Interception guidance method considering speed time varying and target maneuvering and related device

Abstract

The invention discloses an interception guidance method considering speed time varying and target maneuvering and a related device, and relates to the technical field of missile guidance, and the method comprises the steps: obtaining missile maneuvering parameters and target maneuvering parameters; according to the missile maneuvering parameters and the target maneuvering parameters, establishing a three-dimensional guidance model under the conditions of speed time varying and target maneuvering; based on the three-dimensional guidance model, constructing a time-varying navigation ratio proportional guidance law; a vertical acceleration component is added on the basis of the time-varying navigation ratio proportional guidance law, and an improved augmented proportional guidance law is generated; a missile normal acceleration vector in the missile total acceleration vector is decomposed to a pitching plane and a yaw plane, and an attitude control instruction is generated based on conversion of an inertial coordinate system and a speed coordinate system; based on the missile time-varying navigation ratio, the missile normal acceleration vector and the target maneuvering parameters which are updated in real time, an attitude control instruction is adjusted, and the target is intercepted. The method can effectively improve the interception precision and stability of the missile in a complex maneuvering environment.

Description

Technical Field

[0001] The present application relates to the technical field of missile guidance, and in particular, to an interception guidance method and related device considering time-varying speed and target maneuverability. Background Art

[0002] In recent years, the field of guidance law design has been studying the guidance problem for maneuvering targets. Hongyan Li et al. considered the limitation that the target maneuverability is similar to that of the interceptor, gave the collision condition in the relative frame, and then designed an optimal guidance law based on the small-angle linearization method considering the acceleration upper limit. The guidance process was divided into two stages. The first stage is the convergence stage of the miss distance, and the second stage is the maintenance stage of the zero-effort miss distance. And the upper limit of the acceleration command was analyzed. Qiancheng Zhao et al. proposed a camouflage capture guidance strategy, gave the guidance conditions for realizing camouflage capture, analyzed the forward angle of the missile, the range of the normal acceleration, and the lower bound of the guidance law parameters for realizing camouflage capture in the traditional line-of-sight coordinate system, and gave an improved idea to prevent acceleration chattering. Jianqing Li et al. studied the camouflage capture problem in the Euler-Hill system. First, the conditions for achieving target interception were deduced using the capture index, and then the interception problem of the target was described as an infinite-time quadratic programming problem. The interceptor acceleration and the target acceleration were regarded as disturbances, and the guidance law of the interceptor was solved in the form of differential game.

[0003] Although these studies obtained some capture conditions from different control or guidance methods, they often did not consider the influence of time-varying speed constraints on guidance, and there were many guidance assumptions. The situations of no speed advantage of the interceptor or large initial lead angle error were not considered, and some guidance analysis conclusions relied on the interceptor knowing the target acceleration information. Summary of the Invention

[0004] The purpose of the present application is to provide an interception guidance method and related device considering time-varying speed and target maneuverability, which can effectively improve the interception accuracy and stability of the missile in a complex maneuvering environment.

[0005] To achieve the above object, the present application provides the following solutions:

[0006] In the first aspect, the present application provides an interception guidance method considering time-varying speed and target maneuverability, including:

[0007] Obtain the missile maneuver parameters and the target maneuver parameters; the missile maneuver parameters include the total missile acceleration vector and the missile velocity vector; the target maneuver parameters include the total target acceleration vector and the target velocity vector;

[0008] Based on the missile maneuvering parameters and the target maneuvering parameters, a three-dimensional guidance model under time-varying velocity and target maneuvering is established;

[0009] Based on the three-dimensional guidance model, a time-varying navigation ratio proportional guidance law is constructed;

[0010] On the basis of the time-varying navigation ratio proportional guidance law, a vertical acceleration component is added to generate an improved augmented proportional guidance law;

[0011] Decompose the missile normal acceleration vector in the total missile acceleration vector into the pitch and yaw planes, and generate attitude control commands based on the transformation between the inertial coordinate system and the velocity coordinate system;

[0012] Based on the real-time updated missile time-varying navigation ratio, missile normal acceleration vector, and target maneuvering parameters, adjust the attitude control commands to intercept the target.

