Cooperative time constraint guidance method of speed time-varying multi-aircraft system and related device

Abstract

The invention discloses a collaborative time constraint guidance method of a speed time-varying multi-aircraft system and a related device, and relates to the technical field of aircraft collaborative guidance, and the method comprises the steps: obtaining a current state and a target position of each aircraft; for any aircraft, executing a first operation to obtain an acceleration instruction of each aircraft; wherein the first operation is to dynamically adjust expected strike time based on a communication relationship corresponding to a target aircraft, a current state, a target position, decision guidance parameters and a strike time decision-time constraint guidance protocol, and calculate an acceleration instruction based on the adjusted expected strike time; updating the current state of each aircraft according to the acceleration instruction of each aircraft, and judging whether a termination condition is met or not; if not, returning to the previous step to carry out iterative adjustment; according to the invention, the speed time-varying multi-aircraft system can accurately complete the attack task at the same time according to the predetermined target time.

Description

Technical Field

[0001] The present application relates to the technical field of cooperative guidance for aircraft, and particularly to a cooperative time-constrained guidance method and related devices for a multi-aircraft system with time-varying speeds. Background Art

[0002] With the continuous progress of modern warfare technology, the importance of strike-time control guidance technology has become increasingly prominent. This technology not only ensures precise target engagement but also meets specific strike-time and salvo attack requirements, thereby enabling a saturation attack on high-value targets. Through numerical superiority, the enemy's defense system can be effectively pressured and the damage scope can be expanded. In addition, the development of strike-time control guidance has not only expanded cooperative combat methods but also promoted the development of guidance laws. Since the speeds of high-speed aircraft are often uncontrollable, it is particularly important to develop strike-time control guidance for time-varying speeds.

[0003] In the design of missiles, hypersonic glide vehicles, and other aircraft with uncontrollable speeds, the formulation of strike-time control guidance laws must consider speed changes. Although existing research has preliminarily explored the impact of speed changes on strike-time control, there are still significant limitations. Therefore, how to achieve precise strikes on targets by a multi-aircraft system with time-varying speeds is an urgent problem to be solved. Summary of the Invention

[0004] The purpose of the present application is to provide a cooperative time-constrained guidance method and related devices for a multi-aircraft system with time-varying speeds, which can precisely complete the strike mission simultaneously according to a predetermined target time.

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

[0006] In the first aspect, the present application provides a cooperative time-constrained guidance method for a multi-aircraft system with time-varying speeds, including:

[0007] S1: Obtain the current states and target positions of each aircraft; the current state includes the current position, current speed, current speed inclination angle, and current speed deviation angle;

[0008] S2: For any one aircraft, perform a first operation to obtain the acceleration command of each aircraft;

[0009] S3: Update the current states of each aircraft according to the acceleration command of each aircraft, and determine whether the termination condition is satisfied; if not, return to step S2 for iterative adjustment; the termination condition is that the current position coincides with the target position;

[0010] Among them, the first operation specifically includes:

[0011] Determine the communication relationship between the target aircraft and other aircraft; the target aircraft is any aircraft;

[0012] Based on the communication relationship corresponding to the target aircraft, the current state, the target position, the preset decision and guidance parameters, and the strike-time decision-time-constrained guidance protocol, dynamically adjust the expected strike time, and calculate the acceleration command of the target aircraft based on the adjusted expected strike time; the strike-time decision-time-constrained guidance protocol is determined based on the expected strike time adjustment formula and the first variable-proportion guidance law.

[0013] In a second 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, where the processor executes the computer program to implement the collaborative time-constrained guidance method for the time-varying multi-aircraft system described above.

[0014] In a third 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 the collaborative time-constrained guidance method for the time-varying multi-aircraft system described above.

[0015] In a fourth aspect, the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the collaborative time-constrained guidance method for the time-varying multi-aircraft system described above.

