Three-dimensional guidance method with angle constraint based on target virtual velocity

Abstract

The application relates to the technical field of aerospace guidance, in particular to a three-dimensional guidance method based on target virtual speed and angle constraint, which comprises the following steps: acquiring actual positions and actual speeds of an interceptor and an intercepted target at a current time; taking a relative speed deflection angle and a relative speed inclination angle of the interceptor and the intercepted target at an expected interception time as angle constraint conditions, calculating a virtual speed of the intercepted target according to the actual speeds of the interceptor and the intercepted target at the current time; superimposing the actual speed and the virtual speed of the intercepted target, calculating a relative position of the interceptor and the intercepted target according to the actual positions of the interceptor and the intercepted target at the current time, and performing three-dimensional guidance on the interceptor according to the superimposed speed, the relative position and the actual speed of the interceptor. Thus, the problems that the interceptor guidance in the related art is highly dependent on target state information, the guidance precision and the interception reliability are affected and the like are solved.

Description

Technical Field

[0001] This application relates to the field of aerospace guidance technology, and in particular to a three-dimensional guidance method based on the angle constraint of the target's virtual velocity. Background Technology

[0002] In the field of aerospace guidance, in three-dimensional guidance scenarios targeting intercepted targets, the desired interception time angle constraint is one of the key requirements for improving interception effectiveness. However, in practical applications, the desired interception time angle constraint guidance method suffers from a high dependence on target state information. Complete parameters such as target acceleration are required for accurate guidance, but in complex battlefield environments, the target state is difficult to perceive comprehensively and accurately, affecting guidance accuracy and interception reliability. Summary of the Invention

[0003] This application provides a three-dimensional guidance method, device, equipment, and medium based on the angle constraint of the target's virtual velocity, in order to solve the problems in related technologies such as the high dependence on the target's state information during interceptor guidance, which affects guidance accuracy and interception reliability.

[0004] The first aspect of this application provides a three-dimensional guidance method based on the virtual velocity of a target with angle constraints, comprising the following steps: obtaining the actual position and actual velocity of the interceptor and the intercepted target at the current moment; using the relative velocity deflection angle and relative velocity tilt angle between the interceptor and the intercepted target at the desired interception moment as angle constraints, calculating the virtual velocity of the intercepted target based on the actual velocities of the interceptor and the intercepted target at the current moment; superimposing the actual velocity and virtual velocity of the intercepted target, calculating the relative position of the interceptor and the intercepted target based on the actual positions of the interceptor and the intercepted target at the current moment, and performing three-dimensional guidance on the interceptor based on the superimposed velocity, relative position, and actual velocity of the interceptor.

[0005] Based on the aforementioned technical means, this application embodiment establishes the association between angle constraints and three-dimensional guidance by constructing the target's virtual velocity. Based on the current position and velocity of the interceptor and the target, as well as the relative velocity deflection angle and relative velocity tilt angle at the desired interception moment, guidance commands are generated using simple vector operations, coordinate system transformations, and trigonometric function operations without requiring additional information such as target acceleration. This reduces the dependence on the sensing system, simplifies the calculation logic, and is suitable for small interceptors. Furthermore, it ensures the accuracy of angle constraints at the desired interception moment through real-time state updates and closed-loop verification, thereby improving guidance accuracy and interception reliability, effectively enhancing the interception effect and engineering practicality.

[0006] Optionally, using the relative velocity deflection angle and relative velocity tilt angle between the interceptor and the intercepted target at the desired interception moment as angular constraints, the virtual velocity of the intercepted target is calculated based on the actual velocities of the interceptor and the intercepted target at the current moment. This includes: obtaining the actual velocity deflection angle and actual velocity tilt angle of the intercepted target at the current moment; assuming the current moment as the desired interception moment, calculating the interceptor's direction unit vector based on the relative velocity deflection angle, relative velocity tilt angle, actual velocity deflection angle, and actual velocity tilt angle; and calculating the virtual velocity of the intercepted target based on the interceptor's direction unit vector, the interceptor's actual velocity, and the intercepted target's actual velocity.

[0007] Based on the aforementioned technical means, this application embodiment simplifies the approach by assuming the current time is the desired interception time. It combines the relative velocity deflection and relative velocity tilt angles at the desired interception time, as well as the current velocity deflection and current velocity tilt angles of the intercepted target, to derive the interceptor's directional unit vector. Based on the directional unit vector, the interceptor's actual velocity, and the target's actual velocity, a virtual velocity is calculated. The entire process does not rely on additional complex information such as target acceleration; guidance based on angular constraints can be constructed solely through the derivation of basic parameters. This simplifies the calculation logic and ensures that the virtual velocity is correlated with the angular requirements of the desired interception time, laying the foundation for subsequent high-precision guidance.

[0008] Optionally, the virtual velocity of the intercepted target is calculated based on the interceptor's direction unit vector, the interceptor's actual velocity, and the intercepted target's actual velocity. This includes: calculating the interceptor's velocity vector based on the interceptor's direction unit vector and actual velocity; determining the direction of the virtual velocity based on the interceptor's velocity vector and the intercepted target's actual velocity, and obtaining the virtual velocity's calculation gain; and calculating the virtual velocity of the intercepted target based on the virtual velocity's direction, the virtual velocity's calculation gain, and the interceptor's velocity vector.

[0009] Based on the above technical means, the embodiments of this application first synthesize a velocity vector by combining the interceptor direction unit vector with the actual velocity, and then lock the virtual velocity direction by combining the actual velocity of the target. The virtual velocity is solved by using a preset calculation gain. The whole process is based on basic motion parameters and does not require complex derivation calculations. This not only ensures the correlation between virtual velocity and angle constraints, but also simplifies the calculation logic, improves calculation efficiency, and provides a reliable motion reference for subsequent precision guidance.

[0010] Optionally, the formula for calculating the velocity vector is:

[0011] ,

[0012] in, Represents the desired velocity vector. The direction unit vector of the interceptor. This represents the actual speed of the interceptor at the current moment.

[0013] Directional unit vector for:

[0014] ,

[0015] in, This represents the x-component of the interceptor's desired velocity direction in the ground coordinate system at the moment of interception. This represents the y-component of the interceptor's expected velocity direction in the ground coordinate system at the moment of interception. The z-axis component of the interceptor's expected velocity direction at the moment of interception is represented in the ground coordinate system. The x-axis points to the local north, the y-axis points to the east, and the z-axis points to the ground.

[0016] This indicates the actual speed and tilt angle of the target being intercepted at the current moment. The relative velocity angle, The actual speed deflection angle of the target being intercepted at the current moment. This refers to the relative velocity deflection angle;

[0017] The formula for calculating the direction of virtual velocity is:

[0018] ,

[0019] in, Indicates the direction of virtual velocity. The actual speed of the target being intercepted at the current moment. relative velocity Size;

[0020] The formula for calculating the virtual velocity of the intercepted target is:

[0021] ,

[0022] in, This represents the virtual speed of the intercepted target. The computational gain represents the virtual velocity.

[0023] Optionally, the interceptor is guided in three dimensions based on the superimposed velocity, relative position, and the actual velocity of the interceptor, including: calculating the line-of-sight angular velocity based on the superimposed velocity and relative position; converting the line-of-sight angular velocity to the velocity coordinate system of the interceptor to obtain the proportional guidance law gain coefficient; calculating the interceptor's acceleration command based on the converted line-of-sight angular velocity, the proportional guidance law gain coefficient, and the actual velocity of the interceptor; and performing three-dimensional guidance on the interceptor based on the acceleration command.

[0024] Based on the aforementioned technical means, this embodiment calculates the line-of-sight angular velocity based on the superimposed velocity and relative position, adapts it to the interceptor's motion characteristics through coordinate system transformation, and then generates a precise acceleration command by combining the proportional guidance law gain coefficient and the interceptor's actual velocity. The entire guidance process relies on the guidance law, ensuring both the real-time performance and stability of three-dimensional guidance, and enabling response to angular constraints at the desired interception moment through parameter adaptation, effectively improving the reliability and adaptability of interception guidance.

