Multi-aircraft cooperative guidance control method based on composite guidance

Abstract

The invention discloses a multi-aircraft cooperative guidance control method which is applied to a short-range penetration aircraft and based on a composite guidance method, and the method comprises the steps: obtaining target information through a radar in an early stage, and obtaining the target information through infrared after an infrared signal-to-noise ratio reaches a preset value in a later stage; the same guidance law is adopted in the flight process of the whole aircraft to obtain guidance instructions, it is ensured that the whole flight path is smoother and more reliable, and meanwhile, the multiple aircrafts communicate and interact with one another to predict the hit time, so that respective control instructions are adjusted according to the hit time, the targets are hit at the same time, the interception difficulty is improved, and the interception probability is reduced.

Description

Technical Field

[0001] The present invention relates to a collaborative guidance control method for multiple aircraft, and in particular to a collaborative guidance control method for multiple aircraft based on a composite guidance method. Background Art

[0002] With the gradual improvement of modern defense systems and the development of counter-drone technology, traditional single aircraft are increasingly unable to complete strike missions against specific targets. However, further increasing the upper limit of a single aircraft's capabilities would incur significant design and production costs. Multi-aircraft collaboration enables multiple aircraft to form a system network, enabling coordination and collaboration through information sharing, allowing them to jointly complete predetermined missions, greatly improving their ultimate penetration capability and destructive effectiveness.

[0003] As one of the key technologies in multi-vehicle coordinated systems, multi-vehicle coordinated guidance technology has significant practical value, particularly in the areas of temporal coordination, spatial coordination, and fixed-time coordination. Fixed-time coordinated guidance is stable and independent of the system's initial state, demonstrating robustness to these initial values.

[0004] Currently, in actual operations, we've found that the less communication required between aircraft, the less impact on the overall system burden and the more stable the system. Furthermore, each aircraft must be able to independently and precisely guide and control, overcome interference in the target area, and possess high robustness.

[0005] In view of the current research status and actual needs, the inventors have conducted in-depth research on short-range penetration aircraft, hoping to design a guidance hole method that can solve the above problems and ensure the overall coordination of multiple short-range penetration aircraft that can hit the target. Summary of the Invention

[0006] In order to overcome the above problems, the inventors have conducted intensive research and designed a multi-aircraft collaborative guidance control method based on composite guidance for application in short-range penetration aircraft. In this method, target information is obtained through radar in the early stage, and then through infrared after the infrared signal-to-noise ratio reaches a preset value in the later stage. Moreover, the same guidance law is used to obtain guidance instructions during the entire flight process of the aircraft, ensuring that the overall flight trajectory is smoother and more reliable. At the same time, multiple aircraft communicate and interact with each other to estimate the hit time, and thus adjust their respective control instructions accordingly, so as to hit the target at the same time, increase the interception difficulty, and reduce the probability of being intercepted, thereby completing the present invention.

[0007] Specifically, the present invention aims to provide a method for coordinated guidance and control of multiple aircraft based on composite guidance, wherein after launching multiple aircraft, the following control steps are performed:

[0008] Step 1: Target information is obtained through the radar seeker and used as real target information. Guidance instructions are generated based on the real target information to control the aircraft to fly towards the target.

[0009] Step 2: Control the infrared seeker optical axis to point to the target and obtain target information. When the infrared signal-to-noise ratio reaches a preset value, the target information obtained by the infrared seeker replaces the target information obtained by the radar seeker as the real target information.

[0010] Wherein, in this method, the guidance instruction is obtained by the following formula (1):

[0011]

[0012] Among them, a mi represents the guidance instructions for the i-th aircraft;

[0013] N represents the proportional guidance coefficient;

[0014] n represents the total number of aircraft;

[0015] i represents the i-th aircraft, j represents the j-th aircraft;

[0016] γ mi represents the lead angle of the i-th aircraft;

[0017] V mi represents the speed of the i-th aircraft;

[0018] R i represents the relative distance between the i-th aircraft and the target;

[0019] a ij Represents the connection relationship in the communication topology between the i-th aircraft and the j-th aircraft;

[0020] t fi represents the estimated impact time of the i-th aircraft;

[0021] t fj represents the estimated impact time of the j-th aircraft;

[0022] α, β, m r 、n r 、p r ,q r Each independently represents a design parameter.

