Cooperative guidance method and system for controlling interception time

Abstract

The invention discloses a cooperative guidance method and system for controlling interception time, and belongs to the technical field of aircraft guidance. The collaborative guidance method comprises the following steps: constructing a kinematic equation of each aircraft in a collaborative interception process according to a relative motion relationship between the aircraft and a maneuvering target; according to the sight radial motion of each aircraft in the kinematics equation, constructing a residual interception time model of each aircraft; carrying out derivation on the residual interception time model of each aircraft; performing aircraft sight line direction guidance law derivation by using an interception time collaborative guidance model to obtain a sight line radial acceleration of each aircraft; and all the aircrafts adopt respective corresponding sight line radial acceleration to carry out cooperative guidance. The method can ensure that the remaining interception time of each aircraft converges consistently within the finite time, realizes that all aircrafts intercept the target at the same time, and meets the real demand of rapid and consistent convergence of the guidance law within the finite time.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft guidance, and in particular relates to a collaborative guidance method and system for controlling interception time. Background Art

[0002] In recent years, with the substantial improvement of the maneuverability of targets and the continuous improvement of anti-missile defense systems, a single aircraft has more and more obvious drawbacks when attacking maneuverable targets. At the same time, the concept of multi-aircraft coordinated operations has received more and more attention. Compared with the traditional one-to-one interception method, multi-aircraft coordinated operations have greater advantages: on the one hand, multi-aircraft coordinated operations can carry out a more comprehensive and accurate attack on the target state, effectively making up for the lack of damage to the target by a single aircraft; on the other hand, multi-aircraft coordinated attacks can increase the probability of penetration and improve the guidance accuracy, thereby achieving better strike effects. Therefore, it is of great practical significance to study the problem of multi-aircraft coordinated interception. It is of great significance for multiple aircraft to carry out saturation attacks on targets at the same time to maximize the damage effect.

[0003] The efficient and direct multi-aircraft cooperative guidance strategy is to control the remaining interception time of all aircraft so that each aircraft can intercept the target at the same time and maximize the damage to the target in a saturation attack. The simultaneous arrival of all aircraft can not only greatly improve the final guidance accuracy and produce huge damage efficiency, but also effectively break through the opponent's interception and increase the probability of penetration. The key to the realization of the above cooperative interception scheme is to design an effective cooperative guidance law to control the interception time so that the remaining interception time of each aircraft converges uniformly within a limited time.

[0004] Judging from the current research status, most of the early studies were aimed at stationary targets and constant-speed maneuvering targets, and most of them were based on optimal control and biased proportional guidance methods for guidance design. However, these methods require artificial pre-setting of a common interception time, which cannot meet the actual needs of fast convergence of the guidance law in a finite time. Summary of the invention

[0005] One of the purposes of the present invention is to provide a collaborative guidance method for controlling the interception time, which can ensure that the remaining interception time of each aircraft converges consistently within a limited time, so that all aircraft can intercept the target at the same time, and meet the actual demand for rapid convergence of the guidance law in a limited time.

[0006] A second object of the present invention is to provide a collaborative guidance system for controlling interception time.

[0007] In order to achieve one of the above purposes, the present invention adopts the following technical solution: A collaborative guidance method for controlling interception time, the collaborative guidance method comprising: Step S1, constructing the kinematic equation of each aircraft in the collaborative interception process according to the relative motion relationship between the aircraft and the maneuvering target; Step S2, constructing a remaining interception time model for each aircraft according to the line-of-sight radial motion of each aircraft in the kinematic equation; Step S3, deriving the remaining interception time model of each aircraft to obtain an interception time collaborative guidance model of each aircraft in the collaborative interception process; Step S4, using the intercept time collaborative guidance model, deriving the line-of-sight direction guidance law of the aircraft to obtain the line-of-sight radial acceleration of each aircraft; Step S5: Each aircraft uses its corresponding line-of-sight radial acceleration to perform collaborative guidance.

