Proportional guidance method and device with projectile line-of-sight angular velocity correction term

Abstract

The application provides a proportional guidance method and device with a missile line-of-sight angular velocity correction term, and relates to the technical field of aircrafts, which comprises the following steps: determining the second speed, the first inclination and the first height of the aircraft according to the first position vector and the first speed vector of the aircraft in the target coordinate system at the current time, and calculating the missile line-of-sight angular velocity of the aircraft; predicting the second inclination and the first remaining flight distance when the aircraft flies to the target point at the height of zero attack angle according to the second speed, the first inclination and the first height of the aircraft; calculating the second position of the aircraft when the aircraft flies to the target point at the height of zero attack angle according to the first remaining flight distance; converting the first position vector of the aircraft in the target coordinate system into the third position vector of the aircraft in the virtual target coordinate system, calculating the missile line-of-sight angular velocity correction term of the aircraft according to the third position vector and the first speed vector; and calculating the acceleration guidance instruction of the aircraft.

Description

Technical Field

[0001] This invention relates to the field of aircraft technology, and in particular to a proportional guidance method and device with a missile-eye line-of-sight angular velocity correction term. Background Technology

[0002] In modern aerospace, the accuracy and reliability of aircraft guidance technology directly affect the success of flight missions. As mission complexity increases, the precision requirements for guidance systems also rise. Traditional proportional guidance methods, with their simple theoretical formulas and good engineering feasibility, are widely used in the guidance systems of various aircraft. This method guides the aircraft towards the target by controlling the angular velocity of the aircraft's velocity vector to be proportional to the angular velocity of the target-missile line-of-sight. Subsequent improvements, to control the aircraft's terminal tilt angle, added an offset term related to the tilt angle deviation to the original proportional guidance. The improved control velocity vector's angular velocity is now proportional not only to the target-missile line-of-sight angular velocity but also to the tilt angle deviation, thus achieving precise control of the aircraft's terminal tilt angle.

[0003] However, traditional proportional guidance methods reveal their limitations when faced with significant changes in aircraft velocity. In some applications, such as warhead re-entry into the atmosphere or rocket vertical recovery, the aircraft velocity may decrease dramatically. In such cases, traditional proportional guidance methods can lead to excessively large initial acceleration guidance commands, resulting in large angles of attack. Such excessive angles of attack are detrimental to aircraft attitude stability, potentially causing aircraft jitter, deviation from the preset trajectory, and other problems, increasing flight risks and even potentially leading to mission failure. In-depth analysis reveals that this phenomenon stems from the fact that traditional proportional guidance methods fail to adequately consider the impact of changes in aircraft velocity on the missile-target line-of-sight angular velocity and tilt angle. Under conditions of significant velocity changes, the existing guidance command calculation model cannot accurately reflect the actual motion state of the aircraft, leading to decreased guidance accuracy and failing to meet the requirements of high-precision guidance.

[0004] Therefore, how to conduct guidance and control more effectively has become an urgent problem to be solved in the industry. Summary of the Invention

[0005] This invention provides a proportional guidance method and apparatus with a missile-eye line-of-sight angular velocity correction term, in order to solve the problem of how to perform guidance more effectively.

[0006] This invention provides a proportional guidance method with a missile-eye line-of-sight angular velocity correction term, comprising: Based on the first position vector and first velocity vector of the aircraft in the target coordinate system at the current moment, the second velocity, first tilt angle and first altitude of the aircraft are determined, and the angular velocity of the aircraft along the line of sight is calculated; wherein, the target coordinate system is a three-axis coordinate system constructed with the target point as the origin; Based on the second speed, first tilt angle, and first altitude of the aircraft, predict the second tilt angle and first remaining flight distance when the aircraft reaches the altitude of the target point; Based on the first remaining flight distance, calculate the second position of the aircraft when it reaches the target point at an altitude with zero angle of attack; The first position vector of the aircraft in the target coordinate system is converted into the third position vector of the aircraft in the virtual target coordinate system. Based on the third position vector and the first velocity vector, the angular velocity correction term of the aircraft's line of sight is calculated. The virtual target coordinate system is a three-dimensional coordinate system constructed with the second position as the origin. The acceleration guidance command of the aircraft is calculated based on the missile-eye line-of-sight angular velocity and the correction term of the missile-eye line-of-sight angular velocity.

[0007] According to the proportional guidance method with a line-of-sight angular velocity correction term provided by the present invention, before the step of determining the second velocity, first tilt angle, and first altitude of the aircraft based on the first position vector and first velocity vector of the aircraft in the target coordinate system at the current moment, the method further includes: The original position and velocity of the aircraft in the launch inertial coordinate system at the current moment are obtained based on the navigation algorithm; The original position and velocity of the aircraft in the launch inertial coordinate system are converted into the first position vector and the first velocity vector in the target coordinate system.

[0008] According to the present invention, a proportional guidance method with a line-of-sight angular velocity correction term is provided, wherein determining the second velocity, first tilt angle, and first altitude of the aircraft based on the first position vector and first velocity vector of the aircraft in the target coordinate system at the current moment includes: The second velocity of the aircraft is determined based on the magnitude of the first velocity vector; The radial distance of the spacecraft is determined based on the position vector magnitude of the spacecraft's geocentric radius in the target coordinate system at the current moment; The first tilt angle is determined based on the product of the first velocity vector and the position vector, and the product of the second velocity and the radial distance; The first altitude of the aircraft is determined based on the radial distance and the geocentric distance of the target point.

[0009] According to a proportional guidance method with a line-of-sight angular velocity correction term provided by the present invention, based on the second velocity, first tilt angle, and first altitude of the aircraft, the method predicts the second tilt angle and first remaining flight distance of the aircraft when it reaches the altitude of the target point, including: Based on the atmospheric density of the aircraft at the first altitude, the drag coefficient corresponding to zero angle of attack, the aircraft mass and gravitational acceleration, the original differential equations of the aircraft are constructed. The original differential equations include: velocity change equation, tilt angle change equation and horizontal distance change equation. Divide the original set of differential equations by the altitude differential equation to obtain the target set of differential equations. Then, by using numerical integration, integrate from the first altitude to the target altitude to determine the second tilt angle and the first remaining flight distance of the aircraft flying at zero angle of attack to the target altitude.

[0010] According to a proportional guidance method with a missile-target line-of-sight angular velocity correction term provided by the present invention, the method for calculating the missile-target line-of-sight angular velocity of the aircraft includes: Based on the first position vector of the aircraft in the target coordinate system, calculate the distance from the aircraft to the target point, as well as the azimuth and pitch angles of the aircraft; Based on the azimuth and pitch angles, a rotation matrix is ​​constructed for the missile-eye view coordinate system, and the first velocity vector is transformed into the actual coordinate system to obtain the velocity components of the aircraft in the missile-eye line-of-sight coordinate system. The angular velocity of the aircraft in the line-of-sight coordinate system is calculated based on the distance from the aircraft to the target point and the velocity component of the aircraft in the line-of-sight coordinate system.