[0023] The estimated hitting time is obtained by the following formula (2):

[0024] t fi =t goi +t (two)

[0025] Among them, t goi represents the remaining flight time of the i-th aircraft;

[0026] t represents the current time.

[0027] Wherein, the remaining flight time t goi Obtained by the following formula (3):

[0028]

[0029] Among them, q i represents the line of sight angle between the i-th aircraft and the target;

[0030] θ mi represents the velocity inclination of the i-th aircraft.

[0031] Among them, when the i-th aircraft and the j-th aircraft can exchange information, a ij =1;

[0032] When the i-th aircraft and the j-th aircraft cannot exchange information, a ij =0.

[0033] The beneficial effects of the present invention include:

[0034] (1) The multi-aircraft coordinated guidance and control method based on composite guidance provided by the present invention obtains target information through radar and infrared respectively. When one of the two methods is interfered with or inaccurate, guidance can be performed based on the target information obtained by the other method. This ensures that relatively accurate and reliable guidance instructions are used for control throughout the entire process, thereby improving the stability and reliability of aircraft control.

[0035] (2) According to the multi-aircraft cooperative guidance and control method based on composite guidance provided by the present invention, during the flight of the aircraft, the communication exchange information between the aircraft is relatively small, and occasional signal interference will basically not affect the final hit accuracy. Moreover, due to the small amount of interaction, it is also difficult to be blocked by interference;

[0036] (3) According to the multi-aircraft collaborative guidance and control method based on composite guidance provided by the present invention, the control method provided in this method can collaboratively guide and control multiple aircraft, thereby significantly enhancing the aircraft's penetration capability and improving the aircraft's hit probability and combat effectiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic diagram showing a topological communication network between three aircraft in Example 1 of the present application is shown;

[0038] Figure 2A schematic diagram showing the flight trajectories of three aircraft in Example 1 of the present application is shown;

[0039] Figure 3 A schematic diagram showing the remaining flight time of three aircraft in Example 1 of the present application;

[0040] Figure 4 A schematic diagram showing the missile-target distance of three aircraft in Example 1 of the present application is shown;

[0041] Figure 5 A schematic diagram showing the curves of sight angle changes of three aircraft in Example 1 of the present application is shown;

[0042] Figure 6 A schematic diagram of the lead angle variation curves of three aircraft in Example 1 of the present application is shown;

[0043] Figure 7 A schematic diagram of the speed and inclination angle variation curves of the three aircraft in Example 1 of the present application is shown;

[0044] Figure 8 A schematic diagram showing a topological communication network between four aircraft in Example 2 of the present application is shown;

[0045] Figure 9 A schematic diagram showing the flight trajectories of four aircraft in Example 2 of the present application is shown;

[0046] Figure 10 A schematic diagram showing the remaining flight time of four aircraft in Example 2 of the present application;

[0047] Figure 11 A schematic diagram showing the missile-target distance of four aircraft in Example 2 of the present application;

[0048] Figure 12 A schematic diagram showing the curves of sight angle changes of four aircraft in Example 2 of the present application is shown;

[0049] Figure 13 A schematic diagram of the lead angle variation curves of four aircraft in Example 2 of the present application is shown;

[0050] Figure 14 A schematic diagram showing the speed and inclination angle variation curves of the four aircraft in Example 2 of the present application is shown;

[0051] Figure 15 A schematic diagram of overload variation curves of four aircraft in Example 2 of the present application is shown;

[0052] Figure 16 A schematic diagram showing the flight trajectories of four aircraft in Comparative Example 1 of the present application is shown;

[0053] Figure 17 A schematic diagram showing the remaining flight time of four aircraft in Comparative Example 1 of the present application;

[0054] Figure 18 A schematic diagram showing the change curves of the sight angles of the four aircraft in Comparative Example 1 of the present application is shown;

[0055] Figure 19 A schematic diagram of overload variation curves of four aircraft in Comparative Example 1 of the present application is shown. DETAILED DESCRIPTION

[0056] The present invention will be described in further detail below with reference to the accompanying drawings and examples, through which the features and advantages of the present invention will become more clearly understood.