[0013] Optionally, the formula expression of the three-dimensional guidance model is:

[0014]

[0015] where r is the missile-target distance, v is the relative velocity between the missile and the target, σ is the lead angle, and cosσ = e V ·e r , a || is the axial acceleration vector, a ⊥ is the velocity normal acceleration vector, a M⊥ is the missile's velocity normal acceleration vector, a M|| is the missile axial acceleration vector, V M is the missile velocity vector, V T is the target velocity vector, a T⊥ is the target's velocity normal acceleration vector.

[0016] Optionally, based on the three-dimensional guidance model, constructing a time-varying navigation ratio proportional guidance law specifically includes:

[0017] According to the formula Perform proportional guidance law transformation on the missile's velocity normal acceleration vector in the three-dimensional guidance model;

[0018] Decompose the target's velocity normal acceleration vector and the missile's velocity normal acceleration vector into the relative velocity system (e A , e B , e C ), and obtain a M⊥ = A M e A + B T e B + C M eC and a T⊥ = A t e A + B t e B + C t e C ;

[0019] Determine the lead angle according to the velocity normal acceleration vector of the decomposed target and the velocity normal acceleration vector of the missile;

[0020] Determine the miss distance z according to the lead angle; the miss distance z is used to determine the deviation amount between the missile direction and the target movement direction;

[0021] Determine the time-varying navigation ratio proportional guidance law according to the miss distance z and the lead angle.

[0022] Optionally, the formula expression of the time-varying navigation ratio proportional guidance law is:

[0023]

[0024] where is the preset distance, r 0 is the initial distance, the control parameter α > 1, and the control parameter β > 2.

[0025] Optionally, the formula expression of the improved augmented proportional guidance law is:

[0026]

[0027] where, is Ω r and V M the angle between, N 1 and N 2 are the proportionality coefficients, N(t) is the time-varying navigation ratio, Ω r is the missile-target distance vector, V M is the missile velocity vector, is the unit vector of the proportional guidance law, e τ is the unit vector of the additional acceleration.

[0028] Optionally, the formula expression for calculating the unit vector of the proportional guidance law is:

[0029]

[0030] where, V M is the missile velocity.

[0031] Optionally, the formula expression for calculating the unit vector of the additional acceleration is:

[0032]

[0033] In the formula, is the unit vector of the missile velocity.

[0034] In a second aspect, the present application provides an interception guidance device that takes into account the time-varying velocity and target maneuver, including:

[0035] A parameter acquisition module for acquiring missile maneuver parameters and target maneuver parameters; the missile maneuver parameters include the total acceleration vector of the missile and the missile velocity vector; the target maneuver parameters include the total acceleration vector of the target and the target velocity vector;

[0036] A model construction module for establishing a three-dimensional guidance model in the case of time-varying velocity and target maneuver according to the missile maneuver parameters and target maneuver parameters;

[0037] A guidance law determination module for constructing a time-varying navigation ratio proportional guidance law based on the three-dimensional guidance model;

[0038] A guidance law improvement module for adding a vertical acceleration component on the basis of the time-varying navigation ratio proportional guidance law to generate an improved augmented proportional guidance law;

[0039] A command generation module for decomposing the missile normal acceleration vector in the missile total acceleration vector into the pitch and yaw planes and generating an attitude control command based on the conversion between the inertial coordinate system and the velocity coordinate system;

[0040] An update module for adjusting the attitude control command based on the real-time updated missile time-varying navigation ratio, missile normal acceleration vector, and target maneuver parameters to intercept the target.

[0041] In a third aspect, the present application provides a computer device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to implement an interception guidance method that takes into account the time-varying velocity and target maneuver described in any one of the above.

[0042] In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements an interception guidance method that takes into account the time-varying velocity and target maneuver described in any one of the above.