[0016] According to the specific embodiments provided by the present application, the following technical effects are disclosed:

[0017] The present application provides a cooperative time-constrained guidance method and related device for a speed-varying multi-aircraft system. The method includes: obtaining the current states and target positions of each aircraft; the current state includes the current position, current speed, current speed inclination angle, and current speed deviation angle; for any aircraft, perform a first operation to obtain the acceleration command of each aircraft; wherein, the first operation is to dynamically adjust the expected strike time based on the communication relationship corresponding to the target aircraft, the current state, the target position, the preset decision guidance parameters, and the strike-time decision-time-constrained guidance protocol, and calculate the acceleration command of the target aircraft based on the adjusted expected strike time; the strike-time decision-time-constrained guidance protocol is determined based on the expected strike time adjustment formula and the first variable-proportion guidance law; according to the acceleration commands of each aircraft, update the current states of each aircraft, and determine whether the termination condition is satisfied; if not, return to the previous step for iterative adjustment; the termination condition is that the current position coincides with the target position. Through the communication relationship between aircraft, according to the current state, target position, decision guidance parameters, and constraints of the expected strike time of the aircraft, the present application dynamically adjusts the expected strike time through the decision-time-constrained guidance protocol. This method can respond to environmental changes and aircraft state changes in real time, enabling the aircraft to complete the strike mission more accurately according to the predetermined target time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] Figure 1 It is an application environment diagram of a cooperative time-constrained guidance method for a speed-varying multi-aircraft system in an embodiment of the present application;

[0020] Figure 2 It is a flowchart of a cooperative time-constrained guidance method for a speed-varying multi-aircraft system provided by an embodiment of the present application;

[0021] Figure 3 It is a schematic diagram of a three-dimensional guidance model provided by an embodiment of the present application;

[0022] Figure 4 It is a schematic diagram of a two-dimensional trajectory provided by an embodiment of the present application;

[0023] Figure 5 It is a schematic diagram of a three-dimensional trajectory provided by an embodiment of the present application;

[0024] Figure 6Schematic diagram of the expected impact time curve provided by an embodiment of the present application;

[0025] Figure 7 Schematic diagram of the lead angle curve provided by an embodiment of the present application;

[0026] Figure 8 Schematic diagram of the speed curve provided by an embodiment of the present application;

[0027] Figure 9 Schematic diagram of the total overload curve provided by an embodiment of the present application;

[0028] Figure 10 Schematic diagram of the total navigation ratio curve provided by an embodiment of the present application;

[0029] Figure 11 Schematic diagram of the remaining flight time curve provided by an embodiment of the present application;

[0030] Figure 12 Schematic diagram of the structure of a computer device provided by an embodiment of the present application. Detailed implementation manners

[0031] 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 of 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.

[0032] Currently, Wang et al. developed a multi-stage guidance law to sequentially meet the requirements of impact time coordination and zero terminal miss distance, and extended the conclusions of planar guidance to a three-dimensional guidance scenario with variable velocity. However, this guidance law generates overload oscillations in the initial stage and lacks a theoretical analysis of the velocity time-varying problem. Liu et al. proposed an innovative planar impact time constraint guidance law that can ensure accurate guidance and impact time constraints. However, their treatment of velocity time-variation does not consider the effects of gravity and atmospheric density changes. Dong and Yang et al. achieved three-dimensional impact time control guidance considering velocity changes, but multiple differential equations need to be iteratively solved to predict the impact time. Tahk et al. implemented variable velocity control guidance for a two-dimensional scenario using reinforcement learning and feedback control. However, the considered velocity differential is too simplified. Kang et al. designed an optimal guidance law considering simple velocity changes. Although current research has considered the velocity change problem, there are still some problems in current research, such as overly simplified velocity dynamics, incomplete analysis processes, or dependence on the iterative solution of too many differential equations. In summary, the design problem of a three-dimensional time coordination guidance law considering velocity time-variation remains open, and further research and development are needed to address the limitations of existing methods.

[0033] To make the above objects, features, and advantages of the present application more obvious and understandable, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] The collaborative time constraint guidance method for a velocity time-varying multi-aircraft system provided by an embodiment of the present application can be applied to an application environment as Figure 1 shown. Among them, the terminal 102 communicates with the server 104 through a 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 in the cloud, or on other servers. The terminal 102 can send the current state and target position of the aircraft to the server 104. Based on the communication relationship, current state, target position, preset decision guidance parameters, and impact time decision-time constraint guidance protocol, the server 104 dynamically adjusts the expected impact time, calculates the acceleration command based on the adjusted expected impact time, updates the current state of the aircraft according to the acceleration command, and determines whether the termination condition is met; if not, continue to perform iterative adjustment. The server 104 can continuously feedback the obtained acceleration command to the terminal 102. In addition, in some embodiments, the collaborative time constraint guidance method for a velocity time-varying multi-aircraft system can also be implemented separately by the server 104 or the terminal 102. For example, the terminal 102 can directly process the current state and target position of the aircraft, or the server 104 can obtain the current state and target position of the aircraft from the data storage system and process them.

