A method for forward interception of a high-speed vehicle based on target state prediction
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- NORTHWESTERN POLYTECHNICAL UNIV
- Filing Date
- 2025-08-25
- Publication Date
- 2026-06-05
AI Technical Summary
Existing forward interception methods for high-speed aircraft do not fully consider initial conditions such as intersection angle constraints and relative velocity, resulting in insufficient interception capability.
A relay-run baton-handover strategy is adopted to determine the velocity and azimuth at the handover time between the initial and intermediate guidance systems. The target state is predicted by combining the differential autoregressive moving average (ARIMA) model. The state equation is constructed and the forward interception sliding mode variable structure guidance law is designed using the sliding mode guidance method, taking into account the rendezvous angle constraint.
It achieves high-precision forward interception, meets multiple constraints such as miss distance, intersection angle and relative velocity, and improves the interception capability of the interceptor missile.
Smart Images
Figure CN122151871A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of aircraft interception technology, and more specifically to a forward interception method for high-speed aircraft based on target state prediction. Background Technology
[0002] Existing anti-missile systems typically intercept targets head-on. However, when the target's flight speed reaches high speeds, this method results in a large relative velocity between the missile and the target, placing extremely stringent requirements on the interceptor's capabilities. Therefore, a new forward interception method has been proposed for high-speed aircraft targets.
[0003] To address the problem of forward interception, the literature "Research on Sliding Mode Guidance Law of Forward Tracking Interception Method [J]. Journal of Nanchang Aviation University (Natural Science Edition), 2013, 27(01):27-30" proposes a forward interception guidance law. This method uses the angle between the target velocity vector and the line of sight as the sliding mode surface, controlling the interceptor missile to always fly in the direction of the target's velocity. It utilizes the variable structure control to achieve fully adaptive characteristics against interference and perturbations of the system, and designs a sliding mode guidance law for forward interception, which solves the problem relatively well. However, this method does not address the forward interception rendezvous angle constraint condition, the initial conditions such as the relative velocity and angle for forming the forward interception situation, and is therefore insufficiently considered.
[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention
[0005] To address the problem that existing forward interception methods for high-speed aircraft do not adequately consider constraints, this invention provides a forward interception method for high-speed aircraft based on target state prediction.
[0006] Other features and advantages of the invention will become apparent from the following detailed description, or may be learned in part by practice of the invention.
[0007] According to a first aspect of the present invention, a method for forward interception of a high-speed aircraft based on target state prediction is provided, the method comprising: Determine the speed and orientation at the handover moment between primary and intermediate guidance based on the relay baton handover strategy; Determine the waiting time based on the current missile-target distance and the missile-target relative velocity; Based on existing historical target status information, the target status prediction information after the waiting time is obtained according to the differential autoregressive moving average (ARIMA) model. The target state prediction information and the target current state are fused to obtain the virtual target point state information. The virtual target point state information is used as the forward interception target information to calculate the relative motion relationship between the missile and the target, and to obtain the missile-target line of sight elevation angle, missile-target line of sight azimuth angle, line of sight elevation angle rate and line of sight azimuth angle rate. The elevation angle, azimuth angle, elevation rate, and azimuth rate of the missile-eye line of sight are used as state variables to construct a state equation; the state equation is solved based on the sliding mode guidance method to obtain the forward interception mid-terminal guidance law.
[0008] In some exemplary embodiments, the velocity and azimuth at the handover moment between the initial guidance and intermediate guidance systems, based on the relay baton handover strategy, are determined using the following formula:
[0009] in, The latitude and longitude of the initial guidance point for the interceptor missile. The target latitude and longitude at that moment; The azimuth angle determined by the latitude and longitude of the initial guidance point of the interceptor missile and the latitude and longitude of the target at that moment, i.e., the angle between the line-of-sight vector and the north direction; For parameter values.
