A Cooperative Guidance Method and System for Controlling Interception Time

Abstract

The present invention discloses a collaborative guidance method and system for controlling interception time, which belongs to the field of aircraft guidance technology. The collaborative guidance method includes: 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; constructing the remaining interception time model of each aircraft according to the line of sight radial motion of each aircraft in the kinematic equation; derivation of the remaining interception time model of each aircraft; using the interception time collaborative guidance model, deriving the aircraft line of sight direction guidance law to obtain the line of sight radial acceleration of each aircraft; each aircraft adopts its corresponding line of sight radial acceleration for collaborative guidance. The present invention can ensure that the remaining interception time of each aircraft converges consistently within a finite time, realize that all aircraft intercept the target at the same time, and meet the practical needs of fast and consistent convergence of the guidance law within a finite time.

Description

Technical Field

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

[0002] In recent years, with the significant improvement of the maneuverability of targets and the continuous improvement of anti-missile defense systems, there are increasingly obvious drawbacks when a single aircraft attacks a maneuvering target. At the same time, the concept of multi-aircraft cooperative combat has been paid more and more attention. Compared with the traditional one-on-one interception method, multi-aircraft cooperative combat has great advantages: on the one hand, multi-aircraft cooperative combat can strike the target state more comprehensively and accurately, effectively making up for the deficiency of a single aircraft in damaging the target; on the other hand, multi-aircraft cooperative attack can increase the penetration probability and improve the guidance accuracy, thereby achieving better strike effects. Therefore, it is of great practical significance to study the problem of multi-aircraft cooperative interception. The simultaneous saturation attack of multiple aircraft on the target is of great significance for maximizing the damage effect.

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

[0004] From the current research status, most of the early research was aimed at stationary targets and constant-speed maneuvering targets, and most of the guidance designs were based on methods such as optimal control and bias proportional navigation. However, these methods require artificially presetting a common interception time in advance and cannot meet the actual demand for the fast convergence of the guidance law within a limited time. Summary of the Invention

[0005] One of the purposes of the present invention is to provide a cooperative guidance method for controlling the interception time, which can ensure that the remaining interception times of each aircraft converge uniformly within a limited time, realize the simultaneous interception of the target by all aircraft, and meet the actual demand for the fast convergence of the guidance law within a limited time.

[0006] Another purpose of the present invention is to provide a cooperative guidance system for controlling the interception time.

[0007] To achieve the above purpose, the present invention is implemented by adopting the following technical solutions:

[0008] A cooperative guidance method for controlling the interception time, the cooperative guidance method includes:

[0009] Step S1: Based on the relative motion relationship between the aircraft and the maneuvering target, construct the kinematic equation of each aircraft during the cooperative interception process;

[0010] Step S2: Based on the line-of-sight radial motion of each aircraft in the kinematic equation, construct the remaining interception time model of each aircraft;

[0011] Step S3: Take the derivative of the remaining interception time model of each aircraft to obtain the interception time cooperative guidance model of each aircraft during the cooperative interception process;

[0012] Step S4: Use the interception time cooperative guidance model to derive the guidance law in the line-of-sight direction of the aircraft to obtain the line-of-sight radial acceleration of each aircraft;

[0013] Step S5: Each aircraft uses its corresponding line-of-sight radial acceleration for cooperative guidance.

[0014] Further, in the step S1, the construction process of the kinematic equation includes:

[0015] Step S11: Use the relative motion relationship between the mass points of each aircraft and the maneuvering target to determine the relative motion equation between each aircraft and the maneuvering target;

[0016] Step S12: Use the relative motion equation 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;

[0017] Step S13: Perform a non-linear 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.

[0018] Further, in the step 13, the kinematic equation is:

[0019] ;

[0020] Where, and are the relative distance and relative velocity between the i -th aircraft and the maneuvering target respectively; is the error between the line-of-sight angle of the i -th aircraft and the expected terminal interception angle, is the line-of-sight angular velocity of the i -th aircraft; and are the line-of-sight radial acceleration and line-of-sight normal acceleration of the i -th aircraft respectively; and They are respectively the line-of-sight radial acceleration and the line-of-sight normal acceleration of the maneuvering target.