[0035] Among them, 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.

[0036] In an exemplary embodiment, as Figure 2 shown, a cooperative time-constrained guidance method for a speed-time-varying multi-aircraft system is provided. This method is executed by a computer device, and specifically can be executed alone 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 in it as an example for illustration, it includes the following steps 201 to step 203. Among them:

[0037] Step 201, obtain the current state and target position of each aircraft; the current state includes the current position, current speed, current speed inclination angle, and current speed deviation angle.

[0038] Step 202, for any aircraft, perform a first operation to obtain the acceleration command of each aircraft.

[0039] Among them, the first operation specifically includes:

[0040] Step 2021, determine the communication relationship between the target aircraft and other aircraft; the target aircraft is any aircraft;

[0041] Step 2022, based on the communication relationship corresponding to the target aircraft, the current state, the target position, the preset decision guidance parameters, and the strike time decision-time-constrained guidance protocol, dynamically adjust the expected strike time, and calculate the acceleration command of the target aircraft based on the adjusted expected strike time; the strike time decision-time-constrained guidance protocol is determined based on the expected strike time adjustment formula and the first variable proportional guidance law.

[0042] Step 203, according to the acceleration command of each aircraft, update the current state of each aircraft, and determine whether the termination condition is satisfied; if not, return to step 202 for iterative adjustment; the termination condition is that the current position coincides with the target position.

[0043] Implementing the above steps 201 to 203, through the communication relationship between aircraft, according to the current state, target position, decision guidance parameters, and the constraint of the expected strike time of the aircraft, dynamically adjust the expected strike time through the decision-time-constrained guidance protocol. This method can respond to environmental changes and aircraft state changes in real time, enabling the aircraft to complete the strike mission more precisely according to the predetermined target time.

[0044] Further, based on the communication relationship, current state, target position, preset decision and guidance parameters, and strike time decision-time constraint guidance protocol of the target aircraft, the expected strike time is dynamically adjusted, and the acceleration command of the target aircraft is calculated based on the adjusted expected strike time, specifically including:

[0045] Based on the current state, target position, and decision and guidance parameters of the target aircraft, the strike time of the target aircraft is calculated.

[0046] Based on the strike time of the target aircraft and the preset expected strike time, the first time error of the target aircraft is calculated.

[0047] Based on the communication relationship corresponding to the target aircraft and the first time error of each aircraft, the distributed time error of the target aircraft is calculated.

[0048] Based on the distributed time error of the target aircraft, the expected strike time of the target aircraft is updated to obtain the updated expected strike time of the target aircraft.

[0049] Based on the updated expected strike time of the target aircraft and the first variable-proportion guidance law, the acceleration command of the target aircraft is calculated.

[0050] Further, the determination process of the strike time decision-time constraint guidance protocol is as follows:

[0051] Step 1: Based on the guidance information, a three-dimensional guidance model of the velocity time-varying multi-aircraft system is constructed; where the guidance information includes the physical parameters, environmental parameters, state information, and target information of each aircraft, and the three-dimensional guidance model includes the attitude and direction equation, relative motion equation, and velocity time-varying differential equation. The specific process is as follows:

[0052] Consider a multi-aircraft system composed of Figure 3 aircraft. The three-dimensional guidance geometry of the i-th aircraft is as r shown. In the figure, the subscript i represents the i-th aircraft in the multi-aircraft system, and (X r , Y r , Z i ) represents the three-dimensional inertial coordinate system. V i and r i are the velocity and line-of-sight vector of the i-th aircraft respectively, and σ i represents the angle between the velocity and line-of-sight vector of the i-th aircraft, where cosσ i = r i ·V i . The total acceleration vector of the i-th aircraft is a v,i and a n,irespectively represent the acceleration vector in the velocity direction and the acceleration vector in the velocity normal direction of the i-th aircraft, a n,i is the acceleration command. θ V,i , ψ V,i respectively represent the velocity inclination angle and the velocity deviation angle of the i-th aircraft. θ V,i , ψ V,i respectively represent the line-of-sight inclination angle and the line-of-sight deviation angle of the i-th aircraft.

[0053] Since this application considers the velocity time-varying problem, the attitude and direction equations are as follows:

[0054]

[0055] where, Ω V,i and Ω r,i respectively represent the angular velocities of the V i and r i vectors, and the velocity magnitude V i is the length of the velocity vector V i .