[0011] Based on the first position vector of the aircraft in the target coordinate system, the process involves converting the first position vector of the aircraft in the target coordinate system into a third position vector of the aircraft in the virtual target coordinate system, and calculating the missile-target line-of-sight angular velocity correction term based on the third position vector and the first velocity vector, including: A virtual target coordinate system is constructed with the second position as the origin, and the first position vector of the aircraft in the target coordinate system is converted into the third position vector of the aircraft in the virtual target coordinate system; Based on the third position vector, calculate the azimuth and pitch components of the aircraft, as well as the target distance from the aircraft to the target point; Based on the azimuth component and the pitch component, a rotation matrix of the virtual target coordinate system is constructed, so as to convert the first velocity vector into the third velocity vector of the aircraft in the virtual target coordinate system according to the rotation matrix of the virtual target coordinate system. Based on the third velocity vector and the target distance from the aircraft to the target point, the angular velocity correction term of the aircraft's missile-eye line of sight is calculated.

[0012] According to the present invention, a proportional guidance method with a missile-target line-of-sight angular velocity correction term is provided, which calculates the acceleration guidance command of the aircraft based on the missile-target line-of-sight angular velocity and the missile-target line-of-sight angular velocity correction term, including: Based on the target distance from the aircraft to the target point and the velocity component of the x-axis in the first velocity vector, the estimated remaining flight time of the aircraft is determined; Based on the second velocity, azimuth component, terminal tilt constraint value, second tilt angle, and the missile-eye line-of-sight angular velocity correction term of the aircraft, calculate the y-axis acceleration guidance command of the aircraft; Based on the second velocity of the aircraft, the pitch component, and the line-of-sight angular velocity correction term of the missile, the z-axis acceleration guidance command of the aircraft is calculated.

[0013] The present invention also provides a proportional guidance device with a missile-eye line-of-sight angular velocity correction term, comprising the following modules: The first calculation module is used to determine the second velocity, first tilt angle, and first altitude of the aircraft based on the first position vector and first velocity vector of the aircraft in the target coordinate system at the current moment, and to calculate the angular velocity of the aircraft's line of sight to the target; wherein, the target coordinate system is a three-axis coordinate system constructed with the target point as the origin; The prediction module is used to predict, based on the second speed, the first tilt angle, and the first altitude of the aircraft, the second tilt angle and the first remaining flight distance when the aircraft reaches the altitude of the target point; The second calculation module is used to calculate the second position of the aircraft when it flies to the target point at zero angle of attack, based on the first remaining flight distance; The third calculation module is used to convert the first position vector of the aircraft in the target coordinate system into the third position vector of the aircraft in the virtual target coordinate system, and calculate the missile-eye line-of-sight angular velocity correction term of the aircraft based on the third position vector and the first velocity vector; wherein, the virtual target coordinate system is a three-dimensional coordinate system constructed with the second position as the origin; The fourth calculation module is used to calculate the acceleration guidance command of the aircraft based on the missile-eye line-of-sight angular velocity and the missile-eye line-of-sight angular velocity correction term.

[0014] According to the present invention, a proportional guidance device with a missile-target line-of-sight angular velocity correction term is provided, the device is further used for: The original position and velocity of the aircraft in the launch inertial coordinate system at the current moment are obtained based on the navigation algorithm; The original position and velocity of the aircraft in the launch inertial coordinate system are converted into the first position vector and the first velocity vector in the target coordinate system.

[0015] According to the present invention, a proportional guidance device with a missile-target line-of-sight angular velocity correction term is provided, the device is further used for: The second velocity of the aircraft is determined based on the magnitude of the first velocity vector; The radial distance of the spacecraft is determined based on the position vector magnitude of the spacecraft's geocentric radius in the target coordinate system at the current moment; The first tilt angle is determined based on the product of the first velocity vector and the position vector, and the product of the second velocity and the radial distance; The first altitude of the aircraft is determined based on the radial distance and the geocentric distance of the target point.

[0016] According to the present invention, a proportional guidance device with a missile-target line-of-sight angular velocity correction term is provided, the device is further used for: Based on the second speed, first tilt angle, and first altitude of the aircraft, predict the second tilt angle and first remaining flight distance of the aircraft when it reaches the target point, including: Based on the atmospheric density of the aircraft at the first altitude, the drag coefficient corresponding to zero angle of attack, the aircraft mass and gravitational acceleration, the original differential equations of the aircraft are constructed. The original differential equations include: velocity change equation, tilt angle change equation and horizontal distance change equation. Divide the original set of differential equations by the altitude differential equation to obtain the target set of differential equations. Then, by using numerical integration, integrate from the first altitude to the target altitude to determine the second tilt angle and the first remaining flight distance of the aircraft flying at zero angle of attack to the target altitude.

[0017] According to the present invention, a proportional guidance device with a missile-target line-of-sight angular velocity correction term is provided, the device is further used for: Based on the first position vector of the aircraft in the target coordinate system, calculate the distance from the aircraft to the target point, as well as the azimuth and pitch angles of the aircraft; Based on the azimuth and pitch angles, a rotation matrix is ​​constructed for the missile-eye view coordinate system, and the first velocity vector is transformed into the actual coordinate system to obtain the velocity components of the aircraft in the missile-eye line-of-sight coordinate system. The angular velocity of the aircraft in the line-of-sight coordinate system is calculated based on the distance from the aircraft to the target point and the velocity component of the aircraft in the line-of-sight coordinate system.

[0018] According to the present invention, a proportional guidance device with a missile-target line-of-sight angular velocity correction term is provided, the device is further used for: A virtual target coordinate system is constructed with the second position as the origin, and the first position vector of the aircraft in the target coordinate system is converted into the third position vector of the aircraft in the virtual target coordinate system; Based on the third position vector, calculate the azimuth and pitch components of the aircraft, as well as the target distance from the aircraft to the target point; Based on the azimuth component and the pitch component, a rotation matrix of the virtual target coordinate system is constructed, so as to convert the first velocity vector into the third velocity vector of the aircraft in the virtual target coordinate system according to the rotation matrix of the virtual target coordinate system. Based on the third velocity vector and the target distance from the aircraft to the target point, the angular velocity correction term of the aircraft's missile-eye line of sight is calculated.

[0019] According to the present invention, a proportional guidance device with a missile-target line-of-sight angular velocity correction term is provided, the device is further used for: Based on the target distance from the aircraft to the target point and the velocity component of the x-axis in the first velocity vector, the estimated remaining flight time of the aircraft is determined; Based on the second velocity, azimuth component, terminal tilt constraint value, second tilt angle, and the missile-eye line-of-sight angular velocity correction term of the aircraft, calculate the y-axis acceleration guidance command of the aircraft; Based on the second velocity of the aircraft, the pitch component, and the line-of-sight angular velocity correction term of the missile, the z-axis acceleration guidance command of the aircraft is calculated.

[0020] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the proportional guidance method with a line-of-sight angular velocity correction term as described above.

[0021] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the proportional guidance method with a missile-eye line-of-sight angular velocity correction term as described above.

[0022] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the proportional guidance method with a missile-eye line-of-sight angular velocity correction term as described above.