[0043] According to the specific embodiments provided by the present application, the following technical effects are disclosed in the present application:

[0044] The present application provides an interception guidance method and related device considering time-varying speed and target maneuver. First, by obtaining the missile maneuver parameters and target maneuver parameters, the dynamic relationship between the missile and the target can be understood in real time, providing accurate basic data for the subsequent guidance process. Second, the three-dimensional guidance model established based on the missile maneuver parameters and target maneuver parameters under the condition of time-varying speed and target maneuver can more realistically reflect the relative motion relationship between the missile and the target in a complex maneuver environment, providing a more accurate model basis for the design of the guidance law. Then, the constructed time-varying navigation ratio proportional guidance law can adjust the flight trajectory of the missile in real time according to the relative motion state between the missile and the target, making it closer to the target, thereby improving the interception accuracy. The added vertical acceleration component on this basis generates an improved augmented proportional guidance law, which can further enhance the maneuverability and interception ability of the missile. In addition, decomposing the missile normal acceleration vector in the missile total acceleration vector into the pitch and yaw planes and generating attitude control commands based on the conversion between the inertial coordinate system and the velocity coordinate system can achieve precise control of the missile attitude and ensure that the missile maintains a stable flight attitude during flight. Finally, based on the real-time updated missile time-varying navigation ratio, missile normal acceleration vector, and target maneuver parameters, continuously adjusting the attitude control commands can achieve continuous tracking and precise interception of the target. The present application enables the missile to maintain a high interception accuracy and stability in a complex maneuver environment. Brief Description of the Drawings

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0046] Figure 1 It is an application environment diagram of an interception guidance method considering time-varying speed and target maneuver in an embodiment of the present application;

[0047] Figure 2 It is a flowchart of an interception guidance method considering time-varying speed and target maneuver provided in an embodiment of the present application;

[0048] Figure 3 It is a three-dimensional guidance differential schematic diagram provided in an embodiment of the present application;

[0049] Figure 4 It is an acceleration decomposition schematic diagram provided in an embodiment of the present application;

[0050] Figure 5 It is an acceleration synthesis schematic diagram provided in an embodiment of the present application;

[0051] Figure 6 Schematic diagram related to the guidance angle provided by an embodiment of the present application;

[0052] Figure 7 Three-dimensional trajectory schematic diagram of a missile and a target provided by an embodiment of the present application;

[0053] Figure 8 Two-dimensional trajectory schematic diagram of a missile and a target provided by an embodiment of the present application;

[0054] Figure 9 Miss distance curve graph provided by an embodiment of the present application;

[0055] Figure 10 Lead angle curve graph provided by an embodiment of the present application;

[0056] Figure 11 Acceleration component curve graph provided by an embodiment of the present application;

[0057] Figure 12 Velocity curve graph of a missile and a target provided by an embodiment of the present application;

[0058] Figure 13 Relevant acceleration magnitude curve graph of a missile and a target provided by an embodiment of the present application;

[0059] Figure 14 Functional module schematic diagram of an interception guidance device considering velocity time-variation and target maneuver provided by an embodiment of the present application;

[0060] Figure 15 Structural schematic diagram of a computer device provided by an embodiment of the present application. Detailed implementation manners

[0061] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0062] With the rapid development of aerospace technology, the design of aircraft has become increasingly diverse, and the penetration ability has been significantly improved. New types of aircraft represented by loitering munitions not only possess the normal acceleration adjustment ability of traditional aircraft but also have the ability to actively change speed. At the same time, the development of modern guidance laws enables a variety of advanced penetration strategies to be applied to tactical weapons such as hypersonic aircraft and ballistic missiles. Against this background, the rapid development of aircraft penetration technology poses a severe challenge to the existing interception system. Therefore, deeply studying the essence of the aircraft interception problem and researching new interception guidance laws have become key scientific problems that urgently need to be solved in the current field of defense technology, with important theoretical value and practical significance.

[0063] The purpose of this application is to provide an interception guidance method and related device that consider time-varying speed and target maneuver, which can effectively improve the interception accuracy and stability of missiles in complex maneuvering environments.

[0064] To make the above objects, features, and advantages of this application more obvious and understandable, the following further detailed description of this application will be given in conjunction with the accompanying drawings and specific embodiments.