[0010] In some exemplary embodiments, the determination of the waiting time based on the current missile-target distance and the relative velocity between the missile and the target is achieved using the following formula:
[0011] in, This is the current target distance. The relative velocity between the projectile and the target. To determine the waiting time for flight.
[0012] In some exemplary embodiments, the modeling steps of the differential autoregressive moving average (ARIMA) model include: Stationarity of a series is tested using time series plots and the ADF root test. Sequence stabilization: The sequence is stabilized through differencing operations, ultimately reaching a stable number of differencing operations; Model identification and order determination: Determine the autoregression order and difference order based on the serial autocorrelation function and partial autocorrelation function; Model parameter estimation: Estimating the regression coefficients of the sequence using the least squares method; Model validation: Determine whether the selected parameters are acceptable through parametric tests and residual white noise tests; Model prediction: Target state prediction is performed using a pre-determined ARIMA model.
[0013] In some exemplary embodiments, the virtual target point state information is obtained by fusing the target state prediction information and the target current state using the following formula:
[0014] in, and This indicates the predicted target state at the hit point and the target's current state. The first three values in the state information represent the three-axis position, and the last three represent the velocity. To integrate the weights.
[0015] In some exemplary embodiments, the calculation of the relative motion relationship between the missile and the target using the virtual target point state information as forward interception target information employs the following formula:
[0016] in, It is the three-dimensional position and velocity of the target under the launch system. It is the three-dimensional position and velocity of the interceptor missile under the launch system. It is the height angle of the bullet's line of sight. It is the azimuth angle of the bullet's line of sight. It is the angular velocity of the line of sight at different elevations. It is the line-of-sight azimuth rate. This represents intermediate computational costs.
[0017] In some exemplary embodiments, the forward interception terminal guidance law adopts the following formula:
[0018] in, , To control variables, , , and For state variables, , , , , and It is an adjustable parameter. These represent the axial acceleration of the target.
[0019] The forward interception method for high-speed aircraft based on target state prediction provided by the embodiments of the present invention draws on the baton handover strategy in relay race to form a forward interception posture. By incorporating the predicted target state information into the missile-target relative motion model and considering the forward interception rendezvous angle constraint, an integrated prediction / guidance forward interception method is designed. This method first sets the velocity and azimuth at the handover moment between the initial and mid-course guidance of the interceptor missile based on the relay race baton handover strategy to form a forward interception posture. Then, it uses the Autoregressive Integrated Moving Average (ARIMA) model to predict the state of the target's predicted hit point, using this as forward interception target information to calculate the missile-target relative motion relationship. Finally, it uses a forward interception sliding mode variable structure guidance law considering the rendezvous angle constraint to determine the overload command. This is a forward interception guidance method for high-speed aircraft with a clear process and good robustness.
[0020] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description
[0021] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.
[0022] Figure 1 A schematic diagram of the method flow of an exemplary embodiment of the present invention; Figure 2 A schematic diagram of the simulation curves of a three-degree-of-freedom mass point, which is an exemplary embodiment of the present invention: (a) Simulation curve of the three-dimensional trajectory of the projectile and the target; (b) Simulation curve of the distance between the projectile and the target; (c) Simulation curve of the relative velocity between the projectile and the target; (d) Simulation curve of the intersection angle between the projectile and the target; (e) Simulation curve of the overload command. Detailed Implementation
[0023] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that the invention will be more comprehensive and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
[0024] Furthermore, the accompanying drawings are merely illustrative of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.
[0025] To address the shortcomings and deficiencies of existing technologies, this example embodiment provides a forward interception method for high-speed aircraft based on target state prediction. This method borrows the baton-passing strategy from relay race motion to form a forward interception posture. By incorporating predicted target state information into the missile-target relative motion model and considering the forward interception rendezvous angle constraint, an integrated prediction / guidance forward interception method is designed. This method first sets the velocity, azimuth, and position angles at the handover moments between initial and mid-course guidance of the interceptor missile based on the relay race baton-passing strategy. Then, it uses the Autoregressive Integrated Moving Average (ARIMA) model to predict the state of the target's predicted hit point, using this as pseudo-target information to calculate the missile-target relative motion relationship. Finally, it uses a forward interception sliding mode variable structure guidance law considering the rendezvous angle constraint to determine the overload command, achieving high-precision guidance.