[0057] The word "exemplary" is used exclusively herein to mean "serving as an example, example, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

[0058] The present invention provides a multi-aircraft collaborative guidance control method based on composite guidance. The method is applied to short-range penetration aircraft, that is, aircraft that enter the guidance section immediately after launch. For such aircraft, after launch and takeoff, the radar seeker immediately starts working and then captures and locks the target.

[0059] Step 1: Target information is obtained through a radar seeker and used as real target information. Guidance instructions are generated based on the real target information to control the aircraft to fly toward the target. The target information in this application includes the relative distance between the aircraft and the target and the line-of-sight angular velocity between the aircraft and the target.

[0060] Step 2: Control the infrared seeker's optical axis toward the target and obtain target information. When the infrared signal-to-noise ratio reaches a preset value, the target information obtained by the infrared seeker replaces the target information obtained by the radar seeker with the target information obtained by the infrared seeker as the actual target information. In this application, after obtaining the guidance command, the overload pilot converts the guidance command into a steering command, which in turn controls the steering of the aircraft. The steering generates aerodynamic force, changes the trajectory of the aircraft, and ultimately makes the estimated impact time of multiple aircraft approach the same, and simultaneously hit the target.

[0061] In this application, the radar is a millimeter-wave active radar. After the aircraft launches, the active radar powers on. When the aircraft's distance from the target group plane is less than the radar seeker's power-on distance, s1, the radar seeker begins to rotate regularly, reciprocating at a speed of 60-90 rad / s along the flight direction. s1 is generally set within a range of 100-500 km, with the specific value affected by weather and environmental factors.

[0062] After the radar detects the target group, the seeker head no longer rotates autonomously, but adjusts the seeker head attitude by calculating the seeker head error angle until the target is locked.

[0063] When the distance between the aircraft and the target is less than the infrared seeker power-on distance s3, the infrared seeker enters the detection field of view and turns on. The s3 is generally set to about 50-100km. When the infrared signal-to-noise ratio reaches a preset value, it is determined that the infrared guidance has locked the target. Preferably, when the distance between the aircraft and the target reaches 10-15km, more preferably 12km, it can be considered that the infrared signal-to-noise ratio has reached the preset value.

[0064] In a preferred embodiment, in this method, the guidance instruction is obtained by the following formula (1):

[0065]

[0066] In this application, the calculation method of the guidance instruction adopts a first-order multi-agent consensus protocol design, that is, It can realize the coordination of multiple UAVs and hit the target at the same time; compared with the traditional proportional guidance, the guidance instruction calculation method obtains the instructions with a faster convergence speed; compared with other modern guidance methods, the guidance instruction form is relatively simple, and during the guidance process, the guidance instructions given are smoother, without mutation points, the required overload is smaller, the working pressure of the servo is small, the overall aircraft is more stable and reliable, and the engineering feasibility is good.

[0067] Among them, a mi represents the guidance instructions for the i-th aircraft;

[0068] N represents the proportional guidance coefficient; preferably, it is 3;

[0069] n represents the total number of aircraft;

[0070] i represents the i-th aircraft, j represents the j-th aircraft;

[0071] γ mi represents the lead angle of the i-th aircraft, which is obtained in real time by the gyroscope on the aircraft;

[0072] V mi represents the speed of the i-th aircraft, which is obtained in real time by the speed sensor on the aircraft;

[0073] R i represents the relative distance between the i-th aircraft and the target, which is the parameter of the real target information obtained by radar or infrared real-time detection;

[0074] a ij Represents the connection relationship in the communication topology between the i-th aircraft and the j-th aircraft;

[0075] When the i-th aircraft and the j-th aircraft can exchange information, a ij =1;

[0076] When the i-th aircraft and the j-th aircraft cannot exchange information, a ij =0.