[0025] Optionally, the formula for calculating the line-of-sight angular velocity is:

[0026] ,

[0027] ,

[0028] ,

[0029] in, This represents the line-of-sight angular velocity in the velocity coordinate system. This represents the transformation matrix from the ground coordinate system to the interceptor's velocity coordinate system. The line-of-sight angular velocity in the ground coordinate system. Indicates the relative position of the interceptor and the target being intercepted. Indicates the velocity after superposition. The actual velocity tilt angle of the interceptor at the current moment. This represents the actual velocity deflection angle of the interceptor at the current moment.

[0030] The acceleration command is:

[0031] ,

[0032] in, This indicates the y-axis component of the acceleration command in the velocity coordinate system. This indicates the z-axis component of the acceleration command in the velocity coordinate system. This represents the gain coefficient of the proportional guidance law. Indicates the line-of-sight angular velocity in the velocity coordinate system Axial components, Indicates the line-of-sight angular velocity in the velocity coordinate system Axial components.

[0033] Optionally, the interceptor is guided in three dimensions according to the acceleration command, including: inputting the acceleration command and the actual position and actual velocity of the interceptor at the current moment into a pre-established three-dimensional guidance dynamics model, and updating the actual position and actual velocity of the interceptor at the next moment through the three-dimensional guidance dynamics model.

[0034] Based on the aforementioned technical means, this embodiment of the application inputs the acceleration command along with the interceptor's current position and velocity parameters into a three-dimensional guidance dynamics model. The model then updates the interceptor's position and velocity information in real time for the next moment. This process constructs a complete guidance state closed loop, allowing the execution effect of the guidance command to be quickly fed back as the interceptor's motion state parameters. This provides accurate basic data support for the next round of virtual velocity calculation and guidance command generation, ensuring the continuity and accuracy of three-dimensional guidance.

[0035] Optionally, the three-dimensional guidance dynamics model is configured with interception success conditions and angle constraints, and the expression of the three-dimensional guidance dynamics model is:

[0036] ,

[0037] in, Indicates the interceptor in the ground coordinate system Rate of change of position of the axis Indicates the interceptor in the ground coordinate system Rate of change of position of the axis Indicates the interceptor in the ground coordinate system Rate of change of position of the axis The actual velocity tilt angle of the interceptor at the current moment. The actual velocity deflection angle of the interceptor at the current moment. The rate of change of the interceptor's velocity deflection angle. The rate of change of the interceptor's velocity tilt angle. This indicates the y-axis component of the acceleration command in the velocity coordinate system. This indicates the z-axis component of the acceleration command in the velocity coordinate system;

[0038] The formula for calculating the conditions for successful interception is as follows:

[0039] ,

[0040] in, The actual position of the interceptor at the expected interception moment. The actual location of the target to be intercepted at the desired moment. The expected interception time;

[0041] The formula for calculating the angle constraint is:

[0042] ,

[0043] in, The actual velocity deflection angle of the interceptor at the desired interception moment. The actual velocity deflection angle of the target at the desired interception moment. The actual velocity tilt angle of the interceptor at the desired interception moment. The actual velocity angle of the target at the desired interception moment. Let the relative velocity deflection angle between the interceptor and the target be the desired moment of interception. The relative velocity angle between the interceptor and the target at the desired interception moment.

[0044] Optionally, before obtaining the actual position and actual velocity of the interceptor and the intercepted target at the current moment, the method further includes: obtaining the parameter configuration requirements of the interceptor; and determining the calculation gain and proportional guidance law gain coefficient based on the parameter configuration requirements.

[0045] Based on the aforementioned technical means, this embodiment of the application first obtains the interceptor's parameter configuration requirements before formally conducting guidance calculations, and determines the virtual velocity calculation gain and proportional guidance law gain coefficient accordingly. By configuring the parameters in advance, the calculation parameters can be flexibly adjusted for different interception scenarios and performance requirements, making the guidance method more adaptable. At the same time, it avoids redundant calculations of repeated parameter adjustments during the guidance process, ensuring the efficiency and stability of subsequent guidance procedures.

[0046] A second aspect of this application provides a three-dimensional guidance device based on the virtual velocity of a target with angle constraints, comprising: an acquisition module for acquiring the actual position and actual velocity of the interceptor and the intercepted target at the current moment; a calculation module for calculating the virtual velocity of the intercepted target based on the actual velocities of the interceptor and the intercepted target at the desired interception moment, using the relative velocity deflection angle and relative velocity tilt angle of the interceptor and the intercepted target at the desired interception moment as angle constraints; and a guidance module for superimposing the actual velocity and virtual velocity of the intercepted target, calculating the relative position of the interceptor and the intercepted target based on their actual positions at the current moment, and performing three-dimensional guidance on the interceptor based on the superimposed velocity, relative position, and the actual velocity of the interceptor.

[0047] Optionally, the calculation module is used to: obtain the actual velocity deflection angle and actual velocity tilt angle of the intercepted target at the current moment; assume the current moment as the desired interception moment, and calculate the interceptor's direction unit vector based on the relative velocity deflection angle, relative velocity tilt angle, actual velocity deflection angle, and actual velocity tilt angle; and calculate the virtual velocity of the intercepted target based on the interceptor's direction unit vector, the interceptor's actual velocity, and the intercepted target's actual velocity.

[0048] Optionally, the calculation module is used to: calculate the interceptor's velocity vector based on the interceptor's direction unit vector and the actual velocity; determine the direction of the virtual velocity based on the interceptor's velocity vector and the actual velocity of the intercepted target, and obtain the calculation gain of the virtual velocity; and calculate the virtual velocity of the intercepted target based on the direction of the virtual velocity, the calculation gain of the virtual velocity, and the interceptor's velocity vector.

[0049] Optionally, the formula for calculating the velocity vector is:

[0050] ,

[0051] in, Represents the desired velocity vector. The direction unit vector of the interceptor. This represents the actual speed of the interceptor at the current moment.

[0052] Directional unit vector for:

[0053] ,

[0054] in, This represents the x-component of the interceptor's desired velocity direction in the ground coordinate system at the moment of interception. This represents the y-component of the interceptor's expected velocity direction in the ground coordinate system at the moment of interception. The z-axis component of the interceptor's expected velocity direction at the moment of interception is represented in the ground coordinate system. The x-axis points to the local north, the y-axis points to the east, and the z-axis points to the ground.

[0055] This indicates the actual speed and tilt angle of the target being intercepted at the current moment. The relative velocity angle, The actual speed deflection angle of the target being intercepted at the current moment. This refers to the relative velocity deflection angle;

[0056] The formula for calculating the direction of virtual velocity is:

[0057] ,

[0058] in, Indicates the direction of virtual velocity. The actual speed of the target being intercepted at the current moment. relative velocity Size;

[0059] The formula for calculating the virtual velocity of the intercepted target is:

[0060] ,

[0061] in, This represents the virtual speed of the intercepted target. The computational gain represents the virtual velocity.

[0062] Optionally, the guidance module is used to: calculate the line-of-sight angular velocity based on the superimposed velocity and relative position; convert the line-of-sight angular velocity to the interceptor's velocity coordinate system to obtain the proportional guidance law gain coefficient; calculate the interceptor's acceleration command based on the converted line-of-sight angular velocity, the proportional guidance law gain coefficient, and the interceptor's actual velocity; and perform three-dimensional guidance on the interceptor based on the acceleration command.

[0063] Optionally, the formula for calculating the line-of-sight angular velocity is:

[0064] ,

[0065] ,

[0066] ,

[0067] in, This represents the line-of-sight angular velocity in the velocity coordinate system. This represents the transformation matrix from the ground coordinate system to the interceptor's velocity coordinate system. The line-of-sight angular velocity in the ground coordinate system. Indicates the relative position of the interceptor and the target being intercepted. Indicates the velocity after superposition. The actual velocity tilt angle of the interceptor at the current moment. This represents the actual velocity deflection angle of the interceptor at the current moment.

[0068] The acceleration command is:

[0069] ,

[0070] in, This indicates the y-axis component of the acceleration command in the velocity coordinate system. This indicates the z-axis component of the acceleration command in the velocity coordinate system. This represents the gain coefficient of the proportional guidance law. Indicates the line-of-sight angular velocity in the velocity coordinate system Axial components, Indicates the line-of-sight angular velocity in the velocity coordinate system Axial components.

