A Multi-Aircraft Cooperative Guidance and Control Method Based on Composite Guidance
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIJING INST OF TECH
- Filing Date
- 2024-03-22
- Publication Date
- 2026-07-17
Smart Images
Figure CN120704187B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a cooperative guidance and control method for multiple aircraft, specifically a cooperative guidance and control method for multiple aircraft based on a composite guidance method. Background Technology
[0002] With the gradual improvement of modern defense systems and the development of counter-drone technology, traditional single aircraft are finding it increasingly difficult to complete strike missions against specific targets. However, further increasing the capability ceiling of a single aircraft would incur enormous design and production costs. Multi-aircraft collaboration enables multiple aircraft to form a network, achieving coordination and cooperation through information sharing, and jointly completing predetermined tasks, greatly improving the final penetration capability and destructive effectiveness.
[0003] As a key technology in multi-vehicle cooperative systems, cooperative guidance technology for multi-vehicles has significant practical value, particularly in the areas of time-based coordination, spatial coordination, and coordination within a fixed time period. Among these, the stability of fixed-time cooperative guidance is independent of the system's initial state, exhibiting good robustness to initial conditions.
[0004] Currently, practical experience shows that the lower the communication requirements between aircraft, the smaller the impact on the overall system load, and the more stable the system. Furthermore, each aircraft needs to be capable of independent and precise guidance and control, able to overcome interference in the target area, and possess high robustness.
[0005] In view of the current research status and practical needs, the inventors have conducted in-depth research on short-range penetration aircraft in order to design a guidance aperture method that can solve the above problems and ensure that multiple short-range penetration aircraft can work together as a whole to hit the target. Summary of the Invention
[0006] To overcome the aforementioned problems, the inventors conducted intensive research and designed a multi-vehicle cooperative guidance and control method based on composite guidance for short-range penetration aircraft. In this method, target information is obtained through radar in the early stage, and then infrared information is obtained through infrared after the infrared signal-to-noise ratio reaches a preset value. Moreover, the same guidance law is used to obtain guidance commands throughout the flight of the aircraft, ensuring a smoother and more reliable overall flight trajectory. At the same time, multiple aircraft communicate and interact to predict the hit time, thereby adjusting their respective control commands to achieve simultaneous hits on the target, increasing the difficulty of interception and reducing the probability of being intercepted, thus completing this invention.
[0007] Specifically, the purpose of this invention is to provide a multi-vehicle cooperative guidance and control method based on composite guidance, in which multiple vehicles perform the following control steps after launch:
[0008] Step 1: Obtain target information through the radar seeker as real target information, and form guidance commands based on the real target information to control the aircraft to fly towards the target;
[0009] Step 2: Control the optical axis of the infrared seeker to point towards the target and obtain target information. When the infrared signal-to-noise ratio reaches a preset value, replace the target information obtained by the radar seeker with the target information obtained by the infrared seeker as the real target information.
[0010] In this method, the guidance command is obtained through the following formula (a):
[0011]
[0012] Among them, a mi This represents the guidance commands 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, and j represents the j-th aircraft;
[0016] γ mi This represents the leading angle of the i-th aircraft;
[0017] V mi This represents the speed of the i-th aircraft;
[0018] R i This represents the relative distance between the i-th aircraft and the target;
[0019] a ij This represents the communication topology connection between the i-th and j-th aircraft.
[0020] t fi This indicates the estimated time of impact for the i-th spacecraft;
[0021] t fj This indicates the estimated time of impact for the j-th spacecraft.
[0022] α, β, m r n r p r q r Each parameter represents the design parameters independently.
[0023] The expected hit time is obtained by the following formula (ii):
[0024] t fi =t goi +t (II)
[0025] Among them, t goi This 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 through the following formula (iii):
[0028]
[0029] Where, q i This represents the line-of-sight angle between the i-th aircraft and the target;
[0030] θ mi This represents the velocity tilt angle of the i-th aircraft.
[0031] Where, when the i-th spacecraft and the j-th spacecraft can exchange information, a ij =1;
[0032] When the i-th spacecraft and the j-th spacecraft cannot exchange information, a ij =0.