[0056] Based on formula (1) and formula (2), the relative motion equation of three-dimensional guidance can be expressed as:

[0057]

[0058] where, r i represents the missile-target distance between the i-th aircraft and the target position, V i represents the velocity magnitude of the i-th aircraft, e V,i and e r,i respectively represent the unit velocity vector and the unit line-of-sight vector of the i-th aircraft.

[0059] According to the polar curve expression form of the drag, the relationship between the drag coefficient C D,i and the lift coefficient C L,i of the i-th aircraft can be expressed as:

[0060]

[0061] where, C D0,i is the zero-lift drag coefficient of the i-th aircraft, and K D,i is the drag-induced factor of the i-th aircraft.

[0062] Therefore, the velocity time-varying differential can be expressed as:

[0063]

[0064] where, S i is the characteristic area of the i-th aircraft, m iis the mass of the i-th aircraft, ρ(h i ) is the atmospheric density of the i-th aircraft, P i (t) is the uncontrollable thrust of the i-th aircraft, g is the acceleration due to gravity, and the component of gravity in the normal direction of the aircraft velocity can be expressed as is the unit vector along the Z r direction in the inertial system.

[0065] Step 2: Based on the three-dimensional guidance model and the proportional navigation guidance law, determine the strike time control term, and based on the proportional navigation guidance law and the strike time control term, construct the initial variable proportional navigation guidance law (i.e., the basic form of the strike time control guidance law). The specific process is as follows:

[0066] After obtaining the three-dimensional guidance model of the time-varying velocity aircraft, in this step, first, analyze the strike time control term based on the differential of the strike time to form the strike time control guidance law in the form of variable proportional navigation guidance. Then analyze the lower bound of the feedback coefficient to meet the terminal zero miss distance and the terminal strike time error.

[0067] The proportional navigation guidance law of the i-th aircraft can be expressed as:

[0068] a n,i =NΩ r,i ×V i (6);

[0069] where N>2 is the basic navigation ratio.

[0070] Based on formula (6) and formula (1), it can be known that Ω V,i =NΩ r,i , since cosσ i =e r,i ·e V,i , so there is:

[0071]

[0072] Based on formula (1) and formula (2), it can be obtained that:

[0073]

[0074] The above formula can be simplified to

[0075]

[0076] According to the proportional navigation guidance law, predict the strike time t f,i of the i-th aircraft. Integrating formula (9) gives:

[0077]

[0078] Among them, taking the derivative of the above formula gives:

[0079]

[0080] Construct the impact time control guidance law as:

[0081]

[0082] Among them, a t,i is the impact time control term of the i-th aircraft, ||(e V,i ×e r,i ×e V,i ) / sinσ i || = 1.

[0083] Substituting formula (12) into formulas (1)-(3) gives the differential of the lead angle as:

[0084]

[0085] Then the differential of the impact time can be expressed as:

[0086]

[0087] Design the impact time control term a t,i as:

[0088]

[0089] Among them, k i is the feedback coefficient of the i-th aircraft, e t,i = T d,i -t f,i is the impact time error of the i-th aircraft, T d,i is the expected impact time of the i-th aircraft.

[0090] According to formula (2), formula (12) and formula (15), the initial variable proportional navigation guidance law can be obtained as:

[0091] a n,i = N a,i (t)Ω r,i ×V i (16);

[0092] Among them, the initial total navigation ratio coefficient of the i-th aircraft is N a,i (t) = N - k i e t,i (t)(N - 1). According to formula (16), it can be obtained that if T d,i ≥t f,i , then N a,i (t)≤N; if T d,i<t f,i , then N a,i (t) > N. Since the present application considers the time-varying speed problem, it can be clearly obtained that t f,i has a lower bound. In addition, an excessive N a,i (t) will increase the required overload, which will in turn reduce the speed and instead not affect the time to reach the target. That is to say, it cannot be simply considered that increasing the total navigation ratio coefficient N a,i (t) can reduce the strike time t f,i . Since the upper bound of t f,i is relatively large, the ballistic length and strike time can be increased by reducing N a,i (t). Therefore, for formula (16), it is necessary to constrain the expected strike time so that T d,i ≥t f,i (t0), where t0 is the start time of the guidance phase.