[0071] Optionally, the guidance module is used to: input the acceleration command and the interceptor's actual position and velocity at the current moment into a pre-established three-dimensional guidance dynamics model, and update the interceptor's actual position and velocity at the next moment through the three-dimensional guidance dynamics model. The three-dimensional guidance dynamics model is configured with interception success conditions and angle constraints, and its expression is as follows:

[0072] ,

[0073] in, Indicates the interceptor in the ground coordinate system Rate of change of position of the axis Indicates the interceptor in the ground coordinate system Rate of change of position of the axis Indicates the interceptor in the ground coordinate system Rate of change of position of the axis The actual velocity tilt angle of the interceptor at the current moment. The actual velocity deflection angle of the interceptor at the current moment. The rate of change of the interceptor's velocity deflection angle. The rate of change of the interceptor's velocity tilt angle. This indicates the y-axis component of the acceleration command in the velocity coordinate system. This indicates the z-axis component of the acceleration command in the velocity coordinate system;

[0074] The formula for calculating the conditions for successful interception is as follows:

[0075] ,

[0076] in, The actual position of the interceptor at the expected interception moment. The actual location of the target to be intercepted at the desired moment. The expected interception time;

[0077] The formula for calculating the angle constraint is:

[0078] ,

[0079] in, The actual velocity deflection angle of the interceptor at the desired interception moment. The actual velocity deflection angle of the target at the desired interception moment. The actual velocity tilt angle of the interceptor at the desired interception moment. The actual velocity angle of the target at the desired interception moment. The relative velocity deflection angle, The relative velocity angle.

[0080] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the program to implement the angle-constrained three-dimensional guidance method based on the target virtual velocity as described in the above embodiments.

[0081] The fourth aspect of this application provides a computer-readable storage medium having a computer program or instructions stored thereon, which, when executed, implement the angle-constrained three-dimensional guidance method based on the target virtual velocity as described in the above embodiments.

[0082] A fifth aspect of this application provides a computer program product, which, when executed, is used to implement the angle-constrained three-dimensional guidance method based on the target virtual velocity as described in the above embodiments.

[0083] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0084] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0085] Figure 1 This is a flowchart of an angle-constrained three-dimensional guidance method based on target virtual velocity provided in an embodiment of this application;

[0086] Figure 2 This is a flowchart of an angle-constrained three-dimensional guidance method based on a target virtual velocity according to an embodiment of this application;

[0087] Figure 3 This is a schematic diagram of the interceptor and target motion model provided according to an embodiment of this application;

[0088] Figure 4 This is a trajectory comparison diagram of three schemes under the static target condition provided in the embodiments of this application;

[0089] Figure 5 This is a comparison diagram of acceleration under static target conditions provided in the embodiments of this application;

[0090] Figure 6 This is a comparison chart of energy consumption under static target conditions according to embodiments of this application;

[0091] Figure 7 This is a trajectory comparison diagram of a non-motorized target under the working conditions provided in the embodiments of this application;

[0092] Figure 8 This is a comparison diagram of acceleration under non-motorized target operating conditions provided in the embodiments of this application;

[0093] Figure 9 This is a comparison chart of energy consumption under non-motorized target operating conditions provided in the embodiments of this application;

[0094] Figure 10This is a trajectory comparison diagram of a maneuvering target under the working conditions provided in the embodiments of this application;

[0095] Figure 11 This is a comparison diagram of acceleration under maneuvering target conditions provided in the embodiments of this application;

[0096] Figure 12 This is a comparison chart of energy consumption under maneuvering target conditions provided in the embodiments of this application;

[0097] Figure 13 This is a block diagram of a three-dimensional guidance device based on a target virtual velocity according to an embodiment of this application;

[0098] Figure 14 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application. Detailed Implementation

[0099] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0100] With the rapid development of the low-altitude economy, airspace security has become a critical requirement. Clearing threatening flying objects from airways is a key task in ensuring airspace security, and interception methods based on guidance technology are an effective means to achieve this. This type of task can be abstracted as the interception problem of maneuvering or non-maneuvering targets, and the guidance method carried by the interceptor directly determines its motion control strategy. In some interception scenarios, it is necessary to control the interceptor to approach and intercept the target at a specific angle to ensure the interception effect. Therefore, developing a three-dimensional guidance method with desired interception moment angle constraints has significant engineering implications.

[0101] In related technologies, the desired interception time angle constraint guidance methods mainly include improved proportional guidance methods, optimal guidance methods, and nonlinear control methods such as sliding mode control, nonlinear differential game theory, and data-driven methods. However, these methods generally suffer from high dependence on target state information, often requiring complete parameters such as target acceleration or accurate estimation of remaining flight time. Furthermore, they lack robustness under strongly nonlinear conditions, and some methods have high computational complexity, making them difficult to adapt to the airborne implementation requirements of small interceptors.

[0102] The following describes, with reference to the accompanying drawings, an angle-constrained three-dimensional guidance method and electronic device based on the virtual velocity of the target, according to embodiments of this application. Addressing the problems mentioned in the background art regarding the high dependence on target state information and high computational complexity of angle-constrained guidance methods at the desired interception time, this application provides a three-dimensional guidance method, device, equipment, and medium based on the virtual velocity of the target, using a proportional guidance law as the basic framework. By introducing a bias term with virtual velocity related to the angle constraint at the desired interception time, a guidance scheme with a simple structure and clear physical meaning is formed. The specific implementation steps are as follows: Based on the desired motion characteristics of the interceptor, the gain of the virtual velocity of the target and the gain coefficient of the proportional guidance law are configured according to a specified rule; the magnitude and direction of the virtual velocity of the target are calculated based on the angle at the desired interception time and superimposed on the actual velocity of the target; finally, the acceleration command of the interceptor is calculated according to the structure of the proportional guidance law. This method can achieve diverse guidance effects by configuring different parameter values, covering the acceleration convergence scheme at the desired interception time and the energy-optimal scheme under linear conditions. Furthermore, the overall algorithm is simple, consistent with the structure of the proportional guidance law, and possesses strong robustness and application value.

[0103] Specifically, Figure 1 This is a flowchart of a three-dimensional guidance method based on target virtual velocity provided in an embodiment of this application.

[0104] like Figure 1 As shown, the angle-constrained three-dimensional guidance method based on the target virtual velocity includes the following steps:

[0105] In step S101, the actual position and actual speed of the interceptor and the intercepted target at the current moment are obtained.

[0106] It is understood that the embodiments of this application, by acquiring the actual position and velocity of the interceptor and the intercepted target at the current moment, provide data support for subsequent virtual velocity calculation, relative position analysis, line-of-sight angular velocity calculation, and acceleration command generation. This avoids guidance deviations caused by initial data biases, eliminates the need for additional acquisition of complex information such as target acceleration and maneuvering intentions, and reduces reliance on high-precision detection equipment. Simultaneously, the real-time acquired position and velocity data can be input into a three-dimensional guidance dynamics model to update the interceptor's motion state at the next moment, providing a basis for dynamic adjustment of guidance commands and further improving the method's engineering practicality and guidance reliability.

[0107] Specifically, the actual location obtained includes two parts: first, the interceptor's coordinates in the ground coordinate system, i.e., the g-frame. , and Its position vector is denoted as The origin of the g-frame is fixed at a certain position in inertial space, with the x-axis pointing north, the y-axis pointing east, and the z-axis pointing towards the ground; secondly, the coordinates of the intercepted target within the same g-frame. , and Its position vector is denoted as The actual velocity parameters include the motion characteristics of the interceptor and the target: the magnitude of the interceptor's velocity. Velocity deflection angle That is, the azimuth angle and velocity inclination angle of the projection of the velocity vector onto the horizontal plane relative to the north. That is, the angle between the velocity vector and the local horizontal plane; the magnitude of the target's velocity. Velocity deflection angle Velocity tilt angle The parameters mentioned above are all basic data describing the motion state of the interceptor and the target.

[0108] In this embodiment of the application, before obtaining the actual position and actual velocity of the interceptor and the intercepted target at the current moment, the method further includes: obtaining the parameter configuration requirements of the interceptor; and determining the calculation gain and proportional guidance law gain coefficient based on the parameter configuration requirements.

[0109] It is understood that, before formally conducting guidance calculations, this application embodiment first obtains the interceptor's parameter configuration requirements and determines the virtual velocity calculation gain and proportional guidance law gain coefficient accordingly. By configuring the parameters in advance, the calculation parameters can be flexibly adjusted for different interception scenarios and performance requirements, making the guidance method more adaptable. At the same time, it avoids redundant calculations of repeated parameter adjustments during the guidance process, ensuring the efficiency and stability of subsequent guidance procedures.

