Dynamic air-to-air missile-guidance machine matching method under communication delay

Abstract

The invention discloses a dynamic air-to-air missile-guidance platform matching method under communication delay, and relates to the technical field of missile guidance. Firstly, a guidance machine-missile-target relative motion model is established; secondly, constructing a confrontation environment, and pre-planning a guidance platform and an air-to-air missile when an initial state data link is suddenly disconnected to obtain a pre-distribution scheme; then executing a pre-distribution scheme, establishing a Kalman filter to compensate communication delay, and establishing a guidance error evaluation model by using an information distortion function; and finally, coupling the guidance error evaluation model and the guidance platform safety model to form a comprehensive guidance evaluation model, and obtaining a communication delay reconciliation scheme. According to the method, the guidance quality evaluation model is used for evaluating the adaptability of the guidance scheme in real time, so that the guidance platform can reduce errors caused by data link communication delay on the premise of avoiding threats, and a collaborative guidance task is completed; the method has good mobility and universality in different communication environments.

Description

Technical Field

[0001] The present invention belongs to the technical field of missile guidance, and particularly relates to a method for matching a dynamic air-to-air missile with a guidance machine under communication delay. Background Art

[0002] With the development of technology, the traditional combat mode of each fighting independently can no longer meet the needs of digital warfare, and the network-centric combat mode has gradually evolved into the main mode of digital warfare. In multi-aircraft air combat, after the carrier aircraft launches an air-to-air missile, it can hand over the missile guidance right to other guidance platforms to complete mid-course guidance, so as to avoid being attacked by the enemy due to limited maneuverability during the guidance process. Compared with the traditional air combat mode where a single aircraft continuously sends guidance commands to the air-to-air missile, multi-aircraft cooperative air combat realizes resource sharing and complementary advantages among various platforms, greatly improving the combat effectiveness and the survival ability of each platform, and has high research value. During the process of multi-aircraft and multi-missile cooperative combat, each guidance platform and the air-to-air missile use the air combat data link to achieve information interaction. Due to the communication delay in the data link transmission process, there is an error in the guidance information sent by the guidance platform to the air-to-air missile, which affects the effectiveness of the air-to-air missile. Therefore, according to the data link situation and the overall battlefield situation between different guidance platforms and air-to-air missiles, selecting a suitable guidance platform for the air-to-air missile is an important issue in the field of air-to-air missile cooperative guidance.

[0003] There are many existing multi-agent cooperative task allocation methods. The published patent CN113568425B proposes a method for cluster cooperative task allocation based on neural network learning. The unmanned aerial vehicle (UAV) cluster autonomously allocates corresponding task objectives for each UAV through a task objective allocation model. This invention solves the problem of UAV autonomous cooperative guidance task allocation, but does not consider the influence of communication delay of the UAV swarm on position information. Li Fei proposed an optimized multi-sensor multi-target tracking model based on the information entropy theory in the paper "Research on Multi-Sensor Cooperative Tracking Strategy in Data Packet Loss Environment". First, several different situations of data packet loss are analyzed, data packet loss models are respectively established, and corresponding compensation strategies are proposed for different packet loss models; then an object observation model in the data packet loss environment is established, and the sequential extended Kalman filtering algorithm in the data packet loss environment is deduced; finally, an optimized multi-sensor multi-target tracking model in the data packet loss environment is established based on the information entropy theory, and a task allocation solution method based on the discrete particle swarm algorithm is proposed. This literature only uses the effective information increment in the channel as an evaluation index, and does not deeply integrate the channel distortion function with the situation information; and it is necessary to continuously transmit the Kalman filter related matrix to calculate the information increment, which has high requirements for the channel capacity of the data link. Therefore, the stability and accuracy of this method need to be improved urgently. Summary of the Invention

[0004] The present invention aims to reduce the impact caused by the data link performance during the relay guidance of air-to-air missiles, and proposes a dynamic missile-guidance aircraft matching method under communication delay. First, a relative motion model of the guidance aircraft-missile-target is established. Secondly, an adversarial environment is constructed, and when the data link suddenly disconnects in the initial state, pre-planning is carried out for the guidance aircraft and the air-to-air missile to obtain a pre-allocation plan. Then, each guidance aircraft and the air-to-air missile execute the pre-allocation plan. At the same time, a Kalman filter is established to compensate for the communication delay, and an information distortion function is used to establish a guidance error evaluation model. The guidance error evaluation model is coupled with the safety model of the guidance aircraft to form a comprehensive guidance evaluation model, and a re-planning plan considering the communication delay is obtained. The present invention uses a guidance quality evaluation model to evaluate the adaptability of the guidance plan in real time, enabling the guidance aircraft to reduce the error caused by the data link communication delay on the premise of avoiding threats and complete the cooperative guidance task. The present invention has good migration and universality in different communication environments.

[0005] The specific implementation steps of the technical content of the present invention are as follows:

[0006] Step 1, establish a relative motion relationship model of the guidance aircraft-missile-target;

[0007] Step 2, construct a cooperative guidance pre-planning algorithm to obtain a pre-allocation plan;

[0008] Step 3, construct a cooperative guidance re-planning algorithm to obtain a re-planning plan considering the communication delay.

[0009] Further, in Step 1, the establishment process of the relative motion relationship model of the guidance aircraft-missile-target is as follows:

[0010] Step 1.1, establish a kinematic model of the guidance aircraft;

[0011] Step 1.2, establish an attack and defense model of the missile-target;

[0012] Step 1.3: Establish a communication delay error model of the air combat data link.

[0013] Further, in Step 1.1, the method for establishing the kinematic model of the guidance aircraft is as follows:

[0014] In the context of the relay guidance mission, the guidance aircraft does not have overly complex tactical actions. Therefore, a three-degree-of-freedom kinematic model of the guidance aircraft is adopted, and the kinematic equation of the guidance aircraft is solved by the explicit Euler method:

[0015]

[0016] Wherein, x, y, and z respectively represent the position components of the guidance aircraft on the X-axis, Y-axis, and Z-axis; v represents the speed of the guidance aircraft; ψ represents the course angle of the guidance aircraft; γ represents the pitch angle of the guidance aircraft; μ represents the tilt angle of the speed axis system of the guidance aircraft; g represents the acceleration due to gravity; n x represents the tangential overload of the guidance aircraft; n z represents the normal overload of the guidance aircraft;

[0017] The kinematic model of the enemy target is the same as that of the guidance aircraft.