[0093] If T d,i ≥t f,i (t0), and then the strike time control guidance law (16) can ensure that e t (t imp,i ) < ∈, r(t imp,i ) = 0 and ||a n (t imp )|| = 0. Among them, ∈ is the maximum allowable value of the strike time error, and t imp,i is the actual strike time of the i-th aircraft. Intermediate parameter t s,i , c 1,i takes the value of: t s,i = min{∈, e t,i (t0) / e}, e is the natural logarithm.

[0094] Step 3: Construct a strike time decision - cooperative time constraint guidance protocol

[0095] Based on Step 1 and Step 2, this step designs a strike time decision - time constraint guidance protocol. For the i-th aircraft, the strike time decision - time constraint guidance protocol can be designed as

[0096] a n,i = N n,i (t)Ω r,i ×V i (17);

[0097]

[0098] Among them, the total navigation ratio coefficient The estimated expected time satisfies Distributed time error If there is communication between the i-th and j-th aircraft, then a ij = 1, otherwise a ij = 0, where which represents the maximum expected strike time of the neighboring aircraft that the i-th aircraft can obtain. And the preset time term η(t) and the feedback coefficient term k i (t) are respectively:

[0099]

[0100] where, T g is the preset convergence time of the expected strike time under the time-varying velocity constraint; and are intermediate parameters in the feedback coefficient, is the minimum lower bound of; t s,i , c 1,i and l 1,i are all related functions of the allowable strike time error, l 1,i = ln(e t,i (t0 + T g ) / t s,i ) / (T d - t s,i - T g - t0), t s,i = min{∈, e t,i (t0 + T g ) / e},

[0101] Expected strike error

[0102] Based on the above steps, the construction of the strike time decision-time constraint guidance protocol is completed. Thus, for the i-th aircraft, the execution process of the strike time decision-cooperative time constraint guidance can be further described as the following steps:

[0103] Step (1) Determine the basic navigation ratio N and the preset convergence time T g of the expected strike time, load and set the maximum allowable value ∈ of the strike time error, as well as the intermediate parameter Then jump to step (2).

[0104] Step (2) Based on the communication between the aircraft, calculate and Then jump to step (3).

[0105] Step (3) If \(t = t_0+T\) g , then load and obtain Then jump to step (4).

[0106] Step (4) Execute formula (17) - formula (18). If the aircraft achieves the guidance mission, terminate the algorithm; if the aircraft does not achieve the guidance mission, jump back to step (2).

[0107] On the basis of completing the construction and execution process of the strike time decision - cooperative time - constrained guidance protocol, in order to verify the actual effect of the strike time decision - cooperative time - constrained guidance protocol designed in this application, a simulation design is carried out with a missile as the research object, and specific guidance and decision - making tasks are realized through the strike time decision - cooperative time - constrained guidance protocol and the execution process. The specific process is as follows:

[0108] (1) Missile simulation condition setting:

[0109] Consider a multi - aircraft system composed of 4 aircraft, and the initial time \(t_0 = 0s\) when the guidance starts. The initial positions of the 4 aircraft are respectively set as \([X r,1 ,Y r,1 ,Z r,1 = [4km, 6km, 3km]\), \([X r,2 ,Y r,2 ,Z r,2 = [5km, 4km, 3km]\), \([X r,3 ,Y r,3 ,Z r,3 = [6km, 4km, 5km]\), \([X r,4 ,Y r,4 ,Z r,4 = [7km, 3km, 4km]\). The initial velocities of the 4 aircraft are all 800m / s. The initial ballistic inclinations and ballistic declinations of the 4 aircraft are respectively \([\theta V,1 ,\psi V,1 = [20°, 0°]\), \([\theta V,2 ,\psi V,2 = [40°, 160°]\), \([\theta V,3 ,\psi V,3 = [30°, 180°]\), \([\theta V,4 ,\psi V,4 = [85°, 220°]\). The target position is the origin.

[0110] (2) Decision - guidance parameter setting:

[0111] Strike Time Decision - Time - Constraint Guidance Protocol. In formulas (17) - (18), the decision - guidance parameters include the basic navigation ratio, the preset convergence time of the expected strike time, the maximum allowable strike error, the thrust profile, the upper limit of the normal acceleration, and intermediate parameters. The parameter settings are as follows: The basic navigation ratio N = 3. C D0,i = 0.04, K D,i = 0.1, m i = 200, S i = 0.4m 2 , where i = 1, 2, 3, 4. The thrust P i (t) is 1000N in the first 15 seconds and 0 after 15 seconds. The preset convergence time T g of the expected strike time = 5s, the maximum allowable strike error ∈ = 0.001, h1 = 5, h2 = 1, The upper limit of the normal acceleration during the flight process is 200m / s 2 .

