Missile remaining flight time estimation method considering overload saturation and related device

Abstract

The application discloses a missile residual flight time estimation method considering overload saturation and a related device, relates to the field of guidance technology, and comprises the following steps: calculating the line-of-sight distance and the lead angle of a missile and a target, and the current overload; if the current overload is out of limit, adjusting according to the actual overload, and calculating the parameters of the overload saturation exit moment; estimating the first residual flight time of the missile, and determining the overload saturation duration; combining the first residual flight time and the overload saturation duration, and calculating the total residual flight time of the missile; and if the current overload is not out of limit, directly estimating the residual flight time. The application can more accurately estimate the residual flight time of the missile.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of guidance technology, in particular to a residual flight time estimation method considering overload saturation and related device. BACKGROUND

[0002] The residual flight time estimation expression as a key parameter of the guidance law design plays an irreplaceable role in the guidance field, especially in the cooperative guidance law and the specified attack time guidance law design scenarios. Jianglong Yu et al. designed a cooperative guidance law for a maneuvering target based on the residual flight time expression, and Shaoming He et al. constructed an accurate strike strategy with a specified attack time by embedding the residual time estimation into a closed-loop control system. These achievements fully verify the core position of residual flight time estimation in guidance law design.

[0003] For the construction of the residual time estimation model, the academic community has carried out multidimensional exploration. Jeon et al. derived the residual flight time estimation expression for proportional navigation to attack a stationary target based on linearization under the small angle assumption, while Wenhua Hua also obtained consistent results based on Taylor expansion under the same assumption. Wei Dong et al. obtained a time-varying navigation ratio proportional navigation law by reverse design of the guidance law based on the residual flight time obtained by proportional navigation. Pengyu Wang et al. directly gave a residual flight time expression, and on this basis, the corresponding guidance law was obtained by reverse guidance law design, so that the given residual flight expression can obtain accurate residual flight time. Ma Mengchen et al. summarized the common residual flight time estimation expressions and designed a cooperative guidance law to attack a stationary target and a specified time guidance law to intercept a maneuvering target.

[0004] However, the existing research still has significant limitations. Although theoretical breakthroughs have been made under ideal conditions, the model construction does not consider the actual constraint of aircraft overload saturation. When the guidance system is overloaded, the traditional residual time estimation will produce significant deviations, leading to decreased guidance accuracy, unnecessary flight of the trajectory, and intensified energy loss. SUMMARY

[0005] The purpose of the present application is to provide a residual flight time estimation method considering overload saturation and related device, which can more accurately predict the residual flight time of a missile.

[0006] To achieve the above purpose, the present application provides the following solutions:

[0007] In a first aspect, the present application provides a missile residual flight time estimation method considering overload saturation, comprising:

[0008] calculating the line-of-sight distance between the missile and the target and the lead angle of the missile according to the current position, heading angle of the missile and the target position;

[0009] based on the overload expression, calculate a current overload of the missile; the overload expression is determined by a function of a missile speed, a nose angle and a missile-target line-of-sight distance;

[0010] if the current overload of the missile is greater than a maximum value of a normal overload of the missile, determine the current overload of the missile according to an actual overload calculation formula, and determine the nose angle and the missile-target line-of-sight distance at an overload saturation exit moment according to a missile state calculation formula;

[0011] determine a first remaining flight time of the missile based on a remaining flight time estimation expression according to the nose angle and the missile-target line-of-sight distance at the overload saturation exit moment;

[0012] determine a duration of overload saturation of the missile based on a geometric-aided missile trajectory solving method according to a position and a heading angle at a moment when the missile enters the overload saturation state and a position and a heading angle at a moment when the missile exits the overload saturation state;

[0013] determine a remaining flight time of the missile according to the first remaining flight time of the missile and the duration of overload saturation of the missile;

[0014] if the current overload of the missile is less than the maximum value of the normal overload of the missile, determine the remaining flight time of the missile according to the remaining flight time estimation expression.

[0015] Optionally, calculate the missile-target line-of-sight distance and the nose angle of the missile according to a current position, a heading angle of the missile and a target position, and the method specifically comprises:

[0016]

[0017] wherein, R m is the missile-target line-of-sight distance, V m is the missile speed, σ m is the nose angle of the missile, γ m is the heading angle of the missile, a m represents the normal overload of the missile, q m is a missile-target line-of-sight angle.