[0008] Furthermore, in step S1, the process of constructing the kinematic equation includes: Step S11, using the relative motion relationship between the particles of each aircraft and the maneuvering target, determine the relative motion equation between each aircraft and the maneuvering target; Step S12, using the relative motion equation, determine the line of sight radial relative motion equation and the line of sight normal relative motion equation between each aircraft and the maneuvering target; Step S13: Perform nonlinear transformation on the line-of-sight radial relative motion equation and the line-of-sight normal relative motion equation between each aircraft and the maneuvering target to obtain the kinematic equation of each aircraft.

[0009] Furthermore, in step 13, the kinematic equation is: ; in, and Respectively i The relative distance and relative speed between an aircraft and a maneuvering target; For the i The error between the line of sight angle of each aircraft and the expected angle of terminal interception, For the i The line-of-sight angular velocity of the aircraft; and Respectively i The line-of-sight radial acceleration and line-of-sight normal acceleration of each aircraft; and are the line-of-sight radial acceleration and line-of-sight normal acceleration of the maneuvering target, respectively.

[0010] Furthermore, in step S3, the intercept time collaborative guidance model is: ; in, For the i Interception time cooperative guidance model for two aircraft.

[0011] Furthermore, in step S4, the specific process of deriving the aircraft line-of-sight guidance law includes: Step S41, selecting an aircraft in the communication topology diagram between aircrafts in the collaborative interception process as a reference aircraft; Step S42, using the communication topology relationship diagram between aircrafts during the collaborative interception process, determining the communication topology weight coefficient matrix of all remaining aircrafts except the reference aircraft and the weight coefficient vector between each remaining aircraft and the reference aircraft; Step S43, constructing an intercept time consistency error model for each aircraft using the intercept time collaborative guidance model, the communication topology weight coefficient matrix and the weight coefficient vector; Step S44, deriving the interception time consistency error model of each aircraft, and then transforming the derivative result through the intermediate variable; Step S45, using the interception time consistency error model of each aircraft as a sliding surface, and performing fast power convergence law processing; Step S46: derive the line-of-sight radial acceleration of each aircraft using the transformation result and the fast power approach law processing result.

[0012] Further, in step S43, the interception time consistency error model is: ; in, For the i Interception time consistency error model for each aircraft; is the first i Line j The element value corresponding to the column; is the weight coefficient vector i element value; , and Respectively i aircraft, j The remaining intercept time model for the aircraft and the reference aircraft, , , , n is the number of remaining aircraft. Further, in step S46, the line of sight radial acceleration is: ; ; ; ; ; ; in, For the i The line-of-sight radial acceleration of each aircraft; , , , and is the intermediate variable, ; is the sliding surface; , and is the coefficient of the fast power reaching law, , , ; Modulo operation; is a unit step function.

[0013] In order to achieve the second objective above, the present invention adopts the following technical solution: A collaborative guidance system for controlling interception time, the collaborative guidance system comprising: The first construction module is used to construct the kinematic equation of each aircraft in the coordinated interception process according to the relative motion relationship between the aircraft and the maneuvering target; A second construction module is used to construct a remaining interception time model for each aircraft based on the line-of-sight radial motion of each aircraft in the kinematic equation; A derivation module, used to derive the remaining interception time model of each aircraft to obtain an interception time collaborative guidance model of each aircraft in the collaborative interception process; A derivation module, used to derive the line-of-sight direction guidance law of the aircraft using the intercept time collaborative guidance model to obtain the line-of-sight radial acceleration of each aircraft; The collaborative guidance module is used for each aircraft to adopt its corresponding line-of-sight radial acceleration for collaborative guidance.

[0014] Furthermore, the first building block includes: A first determination submodule is used to determine the relative motion equation of each aircraft and the maneuvering target by using the relative motion relationship between the particles of each aircraft and the maneuvering target; The second determination submodule is used to determine the line of sight radial relative motion equation and the line of sight normal relative motion equation between each aircraft and the maneuvering target by using the relative motion equation; The nonlinear conversion submodule is used to perform nonlinear conversion on the line-of-sight radial relative motion equation and the line-of-sight normal relative motion equation between each aircraft and the maneuvering target to obtain the kinematic equation of each aircraft.

