Cooperative mid-guidance law method with target change and topological structure switching

Abstract

The invention belongs to the technical field of unmanned aerial vehicles. The invention provides a collaborative mid-guidance law method with target change and topological structure switching. According to the embodiment of the invention, a three-dimensional guidance model can be built, and a collaborative trajectory forming guidance law is designed based on the model; aiming at a communication topology switching problem, designing an average position consistency protocol of virtual collision points in combination with a collaborative trajectory forming guidance law; and designing a target information handover law, a handover section guidance law and a whole course guidance law by combining an acceleration smoothing theory aiming at a target change problem. Under the condition of fully considering a mid-guidance stage, multi-interceptor target change and communication topology switching, a collaborative mid-guidance law method is designed, the problem of collaborative strike of the multi-interceptor is effectively solved, and an important guarantee is provided for the multi-interceptor to reach a mid-end handover constraint area and improve the hit rate.

Description

Technical Field

[0001] The disclosed embodiments relate to the technical field of unmanned aerial vehicles, and more particularly to a collaborative guidance law method with target change and topology switching. Background Art

[0002] In recent years, the rapid development of technologies such as artificial intelligence, unmanned systems, and materials has significantly improved target maneuverability, decision-making, and stealth. This has posed significant challenges to single-interceptor interception and strike missions. To improve interceptor hit rates, multiple interceptors are currently being deployed. Through information sharing and complementary capabilities, these multiple interceptors achieve coordinated strikes on targets, improving hit rates and enabling missions that would be difficult for a single interceptor to accomplish.

[0003] When interceptors are actually performing coordinated strike missions, the communication connection between interceptors is not very stable due to factors such as changes in interceptor position, sensor performance limitations, and signal interference. This will cause changes in the communication topology and further affect the efficiency of mission execution. With the rapid development of military equipment, medium and long-range interceptors have been widely used in the implementation of strategic strike missions. For medium and long-range interceptors, their attack range reaches more than hundreds of kilometers. It is difficult to hit the target by relying solely on guidance at the end of flight. In order to improve the hit rate, guidance is required in the mid-stage of flight. Among them, the handover technology of the mid-stage and terminal guidance laws is very important.

[0004] Through research and analysis, for medium- and long-range missile clusters to perform interception and attack target tasks, the collaborative guidance phase is divided into three stages, namely formation formation, collaborative mid-range guidance, and collaborative terminal guidance. In the collaborative mid-range guidance phase, according to the mission requirements, some interceptors in the medium- and long-range interceptor cluster abandon the collaborative strike mission and perform other tasks. The remaining interceptors need to adjust the network topology structure in a timely manner according to the current situation; when it is found that the target has been destroyed, it is necessary to switch targets in time and attack targets with higher value, and finally reach the mid- and terminal handover constraint area. Therefore, it is urgent to study a more effective collaborative mid-range guidance law method.

[0005] Therefore, it is necessary to improve one or more problems existing in the above-mentioned related technical solutions.

[0006] It should be noted that this section is intended to provide background or context for the technical solutions of the present disclosure stated in the claims. The description herein is not admitted to be prior art by virtue of being included in this section. Summary of the Invention

[0007] The purpose of the embodiments of the present disclosure is to provide a collaborative mid-range guidance law method with target change and topology switching, thereby overcoming one or more problems caused by the limitations and defects of related technologies, at least to a certain extent.

[0008] According to an embodiment of the present disclosure, a collaborative mid-range guidance law method with target change and topology switching is provided, the method comprising:

[0009] Construct interceptor motion models and target motion models for each interceptor;

[0010] Based on the interceptor motion model and the target motion model, a cooperative trajectory shaping guidance law is designed;

[0011] For communication topology switching, the collaborative trajectory shaping guidance law is combined to obtain the average position consistency protocol of the virtual collision point;

[0012] In response to target changes, the acceleration smoothing theory is combined to obtain the target information handover law, the handover section guidance law and the full-process guidance law.