[0033] The beneficial effects of this invention include:
[0034] (1) According to the multi-vehicle cooperative guidance control method based on composite guidance provided by the present invention, in this method, target information is obtained by radar and infrared respectively, so that when one of them is interfered with or is not accurate enough, guidance can be carried out based on the target information obtained by the other scheme, ensuring that there are relatively accurate and reliable guidance commands for control throughout the process, thereby improving the stability and reliability of aircraft control.
[0035] (2) According to the multi-vehicle cooperative guidance control method based on composite guidance provided by the present invention, in this method, during the flight of the aircraft, the communication and interaction information between the various aircraft is relatively small, and occasional signal interference will not affect the final hit accuracy. Moreover, due to the small amount of interaction, it is difficult to be blocked by interference.
[0036] (3) According to the multi-vehicle cooperative guidance and control method based on composite guidance provided by the present invention, the provided control method can cooperate to guide and control multiple aircraft, thereby significantly enhancing the penetration capability of aircraft and improving the hit probability and combat effectiveness of aircraft. Attached Figure Description
[0037] Figure 1 This diagram illustrates the topology communication network between three aircraft in Embodiment 1 of this application.
[0038] Figure 2This diagram illustrates the flight trajectories of the three aircraft in Embodiment 1 of this application.
[0039] Figure 3 This diagram illustrates the remaining flight time of the three aircraft in Embodiment 1 of this application.
[0040] Figure 4 This diagram illustrates the target distance of the three aircraft in Embodiment 1 of this application.
[0041] Figure 5 This diagram illustrates the line-of-sight angle variation curves of the three aircraft in Embodiment 1 of this application.
[0042] Figure 6 This diagram illustrates the leading angle variation curves of the three aircraft in Embodiment 1 of this application.
[0043] Figure 7 This diagram illustrates the velocity tilt angle variation curves of the three aircraft in Embodiment 1 of this application.
[0044] Figure 8 This diagram illustrates the topology communication network between four aircraft in Embodiment 2 of this application.
[0045] Figure 9 This document shows a schematic diagram of the flight trajectories of four aircraft in Embodiment 2 of this application;
[0046] Figure 10 This diagram illustrates the remaining flight time of the four aircraft in Embodiment 2 of this application.
[0047] Figure 11 This diagram illustrates the target range of four aircraft in Embodiment 2 of this application.
[0048] Figure 12 This diagram illustrates the line-of-sight angle variation curves of four aircraft in Embodiment 2 of this application.
[0049] Figure 13 This diagram illustrates the forward angle variation curves of the four aircraft in Embodiment 2 of this application.
[0050] Figure 14 This diagram illustrates the velocity tilt angle variation curves of the four aircraft in Embodiment 2 of this application.
[0051] Figure 15 This document shows a schematic diagram of the overload variation curves of four aircraft in Embodiment 2 of this application;
[0052] Figure 16 This application shows a schematic diagram of the flight trajectories of the four aircraft in Comparative Example 1.
[0053] Figure 17 This diagram illustrates the remaining flight time of the four aircraft in Comparative Example 1 of this application.
[0054] Figure 18 This paper presents a schematic diagram showing the line-of-sight angle variation curves of the four aircraft in Comparative Example 1 of this application;
[0055] Figure 19 The diagram shows the overload variation curves of the four aircraft in Comparative Example 1 of this application. Detailed Implementation
[0056] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Through these descriptions, the features and advantages of the present invention will become clearer and more apparent.
[0057] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments. Although various aspects of embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated otherwise.
[0058] This invention provides a multi-vehicle cooperative guidance and control method based on composite guidance. This method is applied to short-range penetration aircraft, that is, aircraft that enter the guidance phase immediately after launch. For such aircraft, the radar seeker is activated immediately after launch and then acquires and locks onto the target.
[0059] Step 1: Obtain target information through the radar seeker as real target information, and form guidance commands 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 to point towards the target and obtain target information. When the infrared signal-to-noise ratio reaches a preset value, replace the target information obtained by the radar seeker with the target information obtained through the infrared seeker as the real target information. In this application, after obtaining the guidance command, the guidance command is converted into a servo command through the overload autopilot, and then the servo motors on the aircraft are controlled to perform rudder movements. By performing rudder movements, aerodynamic forces are generated, changing the trajectory of the aircraft, ultimately making the expected hit times of multiple aircraft tend to be the same, and causing them to hit the target simultaneously.