[0018] Optionally, the overload expression is specifically:

[0019]

[0020] wherein, h(σ m ,R m ) represents a function of the nose angle and the missile-target line-of-sight distance.

[0021] Optionally, the actual overload calculation formula is specifically:

[0022]

[0023] in, σ is the maximum normal overload of the missile. m0 and R m0 Let t0 represent the missile's forward angle and the relative distance between the missile and the target, respectively, and sgn(·) represent the sign function.

[0024] Optionally, the missile status calculation formula is as follows:

[0025]

[0026] Where, σ m1 and R m1 Let t1 be the forward angle and the relative distance between the projectile and the target.

[0027] Optionally, based on the missile's position and heading angle when it enters the overload saturation state, and its position and heading angle when it exits the overload saturation state, the duration of the missile's overload saturation is determined using a geometry-assisted missile trajectory solving method. Specifically, this includes:

[0028] Based on the missile's position P0(x0,y0) and heading angle γ at the moment it enters overload saturation state... m0 The position P1(x1,y1) and heading angle γ of the missile when it exits the overload saturation state. m0 Determine the missile's circular trajectory

[0029] Based on the missile's circular trajectory Determine the circular arc trajectory The center P of the circle Θ and radius R Θ ;

[0030] Based on the missile's velocity and direction at position P0(x0,y0), determine the center P. Θ coordinates

[0031] According to the formula Calculate the coordinates (x1, y1) of point P1;

[0032] According to the formula Determine the duration of missile overload saturation.

[0033] Optionally, the expression for the remaining flight time estimation is as follows:

[0034]

[0035] in, The rate of change of the missile's line-of-sight distance is represented by N, where N is the proportional navigation ratio, and g(σ) is the target missile's aiming distance.m represents a function of the lead angle.

[0036] In a second aspect, the application provides a device for estimating the residual flight time of a missile considering overload saturation, characterized in that it comprises:

[0037] a first calculation module configured to calculate the line-of-sight distance between the missile and the target and the lead angle of the missile according to the current position and heading angle of the missile and the position of the target;

[0038] a second calculation module configured to calculate the current overload of the missile based on an overload expression, which is determined by the speed of the missile and functions of the lead angle and the line-of-sight distance between the missile and the target;

[0039] a first missile residual flight time calculation module configured to, if the current overload of the missile is greater than the maximum value of the normal overload of the missile, determine the current overload of the missile according to an actual overload calculation formula, and determine the lead angle and the line-of-sight distance between the missile and the target at the time when the overload saturation exits according to a missile state calculation formula;

[0040] determine the first residual flight time of the missile based on a residual flight time estimation expression according to the lead angle and the line-of-sight distance between the missile and the target at the time when the overload saturation exits;

[0041] determine the duration of overload saturation of the missile based on a geometric-aided missile trajectory solving method according to the position and heading angle of the missile at the time when the missile enters the overload saturation state and the position and heading angle of the missile at the time when the missile exits the overload saturation state;

[0042] determine the residual flight time of the missile according to the first residual flight time of the missile and the duration of overload saturation of the missile;

[0043] a second missile residual flight time calculation module configured to, if the current overload of the missile is less than the maximum value of the normal overload of the missile, determine the residual flight time of the missile according to a residual flight time estimation expression.

[0044] In a third aspect, the application provides a computer device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the method for estimating the residual flight time of a missile considering overload saturation according to any one of the above-mentioned embodiments.

[0045] In a fourth aspect, the application provides a computer-readable storage medium having a computer program stored thereon, and the computer program is executable by a processor to implement the method for estimating the residual flight time of a missile considering overload saturation according to any one of the above-mentioned embodiments.