[0065] The interception guidance method considering time-varying speed and target maneuver provided by the embodiments of this application can be applied to, for example Figure 1In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be set separately, integrated on the server 104, placed on the cloud or other servers. The terminal 102 can send the missile maneuver parameters and target maneuver parameters to be processed to the server 104. After receiving the missile maneuver parameters and target maneuver parameters to be processed, for the missile maneuver parameters and target maneuver parameters to be processed, the server 104 establishes a three-dimensional guidance model under the conditions of time-varying speed and target maneuver according to the missile maneuver parameters and target maneuver parameters; based on the three-dimensional guidance model, constructs a time-varying navigation ratio proportional guidance law; adds a vertical acceleration component on the basis of the time-varying navigation ratio proportional guidance law to generate an improved augmented proportional guidance law; decomposes the missile normal acceleration vector in the missile total acceleration vector into the pitch and yaw planes, and generates an attitude control command based on the conversion between the inertial coordinate system and the velocity coordinate system; adjusts the attitude control command based on the real-time updated missile time-varying navigation ratio, missile normal acceleration vector and target maneuver parameters to intercept the target. The server 104 can feedback the obtained attitude control command to the terminal 102. In addition, in some embodiments, the interception guidance method considering time-varying speed and target maneuver can also be implemented separately by the server 104 or the terminal 102. For example, the terminal 102 can directly perform parameter processing on the missile maneuver parameters and target maneuver parameters to be processed, or the server 104 can obtain the missile maneuver parameters and target maneuver parameters to be processed from the data storage system and perform parameter processing on the missile maneuver parameters and target maneuver parameters to be processed.

[0066] Among them, the terminal 102 can be, but is not limited to, various desktop computers, laptop computers, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart vehicle-mounted devices, etc. The portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The server 104 can be implemented by an independent server or a server cluster composed of multiple servers, and can also be a cloud server.

[0067] In an exemplary embodiment, as Figure 2 shown, a method for intercepting and guiding considering time-varying speed and target maneuver is provided. This method is executed by a computer device, and can be specifically executed separately by a computer device such as a terminal or a server, or jointly executed by a terminal and a server. In the embodiments of the present application, taking this method applied to Figure 1 the server 104 therein as an example for illustration, it includes the following steps 201 to step 206. Among them:

[0068] Step 201, obtain the missile maneuvering parameters and the target maneuvering parameters; the missile maneuvering parameters include the total missile acceleration vector and the missile velocity vector; the target maneuvering parameters include the total target acceleration vector and the target velocity vector;

[0069] Step 202, establish a three-dimensional guidance model under the conditions of time-varying velocity and target maneuvering according to the missile maneuvering parameters and the target maneuvering parameters;

[0070] Step 203, construct a time-varying navigation ratio proportional guidance law based on the three-dimensional guidance model;

[0071] Step 204, add a vertical acceleration component on the basis of the time-varying navigation ratio proportional guidance law to generate an improved augmented proportional guidance law;

[0072] Step 205, decompose the missile normal acceleration vector in the total missile acceleration vector into the pitch and yaw planes, and generate an attitude control command based on the conversion between the inertial coordinate system and the velocity coordinate system;

[0073] Step 206, adjust the attitude control command based on the real-time updated missile time-varying navigation ratio, the missile normal acceleration vector and the target maneuvering parameters to intercept the target.

[0074] Wherein, in an exemplary embodiment, when performing steps 201-202, it may be specifically as follows:

[0075] Obtain the missile maneuvering parameters and the target maneuvering parameters;

[0076] Establish a three-dimensional guidance model under the conditions of time-varying velocity and target maneuvering;

[0077] Due to the time-varying missile velocity, the total missile acceleration vector can be expressed as a M = a M|| + a M⊥ , where a M⊥ is the missile velocity normal acceleration vector, and a M|| is the missile axial acceleration vector. Similarly, the total target acceleration vector can be expressed as a T = a T|| + a T⊥ , where a T⊥ is the target velocity normal acceleration vector, and a T|| is the target axial acceleration vector.

[0078] The relative velocity vector between the missile and the target can be expressed as where V M is the missile velocity vector, V T is the target velocity vector, is the missile velocity unit vector, is the target velocity unit vector, V M is the magnitude of the missile velocity, V T is the magnitude of the target velocity.

[0079] The angular velocity vector can be expressed as:

[0080]

[0081] According to the angular velocity vector formula, it can be seen that the angular velocity vector has nothing to do with the time variation of the missile's velocity. Further, it can be obtained that Similarly, there is also

[0082] The acceleration vector of the relative velocity can be expressed as

[0083] Let a ⊥ = a M⊥ - a T⊥ and a || = a M|| - a T|| , where, ||a || ×V|| is not necessarily 0.