[0018] Furthermore, in step 1.2, the method for establishing the missile-target attack and defense model is as follows:

[0019] Establish a missile kinematic model, and the missile kinematic equation is as follows:

[0020]

[0021] Wherein, x m , y m and z m respectively represent the position components of the missile on the X-axis, Y-axis, and Z-axis; v m represents the magnitude of the missile flight speed; ψ m represents the azimuth angle of the missile; γ m represents the pitch angle of the missile; G m represents the gravity force received by the missile; p m represents the thrust of the missile engine; Q m represents the air resistance received by the missile; n my represents the lateral overload of the missile; n mc represents the normal overload of the missile;

[0022] Adopt the proportional navigation method as the missile guidance method. The proportional navigation method controls the rotation angular velocity of the missile velocity vector to be proportional to the rotation angular velocity of the enemy target line of the enemy aircraft. The proportional navigation method formula is as follows:

[0023]

[0024] Wherein, is the absolute included angle of the line connecting the missile and the enemy target of the enemy aircraft, and K is the proportional navigation coefficient.

[0025] Furthermore, in step 1.3, the method for establishing the air combat data link communication delay error model is as follows:

[0026] The air combat data link includes a fixed delay and a random delay. During the process of the guidance aircraft transmitting the guidance command to the missile, the error generated by the position of the enemy target in reality and the position vector of the enemy target point of the missile due to communication delay is where t is the current moment, and the calculation formula of the error is:

[0027]

[0028] Among them, is the error caused by the fixed delay. The error value caused by the fixed delay is related to the performance of the data link itself and does not change with time; is the dynamic error, which is usually caused by the random error of the data link.

[0029] Furthermore, in step 2, the construction process of the cooperative guidance pre-planning algorithm is as follows:

[0030] There are n guidance aircraft, m missiles and r enemy targets in the airspace. When the data links between the airborne guidance aircraft and the missiles are all disconnected due to interference, it is necessary to re-plan the matching relationship of guidance aircraft - missiles - enemy targets to form a cooperative guidance pre-planning algorithm to obtain the pre-allocation plan;

[0031] Step 2.1, predict the guidance advantage of the guidance aircraft over the missile;

[0032] Step 2.2, predict the attack advantage of the missile;

[0033] Step 2.3, predict the threat of the enemy aircraft;

[0034] Step 2.4, solve the pre-planning allocation plan.

[0035] Furthermore, in step 2.1, the method for predicting the guidance advantage of the guidance aircraft over the missile is as follows:

[0036] The guidance advantage of the guidance aircraft over the missile includes the guidance aircraft angle advantage and the guidance aircraft distance advantage; after taking the logarithm of the guidance aircraft angle advantage and the guidance aircraft distance advantage, they are weighted to form a guidance mechanism guidance advantage model;

[0037] 2.1.1 Guidance aircraft angle advantage

[0038] The missile relative to the guidance aircraft includes the entry angle and the azimuth angle. Guidance can only be completed when the missile is within the illumination range of the communication antenna of the guidance aircraft; the guidance aircraft angle advantage function includes the entry angle advantage function and the azimuth angle advantage function; the entry angle advantage function T gui_θ is as follows:

[0039]

[0040] In the formula: θ is the entry angle of the missile relative to the guidance aircraft; θ max is the maximum working angle of the missile's tail antenna; e is the natural constant;

[0041] Azimuth angle advantage function T gui_φ is as follows:

[0042]

[0043] Where: φ is the azimuth angle of the missile relative to the guidance aircraft; φ max is the maximum operating angle of the missile's tail antenna;

[0044] The angle advantage function T of the guidance aircraft over the missile gui_A is as follows:

[0045]

[0046] Where: a1 and a2 are the weights of the missile's entry angle and azimuth angle respectively, and satisfy 0 ≤ a1, a2 ≤ 1, a1 + a2 = 1;

[0047] 2.1.2 Range advantage of the guidance aircraft

[0048] When the distance between the missile and the guidance aircraft does not exceed the maximum operating distance of the communication antenna, normal communication can be carried out between the missile and the guidance aircraft; the range advantage function T of the guidance aircraft over the missile gui_D is:

[0049]

[0050] Where: D M is the distance between the missile and the guidance aircraft; D MG is the maximum operating distance between the missile and the guidance aircraft;

[0051] 2.1.3 Guidance advantage of the guidance aircraft over the missile

[0052] According to the angle advantage function of the guidance aircraft and the range advantage function of the guidance aircraft, the guidance advantage function model C is obtained ij is:

[0053]

[0054] Where: C ij is the guidance advantage function of the i-th guidance aircraft over the j-th missile; m1 and m2 are the weights of the angle advantage and the range advantage respectively, and satisfy 0 ≤ m1, m2 ≤ 1, m1 + m2 = 1.

[0055] Furthermore, in step 2.2, the missile attack advantage prediction method is as follows:

[0056] The attack advantage of the missile over the enemy target includes the missile speed advantage, the missile altitude advantage, the missile range advantage, and the missile angle advantage. After taking the logarithm of the missile speed advantage, the missile altitude advantage, the missile range advantage, and the missile angle advantage, they are weighted to form the missile attack advantage model;

[0057] 2.2.1 Missile speed advantage

[0058] The missile speed advantage is determined based on the current speed of the missile and the current speed of the enemy target. Missile speed advantage model A v is as follows:

[0059]

[0060] In the formula, v T represents the magnitude of the flight speed of the enemy target;

[0061] 2.2.2 Missile altitude advantage

[0062] The missile altitude advantage is determined based on the current flight altitude of the missile and the current flight altitude of the enemy target. Missile altitude advantage model A h is as follows:

[0063]

[0064] In the formula, h T represents the magnitude of the flight altitude of the enemy target, and h represents the magnitude of the flight altitude of the missile;

[0065] 2.2.3 Missile distance advantage

[0066] The missile distance advantage function is determined by the distance D between the missile and the enemy target, the maximum attack distance D max of the missile, the minimum attack distance D min of the missile, the distance D n of the missile's non-escape zone, and the maximum operating distance D det of the missile seeker. Missile distance advantage model A d is as follows:

[0067]

[0068] 2.2.4 Missile angle advantage

[0069] The angle advantage function A α of the enemy target relative to the missile includes the approach angle advantage A q and the azimuth angle advantage A σ . The missile angle advantage function A α is calculated based on the approach angle advantage A q and the azimuth angle advantage A φ . The missile angle advantage function A α is:

[0070] A α = A σ * A q

[0071]

[0072] Among them, σ is the azimuth angle of the enemy target, q is the approach angle of the enemy target, and σ Rmax is the maximum search angle of the missile seeker, and σ MKmax is the angle of the missile's non-escape zone;

[0073] 2.2.5 Missile Attack Advantage

[0074] The ultimate goal of the pre-allocation plan is to minimize the comprehensive air combat advantage function of the enemy against us and maximize the comprehensive air combat advantage function of us against the enemy, so as to ensure that our missiles attack the enemy aircraft in a favorable state;

[0075] The missile attack advantage includes static advantage and dynamic advantage; the static advantage includes missile distance advantage and missile angle advantage; the dynamic advantage includes missile speed advantage and missile height advantage;

[0076] The missile attack advantage function A ij is calculated as follows:

[0077]

[0078] A2 = f1 × A v + f2A h

[0079] A ij = p1·A1 + p2·A2

[0080] In the above formula, A1 is the static advantage; A2 is the dynamic advantage; γ1 and γ2 are the weights of the missile distance advantage and the missile angle advantage respectively; f1 and f2 are the weight values of the missile speed advantage and the missile height advantage respectively; p1 and p2 are the weight values of the static advantage and the dynamic advantage respectively; and γ1 + γ2 = 1, f1 + f2 = 1, p1 + p2 = 1.