[0077] t fi represents the estimated impact time of the i-th aircraft;

[0078] t fj represents the estimated impact time of the j-th aircraft;

[0079] In this application, the estimated hitting time is obtained by the following formula (2):

[0080] t fi =t goi +t (two)

[0081] Among them, t goi represents the remaining flight time of the i-th aircraft;

[0082] t represents the current time; in this application, the timing starts when the first aircraft takes off. During the subsequent interaction process of each drone, the time can be further adjusted through interaction so that the current time on each drone tends to be consistent.

[0083] In the present application, the aircraft exchange information with each other during the flight, that is, transmit their own estimated hit time to the aircraft that can exchange information, and at the same time receive the estimated hit time of other aircraft transmitted by other aircraft.

[0084] Preferably, the remaining flight time t goi Obtained by the following formula (3):

[0085]

[0086] Among them, q i represents the sight angle between the i-th aircraft and the target; the sight angle between the aircraft and the target can be obtained by integrating the sight angular velocity between the aircraft and the target in the real target information;

[0087] θ mi It represents the velocity and inclination of the i-th aircraft, which is obtained in real time by the gyroscope on the aircraft.

[0088] The α, β, m r 、n r 、p r ,q rEach independently represents a design parameter, preferably, α>0, β>0; m r 、n r 、p r and q r are four positive odd numbers, and satisfy m r >n r ,q r >q r More preferably, the optimal values ​​of the above design parameters are: α=10, β=10, m r =9, n r =9, p r =5,q r =5.

[0089] Example 1

[0090] Set up a formation of three aircraft launched almost simultaneously. The topological communication network between the three aircraft is as follows: Figure 1 As shown in the figure, select the target coordinates as (X T ,Y T )=(12000m,0m); The initial launch conditions of the three aircraft are shown in Table 1:

[0091] aircraft Location (m) Speed ​​(m / s) Initial ballistic inclination <![CDATA[M1]]> (0,6000) 280 -30 <![CDATA[M2]]> (0,5200) 270 -20 <![CDATA[M3]]> (0,4200) 270 -15

[0092] All three aircraft are equipped with radar and infrared seekers; each aircraft implements the following specific control scheme:

[0093] Step 1: Target information is obtained through the radar seeker and used as real target information. Guidance instructions are generated based on the real target information to control the aircraft to fly towards the target.

[0094] Step 2: Control the infrared seeker optical axis to point to the target and obtain target information. When the distance between the aircraft and the target reaches 12 km, the target information obtained by the infrared seeker replaces the target information obtained by the radar seeker as the real target information. In this method, the guidance instruction is obtained by the following formula (1):

[0095]

[0096] Among them, a mi represents the guidance instructions for the i-th aircraft;

[0097] N represents the proportional guidance coefficient, which is 3;

[0098] n represents the total number of aircraft, and its value is 3;

[0099] i represents the i-th aircraft, j represents the j-th aircraft;

[0100] γmi represents the lead angle of the i-th aircraft;

[0101] V mi represents the speed of the i-th aircraft;

[0102] R i represents the relative distance between the i-th aircraft and the target;

[0103] a ij Indicates the connection relationship in the communication topology between the i-th aircraft and the j-th aircraft; the value is 1.

[0104] t fi represents the estimated impact time of the i-th aircraft;

[0105] t fj represents the estimated impact time of the j-th aircraft;

[0106] α, β, m r 、n r 、p r ,q r The specific values ​​are α=10、β=10、m r =9, n r =9, p r =5,q r =5.