[0084] Then the angular velocity vector Ω of V V can be expressed as:

[0085]

[0086] Then

[0087] Then, the angular velocity of the missile-target distance vector r can be obtained as:

[0088]

[0089] Furthermore, it can be obtained that σ is the lead angle, satisfying cosσ = e V ·e r . The controllable control of the missile is only a M⊥ . Taking the derivative of cosσ = e V ·e r can obtain Then, it can be further obtained that:

[0090]

[0091] Let σ M be the angle between V M and r, and σ T be the angle between V T and r. Then:

[0092]

[0093] It can be seen that the differential of the lead angle has nothing to do with the time-varying velocities of the missile and the target. Based on the above analysis, the three-dimensional guidance model under time-varying velocity can be obtained as follows:

[0094]

[0095] According to the three-dimensional guidance model, the variable that the missile can change is a M⊥ , which is the control variable of the interception problem. The guidance schematic diagram is as shown in Figure 3 .

[0096] Among them, in an exemplary embodiment, when performing step 203, it can be specifically as follows:

[0097] Step 301, according to the formula perform proportional navigation law transformation on the normal acceleration vector of the missile's velocity in the three-dimensional guidance model;

[0098] Step 302, decompose the normal acceleration vector of the target's velocity and the normal acceleration vector of the missile's velocity into the relative velocity system (e A , e B , e C ), and obtain a M⊥ = A M e A + B T e B + C M e C and a T⊥ = A t e A + B t e B + C t e C ;

[0099] Step 303, determine the lead angle according to the decomposed normal acceleration vector of the target's velocity and the normal acceleration vector of the missile's velocity;

[0100] Step 304, determine the miss distance z according to the lead angle; the miss distance z is used to determine the deviation amount between the missile direction and the target movement direction;

[0101] Step 305, determine the time-varying navigation ratio proportional navigation guidance law according to the miss distance z and the lead angle.

[0102] Specifically, let the missile adopt the basic form of the proportional navigation law, so:

[0103]

[0104] Also, since a ⊥ = a M⊥ - a T⊥ , to achieve the guidance purpose, it is necessary to decompose a M⊥ , a T⊥ into the relative velocity system (e A , e B , e C ). Among them, e A = e V . According to the formula it can be obtained that:

[0105]

[0106] Among them, the schematic diagram of the decomposition of a M⊥ is as shown in Figure 4 .

[0107] That is, a M⊥ = A M e A + B T e B + C M e C . Similarly, it can be obtained that a T⊥ = A t e A + B t e B + C t e C . Then:

[0108] a ⊥ = a M⊥ - a T⊥ = (A M - A t ) e A + (B M - B t ) e B + (C M - C t ) e C .

[0109] Substituting into the differential formula of the lead angle it can be obtained that

[0110] Among them, C T = - a || · e C + C t .

[0111] Among them, the traditional miss distance can be expressed as z = rsinσ. To cope with the influence of the initial large lead angle, the miss distance is described as z = rσ. Then:

[0112]

[0113] Let Ξ = z 2 / 2, then:

[0114]

[0115] In order to make It can be obtained that:

[0116]

[0117] On the basis of implementing PNG, in order to make the above formula hold, the time-varying navigation ratio proportional guidance law is specifically:

[0118]

[0119] Wherein is a preset distance, satisfying r 0 is the initial distance, and the control parameters α > 1, β > 2.

[0120] Among them, in an exemplary embodiment, when performing step 204, it can be specifically as follows:

[0121] According to the generated time-varying navigation ratio proportional guidance law, on the basis of retaining the performance of the guidance law, the improvement of the time-varying proportional guidance law is realized, specifically:

[0122] If the lead angle tends to 0, the normal acceleration of the missile can meet the requirement of a small acceleration upper limit. However, when the lead angle is relatively large, the missile may require relatively large control energy to achieve the miss distance convergence task. An acceleration component perpendicular to the proportional guidance law can be constructed, and thus an additional dimension of acceleration direction is used to minimize the magnitude of the normal acceleration of the missile during the lead angle convergence process. Let:

[0123]

[0124] Wherein, the unit vector of the proportional guidance law And the additional acceleration unit vector is Ω r and V M The included angle between them, N 1 and N 2 are related proportional coefficients. The schematic diagram of acceleration synthesis is as Figure 5 shown.

