Missile guidance method, device and equipment based on digital main line and storage medium

Abstract

The invention relates to a missile guidance method, device and equipment based on a digital main line and a storage medium. A missile mechanism model is constructed by using development and production stage data on a digital main line, a missile error compensator is constructed by using test verification stage data on the digital main line, and a missile system hybrid model is constructed based on the missile mechanism model and the missile error compensator. And guided missiles are guided through the guided missile system hybrid model. Compared with the prior art, a large amount of missile flight test data can be provided for training through the data link integrated by the digital main line, the complexity of data fusion is reduced, error compensation is carried out on the missile mechanism model through the missile error compensator of the missile system hybrid model, and the problem of missile guidance error deviation is solved.

Description

Technical Field

[0001] The present disclosure relates to the field of missile control technology, and in particular to a missile guidance method, device, equipment and storage medium based on a digital main line. Background Art

[0002] In modern warfare, hypersonic missiles can cause great damage to targets in both strategic and tactical applications, and have strong combat potential. In the ever-changing battlefield, rapid response capability is crucial. For diverse mobile targets such as land vehicles, ships at sea and aircraft in the air, the guidance system needs to have flexible strike capabilities.

[0003] An efficient guidance system can quickly lock and attack newly emerging mobile targets, improving combat efficiency. Precise strikes on mobile targets can effectively improve combat efficiency. Missile guidance on mobile targets can ensure that missiles can effectively strike dynamically changing targets and has become an indispensable part of modern warfare. Among the related technologies, the commonly used missile guidance technologies are:

[0004] 1) Missile guidance algorithm based on dynamic model. By building a dynamic model of the missile, its flight trajectory is predicted, and the missile landing point is calculated in advance. However, the prediction accuracy depends on the accuracy of the missile's initial parameters. If these parameters are incorrect, the prediction results will be biased. The dynamic model assumes that the missile flies along a preset trajectory, but in reality, especially cruise missiles, may take maneuvers to change their trajectory, affecting the accuracy of the prediction of the impact point.

[0005] 2) Intelligent guidance technology based on multiple sensors. Combining data from multiple sensors such as radar, infrared, and optics to improve the reliability of target detection and tracking, and using advanced algorithms to enable the missile to dynamically adjust its course according to the target during flight. However, the data fusion algorithm is complex, and a highly intelligent control system requires efficient information processing capabilities. At the same time, it is susceptible to interference, especially in complex electromagnetic environments, and may be affected by electronic interference, resulting in guidance failure.

[0006] 3) Missile guidance algorithm based on neural network. The missile trajectory prediction model is constructed by model fitting the missile's historical flight trajectory, and the missile trajectory prediction method is improved to provide more accurate target information for the guidance system. However, the technology is difficult to implement, and there are problems such as poor network timeliness and lack of a large amount of missile trajectory data training, which makes it difficult to adopt in practice. Summary of the invention

[0007] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a missile guidance method, device, equipment and storage medium based on a digital main line.

[0008] In a first aspect, an embodiment of the present disclosure provides a missile guidance method based on a digital main line, the method comprising:

[0009] Utilize the research and production phase data on the digital main line to build a missile mechanism model;

[0010] Using the test verification phase data on the digital mainline, the missile error compensator was constructed;

[0011] Based on the missile mechanism model and the missile error compensator, a missile system hybrid model is constructed;

[0012] The missile is guided by the missile system hybrid model.

[0013] In a second aspect, an embodiment of the present disclosure provides a missile guidance device based on a digital main line, the device comprising:

[0014] The first building module is used to build a missile mechanism model using the research and production stage data on the digital main line;

[0015] The second building block is used to build a missile error compensator using the test verification phase data on the digital main line;

[0016] A third building module is used to build a missile system hybrid model based on the missile mechanism model and the missile error compensator;

[0017] The guidance module is used to guide the missile through the missile system hybrid model.

[0018] In a third aspect, an embodiment of the present disclosure provides an electronic device, including:

[0019] Memory;

[0020] Processor; and

[0021] Computer programs;

[0022] The computer program is stored in the memory and is configured to be executed by the processor to implement the method as described in the first aspect.

[0023] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the method as described in the first aspect.