[0021] Further, in the step S3, the intercept time cooperative guidance model is:

[0022] ;

[0023] where is the intercept time cooperative guidance model of the i th aircraft.

[0024] Further, in the step S4, the specific process of deriving the line-of-sight direction guidance law of the aircraft includes:

[0025] Step S41: Select one aircraft in the communication topology relationship diagram between aircraft during the cooperative interception process as the reference aircraft;

[0026] Step S42: Use the communication topology relationship diagram between aircraft during the cooperative interception process 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;

[0027] Step S43: Use the intercept time cooperative guidance model, the communication topology weight coefficient matrix, and the weight coefficient vector to construct the intercept time consistency error model of each aircraft;

[0028] Step S44: Take the derivative of the intercept time consistency error model of each aircraft, and then transform the derivative result through intermediate variables;

[0029] Step S45: Take the intercept time consistency error model of each aircraft as the sliding mode surface and perform fast power reaching law processing;

[0030] Step S46: Use the transformation result and the fast power reaching law processing result to derive the line-of-sight radial acceleration of each aircraft.

[0031] Further, in the step S43, the intercept time consistency error model is:

[0032] ;

[0033] where is the intercept time consistency error model of the i th aircraft; is the element value corresponding to the i rd row and the j th column in the communication topology weight coefficient matrix; is the i th element value of the weight coefficient vector; , and are respectively the remaining intercept time models of the i th aircraft, the j th aircraft, and the reference aircraft. , , , where n is the number of remaining aircraft. Further, in the step S46, the line-of-sight radial acceleration is:

[0034] ;

[0035] ;

[0036] ;

[0037] ;

[0038] ;

[0039] ;

[0040] where is the line-of-sight radial acceleration of the i th aircraft; , , , and are intermediate variables, ; is the sliding mode surface; , and are the coefficients of the fast power reaching law, , , ; is the modulo operation; is the unit step function.

[0041] To achieve the second above object, the present invention adopts the following technical solution to implement:

[0042] A cooperative guidance system for controlling the intercept time, the cooperative guidance system includes:

[0043] A first construction module, configured to construct the kinematic equation of each aircraft during the cooperative interception according to the relative motion relationship between the aircraft and the maneuvering target;

[0044] A second construction module, configured to construct the remaining intercept time model of each aircraft according to the line-of-sight radial motion of each aircraft in the kinematic equation;

[0045] A derivative module, which is used to derive the remaining intercept time model of each aircraft to obtain the intercept time cooperative guidance model of each aircraft during the cooperative interception process;

[0046] A derivation module, which is used to derive the line-of-sight direction guidance law of the aircraft by using the intercept time cooperative guidance model to obtain the line-of-sight radial acceleration of each aircraft;

[0047] A cooperative guidance module, which is used for each aircraft to perform cooperative guidance by using its respective corresponding line-of-sight radial acceleration.

[0048] Further, the first construction module includes:

[0049] A first determination sub-module, which is used to determine the relative motion equation between each aircraft and the maneuvering target by using the relative motion relationship between each aircraft and the mass point of the maneuvering target;

[0050] A second determination sub-module, which 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;

[0051] A non-linear conversion sub-module, which is used to perform non-linear 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.