[0112] (3) Result analysis:

[0113] The two - dimensional trajectories and three - dimensional trajectories of 4 aircraft using the strike time decision - time - constraint guidance protocol in formulas (17) - (18) are as shown in Figure 4 and Figure 5 . The change curve of the expected strike time is as shown in Figure 6 , the change curve of the lead angle σ i is as shown in Figure 7 , the speed profile V i is as shown in Figure 8 , the total normal acceleration a n,i curve is as shown in Figure 9 , the change curve of the total navigation ratio N n,i (t) in the guidance protocol formula (17) is as shown in Figure 10 , the remaining flight time t go = t f,i -t curve is as shown in Figure 11 , where i = 1, 2, 3, 4.

[0114] From Figure 4 and Figure 5 shown, 4 aircraft can achieve guidance to the target from the initial position. From Figure 6 it can be obtained that the expected strike times of 4 aircraft can be made consistent under distributed communication and will converge to the maximum value of the strike time in the guidance initial within the preset time. From Figure 7 and Figure 8 it can be obtained that 4 aircraft can achieve cooperative guidance to the target under the constraints of the initial large lead angle and the time - varying speed requirement. From Figure 9It can be obtained that 4 aircraft can achieve the guidance mission under the constraint of the overload limit, and the terminal overload is zero. From Figure 10 It can be obtained that the essence of the strike time control guidance law proposed in this study is a variable navigation ratio proportional guidance law, which changes the ballistic length by adjusting the total proportional coefficient, so as to realize the control of the strike time. From Figure 11 It can be obtained that the strike times of the four aircraft tend to be consistent, and the required strike mission is achieved.

[0115] This application also provides an application scenario, which applies the cooperative time constraint guidance method of the above speed-time varying multi-aircraft system. Specifically: The cooperative time constraint guidance method of the speed-time varying multi-aircraft system provided in this embodiment can be applied to the target guidance scenario of the multi-aircraft system. The target guidance scenario of the multi-aircraft system includes an acceleration command calculation link and an acceleration command execution link; the acceleration command calculation link is used to calculate the acceleration command based on the communication relationship, the current state, the target position, the preset decision guidance parameters, and the strike time decision-time constraint guidance protocol; the acceleration command execution link is used to update the current state of each aircraft according to the acceleration command of each aircraft and determine whether the termination condition is satisfied. The cooperative time constraint guidance method of the speed-time varying multi-aircraft system provided in this embodiment belongs to the acceleration command calculation link and the acceleration command execution link.

[0116] 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 12 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 and process 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. The computer program, when executed by the processor, implements a cooperative time constraint guidance method for a speed-time varying multi-aircraft system.

[0117] Those skilled in the art can understand, Figure 12The structure shown is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this 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.

[0118] In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiments are implemented.

[0119] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0120] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0121] Those of ordinary skill in the art can understand that all or part of the processes in the above method 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 above method embodiments. 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.

[0122] In each of the embodiments provided in the present application, the database involved may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., and is not limited thereto. In each of the embodiments provided in the present application, the processor involved may be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., and is not limited thereto.

[0123] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise 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.

[0124] 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. A coordinated time-constrained guidance method for a multi-aircraft system with time-varying speeds, characterized in that: The coordinated time-constrained guidance method for the multi-aircraft system with time-varying speeds comprises: S1: Acquire the current state and target position of each aircraft; the current state includes the current position, current speed, current speed inclination and current speed deviation; S2: For any aircraft, execute the first operation to obtain the acceleration instruction of each aircraft; S3: according to the acceleration instruction of each aircraft, update the current state of each aircraft and determine whether the termination condition is met; if not, return to step S2 for iterative adjustment; the termination condition is that the current position coincides with the target position; The first operation specifically includes: Determining the communication relationship between the target aircraft and other aircraft; the target aircraft is any aircraft; Based on the communication relationship corresponding to the target aircraft, the current state, the target position, the preset decision-guidance parameters and the strike time decision-time constraint guidance protocol, the expected strike time is dynamically adjusted, and the acceleration instruction of the target aircraft is calculated based on the adjusted expected strike time; the strike time decision-time constraint guidance protocol is determined based on the expected strike time adjustment formula and the first variable proportional guidance law.