[0015] Furthermore, the derivation module comprises: A selection submodule, used to select an aircraft in the communication topology relationship diagram between aircrafts during the collaborative interception process as a reference aircraft; A third determination submodule is used to determine the communication topology weight coefficient matrix of all remaining aircraft except the reference aircraft and the weight coefficient vector between each remaining aircraft and the reference aircraft by using the communication topology relationship diagram between the aircraft during the cooperative interception process; A construction submodule is used to construct an interception time consistency error model for each aircraft using the interception time collaborative guidance model, the communication topology weight coefficient matrix and the weight coefficient vector; The transformation submodule is used to derive the interception time consistency error model of each aircraft, and then transform the derivative results through intermediate variables; A fast power reaching law processing submodule is used to use the interception time consistency error model of each aircraft as a sliding surface to perform fast power reaching law processing; The derivation submodule is used to derive the line-of-sight radial acceleration of each aircraft using the transformation results and the fast power approach law processing results.

[0016] In summary, the technical solution of the present invention has the following technical effects: The present invention obtains the interception time collaborative guidance model of each aircraft in the collaborative interception process by deriving the remaining interception time model of each aircraft in the collaborative interception process; uses the interception time collaborative guidance model to derive the aircraft line-of-sight direction guidance law to obtain the line-of-sight radial acceleration of each aircraft, thereby ensuring that the interception times of all aircraft converge consistently, achieving that all aircraft intercept the target at the same time, meeting the actual demand for fast convergence of the guidance law in a limited time, ensuring that multiple aircraft intercept the target at the same time through autonomously planned paths, having a good effect on the collaborative attack of multiple aircraft on mobile targets, and being able to greatly improve the guidance accuracy of high-value targets, increasing the penetration probability, and improving the guidance accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic flow chart of a collaborative guidance method for controlling interception time according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a scenario where multiple aircrafts coordinate to attack a maneuvering target from different positions; Figure 3 This is a schematic diagram of the aircraft communication topology. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0020] This embodiment provides a cooperative guidance method for controlling the interception time. Figure 1 , the collaborative guidance method includes: Step S1: construct the kinematic equation of each aircraft in the collaborative interception process according to the relative motion relationship between the aircraft and the maneuvering target.

[0021] Multiple aircrafts coordinate to attack maneuvering targets from different positions. Figure 2 shown. Figure 2 middle, M i For the i aircraft, =1,2,..., n , n is the number of aircraft, T represents the maneuvering target, V and a Respectively represent the speed and acceleration of the aircraft; q Indicates the sight angle; θ represents the ballistic inclination angle, Indicates the relative distance between aircrafts. M 1. M 2. M 3. … M n The variables related to the maneuvering target T are denoted by subscripts 1, 2, ... n and T represents. The process of constructing the kinematic equation includes: step S11, using the relative motion relationship between the particles of each aircraft and the maneuvering target, determining the relative motion equation between each aircraft and the maneuvering target.

[0022] During the striking process, according to the relative motion relationship of the particles, i AircraftM i The relative motion equation between the maneuvering target T is: ; (1) ; (2) ; (3) ; (4) in, and Respectively i Aircraft M i Relative distance and sight angle to the maneuvering target T; and Respectively i Aircraft M i The relative distance change rate (i.e., relative speed) and the line of sight angle change rate (i.e., line of sight angular velocity) to the maneuvering target T; and Respectively i Aircraft M i and the ballistic inclination of the maneuvering target T; and Respectively i Aircraft M i and the rate of change of ballistic inclination of the maneuvering target T; and Respectively i Aircraft M i and the speed of the maneuvering target T; and Respectively i Aircraft M i and the acceleration of the maneuvering target T.

[0023] Step S12: using the relative motion equation, determine the line of sight radial relative motion equation and the line of sight normal relative motion equation between each aircraft and the maneuvering target.