[0110] It should be noted that the proportional guidance law is a classic guidance principle in missile guidance. Its principle is to control the interceptor's normal acceleration so that it is proportional to the line-of-sight rotation angular velocity between the interceptor and the target. This guides the interceptor to adjust its trajectory in real time, achieving precise interception of the target. In the three-dimensional guidance scenario of this application, the proportional guidance law needs to be combined with coordinate system transformation to complete command generation. Specifically, the line-of-sight angular velocity calculated in the ground coordinate system is first transformed to the interceptor's velocity coordinate system using a transformation matrix. Then, a preset proportional guidance law gain coefficient and the interceptor's actual velocity are used to calculate the acceleration command. The gain coefficient... The value of needs to be adapted to specific guidance requirements, such as selecting it based on the acceleration convergence requirement at the desired interception moment. Selecting energy consumption minimization requirements for linear operating conditions Different values ​​will directly affect guidance accuracy, response speed and energy consumption.

[0111] Specifically, two types of parameters need to be configured in advance: target virtual velocity calculation gain. and PN (Proportional Guidance) gain coefficient The specific configuration options include, but are not limited to, the following two:

[0112] Firstly, to address the requirement that "the acceleration converges to 0 at the moment of expected interception," we select... ;

[0113] Secondly, regarding the requirement of "minimizing energy consumption under linear operating conditions," the energy consumption calculation formula is as follows: ,choose .

[0114] The above scheme provides clear theoretical guarantees for "slow-speed non-maneuvering targets" and "linear, planar working conditions".

[0115] In step S102, the relative velocity deflection angle and relative velocity tilt angle between the interceptor and the intercepted target at the desired interception time are used as angular constraints, and the virtual velocity of the intercepted target is calculated based on the actual velocities of the interceptor and the intercepted target at the current time.

[0116] It is understood that the embodiments of this application use the relative velocity deflection angle and relative velocity tilt angle between the interceptor and the target at the desired interception moment as angular constraints. Combined with the actual velocities of both at the current moment, the virtual velocity of the target is calculated, providing a basis for subsequently constructing guidance logic that meets the angular requirements. Integrating the angular constraint requirements at the desired interception moment into the derivation process of the virtual velocity eliminates the need for additional complex optimization algorithms and avoids dependence on non-easily obtainable parameters such as target acceleration, ensuring seamless integration of angular constraints and the guidance process.

[0117] Specifically, the angle constraint is achieved using simple parameters: the relative velocity deflection angle at the desired interception moment. Expected relative velocity tilt angle at the moment of interception As an angle constraint, the target's current velocity deflection angle is first collected. Velocity tilt angle and the current speed of the interceptor. Then, using a simplified approach of "assuming the current moment is the desired interception moment," the desired velocity direction that the interceptor must satisfy the angular constraint is derived; finally, the target's virtual velocity is calculated based on this direction. The entire process does not require collecting complex information such as target acceleration; it can be completed using only basic parameters.

[0118] In this embodiment, the relative velocity deflection angle and relative velocity tilt angle between the interceptor and the intercepted target at the desired interception time are used as angular constraints. The virtual velocity of the intercepted target is calculated based on the actual velocities of the interceptor and the intercepted target at the current time. This includes: obtaining the actual velocity deflection angle and actual velocity tilt angle of the intercepted target at the current time; assuming the current time as the desired interception time, calculating the direction unit vector of the interceptor based on the relative velocity deflection angle, relative velocity tilt angle, actual velocity deflection angle, and actual velocity tilt angle; and calculating the virtual velocity of the intercepted target based on the direction unit vector of the interceptor, the actual velocity of the interceptor, and the actual velocity of the intercepted target.

[0119] Understandably, this application's embodiments, by assuming the current moment as the desired interception moment, combine the relative velocity deflection / tilt angle at the desired interception moment with the target's current velocity deflection / tilt angle to first derive the interceptor's directional unit vector, and then complete the virtual velocity calculation based on this vector, the interceptor's actual velocity, and the target's actual velocity. The entire process does not rely on additional complex information such as target acceleration; guidance criteria satisfying angle constraints can be constructed solely through the derivation of basic parameters. This simplifies the calculation logic and ensures the correlation between the virtual velocity and the angle requirements of the desired interception moment, laying the foundation for subsequent efficient guidance.

[0120] It should be noted that the expected interception time refers to the predetermined interception time of the guidance mission, where the interceptor and target achieve the desired position. This time is the time node of the guidance dynamics model, and all constraints on the expected interception time are established based on this time. The relative velocity deflection angle refers to the difference between the interceptor's velocity deflection angle and the target's velocity deflection angle at the expected interception time, used to limit the relative velocity direction between the interceptor and the target in the horizontal direction. The relative velocity tilt angle refers to the difference between the interceptor's velocity tilt angle and the target's velocity tilt angle at the expected interception time, used to limit the relative velocity direction between the interceptor and the target in the vertical direction. Angular constraints refer to the constraints on the expected interception time for the relative velocity deflection angle and the relative velocity tilt angle, used to ensure that the interceptor completes the interception at a predetermined angle. The velocity deflection angle refers to the angle between the projection of the aircraft's velocity vector onto the local horizontal plane and the northward direction, an angular parameter describing the aircraft's horizontal motion direction. The velocity tilt angle refers to the angle between the aircraft's velocity vector and the local horizontal plane, an angular parameter describing the aircraft's vertical motion direction. The directional unit vector refers to the unit vector of the interceptor's velocity direction at the desired interception moment. Its magnitude is 1, representing direction but having no size dimension. This vector is calculated by superimposing the target's current velocity angle and the preset relative velocity angle, and serves as the basis for deriving the interceptor's desired velocity vector. Virtual velocity refers to an artificially constructed additional velocity of the target to meet the angular constraints at the desired interception moment; it is not the target's actual speed. Its direction is the line-of-sight direction at the interception moment, and its magnitude is determined by the virtual velocity calculation gain and the interceptor's velocity magnitude. It is used to integrate angular constraint requirements into the guidance command generation process.

[0121] Specifically, the calculation of virtual velocity can be broken down into three steps:

[0122] The first step is to collect the target's current actual velocity deflection angle and velocity tilt angle;

[0123] The second step, considering that the target's speed and direction at the expected interception moment are difficult to predict precisely, is simplified to "assuming interception occurs at the current moment," combined with preset parameters. and Calculate the unit vector of the direction that the interceptor must satisfy the angle constraint. ;

[0124] The third step involves combining this directional unit vector with the interceptor's actual velocity to obtain the interceptor's desired velocity vector. This, combined with the target's actual velocity, determines the direction of the virtual velocity, which is then adjusted using the pre-configured gain. The calculation of the target virtual velocity is completed.

[0125] In this embodiment of the application, the virtual velocity of the intercepted target is calculated based on the interceptor's direction unit vector, the interceptor's actual velocity, and the intercepted target's actual velocity. This includes: calculating the interceptor's velocity vector based on the interceptor's direction unit vector and the actual velocity; determining the direction of the virtual velocity based on the interceptor's velocity vector and the intercepted target's actual velocity, and obtaining the virtual velocity's calculation gain; and calculating the virtual velocity of the intercepted target based on the virtual velocity's direction, the virtual velocity's calculation gain, and the interceptor's velocity vector.

[0126] Understandably, this embodiment first synthesizes a velocity vector by combining the interceptor's direction unit vector with the actual velocity, then locks the virtual velocity direction by combining it with the target's actual velocity, and completes the virtual velocity solution with a preset calculation gain. The entire process relies only on easily obtainable basic motion parameters, without complex derivations, which not only ensures the correlation between virtual velocity and angle constraints, but also simplifies the calculation logic, providing a reliable motion reference for subsequent precision guidance.

[0127] Specifically, the calculation of virtual velocity can be divided into three steps: First, the interceptor's direction unit vector is multiplied by its real-time velocity magnitude to obtain the desired velocity vector that the interceptor must satisfy the angular constraint; second, the direction of the virtual velocity is determined by the difference between this desired velocity vector and the target's actual velocity vector. This direction is essentially "the assumed line-of-sight direction at the time of interception," and at the same time, the pre-configured virtual velocity calculation gain is invoked. Finally, the virtual velocity direction and calculated gain are... With the speed of the interceptor Multiplying them together gives the target virtual speed.