[0046] According to the specific embodiments provided by the application, the following technical effects are disclosed:

[0047] The application provides a residual flight time estimation method considering overload saturation and a related device. First, the line-of-sight distance of a missile and target and the lead angle of the missile are calculated to ensure accurate understanding of the relative position between the missile and the target. The current overload of the missile is calculated based on an overload expression, which can evaluate the maneuvering capability of the missile and further predict the flight behavior of the missile. If the current overload is greater than the maximum normal overload, the actual overload calculation formula and the missile state calculation formula are used to consider the state of the missile when the missile reaches its performance limit. The lead angle and the line-of-sight distance of the missile at the overload saturation exit moment are determined, and the flight state of the missile at the end of the overload saturation state is determined to provide key data for subsequent flight time prediction. The flight trajectory of the missile in the overload saturation state can be more accurately simulated through a geometric graphic auxiliary method, so that the duration of the state can be accurately calculated. The time of the missile in different flight stages is combined to obtain a more comprehensive and accurate residual flight time prediction. If the current overload is less than the maximum normal overload, the residual flight time estimation expression is directly used. In the case where the missile does not reach the overload saturation, the standard residual flight time estimation expression is used to simplify the calculation process while maintaining the accuracy of the prediction. BRIEF DESCRIPTION OF DRAWINGS

[0048] 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 needed in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0049] Figure 1 An application environment diagram of a residual flight time estimation method considering overload saturation in an embodiment of the present application;

[0050] Figure 2 A flowchart of a residual flight time estimation method considering overload saturation provided by an embodiment of the present application;

[0051] Figure 3 A missile and target scene diagram provided by an embodiment of the present application;

[0052] Figure 4 A trajectory diagram provided by an embodiment of the present application;

[0053] Figure 5 A guidance trajectory diagram under proportional guidance provided by an embodiment of the present application;

[0054] Figure 6 An overload curve diagram provided by an embodiment of the present application;

[0055] Figure 7A residual flight time curve provided by an embodiment of the present application;

[0056] Figure 8 A functional module schematic diagram of a residual flight time estimation device considering overload saturation provided by an embodiment of the present application;

[0057] Figure 9 A structural schematic diagram of a computer device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0058] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0059] In order to make the above objectives, characteristics and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0060] The residual flight time estimation method considering overload saturation provided by the embodiments of the present application can be applied to, for example, Figure 1The application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data required by the server 104 to process. The data storage system can be set up separately, or integrated on the server 104, or placed on the cloud or other servers. The terminal 102 can send the current position, heading angle and target position of the missile to be processed to the server 104, and after receiving the current position, heading angle and target position of the missile to be processed, the server 104 calculates the missile-target line-of-sight distance and the lead angle of the missile according to the current position, heading angle and target position of the missile to be processed. Based on the overload expression, the current overload of the missile is calculated. The overload expression is determined by the function of the missile speed, the lead angle and the missile-target line-of-sight distance. If the current overload of the missile is greater than the maximum value of the normal overload of the missile, the current overload of the missile is determined according to the actual overload calculation formula, and the lead angle and the missile-target line-of-sight distance at the overload saturation exit time are determined according to the missile state calculation formula. According to the lead angle and the missile-target line-of-sight distance at the overload saturation exit time, the first remaining flight time of the missile is determined based on the remaining flight time estimation expression. According to the position and heading angle at the time when the missile enters the overload saturation state and the position and heading angle at the time when the missile exits the overload saturation state, the overload saturation duration of the missile is determined based on the geometric figure assisted missile trajectory solving method. According to the first remaining flight time of the missile and the overload saturation duration of the missile, the remaining flight time of the missile is determined. If the current overload of the missile is less than the maximum value of the normal overload of the missile, the remaining flight time of the missile is determined according to the remaining flight time estimation expression. The server 104 can feed back the obtained remaining flight time of the missile to the terminal 102. In addition, in some embodiments, a remaining flight time estimation method considering overload saturation can also be implemented by the server 104 or the terminal 102 alone, such as can be directly processed by the terminal 102 for the current position, heading angle and target position of the missile to be processed, or the server 104 can obtain the current position, heading angle and target position of the missile to be processed from the data storage system and process it.

[0061] Among them, the terminal 102 can be but not limited to various desktop computers, notebook computers, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The Internet of Things device can be a smart speaker, a smart television, a smart air conditioner, a smart vehicle device, etc. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, etc. The server 104 can be implemented by an independent server or a server cluster composed of multiple servers, and can also be a cloud server.

[0062] In an exemplary embodiment, as Figure 2As shown, a residual flight time estimation method considering overload saturation is provided, which is executed by a computer device, specifically, can be executed by a terminal or a server, or both of them. In the embodiments of the present application, the method is applied to Figure 1 the server 104 in the system 100, including the following steps 201-204.