[0024] Derivatives of formulas (1) and (2) are taken respectively, and the derivative results are substituted into formulas (3) and (4), and the line-of-sight radial relative motion equation and line-of-sight normal relative motion equation between the aircraft and the maneuvering target are obtained: ; (5) ; (6) ; (7) Formulas (5) and (6) are the relative motion equations of the radial direction of the line of sight and the normal direction of the line of sight of the aircraft and the maneuvering target, respectively. and Respectively i Aircraft M i The components of acceleration in the radial direction and normal direction of the line of sight; and are the components of the acceleration of the maneuvering target T in the line of sight direction and the line of sight normal direction respectively.

[0025] Step S13: Perform nonlinear transformation on the line-of-sight radial relative motion equation and the line-of-sight normal relative motion equation between each aircraft and the maneuvering target to obtain the kinematic equation of each aircraft.

[0026] In order to achieve the goal of multiple aircraft intercepting the target at different interception angles at the same time, the kinematic equation (i.e., nonlinear state equation) is established, and the state variable , , , , is the desired angle of terminal interception, then the kinematic equation of each aircraft is: ; (8) in, and Respectively i The relative distance and relative speed between an aircraft and a maneuvering target; For the i The error between the line of sight angle of each aircraft and the expected angle of terminal interception, For the i The line-of-sight angular velocity of the aircraft; and Respectively i The line-of-sight radial acceleration and line-of-sight normal acceleration of the aircraft (i.e. i The components of the acceleration of the aircraft in the radial direction and the normal direction of the line of sight); and They are respectively the line-of-sight radial acceleration and line-of-sight normal acceleration of the maneuvering target (i.e. the components of the maneuvering target's acceleration in the line-of-sight radial and line-of-sight normal directions).

[0027] Formula (8) contains the nonlinear state equations for the line of sight radial and line of sight normal motion. Among them, the first two terms are the line of sight radial relative motion equations, and the last two terms are the line of sight normal relative motion equations. Step S2, according to the line of sight radial motion of each aircraft in the kinematic equation, construct the remaining interception time model of each aircraft.

[0028] For the radial motion of the line of sight described by the first two terms of equation (8), during the coordinated interception process, i Remaining intercept time for each aircraft It can be approximated as: ; (9) Step S3, deriving the remaining interception time model of each aircraft to obtain the interception time collaborative guidance model of each aircraft in the collaborative interception process.

[0029] The interception time cooperative guidance model in this embodiment is: ; (10) in, For the i Interception time cooperative guidance model for two aircraft.

[0030] Step S4: derive the line-of-sight guidance law of the aircraft using the intercept time collaborative guidance model to obtain the line-of-sight radial acceleration of each aircraft.

[0031] When designing the coordinated guidance law in the line of sight direction, in order to make the remaining time of each aircraft Uniform convergence in finite time, here we introduce is the new state variable. When the convergence is uniform within a limited time, each aircraft can intercept the target at the same time within a limited time, and the predetermined tactical goal can be achieved. represents the interception time cooperative guidance model of the reference aircraft L, according to formula (10): ; (11) make , , ,but ,in, is the line-of-sight radial acceleration of the reference aircraft L, is the control input of the line-of-sight direction of the reference aircraft L, and is also the line-of-sight direction guidance law that needs to be designed. is the component of the target maneuver in the line of sight direction, which can be regarded as external interference. i The interception time cooperative guidance model of the aircraft is: ; (12) For the cooperative guidance scheme to control the interception time, refer to the aircraft L and i The remaining time of a vehicle can be expressed as: ; (13) For the i-th aircraft, the line-of-sight collaborative guidance law is designed to make the remaining time consistent with the remaining time of the reference aircraft L within a finite time, so that simultaneous arrival can be achieved. The constraint relationship can be described by formula (14): ; (14) Based on the above, the specific process of deriving the aircraft line-of-sight guidance law in this embodiment includes: Step S41, selecting an aircraft in the communication topology diagram between aircrafts in the collaborative interception process as a reference aircraft; Step S42, using the communication topology relationship diagram between aircrafts during the collaborative interception process, determining the communication topology weight coefficient matrix of all remaining aircrafts except the reference aircraft and the weight coefficient vector between each remaining aircraft and the reference aircraft; Step S43: construct an intercept time consistency error model for each aircraft using the intercept time collaborative guidance model, the communication topology weight coefficient matrix and the weight coefficient vector.

