A method for determining an intercept threat based on target acceleration

Abstract

The application relates to a target acceleration-based threat judgment method for intercepting, which comprises the following steps: firstly, filtering the position and speed information of an intercepting aircraft, identifying the acceleration information of the intercepting aircraft; then, calculating the acceleration of the intercepting aircraft when the intercepting aircraft intercepts itself based on a proportional guidance method, calculating the included angle between the acceleration vector and the identified acceleration vector, and combining the missile-target distance to sort the threat levels of the intercepting aircrafts, so as to realize the threat judgment of the cluster of incoming intercepting aircrafts.

Description

Technical Field

[0001] This invention belongs to the field of aircraft guidance and control, and relates to an interception threat determination method based on target acceleration, used to determine the threat level of intercepting aircraft. Background Technology

[0002] High-speed aircraft are characterized by long range, high speed, high maneuverability, and diverse payloads. Compared with traditional aircraft, they have a huge technical performance advantage and are of great significance and far-reaching impact on the development of advanced aircraft.

[0003] With the development and advancement of aircraft offensive and defensive game theory technology, the types and methods of aircraft interception are gradually increasing, and the interception threat faced by high-speed aircraft is becoming increasingly severe. To improve the anti-interception capability of high-speed aircraft in game-based confrontation, it is necessary to assess the threat of the interception situation they face, providing information support for decision-making in game-based confrontation.

[0004] Conventional aircraft interception threat assessment employs multi-attribute decision-making methods, such as the analytic hierarchy process (AHP), the superior-inferiority distance method, and the rough set method. By adjusting the weights of various factors, a comprehensive threat assessment of a specified target can be achieved. However, these methods are insufficient to address the interception threat assessment problem under dense cluster confrontation. Summary of the Invention

[0005] The technical problem solved by this invention is to overcome the shortcomings of the prior art and propose an interception threat determination method based on target acceleration to realize the threat determination of incoming interceptor aircraft clusters.

[0006] The solution of the present invention is: In a first aspect, the present invention provides a method for determining interception threats based on target acceleration, comprising the following steps: (1) Obtain the position and velocity information of the interceptor in the launch coordinate system; (2) Calculate the estimated values ​​of the position and velocity of the interceptor aircraft based on the position and velocity information obtained in step (1); (3) Based on the position and velocity information obtained in step (1), the three-axis acceleration of the interceptor aircraft in the launch coordinate system is identified using the Kalman filtering method; (4) Calculate the distance between the interceptor and its target based on the estimated position of the interceptor obtained in step (2); (5) Based on the estimated position and velocity of the interceptor aircraft calculated in step (2), and based on the assumption that the interceptor aircraft intercepts itself, the three-axis acceleration of the interceptor aircraft is calculated using the proportional guidance method; (6) Based on the acceleration identified in step (3) and the acceleration calculated in step (5), calculate the angle between them using the inverse cosine formula; (7) Based on the target distance obtained in step (4) and the angle between the two accelerations obtained in step (6), solve for the threat level of the intercepting aircraft.

[0007] Preferably, step (3) is implemented as follows: The state equations for the nonlinear system are established as follows:

[0008] in Let k be the state vector at time k. It is the state transition matrix at time k, and the process noise at time k. It is a white noise vector with zero mean; Let k+1 be the observation vector. Here is the state observation matrix at time k+1, and the observation noise at time k+1. It is a white noise vector with zero mean; The formula for Kalman filtering is as follows: State prediction:

[0009] in, The state prediction at time k+1 for In identification value The Jacobian matrix at the location is a representation of... exist The result of linearization is shown below. and The product represents the state quantity at the next moment; Covariance prediction:

[0010] in, The predicted covariance value at time K+1. Let k be the covariance matrix at time k. Let be the diagonal variance matrix at time k; Observational prediction:

[0011] in, The predicted value of the observation at time k+1, As In identification value The Jacobian matrix at that location is exist The result of linearization is shown below. and The product represents the state quantity at the next moment; Kalman gain:

[0012] in, The Kalman gain at time k+1 Let be the diagonal variance matrix at time k+1; Status Update:

[0013] Covariance update:

[0014] The state variable identification value at time k+1. The covariance identification value at time K+1; Given the speed and position information of the interceptor aircraft, the identified value of the interceptor aircraft's acceleration can be obtained using the above formula:

[0015] in, The interceptor aircraft is located at the lower edge of the aircraft launch system. The acceleration components of the axis.