[0024] In a fifth aspect, an embodiment of the present disclosure further provides a computer program product, which includes a computer program or instructions, and when the computer program or instructions are executed by a processor, the method described in the first aspect is implemented.

[0025] The missile guidance method, device, equipment and storage medium based on the digital main line provided by the disclosed embodiment constructs a missile mechanism model by using the data of the development and production stage on the digital main line, constructs a missile error compensator by using the test verification stage data on the digital main line, constructs a missile system hybrid model based on the missile mechanism model and the missile error compensator, and guides the missile through the missile system hybrid model. Compared with the prior art, the disclosed embodiment can provide a large amount of missile flight test data for training through the data link integrated by the digital main line, reduces the complexity of data fusion, and compensates the error of the missile mechanism model through the missile error compensator of the missile system hybrid model, solving the problem of missile guidance error deviation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0028] Figure 1 A flowchart of a missile guidance method based on a digital main line provided by an embodiment of the present disclosure;

[0029] Figure 2 A schematic diagram of the missile action torque provided by an embodiment of the present disclosure;

[0030] Figure 3 A flowchart of a missile guidance method based on a digital main line provided by another embodiment of the present disclosure;

[0031] Figure 4 A schematic diagram of the overall process of a missile guidance method based on a digital main line provided in an embodiment of the present disclosure;

[0032] Figure 5 A schematic diagram of a mapping of a support vector regression algorithm provided in an embodiment of the present disclosure;

[0033] Figure 6 A schematic diagram of the feature space of the support vector regression algorithm provided in the embodiment of the present disclosure;

[0034] Figure 7 A schematic diagram of a missile system hybrid model architecture provided by an embodiment of the present disclosure;

[0035] Figure 8A schematic diagram of the structure of a missile guidance device based on a digital main line provided in an embodiment of the present disclosure;

[0036] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0037] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0038] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0039] To address this problem, an embodiment of the present disclosure provides a missile guidance method based on a digital main line, which is described below in conjunction with a specific embodiment.

[0040] Figure 1 A flowchart of a missile guidance method based on a digital main line provided in an embodiment of the present disclosure. The execution subject of the method is an electronic device, which can be a missile guidance device, such as a computer, a microprocessor, an embedded chip, etc. The method can be applied to the scenario of guiding a missile, and can also be applied to the scenario of predicting the target flight parameters of the missile at the next moment. It can more accurately predict the target flight parameters at the next moment, provide trajectory prediction, and assist in striking mobile targets.

[0041] It is understandable that the missile guidance method based on digital main line provided by the embodiment of the present disclosure can also be applied in other scenarios.

[0042] Below Figure 1 The missile guidance method based on the digital main line shown in the figure is introduced, and the specific steps of the method are as follows:

[0043] S101. Use the research and production phase data on the digital main line to build a missile mechanism model.

[0044] In this step, if Figure 4As shown in the figure, the missile mechanism model is constructed by using the data of the development and production stage on the digital main line platform. By utilizing the characteristics of digital main line information flow, a unique mechanism model is constructed for each missile according to the missile body parameters such as fuel type, thrust-to-weight ratio, and conductor geometric parameters. The missile mechanism model is usually composed of a power model, a propeller model, a maneuverability model, an environmental impact model, and a control system model. It contains the internal mechanism of the change of the motion state of the missile under the action of various external forces and torques. The power model describes how these forces and torques act on the missile body through a series of differential equations, and cause changes in the missile's acceleration, velocity, and even position. The digital main line can be used to obtain the body parameters and mechanism model unique to the corresponding missile.

[0045] Optionally, the development and production stage data includes missile body parameter data.

[0046] In some embodiments, S101 may include but is not limited to S1011 and S1012:

[0047] S1011, obtain missile body parameter data from the digital main line;

[0048] Among them, the missile body parameter data includes but is not limited to fuel type, thrust-to-weight ratio, conductor geometry parameters, mass, etc.

[0049] S1012. Based on the missile body parameter data, a missile mechanism model is constructed to calculate the flight parameters of the missile at the next moment through the missile mechanism model, wherein the flight parameters include three-dimensional position coordinates, attitude angle, and speed.