[0061] In this application, the radar is a millimeter-wave active radar. After the aircraft is launched, the active radar starts working. When the plane distance between the aircraft and the target group is less than the radar seeker activation distance s1, the radar seeker begins to rotate regularly, reciprocating at a speed of 60-90 rad / s along the flight direction. The s1 is generally set in the range of 100-500 km, and the specific value is affected by weather and environment.
[0062] After the radar detects a group of targets, the seeker no longer rotates autonomously. Instead, it adjusts its attitude by calculating the seeker error angle until it locks onto the target.
[0063] When the distance between the aircraft and the target is less than the infrared seeker activation distance s3, the infrared seeker enters the detection field of view and is activated. The infrared seeker is generally set to about 50-100km. When the infrared signal-to-noise ratio reaches a preset value, it is considered that the infrared seeker has locked onto the target. Preferably, when the distance between the aircraft and the target reaches 10-15km, more preferably 12km, the infrared signal-to-noise ratio can be considered to have reached the preset value.
[0064] In a preferred embodiment, the guidance command is obtained by the following formula (a):
[0065]
[0066] In this application, the calculation method for the guidance command employs a first-order multi-agent consensus protocol design, namely... It can achieve multi-UAV collaboration and simultaneously hit the target constraint; compared with traditional proportional guidance, the above-mentioned guidance command calculation method has a faster command convergence speed; compared with other modern guidance methods, the guidance command form is relatively simple, and the guidance command given during the guidance process is smoother, without abrupt change points, requiring less overload, reducing the working pressure of the servo motor, and making the aircraft more stable, reliable and with good engineering feasibility.
[0067] Among them, a mi This represents the guidance commands 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, and j represents the j-th aircraft;
[0071] γ mi This represents the leading angle of the i-th aircraft, which is obtained in real time through the gyroscope on the aircraft.
[0072] V mi The speed of the i-th aircraft is obtained in real time through the speed sensor on the aircraft.
[0073] R i This represents the relative distance between the i-th aircraft and the target, which is a parameter in the real target information obtained by radar or infrared real-time detection;
[0074] a ij This represents the communication topology connection between the i-th and j-th aircraft.
[0075] When the i-th spacecraft and the j-th spacecraft can exchange information, a ij =1;
[0076] When the i-th spacecraft and the j-th spacecraft cannot exchange information, a ij =0.
[0077] t fi This represents the estimated hit time of the i-th spacecraft;
[0078] t fj This represents the estimated hit time of the j-th spacecraft;
[0079] In this application, the estimated hit time is obtained by the following formula (ii):
[0080] t fi =t goi +t (II)
[0081] Among them, t goi This represents the remaining flight time of the i-th aircraft;
[0082] t represents the current time; in this application, the timer starts when the first aircraft takes off, and the time can be further adjusted through interaction during subsequent interactions between various drones, so that the current time on each drone tends to be consistent.
[0083] In this application, the aircraft interact with each other during flight, that is, they transmit their own expected hit time to other aircraft that can interact with each other, and at the same time receive the expected hit times of other aircraft transmitted by other aircraft.
[0084] Preferably, the remaining flight time t goi Obtained through the following formula (iii):
[0085]
[0086] Where, q i Let represent the line-of-sight angle between the i-th aircraft and the target; the line-of-sight angle between the aircraft and the target can be obtained by integrating the line-of-sight angular velocity between the aircraft and the target in the real target information.
[0087] θ mi The velocity tilt angle of the i-th aircraft is obtained in real time through the gyroscope on the aircraft.