[0023] The proportional guidance method and apparatus with a missile-target line-of-sight angular velocity correction term provided by this invention determines the current speed, tilt angle, and altitude of the aircraft based on its first position vector and first velocity vector in the target coordinate system at the current moment, and calculates the missile-target line-of-sight angular velocity. Using the aircraft's current speed, tilt angle, and altitude, the tilt angle (i.e., the second tilt angle) and remaining flight distance when the aircraft reaches the target altitude are predicted. Then, based on the predicted remaining flight distance, the second position of the aircraft when flying at zero angle of attack to the target altitude is calculated. Based on this, the aircraft's position vector in the target coordinate system is transformed to a virtual target coordinate system with the second position as the origin, and the correction term for the missile-target line-of-sight angular velocity is calculated. Through coordinate transformation and correction term calculation, the influence of aircraft speed changes on the missile-target line-of-sight angular velocity can be compensated. The traditional proportional guidance method calculates the tilt deviation based on the current tilt angle value, but instead calculates it based on the terminal tilt angle value when flying at zero angle of attack. This improvement effectively compensates for the impact of changes in aircraft speed on tilt deviation, while also offering the advantages of simple calculation method and wide applicability. Finally, by combining the original missile-target line-of-sight angular velocity and correction terms, the aircraft's acceleration guidance command is calculated. By adding ballistic line-of-sight angular velocity and tilt correction terms to the traditional proportional guidance method, the initial acceleration guidance command can be effectively reduced when the aircraft's speed changes significantly. This improvement requires minimal modification to the algorithm but has a significant effect, substantially improving the aircraft's attitude stability and guidance accuracy. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is a flowchart illustrating the proportional guidance method with a line-of-sight angular velocity correction term provided by the present invention. Figure 2 A schematic diagram of the proportional guidance device with a missile-eye line-of-sight angular velocity correction term provided by the present invention; Figure 3 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0027] Figure 1 This is a flowchart illustrating the proportional guidance method with a line-of-sight angular velocity correction term provided by the present invention, as shown below. Figure 1 As shown, the method includes the following: Step 110: Based on the first position vector and first velocity vector of the aircraft in the target coordinate system at the current moment, determine the second velocity, first tilt angle and first altitude of the aircraft, and calculate the angular velocity of the aircraft's line of sight; wherein, the target coordinate system is a three-axis coordinate system constructed with the target point as the origin; In this invention, an aircraft refers to an aircraft that requires guidance and control, such as a missile, rocket, or other aircraft. It is equipped with a navigation system that provides position and velocity information and needs to fly towards the target along a preset trajectory.

[0028] In this invention, the target point refers to a specific location that the aircraft needs to reach, and it is a key reference point in the aircraft's guidance system. It is typically determined during the mission planning phase and can be fixed (such as a ground target) or moving (such as an air or sea target). As a reference point for aircraft navigation and guidance, the target point helps the aircraft determine its position and direction of motion relative to the target.

[0029] In this invention, the target coordinate system is a three-axis coordinate system constructed with the target point as the origin. This target coordinate system is used to describe the position and velocity of the aircraft relative to the target. The x-axis points to the local north, the y-axis points to the local east, and the z-axis points to the local sky (or the Earth's center).

[0030] In this invention, the first position vector is the position vector of the aircraft in the target coordinate system, representing the position of the aircraft in the target coordinate system. It is a three-dimensional vector. , , respectively represent the position components of the aircraft in the x-axis direction of the target coordinate system, the position components of the aircraft in the y-axis direction of the target coordinate system, and the position components of the aircraft in the z-axis direction of the target coordinate system.

[0031] In this invention, the first velocity vector is the velocity vector of the aircraft in the target coordinate system, representing the velocity of the aircraft in the target coordinate system. It is a three-dimensional vector. , , respectively represent the velocity components of the aircraft in the x-axis direction of the target coordinate system; the velocity components of the aircraft in the y-axis direction of the target coordinate system; and the velocity components of the aircraft in the z-axis direction of the target coordinate system.

[0032] The second velocity in this invention is the magnitude of the aircraft velocity calculated based on the aircraft's position and velocity vector in the target coordinate system, and is typically expressed as... V .

[0033] The first tilt angle in this invention is the tilt angle of the aircraft calculated based on the position and velocity vector of the aircraft in the target coordinate system, and is usually expressed as θ.

[0034] The first altitude in this invention is the aircraft altitude calculated based on the aircraft's position vector in the target coordinate system, and is typically expressed as... h .

[0035] In this invention, the line-of-sight angular velocity is the angular velocity of the line connecting the aircraft and the target (i.e., the line of sight) relative to the target coordinate system.

[0036] Step 120: Based on the second speed, first tilt angle, and first altitude of the aircraft, predict the second tilt angle and first remaining flight distance when the aircraft reaches the altitude of the target point; In this invention, the prediction of the second tilt angle and the first remaining flight distance when the aircraft reaches the target point can be specifically made by establishing a set of differential equations describing the changes in the aircraft's speed, tilt angle, altitude, and flight distance.

[0037] The established set of differential equations can include a velocity variation equation, which considers the effects of air resistance and gravitational acceleration; a tilt variation equation, which considers the effects of the aircraft's radial distance, gravitational acceleration, and velocity; an altitude variation equation, which calculates altitude changes based on velocity and tilt; and a horizontal distance variation equation, which calculates horizontal distance changes based on velocity and tilt.

[0038] Using numerical integration methods (such as the Runge-Kutta method), the system integrates from the current altitude to the target altitude to ultimately determine the prediction result, that is, to determine the tilt angle of the aircraft when it reaches the target altitude. θ fyc And the remaining horizontal flight distance when the aircraft reaches the target altitude, i.e., the first remaining flight distance. R fyc .

[0039] Step 130: Based on the first remaining flight distance, calculate the second position of the aircraft when it reaches the target point at an altitude of zero angle of attack; In this invention, the first remaining flight distance is the predicted remaining horizontal flight distance when the aircraft reaches the target altitude at zero angle of attack.

[0040] In this invention, zero angle of attack flight refers to the state in which an aircraft flies at zero angle of attack (i.e., the longitudinal axis of the aircraft is aligned with the direction of the relative airflow). In this state, the lift coefficient of the aircraft is zero, and it is mainly affected by drag.

[0041] The target point height is the height of the target point, usually expressed as... hT It is the altitude that the aircraft needs to reach.

[0042] The second position is the position of the aircraft when it reaches the target altitude at zero angle of attack. This position's position vector in the target coordinate system is typically represented as... Pfyc This location is used to establish the virtual target coordinate system.

[0043] Step 140: Convert the first position vector of the aircraft in the target coordinate system into the third position vector of the aircraft in the virtual target coordinate system; calculate the missile-eye line-of-sight angular velocity correction term of the aircraft based on the third position vector and the first velocity vector; wherein, the virtual target coordinate system is a three-dimensional coordinate system constructed with the second position as the origin; In this invention, the virtual target coordinate system is based on the second position. Pfyc A three-dimensional coordinate system is constructed with the origin as the reference point. The coordinate axes of this system are typically aligned with the target coordinate system. The virtual target coordinate system is used for subsequent calculations of the missile-target line-of-sight angular velocity correction term, helping to more accurately adjust guidance commands.

[0044] The third position vector is the position vector of the aircraft in the virtual target coordinate system, usually represented as: P Tyc = [ PTYcx, PTYcy, PTYcz ] indicates the position of the aircraft in the virtual target coordinate system.

[0045] In this invention, the position vector of the aircraft in the target coordinate system can be transformed to the virtual target coordinate system, and the missile-target line-of-sight angular velocity correction term can be calculated. These correction terms are used to compensate for the influence of changes in aircraft speed on the missile-target line-of-sight angular velocity, thereby improving guidance accuracy and stability. The corrected term for the missile-target line-of-sight angular velocity in the traditional proportional guidance method is calculated to compensate for the influence of changes in aircraft speed on the missile-target line-of-sight angular velocity.