[0050] Optionally, the flight parameters may include three-dimensional position coordinates, attitude angle, speed, time, and may also include action torque, action force, etc., which are not specifically limited here. Among them, the attitude angle includes the yaw angle ψ, the pitch angle θ and the roll angle γ; the action force, i.e., the aerodynamic force, can be decomposed into three components: drag X, lift Y and lateral force Z; the action torque can be decomposed into the moment rolling torque M x , yaw moment M y and pitch moment M z .

[0051] Specifically, in missile kinematic modeling, the missile is usually regarded as an ideal rigid body, and its spatial position and attitude can be accurately defined by variables in a specific coordinate system. The ground coordinate system is a rectangular coordinate system, and the coordinate position is usually expressed by a three-dimensional position coordinate vector (x, y, z), in which each component reflects the projection distance of the missile on the corresponding coordinate axis. The missile attitude angle determines the orientation and tilt state of the missile relative to a reference coordinate system. The body coordinate system, also known as the local coordinate system or missile coordinate system, is a reference system that moves with the missile, and its origin is set at the center of mass or metacenter of the missile. In the missile coordinate system, the velocity state of the missile includes linear velocity and angular velocity. The linear velocity vector represents the translational velocity of the missile in each axis direction in the missile coordinate system, while the angular velocity vector reflects the rotational velocity of the missile around three orthogonal axes.

[0052] The missile body parameters recorded in the development and production stage can be transferred to the algorithm construction stage through the digital main line, where the forces and moments acting on the missile can be divided into action forces and action moments. Along the velocity coordinate system, the action force, i.e., the aerodynamic force, can be decomposed into three components: drag X, lift Y, and lateral force Z. Conventionally, the positive direction of drag X is defined as the negative direction of the velocity vector direction V of the center of mass of the missile body, while the positive directions of lift Y and lateral force Z are consistent with the directions of the y-axis and z-axis of the velocity coordinate system, respectively. Experiments have shown that the aerodynamic force acting on the missile is proportional to the dynamic pressure of the incoming flow and the characteristic area of ​​the missile, which can be expressed as:

[0053] X=c x Q

[0054] Y=c y Q

[0055] Z=c z Q

[0056]

[0057] Where q is the dynamic pressure head, i.e., pressure, ρ is the incoming flow density, v represents the incoming flow velocity, and S is the missile characteristic area. The characteristic area of ​​a winged missile is generally the area of ​​the wing, and the characteristic area of ​​a wingless missile is generally the maximum cross-section of the missile body. The value of the missile characteristic area can be obtained from the digital main line. Drag coefficient c x , lift coefficient c y and the lateral force coefficient c z is the dimensionless proportionality factor, which can be obtained from the digital main line.

[0058] Figure 2 A schematic diagram of the missile torque provided by the embodiment of the present disclosure is shown in FIG. Figure 2 As shown in the figure, the torque acting on the missile body, i.e., the aerodynamic torque, is decomposed into three components along the missile body coordinate system: the rolling torque M x, yaw moment M y and pitch moment M z Among them, δ x ,δ y and δ z They are the deflection angles of the missile's rudders and wings, which play a role in adjusting the direction. The torque is expressed as follows:

[0059] M x =m x QTL

[0060] M y =m y QTL

[0061] M z =m z QTL

[0062] Where L is the characteristic length, which is the missile body length in the digital main line; rolling moment coefficient m x , Yaw moment coefficient m y and the pitching moment coefficient m z It is a dimensionless ratio constant, which is related to the Mach number, flight altitude, angle of attack and its rate of change, sideslip angle and its rate of change, angular velocity of the projectile's rotation around its axis, deflection angles of the rudder and wing, etc. It can be obtained through the digital main line.

[0063] In the missile mechanism model, the dynamic equation of the missile rotating around the center of mass is:

[0064]

[0065] J x , J y , J z are the moments of inertia of the missile relative to the coordinate axes of the missile body coordinate system; w x 、w y 、w z is the component of the angular velocity w of the projectile coordinate system relative to the ground coordinate system on each coordinate axis of the projectile coordinate system.