[0052] Further, the derivation module includes:

[0053] A selection sub-module, which is used to select one aircraft in the communication topology relationship graph between aircraft during the cooperative interception process as the reference aircraft;

[0054] A third determination sub-module, which 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 graph between aircraft during the cooperative interception process;

[0055] A construction sub-module, which is used to construct the intercept time consistency error model of each aircraft by using the intercept time cooperative guidance model, the communication topology weight coefficient matrix, and the weight coefficient vector;

[0056] A transformation sub-module, which is used to derive the intercept time consistency error model of each aircraft, and then perform transformation on the derivation result through an intermediate variable;

[0057] A fast power approaching law processing sub-module, which is used to use the intercept time consistency error model of each aircraft as the sliding mode surface to perform fast power approaching law processing;

[0058] A derivation sub-module, configured to derive the line-of-sight radial acceleration of each aircraft by using the transformation result and the result processed by the fast power reaching law.

[0059] In summary, the technical solution of the present invention has the following technical effects:

[0060] By deriving the remaining interception time model of each aircraft in the cooperative interception process, the present invention obtains the interception time cooperative guidance model of each aircraft in the cooperative interception process; uses the interception time cooperative guidance model to derive the guidance law in the line-of-sight direction of the aircraft, and obtains the line-of-sight radial acceleration of each aircraft, ensuring that the interception times of all aircraft converge uniformly, realizing that all aircraft intercept the target simultaneously, meeting the practical requirement of the finite-time fast convergence of the guidance law, ensuring that multiple aircraft intercept the target simultaneously through autonomous path planning, having a good effect on the cooperative strike of maneuvering targets by multiple aircraft, greatly improving the guidance accuracy for high-value targets, increasing the penetration probability, and improving the guidance accuracy. Description of the Drawings

[0061] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0062] Figure 1 Schematic diagram of the cooperative guidance method for controlling the interception time according to an embodiment of the present invention;

[0063] Figure 2 Schematic diagram of the scenario where multiple aircraft cooperate to strike a maneuvering target from different directions;

[0064] Figure 3 Schematic diagram of the communication topology structure of the aircraft. Specific Embodiments

[0065] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0066] This embodiment provides a cooperative guidance method for controlling the interception time. Referring to Figure 1 , the cooperative guidance method includes:

[0067] Step S1: Based on the relative motion relationship between the aircraft and the maneuvering target, construct the kinematic equation of each aircraft during the cooperative interception process.

[0068] The scenario where multiple aircraft cooperate to strike a maneuvering target from different azimuths is as Figure 2 shown. Figure 2 In M i is the i th 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 represents the line-of-sight angle; θ represents the ballistic inclination angle, represents the relative distance between the aircraft, related to the aircraft M 1, M 2, M 3,... M n The variables related to the aircraft n and the maneuvering target T are respectively denoted by subscripts 1, 2...

[0069] During the strike process, according to the relative motion relationship of the mass points, the relative motion equation between the i th aircraft M i and the maneuvering target T is:

[0070] ; (1)

[0071] ; (2)

[0072] ; (3)

[0073] ; (4)

[0074] where and are respectively the relative distance and line-of-sight angle between the i th aircraft M i and the maneuvering target T; and are respectively the relative distance and line-of-sight angle between the i th aircraft M iThe rate of change of the relative distance (i.e., relative velocity) and the rate of change of the line-of-sight angle (i.e., line-of-sight angular velocity) with respect to the maneuvering target T; and are respectively the i th aircraft M i and the ballistic inclination angle of the maneuvering target T; and are respectively the i th aircraft M i and the rate of change of the ballistic inclination angle of the maneuvering target T; and are respectively the i th aircraft M i and the velocity of the maneuvering target T; and are respectively the i th aircraft M i and the acceleration of the maneuvering target T.

[0075] 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 for each aircraft with respect to the maneuvering target.

[0076] Differentiate formulas (1) and (2) respectively, and substitute the differentiation results into formulas (3) and (4) to obtain the line-of-sight radial relative motion equation and the line-of-sight normal relative motion equation for the aircraft with respect to the maneuvering target:

[0077] ; (5)

[0078] ; (6)

[0079] ; (7)

[0080] Formulas (5) and (6) are respectively the line-of-sight radial relative motion equation and the line-of-sight normal relative motion equation for the aircraft with respect to the maneuvering target. Among them, and are respectively the i th aircraft M i components of the acceleration in the line-of-sight radial direction and the line-of-sight normal direction; and are respectively the components of the acceleration of the maneuvering target T in the line-of-sight direction and the line-of-sight normal direction.