[0046] Step 150: Calculate the acceleration guidance command for the aircraft based on the missile-eye line-of-sight angular velocity and the correction term for the missile-eye line-of-sight angular velocity.

[0047] In this invention, the acceleration guidance command for the aircraft is calculated based on the previously calculated line-of-sight angular velocity of the missile and its correction term. This command tells the aircraft how to adjust its speed and direction to accurately fly towards the target.

[0048] First, calculate the estimated remaining flight time, which is approximately how long it will take for the aircraft to reach the target altitude. This time is estimated based on the aircraft's current position and speed, but it will not be less than 0.1 seconds to avoid unreasonable scenarios.

[0049] Then, the acceleration commands in the y and z directions are calculated separately, taking into account the difference between the missile-target line-of-sight angular velocity and the correction term. This difference reflects the deviation between the actual and ideal motion of the aircraft. This deviation is then adjusted based on the velocity and some guidance coefficients to calculate the adjusted acceleration command. Similarly, the need for terminal tilt attitude adjustment of the aircraft must be considered, and the required acceleration command is calculated by combining the velocity and correction term.

[0050] The final acceleration command is the result of comprehensively considering speed, direction adjustment, and correction terms, which enables the aircraft to fly more accurately toward the target and maintain stability when speed changes greatly.

[0051] In this invention, based on the first position vector and first velocity vector of the aircraft in the target coordinate system at the current moment, the current velocity magnitude, tilt angle, and altitude of the aircraft are determined, and the missile-target line-of-sight angular velocity is calculated. Using the aircraft's current velocity, tilt angle, and altitude, the tilt angle when the aircraft reaches the target altitude, i.e., the second tilt angle, and the remaining flight distance are predicted. Then, based on the predicted remaining flight distance, the second position of the aircraft when flying at zero angle of attack to the target altitude is calculated. Based on this, the position vector of the aircraft in the target coordinate system is transformed to a virtual target coordinate system with the second position as the origin, and a correction term for the missile-target line-of-sight angular velocity is calculated. Through coordinate transformation and correction term calculation, the influence of aircraft velocity changes on the missile-target line-of-sight angular velocity can be compensated. The traditional proportional guidance method of calculating tilt angle deviation based on the current tilt angle value is replaced by calculating tilt angle deviation based on the terminal tilt angle value when flying at zero angle of attack. This improvement can effectively compensate for the influence of changes in aircraft velocity magnitude on tilt angle deviation, and also has the advantages of simple calculation method and wide applicability. Finally, combining the original missile-target line-of-sight angular velocity and correction term, the acceleration guidance command of the aircraft is calculated. By adding line-of-sight angular velocity and tilt correction terms to the traditional proportional guidance method, the initial acceleration guidance command can be effectively reduced when the aircraft's velocity changes significantly. This improvement requires minimal modification to the algorithm but yields significant results, substantially enhancing the aircraft's attitude stability and guidance accuracy.

[0052] Optionally, before the step of determining the second velocity, first tilt angle, and first altitude of the aircraft based on the first position vector and first velocity vector of the aircraft in the target coordinate system at the current moment, the method further includes: The original position and velocity of the aircraft in the launch inertial coordinate system at the current moment are obtained based on the navigation algorithm; The original position and velocity of the aircraft in the launch inertial coordinate system are converted into the first position vector and the first velocity vector in the target coordinate system.

[0053] In this invention, the original position of the spacecraft in the launch inertial coordinate system at the current moment can be obtained according to the navigation algorithm. Original speed Therefore, the first position vector and the first velocity vector of the aircraft in the target coordinate system are: in, This is the transformation matrix from the launch inertial coordinate system to the target coordinate system. Let be the component of the spacecraft's geocentric radius vector in the target coordinate system at the current moment. Let be the component of the geocentric radius vector at the launch point in the launch inertial coordinate system. Let be the components of the geocentric radius vector of the target point in the target coordinate system. This represents the component of the Earth's rotational angular velocity in the launch inertial coordinate system.

[0054] Optionally, determining the second velocity, first tilt angle, and first altitude of the aircraft based on the first position vector and first velocity vector of the aircraft in the target coordinate system at the current moment includes: The second velocity of the aircraft is determined based on the magnitude of the first velocity vector; The radial distance of the spacecraft is determined based on the position vector magnitude of the spacecraft's geocentric radius in the target coordinate system at the current moment; The first tilt angle is determined based on the product of the first velocity vector and the position vector, and the product of the second velocity and the radial distance; The first altitude of the aircraft is determined based on the radial distance and the geocentric distance of the target point.

[0055] In this invention, the first velocity vector is the velocity vector of the aircraft in the target coordinate system, and its magnitude represents the magnitude of the aircraft's velocity, which is the second velocity. Simply put, it combines the velocity components of the aircraft in three directions to obtain a numerical value representing the actual speed of the aircraft's motion.

[0056] In this invention, the target coordinate system has the target point as its origin, and the magnitude of the aircraft's position vector in this coordinate system is the distance from the aircraft to the target point, i.e., the radial distance. This represents the straight-line distance between the aircraft and the target point.

[0057] In this invention, radial distance is the distance from the spacecraft to the target point. The geocentric distance to the target point is the distance from the Earth's center to the target point, which is a known geometric parameter of the Earth.

[0058] First, the second velocity of the aircraft is determined based on the magnitude of the first velocity vector, which reflects the aircraft's speed of motion in space.

[0059] Next, using the position vector magnitude of the spacecraft's geocentric radius at the current moment in the target coordinate system, the straight-line distance from the spacecraft to the target point, i.e., the radial distance, is obtained.

[0060] Then, by combining the dot product of the first velocity vector and the position vector, and the product of the second velocity and the radial distance, the first tilt angle is calculated using trigonometric functions. This tilt angle reflects the angular relationship between the velocity direction and the radial direction of the aircraft.

[0061] Finally, by subtracting the geocentric distance of the target point from the radial distance, the altitude of the aircraft relative to the target point, i.e., the first altitude, is obtained. This process integrates the aircraft's velocity and position information, thereby accurately depicting the aircraft's motion and relative position in the target coordinate system.

[0062] Specifically, the formulas for calculating the second velocity, first tilt angle, and first altitude of the aircraft are as follows: ; in, This represents the dot product of two vectors.

[0063] Optionally, based on the second speed, first tilt angle, and first altitude of the aircraft, predicting the second tilt angle and first remaining flight distance at the altitude of the aircraft when it reaches the target point includes: Based on the atmospheric density of the aircraft at the first altitude, the drag coefficient corresponding to zero angle of attack, the aircraft mass and gravitational acceleration, the original differential equations of the aircraft are constructed. The original differential equations include: velocity change equation, tilt angle change equation and horizontal distance change equation. Divide the original set of differential equations by the altitude differential equation to obtain the target set of differential equations. Then, by using numerical integration, integrate from the first altitude to the target altitude to determine the second tilt angle and the first remaining flight distance of the aircraft flying at zero angle of attack to the target altitude.

