Space-time guidance-decision integrated control method and system based on distributed optimization

Abstract

The invention discloses a space-time guidance-decision integrated control method and system based on distributed optimization, and relates to the field of space-time guidance, and the method comprises the steps: building a dynamic model of each missile, and determining the remaining flight time of each missile; determining a space-time constraint distributed guidance law of each missile based on a preset convergence time of cooperation of the kinetic model, the remaining flight time and the missile group time; determining a distributed optimization problem of the expected end line-of-sight angle based on the remaining flight time and the expected end line-of-sight angle; determining an angle decision protocol of each missile based on the preset convergence time of angle decision, the distributed optimization problem of the expected end line-of-sight angle, the remaining flight time and the expected end line-of-sight angle; and determining a space-time guidance decision integrated control protocol of each missile based on an angle decision protocol and a space-time constraint distributed guidance law, and controlling the normal acceleration and the expected tail end sight angle of each missile based on the control protocol. The attack efficiency of the missile group is improved.

Description

Technical Field

[0001] The present application relates to the field of space-time guidance, and in particular to a space-time guidance-decision-making integrated control method and system based on distributed optimization. Background Art

[0002] With the development of modern defense technology, multi-constraint guidance tasks not only require time and space constraints, but also often require multiple aircraft to complete together, so the traditional proportional guidance law is difficult to meet the current complex guidance needs. Collaborative guidance technology is a combination of complex network systems and aircraft guidance and control. It can gather limited individual capabilities and give the missile group more powerful and complex guidance capabilities. Collaborative guidance can not only overcome the disadvantages of individual damage and detection, but also increase the probability of group hits, improve the effectiveness of saturation attacks, and increase the killing range. It has important academic research significance and engineering application value.

[0003] Spatiotemporal constraint collaborative guidance not only considers the spatiotemporal constraints of individual missiles but also the collaborative tasks of missile groups. Chen designed a multi-stage distributed guidance law and used the integral sliding mode technology to design a distributed guidance law, so that simultaneous impact can be achieved under the condition of topological switching, and angle constraints can be achieved by using fixed time sliding mode control and augmented proportional guidance law. Dong proposed an angle guidance law in vector form and proved that the trajectory generated by the basic guidance law does not change with speed. Then, the distributed time constraint guidance law is obtained according to the remaining flight time, and finally the result is applied to the spatiotemporal constraint guidance task under the constraint of aerodynamic drag. Zhang designed an actual control law based on the integral sliding mode based on the distributed time error, and designed the guidance law of the line of sight normal using the preset time technology to achieve spatiotemporal constraints. Tao analyzed the trajectory length based on the angle guidance law under the relative motion model, predicted the remaining flight time, and designed a collaborative time guidance law according to a specific optimal problem.

[0004] Although these studies consider collaborative tasks and spatiotemporal constraints, the expected angle is often given in advance. In the collaborative guidance process, it is crucial to consider the terminal line of sight angle decision. If the expected impact angle of the multi-missile system is unreasonable, it may lead to a large initial time error. This may cause the failure of the time-influencing cooperative task. In addition, although some expected angles meet the impact angle interval requirements required by the multi-missile system, these angles may cause the flight time to be extended. Extending the flight time will increase energy consumption and reduce the efficiency of quick-acting tasks. The expected angle decision problem in the multi-missile system can be formulated as a multivariable optimization problem, and the distributed optimization method can effectively determine the expected terminal line of sight angle that is conducive to shortening the flight time under the constraint of the required terminal angle interval. In summary, the problem of integrated design of spatiotemporal guidance-decision-making based on distributed optimization is still open. Summary of the invention

[0005] The purpose of this application is to provide a space-time guidance-decision-making integrated control method and system based on distributed optimization, which improves the attack effectiveness of the missile group by controlling the normal acceleration and expected terminal line of sight angle of multiple missiles.

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

[0007] In a first aspect, the present application provides a time-space guidance-decision-making integrated control method based on distributed optimization, comprising:

[0008] Establish a dynamic model for each missile in the swarm to strike a stationary target and determine the remaining flight time of each missile;

[0009] Based on the dynamic model of each missile in the missile group striking a stationary target, the remaining flight time of each missile and the preset convergence time of the missile group time coordination, the time-space constraint distributed guidance law of each missile is determined; the time-space constraint distributed guidance law is the normal acceleration;

[0010] Based on the remaining flight time of each missile and the expected terminal sight angle of each missile, a distributed optimization problem of determining the expected terminal sight angle is determined; the expected terminal sight angle is the sight angle at the end of guidance;

[0011] Determining an angle decision protocol for each missile based on a distributed optimization problem of a preset convergence time of the angle decision and the desired terminal sight angle;

[0012] Based on the angle decision protocol of each missile and the space-time constrained distributed guidance law of each missile, the space-time guidance decision integrated control protocol of each missile is determined, and the normal acceleration and the expected terminal line of sight angle of each missile are controlled based on the space-time guidance decision integrated control protocol of each missile.