[0128] In this embodiment, the formula for calculating the velocity vector is:

[0129] ,

[0130] in, Represents the desired velocity vector. The direction unit vector of the interceptor. This represents the actual speed of the interceptor at the current moment.

[0131] Directional unit vector for:

[0132] ,

[0133] in, This represents the x-component of the interceptor's desired velocity direction in the ground coordinate system at the moment of interception. This represents the y-component of the interceptor's expected velocity direction in the ground coordinate system at the moment of interception. The z-axis component of the interceptor's expected velocity direction at the moment of interception is represented in the ground coordinate system. The x-axis points to the local north, the y-axis points to the east, and the z-axis points to the ground.

[0134] This indicates the actual speed and tilt angle of the target being intercepted at the current moment. The relative velocity angle, The actual speed deflection angle of the target being intercepted at the current moment. This refers to the relative velocity deflection angle;

[0135] The formula for calculating the direction of virtual velocity is:

[0136] ,

[0137] in, Indicates the direction of virtual velocity. The actual speed of the target being intercepted at the current moment. relative velocity Size;

[0138] The formula for calculating the virtual velocity of the intercepted target is:

[0139] ,

[0140] in, This represents the virtual speed of the intercepted target. The computational gain represents the virtual velocity.

[0141] Specifically, the above formula constitutes a complete calculation process "from constraint to virtual velocity": The first step is to use "target current velocity angle ( , ) and desired relative velocity angle ( , ")," determines the direction of motion of the interceptor that must satisfy the angular constraint, i.e., the direction unit vector. The second step is to correlate this direction with the actual speed of the interceptor. By combining these, the desired velocity vector of the interceptor can be obtained. The third step is to... Actual speed of the target Based on the relative velocity, lock the direction of the virtual velocity. Fourth step, by setting the gain. Adjusting the virtual speed magnitude, the final virtual speed is obtained It can accurately match the angle constraint requirements of the expected interception time.

[0142] In step S103, the actual velocity and virtual velocity of the intercepted target are superimposed. Based on the actual positions of the interceptor and the intercepted target at the current moment, the relative position of the interceptor and the intercepted target is calculated. Based on the superimposed velocity, relative position and the actual velocity of the interceptor, the interceptor is guided in three dimensions.

[0143] It is understood that the embodiments of this application calculate the relative position by superimposing the actual velocity and virtual velocity of the target, combining the current positions of the interceptor and the target, and then performing three-dimensional guidance based on the superimposed velocity, relative position, and actual velocity of the interceptor, thus constructing a guidance execution process that meets the angle constraints at the desired interception moment. This process relies on the framework of classic proportional guidance, without the need for complex nonlinear calculations. It can guide the interceptor to approach the preset angle through the bias effect of the virtual velocity, while ensuring the real-time generation of guidance commands, further improving the accuracy and reliability of the interception.

[0144] Specifically, the first step is to determine the target's actual speed. The virtual velocity calculated above The first step involves superimposing the values ​​to obtain the target's "equivalent velocity," which is then used to incorporate angle constraint requirements. The second step is to calculate the relative position of the interceptor and the target. Its calculation formula is ,in This is the current position of the interceptor. The third step is to determine the target's current position based on its equivalent velocity and relative velocity. and the actual speed of the interceptor Following the framework of the classic proportional guidance law, the line-of-sight angular velocity and the interceptor's acceleration command are calculated sequentially to finally complete the execution of the three-dimensional guidance.

[0145] In this embodiment, the interceptor is guided in three dimensions based on the superimposed velocity, relative position, and the actual velocity of the interceptor. This includes: calculating the line-of-sight angular velocity based on the superimposed velocity and relative position; converting the line-of-sight angular velocity to the velocity coordinate system of the interceptor to obtain the proportional guidance law gain coefficient; calculating the interceptor's acceleration command based on the converted line-of-sight angular velocity, the proportional guidance law gain coefficient, and the actual velocity of the interceptor; and performing three-dimensional guidance on the interceptor based on the acceleration command.

[0146] It is understood that the embodiments of this application calculate the line-of-sight angular velocity based on the superimposed velocity and relative position, adapt the coordinate system to the interceptor's motion characteristics, and then combine the proportional guidance law gain coefficient with the interceptor's actual velocity to generate a precise acceleration command. The entire guidance process relies on the guidance law framework, which not only ensures the real-time performance and stability of three-dimensional guidance, but also enables the response to the angle constraints at the desired interception moment through parameter adaptation, effectively improving the reliability and adaptability of interception guidance.

[0147] Specifically, the execution steps of three-dimensional guidance are divided into three steps:

[0148] The first step is to calculate the line-of-sight angular velocity in the ground coordinate system (g system) based on the "target equivalent velocity after superimposing virtual velocity" and the "relative position of the interceptor and the target", which reflects the target's motion trend relative to the interceptor.

[0149] The second step involves using a preset coordinate transformation matrix to convert the line-of-sight angular velocity in the g-frame to the interceptor's velocity coordinate system. Tie, The axis is aligned with the interceptor's velocity direction. The axis points downwards in the local vertical plane containing the velocity vector. The axis is determined according to the right-hand rule to ensure that the data is compatible with the control logic of the interceptor;

[0150] The third step is to call the pre-configured proportional guidance law gain coefficient. Combined with the actual speed of the interceptor By combining the converted line-of-sight angular velocity, an acceleration command that can directly control the movement of the interceptor is calculated.

[0151] In this embodiment of the application, the formula for calculating the line-of-sight angular velocity is:

[0152] ,

[0153] ,

[0154] ,

[0155] in, This represents the line-of-sight angular velocity in the velocity coordinate system. This represents the transformation matrix from the ground coordinate system to the interceptor's velocity coordinate system. The line-of-sight angular velocity in the ground coordinate system. Indicates the relative position of the interceptor and the target being intercepted. Indicates the velocity after superposition. The actual velocity tilt angle of the interceptor at the current moment. This represents the actual velocity deflection angle of the interceptor at the current moment.

[0156] The acceleration command is:

[0157] ,

[0158] in, This indicates the y-axis component of the acceleration command in the velocity coordinate system. This indicates the z-axis component of the acceleration command in the velocity coordinate system. This represents the gain coefficient of the proportional guidance law. Indicates the line-of-sight angular velocity in the velocity coordinate system Axial components, Indicates the line-of-sight angular velocity in the velocity coordinate system Axial components.

[0159] Specifically, the above formula realizes the transformation "from relative motion parameters to guidance commands": the first step is to use relative position... With equivalent relative velocity , The cross product operation yields the line-of-sight angular velocity in the ground coordinate system. This parameter directly reflects the target's motion trend relative to the interceptor; the second step is to use a coordinate transformation matrix. ,Will Transform to the interceptor velocity coordinate system ( (system), obtained The first step is to eliminate the impact of coordinate system differences on the control logic; the second step is to adjust the gain of the proportional guidance law based on classical proportional guidance logic. Interceptor speed and of Axial components ( ), y-axis component ( By combining these, the acceleration command is finally obtained. and It should be noted that the acceleration command parallel to the interceptor's velocity direction is 0, which meets the engineering requirements of three-degree-of-freedom guidance.

[0160] In this embodiment of the application, the interceptor is guided in three dimensions according to the acceleration command, including: inputting the acceleration command and the actual position and actual velocity of the interceptor at the current moment into a pre-established three-dimensional guidance dynamic model, and updating the actual position and actual velocity of the interceptor at the next moment through the three-dimensional guidance dynamic model.

[0161] It is understood that in this embodiment, the acceleration command, along with the interceptor's current position and velocity parameters, are input into the three-dimensional guidance dynamics model. The model then updates the interceptor's position and velocity information in real time for the next moment. This process constructs a complete guidance state closed loop, allowing the execution effect of the guidance command to be quickly fed back into the interceptor's motion state parameters. This provides accurate basic data support for the next round of virtual velocity calculation and guidance command generation, ensuring the continuity and accuracy of three-dimensional guidance.