[0064] In this invention, a set of primitive differential equations for the aircraft is first constructed. This set of equations is based on factors such as the atmospheric density at the current altitude, the drag coefficient at zero angle of attack, the aircraft's mass, and gravitational acceleration. The primitive differential equations include a velocity variation equation, which describes the change of the aircraft's velocity over time, affected by air drag and gravitational acceleration; a tilt angle variation equation, which characterizes the change of the aircraft's tilt angle over time, related to the aircraft's velocity, radial distance, and gravitational acceleration; and a horizontal distance variation equation, which reflects the cumulative horizontal flight distance of the aircraft over time.

[0065] Next, the original system of differential equations is divided by the altitude differential equation. The purpose of this is to transform the independent variable from time to altitude, which allows for a more intuitive analysis of the aircraft's state changes at different altitudes. Through this transformation, the target system of differential equations is obtained.

[0066] Finally, using numerical integration, the altitude of the aircraft is integrated along its flight trajectory from its current altitude to the target altitude. The initial conditions for this process are the aircraft's current state, including velocity, tilt angle, and altitude. Through integration, the second tilt angle and the first remaining flight distance when the aircraft reaches the target altitude at zero angle of attack can be predicted. This provides crucial predictive data for subsequent aircraft guidance, helping to adjust the aircraft's flight state and ensure its accurate arrival at the target point.

[0067] Specifically, when the aircraft flies at zero angle of attack, the differential equations for its velocity, tilt angle, altitude, and flight distance are as follows: in, The atmospheric density corresponding to the aircraft's current altitude can be obtained from standard atmospheric data tables. For aerodynamic reference area, This represents the drag coefficient corresponding to zero angle of attack. For the mass of the aircraft, This is the gravitational acceleration experienced by the aircraft. Dividing the differential equations for velocity, tilt angle, and flight distance by the differential equation for altitude yields... In this invention, the above differential equation is used to determine the current height. Integral to target point height The altitude at which the aircraft flies to the target point at zero angle of attack can be obtained. Inclination angle Remaining flight distance .

[0068] Optionally, the method for calculating the angular velocity of the projectile's line of sight includes: Based on the first position vector of the aircraft in the target coordinate system, calculate the distance from the aircraft to the target point, as well as the azimuth and pitch angles of the aircraft; Based on the azimuth and pitch angles, a rotation matrix is ​​constructed for the missile-eye view coordinate system, and the first velocity vector is transformed into the actual coordinate system to obtain the velocity components of the aircraft in the missile-eye line-of-sight coordinate system. The angular velocity of the aircraft in the line-of-sight coordinate system is calculated based on the distance from the aircraft to the target point and the velocity component of the aircraft in the line-of-sight coordinate system.

[0069] In this invention, the distance from the aircraft to the target point, as well as the azimuth and pitch angles of the aircraft, are calculated based on the first position vector of the aircraft in the target coordinate system. The distance from the aircraft to the target point is obtained by solving for the magnitude of the position vector; this distance tells us how far the aircraft is from the target point in the target coordinate system. The azimuth angle is the aircraft's orientation relative to the target point on the horizontal plane, while the pitch angle is the aircraft's angular position relative to the target point on the vertical plane.

[0070] Next, a rotation matrix is ​​constructed using the obtained azimuth and pitch angles to establish the missile-eye line-of-sight coordinate system. This rotation matrix changes the viewing angle of the coordinate system, transforming it from the target coordinate system to a coordinate system based on the missile-eye line-of-sight. Through this rotation matrix, the aircraft's first velocity vector in the target coordinate system is transformed to the missile-eye line-of-sight coordinate system, thus obtaining the aircraft's velocity components in the missile-eye line-of-sight coordinate system. This step is similar to adjusting the observation angle to more clearly observe the aircraft's motion relative to the target.

[0071] Based on the distance between the aircraft and the target point, and the velocity components in the missile-target line-of-sight coordinate system, the aircraft's missile-target line-of-sight angular velocity is calculated. This angular velocity reflects how quickly the aircraft's line-of-sight angle relative to the target changes over time, and is an important basis for the guidance system to adjust the aircraft's flight path.

[0072] Specifically, based on the first position vector of the spacecraft in the target coordinate system at the current moment. and the first velocity vector The angular velocity of the projectile's line of sight can be calculated as follows: in, and These are the unit rotation matrices about the y-axis and the z-axis, respectively.

[0073] Optionally, converting the first position vector of the aircraft in the target coordinate system into a third position vector of the aircraft in the virtual target coordinate system, and calculating the missile-target line-of-sight angular velocity correction term based on the third position vector and the first velocity vector, includes: A virtual target coordinate system is constructed with the second position as the origin, and the first position vector of the aircraft in the target coordinate system is converted into the third position vector of the aircraft in the virtual target coordinate system; Based on the third position vector, calculate the azimuth and pitch components of the aircraft, as well as the target distance from the aircraft to the target point; Based on the azimuth component and the pitch component, a rotation matrix of the virtual target coordinate system is constructed, so as to convert the first velocity vector into the third velocity vector of the aircraft in the virtual target coordinate system according to the rotation matrix of the virtual target coordinate system. Based on the third velocity vector and the target distance from the aircraft to the target point, the angular velocity correction term of the aircraft's missile-eye line of sight is calculated.

[0074] In this invention, a new three-dimensional coordinate system, namely the virtual target coordinate system, is constructed based on the second position obtained in the above embodiments (i.e., the position when the aircraft reaches the target height at zero angle of attack) as the origin. The coordinate axes of this coordinate system are consistent with those of the original target coordinate system, ensuring that the orientation and direction of the coordinate system are the same, with only the origin position changing.

[0075] The first position vector of the aircraft in the original target coordinate system is transformed to the virtual target coordinate system through coordinate translation, resulting in the third position vector of the aircraft in the virtual target coordinate system. This step is equivalent to changing the reference point of the position vector from the original target point to the predicted second position, thus reflecting the positional relationship of the aircraft relative to the new reference point.

[0076] Based on the transformed third position vector, the azimuth and pitch components of the aircraft in the virtual target coordinate system are calculated. The azimuth component represents the azimuth angle of the aircraft relative to the origin of the virtual target coordinate system on the horizontal plane, while the pitch component represents the pitch angle of the aircraft relative to the origin of the virtual target coordinate system on the vertical plane. These two components together describe the aircraft's pointing in space.

[0077] Simultaneously, the target distance from the aircraft to the origin of the virtual target coordinate system (i.e., the target point) is calculated based on the third position vector. This distance reflects the straight-line distance between the aircraft and the target point in the virtual target coordinate system.

[0078] Using the obtained azimuth and pitch components, a rotation matrix is ​​constructed. This rotation matrix is ​​used to transform the aircraft's velocity vector from the original target coordinate system to the virtual target coordinate system, so as to reflect the direction and magnitude of the aircraft's velocity in the new coordinate system.

[0079] The first velocity vector of the aircraft in the original target coordinate system is transformed to the virtual target coordinate system using the aforementioned rotation matrix to obtain the third velocity vector. This step ensures that the transformation of the velocity vector is consistent with the transformation of the position vector, maintaining the integrity of the aircraft's motion state.

[0080] Finally, combining the target distance from the aircraft to the target point and the third velocity vector in the virtual target coordinate system, a correction term for the missile-target line-of-sight angular velocity is calculated. This correction term is used to adjust the guidance commands to compensate for the impact of changes in aircraft velocity on the missile-target line-of-sight angular velocity, thereby improving the accuracy and stability of guidance.