[0066] In the missile mechanism model, the kinematic equation of the missile center of mass motion is:

[0067]

[0068] x, y, and z are the three components of the ground coordinate system Axyz, V represents the missile speed, ψ represents the yaw angle, and θ represents the pitch angle.

[0069] S102. Use the test verification phase data on the digital main line to build a missile error compensator.

[0070] In this step, if Figure 4As shown, the missile error compensator is constructed by using the test verification phase data on the digital main line platform. Optionally, the test verification phase data includes multiple groups of test verification data. Specifically, a large amount of missile simulation data and test data are collected by utilizing the characteristics of unified and standardized aggregation of digital main line information. The simulation data refers to the missile mechanism model data obtained based on the missile mechanism model, and the test data refers to the test missile trajectory data corresponding to the missile mechanism model data. Based on a large amount of simulation data and test data, the error compensator of the missile is constructed. When constructing the missile error compensator, a parallel hybrid modeling method of the missile mechanism model and the historical trajectory data is adopted.

[0071] In some embodiments, the step S102 uses the test verification phase data on the digital main line to construct a missile error compensator, including S1021 and S1022:

[0072] S1021. Using the data from the test verification phase on the digital main line, a data-driven model is constructed, wherein the data-driven model selects a support vector regression algorithm as a core algorithm of the data-driven part;

[0073] S1022. Adopting a data-driven model as the missile error compensator.

[0074] Correspondingly, the construction of a missile system hybrid model based on the missile mechanism model and the missile error compensator in S103 includes: taking the missile mechanism model as the core and combining the data-driven model to construct a missile system hybrid model.

[0075] Specifically, Figure 7 As shown, this embodiment adopts a hybrid modeling method of a missile mechanism model and a data-driven model to predict the missile's trajectory. The missile mechanism model is used to control the motion characteristics of the missile itself, and the data-driven model is used to fit and control the influence of random and irregular factors on the missile's trajectory. Finally, the missile system hybrid model established is more in line with the needs of missile guidance work.

[0076] The missile system hybrid model proposed in the embodiment of the present disclosure solves the limitations that may exist when simply relying on the missile mechanism model or the data-driven model to deal with the complex motion characteristics of the missile. By combining the advantages of the two types of models, the missile system hybrid model achieves a more comprehensive and accurate description and prediction of the missile motion law, showing higher practical value and reliability. Figure 7 As shown, the architecture of this hybrid model and its effect in practical applications are intuitively presented, further confirming its advancement and applicability in the field of missile motion prediction research.

[0077] S103: constructing a missile system hybrid model based on the missile mechanism model and the missile error compensator.

[0078] In this step, an innovative hybrid modeling strategy is adopted to combine the missile mechanism model with the missile error compensator to construct a missile system hybrid model. In the missile system hybrid model, on the one hand, the missile mechanism model of the missile's intrinsic characteristics built on the principles of physics and fluid mechanics is used for reference, and on the other hand, data mining and machine learning techniques are fully utilized to deeply analyze and learn a large amount of test verification phase data, namely historical trajectory data, summarize the practical experience of missile movement, and use the missile error compensator to compensate for the error, thereby reducing the missile guidance error.

[0079] Based on the missile motion mechanism model, a missile error compensator is introduced. The missile error compensator uses support vector regression (SVR) technology as an effective error compensation and refined prediction method to construct a hybrid prediction model. This hybrid modeling method with complementary mechanism and data can make full use of the advantages of the missile mechanism model's accurate grasp of the inherent laws of missile motion and the data-driven model's sensitive response to complex environmental factors to predict the missile's true trajectory dynamics. The missile system hybrid model is based on the missile mechanism model, and the data-driven model is the missile error compensator. The missile error compensator analyzes the error between the actual trajectory of the missile and the trajectory predicted by the missile mechanism model, and performs fitting correction on it, thereby significantly improving the prediction accuracy and reliability of the overall missile mechanism model. This method is suitable for scenarios where a basic mechanism model is already available, but the model prediction accuracy is insufficient due to the complexity of missile motion and environmental uncertainty.

[0080] S104. Guiding the missile through the missile system hybrid model.

[0081] In this step, after the missile system hybrid model is obtained, the missile is guided by the missile system hybrid model. Specifically, the missile system hybrid model can be used to predict the dynamics of the missile at the next moment in real time, effectively solving the problem of missile guidance error deviation.