[0063] Wherein:

[0064] Step 201, according to the current position, heading angle of the missile and target position, the line-of-sight distance and the lead angle of the missile are calculated;

[0065] Step 202, based on the overload expression, the current overload of the missile is calculated; the overload expression is determined by the function of the missile speed, the lead angle and the line-of-sight distance;

[0066] Step 203, if the current overload of the missile is greater than the maximum value of the normal overload of the missile, the current overload of the missile is determined according to the actual overload calculation formula, and the lead angle and the line-of-sight distance at the overload saturation exit time are determined according to the missile state calculation formula;

[0067] According to the lead angle and the line-of-sight distance at the overload saturation exit time, based on the residual flight time estimation expression, the first residual flight time of the missile is determined;

[0068] According to the position and the heading angle at the time when the missile enters the overload saturation state, and the position and the heading angle at the time when the missile exits the overload saturation state, based on the geometric figure assisted missile trajectory solving method, the overload saturation duration of the missile is determined;

[0069] According to the first residual flight time of the missile and the overload saturation duration of the missile, the residual flight time of the missile is determined;

[0070] Step 204, if the current overload of the missile is less than the maximum value of the normal overload of the missile, the residual flight time of the missile is determined according to the residual flight time estimation expression.

[0071] Wherein, in an exemplary embodiment, when steps 201-204 are executed, specifically, the following can be performed:

[0072] As shown in FIG. 1, Figure 3 a scenario of a missile M attacking a stationary target T in a two-dimensional plane is considered, and xoy represents an inertial coordinate system. It is assumed that the missile speed is constant, and is represented by V m . The heading angle of the missile is denoted as γ m , which ranges from γ m ∈(-π,π). The line-of-sight distance and the line-of-sight angle between the missile and the target are denoted as R m and qm In addition, the lead angle of the missile is denoted as σ m , which represents the included angle between the velocity direction and the line-of-sight (LOS) of missile-target.All angles are positive in the counterclockwise direction.

[0073] In the scenario shown in FIG. 1, the LOS distance and the lead angle of the missile are calculated as follows: Figure 3

[0074]

[0075] where R m is the LOS distance, V m is the velocity of the missile, σ m is the lead angle of the missile, γ m is the heading angle of the missile, and a m represents the normal acceleration of the missile.

[0076] However, considering that the acceleration has an upper bound, denoted as i.e., satisfying:

[0077]

[0078] Then, the acceleration of the missile is calculated using the following formula:

[0079]

[0080] where h(σ m , R m ) represents a function of the lead angle and the LOS distance.

[0081] where, if the current acceleration of the missile is less than the maximum normal acceleration of the missile, the remaining flight time of the missile is determined according to the remaining flight time estimation expression.

[0082] Specifically, the remaining flight time estimation expression can be any one of the following three:

[0083] (1) Instantaneous remaining flight time estimation expression:

[0084]

[0085] where represents the rate of change of the LOS distance.

[0086] This remaining flight time estimation expression, which is defined as the ratio of the relative distance of missile-target to the rate of change of the relative distance of missile-target, is widely used in guidance law design, but it is not applicable to the case of initial heading angle error .

[0087] (2) Remaining flight time estimation expression based on proportional guidance:

[0088]

[0089] where N is the proportional navigation ratio.

[0090] This residual flight time estimation expression is obtained based on linearization assumption or small angle approximation under proportional navigation law guidance, and is the most commonly used one in guidance law design, especially in the design of biased proportional navigation law.

[0091] (3) Residual flight time estimation expression based on inverse design of guidance law:

[0092]

[0093] where g(σ m ) represents the function of the lead angle, defined in [-π, π].

[0094] When the guidance law adopts the following form, the accurate residual flight time can be obtained:

[0095]

[0096] In the formula,

[0097] In some guidance law design scenarios, an accurate residual flight time expression is needed. The design idea is to let on the basis of The guidance law is obtained by inverse derivation, so that the accurate residual flight time is obtained during guidance.