[0081] More specifically, calculate the altitude at which the aircraft flies to the target point at zero angle of attack. The distance between the current position and the target point is: So, the position of this location in the target coordinate system for: By establishing a virtual target coordinate system at this location, the current position of the spacecraft within the virtual target coordinate system can be obtained: Therefore, the correction term for the angular velocity of the projectile-eye line of sight can be calculated as follows: In this invention, the correction term is used to adjust the guidance command to compensate for the influence of changes in aircraft speed on the missile-target line-of-sight angular velocity, thereby improving the accuracy and stability of guidance.

[0082] Optionally, the acceleration guidance command of the aircraft is calculated based on the missile-target line-of-sight angular velocity and the missile-target line-of-sight angular velocity correction term, including: Based on the target distance from the aircraft to the target point and the velocity component of the x-axis in the first velocity vector, the estimated remaining flight time of the aircraft is determined; Based on the second velocity, azimuth component, terminal tilt constraint value, second tilt angle, and the missile-eye line-of-sight angular velocity correction term of the aircraft, calculate the y-axis acceleration guidance command of the aircraft; Based on the second velocity of the aircraft, the pitch component, and the line-of-sight angular velocity correction term of the missile, the z-axis acceleration guidance command of the aircraft is calculated.

[0083] In this invention, firstly, an estimated remaining flight time for the aircraft is determined. This estimate is based on the target distance from the aircraft to the target point and the velocity component along the x-axis of the first velocity vector. Using these two parameters, the time required for the aircraft to reach the target point at its current speed can be roughly calculated. However, this estimate is ensured to be at least 0.1 to avoid unreasonably small values.

[0084] Next, the y-axis acceleration guidance command for the aircraft is calculated. This requires comprehensive consideration of the aircraft's second velocity, azimuth component, terminal tilt constraint value, second tilt angle, and the target line-of-sight angular velocity correction term. The purpose of considering these factors is to adjust the aircraft's velocity along the y-axis to ensure that the aircraft can accurately fly towards the target at the predetermined tilt angle and direction. The correction term is introduced to compensate for the effects of velocity changes and improve the stability of the aircraft's attitude.

[0085] Finally, the z-axis acceleration guidance command for the aircraft is calculated. This is primarily based on the aircraft's second velocity, pitch component, and the correction term for the missile-target line-of-sight angular velocity. These parameters determine the aircraft's acceleration adjustment along the z-axis to ensure that the aircraft's vertical motion meets guidance requirements, achieving precise altitude control and flight path adjustment.

[0086] More specifically, the aircraft's acceleration guidance command is in, and These are acceleration guidance commands in the y and z directions, respectively. This is an estimate of the remaining flight time. This is the terminal tilt angle constraint value; , , The guide coefficient can take the following values: , , Compared with the calculation formula of the traditional proportional guidance method, the proportional guidance method proposed in this invention adds a correction term for the angular velocity of the missile-target line of sight. and Meanwhile, the calculation of the tilt angle deviation is changed from the difference between the tilt angle at the current moment and the terminal constraint value to the difference between the terminal tilt angle and the terminal constraint value when flying at zero angle of attack. This change is the tilt angle correction term.

[0087] In this invention, by determining the estimated remaining flight time and calculating the y-axis and z-axis acceleration guidance commands, the aircraft can adjust its flight attitude and speed in real time according to the current state and correction terms, ensuring precise guidance.

[0088] The proportional guidance device with a missile-eye line-of-sight angular velocity correction term provided by the present invention is described below. The proportional guidance device with a missile-eye line-of-sight angular velocity correction term described below can be referred to in correspondence with the proportional guidance method with a missile-eye line-of-sight angular velocity correction term described above.

[0089] Figure 2 This is a schematic diagram of the proportional guidance device with a line-of-sight angular velocity correction term provided by the present invention, as shown below. Figure 2 As shown, it includes: The first calculation module 210 is used to determine the second velocity, first tilt angle, and first altitude of the aircraft based on the first position vector and first velocity vector of the aircraft in the target coordinate system at the current moment, and to calculate the angular velocity of the aircraft's line of sight to the target; wherein, the target coordinate system is a three-axis coordinate system constructed with the target point as the origin; The prediction module 220 is used to predict, based on the second speed, the first tilt angle, and the first altitude of the aircraft, the second tilt angle and the first remaining flight distance when the aircraft reaches the altitude of the target point at zero angle of attack. The second calculation module 230 is used to calculate the second position of the aircraft when it flies to the target point at zero angle of attack, based on the first remaining flight distance; The third calculation module 240 is used to convert the first position vector of the aircraft in the target coordinate system into the third position vector of the aircraft in the virtual target coordinate system, and calculate the missile-eye line-of-sight angular velocity correction term of the aircraft based on the third position vector and the first velocity vector; wherein, the virtual target coordinate system is a three-dimensional coordinate system constructed with the second position as the origin; The fourth calculation module 250 is used to calculate the acceleration guidance command of the aircraft based on the missile-eye line-of-sight angular velocity and the missile-eye line-of-sight angular velocity correction term.

[0090] According to the present invention, a proportional guidance device with a missile-target line-of-sight angular velocity correction term is provided, the device is further used for: The original position and velocity of the aircraft in the launch inertial coordinate system at the current moment are obtained based on the navigation algorithm; The original position and velocity of the aircraft in the launch inertial coordinate system are converted into the first position vector and the first velocity vector in the target coordinate system.

[0091] According to the present invention, a proportional guidance device with a missile-target line-of-sight angular velocity correction term is provided, the device is further used for: The second velocity of the aircraft is determined based on the magnitude of the first velocity vector; The radial distance of the spacecraft is determined based on the position vector magnitude of the spacecraft's geocentric radius in the target coordinate system at the current moment; The first tilt angle is determined based on the product of the first velocity vector and the position vector, and the product of the second velocity and the radial distance; The first altitude of the aircraft is determined based on the radial distance and the geocentric distance of the target point.

[0092] According to the present invention, a proportional guidance device with a missile-target line-of-sight angular velocity correction term is provided, the device is further used for: Based on the second speed, first tilt angle, and first altitude of the aircraft, predict the second tilt angle and first remaining flight distance of the aircraft when it reaches the target point, including: Based on the atmospheric density of the aircraft at the first altitude, the drag coefficient corresponding to zero angle of attack, the aircraft mass and gravitational acceleration, the original differential equations of the aircraft are constructed. The original differential equations include: velocity change equation, tilt angle change equation and horizontal distance change equation. Divide the original set of differential equations by the altitude differential equation to obtain the target set of differential equations. Then, by using numerical integration, integrate from the first altitude to the target altitude to determine the second tilt angle and the first remaining flight distance of the aircraft flying at zero angle of attack to the target altitude.

[0093] According to the present invention, a proportional guidance device with a missile-target line-of-sight angular velocity correction term is provided, the device is further used for: Based on the first position vector of the aircraft in the target coordinate system, calculate the distance from the aircraft to the target point, as well as the azimuth and pitch angles of the aircraft; Based on the azimuth and pitch angles, a rotation matrix is ​​constructed for the missile-eye view coordinate system, and the first velocity vector is transformed into the actual coordinate system to obtain the velocity components of the aircraft in the missile-eye line-of-sight coordinate system. The angular velocity of the aircraft in the line-of-sight coordinate system is calculated based on the distance from the aircraft to the target point and the velocity component of the aircraft in the line-of-sight coordinate system.