[0107] The estimated hit time is transmitted to the adjacent UAVs that can transmit information in real time, which is specifically obtained by the following formula (2):

[0108] t fi =t goi +t (two)

[0109] Among them, t goi represents the remaining flight time of the i-th aircraft;

[0110] t represents the current time.

[0111] The remaining flight time t goi Obtained by the following formula (3):

[0112]

[0113] Among them, q i represents the line-of-sight angle between the ith aircraft and the target, which is obtained by integrating the line-of-sight angular velocity between the ith aircraft and the target;

[0114] θ mi represents the velocity inclination of the i-th aircraft.

[0115] The final control result is as follows Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7 As shown in;

[0116] It can be seen from the above result diagram that the multi-aircraft cooperative guidance control method based on composite guidance provided in this application can achieve simultaneous hit of three aircraft terminals at approximately 48 seconds.

[0117] Example 2

[0118] Set up a formation of four aircraft launched almost simultaneously, and the topological communication network between the four aircraft is as follows Figure 8 As shown in the figure, select the target coordinates as (X T ,Y T )=(12000m,0m); The initial launch conditions of the four aircraft are shown in Table 1:

[0119]

[0120]

[0121] Each of the four aircraft is equipped with a radar seeker and an infrared seeker; each aircraft implements the following specific control scheme:

[0122] Step 1: Target information is obtained through the radar seeker and used as real target information. Guidance instructions are generated based on the real target information to control the aircraft to fly towards the target.

[0123] Step 2: Control the infrared seeker optical axis to point to the target and obtain target information. When the infrared signal-to-noise ratio reaches a preset value, the target information obtained by the infrared seeker replaces the target information obtained by the radar seeker as the real target information.

[0124] In this method, the guidance instruction is obtained by the following formula (1):

[0125]

[0126] Among them, a mi represents the guidance instructions for the i-th aircraft;

[0127] N represents the proportional guidance coefficient, which is 3;

[0128] n represents the total number of aircraft, and its value is 4;

[0129] i represents the i-th aircraft, j represents the j-th aircraft;

[0130] γ mi represents the lead angle of the i-th aircraft;

[0131] V mi represents the speed of the i-th aircraft;

[0132] R i represents the relative distance between the i-th aircraft and the target;

[0133] a ij represents the connection relationship between the i-th aircraft and the j-th aircraft in the communication topology; a 12 =a 21 =a 23 =a 32 =a 34 =a 43 =1, and the rest of the connection relationships are 0.

[0134] t fi represents the estimated impact time of the i-th aircraft;

[0135] t fj represents the estimated impact time of the j-th aircraft;

[0136] α, β, m r 、n r 、p r ,q r The specific values ​​are α=10、β=10、m r =9, n r =9, p r =5,q r =5.

[0137] The estimated hit time is transmitted to the adjacent UAVs that can transmit information in real time, which is specifically obtained by the following formula (2):

[0138] t fi =t goi +t (two)

[0139] Among them, t goi represents the remaining flight time of the i-th aircraft;

[0140] t represents the current time.

[0141] The remaining flight time t goi Obtained by the following formula (3):

[0142]

[0143] Among them, q i represents the line-of-sight angle between the ith aircraft and the target, which is obtained by integrating the line-of-sight angular velocity between the ith aircraft and the target;

[0144] θ mirepresents the velocity inclination of the i-th aircraft.

[0145] The final control result is as follows Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 and Figure 15 As shown in;

[0146] It can be seen from the above result diagram that the multi-aircraft cooperative guidance control method based on composite guidance provided in this application can achieve simultaneous hit of four aircraft terminals at approximately 48 seconds.

[0147] As can be seen from Examples 1 and 2, the convergence time for both operating conditions is the same, indicating that the multi-aircraft coordinated guidance and control method based on composite guidance can converge within a fixed time and is not affected by the initial state. The results of these two examples further verify that the multi-aircraft coordinated guidance and control method based on composite guidance proposed in this application can significantly enhance the penetration capability of aircraft, improve the aircraft's hit probability and combat effectiveness.