[0098] In this embodiment, if the current overload of the missile is greater than the maximum value of the normal overload of the missile, the current overload of the missile is determined according to the actual overload calculation formula, and the lead angle and the line-of-sight distance of the missile at the overload saturation exit time are determined according to the missile state calculation formula.

[0099] According to the lead angle and the line-of-sight distance of the missile at the overload saturation exit time, the first residual flight time of the missile is determined based on the residual flight time estimation expression.

[0100] According to the position and the heading angle at the time when the missile enters the overload saturation state and the position and the heading angle at the time when the missile exits the overload saturation state, the overload saturation duration of the missile is determined based on the geometric figure assisted missile trajectory solving method.

[0101] According to the first residual flight time of the missile and the overload saturation duration of the missile, the residual flight time of the missile is determined.

[0102] Specifically, consider when t = t0, the missile is in the state of overload saturation under the action of the guidance law, its actual overload satisfies the following equation:

[0103]

[0104] Wherein, sgn(·) represents the sign function, σ m0 and R m0 respectively represent the pre-angle and the missile-target relative distance of the missile at t0. If the missile is always in the state of overload saturation, it is difficult to guarantee hitting the target.

[0105] Suppose that the missile exits the state of overload saturation at t1, then the duration of overload saturation is denoted as It can be expressed as follows:

[0106]

[0107] Wherein, in the calculation of the duration of overload saturation, σ

[0108] Specifically, based on the dynamic equation The differential equation of the pre-angle with respect to time can be expressed as follows:

[0109] Taking into , we can get:

[0110]

[0111] Combining and , the differential equation of the pre-angle with respect to the missile-target relative distance can be obtained as:

[0112]

[0113] Further, it can be expressed as:

[0114]

[0115] Solving the above differential equation can obtain:

[0116]

[0117] Wherein, c1 is the integral constant, taking the state σ m0 and R m0 at t0 into it, we can get:

[0118]

[0119] Therefore, the solution of the differential equation can be expressed as:

[0120]

[0121] Considering that the missile's state at time t1 satisfies both Also satisfies Then the following system of nonlinear equations holds:

[0122]

[0123] Therefore, by solving the above nonlinear equations, the missile's lead angle σ at time t1 can be obtained. m1 and R m1 .

[0124] Specifically, there are many methods for solving nonlinear equations, including the trust region method, the steepest descent method, and Newton's method. This embodiment uses the Newton-Jacobi iteration method to solve the nonlinear equations.

[0125] remember and

[0126] f = [f1, f2] Τ x k =[σ m1 (k),R m (k)] Τ , where k represents

[0127] If we show the number of iterations, then the Newton-Jacobi iteration method can be expressed as follows:

[0128] x k+1 =x k -J -1 (x k f(x) k ).

[0129] in, Let f be the Jacobian matrix of the function f.

[0130] from and It can be seen that the pre-angle σ at time t0 can be used as a basis. m0 and the distance of the bullet's line of sight R m0 and the pre-angle σ at time t1 m1 and the distance of the bullet's line of sight R m1 The overload saturation exit time t1 is obtained by numerical integration, and then the overload saturation duration is obtained.

[0131] However, considering that numerical integration methods require significant computational resources and are difficult to meet real-time requirements, this embodiment proposes using geometric methods to solve the problem. The method is as follows:

[0132] Consider when t = t0, the missile overload satisfies , as shown in Figure 4 , and , the case is similar.

[0133] Record the missile at t0 moment in P0(x0, y0) point, its heading angle is γ m0 , t1 moment missile in P1(x1, y1) point, its missile relative distance, heading angle and front angle are heading angle γ m0 and σ m1 . When t ∈ [t0, t1], the missile is in the overload saturation state, its acceleration is constant, the trajectory is a circular arc, record its center as P Θ point, radius R Θ , so:

[0134] Because the missile velocity direction at P0 point is tangent to the circular arc , geometric relationship can be obtained:

[0135]

[0136] Therefore, the coordinates of the center P Θ of the circle can be expressed as follows:

[0137]

[0138] By solving the nonlinear equation set, the missile-target line-of-sight distance at t1 moment is R m1 , which means that P1 point is on the circle with T point as the center and R m1 as the radius. In addition, as shown in Figure 4 , P1 point is also on the circle with P Θ as the center and R Θ as the radius. Therefore, the position coordinates (x1, y1) of P1 point can be obtained by the intersection of the two circles:

[0139]

[0140] Obviously, the intersection of the two circles has two intersection points, recorded as P1'(x'1, y'1) and P1"(x"1, y"1), that is, there are two pairs of solutions to the above equation. Calculate the missile-target line-of-sight angle q' m1 of P1'(x'1, y'1) to the target point T, and then calculate γ' m1 according to and the solution σ m1 of the nonlinear equation set:

[0141] γ′ m1= q' m1 + σ m1 .