[0081] Furthermore, in step 2.3, the enemy aircraft threat prediction method is as follows:

[0082] The enemy aircraft threat is the threat of the enemy aircraft to our aircraft. The enemy aircraft threat includes the enemy aircraft maneuver threat, the enemy aircraft distance threat, and the enemy aircraft angle threat;

[0083] 2.3.1 Enemy Aircraft Maneuver Threat

[0084] When the flight speed and acceleration of the enemy aircraft are greater, the initial kinetic energy of the launched missile is also greater, increasing the attack threat of the missile; at the same time, a higher maneuverability is conducive to the enemy aircraft taking more tactical actions, so it poses a higher threat level to our aircraft. The enemy aircraft maneuver threat W v is calculated by the following formula:

[0085]

[0086] In the formula: ve is the speed of the enemy aircraft; v p is the speed of our aircraft;

[0087] 2.3.2 Threat of the distance of the enemy aircraft

[0088] The distance threat function of the enemy aircraft to our aircraft is related to the action distance of the enemy aircraft's fire control radar, the maximum attack area of the enemy missile, the minimum attack area of the enemy missile, and the distance of the inescapable attack area; when the enemy aircraft carries multiple missiles, the missile attack area parameters take the maximum value; the distance threat W of the enemy aircraft L The formula is as follows:

[0089]

[0090] In the formula: L is the distance between the guiding aircraft and the enemy target; R Rmax is the maximum detection distance of the enemy aircraft's radar; R mmax is the maximum attack distance of the enemy air-to-air missile; R A is the maximum detection distance of the enemy missile seeker; R mmin is the minimum attack distance of the enemy missile;

[0091] 2.3.3 Threat of the angle of the enemy aircraft

[0092] When our fighter aircraft is within the angle range of the enemy radar illumination or within the attack angle range of the enemy air-to-air missile, it is easy to be detected or attacked by the enemy, and the threat level at this time is relatively large. Therefore, it is necessary to construct an enemy aircraft angle threat function; the vector connecting the enemy aircraft and our aircraft is The relative speed vector between the enemy aircraft and our aircraft is

[0093] The enemy aircraft angle threat function W a As shown in the formula:

[0094]

[0095] In the formula:

[0096] υ is the included angle between and

[0097] Ψ Rmax is the maximum detection angle of the enemy aircraft's radar;

[0098] Ψ Mmax is the maximum detection angle of the enemy missile seeker;

[0099] Ψ kmax is the inescapable area angle of the enemy missile;

[0100] 2.3.4 Threat of the enemy aircraft

[0101] The threat from enemy aircraft refers to the threat posed by enemy aircraft to our aircraft. The threat from enemy aircraft includes the threat of enemy aircraft maneuverability, the threat of enemy aircraft distance, and the threat of enemy aircraft angle.

[0102] Based on the enemy aircraft maneuverability threat function, the enemy aircraft distance threat function, and the enemy aircraft angle threat function, an enemy aircraft threat function is established. The enemy aircraft threat function W ij is as follows:

[0103]

[0104] In the formula:

[0105] W ij is the threat function of the j-th enemy target to the i-th our guidance aircraft;

[0106] d1 and d2 are the weight magnitudes of the enemy aircraft angle threat and the enemy aircraft distance threat respectively. d1 and d2 satisfy

[0107] 0 ≤ d1, d2 ≤ 1, d1 + d2 = 1;

[0108] e1 and e2 are the weight magnitudes of the enemy aircraft angle threat and the enemy aircraft distance threat respectively. e1 and e2 satisfy 0 ≤ e1, e2 ≤ 1, e1 + e2 = 1;

[0109] Furthermore, in step 2.4, the solution method of the pre-planned allocation scheme is as follows:

[0110] The mathematical description of the pre-planned allocation scheme is:

[0111]

[0112] Where: C ij is the guidance advantage function of the i-th guidance platform to the j-th missile; x ij is the guidance decision variable of the i-th guidance platform to the j-th missile, indicating whether the i-th guidance platform reaches a matching relationship with the j-th missile; A ij is the attack advantage function of the i-th missile to the j-th enemy target; y ij is the attack decision variable of the i-th missile to the j-th missile, indicating whether the i-th missile reaches a matching relationship with the j-th enemy target; W ij is the threat function of the i-th guidance platform to the j-th enemy target; z ij is the threat decision variable of the i-th guidance platform relative to the j-th enemy target, indicating whether the i-th guidance platform reaches a matching relationship with the j-th enemy target;

[0113] Use the Hungarian algorithm to solve the pre-planned allocation scheme to obtain the matching relationship of the guidance aircraft - missile - target.

[0114] Further, in step three, the construction method of the cooperative guidance replanning algorithm is as follows:

[0115] Construct a comprehensive guidance evaluation model by using the information distortion matrix and information increment;

[0116] The signal distortion matrix during the guidance process is:

[0117]

[0118] δx i = δt i ·v ix

[0119] δy i = δt i ·v iy

[0120] δz i = δt i ·v iz

[0121] where δx i , δy i , δz i are the error values of the i-th enemy target at time t n in the x, y, and z directions respectively; δt i is the communication delay of the i-th enemy target at time t n , and δt i is calculated by comparing the timestamp of the guidance information obtained by the i-th missile with the missile clock; v ix , v ix , v ix are the components of the relative velocity between the i-th missile and the enemy target in the x, y, and z directions respectively;

[0122] Use Kalman filtering to filter the information received by each missile; when the following conditions are met, replan the guidance machine-missile-target matching relationship:

[0123] δV < maxδV

[0124]

[0125] δV = max(δx i ·δy i ·δz i )

[0126] where δV represents the maximum error in the observed values of each enemy target, and δV max is the maximum acceptable error of the observed values of the enemy target; is for tn The spectral radius of the time signal distortion matrix , is t n-1 The spectral radius of the time signal distortion matrix ;

[0127] The comprehensive guidance advantage evaluation function I of the i-th guidance aircraft for the j-th missile ij is as follows:

[0128]

[0129] where ||R(D)|| is the column norm of the information distortion matrix; a ij is the guidance information advantage weight of the i-th guidance aircraft for the j-th missile, a ij is equal to the difference between the traces of the matrices before and after the Kalman filter measurement;

[0130] The cooperative guidance replanning scheme is:

[0131] max I mn

[0132] where I mn is the sum of the replanning guidance advantage functions of m guidance aircraft and n missiles;

[0133] Solve using the Hungarian algorithm to obtain the matching relationship of the replanned guidance aircraft - missile - target.