[0162] Specifically, this step involves constructing a closed loop of "instruction, status, and re-instruction": applying the acceleration command calculated earlier. and Along with the current position of the interceptor Speed ​​parameters ( , , The interceptor is input along with a pre-established three-dimensional guidance dynamics model. Based on the preset motion differential equations, the model automatically calculates the interceptor's position coordinates and velocity parameters at the next moment, completing the real-time update of its motion state. This forms a closed-loop guidance process of "parameter acquisition, command generation, state update, and re-acquisition," ensuring the continuity and accuracy of guidance.

[0163] In this embodiment, the three-dimensional guidance dynamics model is configured with interception success conditions and angle constraints. The expression of the three-dimensional guidance dynamics model is as follows:

[0164] ,

[0165] in, Indicates the interceptor in the ground coordinate system Rate of change of position of the axis Indicates the interceptor in the ground coordinate system Rate of change of position of the axis Indicates the interceptor in the ground coordinate system Rate of change of position of the axis The actual velocity tilt angle of the interceptor at the current moment. The actual velocity deflection angle of the interceptor at the current moment. The rate of change of the interceptor's velocity deflection angle. The rate of change of the interceptor's velocity tilt angle. This indicates the y-axis component of the acceleration command in the velocity coordinate system. This indicates the z-axis component of the acceleration command in the velocity coordinate system;

[0166] The formula for calculating the conditions for successful interception is as follows:

[0167] ,

[0168] in, The actual position of the interceptor at the expected interception moment. The actual location of the target to be intercepted at the desired moment. The expected interception time;

[0169] The formula for calculating the angle constraint is:

[0170] ,

[0171] in, The actual velocity deflection angle of the interceptor at the desired interception moment. The actual velocity deflection angle of the target at the desired interception moment. The actual velocity tilt angle of the interceptor at the desired interception moment. The actual velocity angle of the target at the desired interception moment. Let the relative velocity deflection angle between the interceptor and the target be the desired moment of interception. The relative velocity angle between the interceptor and the target at the desired interception moment.

[0172] It should be noted that the three-dimensional guidance dynamics model pre-established in this application is a mathematical model based on the principles of classical rigid body kinematics, used to describe the changing motion state of the interceptor in three-dimensional space. This model uses the interceptor's position, velocity, and acceleration commands as input and output parameters, and quantitatively characterizes the interceptor's motion characteristics through a set of differential equations: firstly, the position change rate equation reflects the relationship between the interceptor's position in the ground coordinate system and the magnitude of velocity, velocity deflection angle, and velocity tilt angle; secondly, the velocity angle change rate equation reflects the adjustment law of the interceptor's velocity angle according to the acceleration command.

[0173] The three-dimensional guidance dynamics model incorporates both successful interception conditions and angle constraints at the desired interception moment. Based on the current position, velocity, and acceleration commands, it can calculate and update the interceptor's motion state in real time, providing a precise mathematical basis for the closed-loop iteration of the guidance process.

[0174] Specifically, the logic and constraints of the three-dimensional guidance dynamics model are as follows: the model fully describes the motion of the interceptor through five differential equations, the first three equations ( , , The related equations reflect the relationship between the rate of change of the interceptor's position and its velocity and velocity angle. , (Related) Reflects the "interceptor's rate of change of velocity angle and acceleration command" , The association between acceleration commands and motion states is used to achieve a precise mapping between acceleration commands and motion states.

[0175] The three-dimensional guidance dynamics model incorporates two types of constraints: one is the interception success condition. The requirements are clearly defined: "the interceptor and the target position are expected to coincide at the moment of interception." In actual engineering, a successful interception is determined when the position difference between the two is less than a preset threshold. Secondly, there are angle constraints. The preset "relative velocity angle requirement at the desired interception moment" is transformed into a hard constraint on the velocity angle at the desired interception moment. These two types of constraints together constitute the objective of the guidance mission.

[0176] The three-dimensional guidance method based on the angle constraint of the target virtual velocity proposed in the embodiments of this application establishes the association between the angle constraint and the three-dimensional guidance by constructing the target virtual velocity. It only relies on the current position and velocity of the interceptor and the target, as well as the preset angle constraint at the desired interception time, without requiring additional information such as target acceleration. The guidance command is generated by simple vector operations, coordinate system transformation, and trigonometric function operations. This reduces the dependence on the perception system, simplifies the calculation logic, and is suitable for airborne implementation of small interceptors. Furthermore, it can ensure the accuracy of the angle constraint at the desired interception time through real-time state updates and closed-loop verification, effectively improving the interception effect and engineering practicality.

[0177] The following section will elaborate on the angle-constrained three-dimensional guidance method based on target virtual velocity proposed in this application through a specific embodiment, such as... Figure 2 As shown, the specific steps are as follows:

[0178] In step one, input the initial parameters and determine the guidance configuration scheme, such as... Figure 3 As shown, the actual position and velocity of the interceptor and the target at the current moment, as well as the relative angle at the preset desired interception time, are obtained: where, under the condition of a stationary target, the initial moment... Interceptor location ,speed Velocity deflection angle Velocity tilt angle Target location ,speed Simultaneously, the relative velocity deflection angle at the desired interception moment is preset. The relative velocity angle at the expected interception moment Under non-motorized target operating conditions, initial time The interceptor parameters are the same as those for a stationary target, and the target position is... ,speed Velocity deflection angle Velocity tilt angle The target moves at a constant velocity in a straight line; under the condition of a maneuvering target, at the initial moment... The interceptor and the target have the same initial parameters as the non-maneuvering target. The target moves with constant acceleration. , Subsequently, based on guidance requirements, a parameter configuration scheme is selected, and the acceleration convergence scheme (Scheme 1) at the expected interception moment is adopted. The optimal energy solution for linear operating conditions (Solution 2) is adopted. Traditional proportional guidance (PNG) .

[0179] In step two, the target's virtual velocity is calculated using a simplified approach of "assuming the current moment is the desired interception moment," combined with the target's current velocity deflection angle. Velocity tilt angle and preset , Derive the unit vector of the interceptor's desired direction. Then, based on this vector and the interceptor velocity Obtain the desired velocity vector Ultimately passed Actual speed of the target The relative velocity determines the direction of the virtual velocity, combined with the gain. Calculate the target virtual velocity .

[0180] In step three, the interceptor acceleration command is calculated, and the target's actual velocity is determined. With virtual speed The equivalent velocity of the target is obtained by superposition, and the relative position of the interceptor and the target is calculated. Based on equivalent speed and Calculate the line-of-sight angular velocity in the ground coordinate system Through coordinate transformation matrix Transform to the interceptor velocity coordinate system, and combine with the proportional guidance law gain. With interceptor speed Calculate acceleration commands and .

[0181] In step four, the command is output and the guidance effect is verified. The acceleration command and the current state of the interceptor are input into the three-dimensional guidance dynamics model to update the motion state and complete the interception. Under the condition of a stationary target, the trajectories of the three schemes are compared as follows: Figure 4 As shown, acceleration pairs, for example Figure 5 As shown, energy consumption is compared to... Figure 6As shown, the comparison of stationary targets is shown in Table 1:

[0182] Table 1

[0183]

[0184] Among them, the acceleration of Scheme 1 converges to 0 at the expected interception moment, the energy consumption of Scheme 2 is lower than that of Scheme 1, and the angular error at the expected interception moment of both schemes is much smaller than that of traditional proportional guidance; under non-maneuvering target conditions, the trajectory comparison of the three schemes is as follows: Figure 7 As shown, acceleration pairs, for example Figure 8 As shown, energy consumption is compared to... Figure 9 As shown in Table 2, the comparison of non-motorized target situations is as follows:

[0185] Table 2

[0186]

[0187] Both schemes satisfy the angle constraints, with scheme 2 exhibiting the best energy consumption. Under the maneuvering target condition, the trajectories of the three schemes are compared as follows: Figure 10 As shown, acceleration pairs, for example Figure 11 As shown, energy consumption is compared to... Figure 12 As shown in Table 3, the situation of maneuvering targets is compared:

[0188] Table 3

[0189]

[0190] Although the target maneuver slightly weakens the convergence characteristics of Scheme 1, both schemes can still accurately intercept and satisfy the angle constraints, and do not require obtaining target acceleration information, demonstrating the robustness of the method in the embodiments of this application.