[0026] refer to Figure 1 As shown, the specific steps may include: Step S11: Determine the velocity and orientation at the handover time between primary guidance and intermediate guidance based on the relay baton strategy, set the velocity and orientation as the command value, and enter the intermediate guidance phase. Step S12: Determine the waiting time based on the current missile-target distance and the missile-target relative velocity; Step S13: Obtain the target state prediction information after the waiting time based on the differential autoregressive moving average model; Step S14: The target state prediction information and the target current state are fused to obtain virtual target point state information. The virtual target point state information is used as forward interception target information to calculate the relative motion relationship between the missile and the target, and the missile-target line of sight elevation angle, missile-target line of sight azimuth angle, line of sight elevation angle rate and line of sight azimuth angle rate are obtained. Step S15: The elevation angle of the missile's line of sight, the azimuth angle of the missile's line of sight, the elevation rate of the line of sight, and the azimuth rate of the line of sight are used as state variables to construct a state equation; the state equation is solved based on the sliding mode guidance method to obtain the forward interception mid-terminal guidance law.
[0027] The steps in this exemplary embodiment will now be described in more detail with reference to the accompanying drawings and examples.
[0028] In step S11, the initial positioning angle is determined to facilitate the formation of a forward interception posture.
[0029] To achieve a forward interception posture, the velocity vector of the interceptor missile at the moment of launch should be opposite to or at a large obtuse angle to the line-of-sight direction (the direction the interceptor missile points towards the target). This is similar to a relay runner turning and running forward when seeing a teammate approaching with the baton, rather than running towards the baton-bearer. The baton exchange process in a relay race is very similar to the forward interception process in this study. Inspired by this, we need to set the velocity azimuth of the interceptor missile at the moment of handover between initial and mid-course guidance as follows: (1) in, Latitude and longitude of the initial guidance point for the interceptor missile With the target latitude and longitude at that moment The azimuth angle, i.e., the angle between the line-of-sight vector and the north direction, is calculated using the following formula: (2) parameter The size is related to the relative initial position of the intercepted target; the closer the interceptor missile is to the target's firing surface, the larger this parameter becomes.
[0030] In step S12, the target state of the predicted hit point is determined.
[0031] Forward interception targets even-potential overload scenarios where the interceptor missile lacks superior interceptor capabilities. During the mid-course guidance phase, the predicted target state at the point of impact is used as a pseudo-target state. This state information is incorporated into the missile-target relative motion model, guiding the interceptor missile ahead of the target's future flight trajectory. With the interceptor missile's velocity lower than the target's, waiting for the target to collide from behind effectively completes the interception. Firstly, it is necessary to consider the current missile-target distance... Relative velocity between projectile and target Determine the waiting time Then, the Autoregressive Integrated Moving Average (ARIMA) model is used to predict the hit point state.
[0032] Predicted remaining flight time The improved algorithm is as follows: (3) In the formula: This refers to the detection range of the seeker during the final guidance phase.
[0033] Based on the above design, the guidance law forms of the mid-course and terminal guidance stages can be unified, achieving the goal of mid-course guidance guided by the target prediction point and terminal guidance directly guided by the real target.
[0034] In step S13, the target state prediction information after the waiting time is obtained according to the differential autoregressive moving average model.
[0035] Specifically, based on the ARIMA model, Information on the target state after time. The Autoregressive Moving Average (ARIMA) model is a type of effective statistical model for time series analysis and prediction. Its principle is to treat the object to be predicted as a random time series and use a certain mathematical model to approximate this series. ARIMA is an integrated concept, consisting of the autoregressive model AR, the difference model Difference, and the moving average model MA, as shown in equation (3): (4) in, It is the order of the autoregressive term. It is the difference order. This is the order of the moving average term. The mathematical form of the ARIMA model for a stationary series is: (5) in, It is a constant term. It is the order of the autoregressive model. It is the autoregressive coefficient. It is the error value. It is the order of the moving average model. It is the moving average coefficient.