2. The coordinated time-constrained guidance method for a multi-aircraft system with time-varying speeds according to claim 1, characterized in that: Based on the communication relationship corresponding to the target aircraft, the current state, the target position, the preset decision guidance parameters and the strike time decision-time constraint guidance protocol, the expected strike time is dynamically adjusted, and the acceleration instruction of the target aircraft is calculated based on the adjusted expected strike time, specifically including: Calculating the strike time of the target aircraft based on the current state of the target aircraft, the target position and the decision-making guidance parameters; Based on the strike time of the target aircraft and a preset expected strike time, a first time error of the target aircraft is calculated; Based on the communication relationship corresponding to the target aircraft and the first time error of each aircraft, a distributed time error of the target aircraft is calculated; Based on the distributed time error of the target aircraft, the expected strike time of the target aircraft is updated to obtain an updated expected strike time of the target aircraft; An acceleration command for the target aircraft is calculated based on the updated expected strike time of the target aircraft and the first variable proportional guidance law.

3. The coordinated time-constrained guidance method for a multi-aircraft system with time-varying speeds according to claim 1, characterized in that: The determination process of the strike time decision-time constraint guidance protocol is as follows: Based on the guidance information, a three-dimensional guidance model is constructed; the guidance information includes physical parameters, environmental parameters, state information and target information of each aircraft; the three-dimensional guidance model includes attitude and direction equations, relative motion equations and velocity time-varying differential equations; Based on the three-dimensional guidance model and the proportional guidance law, a strike time control item is determined, and based on the proportional guidance rate and the strike time control item, an initial variable proportional guidance law is constructed; Based on the communication network between aircrafts in the multi-aircraft system, an expected strike time adjustment formula is constructed, and based on the expected strike time adjustment formula, the initial variable proportional guidance law is corrected to obtain a first variable proportional guidance law; Based on the expected strike time adjustment formula and the first variable-proportional guidance law, a strike time decision-time constraint guidance protocol is determined.

4. The coordinated time-constrained guidance method for a multi-aircraft system with time-varying speeds according to claim 1, characterized in that: The expression of the first variable proportional guidance law is: a n,i =N n,i (t)Ω r,i ×V i ; Among them, a n,i is the acceleration vector in the normal direction of the velocity of the i-th aircraft; N n,i (t) is the first total navigation ratio coefficient of the i-th aircraft, N is the basic navigation ratio, k i is the feedback coefficient of the i-th aircraft, for, is the differential of the expected strike time of the i-th aircraft, t f,i is the attack time of the i-th aircraft; Ω r,i V is the angular velocity of the sight vector of the i-th aircraft; i is the velocity vector of the i-th aircraft.

5. The coordinated time-constrained guidance method for a multi-aircraft system with time-varying speeds according to claim 1, characterized in that: The expression of the expected strike time adjustment formula is: in, is the differential of the expected strike time of the i-th aircraft; η(t) is the preset time term; is the distributed time error; aij is the communication weight between the i-th and j-th aircrafts. When there is communication between the i-th and j-th aircrafts, aij = 1; when there is no communication between the i-th and j-th aircrafts, aij = 0; is the maximum expected strike time of the neighboring aircraft that the i-th aircraft can obtain; T d,i is the expected strike time of the i-th aircraft.

6. The coordinated time-constrained guidance method for a multi-aircraft system with time-varying speeds according to claim 5, characterized in that: The value rule of the preset time term η(t) is: Among them, h1 and h2 are the intermediate parameters required for the preset time; T g is the preset convergence time of the expected strike time; t0 is the start time of the guidance phase; t is the current moment.

7. The coordinated time-constrained guidance method for a multi-aircraft system with time-varying speeds according to claim 4, characterized in that: The feedback coefficient k i The value rules are: in, and is the intermediate parameter required in the feedback coefficient; T g is the preset convergence time of the expected strike time; t0 is the start time of the guidance phase; t is the current moment.

8. 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 the coordinated time-constrained guidance method for a multi-aircraft system with time-varying speeds as claimed in any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the coordinated time-constrained guidance method for a multi-aircraft system with time-varying speeds according to any one of claims 1 to 7 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the coordinated time-constrained guidance method for a multi-aircraft system with time-varying speeds according to any one of claims 1 to 7 is implemented.

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