[0082] The disclosed embodiment constructs a missile mechanism model by using the data of the development and production stage on the digital main line, constructs a missile error compensator by using the data of the test verification stage on the digital main line, constructs a missile system hybrid model based on the missile mechanism model and the missile error compensator, and guides the missile through the missile system hybrid model. Compared with the prior art, the disclosed embodiment can provide a large amount of missile flight test data for training through the data link integrated by the digital main line, reducing the complexity of data fusion, and compensates the error of the missile mechanism model through the missile error compensator of the missile system hybrid model, solving the problem of missile guidance error deviation.

[0083] Figure 3A flowchart of a missile guidance method based on a digital main line is provided for another embodiment of the present disclosure, such as Figure 3 As shown, the method includes the following steps:

[0084] S201. Use the research and production phase data on the digital main line to construct a missile mechanism model.

[0085] Specifically, the implementation process and principle of S201 and S101 are the same, and will not be repeated here.

[0086] S202, acquiring multiple groups of test verification data from the digital main line, each group of test verification data including the three-dimensional position coordinates, attitude angle, and speed of the missile changing with time.

[0087] In this step, multiple groups of test verification data are extracted from the digital main line, each group of test verification data includes missile mechanism model data and corresponding test missile trajectory data, the missile mechanism model data and the corresponding test missile trajectory data respectively include the three-dimensional position coordinates, attitude angle, speed of the missile changing with time, and other parameters, which are not specifically limited here. Among them, the missile mechanism model data in each group of test verification data is simulation data obtained based on the missile mechanism model, and the test missile trajectory data in each group of test verification data is the actual trajectory data corresponding to the missile mechanism model data.

[0088] S203: construct a missile error compensator based on the missile mechanism model data and the corresponding test missile trajectory data.

[0089] Furthermore, based on a large amount of missile mechanism model data and test missile trajectory data, an error compensator for the missile is constructed.

[0090] In some embodiments, S203 may include but is not limited to S2031 and S2032:

[0091] S2031, calculating the difference between the missile mechanism model data in each set of test verification data and the corresponding test missile trajectory data;

[0092] S2032. Using the difference as an error term, construct a missile error compensator.

[0093] like Figure 4 As shown, the error compensator is constructed by the difference between the missile mechanism model data and the historical trajectory data. Specifically, the difference between the missile mechanism model data and the corresponding test missile trajectory data is used as the error term to construct the error compensator for the missile.

[0094] When constructing the missile error compensator, the Support Vector Regression (SVR) algorithm was selected as the core algorithm of the data-driven part. The SVR model follows the principle of maximizing generalization ability. While minimizing the empirical risk, it also strives to minimize the confidence interval, which reflects its unique optimization design concept. SVR sets the training error as the constraint of the optimization problem, and minimizes the confidence interval as the main optimization goal. Therefore, theoretically speaking, the SVR model has obvious advantages over other models in generalization ability. In addition, SVR transforms the optimization problem into a quadratic programming problem, ensuring the uniqueness and global optimality of its solution. It is worth noting that the amount of data required for SVR model training is relatively small, and the quality and quantity requirements of samples are relatively low. In addition, its training time is relatively short, which makes SVR show high efficiency and excellent prediction performance in practical applications.

[0095] Figure 5 The following is a schematic diagram of a mapping of a support vector regression algorithm provided by an embodiment of the present disclosure. Figure 5 As shown in the figure, when solving the regression problem, given an example x described by d attributes = (x1, x2, ..., x d ), where x i is the i-th attribute of x, and the SVR model makes predictions through linear combination, expressed as:

[0096] f(x)=w1x1+w2x2+…+w d x d +b

[0097] It is usually written in vector form:

[0098] f(x)=ω T x+b

[0099] Where ω is the weight vector ω∈R n , b is the deviation b∈R.

[0100] Figure 6 Schematic diagram of the feature space of the support vector regression algorithm provided by the embodiment of the present disclosure. Figure 6 As shown in Figure 1, SVR uses the ε-insensitive error function as the loss function. First, for a specific problem, a constant ε>0 is defined. The ε-insensitive function is defined as follows:

[0101]

[0102] Among them, x i is the i-th attribute of x, y irepresents the i-th label corresponding to the i-th attribute of x.