[0013] Furthermore, the steps of designing a cooperative trajectory shaping guidance law based on the interceptor motion model and the target motion model include:

[0014] According to the interceptor motion model and the target motion model, the remaining flight time of the interceptor, the position of the interceptor's virtual collision point, the position of the interceptor after the remaining flight time according to the current position and speed, the error between the interceptor speed and the target speed at the end of the mid-course guidance, the real-time speed error between the interceptor and the target, and the average position of all the interceptor's virtual collision points are obtained;

[0015] The acceleration command for each interceptor is obtained based on the remaining flight time of the interceptor, the position of the interceptor's virtual collision point, the position of the interceptor after the remaining flight time has elapsed at the current position and speed, the error between the interceptor speed and the target speed at the end of the mid-course guidance, the real-time speed error between the interceptor and the target, the average position of all interceptor virtual collision points, and the coordination coefficient of the coordination term.

[0016] According to the acceleration instructions of each interceptor, a collaborative trajectory shaping guidance law is designed.

[0017] Furthermore, the interceptor motion model of the i-th interceptor is expressed as:

[0018]

[0019] Among them, P i (t) is the position of the i-th interceptor, P i The differential of (t), V i (t) is the speed of the i-th interceptor, V i The differential of (t), a i(t) is the acceleration of the i-th interceptor, N is the number of interceptors;

[0020] The expression of the target motion model is:

[0021]

[0022] Among them, P T (t) is the position of the target point, P T The differential of (t), V T (t) is the velocity of the target point, V T The differential of (t), a T (t) is the acceleration of the target point.

[0023] Furthermore, the expression of the acceleration instruction of each interceptor is:

[0024]

[0025] Among them, t goi is the remaining flight time of the i-th interceptor; The remaining flight time t for the target according to its current position and speed goi The position after flight is defined as the virtual collision point; The remaining flight time t for the interceptor according to its current position and speed goi Position after flight; is the error between the interceptor speed and the target speed at the end of the mid-range guidance; is the real-time velocity error between the interceptor and the target; is the average position of all interceptor virtual collision points; α xi is the coordination coefficient of the synergy term, a Tx (t) is the acceleration of the target in the x-axis direction.

[0026] Furthermore, when the communication topology between each interceptor is non-directional and the connection time meets the preset threshold, the purpose of collaborative interception can be achieved.

[0027] Furthermore, in view of target changes, the steps of combining acceleration smoothing theory to obtain target information handover law, handover guidance law, and full-range guidance law include:

[0028] Establish a new and old target handover model and define the relative position and speed of the new and old targets;

[0029] Design the handover time based on the handover model between the old and new goals;

[0030] Based on the handover model between old and new targets, a virtual target is introduced and the virtual target is smoothly transitioned to the new target to obtain the target information handover law parameters.

[0031] Based on the relative positions of the new and old targets, the handover time, and the target information handover law parameters, the target handover law in the first and second situations is designed;

[0032] Based on the target change problem, the interceptor flight process is divided into the first stage, the second stage, the third stage and the fourth stage, and the guidance law of each stage is designed;

[0033] The guidance laws of each stage are integrated to obtain the full-process guidance law.

[0034] Furthermore, in the first case, the relative distance between the old target and the new target is constant, and the virtual target coincides with the new target in a linear trajectory;

[0035] In the second case, the relative distance is a time-varying value, and the virtual target dynamically adjusts its trajectory to coincide with the new target.

[0036] Furthermore, based on the target change problem, the interceptor flight process is divided into the first phase, the second phase, the third phase, and the fourth phase. The steps of designing the handover guidance law for each phase include:

[0037] Phase 1: Design the first cooperative guidance law using the initial communication network structure for the old target;

[0038] Phase II: Target switching, with no coordination between interceptors, and design of the guidance law for the first target handover phase;

[0039] Phase III: Using the new communication topology to adjust the cooperative guidance parameters and design the guidance law for the second target handover phase;

[0040] Phase 4: Design a second collaborative guidance law using a new communication network structure for new targets.