[0134] The beneficial effects of the present invention are as follows:

[0135] The present invention uses a guidance quality evaluation model to evaluate the adaptability of the guidance scheme in the current environment in real time, enabling the guidance platform to reduce the error caused by data link communication delay as much as possible while avoiding threats and completing the cooperative guidance task. At the same time, the present invention has good migration and universality in different communication environments, providing a new solution for the cooperative guidance of air-to-air missiles. BRIEF DESCRIPTION OF THE DRAWINGS

[0136] Figure 1 is the overall framework of the cooperative guidance algorithm considering communication delay;

[0137] Figure 2 is the initial pre-planning effect display diagram;

[0138] Figure 3 is the effect display diagram of the first stage after replanning;

[0139] Figure 4 is the effect display diagram of the second stage after replanning. DETAILED DESCRIPTION OF THE INVENTION

[0140] Such as Figure 1As shown

[0141] The specific implementation steps of the technical content of the present invention are as follows:

[0142] Step 1: Establish a relative motion relationship model of the guidance aircraft - missile - target;

[0143] Step 2: Construct a cooperative guidance pre-planning algorithm to obtain a pre-allocation plan;

[0144] Step 3: Construct a cooperative guidance re-planning algorithm to obtain a re-planning plan considering communication delay.

[0145] In Step 1, the process of establishing the relative motion relationship model of the guidance aircraft - missile - target is as follows:

[0146] Step 1.1: Establish a kinematic model of the guidance aircraft;

[0147] Step 1.2: Establish an attack - defense model of the missile - target;

[0148] Step 1.3: Establish a communication delay error model of the air combat data link.

[0149] In Step 1.1, the method for establishing the kinematic model of the guidance aircraft is as follows:

[0150] In the context of the mission of relay guidance, the guidance aircraft does not have overly complex tactical actions. Therefore, a three - degree - of - freedom kinematic model of the guidance aircraft is adopted, and the explicit Euler method is used to solve the kinematic equation of the guidance aircraft:

[0151]

[0152] In the formula, x, y, and z respectively represent the position components of the guidance aircraft on the X - axis, Y - axis, and Z - axis; v represents the speed of the guidance aircraft; ψ represents the course angle of the guidance aircraft; γ represents the pitch angle of the guidance aircraft; μ represents the tilt angle of the speed axis system of the guidance aircraft; g represents the acceleration due to gravity; n x represents the tangential overload of the guidance aircraft; n z represents the normal overload of the guidance aircraft; m represents the mass of the guidance aircraft.

[0153] To achieve the maneuver decision - making of the guidance aircraft, a tactical maneuver library is introduced into the kinematic model of the guidance aircraft; the tactical maneuver library is divided into a basic maneuver library and a typical tactical maneuver library; the basic maneuver library specifically includes seven basic actions: 1) going straight; 2) maximum acceleration; 3) maximum deceleration; 4) maximum overload climb; 5) maximum overload dive; 6) maximum overload left turn; 7) maximum overload right turn; the typical tactical maneuver library is obtained by combining the seven basic actions from a tactical perspective.

[0154] The kinematic model of the enemy target is the same as that of the guidance aircraft.

[0155] In Step 1.2, the method for establishing the missile-target attack and defense model is as follows:

[0156] Similar to the kinematic model of the guidance aircraft, establish the kinematic model of the missile. The kinematic equation of the missile is as follows:

[0157]

[0158] In the formula, x m , y m and z m respectively represent the position components of the missile on the X-axis, Y-axis, and Z-axis; v m represents the magnitude of the missile flight speed; ψ m represents the azimuth angle of the missile; γ m represents the pitch angle of the missile; G m represents the gravity force on the missile; p m represents the thrust of the missile engine; Q m represents the air resistance on the missile; n my represents the lateral overload of the missile; n mc represents the normal overload of the missile;

[0159] Adopt the proportional navigation method as the missile guidance method. The proportional navigation method controls the rotation angular velocity of the missile velocity vector to be proportional to the rotation angular velocity of the enemy aircraft's line of sight. The formula of the proportional navigation method is as follows:

[0160]

[0161] In the formula, is the absolute included angle between the missile and the line connecting the missile to the enemy aircraft's target, and K is the proportional navigation coefficient.

[0162] In Step 1.3, the method for establishing the air combat data link communication delay error model is as follows:

[0163] The air combat data link includes a fixed delay and a random delay. During the process of the guidance aircraft transmitting the guidance command to the missile, the error generated in the position vectors of the actual position of the enemy target and the enemy target point of the missile due to the communication delay is where t is the current time, and the calculation formula for the error is:

[0164]

[0165] Among them, is the error caused by the fixed delay. The error value caused by the fixed delay is related to the performance of the data link itself and does not change with time; is the dynamic error, usually caused by the random error of the data link.

[0166] In Step Two, the construction process of the cooperative guidance pre-planning algorithm is as follows:

[0167] There are n guidance aircraft, m missiles and r enemy targets in the airspace. When the data links between the airborne guidance aircraft and the missiles are all disconnected due to interference, it is necessary to re-plan the matching relationship of guidance aircraft - missiles - enemy targets to form a cooperative guidance pre-planning algorithm to obtain a pre-allocation plan;

[0168] Step 2.1, predict the guidance advantage of the guidance aircraft over the missile;

[0169] Step 2.2, predict the attack advantage of the missile;

[0170] Step 2.3, predict the threat of the enemy aircraft;

[0171] Step 2.4, solve the pre-planning allocation plan.