[0094] According to the present invention, a proportional guidance device with a missile-target line-of-sight angular velocity correction term is provided, the device is further used for: A virtual target coordinate system is constructed with the second position as the origin, and the first position vector of the aircraft in the target coordinate system is converted into the third position vector of the aircraft in the virtual target coordinate system; Based on the third position vector, calculate the azimuth and pitch components of the aircraft, as well as the target distance from the aircraft to the target point; Based on the azimuth component and the pitch component, a rotation matrix of the virtual target coordinate system is constructed, so as to convert the first velocity vector into the third velocity vector of the aircraft in the virtual target coordinate system according to the rotation matrix of the virtual target coordinate system. Based on the third velocity vector and the target distance from the aircraft to the target point, the angular velocity correction term of the aircraft's missile-eye line of sight is calculated.

[0095] According to the present invention, a proportional guidance device with a missile-target line-of-sight angular velocity correction term is provided, the device is further used for: Based on the target distance from the aircraft to the target point and the velocity component of the x-axis in the first velocity vector, the estimated remaining flight time of the aircraft is determined; Based on the second velocity, azimuth component, terminal tilt constraint value, second tilt angle, and the missile-eye line-of-sight angular velocity correction term of the aircraft, calculate the y-axis acceleration guidance command of the aircraft; Based on the second velocity of the aircraft, the pitch component, and the line-of-sight angular velocity correction term of the missile, the z-axis acceleration guidance command of the aircraft is calculated.

[0096] In this embodiment of the invention, based on the first position vector and first velocity vector of the aircraft in the target coordinate system at the current moment, the current velocity magnitude, tilt angle, and altitude of the aircraft are determined, and the missile-target line-of-sight angular velocity is calculated. Using the aircraft's current velocity, tilt angle, and altitude, the tilt angle when the aircraft reaches the target altitude (i.e., the second tilt angle) and remaining flight distance are predicted. Then, based on the predicted remaining flight distance, the second position of the aircraft when flying at zero angle of attack to the target altitude is calculated. Based on this, the position vector of the aircraft in the target coordinate system is transformed to a virtual target coordinate system with the second position as the origin, and a correction term for the missile-target line-of-sight angular velocity is calculated. Through coordinate transformation and correction term calculation, the influence of aircraft velocity changes on the missile-target line-of-sight angular velocity can be compensated. The traditional proportional guidance method of calculating tilt angle deviation based on the current tilt angle value is replaced with calculating tilt angle deviation based on the terminal tilt angle value when flying at zero angle of attack. This improvement can effectively compensate for the influence of changes in aircraft velocity magnitude on tilt angle deviation, and also has the advantages of simple calculation method and wide applicability. Finally, combining the original missile-target line-of-sight angular velocity and correction term, the acceleration guidance command of the aircraft is calculated. By adding line-of-sight angular velocity and tilt correction terms to the traditional proportional guidance method, the initial acceleration guidance command can be effectively reduced when the aircraft's velocity changes significantly. This improvement requires minimal modification to the algorithm but yields significant results, substantially enhancing the aircraft's attitude stability and guidance accuracy.

[0097] Figure 3 This is a schematic diagram of the structure of the electronic device provided by the present invention, such as... Figure 3 As shown, the electronic device may include: a processor 310, a communications interface 320, a memory 330, and a communication bus 340, wherein the processor 310, communications interface 320, and memory 330 communicate with each other via the communication bus 340. The processor 310 can call logical instructions in the memory 330 to execute a proportional guidance method with a target-line-of-sight angular velocity correction term. This method includes: determining the second velocity, first tilt angle, and first altitude of the aircraft based on the first position vector and first velocity vector of the aircraft in the target coordinate system at the current moment, and calculating the target-line-of-sight angular velocity of the aircraft; wherein the target coordinate system is a three-axis coordinate system constructed with the target point as the origin. Based on the second speed, first tilt angle, and first altitude of the aircraft, predict the second tilt angle and first remaining flight distance when the aircraft reaches the altitude of the target point at zero angle of attack. Based on the first remaining flight distance, calculate the second position of the aircraft when it reaches the target point at an altitude with zero angle of attack; The first position vector of the aircraft in the target coordinate system is converted into the third position vector of the aircraft in the virtual target coordinate system. Based on the third position vector and the first velocity vector, the angular velocity correction term of the aircraft's line of sight is calculated. The virtual target coordinate system is a three-dimensional coordinate system constructed with the second position as the origin. The acceleration guidance command of the aircraft is calculated based on the missile-eye line-of-sight angular velocity and the correction term of the missile-eye line-of-sight angular velocity.

[0098] Furthermore, the logical instructions in the aforementioned memory 330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0099] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the proportional guidance method with a missile-target line-of-sight angular velocity correction term provided by the above methods. The method includes: determining the second velocity, first tilt angle, and first altitude of the aircraft based on the first position vector and first velocity vector of the aircraft in the target coordinate system at the current moment, and calculating the missile-target line-of-sight angular velocity of the aircraft; wherein the target coordinate system is a three-axis coordinate system constructed with the target point as the origin; Based on the second speed, first tilt angle, and first altitude of the aircraft, predict the second tilt angle and first remaining flight distance when the aircraft reaches the altitude of the target point; Based on the first remaining flight distance, calculate the second position of the aircraft when it reaches the target point at an altitude with zero angle of attack; The first position vector of the aircraft in the target coordinate system is converted into the third position vector of the aircraft in the virtual target coordinate system. Based on the third position vector and the first velocity vector, the angular velocity correction term of the aircraft's line of sight is calculated. The virtual target coordinate system is a three-dimensional coordinate system constructed with the second position as the origin. The acceleration guidance command of the aircraft is calculated based on the missile-eye line-of-sight angular velocity and the correction term of the missile-eye line-of-sight angular velocity.

[0100] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements a proportional guidance method with a missile-target line-of-sight angular velocity correction term provided by the methods described above. The method includes: determining a second velocity, a first tilt angle, and a first altitude of the aircraft based on a first position vector and a first velocity vector of the aircraft in the target coordinate system at the current moment, and calculating the missile-target line-of-sight angular velocity of the aircraft; wherein the target coordinate system is a three-axis coordinate system constructed with the target point as the origin; Based on the second speed, first tilt angle, and first altitude of the aircraft, predict the second tilt angle and first remaining flight distance when the aircraft reaches the altitude of the target point at zero angle of attack. Based on the first remaining flight distance, calculate the second position of the aircraft when it reaches the target point at an altitude with zero angle of attack; The first position vector of the aircraft in the target coordinate system is converted into the third position vector of the aircraft in the virtual target coordinate system. Based on the third position vector and the first velocity vector, the angular velocity correction term of the aircraft's line of sight is calculated. The virtual target coordinate system is a three-dimensional coordinate system constructed with the second position as the origin. The acceleration guidance command of the aircraft is calculated based on the missile-eye line-of-sight angular velocity and the correction term of the missile-eye line-of-sight angular velocity.