[0041] Furthermore, the expression of the average position consistency protocol of the virtual collision point is:

[0042]

[0043] Among them, a ij (t) is the communication topology relationship between interceptor i and interceptor j; and are the components of the average position of the virtual collision point on the x, y, and z axes, respectively; and They are and The differential value of xij <1, 0<αyij <1, 0<α zij <1 and α xij =α xji , α yij =α yji , α zij =α zji , N i is the number of the i-th interceptor and its neighboring interceptors;

[0044] The expression of the target handover law in the first case is:

[0045]

[0046] Among them, P virtual (t) is the virtual target position at time t, λ(t) is the target handover law parameter at time t, P e (t) is the relative position of the old target and the new target at time t, P old (t) is the position of the old target at time t, P new is the position of the new target, V e is the relative speed between the old target and the new target, T is the handover time;

[0047] The expression of the target handover law in the second case is:

[0048]

[0049] In the first stage [0, t1], the first cooperative guidance law a1(t) consists of the cooperative trajectory shaping guidance law and the average position consistency protocol of the virtual collision point;

[0050] In the second phase [t1, t2], the guidance law for the first target handover phase is expressed as:

[0051]

[0052] Where T1 = t2 - t1 is the target change time of the second stage, a1(t1) is the guidance law magnitude at time t1 in the first stage, a2(t2) = a1(t1) + Δa, Δa is the acceleration change of the guidance law in the second stage, and t2 is time t2;

[0053] In the third phase [t2, t3], the guidance law for the second target handover phase is expressed as:

[0054]

[0055] Where T2 = t3 - t2 is the target change time in the third stage, and a3(t3) is the guidance law size after the new network topology is adopted at time t3 in the second stage;

[0056] The fourth stage [t3,t f ], the second cooperative guidance law a4(t) consists of the cooperative trajectory shaping guidance law and the average position consistency protocol of the virtual collision point; where t f t f time.

[0057] The technical solutions provided by the embodiments of the present disclosure may have the following beneficial effects:

[0058] In the embodiments of the present disclosure, through the above-mentioned collaborative mid-range guidance law method with target change and topology switching, on the one hand, a three-dimensional guidance model is built, and a collaborative trajectory shaping guidance law is designed based on this model; for the communication topology switching problem, the collaborative trajectory shaping guidance law is combined to design an average position consistency protocol of the virtual collision point; for the target change problem, the acceleration smoothing theory is combined to design the target information handover law, the handover section guidance law and the full-range guidance law. On the other hand, the present application designs a collaborative mid-range guidance law method while fully considering the mid-range guidance stage, the target change of multiple interceptors and the communication topology switching, effectively solving the problem of multi-interceptor coordinated strike, and providing important guarantees for multiple interceptors to reach the mid-end handover constraint area and improve the hit rate. It has high adaptability and effectiveness for dealing with complex and unknown collaborative interception problems, and is simple to calculate and has high real-time performance. This method can also be transplanted and applied to the multi-target multi-interceptor group mid-range guidance problem, and has good engineering application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification, are used to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0060] Figure 1 A diagram showing the steps of a coordinated guidance law method with target change and topology switching in an exemplary embodiment of the present disclosure is provided;

[0061] Figure 2 A schematic diagram of the full-range guidance law in an exemplary embodiment of the present disclosure is shown;

[0062] Figure 3 A simulation diagram showing a collaborative guidance embodiment 1 in an exemplary embodiment of the present disclosure is shown;

[0063] Figure 4 A simulation diagram of collaborative guidance embodiment 2 in an exemplary embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0064] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0065] In addition, the accompanying drawings are merely schematic illustrations of embodiments of the present disclosure and are not necessarily drawn to scale. Like reference numerals in the figures represent like or similar parts, and thus repeated descriptions thereof will be omitted. Some of the blocks shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically separate entities.

[0066] This example embodiment provides a cooperative guidance law method with target change and topology switching. Figure 1 As shown in , the collaborative guidance law method with target change and topology switching may include: steps S101 to S104.

[0067] Step S101: constructing an interceptor motion model and a target motion model for each interceptor;

[0068] Step S102: Designing a collaborative trajectory shaping guidance law based on the interceptor motion model and the target motion model;

[0069] Step S103: for communication topology switching, combining the collaborative trajectory shaping guidance law to obtain the average position consistency protocol of the virtual collision point;

[0070] Step S104: In response to the target change, the acceleration smoothing theory is combined to obtain the target information handover law, the handover guidance law and the full-range guidance law.