[0172] In Step 2.1, the method for predicting the guidance advantage of the guidance aircraft over the missile is as follows:

[0173] The guidance advantage of the guidance aircraft over the missile includes the guidance aircraft angle advantage and the guidance aircraft distance advantage; after taking the logarithm of the guidance aircraft angle advantage and the guidance aircraft distance advantage, they are weighted to form a guidance mechanism advantage model;

[0174] 2.1.1 Guidance aircraft angle advantage

[0175] The missile relative to the guidance aircraft includes the entry angle and the azimuth angle. Guidance can only be completed when the missile is within the irradiation range of the communication antenna of the guidance aircraft; the guidance aircraft angle advantage function includes the entry angle advantage function and the azimuth angle advantage function; the entry angle advantage function T gui_θ is as follows:

[0176]

[0177] In the formula: θ is the entry angle of the missile relative to the guidance aircraft; θ max is the maximum working angle of the missile's tail antenna; e is the natural constant;

[0178] The azimuth angle advantage function T gui_φ is as follows:

[0179]

[0180] In the formula: φ is the azimuth angle of the missile relative to the guidance aircraft; φ max is the maximum working angle of the missile's tail antenna;

[0181] The guidance aircraft angle advantage function T of the guidance aircraft over the missile gui_A is as follows:

[0182]

[0183] Where: a1 and a2 are the weights of the missile entry angle and the azimuth angle respectively, and satisfy 0 ≤ a1, a2 ≤ 1, a1 + a2 = 1;

[0184] 2.1.2 Range Advantage of the Guidance Aircraft

[0185] When the distance between the missile and the guidance aircraft does not exceed the maximum working distance of the communication antenna, normal communication can be carried out between the missile and the guidance aircraft; the range advantage function T of the guidance aircraft for the missile gui_D :

[0186]

[0187] Where: D M is the distance between the missile and the guidance aircraft; D MG is the maximum working distance between the missile and the guidance aircraft;

[0188] 2.1.3 Guidance Advantage of the Guidance Aircraft for the Missile

[0189] According to the guidance aircraft angle advantage function and the guidance aircraft range advantage function, the guidance advantage function model C is obtained ij :

[0190]

[0191] Where: C ij is the guidance advantage function of the i-th guidance aircraft for the j-th missile; m1 and m2 are the weights of the angle advantage and the range advantage respectively, and satisfy 0 ≤ m1, m2 ≤ 1, m1 + m2 = 1.

[0192] In step 2.2, the missile attack advantage prediction method is as follows:

[0193] The attack advantage of the missile on the enemy target includes the missile speed advantage, the missile altitude advantage, the missile range advantage and the missile angle advantage. After taking the logarithm of the missile speed advantage, the missile altitude advantage, the missile range advantage and the missile angle advantage, they are weighted to form the missile attack advantage model;

[0194] 2.2.1 Missile Speed Advantage

[0195] The missile speed advantage is determined according to the current speed of the missile and the current speed of the enemy target. The missile speed advantage model A v is as follows:

[0196]

[0197] Where, v T represents the magnitude of the flight speed of the enemy target;

[0198] 2.2.2 Missile Altitude Advantage

[0199] The missile altitude advantage is determined based on the current flight altitude of the missile and the current flight altitude of the enemy target; Missile altitude advantage model A h As follows:

[0200]

[0201] In the formula, h T represents the magnitude of the flight altitude of the enemy target, and h represents the magnitude of the flight altitude of the missile;

[0202] 2.2.3 Missile distance advantage

[0203] The missile distance advantage function is determined by the distance D between the missile and the enemy target, the maximum attack distance D max of the missile, the minimum attack distance D min of the missile, the distance D n of the missile's no-escape zone, and the maximum operating distance D det of the missile seeker; Missile distance advantage model A d As follows:

[0204]

[0205] 2.2.4 Missile angle advantage

[0206] The angle advantage function A α of the enemy target relative to the missile includes the approach angle advantage A q and the azimuth angle advantage A σ . The missile angle advantage function A α is calculated based on the approach angle advantage A q and the azimuth angle advantage A φ . The missile angle advantage function A α is:

[0207] A α = A σ * A q

[0208]

[0209] where σ is the azimuth angle of the enemy target, q is the approach angle of the enemy target, σ Rmax is the maximum search angle of the missile seeker, and σ MKmax is the angle of the missile's no-escape zone;

[0210] 2.2.5 Missile attack advantage

[0211] The ultimate goal of the pre-allocation plan is to minimize the comprehensive air combat advantage function of the enemy against us and maximize the comprehensive air combat advantage function of us against the enemy, so as to ensure that our missiles attack the enemy aircraft in a favorable state;

[0212] The advantages of missile attacks include static advantages and dynamic advantages; static advantages include missile distance advantage and missile angle advantage; dynamic advantages include missile speed advantage and missile height advantage;

[0213] The missile attack advantage function A ij The calculation method is as follows:

[0214]

[0215] A2 = f1 × A v + f2A h

[0216] A ij = p1·A1 + p2·A2

[0217] In the above formula, A1 is the static advantage; A2 is the dynamic advantage; γ1 and γ2 are the weights of the missile distance advantage and the missile angle advantage respectively; f1 and f2 are the weight values of the missile speed advantage and the missile height advantage respectively; p1 and p2 are the weight values of the static advantage and the dynamic advantage respectively; and γ1 + γ2 = 1, f1 + f2 = 1, p1 + p2 = 1.

[0218] In step 2.3, the enemy aircraft threat prediction method is as follows:

[0219] The enemy aircraft threat is the threat of the enemy aircraft to our aircraft. The enemy aircraft threat includes the enemy aircraft maneuver threat, the enemy aircraft distance threat, and the enemy aircraft angle threat;

[0220] 2.3.1 Enemy aircraft maneuver threat

[0221] When the flight speed and acceleration of the enemy aircraft are greater, the initial launch kinetic energy of the carried missile is also greater, increasing the attack threat of the missile; at the same time, the higher maneuverability is conducive to the enemy aircraft taking more tactical actions, so it has a higher threat level to our aircraft; the enemy aircraft maneuver threat W v The formula is as follows:

[0222]

[0223] In the formula: v e is the speed of the enemy aircraft; v p is the speed of our aircraft;

[0224] 2.3.2 Enemy aircraft distance threat

[0225] The enemy aircraft distance threat function to our aircraft is related to the fire control radar range of the enemy aircraft, the maximum attack area of the enemy missile, the minimum attack area of the enemy missile, and the distance of the inescapable attack area; when the enemy aircraft carries multiple missiles, the missile attack area parameters take the maximum value; the enemy aircraft distance threat W L The formula is as follows:

[0226]

[0227] Where: L is the distance between the guiding aircraft and the enemy target; R Rmax is the maximum detection distance of the enemy aircraft's radar; R mmax is the maximum attack distance of the enemy's air-to-air missile; R A is the maximum detection distance of the enemy missile seeker; R mmin is the minimum attack distance of the enemy missile;