[0191] In summary, the embodiments of this application have at least the following beneficial effects:

[0192] (1) The method is simple and has the same structure as the proportional guidance law, but it does not require complex parameter estimation and acceleration information of the moving target;

[0193] (2) It has strong robustness and can achieve guidance with the desired interception time angle constraint for both non-maneuvering and maneuvering targets under nonlinear conditions such as large yaw angles.

[0194] (3) There is room for parameter configuration, which can be flexibly selected according to the needs of use. For example, for non-maneuvering targets, the expected interception moment acceleration of the interceptor can be reduced as much as possible or the energy consumption can be reduced as much as possible. More parameter combinations can be further studied.

[0195] Next, referring to the accompanying drawings, we describe the angle-constrained three-dimensional guidance device based on the target virtual velocity proposed in the embodiments of this application.

[0196] Figure 13 This is a block diagram of an intelligent driving data compression device according to an embodiment of this application.

[0197] like Figure 13 As shown, the intelligent driving data compression device 130 includes: an acquisition module 1301, a calculation module 1302, and a guidance module 1303.

[0198] The acquisition module 1301 is used to acquire the actual position and actual velocity of the interceptor and the intercepted target at the current moment; the calculation module 1302 is used to calculate the virtual velocity of the intercepted target based on the actual velocity of the interceptor and the intercepted target at the current moment, using the relative velocity deflection angle and relative velocity tilt angle of the interceptor and the intercepted target at the desired interception moment as angular constraints; the guidance module 1303 is used to superimpose the actual velocity and virtual velocity of the intercepted target, calculate the relative position of the interceptor and the intercepted target based on the actual position of the interceptor and the intercepted target at the current moment, and perform three-dimensional guidance on the interceptor based on the superimposed velocity, relative position and actual velocity of the interceptor.

[0199] In this embodiment of the application, the calculation module 1302 is used to: obtain the actual velocity deflection angle and actual velocity tilt angle of the intercepted target at the current moment; assume the current moment as the desired interception moment, calculate the direction unit vector of the interceptor based on the relative velocity deflection angle, relative velocity tilt angle, actual velocity deflection angle, and actual velocity tilt angle; and calculate the virtual velocity of the intercepted target based on the direction unit vector of the interceptor, the actual velocity of the interceptor, and the actual velocity of the intercepted target.

[0200] In this embodiment of the application, the calculation module 1302 is used to: calculate the velocity vector of the interceptor based on the interceptor's direction unit vector and the actual velocity; determine the direction of the virtual velocity based on the interceptor's velocity vector and the actual velocity of the intercepted target, and obtain the calculation gain of the virtual velocity; and calculate the virtual velocity of the intercepted target based on the direction of the virtual velocity, the calculation gain of the virtual velocity, and the interceptor's velocity vector.

[0201] In this embodiment, the formula for calculating the velocity vector is:

[0202] ,

[0203] in, Represents the desired velocity vector. The direction unit vector of the interceptor. This represents the actual speed of the interceptor at the current moment.

[0204] Directional unit vector for:

[0205] ,

[0206] in, This represents the x-component of the interceptor's desired velocity direction in the ground coordinate system at the moment of interception. This represents the y-component of the interceptor's expected velocity direction in the ground coordinate system at the moment of interception. The z-axis component of the interceptor's expected velocity direction at the moment of interception is represented in the ground coordinate system. The x-axis points to the local north, the y-axis points to the east, and the z-axis points to the ground.

[0207] This indicates the actual speed and tilt angle of the target being intercepted at the current moment. The relative velocity angle, The actual speed deflection angle of the target being intercepted at the current moment. This refers to the relative velocity deflection angle;

[0208] The formula for calculating the direction of virtual velocity is:

[0209] ,

[0210] in, Indicates the direction of virtual velocity. The actual speed of the target being intercepted at the current moment. relative velocity Size;

[0211] The formula for calculating the virtual velocity of the intercepted target is:

[0212] ,

[0213] in, This represents the virtual speed of the intercepted target. The computational gain represents the virtual velocity.

[0214] In this embodiment, the guidance module 1303 is used to: calculate the line-of-sight angular velocity based on the superimposed velocity and relative position; convert the line-of-sight angular velocity to the interceptor's velocity coordinate system to obtain the proportional guidance law gain coefficient; calculate the interceptor's acceleration command based on the converted line-of-sight angular velocity, the proportional guidance law gain coefficient, and the interceptor's actual velocity; and perform three-dimensional guidance on the interceptor based on the acceleration command.

[0215] In this embodiment of the application, the formula for calculating the line-of-sight angular velocity is:

[0216] ,

[0217] ,

[0218] ,

[0219] in, This represents the line-of-sight angular velocity in the velocity coordinate system. This represents the transformation matrix from the ground coordinate system to the interceptor's velocity coordinate system. The line-of-sight angular velocity in the ground coordinate system. Indicates the relative position of the interceptor and the target being intercepted. Indicates the velocity after superposition. The actual velocity tilt angle of the interceptor at the current moment. This represents the actual velocity deflection angle of the interceptor at the current moment.

[0220] The acceleration command is:

[0221] ,

[0222] in, This indicates the y-axis component of the acceleration command in the velocity coordinate system. This indicates the z-axis component of the acceleration command in the velocity coordinate system. This represents the gain coefficient of the proportional guidance law. Indicates the line-of-sight angular velocity in the velocity coordinate system Axial components, Indicates the line-of-sight angular velocity in the velocity coordinate system Axial components.

[0223] In this embodiment, the guidance module 1303 is used to: input the acceleration command and the actual position and velocity of the interceptor at the current moment into a pre-established three-dimensional guidance dynamics model, and update the actual position and velocity of the interceptor at the next moment through the three-dimensional guidance dynamics model. The three-dimensional guidance dynamics model is configured with interception success conditions and angle constraints. The expression of the three-dimensional guidance dynamics model is:

[0224] ,

[0225] in, Indicates the interceptor in the ground coordinate system Rate of change of position of the axis Indicates the interceptor in the ground coordinate system Rate of change of position of the axis Indicates the interceptor in the ground coordinate system Rate of change of position of the axis The actual velocity tilt angle of the interceptor at the current moment. The actual velocity deflection angle of the interceptor at the current moment. The rate of change of the interceptor's velocity deflection angle. The rate of change of the interceptor's velocity tilt angle. This indicates the y-axis component of the acceleration command in the velocity coordinate system. This indicates the z-axis component of the acceleration command in the velocity coordinate system;

[0226] The formula for calculating the conditions for successful interception is as follows:

[0227] ,

[0228] in, The actual position of the interceptor at the expected interception moment. The actual location of the target to be intercepted at the desired moment. The expected interception time;

[0229] The formula for calculating the angle constraint is:

[0230] ,

[0231] in, The actual velocity deflection angle of the interceptor at the desired interception moment. The actual velocity deflection angle of the target at the desired interception moment. The actual velocity tilt angle of the interceptor at the desired interception moment. The actual velocity angle of the target at the desired interception moment. The relative velocity deflection angle, The relative velocity angle.

[0232] It should be noted that the foregoing explanation of the embodiment of the angle-constrained three-dimensional guidance method based on the target virtual velocity also applies to the angle-constrained three-dimensional guidance device based on the target virtual velocity in this embodiment, and will not be repeated here.

[0233] The three-dimensional guidance device based on the angle constraint of the target virtual velocity proposed in the embodiments of this application establishes the association between the angle constraint and the three-dimensional guidance by constructing the target virtual velocity. Based on the current position and velocity of the interceptor and the target, and the relative velocity deflection / tilt angle at the expected interception moment, guidance commands are generated with simple vector operations, coordinate system transformations, and trigonometric function operations without the need for additional information such as target acceleration. This reduces the dependence on the sensing system, simplifies the calculation logic, and is suitable for airborne implementation on small interceptors. Furthermore, it can ensure the accuracy of the angle constraint at the expected interception moment through real-time status updates and closed-loop verification, thereby improving guidance accuracy and interception reliability, and effectively enhancing the interception effect and engineering practicality.

[0234] Figure 14 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include:

[0235] The memory 1401, the processor 1402, and the computer program stored on the memory 1401 and executable on the processor 1402.

[0236] When the processor 1402 executes the program, it implements the angle-constrained three-dimensional guidance method based on the target virtual velocity provided in the above embodiments.

[0237] Furthermore, electronic devices also include:

[0238] Communication interface 1403 is used for communication between memory 1401 and processor 1402.