[0036] Specifically, the modeling steps for ARIMA are as follows: (1) Test the stationarity of the sequence. The stationarity of the sequence is determined by time series plots and ADF root test.
[0037] (2) Sequence stabilization. The sequence is stabilized by difference operations, and the final difference operation is d.
[0038] (3) Model identification and order determination. Parameters are determined based on the sequence autocorrelation function and partial autocorrelation function. and .
[0039] (4) Model parameter estimation. The regression coefficients of the sequence are estimated using the least squares method.
[0040] (5) Model verification. The feasibility of the selected parameters is determined by parametric verification and residual white noise verification.
[0041] (6) Model prediction. The target state is predicted using the ARIMA model with the correct order.
[0042] In step S14, the target state prediction information and the target current state are fused to obtain virtual target point state information. The virtual target point state information is used as forward interception target information to calculate the relative motion relationship between the missile and the target, and the missile-target line of sight elevation angle, missile-target line of sight azimuth angle, line of sight elevation angle rate, and line of sight azimuth angle rate are obtained.
[0043] Specifically, considering the low accuracy of the predicted hit point under the maneuvering state of the target's flight trajectory, in order to reduce the interference caused by the prediction error, the target state of the predicted hit point and the current state of the target are fused as follows: (6) in, and It indicates the predicted hit point target state and the target's current state (three-axis position and velocity).
[0044] Specifically, the virtual target point state information obtained above through fusion is used as the forward interception target information, and the relative motion relationship between the missile and the target is calculated under the launch system as follows: (7) in, It is the three-dimensional position and velocity of the target under the launch system. It is the three-dimensional position and velocity of the interceptor missile under the launch system. It is the height angle of the bullet's line of sight. It is the azimuth angle of the bullet's line of sight. It is the angular velocity of the line of sight at different elevations. It is the azimuth rate of the line of sight.
[0045] In step S15, the elevation angle of the missile's line of sight, the azimuth angle of the missile's line of sight, the elevation rate of the line of sight, and the azimuth rate of the line of sight are used as state variables to construct a state equation; the state equation is solved based on the sliding mode guidance method to obtain the forward interception mid-terminal guidance law.
[0046] Considering the rendezvous angle constraint in a forward interception situation, the elevation angle and azimuth angle of the missile-eye line of sight need to satisfy as much as possible at the terminal moment: (8) in: and Here, we have the target's ballistic inclination angle and ballistic deflection angle, respectively. The calculations for a forward interception scenario are as follows: (9) The rendezvous angle constraint conditions of the above forward interception guidance are incorporated into the guidance law design.
[0047] A sliding mode guidance method is adopted, and the intersection angle of the ideal forward intercept is introduced into the sliding mode design. State variables are defined. , , and Choose the control variable as , ,in, Let be the components of the interceptor missile's axial acceleration along the y-axis and z-axis, respectively. Then, it can be transformed into the following state-space description: (10) The main purpose of guidance law design is to design for system (9). and Make the state and While striving for convergence within a finite time, we aim to satisfy the required formula.
[0048] First, the sliding mode variables are designed as follows: (11) in, and For the parameters to be designed, the forward interception intersection angle constraint is introduced into the sliding mode.
[0049] Differentiating equation (10) and substituting it into the system state equation (9), we get: (12) in, These represent the axial acceleration of the target.
[0050] Here, the guidance law is designed using the approach law, that is: (13) in, , , This is an adjustable parameter.
