, which can adjust or intervene in the aircraft's flight trajectory and mission as needed.

[0110] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A long-distance gliding and jumping guidance control method, characterized in that: The following steps are involved: S1, for long-distance jump gliding motion, the trajectory of the energy-replenishing boost in the atmosphere is optimized through the guidance and control system, and the glide ballistic motion model and the dimensionless motion equation of the energy-replenishing gliding phase are established according to the unpowered three-degree-of-freedom reentry polar coordinate system motion equation of the boost-glide vehicle; S2, in the simulation analysis stage, constrains the reentry glide jump trajectory; S3, setting the minimum separation distance in adjacent flight trajectories according to the constraints of a simulated single aircraft, installing a laser rangefinder and velocimeter at the warhead of each aircraft to measure the round-trip time and frequency change of the laser pulse to calculate the position and speed of the aircraft, and comparing the data between the aircraft obtained by the laser rangefinder and velocimeter with the minimum separation distance in the simulation analysis stage; S4, after comparing the distance between the aircrafts obtained by the laser rangefinder and the speed meter with the minimum distance between the aircrafts in the simulation analysis phase, if the distance between the aircrafts is less than the set minimum distance between the aircrafts, adjusting the flight attitude or speed of the aircrafts; S5, when the aircraft approaches the target area, the guidance and control system accurately guides the aircraft according to the target position information to ensure that the aircraft can accurately reach the target position.

2. The long-distance gliding and jumping guidance control method according to claim 1 is characterized in that: In step S1, the guidance control system includes a model building module, a trajectory constraint module, a laser ranging and speed measurement module, a collision avoidance control module and a guidance control module; Model building module, used to establish the gliding trajectory motion model and the dimensionless motion equation of the energy replenishment gliding stage; Trajectory constraint module, used to constrain the reentry glide jump trajectory; Laser distance and speed measurement module, used to measure the distance and speed between aircraft; A collision avoidance control module is used to adjust the flight attitude or speed of the aircraft according to the measurement data; Guidance and control module, a guidance and control module used to accurately guide the aircraft.

3. The long-distance gliding and jumping guidance control method according to claim 2, characterized in that: The guidance and control system also includes a flight status monitoring module and a communication module; A flight status monitoring module is used to monitor the flight status of the aircraft in real time. The flight status monitoring module transmits the real-time monitoring data to the collision avoidance control module and the guidance control module. The guidance control module dynamically adjusts the flight trajectory of the aircraft according to the real-time monitoring data. The communication module is used to communicate with the ground control center, receive instructions and data from the ground control center, and send the flight status and data of the aircraft to the ground control center.

4. The long-distance gliding and jumping guidance control method according to claim 3 is characterized in that: In step S1, according to the force analysis, assumptions and coordinate definitions, the model building module establishes the three-degree-of-freedom motion equation of the jump gliding segment. The motion equation assumes that: the earth is a rotating sphere; the energy replenishment reasoning is along the direction of the aircraft body axis, and the thrust angle of attack is equal to the flight angle of attack.

5. The long-distance gliding and jumping guidance control method according to claim 4, characterized in that: In step S1, the three-degree-of-freedom motion equation of the jump gliding stage is: Among them, the position parameters of the motion equation are described in the geocentric system using polar coordinates, including the geocentric distance r, the longitude λ of the sub-satellite point, and the geocentric latitude φ of the sub-satellite point; the velocity parameters are described in the local north celestial east coordinate system, consisting of the velocity magnitude V, the track angle γ, and the heading angle ψ; L and D are the aerodynamic lift and drag, respectively, and have: Where ρ, S ref , C L , C D are respectively the atmospheric density, aerodynamic reference area, lift coefficient and drag coefficient; m is the total mass of the aircraft including the booster engine, t is the flight time, I is the specific impulse of the booster engine; ω, g, σ, α are respectively the angular velocity of the earth's rotation, gravitational acceleration, roll angle and angle of attack.

6. The long-distance gliding and jumping guidance control method according to claim 5, characterized in that: In step S1, in order to improve the efficiency of solving the trajectory optimization problem of the energy replenishment jump gliding stage, the model building module further non-dimensionalizes the three-degree-of-freedom motion equation of the jump gliding stage, and defines the dimensionless distance from the center of the earth z, speed u, flight time τ and the earth's rotation angle Ω as follows: z=r / R0; Among them, g0 and R0 are the gravitational acceleration at sea level and the average radius of the earth respectively.

7. The long-distance gliding and jumping guidance control method according to claim 6, characterized in that: In step S2, the model building module simulates the drag coefficient C under hypersonic flight conditions. D It can be expressed as the lift coefficient C L The parabolic form of is: The lift coefficient corresponding to the maximum lift-to-drag ratio is obtained as follows: The maximum lift-to-drag ratio and dimensionless lift coefficient are defined as: The lift coefficient and drag coefficient are:

8. The long-distance gliding and jumping guidance control method according to claim 7, characterized in that: In step S2, various constraints are as follows: Among the control variable constraints, the dimensionless lift coefficient and roll angle constraints are: c lmin ≤c l ≤c lmax ; s min ≤σ≤σ max ; The dynamic pressure constraint is: q(t)=ρV 2 / 2≤q max ; The total overload constraint is:

9. The long-distance gliding and jumping guidance control method according to claim 8, characterized in that: In step S3, the laser ranging and speed measurement module obtains the distance and speed between the aircraft by emitting laser pulses to adjacent aircraft and receiving reflected laser pulses, and calculating the distance and relative speed between the aircraft according to the round-trip time and frequency change of the laser pulses.

10. The long-distance gliding and jumping guidance control method according to claim 9, characterized in that: In step S4, if the distance between the aircraft is less than the set minimum separation distance, the flight attitude of the aircraft is adjusted through the collision avoidance control module, including changing the angle of attack and the roll angle, or adjusting the speed of the aircraft, including increasing or decreasing the thrust, to avoid collision between the aircraft.

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