[0228] 2.3.3 Angle threat of enemy aircraft

[0229] When our fighter is within the angle range of the enemy's radar illumination or within the attack angle range of the enemy's air-to-air missile, it is easy to be detected or attacked by the enemy, and the threat level at this time is relatively large. Therefore, it is necessary to construct an angle threat function of the enemy aircraft; the vector connecting the enemy aircraft and our aircraft is The relative velocity vector between the enemy aircraft and our aircraft is

[0230] The angle threat function W of the enemy aircraft a As shown in the formula:

[0231]

[0232] Where:

[0233] υ is the angle between and

[0234] Ψ Rmax is the maximum detection angle of the enemy aircraft's radar;

[0235] Ψ Mmax is the maximum detection angle of the enemy missile seeker;

[0236] Ψ kmax is the non-escape zone angle of the enemy missile;

[0237] 2.3.4 Threat of enemy aircraft

[0238] The threat of the enemy aircraft is the threat of the enemy aircraft to our aircraft. The threat of the enemy aircraft includes the maneuver threat of the enemy aircraft, the distance threat of the enemy aircraft, and the angle threat of the enemy aircraft;

[0239] According to the maneuver threat function of the enemy aircraft, the distance threat function of the enemy aircraft, and the angle threat function of the enemy aircraft, an enemy aircraft threat function is established. The enemy aircraft threat function W ij is as follows:

[0240]

[0241] Where:

[0242] Wij is the threat function of the j-th enemy target to the i-th friendly guidance aircraft;

[0243] d1 and d2 are the weight magnitudes of the enemy aircraft angle threat and the enemy aircraft distance threat respectively, and d1, d2 satisfy

[0244] 0 ≤ d1, d2 ≤ 1, d1 + d2 = 1;

[0245] e1 and e2 are the weight magnitudes of the enemy aircraft angle threat and the enemy aircraft distance threat respectively, and e1, e2 satisfy 0 ≤ e1, e2 ≤ 1, e1 + e2 = 1.

[0246] In step 2.4, the solution method of the pre-planned allocation scheme is as follows:

[0247] The mathematical description of the pre-planned allocation scheme is:

[0248]

[0249] where: C ij is the guidance advantage function of the i-th guidance platform to the j-th missile; x ij is the guidance decision variable of the i-th guidance platform to the j-th missile, indicating whether the i-th guidance platform reaches a matching relationship with the j-th missile; A ij is the attack advantage function of the i-th missile to the j-th enemy target; y ij is the attack decision variable of the i-th missile to the j-th missile, indicating whether the i-th missile reaches a matching relationship with the j-th enemy target; W ij is the threat function of the i-th guidance platform to the j-th enemy target; z ij is the threat decision variable of the i-th guidance platform relative to the j-th enemy target, indicating whether the i-th guidance platform reaches a matching relationship with the j-th enemy target;

[0250] Use the Hungarian algorithm to solve the pre-planned allocation scheme to obtain the matching relationship of the guidance aircraft - missile - target, as Figure 2 shown.

[0251] In step three, the construction method of the cooperative guidance replanning algorithm is as follows:

[0252] Use the information distortion matrix and the information increment to construct a comprehensive guidance evaluation model;

[0253] During the guidance process, the signal distortion matrix is:

[0254]

[0255] δx i = δt i ·vix

[0256] δy i = δt i ·v iy

[0257] δz i = δt i ·v iz

[0258] where δx i 、δy i 、δz i are the error values of the i-th enemy target at time t in the x, y, and z directions respectively; δt n is the communication delay magnitude of the i-th enemy target at time t, and δt i is calculated by comparing the timestamp of the guidance information obtained by the i-th missile with the missile clock; v n 、v i 、v ix 、v ix 、v ix are the components of the relative velocity between the i-th missile and the enemy target in the x, y, and z directions respectively;

[0259] Use Kalman filtering to filter the information received by each missile; when the following conditions are met, re-plan the guidance machine-missile-target matching relationship:

[0260] δV < maxδV

[0261]

[0262] δV = max(δx i ·δy i ·δz i )

[0263] where δV represents the maximum error in the observed values of each enemy target, and δV max is the maximum acceptable error of the observed values of the enemy target; is the spectral radius of the signal distortion matrix n at time t , is the spectral radius of the signal distortion matrix n-1 at time t ;

[0264] The comprehensive guidance advantage evaluation function I of the i-th guidance machine for the j-th missile ij is:

[0265]

[0266] where, ||R(D)|| is the column norm of the information distortion matrix; a ij is the guidance information advantage weight of the i-th guidance aircraft for the j-th missile, a ij is equal to the difference between the traces of the matrices before and after the Kalman filter measurement;

[0267] The cooperative guidance replanning scheme is as follows:

[0268] max I mn

[0269] where, I mn is the sum of the replanning guidance advantage functions of m guidance aircraft and n missiles;

[0270] Solve it using the Hungarian algorithm to obtain the replanned guidance aircraft-missile-target matching relationship, as shown in Figure 3 and Figure 4 shown.

[0271] The above is only the implementation mode of the present invention. It should be pointed out that the implementation mode of the present invention is not limited to the above implementation methods; without departing from the principle of the present invention, other modification methods such as deletion, modification, and simplification made to the present invention are all included in the protection scope of the present invention.

Claims

1. A dynamic air-to-air missile-guidance machine matching method under communication delay, characterized in that: The specific steps of the matching method are as follows: Step 1: Establish a relative motion relationship model between the guidance aircraft, missile and target; Step 2: construct a collaborative guidance pre-planning algorithm to obtain a pre-allocation plan; Step three, construct a collaborative guidance replanning algorithm to obtain a replanning scheme that takes communication delay into account.

2. According to a dynamic air-to-air missile-guidance machine matching method under communication delay as described in claim 1, it is characterized in that: In step 1, the process of establishing the relative motion relationship model of the guidance aircraft, missile and target is as follows: Step 1.1, establish the kinematic model of the guidance machine; Step 1.2, establish a missile-target attack and defense model; Step 1.3: Establish the air combat data link communication delay error model.

3. According to a dynamic air-to-air missile-guidance machine matching method under communication delay as described in claim 2, it is characterized in that: In step 1.1, the method for establishing the kinematic model of the guidance machine is as follows: The kinematic model of the three-degree-of-freedom guidance machine is adopted, and the kinematic equation of the guidance machine is solved by the explicit Euler method: Where x, y and z represent the position components of the guidance machine on the X-axis, Y-axis and Z-axis respectively; v represents the guidance machine speed; ψ represents the guidance machine heading angle; γ represents the guidance machine pitch angle; μ represents the guidance machine speed axis inclination angle; g represents the gravitational acceleration; n x Indicates the tangential overload of the guidance machine; n z represents the normal overload of the guidance machine; m represents the mass of the guidance machine; The kinematic model of the enemy target is the same as that of the guidance aircraft.