[0016] Preferred, and The calculation formula is as follows:

[0017]

[0018] in , To intercept the aircraft at the lower edge of the aircraft launch system The position components of the axis, To intercept the aircraft at the lower edge of the aircraft launch system The velocity component of the shaft; , The dynamic equations for the nine state variables of the interceptor aircraft; , The observation equations for the nine state variables of the interceptor aircraft.

[0019] Preferably, step (5) uses a proportional guidance method to calculate the three-axis acceleration of the interceptor aircraft, specifically as follows: The acceleration of the interceptor aircraft when it intercepts our side is calculated based on the proportional guidance principle:

[0020] in, and To intercept the acceleration components of the aircraft along the y and z axes, N This is the proportional guidance coefficient. The line-of-sight pitch rate, The line-of-sight yaw rate, To determine the distance and relative speed between the intercepting aircraft and itself; The acceleration of the interceptor aircraft is as follows:

[0021] Preferably, the calculation formulas for the distance between the interceptor and itself, relative speed, line-of-sight pitch rate, and line-of-sight yaw rate required for calculating the acceleration in step (5) are as follows: (5.1) Calculate the relative position of the interceptor aircraft and its own position:

[0022] in, The three-axis components of its own position in the launch coordinate system; (5.2) Calculate the distance and relative speed between the interceptor and itself:

[0023] In the formula, In order to intercept the distance between the aircraft and itself, To intercept the relative speed between the aircraft and itself.

[0024] (5.3) Calculate the line-of-sight pitch rate and line-of-sight yaw rate of the interceptor aircraft:

[0025] Preferably, step (6) is implemented as follows: The identification and calculation of accelerations are transformed to the same coordinate system using a transformation matrix, and the angle between them is solved using the inverse cosine formula.

[0026] in, To identify the acceleration transferred to the airflow coordinate system, To calculate the acceleration in the airflow coordinate system, To identify acceleration and calculate the absolute value of the angle between accelerations, All are 3-dimensional vectors used to represent expression.

[0027] Preferably, the method for solving the threat level value of the interceptor aircraft in step (7) is as follows:

[0028] in, All are weighting coefficients. Threat determination value, It relates to the threat assessment function; the smaller the threat assessment value, the greater the threat level. In a second aspect, the present invention provides a terminal device, comprising: Memory, used to store at least one instruction executed by a processor; A processor for executing instructions stored in memory to implement the method described in the first aspect above.

[0029] Thirdly, the present invention provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to perform the above-described method.

[0030] The advantages of this invention compared to the prior art are: (1) Compared with conventional multi-attribute decision-making interception threat determination methods, which are difficult to solve the problem of interception threat assessment in dense cluster confrontation, the interception threat determination method based on target acceleration of the present invention can distinguish the interception threat level of each interceptor aircraft in a dense cluster.

[0031] (2) Compared with the conventional multi-attribute decision-making interception threat determination method, which directly uses the target state quantity for weighted evaluation, the interception threat determination method based on target acceleration of this invention starts from the interception guidance law (proportional guidance method), and solves the virtual solution acceleration vector in reverse based on the interception assumption, calculates the angle between it and the identification acceleration of the intercepting aircraft, and then determines the threat of the intercepting aircraft. Attached Figure Description

[0032] Figure 1 This is a flowchart of the method of the present invention; Figure 2 This is a schematic diagram showing the interception correspondence between aircraft clusters and interceptor aircraft clusters. Detailed Implementation

[0033] The invention will now be further described with reference to the accompanying drawings.