[0148] Comparative Example 1

[0149] Set up a formation of four aircraft launched almost simultaneously, and the topological communication network between the four aircraft is as follows Figure 8 As shown in the figure, select the target coordinates as (X T ,Y T )=(12000m,0m); The initial launch conditions of the four aircraft are shown in Table 1:

[0150] aircraft Location (m) Speed ​​(m / s) Initial ballistic inclination <![CDATA[M1]]> (0,5500) 282 -20 <![CDATA[M2]]> (0,4000) 268 -15 <![CDATA[M3]]> (0,3200) 260 -10 <![CDATA[M4]]> (0,2800) 255 40

[0151] All four aircraft are equipped with radar seekers and infrared seekers; each aircraft uses the following method to obtain guidance instructions to control the aircraft.

[0152] The guidance instruction is obtained by the following formula:

[0153]

[0154]

[0155] The final control result is as follows Figure 16 、 Figure 17 、 Figure 18 and Figure 19 As shown in;

[0156] The solution in Comparative Example 1, compared with Example 2, obtains overload instructions based on the same model. The difference is that a different consistency protocol design is adopted in Comparative Example 1.

[0157] As can be seen from the above results, aircraft M4 in Comparative Example 1 has an excessively large instantaneous overload command, causing servo oscillation and ineffective aircraft control. This shows that the multi-aircraft coordinated guidance and control method based on composite guidance provided by the present invention has greater advantages in terms of convergence speed and overload characteristics.

[0158] The present invention has been described above with reference to preferred embodiments, but these embodiments are merely exemplary and serve only as illustrations. On this basis, various replacements and improvements can be made to the present invention, all of which fall within the scope of protection of the present invention.

Claims

1. A multi-aircraft cooperative guidance control method based on composite guidance, characterized in that: In this method, after multiple aircraft are launched, the following control steps are performed: Step 1: Target information is obtained through the radar seeker and used as real target information. Guidance instructions are generated based on the real target information to control the aircraft to fly towards the target. Step 2: Control the infrared seeker optical axis to point to the target and obtain target information. When the infrared signal-to-noise ratio reaches a preset value, the target information obtained by the infrared seeker replaces the target information obtained by the radar seeker as the real target information.

2. The multi-aircraft cooperative guidance control method based on composite guidance according to claim 1 is characterized in that: In this method, the guidance instruction is obtained by the following formula (1): Among them, a mi represents the guidance instructions for the i-th aircraft; N represents the proportional guidance coefficient; n represents the total number of aircraft; i represents the i-th aircraft, j represents the j-th aircraft; γ mi represents the lead angle of the i-th aircraft; V mi represents the speed of the i-th aircraft; R i represents the relative distance between the i-th aircraft and the target; a ij Represents the connection relationship in the communication topology between the i-th aircraft and the j-th aircraft; t fi represents the estimated impact time of the i-th aircraft; t fj represents the estimated impact time of the j-th aircraft; α, β, m r 、n r 、p r ,q r Each independently represents a design parameter.

3. The multi-aircraft cooperative guidance control method based on composite guidance according to claim 2 is characterized in that: The estimated hitting time is obtained by the following formula (2): t fi =t goi +t (two) Among them, t goi represents the remaining flight time of the i-th aircraft; t represents the current time.

4. The multi-aircraft cooperative guidance control method based on composite guidance according to claim 3 is characterized in that: The remaining flight time t goi Obtained by the following formula (3): Among them, q i represents the line of sight angle between the i-th aircraft and the target; θ mi represents the velocity inclination of the i-th aircraft.

5. The multi-aircraft cooperative guidance control method based on composite guidance according to claim 3 is characterized in that: When the i-th aircraft and the j-th aircraft can exchange information, aij=1; When information exchange between the i-th aircraft and the j-th aircraft is impossible, aij=0.

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