[0081] Step S13: Perform a non-linear transformation on the line-of-sight radial relative motion equation and the line-of-sight normal relative motion equation for each aircraft with respect to the maneuvering target to obtain the kinematic equation for each aircraft.

[0082] In order to enable multiple aircraft to intercept a target simultaneously at different interception angles, a kinematic equation (i.e., a non-linear state equation) is established. Let the state variables , , , , be the expected terminal interception angle. Then, the kinematic equation for each aircraft is:

[0083] ; (8)

[0084] where and are respectively the relative distance and relative velocity between the i th aircraft and the maneuvering target; is the error between the line-of-sight angle and the expected terminal interception angle of the i th aircraft, is the line-of-sight angular velocity of the i th aircraft; and are respectively the line-of-sight radial acceleration and line-of-sight normal acceleration of the i th aircraft (i.e., the components of the acceleration of the i th aircraft in the line-of-sight radial and line-of-sight normal directions); and are respectively the line-of-sight radial acceleration and line-of-sight normal acceleration of the maneuvering target (i.e., the components of the acceleration of the maneuvering target in the line-of-sight radial and line-of-sight normal directions).

[0085] Equation (8) includes non-linear state equations for line-of-sight radial and line-of-sight normal motions. Among them, the first two terms are line-of-sight radial relative motion equations, and the last two terms are 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 for each aircraft.

[0086] For the line-of-sight radial motion described by the first two terms of Equation (8), during the cooperative interception process, the remaining interception time i of the th aircraft can be approximated as:

[0087] ; (9)

[0088] Step S3: Differentiate the remaining interception time model of each aircraft to obtain the interception time cooperative guidance model for each aircraft during the cooperative interception process.

[0089] The interception time cooperative guidance model in this embodiment is:

[0090] ; (10)

[0091] Among them, is the interception time cooperative guidance model of the i th aircraft.

[0092] Step S4: Utilize the interception time cooperative guidance model to derive the line-of-sight direction guidance law of the aircraft, and obtain the line-of-sight radial acceleration of each aircraft.

[0093] When designing the cooperative guidance law in the line-of-sight direction, in order to make the remaining time of each aircraft converge uniformly within a finite time, here introduce as a new state variable. When converges uniformly within a finite time, each aircraft can intercept the target simultaneously within a finite time, and the predetermined tactical goal can be achieved. Using to represent the interception time cooperative guidance model of the reference aircraft L, according to formula (10):

[0094] ; (11)

[0095] Let , , , then , among which, is the line-of-sight radial acceleration of the reference aircraft L, which is the control input in the line-of-sight direction of the reference aircraft L and 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 and can be regarded as an external disturbance. Similarly, the interception time cooperative guidance model of the i th aircraft is:

[0096] ; (12)

[0097] For the cooperative guidance scheme for controlling the interception time, the remaining time of the reference aircraft L and the i th aircraft can be expressed as:

[0098] ; (13)

[0099] For the i-th aircraft, design the line-of-sight direction cooperative guidance law to make the remaining time consistent with the remaining time of the reference aircraft L within a finite time, and simultaneous arrival can be achieved. Its constraint relationship can be described by formula (14):

[0100] ; (14)

[0101] Based on the above, the specific process of the derivation of the line-of-sight direction guidance law of the aircraft in this embodiment includes:

[0102] Step S41: Select one aircraft in the communication topology relationship diagram between aircraft during cooperative interception as the reference aircraft;

[0103] Step S42: Use the communication topology relationship diagram between aircraft during cooperative interception 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;

[0104] Step S43: Use the interception time cooperative guidance model, the communication topology weight coefficient matrix, and the weight coefficient vector to construct the interception time consistency error model for each aircraft.