[0034] Once an aircraft swarm enters the air defense interception range, it faces interception from multiple interceptor aircraft. However, it is difficult for swarm aircraft to determine the threat level of densely packed interceptor aircraft, hindering subsequent maneuvering evasion. This method first filters the position and velocity information of the interceptor aircraft to identify their acceleration information. Then, based on the proportional guidance method, it calculates the acceleration of the current interceptor aircraft when intercepting itself, calculates the angle between the calculated acceleration vector and the identified acceleration vector, and combines the missile-target distance to rank the threat levels of each interceptor aircraft, thus achieving threat assessment of the incoming interceptor aircraft swarm.

[0035] like Figure 1 As shown, this invention proposes a method for determining interception threats based on target acceleration, and the specific implementation steps are as follows: (1) Obtain the position and velocity information of the interceptor in the launch coordinate system; (2) Calculate the estimated values ​​of the position and velocity of the interceptor aircraft based on the position and velocity information obtained in step (1); (3) Based on the position and velocity information obtained in step (1), the three-axis acceleration of the interceptor aircraft in the launch coordinate system is identified using the Kalman filtering method. The identification process is as follows: State equations for nonlinear systems:

[0036] in Let k be the state vector at time k. It is the state transition matrix at time k, and the process noise at time k. It is a white noise vector with zero mean; Let k+1 be the observation vector. Here is the state observation matrix at time k+1, and the observation noise at time k+1. It is a white noise vector with zero mean; Let the initial variables and covariance matrix be respectively and In order to obtain the predicted quantity The nonlinear function in the above formula is The nearest Taylor expansion is performed, and its first-order terms are taken. Definition As In identification value The Jacobian matrix at that location, i.e.

[0037] in , To intercept the aircraft at the lower edge of the aircraft launch system The position components of the axis, To intercept the aircraft at the lower edge of the aircraft launch system The velocity components of the shaft, The interceptor aircraft is located at the lower edge of the aircraft launch system. The acceleration components of the axis; , The dynamic equations for the nine state variables of the interceptor aircraft; The state prediction at time k+1 for In identification value The Jacobian matrix at the location is a representation of... exist The result of linearization is shown below. and The product represents the state quantity at the next moment; Similarly, define As In identification value The Jacobian matrix at that location can be obtained as follows:

[0038] In the formula, , The observation equations for the nine state variables of the interceptor aircraft; The Kalman filter formula is as follows, for state prediction:

[0039] Covariance prediction:

[0040] in, The predicted covariance value at time K+1. Let k be the covariance matrix at time k. Let be the diagonal variance matrix at time k; Observational prediction:

[0041] in, The predicted value of the observation at time k+1, As In identification value The Jacobian matrix at that location is exist The result of linearization is shown below. and The product represents the state quantity at the next moment; Kalman gain:

[0042] in, The Kalman gain at time k+1 Let be the diagonal variance matrix at time k+1; Status Update:

[0043] Covariance update:

[0044] The state variable identification value is .

[0045] Given the speed and position information of the interceptor aircraft, the identified value of the interceptor aircraft's acceleration can be obtained using the above formula:

[0046] (4) Based on the position estimate obtained in step (2), calculate the target distance between the interceptor and itself, using the following formula: Calculate the relative position between the interceptor aircraft and its own position:

[0047] in, The three-axis components represent the position of itself.

[0048]

[0049] In the formula, To intercept the distance between the aircraft and itself.

[0050] (5) Based on the estimated position and velocity of the interceptor aircraft calculated in step (2), and based on the assumption that the interceptor aircraft intercepts itself, the three-axis acceleration of the interceptor aircraft is calculated using the proportional guidance method. The calculation method is as follows: Calculate the distance and relative speed between the interceptor aircraft and itself:

[0051] In the formula, To intercept the relative speed between the aircraft and itself.