[0071] Through the above-mentioned collaborative mid-range guidance law method with target change and topology switching, on the one hand, a three-dimensional guidance model is built, and a collaborative trajectory forming guidance law is designed based on this model; for the communication topology switching problem, the collaborative trajectory forming guidance law is combined to design an average position consistency protocol of the virtual collision point; for the target change problem, the acceleration smoothing theory is combined to design the target information handover law, the handover section guidance law and the full-range guidance law. On the other hand, the present application designs a collaborative mid-range guidance law method while fully considering the mid-range guidance stage, the target change of multiple interceptors and the communication topology switching, effectively solving the problem of multi-interceptor coordinated strike, and providing important guarantees for multiple interceptors to reach the mid-end handover constraint area and improve the hit rate. It has high adaptability and effectiveness for dealing with complex and unknown collaborative interception problems, and is simple to calculate and has high real-time performance. This method can also be transplanted and applied to the multi-target multi-interceptor group mid-range guidance problem, and has good engineering application prospects.

[0072] Below, we will refer to Figures 1 to 4 Each step of the collaborative guidance law method with target change and topology switching in this example implementation is described in more detail.

[0073] In step S101, an interceptor motion model and a target motion model of each interceptor are constructed.

[0074] Specifically, the interceptor motion model and target motion model of the i-th interceptor are constructed in the inertial coordinate system;

[0075] The motion model of the i-th interceptor is expressed as:

[0076]

[0077] Among them, P i (t) = [x i (t),y i (t),z i (t)] T 、V i (t)=[V xi (t),V yi (t),V zi (t)] T 、a i (t)=[a xi (t),a yi (t),a zi (t)] T are the position, velocity, and acceleration of the i-th interceptor respectively.

[0078] The target motion model is expressed as:

[0079]

[0080] Among them, P T (t) = [x T (t),y T (t),z T (t)] T 、V T (t)=[V Tx (t),V Ty (t),V Tz (t)] T 、a T (t)=[a Tx (t),a Ty (t),a Tz (t)] T are the position, velocity, and acceleration of the target respectively.

[0081] In step S102, a collaborative trajectory shaping guidance law is designed based on the interceptor motion model and the target motion model.

[0082] Specifically, based on the establishment of interceptor motion models and target motion models, a collaborative trajectory shaping guidance law is designed;

[0083] The acceleration instruction on the x-axis of the i-th interceptor is expressed as:

[0084]

[0085] Among them, t goi is the remaining flight time of the i-th interceptor; The remaining flight time t for the target according to its current position and speed goi The position after flight is defined as the virtual collision point; The remaining flight time t for the interceptor according to its current position and speed goi Position after flight; is the error between the interceptor speed and the target speed at the end of the mid-range guidance; is the real-time velocity error between the interceptor and the target; is the average position of all interceptor virtual collision points; α xi is the coordination coefficient of the collaborative term; N is the number of interceptors. Specifically expressed as:

[0086]

[0087] Among them, x T (t)-x(t) is the zero-efficiency miss distance, V T (t) and V(t) are the speeds of the target and interceptor respectively, t go is the remaining flight time of the interceptor, a T (t) is the acceleration of the target.

[0088] In step S103 , in response to the communication topology switching, the collaborative trajectory shaping guidance law is combined to obtain a consensus protocol of the average position of the virtual collision point.

[0089] Specifically, to address the communication topology switching problem, a protocol for the average position consistency of virtual collision points is designed in combination with the collaborative trajectory shaping guidance law.

[0090] The average position consistency agreement of the virtual collision point is expressed as:

[0091]

[0092] Among them, a ij (t) is the communication topology relationship between interceptor i and interceptor j; and are the components of the average position of the virtual collision point on the x, y, and z axes, respectively; and They are and The differential value of xij <1, 0<α yij <1, 0<α zij <1 and α xij =α xji , α yij =α yji , α zij =α zji , N i is the number of the i-th interceptor and its neighboring interceptors.