[0142] The slope k' of the tangent line at the point P1'(x'1, y'1) is calculated, and if k' = tan(γ m1 ), the real coordinates of the point P1 are P1'(x'1, y'1), otherwise P1''(x''1, y''1).

[0143] Further, based on the coordinates (x0, y0), (x1, y1) of the points P0 and P1 and the radius R Θ , the length of the circular arc can be calculated according to the following formula:

[0144]

[0145] Considering that the speed of the missile is assumed to be constant, the overload duration can be obtained as follows:

[0146]

[0147] Based on the overload saturation duration, the remaining flight time estimate at the time t0 is calculated according to the following formula:

[0148]

[0149] wherein, represents the expression t goi , i ∈ {1, 2, 3} is calculated to obtain the remaining flight time estimate at the time t1.

[0150] Based on the above analysis, the missile position (x0, y0) and the heading angle γ m0 at the initial time t0 are generalized to the state variables (x(t), y(t)) and γ m (t) at any time t, and the above formula can be extended to a general expression applicable to any time t:

[0151]

[0152] The above equation shows that the calculation of the remaining flight time only needs to be performed again when the missile is in the overload saturation state, and at other times, it remains consistent with the conventional remaining flight time expression.

[0153] The present application also verifies the effectiveness of the method proposed in the present application through an example of a single missile attacking a single stationary target under proportional guidance. The specific implementation steps of the example are as follows:

[0154] 1) Missile simulation system settings:

[0155] Consider the scenario that a missile attacks a stationary target in a two-dimensional plane under the action of proportional navigation law. The initial position of the missile is at the coordinate origin (0, 0), its speed is 500 m / s, the initial heading angle is 120°, and the maximum overload is set to g = 9.8 m / s 2 . The position of the target is (10000 m, 0 m). The simulation step is set to 0.001 seconds, and the simulation stops when R m < 1 m.

[0156] The selection of the basic remaining flight time estimation expression and the calculation of the Jacobian matrix:

[0157] The remaining flight time estimation expression t go2 is used as the basic remaining flight time estimation expression. The proportional navigation law is given as follows:

[0158]

[0159] In the simulation, the navigation ratio N = 4 is set. Based on the above guidance law, the nonlinear equation system can be expressed as follows:

[0160]

[0161] The Jacobian matrix in x k+1 = x k - J -1 (x k )f(x k ) can be calculated as follows:

[0162]

[0163] The calculation results are shown in Figure 5 , Figure 6 and Figure 7 , which are as follows:

[0164] Figure 5 and Figure 6 The guidance trajectory and overload curve under the action of proportional navigation are given in Figure 7 . Due to the large initial heading angle, overload saturation occurs. Figure 6 The remaining flight time curve under the action of proportional navigation is given. In the simulation, the initial overload saturation duration is calculated to be 11.276 s, which completely matches the time when the overload curve is limited in Figure 7 . As can be seen from go2The obtained remaining flight time is greatly different from the real remaining flight time when the heading angle error is large, and the deviation between the estimated remaining flight time and the real remaining flight time gradually reduces as the heading angle error gradually reduces. The remaining flight time obtained by using the remaining flight time calculation expression provided in the application is less different from the real remaining flight time when the heading angle error is large, which proves the effectiveness of the proposed method.

[0165] Based on the same inventive concept, the embodiments of the application also provide a remaining flight time estimation device for implementing the above-mentioned remaining flight time estimation method considering overload saturation. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above-mentioned method, and therefore the specific limitations in one or more processing device embodiments provided below can refer to the limitations of the above-mentioned remaining flight time estimation method considering overload saturation, which will not be described here again.