[0088] The α, β, m r n r p r q rEach parameter represents a design parameter independently; preferably, α > 0, β > 0; m r n r p r and q r There are four positive odd numbers, and m r >n r q r >q r More preferably, the optimal values for 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] The formation consists of three aircraft that launch approximately simultaneously, and the topology communication network between the three aircraft is as follows: Figure 1 As shown, the target coordinates are selected as (X... T ,Y T (12000m, 0m); The initial launch conditions for the three spacecraft are shown in Table 1:
[0091] <![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 seekers and infrared seekers; each aircraft executes the following specific control scheme:
[0093] Step 1: Obtain target information through the radar seeker as real target information, and form guidance commands based on the real target information to control the aircraft to fly towards the target;
[0094] Step 2: Control the infrared seeker's optical axis to point towards the target and obtain target information. When the distance between the aircraft and the target reaches 12km, replace the target information obtained by the radar seeker with the target information obtained through the infrared seeker as the real target information. In this method, the guidance command is obtained through the following formula (I):
[0095]
[0096] Among them, a mi This represents the guidance commands for the i-th aircraft.
[0097] N represents the proportional guidance coefficient, which takes a value of 3;
[0098] n represents the total number of aircraft, with a value of 3;
[0099] i represents the i-th aircraft, and j represents the j-th aircraft;
[0100] γmi This represents the leading angle of the i-th aircraft;
[0101] V mi This represents the speed of the i-th aircraft;
[0102] R i This represents the relative distance between the i-th aircraft and the target;
[0103] a ij This represents the communication topology connection between the i-th and j-th aircraft; its value is 1.
[0104] t fi This represents the estimated hit time of the i-th spacecraft;
[0105] t fj This represents the estimated hit time of the j-th spacecraft;
[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 in real time to neighboring drones that can transmit information, specifically obtained through the following formula (II):
[0108] t fi =t goi +t (II)
[0109] Among them, t goi This represents the remaining flight time of the i-th aircraft;
[0110] t represents the current time.
[0111] The remaining flight time t goi Obtained through the following formula (iii):
[0112]
[0113] Where, q i Let represent the line-of-sight angle between the i-th aircraft and the target, which is obtained by integrating the line-of-sight angular velocity between the i-th aircraft and the target;
[0114] θ mi This represents the velocity tilt angle of the i-th aircraft.
[0115] The final control result obtained is as follows Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown;
[0116] As can be seen from the above results, the multi-vehicle cooperative guidance and control method based on composite guidance provided in this application enables the three vehicle terminals to achieve simultaneous hits at approximately 48 seconds.
[0117] Example 2
[0118] The formation consists of four aircraft that launch almost simultaneously, and the topology communication network between the four aircraft is as follows: Figure 8 As shown, the target coordinates are selected as (X... T ,Y T (12000m, 0m); The initial launch conditions for the four spacecraft are shown in Table 1:
[0119]
[0120]
[0121] All four aircraft are equipped with radar seekers and infrared seekers; each aircraft executes the following specific control scheme:
[0122] Step 1: Obtain target information through the radar seeker as real target information, and form guidance commands based on the real target information to control the aircraft to fly towards the target;
[0123] Step 2: Control the optical axis of the infrared seeker to point towards the target and obtain target information. When the infrared signal-to-noise ratio reaches a preset value, replace the target information obtained by the radar seeker with the target information obtained by the infrared seeker as the real target information.
[0124] In this method, the guidance command is obtained through the following formula (a):
[0125]
[0126] Among them, a mi This represents the guidance commands for the i-th aircraft.
[0127] N represents the proportional guidance coefficient, which takes a value of 3;
[0128] n represents the total number of aircraft, with a value of 4;
[0129] i represents the i-th aircraft, and j represents the j-th aircraft;
[0130] γ mi This represents the leading angle of the i-th aircraft;
[0131] V mi This represents the speed of the i-th aircraft;
[0132] R i This represents the relative distance between the i-th aircraft and the target;
[0133] a ij This represents the communication topology connection between the i-th and j-th aircraft; a 12 =a 21 =a 23 =a 32 =a 34 =a 43 =1, and the value of the other connections is 0.
[0134] t fi This represents the estimated hit time of the i-th spacecraft;
[0135] t fj This represents the estimated hit time of the j-th spacecraft;
[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 in real time to neighboring drones that can transmit information, specifically obtained through the following formula (II):
[0138] t fi =t goi +t (II)
[0139] Among them, t goi This represents the remaining flight time of the i-th aircraft;
[0140] t represents the current time.