[0125] According to the above formula, the unit vector of the proportional guidance law can be obtained

[0126] Decompose a M⊥ into the relative velocity (e A , e B , e C ) coordinate system, where e A = e V , It can be obtained that:

[0127]

[0128] Substitute it into the differential of the lead angle, and it can be obtained that:

[0129]

[0130] and

[0131]

[0132] Let the Lyapunov function V = z 2 / 2, then:

[0133]

[0134] Among them,

[0135] If αN 1 + βN 2 = κ, then the convergence of the convergence miss distance can be guaranteed.

[0136] Among them,

[0137] Since So From the above analysis, it can be obtained that When: When ||a M⊥ || is the smallest, the normal acceleration can be expressed as:

[0138]

[0139] The complete improved proportional navigation guidance law can be expressed as:

[0140]

[0141] In this embodiment, during the implementation of the improved proportional navigation guidance law by the intercept missile, it can be specifically as follows:

[0142] (1) Select the parameters α, β related to the convergence of the miss distance, where α > 1, β > 2,

[0143] (2) Select a preset distance Among them

[0144] (3) Load r, V according to the navigation device M , V T , and then obtain and other information.

[0145] (4) Execute the improved proportional navigation guidance law Among them, the time-varying navigation ratio N(t) is as defined by the formula , and the time-varying parameter N 1 (t), N 2 (t) is the solution formula for

[0146] (5) After obtaining , according to Equation Convert the three-dimensional acceleration into , and further provide an input for the attitude control link.

[0147] Among them, in an exemplary embodiment, when performing step 205, it can be specifically as follows:

[0148] After obtaining a M⊥ , it is necessary to further decompose the normal acceleration vector into the overloads in the pitch and yaw directions (i.e., a y and a z ), so as to provide expected information for the attitude control system.

[0149] During the implementation process, a M⊥ can be obtained first in the inertial coordinate system, and then a y and a z are obtained through the transformation matrix between the inertial coordinate system and the ballistic coordinate system. During the guidance process, the relevant angles of the missile and the line of sight are defined as Figure 6 shown. Among them, γ imp is the angle between V M and V T , θ r , ψ r are the ballistic inclination angle and the ballistic deflection angle respectively, are the ballistic inclination angle and the ballistic deflection angle of the missile respectively. are the acceleration components in the pitch and yaw directions respectively. Let (i I , j I , k I ) be the unit vectors of each coordinate axis of the inertial coordinate system, and the V M , V T and r in the inertial coordinate system can be expressed as:

[0150]

[0151] Among them, the definition of and are the same.

[0152] Then the normal acceleration vector of the missile in the inertial coordinate system can be calculated according to the formula Then, using the conversion relationship between the inertial coordinate system and the velocity coordinate system, there is:

[0153]

[0154] Among them

[0155] In addition, this application also provides the simulation results of an interception guidance method considering velocity time-variation and target maneuver, which are specifically as follows:

[0156] (1) Achieve the precise interception task of the maneuvering target by improving the proportional navigation guidance law and the implementation process of this guidance law.

[0157] In this simulation, the overload components of the target acceleration in the pitch and yaw directions (i.e., and ) can be set as:

[0158]

[0159] Among them, the gravitational acceleration g = 9.81m / s 2 . The initial position of the target (X T0 , Y T0 , Z T0 ) = (1.3km, 1.0km, 3.5km), the initial speed magnitude V T = 200m / s, the initial speed direction of the target The initial position of the missile (X M0 , Y M0 , Z M0 ) = (0.2km, 0.2km, 0.6km), and V M (t 0 ) = 500m / s. Set the initial speed direction of the missile The maximum acceleration of the missile is 15g. Let the missile speed

[0160] (2) Decision-making guidance parameter setting:

[0161] The relevant parameters in the guidance law are set as: α = 10, β = 10, The relevant simulation results are as Figures 7 - 13 shown.