[0013] In a second aspect, the present application provides a space-time guidance-decision-making integrated control system based on distributed optimization, comprising:

[0014] The module for establishing a dynamic model and determining the remaining flight time is used to establish a dynamic model for each missile in the missile group to strike a stationary target and determine the remaining flight time of each missile;

[0015] A space-time constraint distributed guidance law determination module is connected to the dynamics model establishment and remaining flight time determination module, and is used to determine the space-time constraint distributed guidance law of each missile based on the dynamics model of each missile in the missile group striking a stationary target, the remaining flight time of each missile and the preset convergence time of the missile group time coordination; the space-time constraint distributed guidance law is a normal acceleration;

[0016] A distributed optimization problem determination module is connected to the dynamic model establishment and remaining flight time determination and time-space constraint distributed guidance law determination modules, and is used to determine the distributed optimization problem of the expected terminal sight angle based on the remaining flight time of each missile and the expected terminal sight angle of each missile; the expected terminal sight angle is the sight angle at the end of guidance;

[0017] An angle decision protocol determination module is connected with the distributed optimization problem determination module and the dynamic model establishment and remaining flight time determination module, and is used to determine the angle decision protocol of each missile based on the distributed optimization problem of the preset convergence time of the angle decision and the desired terminal sight angle;

[0018] The space-time guidance decision integrated control module is connected to the angle decision protocol determination module and the space-time constraint distributed guidance law determination module, and is used to determine the space-time guidance decision integrated control protocol of each missile based on the angle decision protocol of each missile and the space-time constraint distributed guidance law of each missile, and control the normal acceleration and expected terminal line of sight angle of each missile based on the space-time guidance decision integrated control protocol of each missile.

[0019] According to the specific embodiments provided in this application, this application has the following technical effects:

[0020] The present application provides a space-time guidance-decision-making integrated control method and system based on distributed optimization. First, by adjusting the parameters in the dynamic model, the requirements of task changes can be quickly adapted to improve the flexibility of the guidance-decision-making integrated control method; secondly, by adjusting the normal acceleration through the space-time constraint distributed guidance law of each missile, the missiles in the multi-missile group can achieve space-time coordinated strikes on stationary targets; thirdly, by the distributed optimization problem of the expected terminal sight angle, the time for all missiles to arrive at the target together is consistent and helps to shorten the arrival time of the missile group; then, through the angle decision protocol of each missile; the expected terminal sight angle is adjusted to improve the strike effect; finally, through the space-time guidance decision integrated control protocol of each missile, the normal acceleration and expected terminal sight angle of each missile are controlled, thereby improving the attack effectiveness of multiple missiles from many aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 This is an application environment diagram of a time-space guidance-decision-making integrated control method based on distributed optimization in one embodiment of the present application;

[0023] Figure 2 A schematic flow chart of a spatiotemporal guidance-decision-making integrated control method based on distributed optimization provided in one embodiment of the present application;

[0024] Figure 3 A guidance geometry diagram of the i-th missile and the stationary target in a time-space guidance-decision-making integrated control method based on distributed optimization provided in one embodiment of the present application;

[0025] Figure 4 A diagram showing the simulation results of a missile trajectory using a spatiotemporal guidance-decision-making integrated control method provided in an embodiment of the present application;

[0026] Figure 5 A diagram showing the simulation results of the missile sight angle decision and tracking curve using the spatiotemporal guidance-decision integration control method provided in one embodiment of the present application;

[0027] Figure 6 A diagram showing the simulation results of a missile sight rate curve using a spatiotemporal guidance-decision-making integrated control method provided in an embodiment of the present application;

[0028] Figure 7 A simulation result diagram of a missile lead angle curve using a time-space guidance-decision-making integrated control method provided in an embodiment of the present application;

[0029] Figure 8 A graph showing simulation results of a missile remaining flight time curve using a space-time guidance-decision-making integrated control method provided in one embodiment of the present application.

[0030] Fig. 9 A simulation result diagram of a missile normal acceleration curve using a time-space guidance-decision-making integrated control method provided in an embodiment of the present application;

[0031] Fig.10 A simulation result diagram of adaptive gain curves of multiple missiles using a time-space guidance-decision-making integrated control method provided in an embodiment of the present application;

[0032] Fig.11 A diagram of trajectory simulation results of a comparison group provided in an embodiment of the present application without using the spatiotemporal guidance-decision-making integrated control method;

[0033] Fig.12 A diagram showing the simulation results of the remaining flight time of a comparison group provided in an embodiment of the present application without using the time-space guidance-decision-making integrated control method;

[0034] Fig.13 A schematic diagram of the functional modules of a space-time guidance-decision-making integrated control system based on distributed optimization provided in one embodiment of the present application. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0036] In order to make the purpose, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0037] The time-space guidance-decision-making integrated control method based on distributed optimization provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown, the terminal 102 communicates with the server 104 through a network. The data storage system can store data that the server 104 needs to process. The data storage system can be set up separately, integrated on the server 104, or placed on the cloud or other servers. The terminal 102 can send the dynamic model parameters to the server 104. After the server 104 receives the dynamic model parameters, for the dynamic model parameters, the server 104 establishes a dynamic model for each missile in the missile group to strike a stationary target, and determines the remaining flight time of each missile; based on the dynamic model for each missile in the missile group to strike a stationary target, the remaining flight time of each missile and the preset convergence time of the missile group time coordination, the time-space constraint distributed guidance law of each missile is determined; based on the remaining flight time of each missile and the expected terminal sight angle of each missile, the distributed optimization problem of the expected terminal sight angle is determined; based on the preset convergence time of the angle decision and the distributed optimization problem of the expected terminal sight angle, the angle decision coordination of each missile is determined; based on the angle decision protocol of each missile and the time-space constraint distributed guidance law of each missile, the time-space guidance decision integrated control protocol of each missile is determined, and the normal acceleration and the expected terminal sight angle of each missile are controlled based on the control protocol. The server 104 can feed back the obtained normal acceleration and the expected terminal sight angle of each missile to the terminal 102. In addition, in some embodiments, the spatiotemporal guidance-decision-making integrated control method based on distributed optimization can also be implemented by the server 104 or the terminal 102 alone.