4. According to a dynamic air-to-air missile-guidance machine matching method under communication delay as described in claim 2, it is characterized in that: In step 1.2, the missile-target attack and defense model is established as follows: The missile kinematic model is established, and the missile kinematic equation is as follows: In the formula, x m ,y m and z m Respectively represent the position components of the missile on the X-axis, Y-axis and Z-axis; v m Indicates the missile's flight speed; ψ m represents the missile azimuth; γ m Indicates the missile pitch angle; G m represents the gravity acting on the missile; p m Indicates the missile engine thrust; Q m Indicates the air resistance of the missile; n my Indicates lateral overload of the missile; n mc Indicates missile normal overload; The proportional guidance method is used as the missile guidance method. The proportional guidance method controls the missile velocity vector rotation angular velocity to be proportional to the enemy aircraft target line rotation angular velocity. The proportional guidance method formula is as follows: In the formula, is the absolute angle of the line between the missile and the enemy aircraft target, and K is the proportional guidance coefficient.

5. According to a dynamic air-to-air missile-guidance machine matching method under communication delay as described in claim 2, it is characterized in that: In step 1.3, the method for establishing the air combat data link communication delay error model is as follows: The air combat data link includes fixed delay and random delay. When the guidance aircraft transmits the guidance command to the missile, the error between the actual position of the enemy target and the position vector of the enemy target point of the missile due to communication delay is Where t is the current time, error The calculation formula is: in, This is the error caused by a fixed delay. The error value caused by a fixed delay is related to the performance of the data link itself and does not change with time. It is a dynamic error, usually caused by random errors in the data link.

6. According to the method for dynamic air-to-air missile-guidance machine matching under communication delay described in claim 1, it is characterized in that: In step 2, the collaborative guidance pre-planning algorithm construction process is as follows: There are n guidance aircraft, m missiles and r enemy targets in the airspace. When the data links between the guidance aircraft and the missiles are all disconnected due to interference, the matching relationship between the guidance aircraft, missiles and enemy targets is replanned to form a collaborative guidance pre-planning algorithm and obtain a pre-allocation plan. Step 2.1, predict the guidance advantage of the guidance aircraft over the missile; Step 2.2, predict missile attack advantage; Step 2.3, predict enemy aircraft threats; Step 2.4, solve the pre-planning allocation solution.

7. According to claim 6, a dynamic air-to-air missile-guidance machine matching method under communication delay is characterized in that: In step 2.1, the guidance advantage prediction method of the guidance aircraft over the missile is as follows: The guidance advantage of the guidance machine over the missile includes the guidance machine angle advantage and the guidance machine distance advantage; the guidance machine angle advantage and the guidance machine distance advantage are taken logarithmically and weighted to form the guidance machine guidance advantage model; 2.1.1 Angle advantage of guided aircraft The missile has an entry angle and an azimuth angle relative to the guidance machine. Guidance can only be completed when the missile is within the illumination range of the guidance machine's communication antenna. The guidance machine's angle advantage function includes the entry angle advantage function and the azimuth angle advantage function. The entry angle advantage function T gui_θ as follows: Where: θ is the missile's entry angle relative to the guidance aircraft; θ max is the maximum working angle of the missile tail antenna; e is a natural constant; Azimuth advantage function T gui_φ as follows: Where: φ is the azimuth of the missile relative to the guidance aircraft; φ max is the maximum operating angle of the missile tail antenna; The angular advantage function T of the guidance aircraft over the missile gui_A as follows: Where: a1, a2 are the weights of the missile entry angle and azimuth, respectively, and satisfy 0≤a1, a2≤1, a1+a2=1; 2.1.2 Guided aircraft distance advantage When the distance between the missile and the guidance machine does not exceed the maximum working distance of the communication antenna, the missile and the guidance machine can communicate normally; the distance advantage function of the guidance machine over the missile is T gui_D : Where: D M is the distance between the missile and the guidance aircraft; D MG is the maximum operating distance between the missile and the guidance aircraft; 2.1.3 Guidance aircraft’s advantages over missiles According to the guidance machine angle advantage function and the guidance machine distance advantage function, the guidance advantage function model C is obtained. ij : Where: C ij is the guidance advantage function of the i-th guidance aircraft to the j-th missile; m1 and m2 are the weights of angle advantage and distance advantage respectively, and they satisfy 0≤m1,m2≤1,m1+m2=1.

8. According to claim 6, a dynamic air-to-air missile-guidance machine matching method under communication delay is characterized in that: In step 2.2, the missile attack advantage prediction method is as follows: The attack advantages of missiles on enemy targets include missile speed advantage, missile altitude advantage, missile distance advantage and missile angle advantage. The missile speed advantage, missile altitude advantage, missile distance advantage and missile angle advantage are logarithmically weighted to form a missile attack advantage model. 2.2.1 Missile speed advantage The missile speed advantage is determined by the missile's current speed and the enemy target's current speed. The missile speed advantage model A v as follows: In the formula, v T Indicates the size of the enemy target's flight speed; 2.2.2 Missile Altitude Advantage The missile altitude advantage is determined based on the missile's current flight altitude and the enemy target's current flight altitude; the missile altitude advantage model A h as follows: In the formula, h T It represents the flight height of the enemy target, and h represents the flight height of the missile; 2.2.3 Missile distance advantage The missile range advantage function is composed of the distance D between the missile and the enemy target and the maximum attack distance D of the missile. max , Minimum missile attack distance D min , Distance D of the missile's no-escape zone n and the maximum operating distance D of the missile seeker det Decision; Missile Range Advantage Model A d as follows: 2.2.4 Missile Angle Advantage The angular advantage function A of the enemy target relative to the missile α Including entry angle advantage A q and azimuth advantage A σ , missile angle advantage function A α According to the entry angle advantage A q and azimuth advantage A φ Calculated, the missile angle advantage function A α for: A α =A σ *A q Among them, σ is the azimuth of the enemy target, q is the entry angle of the enemy target, σ Rmax is the maximum search angle of the missile seeker, σ MKmax is the angle of the missile's no-escape zone; 2.2.5 Missile Attack Advantages The ultimate goal of the pre-allocation scheme is to minimize the enemy's comprehensive air combat advantage function over ours and maximize our comprehensive air combat advantage function over the enemy, so as to ensure that our missiles attack the enemy aircraft in a favorable state; Missile attack advantages include static advantages and dynamic advantages; static advantages include missile distance advantages and missile angle advantages; dynamic advantages include missile speed advantages and missile altitude advantages; Missile attack advantage function A ij The calculation method is as follows: <h2 style=";text-align:left;direction:ltr">A2 = f1×A<h2 style=";text-align:left;direction:ltr"> v <h2 style=";text-align:left;direction:ltr"> +f2A<h2 style=";text-align:left;direction:ltr"> h <h2 style=";text-align:left;direction:ltr">A<h2 style=";text-align:left;direction:ltr"> ij <h2 style=";text-align:left;direction:ltr"> =p1·A1+p2·A2 In the above formula, A1 is the static advantage; A2 is the dynamic advantage; γ1 and γ2 are the weights of the missile distance advantage and the missile angle advantage respectively; f1 and f2 are the weights of the missile speed advantage and the missile height advantage respectively; p1 and p2 are the weights of the static advantage and the dynamic advantage respectively; and γ1+γ2=1, f1+f2=1, p1+p2=1 is satisfied.