[0105] ; (15)

[0106] Wherein, is the interception time consistency error model of the i th aircraft; is the element value corresponding to the i nd row and the j th column in the communication topology weight coefficient matrix; is the i th element value of the weight coefficient vector; , and are respectively the remaining interception time models of the i th aircraft, the j th aircraft, and the reference aircraft L, , , , n is the number of remaining aircraft.

[0107] As Figure 3 shown in the communication topology relationship between aircraft, , , and represent four aircraft, the communication topology vector (i.e., the weight coefficient vector) is , , and the weight coefficient matrix between aircraft (i.e., the communication topology weight coefficient matrix) is:

[0108] ;

[0109] It can be seen from formula (15) that by controlling the consistency error , making converge to 0 within a finite time, it can ensure that the interception times of all aircraft achieve consistent convergence within a finite time.

[0110] Step S44: Derive the interception time consistency error model for each aircraft, and then transform the derivative result through an intermediate variable.

[0111] For Taking the derivative gives:

[0112] ; (16)

[0113] Let , , be the intermediate variables, which can be regarded as the total interference of the target maneuver in the line-of-sight direction and can be used to estimate the total interference generated by the target maneuver through a designed appropriate observer. Therefore, Equation (16) can be described as:

[0114] (17)

[0115] Step S45: Use the interception time consistency error model of each aircraft as the sliding mode surface and perform fast power reaching law processing.

[0116] Take the sliding mode surface , to ensure that Equation (15) converges to 0 quickly, select the fast power reaching law:

[0117] ; (18)

[0118] Where is the sliding mode surface; , and are the coefficients of the fast power reaching law, , , ; Modulo operation; is the step function or unit step function.

[0119] Step S46: Use the transformation result and the fast power reaching law processing result to derive the line-of-sight radial acceleration of each aircraft.

[0120] Take the derivative of the sliding mode surface , according to Equation (18), the line-of-sight direction guidance law of each aircraft can be designed as:

[0121] In this embodiment, the line-of-sight radial acceleration of each aircraft is:

[0122] ; (19)

[0123] ;

[0124] ;

[0125] ;

[0126] ;

[0127] ;

[0128] wherein, is the line-of-sight radial acceleration of the i th aircraft; , , , and are intermediate variables, ; is the sliding mode surface; , and are the coefficients of the fast power reaching law, , , ; modulo operation; is the unit step function.

[0129] Step S5. Each aircraft uses its corresponding line-of-sight radial acceleration for cooperative guidance.

[0130] In this embodiment, by taking the derivative of the remaining intercept time model of each aircraft in the cooperative interception process, the intercept time cooperative guidance model of each aircraft in the cooperative interception process is obtained; using the intercept time cooperative guidance model, the line-of-sight direction guidance law is deduced to obtain the line-of-sight radial acceleration of each aircraft, ensuring that the intercept times of all aircraft converge uniformly, achieving that all aircraft intercept the target simultaneously, meeting the actual requirement of the finite-time fast convergence of the guidance law, ensuring that multiple aircraft intercept the target simultaneously through autonomous path planning, having a good effect on the cooperative strike of maneuvering targets by multiple aircraft, greatly improving the guidance accuracy for high-value targets, increasing the penetration probability, and improving the guidance accuracy.

[0131] The above embodiment can be implemented by the technical solution given in the following embodiment:

[0132] Another embodiment provides a cooperative guidance system for controlling the intercept time, and the cooperative guidance system includes:

[0133] A first construction module, configured to construct the kinematic equation of each aircraft in the cooperative interception process according to the relative motion relationship between the aircraft and the maneuvering target;

[0134] A second construction module, configured to construct the remaining intercept time model of each aircraft according to the line-of-sight radial motion of each aircraft in the kinematic equation;

[0135] A derivative module, which is used to take the derivative of the remaining intercept time model of each aircraft to obtain the intercept time cooperative guidance model of each aircraft during the cooperative intercept process;

[0136] A derivation module, which is used to derive the line-of-sight direction guidance law of the aircraft by using the intercept time cooperative guidance model to obtain the line-of-sight radial acceleration of each aircraft;

[0137] A cooperative guidance module, which is used for each aircraft to perform cooperative guidance by using its corresponding line-of-sight radial acceleration.