[0038] The terminal 102 may be, but is not limited to, various desktop computers, laptop computers, smart phones, tablet computers, IoT devices, and portable wearable devices. The IoT devices may be smart speakers, smart TVs, smart air conditioners, smart vehicle-mounted devices, etc. The portable wearable devices may be smart watches, smart bracelets, head-mounted devices, etc. The server 104 may be implemented as an independent server or a server cluster consisting of multiple servers, or may be a cloud server.

[0039] In an exemplary embodiment, Figure 2 As shown, a time-space guidance-decision-making integrated control method based on distributed optimization is provided. The method is executed by a computer device, and can be executed by a computer device such as a terminal or a server alone, or by a terminal and a server together. In the embodiment of the present application, the method is applied to Figure 1 The server 104 in the example is used as an example to illustrate, including the following steps 201 to 205. Among them:

[0040] Step 201, establish a dynamic model for each missile in the missile group to strike a stationary target, and determine the remaining flight time of each missile.

[0041] The process of establishing the dynamic model of the ith missile attacking a stationary target is as follows: the guidance geometry diagram of the ith missile and the stationary target is as follows: Figure 3 As shown in Figure 2, (X, Y) represents the inertial coordinate system, M i is the i-th missile in the missile group, M 1 is the first missile in the group, v 1 is the speed of the first missile, is the Nth in the group f missiles, For N f The speed of a missile.

[0042] Based on the guidance geometry of the i-th missile and the stationary target, the dynamic model of the i-th missile hitting the stationary target is obtained as follows:

[0043]

[0044] Among them, λ i is the sight angle of the ith missile, R i is the distance between the ith missile and the target, γ i is the yaw angle of the i-th missile, σ i is the lead angle of the ith missile, v i is the speed of the ith missile, a i is the normal acceleration of the ith missile, is the first-order derivative of the yaw angle of the i-th missile, is the first-order derivative of the missile-target distance of the ith missile, The first derivative of the sight angle of the ith missile, is the first-order derivative of the lead angle of the i-th missile, i=1,2,...,N f , σ i =γ i -λ i .

[0045] Step 202, based on the dynamic model of each missile in the swarm striking a stationary target, the remaining flight time of each missile and the preset convergence time of the swarm time coordination, determine the space-time constraint distributed guidance law of each missile; the space-time constraint distributed guidance law is the normal acceleration. The preset convergence time of the swarm time coordination is the time point when all missiles in the swarm are expected to arrive at the target at the same time. The preset convergence time of the swarm time coordination is the time point when all missiles are expected to arrive at the target at the same time.

[0046] In an exemplary embodiment of the present application, step 202 is replaced by the following steps 301 to 303:

[0047] Step 301, based on the dynamic model of each missile in the missile group attacking a stationary target, determine the optimal guidance law for each missile's expected terminal sight angle constraint.

[0048] Specifically, the specific process of determining the optimal guidance law for the desired terminal sight angle constraint of the i-th missile is as follows.

[0049] Based on the proportional guidance law, we can get Where N is the proportionality coefficient. From formula (1), we can get Integrating both sides of this equation, we can get (N-1)(λ i (t f )-λ i (t 0 ))=σ i (t f )-σ i (t 0 ), where t 0 and t f are the guidance start time and guidance end time respectively, λ i (t f ) is the sight angle at the end of the i-th missile guidance, λ i (t 0 ) is the sight angle at the beginning of the i-th missile guidance, σ i (t f ) is the lead angle at the beginning of the i-th missile guidance, σ i (t 0) is the lead angle at the end of the i-th missile guidance. Considering the current time t as the initial time, due to the proportional guidance law, the terminal lead angle can be made 0, that is, σ i (t f ), and then the expected end sight angle can be defined as:

[0050]

[0051] Let a i =a png,i +a l,i , where a png,i represents the proportional guidance law, a l,i is the additional item to be designed to handle the end angle constraint. Based on formula (1) and formula (2), we can get:

[0052]

[0053] Let the virtual control quantity u i =a l,i / (v i 2 cosσ i ), the lead angle σ of the i-th missile i is regarded as a small angle. According to the small angle assumption, sinσ i =σ i and cosσ i =1, the optimal angle guidance problem can be described as:

[0054]

[0055] Among them, R 0,i =R i (t 0 ) is the missile-target distance at the beginning of the i-th missile guidance, J is the index function, λ d,i is the expected terminal sight angle of the ith missile, λ f0,i is the initial sight angle of the ith missile, σ 0,i is the initial lead angle of the ith missile, m is the power of the target matrix in the index function, satisfying m>0, λ f,i (t 0 ) is the expected terminal sight angle at the start of the i-th missile guidance, λ f,i (t f ) is the expected terminal sight angle at the end of the i-th missile guidance.