[0093] The above consistency protocol is proved to be valid by the following derivation:

[0094] In the entire network topology, the average value of the virtual collision points of all distributed structures is defined as P * (t), expressed as:

[0095]

[0096] According to formula (10), the sum of the consistency protocols of all interceptors is defined as Expressed as:

[0097] Among them, a ij (t) is the communication topology between interceptors. The communication topology is always undirected and time-varying. n is the total number of interceptors, n≥N i .

[0098] According to formula (12), the first-order derivative of the sum of the consistency protocols of all interceptors is 0, and further we can know that It is always a constant value, expressed as:

[0099]

[0100] According to formula (11), we can get:

[0101]

[0102] Among them, Δ xi (t) is the difference between the average value of the virtual collision point of the i-th distributed structure composed of the i-th interceptor and the average value of the virtual collision point of all distributed structures. In order for the interceptors to achieve interception performance at the same time, it is necessary to satisfy Δ xi (t)→0.

[0103] According to formula (14), we can get Expressed as:

[0104]

[0105] Derivative (14) and combining (10) and (12) yields:

[0106]

[0107] According to formula (16), the Lyapunov function is constructed, and the expression is as follows:

[0108]

[0109] Derivative (17) and combined with (16) we can get:

[0110]

[0111] Substituting formula (14) into formula (18) yields:

[0112]

[0113] Combining formula (15), formula (19) can be further sorted out to obtain:

[0114]

[0115] According to equations (17) and (20), we can see that the system is globally asymptotically stable. Equation (20) can be further sorted out to obtain:

[0116]

[0117] in:

[0118]

[0119] Assume (i0, j0) = argmax(Δ xj (t)-Δ xi (t)) 2 , when (Δ xj (t)-Δ xi (t)) 2 When taking the maximum value, the parameter (i, j) is (i0, j0).

[0120] Arranging Ξ1 in formula (22) yields:

[0121]

[0122] Arranging Ξ2 in formula (22) yields:

[0123]

[0124] Combining equations (23) and (24), we can obtain:

[0125]

[0126] In formula (22), Ξ3 is rearranged to obtain:

[0127] Ξ3=2Δ x T L(G)Δ x (26)

[0128] in:

[0129]

[0130] Δ x =[Δ x1 ,Δ x2 ,…,Δ xn ] T

[0131] According to formula (26), we can get:

[0132]

[0133] Where λ2[L(G)] is the second smallest eigenvalue of the Laplace matrix of matrix G.

[0134] Combining equations (25) and (28), equation (21) can be further organized as follows:

[0135]

[0136] Define K2 = min{K1λ2[L(G)]}, and Equation (29) can be further organized as:

[0137]

[0138] According to formula (17) and formula (30), we can get:

[0139]

[0140] in:

[0141]

[0142] Combining equations (14) and (31), we can obtain:

[0143]

[0144] In summary, when the communication topology between interceptors is undirected and the connected time satisfies formula (32), formula (33) can be satisfied, and the purpose of collaborative interception can be achieved.

[0145] In step S104, in response to the target change, the acceleration smoothing theory is combined to obtain the target information handover law, the handover guidance law and the full-range guidance law.

[0146] Specifically, in response to the target change problem, the target information handover law, handover guidance law and full-range guidance law are designed in combination with acceleration smoothing theory.

[0147] ① Establish a new and old target handover model, specifically expressed as follows:

[0148]

[0149] Among them, P e is the relative position of the old target and the new target, P old is the position of the old target, P new is the position of the new target, V e is the relative speed between the old target and the new target.

[0150] ② Based on the new and old target handover model (11) in step ①, design the handover time, which is specifically expressed as:

[0151]

[0152] Among them, Δγ max is the maximum allowable heading error, V is the interceptor speed, a2 is the acceleration at the end of the handover, and a1 is the acceleration at the start of the handover.

[0153] The above process is derived and converted as follows:

[0154] The expression of the heading angular velocity of the interceptor during flight is as follows:

[0155]

[0156] Where a(t) is the interceptor acceleration and V is the interceptor velocity.

[0157] Assuming that the acceleration command at the start of the handover is a1(t0) and the acceleration command at the end of the handover is a2(t0+T), the acceleration command error Δa in the handover section can be obtained, as shown below:

[0158] Δa=a2(t0+T)-a1(t0) (37)

[0159] Integrate equation (37) with the integration time T, and the expression is as follows:

[0160]

[0161] According to equations (36) and (38), the cumulative heading error Δγ generated by the handover guidance law during the handover of the interceptor can be expressed as follows:

[0162]

[0163] Therefore, according to formula (39), formula (35) can be obtained.