[0162] (3) Result analysis:

[0163] The trajectories of the missile and the target using the improved proportional navigation law Figures 7 - 8 are shown as follows. The curve of the miss distance of the missile and the lead angle is as Figures 9 - 10 shown. The acceleration components of the normal acceleration vector generated by the missile projected onto the pitch and yaw directions are as Figure 11 shown. The time-varying process of the speeds of the missile and the maneuvering target during the interception process is as Figure 12 shown. The magnitude of the normal acceleration of the missile and the total acceleration of the target are as Figure 13 shown.

[0164] From Figures 7 - 10 it can be obtained that the improved guidance law can achieve the convergence of the miss distance and the lead angle under the condition of time-varying speeds of the target and the missile, and successfully hit the target. From Figure 11 and Figure 13 it is known that the guidance law can meet the requirements of equal-potential overload guidance after the convergence of the miss distance. From Figure 12 it can be seen that the guidance law can achieve precise strikes on maneuvering targets under the condition of time-varying speeds of the missile and the target, reflecting the effectiveness and practicality of the theory and implementation process proposed in this application.

[0165] Based on the same inventive concept, the embodiments of this application also provide a device for implementing the above-mentioned interception guidance method that takes into account time-varying speeds and target maneuvers. The implementation solutions provided by this device to solve problems are similar to the implementation solutions recorded in the above method. Therefore, the specific limitations in one or more of the following device embodiments can refer to the limitations on the interception guidance method that takes into account time-varying speeds and target maneuvers in the above text, and will not be repeated here.

[0166] In an exemplary embodiment, as Figure 14 shown, there is provided an interception guidance device that takes into account time-varying speeds and target maneuvers, including:

[0167] A parameter acquisition module 1401, configured to acquire missile maneuver parameters and target maneuver parameters; the missile maneuver parameters include the total acceleration vector of the missile and the missile speed vector; the target maneuver parameters include the total acceleration vector of the target and the target speed vector;

[0168] A model construction module 1402, configured to establish a three-dimensional guidance model under the condition of time-varying speeds and target maneuvers according to the missile maneuver parameters and the target maneuver parameters;

[0169] A guidance law determination module 1403, configured to construct a time-varying navigation ratio proportional navigation guidance law based on the three-dimensional guidance model;

[0170] The guidance law improvement module 1404 is used to add a vertical acceleration component on the basis of the time-varying navigation ratio proportional guidance law to generate an improved augmented proportional guidance law;

[0171] The command generation module 1405 is used to decompose the missile normal acceleration vector in the total missile acceleration vector into the pitch and yaw planes, and generate attitude control commands based on the conversion between the inertial coordinate system and the velocity coordinate system;

[0172] The update module 1406 is used to adjust the attitude control commands based on the real-time updated missile time-varying navigation ratio, missile normal acceleration vector and target maneuver parameters to intercept the target.

[0173] In an exemplary embodiment, a computer device is provided. The computer device can be a server or a terminal, and its internal structure diagram can be as Figure 15 shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store parameter processing data. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements an interception guidance method considering speed time-variation and target maneuver.

[0174] Those skilled in the art can understand that Figure 15 the structure shown in

[0175] is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0176] In an exemplary embodiment, a computer-readable storage medium is also provided, storing a computer program, and when the computer program is executed by a processor, it implements the steps in the above method embodiments.

[0177] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data that have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0178] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0179] The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., and are not limited thereto. The processors involved in the embodiments provided in this application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., and are not limited thereto.

[0180] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0181] Specific examples are used in this article to elaborate on the principles and implementation manners of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. An interception guidance method taking into account time-varying speed and target maneuvering, characterized in that: include: Obtain missile maneuver parameters and target maneuver parameters; The missile maneuvering parameters include the missile total acceleration vector and the missile velocity vector; The target maneuvering parameters include a target total acceleration vector and a target velocity vector; According to the missile maneuvering parameters and the target maneuvering parameters, a three-dimensional guidance model under the conditions of time-varying speed and target maneuvering is established; Based on the three-dimensional guidance model, constructing a time-varying navigation ratio proportional guidance law; Adding vertical acceleration component to the time-varying navigation ratio proportional guidance law to generate an improved augmented proportional guidance law; Decomposing the missile normal acceleration vector in the missile total acceleration vector into pitch and yaw planes, and generating attitude control instructions based on the conversion between the inertial coordinate system and the velocity coordinate system; Based on the real-time updated missile time-varying navigation ratio, missile normal acceleration vector and target maneuvering parameters, the attitude control instructions are adjusted to intercept the target.