[0056] The Hamiltonian function of the optimal angle guidance problem formula (4) can be written as:

[0057]

[0058] Where H is the Hamiltonian function of the optimal angle guidance problem, and C σ,i is the corresponding Lagrange multiplier. According to the minimum principle, the following formula (6) holds:

[0059]

[0060] Then we can get:

[0061]

[0062] Among them, C 1 and C 2 is a constant. Substitute the result of formula (7) into formula (4) and calculate the missile-target distance R of the ith missile. i The points can be obtained:

[0063]

[0064] in:

[0065]

[0066] and R 0,i =R i (t 0 ). Let N = m = 2, u i , σ i and λ f,i It can be expressed as:

[0067]

[0068] Considering the current moment as the initial moment, use R i ,σ i ,λ f,i Replace R 0,i ,σ 0,i ,λ f0,i , then the optimal guidance law for the i-th missile's expected terminal sight angle constraint is:

[0069]

[0070] Among them, λ f,i =2λ i -γ i .

[0071] Step 302, determining a collision time control feedback item of each missile based on the remaining flight time of each missile, the preset convergence time of the missile group time coordination and the dynamic model.

[0072] Specifically, the specific process of controlling the feedback item based on determining the collision time of the i-th missile is as follows.

[0073] Based on the dynamic model of the ith missile in formula (1), determine the remaining flight time t of the ith missile go,i for:

[0074]

[0075] Based on small angles and Taylor's theorem, we can approximate From formula (10), the approximate analytical formula for the remaining flight time of the ith missile is:

[0076]

[0077] Similarly, using R i ,λ f,i ,σ i Replace R 0,i ,λ f0,i ,σ 0,i , we can get:

[0078]

[0079] Among them, e λf,i =λ d,i -λ f,i is the difference between the expected terminal sight angle and the initial sight angle of the ith missile. For the ith missile, its normal acceleration a i Can be designed as:

[0080]

[0081] Among them, a t,i is the collision time control feedback item to be designed. From formula (1) and formula (2), we can know that:

[0082]

[0083] in, is the first derivative of the difference between the expected terminal sight angle and the initial sight angle of the ith missile. Taking the derivative of formula (14) and considering the lead angle σ as a small angle, we have cosσ=1-σ 2 / 2 and sinσ=σ, while ignoring the higher-order terms of σ. From formula (14) and formula (16), we can get:

[0084]

[0085] in, is the first-order derivative of the remaining flight time of the ith missile, η i is the intermediate variable that appears when the remaining flight time is derived. For the ith missile, its normal acceleration a is designed i for:

[0086]

[0087] Among them, a i is the normal acceleration of the ith missile, v i is the speed of the ith missile, The first derivative of the sight angle of the ith missile, σ i is the lead angle of the ith missile, λ i is the sight angle of the ith missile, R i is the distance between the ith missile and the target, N f is the number of missiles in the swarm, t go,i is the remaining flight time of the ith missile, t go,j is the remaining flight time of the jth missile, ∈ 1 is a small value greater than zero, is the difference between the expected terminal sight angle and the initial sight angle of the ith missile, η i is the intermediate variable that appears when the remaining flight time is derived, Q(η i ) to prevent η i The strange neutralization term, k 1 is the basic feedback coefficient, k 2,i is the preset time feedback coefficient, and β(t) is the time function that ensures the preset time convergence. For the i-th missile, the collision time control feedback term is:

[0088]

[0089] Among them, Q(η i ) is expressed as:

[0090]

[0091] β(t) is expressed as:

[0092]

[0093] k 2,i The differential expression of is:

[0094]

[0095] In addition, 0 +T d >0 is the preset convergence time of time coordination, α 2 ,l,k 2,i (t 0 ),k 1 >0,α 1 >3 are all constants, t 0 is the guidance start time, t is the current time, Td is the preset convergence time of the collision time error, ∈ 1 and ∈ 2 All are small values ​​greater than 0.

[0096] Step 303, based on the optimal guidance law of each missile's expected terminal sight angle constraint and the collision time control feedback term of each missile, determine the space-time constraint distributed guidance law of each missile. By analyzing the remaining flight time, the collision time control feedback term is proposed to obtain a complete space-time constraint distributed guidance law. The missile adjusts the normal acceleration so that multiple missiles can achieve space-time coordinated strikes on stationary targets.

[0097] Step 203, based on the remaining flight time of each missile and the expected terminal sight angle of each missile, determine the distributed optimization problem of the expected terminal sight angle; the expected terminal sight angle is the sight angle at the end of the guidance.

[0098] In an exemplary embodiment of the present application, step 203 is replaced by the following steps 401 to 403:

[0099] Step 401, when the relationship between the initial sight angle of each missile, the initial lead angle of each missile and the expected terminal sight angle of each missile is satisfied, the predicted minimum collision time of each missile group is determined based on the remaining flight time of each missile and the expected terminal sight angle of each missile.

[0100] In an exemplary embodiment of the present application, step 401 specifically includes steps 501-502:

[0101] Step 501, when the relationship between the initial sight angle of each missile, the initial lead angle of each missile and the expected terminal sight angle of each missile is satisfied, the minimum arrival time of each missile is determined based on the remaining flight time of each missile and the expected terminal sight angle of each missile.

[0102] The specific process of determining the minimum value of the arrival time of the i-th missile is as follows.