[0164] ③Introduce a virtual target, which gradually approaches the new target. Specifically, it is expressed as:

[0165] P virtual (t) = P old (t)+λ(t)P e (t) (40)

[0166] Among them, P virtual (t) is the virtual target position, and λ(t) is the target handover law parameter.

[0167] ④ According to the relative position P of the new and old targets in step ① e The size of , the interceptor's target change situation is divided into situation 1 and situation 2, and the corresponding target handover law is designed:

[0168] Case 1 (i.e. the first case): the relative distance P between the old target and the new target e is a constant value. Combined with the virtual target model established in step ③, the target handover law is expressed as:

[0169]

[0170] Among them, at time T, the virtual target coincides with the new target, realizing the target handover.

[0171] Case 2 (i.e. the second case): the relative distance P between the old target and the new target e is a time-varying value. Combined with the virtual target model established in step ③, the target handover law is expressed as:

[0172]

[0173] Among them, at time T, the virtual target coincides with the new target, realizing the handover of target information.

[0174] The above process is derived and converted as follows:

[0175] In order to achieve a smooth transition of the interceptor's acceleration, the following equation needs to be satisfied at time t0:

[0176]

[0177] At time t0+T, the following equation must be satisfied:

[0178]

[0179] Combining formula (40) and performing the first, second, and third derivatives, it can be expressed as:

[0180]

[0181] At the beginning of the handover section t0, equation (45) is further sorted out and expressed as:

[0182]

[0183] Combining equations (43) and (46) we can express it as:

[0184]

[0185] At the end of the handover section t0+T, referring to equations (45) and (46), combined with equation (44), it is expressed as:

[0186]

[0187] Assuming t0 = 0, the handover segment [t0, t0+T] is rewritten as [0, T], then the target handover law parameter λ(t) is expressed as follows:

[0188]

[0189] Where η i (i=1,2,…,8) is the intersection law coefficient. Combining equations (47) and (48), we can obtain:

[0190]

[0191] Therefore, the target handover law is further organized and expressed as follows:

[0192]

[0193] Therefore, formula (42) can achieve the target handover.

[0194] ⑤ Based on the target switching problem, the interceptor flight process is divided into phase 1 (i.e., the first phase), phase 2 (i.e., the second phase), phase 3 (i.e., the third phase), and phase 4 (i.e., the fourth phase), and the guidance law for each phase is designed:

[0195] Phase 1 [0, t1]: In this phase, the original communication network structure is used to design the cooperative guidance law a1(t) for the old target. The specific expressions are Equation (3) in step S102 and Equation (10) in step S103.

[0196] Phase 2 [t1, t2]: Target handover phase. There is no coordination between interceptors. The guidance law for the target handover phase is designed. It is specifically expressed as:

[0197]

[0198] Where T1 = t2 - t1 is the target change time in phase 2, a1(t1) is the guidance law magnitude at time t1 in phase 1, and a2(t2) is expressed as:

[0199] a2(t2)=a1(t1)+Δa (53)

[0200] Among them, Δa=a0(t2)-a0(t1) is the acceleration change of the basic forming guidance law in stage 2.

[0201] Phase 3 [t2, t3]: Design the guidance law for the target handover phase, specifically expressed as:

[0202]

[0203] Wherein, T2=t3-t2 is the guidance law switching time of the third stage, and a3(t3) is the guidance law size after the new network topology is adopted in stage 2 at time t3.

[0204] Phase 4[t3,t f ]; In this stage, a new communication network structure is used to design a collaborative guidance law a4(t) for the new target. The specific expressions are equation (3) in step S102 and equation (10) in step S103.

[0205] ⑥Integrate the guidance laws of each stage designed in step ⑤ to design the full guidance law, such as Figure 2 As shown, it ensures that multiple interceptors meet the mid-end handover constraint conditions when the target changes and the communication topology switches, thereby improving the hit rate of the target.