[0103] In order to minimize the loss function, based on the structural risk minimization criterion, the constraints ω and b are determined, the objective function is optimized, and the following optimization criterion is constructed:

[0104]

[0105] sty i -(ω T x i +b)≤ε+ξ i

[0106]

[0107] This is the convex quadratic programming problem of the original SVR problem, where C is the penalty factor, C>0, and its purpose is to find a compromise between generalization performance and training error; ε is the maximum tolerance value; ξ i and is a slack variable to avoid over-training. The Lagrange function can be obtained by introducing the Lagrange multiplier:

[0108]

[0109] In the formula, and is a Lagrange multiplier and

[0110] Find ω, b, and a respectively i The calculation formula for the partial derivative of ε to be 0 is as follows:

[0111]

[0112] It follows that the dual problem of SVR is as follows:

[0113]

[0114] Where K represents the kernel function. KKT conditions (Karush-Kuhn-Tucker conditions) are a set of necessary conditions in optimization theory.

[0115] According to the KKT condition, ω and b can be obtained as follows:

[0116]

[0117] Finally, by substituting ω and b, we can get the decision function of SVR, that is, the missile error compensator is expressed as follows:

[0118]

[0119] S204: constructing a missile system hybrid model based on the missile mechanism model and the missile error compensator.

[0120] Specifically, the implementation process and principle of S204 and S103 are the same, and will not be repeated here.

[0121] S205, simulating the flight parameters of the missile at the next moment through the missile mechanism model in the missile system hybrid model.

[0122] Make full use of the missile mechanism model to accurately grasp the internal laws of missile movement and simulate the flight parameters of the missile at the next moment.

[0123] In some embodiments, the step of simulating the flight parameters of the missile at the next moment by the missile mechanism model in the missile system hybrid model in S205 includes but is not limited to: S2051, S2052:

[0124] S2051, obtaining the current flight parameters of the missile in real time;

[0125] S2052, inputting the flight parameters of the missile at the current moment into the missile mechanism model in the missile system hybrid model, and simulating the flight parameters of the missile at the next moment through the missile mechanism model.

[0126] S206. Correcting the simulated flight parameters of the missile at the next moment through the missile error compensator in the missile system hybrid model to obtain the target flight parameters of the missile at the next moment.

[0127] The missile error compensator analyzes the error between the actual trajectory of the missile and the trajectory predicted by the mechanism model, and performs fitting correction on it to obtain the target flight parameters of the missile at the next moment, thereby significantly improving the prediction accuracy and reliability of the overall missile mechanism model.

[0128] S207: Guiding the missile based on the target flight parameters of the missile at the next moment.

[0129] In this step, the missile is guided according to the target flight parameters of the missile at the next moment predicted in real time, which effectively solves the problem of missile guidance error deviation, provides trajectory prediction, and can assist in striking moving targets.

[0130] The disclosed embodiment constructs a missile mechanism model by utilizing the development and production stage data on the digital main line, obtains multiple groups of test verification data from the digital main line, each group of test verification data includes missile mechanism model data and corresponding test missile trajectory data, and constructs a missile error compensator based on the missile mechanism model data and the corresponding test missile trajectory data. Next, a missile system hybrid model is constructed based on the missile mechanism model and the missile error compensator. Further, the flight parameters of the missile at the next moment are simulated by the missile mechanism model in the missile system hybrid model, and the simulated flight parameters of the missile at the next moment are corrected by the missile error compensator in the missile system hybrid model to obtain the target flight parameters of the missile at the next moment. Then, the missile is guided based on the target flight parameters of the missile at the next moment. Through this method, the problem of missile guidance error deviation is solved, and a large amount of missile flight test data can be provided for training through the data link integrated by the digital main line, which also reduces the complexity of data fusion and improves prediction accuracy and reliability.