[0103] Let f i (λ d,i ) = t go,i (t=t 0 ), then the following formula holds:

[0104]

[0105] It can be obtained that for λ d,i , f i (λ d,i ) is a strongly convex function. When λ d,i =λ f0,i +13σ0,i / 12 o'clock, Among them, f i,min (λ d,i ) is the minimum remaining flight time of the ith missile, t go,i,min (t 0 ) is the minimum arrival time of the ith missile. For the collision time t of the multi-missile system f Can satisfy t f ≥t go,i,min (t 0 ), i=1,2,...,N f Based on the above analysis, the minimum collision time of the bullet group can be expressed as Among them, t go,1,min (t 0 ) is the minimum value of the arrival time of the first missile, t go,2,min (t 0 ) is the minimum value of the second missile arrival time, For N f The minimum arrival time of the missiles.

[0106] Step 502, based on the minimum arrival time of each missile, determine the predicted minimum collision time of each missile group.

[0107] in, t fm,i is the minimum collision time of the missile group predicted by the i-th missile, a ij =1 means that there is communication between the i-th missile and the j-th missile, otherwise, a ij =0 means there is no communication between the i-th missile and the j-th missile.

[0108] Step 402, determining the optimization function of the missile group according to the predicted minimum collision time of each missile group and the expected terminal sight angle of each missile. The specific process of determining the optimization function of the missile group is as follows.

[0109] First, based on the predicted minimum collision time of the missile group and the expected terminal sight angle of the i-th missile, the optimization function of the i-th missile is determined; the expression of the optimization function of the i-th missile is: Among them, t go,i (t 0 ,λ d,i ) is the remaining flight time of the ith missile corresponding to the expected terminal sight angle at the initial guidance time, c>0 is the penalty term in the optimization function, t 0 The initial time of guidance.

[0110] Secondly, the optimization function of the missile group is determined based on the optimization function of the i-th missile. The expression of the optimization function of the missile group is:

[0111] Step 403, based on the expected terminal sight angle of each missile and the optimization function of the missile group, determine the distributed optimization problem of the expected terminal sight angle. The distributed optimization problem of the expected terminal sight angle is to set the expected terminal sight angle of each missile, minimize the optimization function of the missile group under the constraint of the expected terminal sight angle interval between missiles, and obtain the optimal expected terminal sight angle of each missile. The expression of the distributed optimization problem of the expected terminal sight angle is:

[0112]

[0113] in, is a vector composed of the desired end sight angle as the optimization variable, P 1 The optimal expected end sight angle vector of the problem, is the expected terminal sight angle interval within the bullet group, H ij is the expected terminal sight angle interval between the ith missile and the jth missile, λ d is the desired end sight angle, t fm is the minimum collision time of the projectile group.

[0114] Step 204, based on the preset convergence time of angle decision and the distributed optimization problem of the desired terminal sight angle, determine the angle decision protocol of each missile. The preset convergence time of angle decision is that all missiles reach the target synchronously at the same time point according to the specified angle.

[0115] In an exemplary embodiment of the present application, step 204 specifically includes steps 601 and 602.

[0116] Step 601, solving the distributed optimization problem of the expected terminal sight angle, obtaining the optimal expected terminal sight angle of each missile, the predicted minimum collision time of the final missile group of each missile, and the time to determine the optimal solution.

[0117] Among them, the final minimum collision time of each missile group predicted and the time to determine the optimal solution are obtained in the process of unifying the minimum collision time of each missile. The specific process of unifying the minimum collision time of the i-th missile is:

[0118] For the first iteration, q = 1, binding t fm,i =t go,i,min (t 0 ) and N fmax , where t fm,i is the minimum collision time of the missile group predicted by the i-th missile, q is the number of iterations, N fmax is the total number of communications, the total number of communications satisfies N fmax >Nf .

[0119] make Among them, t fm,i is the minimum collision time of the missile group predicted by the i-th missile, a ij Indicates whether there is communication between the i-th missile and the j-th missile. ij =1 means that there is communication between the i-th missile and the j-th missile, otherwise, a ij =0 means that there is no communication between the ith missile and the jth missile; in each iteration, the ith missile will update the minimum collision time of the swarm predicted by the ith missile according to the lower limit of the flight time of the communicable missiles in the swarm and its own flight time.

[0120] Let q=q+1, if q<N fmax , then continue the above process, if q≥N fmax , then record the current time t1 and in, is the predicted minimum collision time of the final missile group of the i-th missile, t 1 is the number of communications between the ith missile and other missiles, reaching N fmax The time after the first communication is also the time to determine the optimal solution. At each iteration, the minimum arrival time of each missile will change, and the reason for the change in the minimum arrival time of each missile is that the expected terminal sight angle at each moment will change; therefore, when solving the distributed optimization problem of the expected terminal sight angle, the missile arrives at N fmax The time after the first communication is the time to obtain the final minimum collision time of the missile group predicted by the missile and the time to find the optimal expected terminal line of sight angle, that is, the time of the optimal solution.

[0121] Step 602, determining the angle decision protocol for each missile based on the preset convergence time of the angle decision and the optimal expected terminal sight angle of each missile, the final minimum collision time of each missile group predicted and the time to determine the optimal solution.