[0101] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0102] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0103] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A proportional guidance method with a line-of-sight angular velocity correction term, characterized in that, include: Based on the first position vector and first velocity vector of the aircraft in the target coordinate system at the current moment, the second velocity, first tilt angle and first altitude of the aircraft are determined, and the angular velocity of the aircraft along the line of sight is calculated; wherein, the target coordinate system is a three-axis coordinate system constructed with the target point as the origin; Based on the second speed, first tilt angle, and first altitude of the aircraft, predict the second tilt angle and first remaining flight distance when the aircraft reaches the altitude of the target point at zero angle of attack. Based on the first remaining flight distance, calculate the second position of the aircraft when it reaches the target point at an altitude with zero angle of attack; The first position vector of the aircraft in the target coordinate system is converted into the third position vector of the aircraft in the virtual target coordinate system. Based on the third position vector and the first velocity vector, the angular velocity correction term of the aircraft's line of sight is calculated. The virtual target coordinate system is a three-dimensional coordinate system constructed with the second position as the origin. Based on the missile-eye line-of-sight angular velocity of the aircraft and the correction term for the missile-eye line-of-sight angular velocity, calculate the acceleration guidance command of the aircraft; The step of converting the first position vector of the aircraft in the target coordinate system into a third position vector of the aircraft in the virtual target coordinate system, and calculating the missile-target line-of-sight angular velocity correction term based on the third position vector and the first velocity vector, includes: A virtual target coordinate system is constructed with the second position as the origin, and the first position vector of the aircraft in the target coordinate system is converted into the third position vector of the aircraft in the virtual target coordinate system; Based on the third position vector, calculate the azimuth and pitch components of the aircraft, as well as the target distance from the aircraft to the target point; Based on the azimuth component and the pitch component, a rotation matrix of the virtual target coordinate system is constructed, so as to convert the first velocity vector into the third velocity vector of the aircraft in the virtual target coordinate system according to the rotation matrix of the virtual target coordinate system. Based on the third velocity vector and the target distance from the aircraft to the target point, the angular velocity correction term of the aircraft's missile-eye line of sight is calculated.

2. The proportional guidance method with a line-of-sight angular velocity correction term as described in claim 1, characterized in that, Before the step of determining the second velocity, first tilt angle, and first altitude of the aircraft based on the first position vector and first velocity vector of the aircraft in the target coordinate system at the current moment, the method further includes: The original position and velocity of the aircraft in the launch inertial coordinate system at the current moment are obtained based on the navigation algorithm; The original position and velocity of the aircraft in the launch inertial coordinate system are converted into the first position vector and the first velocity vector in the target coordinate system.

3. The proportional guidance method according to claim 1, characterized in that, The step of determining the second velocity, first tilt angle, and first altitude of the aircraft based on the first position vector and first velocity vector of the aircraft in the target coordinate system at the current moment includes: The second velocity of the aircraft is determined based on the magnitude of the first velocity vector; The radial distance of the spacecraft is determined based on the position vector magnitude of the spacecraft's geocentric radius in the target coordinate system at the current moment; The first tilt angle is determined based on the product of the first velocity vector and the position vector, and the product of the second velocity and the radial distance; The first altitude of the aircraft is determined based on the radial distance and the geocentric distance of the target point.

4. The proportional guidance method with a line-of-sight angular velocity correction term as described in claim 1, characterized in that, Based on the second speed, first tilt angle, and first altitude of the aircraft, predict the second tilt angle and first remaining flight distance of the aircraft when it reaches the target point, including: Based on the atmospheric density of the aircraft at the first altitude, the drag coefficient corresponding to zero angle of attack, the aircraft mass and gravitational acceleration, the original differential equations of the aircraft are constructed. The original differential equations include: velocity change equation, tilt angle change equation and horizontal distance change equation. Divide the original set of differential equations by the altitude differential equation to obtain the target set of differential equations. Then, by using numerical integration, integrate from the first altitude to the target altitude to determine the second tilt angle and the first remaining flight distance of the aircraft flying at zero angle of attack to the target altitude.

5. The proportional guidance method with a line-of-sight angular velocity correction term as described in claim 1, characterized in that, The method for calculating the line-of-sight angular velocity of the aircraft includes: Based on the first position vector of the aircraft in the target coordinate system, calculate the distance from the aircraft to the target point, as well as the azimuth and pitch angles of the aircraft; Based on the azimuth and pitch angles, a rotation matrix is ​​constructed for the missile-eye view coordinate system, and the first velocity vector is transformed into the actual coordinate system to obtain the velocity components of the aircraft in the missile-eye line-of-sight coordinate system. The angular velocity of the aircraft in the line-of-sight coordinate system is calculated based on the distance from the aircraft to the target point and the velocity component of the aircraft in the line-of-sight coordinate system.

6. The proportional guidance method with a line-of-sight angular velocity correction term according to claim 1, characterized in that, Based on the projectile's line-of-sight angular velocity and the correction term for the line-of-sight angular velocity, the acceleration guidance command for the projectile is calculated, including: Based on the target distance from the aircraft to the target point and the velocity component of the x-axis in the first velocity vector, the estimated remaining flight time of the aircraft is determined; Based on the second velocity, azimuth component, terminal tilt constraint value, second tilt angle, and the missile-eye line-of-sight angular velocity correction term of the aircraft, calculate the y-axis acceleration guidance command of the aircraft; Based on the second velocity of the aircraft, the pitch component, and the line-of-sight angular velocity correction term of the missile, the z-axis acceleration guidance command of the aircraft is calculated.

7. A proportional guidance device with a line-of-sight angular velocity correction term, characterized in that, include: The first calculation module is used to determine the second velocity, first tilt angle, and first altitude of the aircraft based on the first position vector and first velocity vector of the aircraft in the target coordinate system at the current moment, and to calculate the angular velocity of the aircraft's line of sight to the target; wherein, the target coordinate system is a three-axis coordinate system constructed with the target point as the origin; The prediction module is used to predict, based on the second speed, the first tilt angle, and the first altitude of the aircraft, the second tilt angle and the first remaining flight distance when the aircraft reaches the altitude of the target point; The second calculation module is used to calculate the second position of the aircraft when it flies to the target point at zero angle of attack, based on the first remaining flight distance; The third calculation module is used to convert the first position vector of the aircraft in the target coordinate system into the third position vector of the aircraft in the virtual target coordinate system, and calculate the missile-eye line-of-sight angular velocity correction term of the aircraft based on the third position vector and the first velocity vector; wherein, the virtual target coordinate system is a three-dimensional coordinate system constructed with the second position as the origin; The fourth calculation module is used to calculate the acceleration guidance command of the aircraft based on the missile-eye line-of-sight angular velocity and the missile-eye line-of-sight angular velocity correction term; The device is also used for: A virtual target coordinate system is constructed with the second position as the origin, and the first position vector of the aircraft in the target coordinate system is converted into the third position vector of the aircraft in the virtual target coordinate system; Based on the third position vector, calculate the azimuth and pitch components of the aircraft, as well as the target distance from the aircraft to the target point; Based on the azimuth component and the pitch component, a rotation matrix of the virtual target coordinate system is constructed, so as to convert the first velocity vector into the third velocity vector of the aircraft in the virtual target coordinate system according to the rotation matrix of the virtual target coordinate system. Based on the third velocity vector and the target distance from the aircraft to the target point, the angular velocity correction term of the aircraft's missile-eye line of sight is calculated.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the proportional guidance method with a line-of-sight angular velocity correction term as described in any one of claims 1 to 5.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the proportional guidance method with a line-of-sight angular velocity correction term as described in any one of claims 1 to 5.

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