[0141] The remaining flight time t goi Obtained through the following formula (iii):
[0142]
[0143] Where, q i Let represent the line-of-sight angle between the i-th aircraft and the target, which is obtained by integrating the line-of-sight angular velocity between the i-th aircraft and the target;
[0144] θ miThis represents the velocity tilt angle of the i-th aircraft.
[0145] The final control result obtained is as follows Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 13 , Figure 14 and Figure 15 As shown;
[0146] As can be seen from the above results, the multi-vehicle cooperative guidance and control method based on composite guidance provided in this application enables the four vehicle terminals to achieve simultaneous hits at approximately 48 seconds.
[0147] As shown in Examples 1 and 2, the convergence time is the same for both operating conditions, indicating that the multi-vehicle cooperative 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-vehicle cooperative guidance and control method based on composite guidance proposed in this application can significantly enhance the penetration capability of aircraft and improve the hit probability and combat effectiveness of aircraft.
[0148] Comparative Example 1
[0149] The formation consists of four aircraft that launch almost simultaneously, and the topology communication network between the four aircraft is as follows: Figure 8 As shown, the target coordinates are selected as (X... T ,Y T (12000m, 0m); The initial launch conditions for the four spacecraft are shown in Table 1:
[0150] <![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 commands to control the aircraft.
[0152] The guidance command is obtained by the following formula:
[0153]
[0154]
[0155] The final control result obtained is as follows Figure 16 , Figure 17 , Figure 18 and Figure 19 As shown;
[0156] The scheme in Comparative Example 1, compared to Example 2, is based on the same model to obtain overload instructions. The difference lies in the different consistency protocol design used in Comparative Example 1.
[0157] As can be seen from the above results, aircraft M4 in Comparative Example 1 exhibits excessive instantaneous overload commands, causing servo motor oscillations and hindering effective aircraft control. Therefore, the multi-aircraft cooperative guidance and control method based on composite guidance provided by this invention has advantages in convergence speed and overload characteristics.
[0158] The present invention has been described above with reference to preferred embodiments; however, these embodiments are merely exemplary and illustrative. Various substitutions and modifications can be made to the present invention based on these embodiments, all of which fall within the scope of protection of the present invention.
Claims
1. A multi-vehicle cooperative guidance and control method based on composite guidance, characterized in that, In this method, after multiple aircraft are launched, the following control steps are executed: Step 1: Obtain target information through the radar seeker as real target information, and form guidance commands based on the real target information to control the aircraft to fly towards the target; Step 2: Control the optical axis of the infrared seeker to point to the target and obtain target information. When the infrared signal-to-noise ratio reaches a preset value, replace the target information obtained by the radar seeker with the target information obtained by the infrared seeker as the real target information. In this method, the guidance command is obtained through the following formula (a): (one) in, Indicates Guidance commands for an aircraft; Indicates the proportional guidance coefficient; Indicates the total number of aircraft; Indicates the first One aircraft, Indicates the first One aircraft; Indicates the first The leading angle of an aircraft; Indicates the first The speed of the aircraft; Indicates the first The relative distance between the aircraft and the target; Indicates the first The aircraft and the first The communication topology connections between the aircraft; Indicates the first The estimated hit time of the aircraft; Indicates the first The estimated hit time of the aircraft; , , , , , Each parameter represents the design parameters independently.
2. The multi-vehicle cooperative guidance and control method based on composite guidance according to claim 1, characterized in that, The expected hit time is obtained by the following formula (ii): (two) in, Indicates the first The remaining flight time of each aircraft; Indicates the current time.
3. The multi-vehicle cooperative guidance and control method based on composite guidance according to claim 2, characterized in that, The remaining flight time is obtained by the following formula (iii): (three) in, Indicates the first The line-of-sight angle between the aircraft and the target; Indicates the first The speed and tilt angle of the aircraft.
4. The multi-vehicle cooperative guidance and control method based on composite guidance according to claim 2, characterized in that, When the The aircraft and the first When individual aircraft can exchange information... ; When the The aircraft and the first When the aircraft cannot exchange information with each other .