[0032] ; (15) in, For the i Interception time consistency error model for each aircraft; is the first i Line j The element value corresponding to the column; is the weight coefficient vector i element value; , and Respectively i aircraft, j The remaining interception time model of the aircraft and the reference aircraft L, , , , n is the number of remaining aircraft.

[0033] like Figure 3 The communication topology between the aircraft shown, , , and Representing four aircraft, the communication topology vector (i.e., weight coefficient vector) is , , the weight coefficient matrix between aircraft (i.e., the communication topology weight coefficient matrix) for: ; From formula (15), we can see that by controlling the consistency error ,make If it converges to 0 within a finite time, it can be guaranteed that the interception time of all aircraft will converge consistently within a finite time.

[0034] Step S44: derive the interception time consistency error model of each aircraft, and then transform the derivative result through intermediate variables.

[0035] right The derivative is: ; (16)

[0036] make , , is an intermediate variable, which can be regarded as the total interference of the target maneuver in the line of sight direction. It can be used to estimate the total interference caused by the target maneuver through the designed appropriate observer. Therefore, formula (16) can be described as: (17) Step S45: using the interception time consistency error model of each aircraft as a sliding surface and performing fast power convergence law processing.

[0037] Take the sliding surface , in order to ensure that formula (15) converges quickly to 0, the fast power reaching law is selected: ; (18) in, is the sliding surface; , and is the coefficient of the fast power reaching law, , , ; Modulo operation; is a step function or a unit step function.

[0038] Step S46: derive the line-of-sight radial acceleration of each aircraft using the transformation result and the fast power approach law processing result.

[0039] Sliding surface Derived, according to formula (18), the guidance law of each aircraft line of sight direction can be designed as: In this embodiment, the line-of-sight radial acceleration of each aircraft is: ; (19) ; ; ; ; ; in, For the i The line-of-sight radial acceleration of each aircraft; , , , and is the intermediate variable, ; is the sliding surface; , and is the coefficient of the fast power reaching law, , , ; Modulo operation; is a unit step function.

[0040] Step S5: Each aircraft uses its corresponding line-of-sight radial acceleration to perform collaborative guidance.

[0041] This embodiment obtains the interception time collaborative guidance model of each aircraft in the collaborative interception process by deriving the remaining interception time model of each aircraft in the collaborative interception process; uses the interception time collaborative guidance model to derive the aircraft line-of-sight direction guidance law to obtain the line-of-sight radial acceleration of each aircraft, thereby ensuring that the interception times of all aircraft converge consistently and that all aircraft can intercept the target at the same time, meeting the actual demand for rapid convergence of the guidance law in a finite time, and ensuring that multiple aircraft can intercept the target at the same time through autonomously planned paths. This has a good effect on the collaborative attack of multiple aircraft on maneuverable targets, can greatly improve the guidance accuracy for high-value targets, increase the penetration probability, and improve the guidance accuracy.

[0042] The above embodiment can be implemented by adopting the technical solutions given in the following embodiments: Another embodiment provides a collaborative guidance system for controlling interception time, the collaborative guidance system comprising: The first construction module is used to construct the kinematic equation of each aircraft in the coordinated interception process according to the relative motion relationship between the aircraft and the maneuvering target; A second construction module is used to construct a remaining interception time model for each aircraft based on the line-of-sight radial motion of each aircraft in the kinematic equation; A derivation module, used to derive the remaining interception time model of each aircraft to obtain an interception time collaborative guidance model of each aircraft in the collaborative interception process; A derivation module, used to derive the line-of-sight direction guidance law of the aircraft using the intercept time collaborative guidance model to obtain the line-of-sight radial acceleration of each aircraft; The collaborative guidance module is used for each aircraft to adopt its corresponding line-of-sight radial acceleration for collaborative guidance.