[0239] The memory 1401 is used to store computer programs that can run on the processor 1402.

[0240] The memory 1401 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0241] If the memory 1401, processor 1402, and communication interface 1403 are implemented independently, then the communication interface 1403, memory 1401, and processor 1402 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 14 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0242] Optionally, in a specific implementation, if the memory 1401, processor 1402, and communication interface 1403 are integrated on a single chip, then the memory 1401, processor 1402, and communication interface 1403 can communicate with each other through an internal interface.

[0243] The processor 1402 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of this application.

[0244] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described angle-constrained three-dimensional guidance method based on target virtual velocity.

[0245] This application also provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements the above-described angle-constrained three-dimensional guidance method based on target virtual velocity.

[0246] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0247] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0248] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0249] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0250] Those skilled in the art will understand that all or part of the steps of the methods implementing the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0251] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A three-dimensional guidance method based on angle constraints of target virtual velocity, characterized in that, Includes the following steps: Obtain the current actual position and speed of both the interceptor and the intercepted target; Using the relative velocity deflection angle and relative velocity tilt angle between the interceptor and the intercepted target at the desired interception moment as angular constraints, the virtual velocity of the intercepted target is calculated based on the actual velocities of the interceptor and the intercepted target at the current moment. This process includes: obtaining the actual velocity deflection angle and actual velocity tilt angle of the intercepted target at the current moment; assuming the current moment as the desired interception moment; calculating the direction unit vector of the interceptor based on the relative velocity deflection angle, the relative velocity tilt angle, the actual velocity deflection angle, and the actual velocity tilt angle; and calculating the virtual velocity of the intercepted target based on the direction unit vector of the interceptor, the actual velocity of the interceptor, and the actual velocity of the intercepted target. The actual and virtual velocities of the interceptor are superimposed. Based on the actual positions of the interceptor and the interceptor at the current moment, the relative positions of the interceptor and the interceptor are calculated. The interceptor is then guided in three dimensions based on the superimposed velocity, the relative positions, and the actual velocity of the interceptor.

2. The angle-constrained three-dimensional guidance method based on target virtual velocity according to claim 1, characterized in that, The step of calculating the virtual velocity of the intercepted target based on the interceptor's direction unit vector, the interceptor's actual velocity, and the intercepted target's actual velocity includes: Calculate the velocity vector of the interceptor based on its directional unit vector and actual velocity. The direction of the virtual velocity is determined based on the velocity vector of the interceptor and the actual velocity of the intercepted target, and the calculation gain of the virtual velocity is obtained. The virtual velocity of the intercepted target is calculated based on the direction of the virtual velocity, the calculation gain of the virtual velocity, and the velocity vector of the interceptor.

3. The angle-constrained three-dimensional guidance method based on target virtual velocity according to claim 2, characterized in that, The formula for calculating the velocity vector is: ， in, Represents the desired velocity vector. The direction unit vector of the interceptor, This represents the actual speed of the interceptor at the current moment. The direction unit vector for: ， in, This represents the x-component of the interceptor's desired velocity direction in the ground coordinate system at the moment of interception. This represents the y-component of the interceptor's expected velocity direction in the ground coordinate system at the moment of interception. The z-axis component of the interceptor's expected velocity direction at the moment of interception is represented in the ground coordinate system. The x-axis points to the local north, the y-axis points to the east, and the z-axis points to the ground. This indicates the actual speed and tilt angle of the target being intercepted at the current moment. The relative velocity tilt angle, The actual speed deflection angle of the target being intercepted at the current moment. The relative velocity deflection angle; The formula for calculating the direction of the virtual velocity is: ， in, Indicates the direction of the virtual velocity. The actual speed of the target being intercepted at the current moment. relative velocity Size; The formula for calculating the virtual speed of the intercepted target is: ， in, This represents the virtual speed of the intercepted target. The computational gain represents the virtual velocity.

4. The angle-constrained three-dimensional guidance method based on target virtual velocity according to claim 1, characterized in that, The step of providing three-dimensional guidance to the interceptor based on the superimposed velocity, the relative position, and the actual velocity of the interceptor includes: Calculate the line-of-sight angular velocity based on the superimposed velocity and the relative position; The line-of-sight angular velocity is converted to the velocity coordinate system of the interceptor to obtain the proportional guidance law gain coefficient. The interceptor's acceleration command is calculated based on the converted line-of-sight angular velocity, the proportional guidance law gain coefficient, and the interceptor's actual velocity. The interceptor is then guided in three dimensions based on the acceleration command.

5. The angle-constrained three-dimensional guidance method based on target virtual velocity according to claim 4, characterized in that, The formula for calculating the line-of-sight angular velocity is: ， ， ， in, This represents the line-of-sight angular velocity in the velocity coordinate system. This represents the transformation matrix from the ground coordinate system to the interceptor's velocity coordinate system. The line-of-sight angular velocity in the ground coordinate system is... This indicates the relative position of the interceptor and the intercepted target. This indicates the velocity after superposition. The actual velocity tilt angle of the interceptor at the current moment. This represents the actual velocity deflection angle of the interceptor at the current moment. The acceleration command is: ， in, This indicates the y-axis component of the acceleration command in the velocity coordinate system. This indicates the z-axis component of the acceleration command in the velocity coordinate system. This represents the gain coefficient of the proportional guidance law. The line-of-sight angular velocity is indicated in the velocity coordinate system. Axial components, The line-of-sight angular velocity is indicated in the velocity coordinate system. Axial components.

6. The angle-constrained three-dimensional guidance method based on target virtual velocity according to claim 4, characterized in that, The interceptor is guided in three dimensions according to the acceleration command, including: The acceleration command and the interceptor's current position and velocity are input into a pre-established three-dimensional guidance dynamics model. The interceptor's current position and velocity are then updated using the three-dimensional guidance dynamics model. The three-dimensional guidance dynamics model is configured with interception success conditions and angle constraints. The expression of the three-dimensional guidance dynamics model is as follows: ， in, Indicates the interceptor in the ground coordinate system Rate of change of position of the axis Indicates the interceptor in the ground coordinate system Rate of change of position of the axis Indicates the interceptor in the ground coordinate system Rate of change of position of the axis The actual velocity tilt angle of the interceptor at the current moment. The actual velocity deflection angle of the interceptor at the current moment. The rate of change of the interceptor's velocity deflection angle. The rate of change of the interceptor's velocity tilt angle. This indicates the y-axis component of the acceleration command in the velocity coordinate system. This indicates the z-axis component of the acceleration command in the velocity coordinate system; The formula for calculating the successful interception condition is as follows: ， in, The actual position of the interceptor at the expected interception moment. The actual location of the target to be intercepted at the desired interception time. The expected interception time; The formula for calculating the angle constraint is as follows: ， in, The actual velocity deflection angle of the interceptor at the desired interception moment. The actual velocity deflection angle of the target at the desired interception moment. The actual velocity tilt angle of the interceptor at the desired interception moment. The actual velocity angle of the target at the desired interception moment. The relative velocity deflection angle, The relative velocity tilt angle is given.

7. A three-dimensional guidance device with angle constraints based on target virtual velocity, characterized in that, include: The acquisition module is used to obtain the actual position and speed of the interceptor and the intercepted target at the current moment; The calculation module is used to calculate the virtual speed of the interceptor based on the relative velocity deflection angle and relative velocity tilt angle between the interceptor and the interceptor at the desired interception time, using these as angular constraints. The calculation module is used to: obtain the actual velocity deflection angle and actual velocity tilt angle of the interceptor at the current time; assume the current time as the desired interception time; calculate the direction unit vector of the interceptor based on the relative velocity deflection angle, the relative velocity tilt angle, the actual velocity deflection angle, and the actual velocity tilt angle; and calculate the virtual speed of the interceptor based on the direction unit vector of the interceptor, the actual speed of the interceptor, and the actual speed of the interceptor. The guidance module is used to superimpose the actual velocity and virtual velocity of the interceptor target, calculate the relative position of the interceptor and the interceptor target based on their respective actual positions at the current moment, and perform three-dimensional guidance on the interceptor based on the superimposed velocity, the relative position, and the actual velocity of the interceptor.

8. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the angle-constrained three-dimensional guidance method based on target virtual velocity as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed, they implement the angle-constrained three-dimensional guidance method based on the target virtual velocity as described in any one of claims 1-6.

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