[0138] Furthermore, the first construction module includes:

[0139] A first determination sub-module, which is used to determine the relative motion equation between each aircraft and the maneuvering target by using the relative motion relationship between the mass points of each aircraft and the maneuvering target;

[0140] A second determination sub-module, which 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;

[0141] A non-linear conversion sub-module, which is used to perform non-linear 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.

[0142] Furthermore, the derivation module includes:

[0143] A selection sub-module, which is used to select one aircraft in the communication topology relationship graph between aircraft during the cooperative intercept process as the reference aircraft;

[0144] A third determination sub-module, which 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 graph between aircraft during the cooperative intercept process;

[0145] A construction sub-module, which is used to construct the intercept time consistency error model of each aircraft by using the intercept time cooperative guidance model, the communication topology weight coefficient matrix and the weight coefficient vector;

[0146] A transformation sub-module, which is used to take the derivative of the intercept time consistency error model of each aircraft, and then perform transformation on the derivative result through an intermediate variable;

[0147] A fast power approaching law processing sub-module, which is used to take the intercept time consistency error model of each aircraft as the sliding mode surface and perform fast power approaching law processing;

[0148] A derivation sub-module, configured to derive the line-of-sight radial acceleration of each aircraft by using the transformation result and the result processed by the fast power approaching law.

[0149] The principles, formulas, and their parameter definitions involved in the above embodiments are all applicable, and will not be elaborated here one by one.

[0150] The above embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, 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 appended claims.

Claims

1. A cooperative guidance method for controlling the interception time, characterized in that The cooperative guidance method includes: Step S1. Construct the kinematic equation of each aircraft during the cooperative interception according to the relative motion relationship between the aircraft and the maneuvering target; In the step S1, the construction process of the kinematic equation includes: Step S11. Determine the relative motion equation between each aircraft and the maneuvering target by using the relative motion relationship between the mass points of each aircraft and the maneuvering target; Step S12. 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; Step S13. Perform a non-linear 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; The kinematic equation is: ； Wherein, and are respectively the relative distance and relative velocity between the i th aircraft and the maneuvering target; is the error between the line-of-sight angle and the terminal interception desired angle of the i th aircraft, is the line-of-sight angular velocity of the i th aircraft; and are respectively the line-of-sight radial acceleration and line-of-sight normal acceleration of the i th aircraft; and are respectively the line-of-sight radial acceleration and line-of-sight normal acceleration of the maneuvering target; Step S2. Construct the remaining interception time model of each aircraft according to the line-of-sight radial motion of each aircraft in the kinematic equation; Step S3. Take the derivative of the remaining interception time model of each aircraft to obtain the interception time cooperative guidance model of each aircraft during the cooperative interception; The interception time cooperative guidance model is: ； Among them, is the intercept time cooperative guidance model for the i th aircraft; Step S4. Use the interception time cooperative guidance model to derive 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 performs cooperative guidance by using its corresponding line-of-sight radial acceleration.

2. The collaborative guidance method according to claim 1, wherein In the step S4, the specific process of the line-of-sight direction guidance law derivation of the aircraft includes: Step S41. Select one aircraft in the communication topology relationship graph between the aircraft during the cooperative interception as the reference aircraft; Step S42. Use the communication topology relationship graph between the aircraft during the cooperative interception to determine the communication topology weight coefficient matrix of all the remaining aircraft except the reference aircraft and the weight coefficient vector between each remaining aircraft and the reference aircraft; Step S43. Use the interception time cooperative guidance model, the communication topology weight coefficient matrix, and the weight coefficient vector to construct the interception time consistency error model of each aircraft; Step S44. Take the derivative of the interception time consistency error model of each aircraft, and then transform the derivative result through an intermediate variable; Step S45. Take the interception time consistency error model of each aircraft as the sliding mode surface and perform a fast power reaching law process; Step S46. Use the transformation result and the fast power reaching law process result to derive the line-of-sight radial acceleration of each aircraft.