[0166] In an exemplary embodiment, as shown in Figure 8 a remaining flight time estimation device considering overload saturation is provided, which comprises:

[0167] A first calculation module 801 is configured to calculate the line-of-sight distance between the missile and the target and the lead angle of the missile according to the current position, the heading angle of the missile and the target position.

[0168] A second calculation module 802 is configured to calculate the current overload of the missile based on an overload expression, wherein the overload expression is determined by the function of the speed of the missile and the lead angle and the line-of-sight distance.

[0169] A first missile remaining flight time calculation module 803 is configured to determine the current overload of the missile according to an actual overload calculation formula and determine the lead angle and the line-of-sight distance at the overload saturation exit moment according to a missile state calculation formula when the current overload of the missile is greater than the maximum value of the normal overload of the missile.

[0170] A first missile remaining flight time calculation module 803 is configured to determine the current overload of the missile according to an actual overload calculation formula and determine the lead angle and the line-of-sight distance at the overload saturation exit moment according to a missile state calculation formula when the current overload of the missile is greater than the maximum value of the normal overload of the missile.

[0171] A first missile remaining flight time calculation module 803 is configured to determine the current overload of the missile according to an actual overload calculation formula and determine the lead angle and the line-of-sight distance at the overload saturation exit moment according to a missile state calculation formula when the current overload of the missile is greater than the maximum value of the normal overload of the missile.

[0172] A first missile remaining flight time calculation module 803 is configured to determine the current overload of the missile according to an actual overload calculation formula and determine the lead angle and the line-of-sight distance at the overload saturation exit moment according to a missile state calculation formula when the current overload of the missile is greater than the maximum value of the normal overload of the missile.

[0173] The second missile residual flight time calculation module 804 is configured to calculate the residual flight time of the missile according to a residual flight time estimation expression if the current overload of the missile is less than the maximum value of the normal overload of the missile.

[0174] In an exemplary embodiment, a computer device is provided, which can be a server or a terminal, and an internal structure diagram of the computer device can be as shown in FIG. 1. Figure 9 The computer device includes a processor, a memory, an input / output interface (I / O) and a communication interface. 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. The processor of the computer device is configured 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 running the operating system and the computer program in the non-volatile storage medium. The database of the computer device is configured to store the residual flight time. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to communicate with external terminals through network connection. The computer program is executed by the processor to implement a residual flight time estimation method considering overload saturation.

[0175] Those skilled in the art can understand that, Figure 9 The structure shown in FIG. 1 is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0176] In an exemplary embodiment, a computer device is provided, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0177] In an exemplary embodiment, a computer readable storage medium is provided, which stores a computer program. The computer program is executed by a processor to implement the steps in the above method embodiments.

[0178] In an exemplary embodiment, a computer program product is provided, which includes a computer program. The computer program is executed by a processor to implement the steps in the above method embodiments.

[0179] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant regulations.

[0180] It can be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related 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-mentioned embodiments of each method. Any reference to memory, database or other medium used in each embodiment provided by the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0181] The database involved in each embodiment provided by the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in each embodiment provided by the present application can 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., without being limited thereto.

[0182] In summary, the present application has the following technical effects:

[0183] The application provides a residual flight time estimation method considering overload saturation, which is based on a basic residual flight time estimation expression combined with an overload saturation duration to obtain a residual flight time estimation under overload saturation. Compared with the basic residual flight time estimation expression, the residual flight time estimation method designed in the application can obtain a smaller estimation error.

[0184] The technical features of the above embodiments can be combined in any manner. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present application.

[0185] The principles and implementation modes of the application are described by using specific examples in the present application. The above embodiment is only used to help understand the method and its core idea of the application. Meanwhile, for those skilled in the art, the specific implementation modes and application ranges will be changed according to the idea of the application. In conclusion, the content of the present application should not be understood as a limitation.