[0043] Furthermore, the first building block includes: A first determination submodule is used to determine the relative motion equation of each aircraft and the maneuvering target by using the relative motion relationship between the particles of each aircraft and the maneuvering target; The second determination submodule is used to determine the line of sight radial relative motion equation and the line of sight normal relative motion equation between each aircraft and the maneuvering target by using the relative motion equation; The nonlinear conversion submodule is used to perform nonlinear conversion on the line-of-sight radial relative motion equation and the line-of-sight normal relative motion equation between each aircraft and the maneuvering target to obtain the kinematic equation of each aircraft.

[0044] Furthermore, the derivation module comprises: A selection submodule, used to select an aircraft in the communication topology relationship diagram between aircrafts during the collaborative interception process as a reference aircraft; A third determination submodule is used to determine the communication topology weight coefficient matrix of all remaining aircraft except the reference aircraft and the weight coefficient vector between each remaining aircraft and the reference aircraft by using the communication topology relationship diagram between the aircraft during the cooperative interception process; A construction submodule is used to construct an interception time consistency error model for each aircraft using the interception time collaborative guidance model, the communication topology weight coefficient matrix and the weight coefficient vector; The transformation submodule is used to derive the interception time consistency error model of each aircraft, and then transform the derivative results through intermediate variables; A fast power reaching law processing submodule is used to use the interception time consistency error model of each aircraft as a sliding surface to perform fast power reaching law processing; The derivation submodule is used to derive the line-of-sight radial acceleration of each aircraft using the transformation results and the fast power approach law processing results.

[0045] The principles, formulas and parameter definitions involved in the above embodiments are all applicable and will not be described in detail here.

[0046] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A cooperative guidance method for controlling interception time, characterized in that: The collaborative guidance method comprises: Step S1, constructing the kinematic equation of each aircraft in the collaborative interception process according to the relative motion relationship between the aircraft and the maneuvering target; Step S2, constructing a remaining interception time model for each aircraft according to the line-of-sight radial motion of each aircraft in the kinematic equation; Step S3, deriving the remaining interception time model of each aircraft to obtain an interception time collaborative guidance model of each aircraft in the collaborative interception process; Step S4, using the intercept time collaborative guidance model, deriving the line-of-sight direction guidance law of the aircraft to obtain the line-of-sight radial acceleration of each aircraft; Step S5: Each aircraft uses its corresponding line-of-sight radial acceleration to perform collaborative guidance.

2. The collaborative guidance method according to claim 1, characterized in that: In step S1, the process of constructing the kinematic equation includes: Step S11, using the relative motion relationship between the particles of each aircraft and the maneuvering target, determine the relative motion equation between each aircraft and the maneuvering target; Step S12, using the relative motion equation, determine the line of sight radial relative motion equation and the line of sight normal relative motion equation between each aircraft and the maneuvering target; Step S13: Perform nonlinear transformation on the line-of-sight radial relative motion equation and the line-of-sight normal relative motion equation between each aircraft and the maneuvering target to obtain the kinematic equation of each aircraft.

3. The collaborative guidance method according to claim 2, characterized in that: In step 13, the kinematic equation is: ； in, and Respectively i The relative distance and relative speed between an aircraft and a maneuvering target; For the i The error between the line of sight angle of each aircraft and the expected angle of terminal interception, For the i The line-of-sight angular velocity of the aircraft; and Respectively i The line-of-sight radial acceleration and line-of-sight normal acceleration of each aircraft; and are the line-of-sight radial acceleration and line-of-sight normal acceleration of the maneuvering target, respectively.

4. The collaborative guidance method according to claim 3, characterized in that: In step S3, the intercept time collaborative guidance model is: ； in, For the i Interception time cooperative guidance model for two aircraft.