[0122] Among them, the angle decision protocol of the i-th missile is:

[0123]

[0124] Among them, t 1 +T g is the preset convergence time for angle decision, t is the current time, and t 0 is the initial guidance time, t 1 To determine the optimal solution time, is the first-order derivative of the expected terminal sight angle of the ith missile, λ d,i is the expected terminal sight angle of the ith missile, λ f,iis the initial sight angle of the ith missile, a ij Indicates whether there is communication between the i-th missile and the j-th missile, H ij is the distance between the expected terminal sight angle of the ith missile and the expected terminal sight angle of the jth missile, λ d,j is the expected terminal sight angle of the jth missile, T g is the preset convergence time of the desired angle, h 1 is the feedback coefficient, ρ and is the exponential gain of the error, is the minimum collision time of the final missile group predicted by the i-th missile, is the optimal expected terminal sight angle of the j-th missile, is the optimal expected terminal sight angle of the ith missile. h 1 >0, T g >0 are all constants, c is a constant greater than 0. d,i (t 0 )=λ f0,i +13σ i / 12,

[0125] Step 205, based on the angle decision protocol of each missile and the space-time constrained distributed guidance law of each missile, determine the space-time guidance decision integrated control protocol of each missile, and control the normal acceleration and expected terminal line of sight angle of each missile based on the space-time guidance decision integrated control protocol of each missile.

[0126] For the i-th missile, the process of space-time guidance-decision-making integrated control based on distributed optimization can be further described as steps 701 to 704:

[0127] Step 701, bind a series of parameter values, parameter range: ∈ 1 ,∈ 2 , k 1 , α 2 , l, k 2,i (t 0 ), h 1 , c>0,α 1 >3,0<ρ<1, All are constants. Bind the desired formation vector H inside the multi-missile system.

[0128] Step 702, λ d,i (t 0 )=λ f0,i +13σ 0,i / 12, execute the above-mentioned minimum collision time unification process for each missile.

[0129] Step 703, obtain the predicted minimum collision time of each missile group and the time to determine the optimal solution from the minimum collision time of each missile. Define the preset convergence time t of angle decision 1 +T g The preset convergence time t coordinated with time 0 +T d .

[0130] Step 704, obtain the cost function g i (λ d,i ,t fm,i ), and then the guidance decision integrated control protocol can be expressed as formula (18)-formula (25).

[0131] This application applies the guidance-decision-making integrated control method to a multi-missile system, realizes the autonomous expected angle decision of multiple missiles against stationary targets and the guidance task of simultaneous multi-directional strikes, solves the problem of time-space constraint guidance and real-time angle decision of missiles against stationary targets, and improves the attack effect of multiple missiles against stationary targets.

[0132] In an exemplary embodiment of the present application, specific guidance and decision-making tasks are implemented through a guidance and decision-making integrated control protocol.

[0133] Missile simulation condition settings: The initial positions of the 4 missiles are (-50m, -55m), (50m, -50m), (50m, 50m), (-50m, 50m). The initial position of the target is (4000m, 4000m). The speeds of the 4 missiles are 120m / s, 130m / s, 110m / s, 125m / s. The yaw angles of the 4 missiles are 60°, 50°, 45°, 40°.

[0134] Decision-making guidance parameter setting: ε in the guidance decision integrated control protocol 1 =1,ε 2 =0.5°, k 1 =1,t 0 =0s, t 1 =0.5s, T d =15s, T g =6.5s, N fmax =5,α 1 =3.5,α 2 =0.01, l=15 3.5 , c = 10, h 1 =7.5,ρ=0.95, k 2,i (t 0 )=4,where i=1,2,...,N f. Expected formation H = [30°, 10°, -10°, -30°] T .

[0135] Result analysis: The simulation result diagram of the space-time guidance-decision-making integrated control method is as follows: Figure 4-Figure 10 The simulation results of the collaborative guidance trajectory without the space-time guidance-decision-making integrated control method and the simulation results of the remaining flight time are shown in the figure below. Figure 11-Figure 12 As shown. Among them, the expected end sight angle directly takes the value of the expected angle formation, that is, λ d,i =H(i),i=1,2,...,N f , H(i) is the expected terminal sight angle of the ith missile, and the other conditions remain unchanged. Figure 4 It can be seen that the four missiles can hit the target under the implementation of the decision-guidance integrated control protocol formula (18) to formula (25). Figure 5 It can be seen that the decision-making link can achieve the desired terminal sight angle decision within the preset time, and the guidance link can track the desired terminal sight angle at the end of the attack. Figure 6 It can be seen that at the end of the attack, the sight rate can be 0. Figure 7 It can be seen that during the missile movement, the lead angle is within the limit of plus or minus 90 degrees, and the lead angle at the end of the strike is 0, which is conducive to the requirement of precise strike. Figure 8 It can be seen that the remaining flight time of the four missiles can converge after the preset time, thus achieving the time coordination task. Fig. 9 It can be seen that the overload of the four missiles can converge to 0 at the end. Fig.10 It can be seen that the minimum collision time can be consistent after 5 communications. Figure 4 and Fig.11 as well as Figure 8 and Fig.12 It can be seen that the flight time of the control group is nearly 10 seconds longer than the flight time of the group with the decision-making process. This shows that if the expected terminal sight angle is not set reasonably and there is a lack of guidance process in the decision-making link, it is easy to extend the total flight time when implementing the space-time coordinated guidance mission, which is not conducive to the penetration requirement.