[0131] Figure 8 The schematic diagram of the structure of the missile guidance device based on the digital main line provided by the embodiment of the present disclosure. The missile guidance device based on the digital main line can be the electronic device as described in the above embodiment, or the missile guidance device based on the digital main line can be a component or assembly in the electronic device. The missile guidance device based on the digital main line provided by the embodiment of the present disclosure can execute the processing flow provided by the missile guidance method based on the digital main line, such as Figure 8 As shown, the missile guidance device 40 based on the digital main line includes: a first construction module 41, a second construction module 42, a third construction module 43, and a guidance module 44; wherein the first construction module 41 is used to construct a missile mechanism model using the development and production stage data on the digital main line; the second construction module 42 is used to construct a missile error compensator using the test verification stage data on the digital main line; the third construction module 43 is used to construct a missile system hybrid model based on the missile mechanism model and the missile error compensator; and the guidance module 44 is used to guide the missile through the missile system hybrid model.

[0132] Optionally, the development and production stage data includes missile body parameter data;

[0133] The first construction module 41 uses the development and production stage data on the digital main line to construct a missile mechanism model, which is specifically used to: obtain missile body parameter data from the digital main line; based on the missile body parameter data, construct a missile mechanism model to calculate the flight parameters of the missile at the next moment through the missile mechanism model, and the flight parameters include three-dimensional position coordinates, attitude angle, speed, and time.

[0134] Optionally, the test verification phase data includes multiple groups of test verification data;

[0135] The second construction module 42 uses the test verification phase data on the digital main line to construct a missile error compensator, and is specifically used to: obtain multiple groups of test verification data from the digital main line, each group of test verification data includes the three-dimensional position coordinates, attitude angle, and speed of the missile changing over time; based on the missile mechanism model data and the corresponding test missile trajectory data, construct a missile error compensator.

[0136] Optionally, when constructing a missile error compensator based on the missile mechanism model data and the corresponding test missile trajectory data, the second construction module 42 is specifically used to: calculate the difference between the missile mechanism model data and the corresponding test missile trajectory data in each group of test verification data; and construct a missile error compensator using the difference as an error term.

[0137] Optionally, when the second construction module 42 constructs the missile error compensator using the test verification phase data on the digital main line, it is specifically used to: construct a data-driven model using the test verification phase data on the digital main line, wherein the data-driven model selects a support vector regression algorithm as the core algorithm of the data-driven part; and adopts the data-driven model as the missile error compensator;

[0138] When the third construction module 43 constructs the missile system hybrid model based on the missile mechanism model and the missile error compensator, it is specifically used to: take the missile mechanism model as the core and combine it with the data-driven model to construct the missile system hybrid model.

[0139] Optionally, when the guidance module 44 guides the missile through the missile system hybrid model, it is specifically used to: simulate the flight parameters of the missile at the next moment through the missile mechanism model in the missile system hybrid model; correct the simulated flight parameters of the missile at the next moment through the missile error compensator in the missile system hybrid model to obtain the target flight parameters of the missile at the next moment; and guide the missile based on the target flight parameters of the missile at the next moment.

[0140] Optionally, when the guidance module 44 simulates the flight parameters of the missile at the next moment through the missile mechanism model in the missile system hybrid model, it is specifically used to: obtain the flight parameters of the missile at the current moment in real time; input the flight parameters of the missile at the current moment into the missile mechanism model in the missile system hybrid model, and simulate the flight parameters of the missile at the next moment through the missile mechanism model.

[0141] Figure 8The missile guidance device based on the digital main line of the illustrated embodiment can be used to execute the technical solution of the above-mentioned method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0142] Fig. 9 Schematic diagram of the structure of an electronic device in the embodiment of the present disclosure. Fig. 9 , which shows a structural schematic diagram of an electronic device 600 suitable for implementing the embodiments of the present disclosure. Fig. 9 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0143] like Fig. 9 As shown, the electronic device 600 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage device 608 to a random access memory (RAM) 603 to implement the missile guidance method based on the digital main line of the embodiment described in the present disclosure. In the RAM 603, various programs and data required for the operation of the electronic device 600 are also stored. The processing device 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0144] Typically, the following devices may be connected to the I / O interface 605: an input device 606 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 607 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 608 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 609. The communication device 609 may allow the electronic device 600 to communicate with other devices wirelessly or by wire to exchange data. Although Fig. 9 The electronic device 600 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0145] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart, thereby implementing the missile guidance method based on the digital main line as described above. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 609, or installed from the storage device 608, or installed from the ROM 602. When the computer program is executed by the processing device 601, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0146] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0147] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0148] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0149] The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device:

[0150] Utilize the research and production phase data on the digital main line to build a missile mechanism model;

[0151] Using the test verification phase data on the digital mainline, the missile error compensator was constructed;

[0152] Based on the missile mechanism model and the missile error compensator, a missile system hybrid model is constructed;

[0153] The missile is guided by the missile system hybrid model.