[0051] Combining equations (11) and (12), we can solve for: (14) The rates of change of the target vehicle's trajectory inclination and trajectory deflection, as well as their second derivatives, are typically very finite. Neglecting the rate of change of the target trajectory inclination angle and trajectory deflection angle, and their second derivatives, the guidance law can be obtained: (15) The designed forward interception sliding mode variable structure guidance law was applied to a high-speed aircraft forward interception scenario, and a three-degree-of-freedom simulation was performed. The simulation results are shown in Table 1, and the simulation curves are attached. Figure 2As shown, the forward interception method for high-speed aircraft based on target state prediction of this invention can satisfy multiple constraints such as miss distance, intersection angle, and relative velocity, and achieve high-precision forward interception.
[0052] Table 1. Simulation results of forward interception with three degrees of freedom
[0053] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the claims.
[0054] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is defined only by the appended claims.
Claims
1. A forward interception method for high-speed aircraft based on target state prediction, characterized in that, The method includes: Determine the speed and orientation at the handover moment between primary and intermediate guidance based on the relay baton handover strategy; Determine the waiting time based on the current missile-target distance and the missile-target relative velocity; Based on existing historical target status information, the target status prediction information after the waiting time is obtained according to the differential autoregressive moving average (ARIMA) model. The target state prediction information and the target current state are fused to obtain the virtual target point state information. The virtual target point state information is used as the forward interception target information to calculate the relative motion relationship between the missile and the target, and to obtain the missile-target line of sight elevation angle, missile-target line of sight azimuth angle, line of sight elevation angle rate and line of sight azimuth angle rate. The elevation angle, azimuth angle, elevation rate, and azimuth rate of the missile-eye line of sight are used as state variables to construct a state equation; the state equation is solved based on the sliding mode guidance method to obtain the forward interception mid-terminal guidance law.
2. The method according to claim 1, characterized in that, The velocity and azimuth at the handover moment between primary and intermediate guidance systems, based on a relay race baton handover strategy, are determined using the following formula: in, The latitude and longitude of the initial guidance point for the interceptor missile. The target latitude and longitude at that moment; The azimuth angle determined by the latitude and longitude of the initial guidance point of the interceptor missile and the latitude and longitude of the target at that moment, i.e., the angle between the line-of-sight vector and the north direction; For parameter values.
3. The method according to claim 1, characterized in that, The waiting time is determined based on the current missile-target distance and the relative velocity between the missile and the target, using the following formula: in, This is the current target distance. The relative velocity between the projectile and the target. To determine the waiting time for flight.
4. The method according to claim 1, characterized in that, The modeling steps of the differential autoregressive moving average (ARIMA) model include: Stationarity of a series is tested using time series plots and the ADF root test. Sequence stabilization: The sequence is stabilized through differencing operations, ultimately reaching a stable number of differencing operations; Model identification and order determination: Determine the autoregression order and difference order based on the serial autocorrelation function and partial autocorrelation function; Model parameter estimation: Estimating the regression coefficients of the sequence using the least squares method; Model validation: Determine whether the selected parameters are acceptable through parametric tests and residual white noise tests; Model prediction: Target state prediction is performed using a pre-determined ARIMA model.
5. The method according to claim 4, characterized in that, The virtual target point state information is obtained by fusing the target state prediction information and the target current state using the following formula: in, and This indicates the predicted target state at the hit point and the target's current state. The first three values in the state information represent the three-axis position, and the last three represent the velocity. To integrate the weights.
6. The method according to claim 5, characterized in that, The calculation of the relative motion relationship between the missile and the target, using the virtual target point state information as forward interception target information, employs the following formula: in, It is the three-dimensional position and velocity of the target under the launch system. It is the three-dimensional position and velocity of the interceptor missile under the launch system. It is the height angle of the bullet's line of sight. It is the azimuth angle of the bullet's line of sight. It is the angular velocity of the line of sight at different elevations. It is the line-of-sight azimuth rate. This represents intermediate computational costs.
7. The method according to claim 6, characterized in that, The terminal guidance law for forward interception uses the following formula: in, , To control variables, , , and For state variables, , , , , and It is an adjustable parameter. These represent the axial acceleration of the target.