Claims

1. A method of estimating the time to go of a missile taking into account overload saturation, characterized in that, The method comprises the following steps: calculating the line-of-sight distance and the lead angle of the missile according to the current position, the heading angle of the missile and the target position; calculating the current overload of the missile based on an overload expression, wherein the overload expression is determined by the function of the missile speed and the lead angle and the line-of-sight distance; if the current overload of the missile is greater than the maximum value of the normal overload of the missile, determining the current overload of the missile according to an actual overload calculation formula and determining the lead angle and the line-of-sight distance at the overload saturation exit time according to a missile state calculation formula; determining the first remaining flight time of the missile based on a remaining flight time estimation expression according to the lead angle and the line-of-sight distance at the overload saturation exit time; determining the overload saturation duration of the missile based on a geometric figure assisted missile trajectory solving method according to the position and the heading angle at the time when the missile enters the overload saturation state and the position and the heading angle at the time when the missile exits the overload saturation state; determining the remaining flight time of the missile according to the first remaining flight time of the missile and the overload saturation duration of the missile; if the current overload of the missile is less than the maximum value of the normal overload of the missile, determining the remaining flight time of the missile according to the remaining flight time estimation expression; determining the overload saturation duration of the missile based on a geometric figure assisted missile trajectory solving method according to the position and the heading angle at the time when the missile enters the overload saturation state and the position and the heading angle at the time when the missile exits the overload saturation state, and the method comprises the following steps: According to the position of the missile at the moment when the missile enters the overload saturation state and the heading angle is , and the position of the missile at the moment when the missile exits the overload saturation state and the heading angle is , the circular arc trajectory of the missile is determined ; Based on the missile's circular trajectory Determine the circular arc trajectory The center of the circle and radius ; According to the missile's speed and direction at the location of the missile, the coordinates of the center of the circle are determined ; According to the formula , the point coordinates are calculated ; The duration of the missile's overload saturation is determined according to the formula , the remaining flight time estimation expression is specifically: ； ； ； ； wherein, represents a rate of change of the line-of-sight range, is a proportional navigation ratio, represents a function of the lead angle, is the line-of-sight range, is the lead angle of the missile, is the velocity of the missile, is the relative range of the missile at the time instant.

2. The method of claim 1, wherein, calculating the line-of-sight distance and the lead angle of the missile according to the current position, the heading angle of the missile and the target position, and the method comprises the following steps: ； wherein, is the heading angle of the missile, represents the normal acceleration of the missile, is the missile-target line-of-sight angle.

3. The method of claim 2, wherein, the overload expression is specifically: ； wherein, represents a function of the lead angle and the line-of-sight distance of the projectile.

4. The method of claim 3, wherein, the actual overload calculation formula is specifically: ； wherein is the maximum value of the normal overload of the missile, and denote the lead angle of the missile at the time instant and the relative distance between the missile and the target, respectively, denotes the sign function.

5. The method of claim 4, wherein, the missile state calculation formula is specifically: ； wherein is the lead angle of the instant.

6. A device for estimating the residual flight time of a missile taking into account the saturation of the overload, for implementing a method for estimating the residual flight time of a missile taking into account the saturation of the overload according to any one of claims 1 to 5, characterized in that, The method comprises the following steps: a first calculation module is configured to calculate the line-of-sight distance and the lead angle of the missile according to the current position, the heading angle of the missile and the target position; a second calculation module is configured to calculate the current overload of the missile based on an overload expression, wherein the overload expression is determined by the function of the missile speed and the lead angle and the line-of-sight distance; a first missile remaining flight time calculation module is configured to, if the current overload of the missile is greater than the maximum value of the normal overload of the missile, determine the current overload of the missile according to an actual overload calculation formula and determine the lead angle and the line-of-sight distance at the overload saturation exit time according to a missile state calculation formula; determining the first remaining flight time of the missile based on a remaining flight time estimation expression according to the lead angle and the line-of-sight distance at the overload saturation exit time; determining the overload saturation duration of the missile based on a geometric figure assisted missile trajectory solving method according to the position and the heading angle at the time when the missile enters the overload saturation state and the position and the heading angle at the time when the missile exits the overload saturation state; determining the remaining flight time of the missile according to the first remaining flight time of the missile and the overload saturation duration of the missile; a second missile remaining flight time calculation module is configured to, if the current overload of the missile is less than the maximum value of the normal overload of the missile, determine the remaining flight time of the missile according to the remaining flight time estimation expression.

7. A computer device comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that the processor executes the computer program to implement the method for estimating the residual flight time of a missile considering overload saturation according to any one of claims 1-5.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the method for estimating the residual flight time of a missile considering overload saturation according to any one of claims 1-5.

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