2. The interception guidance method considering time-varying speed and target maneuvering according to claim 1, characterized in that: The formula expression of the three-dimensional guidance model is: Where r is the missile-target distance, v is the relative speed between the missile and the target, σ is the lead angle, and cosσ=e V ·e r , a || is the axial acceleration vector, a ⊥ is the velocity normal acceleration vector, a M⊥ is the missile's velocity normal acceleration vector, a M|| is the missile axial acceleration vector, V M is the missile velocity vector, V T is the target velocity vector, a T⊥ is the velocity normal acceleration vector of the target.

3. The interception guidance method considering time-varying speed and target maneuvering according to claim 2, characterized in that: Based on the three-dimensional guidance model, a time-varying navigation ratio proportional guidance law is constructed, which specifically includes: According to the formula The velocity normal acceleration vector of the missile in the three-dimensional guidance model is changed by proportional guidance law; Decompose the target's velocity normal acceleration vector and the missile's velocity normal acceleration vector into the relative velocity system (e A ,e B ,e C ), we get a M⊥ =A M e A +B T e B +C M e C and a T⊥ =A t e A +B t e B +C t e C ; Determine the lead angle according to the decomposed normal acceleration vector of the target's velocity and the normal acceleration vector of the missile's velocity; Determine the miss distance z according to the lead angle; the miss distance z is used to determine the deviation between the missile direction and the target movement direction; According to the miss distance z and the lead angle, the time-varying navigation ratio proportional guidance law is determined.

4. The interception guidance method considering time-varying speed and target maneuvering according to claim 3, characterized in that: The formula expression of the time-varying navigation ratio proportional guidance law is: in is the preset distance, r0 is the initial distance, control parameter α>1, and control parameter β>2.

5. The interception guidance method considering time-varying speed and target maneuvering according to claim 1, characterized in that: The formula of the improved augmented proportional guidance law is: in, Ω r and V M The angle between them, N1 and N2 are proportional coefficients, N(t) is the time-varying navigation ratio, Ω r is the distance vector between the projectile and the target, V M is the missile velocity vector, is the unit vector of the proportional guidance law, e τ is the additional acceleration unit vector.

6. The interception guidance method considering time-varying speed and target maneuvering according to claim 5, characterized in that: The formula for calculating the unit vector of the proportional guidance law is: Among them, V M is the missile speed.

7. The interception guidance method considering speed time variation and target maneuvering according to claim 6, characterized in that: The formula for calculating the additional acceleration unit vector is: In the formula, is the missile velocity unit vector.

8. An interception guidance device taking into account time-varying speed and target maneuvers, characterized in that: include: A parameter acquisition module is used to obtain missile maneuver parameters and target maneuver parameters; The missile maneuvering parameters include the missile total acceleration vector and the missile velocity vector; The target maneuvering parameters include a target total acceleration vector and a target velocity vector; A model building module is used to establish a three-dimensional guidance model under the conditions of time-varying speed and target maneuvering according to the missile maneuvering parameters and the target maneuvering parameters; A guidance law determination module, used for constructing a time-varying navigation ratio proportional guidance law based on the three-dimensional guidance model; Guidance law improvement module, used to add vertical acceleration component on the basis of time-varying navigation ratio proportional guidance law to generate improved augmented proportional guidance law; An instruction generation module is used to decompose the missile normal acceleration vector in the missile total acceleration vector into pitch and yaw planes, and generate attitude control instructions based on the conversion between the inertial coordinate system and the velocity coordinate system; The update module is used to adjust the attitude control instructions and intercept the target based on the real-time updated missile time-varying navigation ratio, missile normal acceleration vector and target maneuvering parameters.

9. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement an interception guidance method taking into account speed time variation and target maneuvering as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, an interception guidance method taking into account speed time variation and target maneuvering as described in any one of claims 1 to 7 is implemented.

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