[0206] In a specific embodiment, the collaborative mid-range guidance law method with target change and topology switching proposed in this application was verified in the MATLAB environment. Simulations were performed under two different situations. The motion parameters of the new target and the old target in the two different situations were selected as follows:

[0207] Table 1 Motion parameters of new and old targets in two cases

[0208]

[0209]

[0210] The simulation results can be found in Figure 3 、 Figure 4 As shown in the figure, during the initial phase of the flight, the trajectories of all four interceptors are directed toward the old target. When the target changes, the trajectories of interceptors 1, 2, and 3 change significantly, with all interceptors directed toward the new target. However, interceptor 4, which continues to attack the old target, maintains its trajectory direction and remains clearly directed toward the original target.

[0211] Through the above-mentioned collaborative mid-range guidance law method with target change and topology switching, on the one hand, a three-dimensional guidance model is built, and a collaborative trajectory forming guidance law is designed based on this model; for the communication topology switching problem, the collaborative trajectory forming guidance law is combined to design an average position consistency protocol of the virtual collision point; for the target change problem, the acceleration smoothing theory is combined to design the target information handover law, the handover section guidance law and the full-range guidance law. On the other hand, the present application designs a collaborative mid-range guidance law method while fully considering the mid-range guidance stage, the target change of multiple interceptors and the communication topology switching, effectively solving the problem of multi-interceptor coordinated strike, and providing important guarantees for multiple interceptors to reach the mid-end handover constraint area and improve the hit rate. It has high adaptability and effectiveness for dealing with complex and unknown collaborative interception problems, and is simple to calculate and has high real-time performance. This method can also be transplanted and applied to the multi-target multi-interceptor group mid-range guidance problem, and has good engineering application prospects.

[0212] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly indicate the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0213] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.

[0214] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the appended claims.

Claims

1. A collaborative guidance law method with target change and topology switching, characterized in that: The method includes: Construct interceptor motion models and target motion models for each interceptor; Based on the interceptor motion model and the target motion model, a cooperative trajectory shaping guidance law is designed; For communication topology switching, the collaborative trajectory shaping guidance law is combined to obtain the average position consistency protocol of the virtual collision point; In response to target changes, the acceleration smoothing theory is combined to obtain the target information handover law, the handover section guidance law and the full-process guidance law.

2. The collaborative guidance law method with target change and topology switching according to claim 1 is characterized in that: The steps for designing a collaborative trajectory shaping guidance law based on the interceptor motion model and the target motion model include: According to the interceptor motion model and the target motion model, the remaining flight time of the interceptor, the position of the interceptor's virtual collision point, the position of the interceptor after the remaining flight time according to the current position and speed, the error between the interceptor speed and the target speed at the end of the mid-course guidance, the real-time speed error between the interceptor and the target, and the average position of all the interceptor's virtual collision points are obtained; The acceleration command for each interceptor is obtained based on the remaining flight time of the interceptor, the position of the interceptor's virtual collision point, the position of the interceptor after the remaining flight time has elapsed at the current position and speed, the error between the interceptor speed and the target speed at the end of the mid-course guidance, the real-time speed error between the interceptor and the target, the average position of all interceptor virtual collision points, and the coordination coefficient of the coordination term. According to the acceleration instructions of each interceptor, a collaborative trajectory shaping guidance law is designed.

3. The coordinated mid-range guidance law method with target change and topology switching according to claim 2 is characterized in that: The expression of the interceptor motion model of the i-th interceptor is: Among them, P i (t) is the position of the i-th interceptor, P i The differential of (t), V i (t) is the speed of the i-th interceptor, V i The differential of (t), a i (t) is the acceleration of the i-th interceptor, N is the number of interceptors; The expression of the target motion model is: Among them, P T (t) is the position of the target point, P T The differential of (t), V T (t) is the velocity of the target point, V T The differential of (t), a T (t) is the acceleration of the target point.