[0052] Calculate the line-of-sight pitch rate of the interceptor aircraft and line-of-sight yaw rate :

[0053] The acceleration of the interceptor aircraft when it intercepts our side was calculated using the proportional guidance method:

[0054] in, and To intercept the acceleration components of the aircraft along the y and z axes, N This is the proportional guidance coefficient.

[0055] The acceleration is then calculated as follows:

[0056] (6) Based on the identified acceleration obtained in step (3) and the calculated acceleration obtained in step (5), the angle between the two is calculated using the inverse cosine formula, as follows.

[0057] The identified accelerations are transformed to the same coordinate system (such as the airflow coordinate system) using a transformation matrix, and the angle between them is solved using the inverse cosine formula:

[0058] in, To identify the acceleration transferred to the airflow coordinate system, To calculate the acceleration in the airflow coordinate system, To identify acceleration and calculate the absolute value of the angle between accelerations, All are 3-dimensional vectors used to represent expression.

[0059] (7) Based on the target distance obtained in step (4) and the angle between the two accelerations obtained in step (6), substitute them into the threat level assessment formula to solve for the threat level value of the intercepting aircraft. The formula is as follows:

[0060] in, All are weighting coefficients. Threat determination value, It relates to the threat assessment function; the smaller the threat assessment value, the greater the threat level. This invention provides a method for determining interception threats based on target acceleration. The method uses the angle between the calculated acceleration vector and the identified acceleration vector, as well as the distance between the missile and the target, based on the proportional guidance law to determine the threat of interceptor aircraft in dense cluster combat.

[0061] The present invention also provides a terminal device, comprising: a memory for storing at least one instruction executed by a processor; and a processor for executing the instructions stored in the memory to implement the above method.

[0062] The present invention also provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to perform the above-described method.

[0063] Example: The aircraft swarm's flight speed is 3000 m / s, and the interceptor aircraft swarm's flight speed is 1500 m / s. Initially, the horizontal distance between the first row of the aircraft swarm and the first row of the interceptor aircraft swarm is 70 km. , The interception correspondence between the two is as follows: Figure 2 Eight aircraft were used to assess and rank the threat of 16 interceptor aircraft using a target acceleration-based interception threat assessment method. The ranking results are as follows: Table 1 Threat assessment results of aircraft 1-4 against 16 interceptor aircraft

[0064] Table 2 Threat assessment results of aircraft 5-9 against 16 interceptor aircraft

[0065] Tables 1 and 2 show the threat assessment results of each aircraft on the 16 interceptor aircraft. The lower the threat assessment value, the greater the likelihood of interception. The bolded values ​​in each column represent the two interceptor aircraft with the highest interception threat determined by the corresponding aircraft. Figure 2 The assumed interception correspondence is matched one-to-one to verify the effectiveness of this interception threat determination method.

[0066] The parts of this invention not described in detail are common knowledge to those skilled in the art.

Claims

1. A method for determining interception threats based on target acceleration, characterized in that... The steps are as follows: (1) Obtain the position and velocity information of the interceptor in the launch coordinate system; (2) Calculate the estimated values ​​of the position and velocity of the interceptor aircraft based on the position and velocity information obtained in step (1); (3) Based on the position and velocity information obtained in step (1), the three-axis acceleration of the interceptor aircraft in the launch coordinate system is identified using the Kalman filtering method; (4) Calculate the distance between the interceptor and its target based on the estimated position of the interceptor obtained in step (2); (5) Based on the estimated position and velocity of the interceptor aircraft calculated in step (2), and based on the assumption that the interceptor aircraft intercepts itself, the three-axis acceleration of the interceptor aircraft is calculated using the proportional guidance method; (6) Based on the acceleration identified in step (3) and the acceleration calculated in step (5), calculate the angle between them using the inverse cosine formula; (7) Based on the target distance obtained in step (4) and the angle between the two accelerations obtained in step (6), solve for the threat level of the intercepting aircraft.