[0136] Based on the same inventive concept, the embodiment of the present application also provides a method for realizing the above-mentioned time-space guidance-decision-making integrated control system based on distributed optimization, such as Fig.13 As shown, including:

[0137] The dynamic model establishment and remaining flight time determination module 801 is used to establish a dynamic model of each missile in the missile group striking a stationary target and determine the remaining flight time of each missile.

[0138] The space-time constraint distributed guidance law determination module 802 is connected to the dynamic model establishment and remaining flight time determination module 801, and is used to determine the space-time constraint distributed guidance law of each missile based on the dynamic model of each missile in the missile group striking a stationary target, the remaining flight time of each missile and the preset convergence time of the missile group time coordination; the space-time constraint distributed guidance law is the normal acceleration.

[0139] The distributed optimization problem determination module 803 is connected to the dynamic model establishment and remaining flight time determination module 801 and the time-space constraint distributed guidance law determination module 802, and is used to determine the distributed optimization problem of the expected terminal sight angle based on the remaining flight time of each missile and the expected terminal sight angle of each missile; the expected terminal sight angle is the sight angle at the end of guidance.

[0140] The angle decision protocol determination module 804 is connected to the distributed optimization problem determination module 803 and the dynamic model establishment and remaining flight time determination module 801, and is used to determine the angle decision protocol of each missile based on the preset convergence time of the angle decision and the distributed optimization problem of the expected terminal line of sight angle.

[0141] The space-time guidance decision integrated control module 805 is connected to the angle decision protocol determination module 804 and the space-time constraint distributed guidance law determination module 802, and is used to determine the space-time guidance decision integrated control protocol of each missile based on the angle decision protocol of each missile and the space-time constraint distributed guidance law of each missile, and control the normal acceleration and expected terminal line of sight angle of each missile based on the space-time guidance decision integrated control protocol of each missile.

[0142] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0143] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0144] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0145] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0146] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A time-space guidance-decision-making integrated control method based on distributed optimization, characterized in that: The time-space guidance-decision-making integrated control method based on distributed optimization includes: Establish a dynamic model for each missile in the swarm to strike a stationary target and determine the remaining flight time of each missile; Based on the dynamic model of each missile in the missile group striking a stationary target, the remaining flight time of each missile and the preset convergence time of the missile group time coordination, the time-space constraint distributed guidance law of each missile is determined; the time-space constraint distributed guidance law is the normal acceleration; Based on the remaining flight time of each missile and the expected terminal sight angle of each missile, a distributed optimization problem of determining the expected terminal sight angle is determined; the expected terminal sight angle is the sight angle at the end of guidance; Determining an angle decision protocol for each missile based on a distributed optimization problem of a preset convergence time of the angle decision and the desired terminal sight angle; Based on the angle decision protocol of each missile and the space-time constrained distributed guidance law of each missile, the space-time guidance decision integrated control protocol of each missile is determined, and the normal acceleration and the expected terminal line of sight angle of each missile are controlled based on the space-time guidance decision integrated control protocol of each missile.

2. The time-space guidance-decision-making integrated control method based on distributed optimization according to claim 1 is characterized in that: The dynamic model of the i-th missile attacking a stationary target is: Among them, λ i is the sight angle of the ith missile, R i is the distance between the ith missile and the target, γ i is the yaw angle of the i-th missile, σ i is the lead angle of the ith missile, v i is the speed of the ith missile, a i is the normal acceleration of the ith missile, is the first-order derivative of the yaw angle of the i-th missile, is the first-order derivative of the missile-target distance of the ith missile, The first derivative of the sight angle of the ith missile, is the first-order derivative of the lead angle of the ith missile.

3. The time-space guidance-decision-making integrated control method based on distributed optimization according to claim 1 is characterized in that: Based on the dynamic model of each missile in the swarm striking a stationary target, the remaining flight time of each missile and the preset convergence time of the swarm time coordination, the time-space constraint distributed guidance law of each missile is determined, including: Based on the dynamic model of each missile in the missile group attacking a stationary target, the optimal guidance law for each missile's expected terminal sight angle constraint is determined; Determining a collision time control feedback term for each missile based on the remaining flight time of each missile, the preset convergence time of the missile group time coordination, and the dynamic model; Based on the optimal guidance law constrained by the expected terminal sight angle of each missile and the collision time control feedback term of each missile, the space-time constrained distributed guidance law of each missile is determined.

4. The time-space guidance-decision-making integrated control method based on distributed optimization according to claim 1 is characterized in that: The space-time constrained distributed guidance law of the i-th missile is: Among them, a i is the normal acceleration of the ith missile, v i is the speed of the ith missile, The first derivative of the sight angle of the ith missile, σ i is the lead angle of the ith missile, λ i is the sight angle of the ith missile, R i is the distance between the ith missile and the target, N f is the number of missiles in the swarm, t go,i is the remaining flight time of the ith missile, t go,j is the remaining flight time of the jth missile, ∈1 is a small value greater than zero, is the difference between the expected terminal sight angle and the initial sight angle of the ith missile, η i is the intermediate variable that appears when the remaining flight time is derived, Q(η i ) is to prevent η i The singular neutralization term, k1 is the basic feedback coefficient, k 2,i is the preset time feedback coefficient, and β(t) is the time function that ensures the preset time convergence.