4. The coordinated mid-range guidance law method with target change and topology switching according to claim 3 is characterized in that: The expression of the acceleration instruction of each interceptor is: Among them, t goi is the remaining flight time of the i-th interceptor; The remaining flight time t for the target according to its current position and speed goi The position after flight is defined as the virtual collision point; The remaining flight time t for the interceptor according to its current position and speed goi Position after flight; is the error between the interceptor speed and the target speed at the end of the mid-range guidance; is the real-time velocity error between the interceptor and the target; is the average position of all interceptor virtual collision points; α xi is the coordination coefficient of the synergy term, a Tx (t) is the acceleration of the target in the x-axis direction.

5. The coordinated mid-range guidance law method with target change and topology switching according to claim 4 is characterized in that: When the communication topology between each interceptor is undirected and the connection time meets the preset threshold, the purpose of collaborative interception can be achieved.

6. The coordinated mid-range guidance law method with target change and topology switching according to claim 4 is characterized in that: In response to target changes, the steps of combining acceleration smoothing theory to obtain the target information handover law, the handover guidance law, and the full-range guidance law include: Establish a new and old target handover model and define the relative position and speed of the new and old targets; Design the handover time based on the handover model between the old and new goals; Based on the handover model between old and new targets, a virtual target is introduced and the virtual target is smoothly transitioned to the new target to obtain the target information handover law parameters. Based on the relative positions of the new and old targets, the handover time, and the target information handover law parameters, the target handover law in the first and second situations is designed; Based on the target change problem, the interceptor flight process is divided into the first stage, the second stage, the third stage and the fourth stage, and the guidance law of each stage is designed; The guidance laws of each stage are integrated to obtain the full-process guidance law.

7. The coordinated mid-range guidance law method with target change and topology switching according to claim 6 is characterized in that: In the first case, the relative distance between the old target and the new target is constant, and the virtual target coincides with the new target along a linear trajectory; In the second case, the relative distance is a time-varying value, and the virtual target dynamically adjusts its trajectory to coincide with the new target.

8. The coordinated mid-range guidance law method with target change and topology switching according to claim 6 is characterized in that: Based on the target change problem, the interceptor flight process is divided into the first phase, the second phase, the third phase, and the fourth phase. The steps of designing the guidance law for each phase include: Phase 1: Design the first cooperative guidance law using the initial communication network structure for the old target; Phase II: Target switching, with no coordination between interceptors, and design of the guidance law for the first target handover phase; Phase III: Using the new communication topology to adjust the cooperative guidance parameters and design the guidance law for the second target handover phase; Phase 4: Design a second collaborative guidance law using a new communication network structure for new targets.

9. The coordinated mid-range guidance law method with target change and topology switching according to claim 8 is characterized in that: The expression of the average position consistency agreement of the virtual collision point is: Among them, a ij (t) is the communication topology relationship between interceptor i and interceptor j; and are the components of the average position of the virtual collision point on the x, y, and z axes, respectively; and They are and The differential value of xij <1, 0<α yij <1, 0<α zij <1 and α xij =α xji , α yij =α yji , α zij =α zji , N i is the number of the i-th interceptor and its neighboring interceptors; The expression of the target handover law in the first case is: Among them, P virtual (t) is the virtual target position at time t, λ(t) is the target handover law parameter at time t, P e (t) is the relative position of the old target and the new target at time t, P old (t) is the position of the old target at time t, P new is the position of the new target, V e is the relative speed between the old target and the new target, T is the handover time; The expression of the target handover law in the second case is: In the first stage [0, t1], the first cooperative guidance law a1(t) consists of the cooperative trajectory shaping guidance law and the average position consistency protocol of the virtual collision point; In the second phase [t1, t2], the guidance law for the first target handover phase is expressed as: Where T1 = t2 - t1 is the target change time of the second stage, a1(t1) is the guidance law magnitude at time t1 in the first stage, a2(t2) = a1(t1) + Δa, Δa is the acceleration change of the guidance law in the second stage, and t2 is time t2; In the third phase [t2, t3], the guidance law for the second target handover phase is expressed as: Where T2 = t3 - t2 is the target change time in the third stage, and a3(t3) is the guidance law size after the new network topology is adopted at time t3 in the second stage; The fourth stage [t3,t f ], the second cooperative guidance law a4(t) consists of the cooperative trajectory shaping guidance law and the average position consistency protocol of the virtual collision point; where t f t f time.

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