3. The collaborative guidance method according to claim 2, wherein In the step S43, the interception time consistency error model is as follows: ; Among them, is the interception time consistency error model of the i th aircraft; is the element value corresponding to the i th row and j th column in the communication topology weight coefficient matrix; is the i th element value in the weight coefficient vector; , and are the remaining interception time models of the i th aircraft, the j th aircraft and the reference aircraft respectively, , , n is the number of remaining aircraft.

4. The collaborative guidance method according to claim 3, wherein In the step S46, the line-of-sight radial acceleration is: ； ； ； ； ； ； Wherein, , and are respectively the line-of-sight radial accelerations of the i th aircraft, the j th aircraft and the reference aircraft; , , , and are intermediate variables, ; is the sliding mode surface; , and are the coefficients of the fast power reaching law, , , ; is the modulo operation; is the unit step function.

5. A cooperative guidance system for controlling the interception time, characterized in that, The cooperative guidance system includes: The first construction module is used to construct the kinematic equation of each aircraft during the cooperative interception according to the relative motion relationship between the aircraft and the maneuvering target; The first construction module includes: The first determination sub-module is used to determine the relative motion equation between each aircraft and the maneuvering target by using the relative motion relationship between the mass points of each aircraft and the maneuvering target; The second determination sub-module 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; A non-linear conversion sub-module for non-linearly converting the line-of-sight radial relative motion equation and the line-of-sight normal relative motion equation of each aircraft and a maneuvering target to obtain the kinematic equation of each aircraft; The kinematic equation is: ； wherein, and are respectively the relative distance and relative velocity between the i th aircraft and the maneuvering target; is the error between the line-of-sight angle and the terminal interception desired angle of the i th aircraft, is the line-of-sight angular velocity of the i th aircraft; and are respectively the line-of-sight radial acceleration and line-of-sight normal acceleration of the i th aircraft; and are respectively the line-of-sight radial acceleration and line-of-sight normal acceleration of the maneuvering target; A second construction module for constructing a remaining intercept time model for each aircraft according to the line-of-sight radial motion of each aircraft in the kinematic equation; A derivative module for taking the derivative of the remaining intercept time model of each aircraft to obtain an intercept time cooperative guidance model for each aircraft during the cooperative intercept process; The intercept time cooperative guidance model is: ； Among them, is the intercept time cooperative guidance model for the i th aircraft; A derivation module for using the intercept time cooperative guidance model to perform derivation of the line-of-sight direction guidance law to obtain the line-of-sight radial acceleration of each aircraft; A cooperative guidance module for each aircraft to perform cooperative guidance using its respective corresponding line-of-sight radial acceleration.

6. The cooperative guidance system according to claim 5, wherein The derivation module includes: A selection sub-module for selecting one aircraft in the communication topology relationship diagram between aircraft during the cooperative intercept process as a reference aircraft; A third determination sub-module for using the communication topology relationship diagram between aircraft during the cooperative intercept process 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; A construction sub-module for constructing an intercept time consistency error model for each aircraft using the intercept time cooperative guidance model, the communication topology weight coefficient matrix, and the weight coefficient vector; A transformation sub-module for taking the derivative of the intercept time consistency error model of each aircraft and then performing a transformation on the derivative result through an intermediate variable; A fast power approach law processing sub-module for using the intercept time consistency error model of each aircraft as a sliding mode surface to perform fast power approach law processing; A derivation sub-module for using the transformation result and the fast power approach law processing result to derive the line-of-sight radial acceleration of each aircraft.

Images