9. The method for dynamic air-to-air missile-guidance machine matching under communication delay according to claim 6, characterized in that: In step 2.3, the enemy aircraft threat prediction method is as follows: Enemy aircraft threat refers to the threat posed by enemy aircraft to our aircraft. Enemy aircraft threat includes enemy aircraft maneuver threat, enemy aircraft distance threat and enemy aircraft angle threat. 2.3.1 Threat of enemy aircraft maneuvers The greater the enemy aircraft's flight speed and acceleration, the greater the initial kinetic energy of the missile it carries, increasing the missile's attack threat; at the same time, higher maneuvers are conducive to the enemy aircraft taking more tactical actions, so it poses a higher threat to our aircraft; enemy aircraft maneuver threat W v The formula is as follows: Where: v e is the enemy aircraft speed; v p For my machine speed; 2.3.2 Enemy Aircraft Distance Threat The distance threat function of the enemy aircraft to our aircraft is related to the range of the enemy aircraft's fire control radar, the maximum attack area of ​​the enemy missile, the minimum attack area of ​​the enemy missile, and the distance of the inescapable attack area; when the enemy aircraft carries multiple missiles, the missile attack area parameter takes the maximum value; the enemy aircraft distance threat W L The formula is as follows: Where: L is the distance between the guidance aircraft and the enemy target; R Rmax is the maximum detection distance of the enemy aircraft radar; R mmax is the maximum attack distance of the enemy's air-to-air missile; R A is the maximum detection distance of the enemy missile seeker; R mmin is the minimum attack distance of the enemy missile; 2.3.3 Enemy Aircraft Angle Threat When our fighter is within the range of the enemy's radar illumination angle or the enemy's air-to-air missile attack angle, it is easy to be discovered or attacked by the enemy. At this time, the threat level is relatively high, so it is necessary to construct the enemy's angle threat function; the line vector between the enemy and our aircraft is The relative velocity vector between the enemy aircraft and our aircraft is Enemy aircraft angle threat function W a As shown in the formula: Where: υ and The size of the angle; Ψ Rmax is the maximum detection angle of the enemy aircraft radar; Ψ Mmax is the maximum detection angle of the enemy missile seeker; Ψ kmax is the angle of the no-escape zone of the enemy missile; 2.3.4 Enemy Aircraft Threat Enemy aircraft threat refers to the threat posed by enemy aircraft to our aircraft. Enemy aircraft threat includes enemy aircraft maneuver threat, enemy aircraft distance threat and enemy aircraft angle threat. According to the enemy aircraft maneuver threat function, enemy aircraft distance threat function and enemy aircraft angle threat function, the enemy aircraft threat function is established. The enemy aircraft threat function W ij As shown below: Where: W ij is the threat function of the jth enemy target to the ith friendly guided aircraft; d1, d2 are the weights of the enemy aircraft angle threat and the enemy aircraft distance threat, d1, d2 satisfy 0≤d1, d2≤1, d1+d2=1; e1, e2 are the weights of the enemy aircraft angle threat and the enemy aircraft distance threat, e1, e2 satisfy 0≤e1, e2≤1, e1+e2=1; In step 2.4, the method for solving the pre-planning allocation scheme is as follows: The mathematical description of the pre-planning allocation scheme is: Where: C ij is the guidance advantage function of the i-th guidance platform to the j-th missile; x ij is the guidance decision variable of the i-th guidance platform for the j-th missile, indicating whether the i-th guidance platform matches the j-th missile; A ij is the attack advantage function of the ith missile against the jth enemy target; y ij is the attack decision variable of the ith missile on the jth missile, indicating whether the ith missile matches the jth enemy target; W ij is the threat function of the i-th guidance platform to the j-th enemy target; z ij is the threat decision variable of the i-th guidance platform relative to the j-th enemy target, indicating whether the i-th guidance platform reaches a matching relationship with the j-th enemy target; The Hungarian algorithm is used to solve the pre-planned allocation scheme and obtain the matching relationship between the guidance aircraft, missile and target.

10. The method for dynamic air-to-air missile-guidance machine matching under communication delay according to claim 1, characterized in that: In step 3, the collaborative guidance re-planning algorithm is constructed as follows: The integrated guidance evaluation model is constructed using information distortion matrix and information increment; Signal distortion matrix during guidance process for: δx i =δt i ·v ix ;δy i =δt i ·v iy ;δz i =δt i ·v iz Among them, δx i ,δy i ,δz i are the i-th enemy target t n Error value in x, y, z direction at the moment; δt i is the i-th enemy target t n The communication delay at time, δt i It is calculated by comparing the timestamp of the i-th missile obtaining the guidance information with the missile clock; v ix 、v ix 、v ix are the components of the relative velocity between the ith missile and the enemy target in the x, y, and z directions respectively; Kalman filtering is used to filter the information received by each missile; when the following conditions are met, the matching relationship between the guidance aircraft, missile and target is replanned: δV<maxδV δV=max(δx i ·δy i ·δz i ) Among them, δV represents the maximum error in the observation value of each enemy target, δV max is the maximum acceptable error of the enemy target observation; t n Time signal distortion matrix The spectral radius of t n-1 Time signal distortion matrix The spectral radius of The comprehensive guidance advantage evaluation function I of the i-th guidance aircraft to the j-th missile ij for: Among them, ||R(D)|| is the column norm of the information distortion matrix; a ij is the weight of the guidance information advantage of the i-th guidance aircraft over the j-th missile, a ij It is equal to the difference between the matrix traces before and after the Kalman filter measurement; The collaborative guidance re-planning scheme is: max I mn Among them, I mn is the sum of the re-orientation guidance advantage functions of m guidance aircraft and n missiles; The Hungarian algorithm is used to solve the problem and obtain the re-planned guidance aircraft-missile-target matching relationship.

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