5. The collaborative guidance method according to claim 4, characterized in that: In step S4, the specific process of deriving the guidance law of the aircraft line of sight direction includes: Step S41, selecting an aircraft in the communication topology diagram between aircrafts in the collaborative interception process as a reference aircraft; Step S42, using the communication topology relationship diagram between aircrafts during the collaborative interception process, determining the communication topology weight coefficient matrix of all remaining aircrafts except the reference aircraft and the weight coefficient vector between each remaining aircraft and the reference aircraft; Step S43, constructing an intercept time consistency error model for each aircraft using the intercept time collaborative guidance model, the communication topology weight coefficient matrix and the weight coefficient vector; Step S44, deriving the interception time consistency error model of each aircraft, and then transforming the derivative result through the intermediate variable; Step S45, using the interception time consistency error model of each aircraft as a sliding surface, and performing fast power convergence law processing; Step S46: derive the line-of-sight radial acceleration of each aircraft using the transformation result and the fast power approach law processing result.

6. The collaborative guidance method according to claim 5, characterized in that: In step S43, the interception time consistency error model is: ； in, For the i Interception time consistency error model for each aircraft; is the first i Line j The element value corresponding to the column; is the weight coefficient vector i element value; , and Respectively i Aircraft, j The remaining intercept time model for the aircraft and the reference aircraft, , , , n is the number of remaining aircraft.

7. The collaborative guidance method according to claim 6, characterized in that: In step S46, the line of sight radial acceleration is: ； ； ； ； ； ； in, For the i The line-of-sight radial acceleration of each aircraft; , , , and is the intermediate variable, ; is the sliding surface; , and are the coefficients of the fast power reaching law, , , ; Modulo operation; is a unit step function.

8. A cooperative guidance system for controlling interception time, characterized in that: The collaborative guidance system comprises: The first construction module is used to construct the kinematic equation of each aircraft in the coordinated interception process according to the relative motion relationship between the aircraft and the maneuvering target; A second construction module is used to construct a remaining interception time model for each aircraft based on the line-of-sight radial motion of each aircraft in the kinematic equation; A derivation module, used to derive the remaining interception time model of each aircraft to obtain an interception time collaborative guidance model of each aircraft in the collaborative interception process; A derivation module, used to derive the line-of-sight direction guidance law of the aircraft using the intercept time collaborative guidance model to obtain the line-of-sight radial acceleration of each aircraft; The collaborative guidance module is used for each aircraft to adopt its corresponding line-of-sight radial acceleration for collaborative guidance.

9. The cooperative guidance system according to claim 8, characterized in that: The first building block comprises: A first determination submodule is used to determine the relative motion equation of each aircraft and the maneuvering target by using the relative motion relationship between the particles of each aircraft and the maneuvering target; The second determination submodule is used to determine the line of sight radial relative motion equation and the line of sight normal relative motion equation between each aircraft and the maneuvering target by using the relative motion equation; The nonlinear conversion submodule is used to perform nonlinear conversion on the line-of-sight radial relative motion equation and the line-of-sight normal relative motion equation between each aircraft and the maneuvering target to obtain the kinematic equation of each aircraft.

10. The cooperative guidance system according to claim 9, characterized in that: The derivation module comprises: A selection submodule, for selecting an aircraft in the communication topology relationship diagram between aircrafts during the collaborative interception process as a reference aircraft; A third determination submodule is used to determine the communication topology weight coefficient matrix of all remaining aircraft except the reference aircraft and the weight coefficient vector between each remaining aircraft and the reference aircraft by using the communication topology relationship diagram between the aircraft during the cooperative interception process; A construction submodule is used to construct an interception time consistency error model for each aircraft using the interception time collaborative guidance model, the communication topology weight coefficient matrix and the weight coefficient vector; The transformation submodule is used to derive the interception time consistency error model of each aircraft, and then transform the derivative results through intermediate variables; A fast power reaching law processing submodule is used to use the interception time consistency error model of each aircraft as a sliding surface to perform fast power reaching law processing; The derivation submodule is used to derive the line-of-sight radial acceleration of each aircraft using the transformation results and the fast power approach law processing results.

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