5. The time-space guidance-decision-making integrated control method based on distributed optimization according to claim 1 is characterized in that: Based on the remaining flight time of each missile and the expected terminal sight angle of each missile, a distributed optimization problem of determining the expected terminal sight angle is specifically included: Determine the predicted minimum collision time of each missile group based on the remaining flight time of each missile and the expected terminal sight angle of each missile when the relationship between the initial sight angle of each missile, the initial lead angle of each missile and the expected terminal sight angle of each missile is satisfied; Determine the optimization function of the missile group based on the predicted minimum collision time of each missile and the expected terminal sight angle of each missile; Based on the expected terminal sight angle of each missile and the optimization function of the missile group, the distributed optimization problem of the expected terminal sight angle is determined.

6. The time-space guidance-decision-making integrated control method based on distributed optimization according to claim 5 is characterized in that: The optimization function of the bullet group is: Among them, t go,i is the remaining flight time of the ith missile, g i (λ d,i ,t fm,i ) is the optimization function of the i-th missile, λ d,i is the expected terminal sight angle of the ith missile, t fm,i is the minimum collision time of the missile group predicted by the i-th missile, λ d is the desired end sight angle, t fm is the minimum collision time of the projectile group, G(λ d ,t fm ) is the optimization function of the bullet group.

7. The time-space guidance-decision-making integrated control method based on distributed optimization according to claim 5 is characterized in that: The distributed optimization problem of the expected terminal sight angle is: Among them, λ D is a vector composed of the desired terminal sight angle of each missile as the optimization variable, is the optimal expected end sight angle vector of the P1 problem, H ij is the distance between the expected terminal sight angle of the ith missile and the expected terminal sight angle of the jth missile, λ d is the desired end sight angle, t fm is the minimum collision time of the projectile group, G(λ d ,t fm ) is the optimization function of the bullet group, N f is the number of missiles, st is the constraint condition, λ d,i is the expected terminal sight angle of the ith missile, λ d,j is the expected terminal sight angle of the jth missile.

8. The time-space guidance-decision-making integrated control method based on distributed optimization according to claim 1 is characterized in that: Based on the preset convergence time of the angle decision and the distributed optimization problem of the desired terminal sight angle, the angle decision protocol of each missile is determined, specifically including: Solving the distributed optimization problem of the expected terminal sight angle to obtain the optimal expected terminal sight angle for each missile, the predicted minimum collision time of the final missile group for each missile, and the time to determine the optimal solution; The angle decision protocol for each missile is determined based on the preset convergence time of the angle decision, the optimal expected terminal line of sight angle for each missile, the predicted minimum collision time of the final missile group for each missile, and the time to determine the optimal solution.

9. The time-space guidance-decision-making integrated control method based on distributed optimization according to claim 1 is characterized in that: The angle decision protocol for the i-th missile is: Among them, t1+T g is the preset convergence time of angle decision, t is the current time, t0 is the initial guidance time, t1 is the time to determine the optimal solution, is the first-order derivative of the expected terminal sight angle of the ith missile, λ d,i is the expected terminal sight angle of the ith missile, λ f,i is the initial sight angle of the ith missile, a ij Indicates whether there is communication between the i-th missile and the j-th missile, H ij is the distance between the expected terminal sight angle of the ith missile and the expected terminal sight angle of the jth missile, λ d,j is the expected terminal sight angle of the j-th missile, T g is the preset convergence time of the desired angle, h1 is the feedback coefficient, ρ and is the exponential gain of the error, is the minimum collision time of the final missile group predicted by the i-th missile, is the optimal expected terminal sight angle of the j-th missile, is the optimal expected terminal sight angle of the ith missile.

10. A space-time guidance-decision-making integrated control system based on distributed optimization, applying the space-time guidance-decision-making integrated control method based on distributed optimization according to any one of claims 1 to 9, characterized in that: The time-space guidance-decision-making integrated control system based on distributed optimization includes: The module for establishing a dynamic model and determining the remaining flight time is used to establish a dynamic model for each missile in the missile group to strike a stationary target and determine the remaining flight time of each missile; A space-time constraint distributed guidance law determination module is connected to the dynamics model establishment and remaining flight time determination module, and is used to determine the space-time constraint distributed guidance law of each missile based on the dynamics model of each missile in the missile group striking a stationary target, the remaining flight time of each missile and the preset convergence time of the missile group time coordination; the space-time constraint distributed guidance law is a normal acceleration; A distributed optimization problem determination module is connected to the dynamic model establishment and remaining flight time determination module and the time-space constraint distributed guidance law determination module, and is used to determine the distributed optimization problem of the expected terminal sight angle based on the remaining flight time of each missile and the expected terminal sight angle of each missile; the expected terminal sight angle is the sight angle at the end of guidance; An angle decision protocol determination module is connected with the distributed optimization problem determination module and the dynamic model establishment and remaining flight time determination module, and is used to determine the angle decision protocol of each missile based on the distributed optimization problem of the preset convergence time of the angle decision and the desired terminal sight angle; The space-time guidance decision integrated control module is connected to the angle decision protocol determination module and the space-time constraint distributed guidance law determination module, and is used to determine the space-time guidance decision integrated control protocol of each missile based on the angle decision protocol of each missile and the space-time constraint distributed guidance law of each missile, and control the normal acceleration and expected terminal line of sight angle of each missile based on the space-time guidance decision integrated control protocol of each missile.

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