[0154] Optionally, when the above one or more programs are executed by the electronic device, the electronic device may also execute other steps described in the above embodiments.

[0155] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0156] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0157] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a unit does not, in some cases, limit the unit itself.

[0158] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0159] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0160] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0161] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0162] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A missile guidance method based on digital main line, characterized in that: The method comprises: Utilize the research and production phase data on the digital main line to build a missile mechanism model; Using the test verification phase data on the digital mainline, the missile error compensator was constructed; Based on the missile mechanism model and the missile error compensator, a missile system hybrid model is constructed; The missile is guided by the missile system hybrid model.

2. The method according to claim 1, characterized in that The development and production stage data include missile body parameter data; The method of using the development and production stage data on the digital main line to construct a missile mechanism model includes: Get missile body parameter data from the digital main line; Based on the missile body parameter data, a missile mechanism model is constructed to calculate the flight parameters of the missile at the next moment through the missile mechanism model. The flight parameters include three-dimensional position coordinates, attitude angle, and speed.

3. The method according to claim 1, characterized in that The test verification phase data includes multiple groups of test verification data; The method of using the test verification phase data on the digital main line to construct a missile error compensator includes: Acquire multiple groups of test verification data from the digital main line, each group of test verification data includes the three-dimensional position coordinates, attitude angle, and speed of the missile changing over time; A missile error compensator is constructed based on the missile mechanism model data and the corresponding test missile trajectory data.

4. The method according to claim 3, characterized in that The missile error compensator is constructed based on the missile mechanism model data and the corresponding test missile trajectory data, including: Calculate the difference between each set of missile mechanism model data and the corresponding test missile trajectory data; The difference is used as an error term to construct a missile error compensator.

5. The method according to claim 1, characterized in that The method of using the test verification phase data on the digital main line to construct a missile error compensator includes: Using the data from the test verification phase on the digital main line, a data-driven model is constructed, wherein the data-driven model selects a support vector regression algorithm as the core algorithm of the data-driven part; Using a data driven model as the missile error compensator; The missile system hybrid model is constructed based on the missile mechanism model and the missile error compensator, including: Taking the missile mechanism model as the core and combining it with the data-driven model, a missile system hybrid model is constructed.

6. The method according to claim 1, characterized in that The method of guiding the missile by using the missile system hybrid model includes: Simulating the flight parameters of the missile at the next moment through the missile mechanism model in the missile system hybrid model; The missile error compensator in the missile system hybrid model is used to correct the simulated flight parameters of the missile at the next moment to obtain the target flight parameters of the missile at the next moment; The missile is guided based on the target flight parameters of the missile at the next moment.

7. The method according to claim 6, characterized in that The simulating of the flight parameters of the missile at the next moment by the missile mechanism model in the missile system hybrid model includes: Obtain the missile's current flight parameters in real time; The flight parameters of the missile at the current moment are input into the missile mechanism model in the missile system hybrid model, and the flight parameters of the missile at the next moment are simulated through the missile mechanism model.

8. A missile guidance device based on a digital main line, characterized in that: include: The first building module is used to build a missile mechanism model using the research and production stage data on the digital main line; The second building block is used to build a missile error compensator using the test verification phase data on the digital main line; A third building module is used to build a missile system hybrid model based on the missile mechanism model and the missile error compensator; The guidance module is used to guide the missile through the missile system hybrid model.

9. An electronic device, characterized in that: include: Memory; processor; as well as Computer programs; The computer program is stored in the memory and is configured to be executed by the processor to implement the method according to any one of claims 1 to 7.

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

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