2. The interception threat determination method based on target acceleration according to claim 1, characterized in that: The implementation method of step (3) is as follows: The state equations for the nonlinear system are established as follows: in Let k be the state vector at time k. It is the state transition matrix at time k, and the process noise at time k. It is a white noise vector with zero mean; Let k+1 be the observation vector. Here is the state observation matrix at time k+1, and the observation noise at time k+1. It is a white noise vector with zero mean; The formula for Kalman filtering is as follows: State prediction: in, The state prediction at time k+1 for In identification value The Jacobian matrix at the location is a representation of... exist The result of linearization is shown below. and The product represents the state quantity at the next moment; Covariance prediction: in, The predicted covariance value at time K+1. Let k be the covariance matrix at time k. Let be the diagonal variance matrix at time k; Observational prediction: in, The predicted value of the observation at time k+1, As In identification value The Jacobian matrix at that location is exist The result of linearization is shown below. and The product represents the state quantity at the next moment; Kalman gain: in, The Kalman gain at time k+1 Let be the diagonal variance matrix at time k+1; Status Update: Covariance update: The state variable identification value at time k+1. The covariance identification value at time K+1; Given the speed and position information of the interceptor aircraft, the identified value of the interceptor aircraft's acceleration can be obtained using the above formula: in, The interceptor aircraft is located at the lower edge of the aircraft launch system. The acceleration components of the axis.

3. The interception threat determination method based on target acceleration according to claim 2, characterized in that: and The calculation formula is as follows: in , To intercept the aircraft at the lower edge of the aircraft launch system The position components of the axis, To intercept the aircraft at the lower edge of the aircraft launch system The velocity component of the shaft; , The dynamic equations for the nine state variables of the interceptor aircraft; , The observation equations for the nine state variables of the interceptor aircraft.

4. The interception threat determination method based on target acceleration according to claim 1, characterized in that: Step (5) uses the proportional guidance method to calculate the three-axis acceleration of the interceptor aircraft, specifically: The acceleration of the interceptor aircraft when it intercepts our side is calculated based on the proportional guidance principle: in, and To intercept the acceleration components of the aircraft along the y and z axes, N This is the proportional guidance coefficient. The line-of-sight pitch rate, The line-of-sight yaw rate, To determine the distance and relative speed between the intercepting aircraft and itself; The acceleration of the interceptor aircraft is as follows: 。 5. The interception threat determination method based on target acceleration according to claim 4, characterized in that: The formulas for calculating the distance between the interceptor and itself, relative speed, line-of-sight pitch rate, and line-of-sight yaw rate required for calculating acceleration in step (5) are as follows: (5.1) Calculate the relative position of the interceptor aircraft and its own position: in, The three-axis components of its own position in the launch coordinate system; (5.2) Calculate the distance and relative speed between the interceptor and itself: In the formula, In order to intercept the distance between the aircraft and itself, To intercept the relative speed between the aircraft and itself. (5.3) Calculate the line-of-sight pitch rate and line-of-sight yaw rate of the interceptor aircraft: 。 6. The interception threat determination method based on target acceleration according to claim 1, characterized in that: The implementation method for step (6) is as follows: The identification and calculation of accelerations are transformed to the same coordinate system using a transformation matrix, and the angle between them is solved using the inverse cosine formula. in, To identify the acceleration transferred to the airflow coordinate system, To calculate the acceleration in the airflow coordinate system, To identify acceleration and calculate the absolute value of the angle between accelerations, All are 3-dimensional vectors used to represent expression.

7. The interception threat determination method based on target acceleration according to claim 1, characterized in that: The method for calculating the threat level of the interceptor aircraft in step (7) is as follows: in, All are weighting coefficients. Threat determination value, It relates to the threat assessment function; the smaller the threat assessment value, the greater the threat level.

8. A terminal device, characterized in that, include: Memory, used to store at least one instruction executed by a processor; A processor for executing instructions stored in memory to implement the method as described in any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed on a computer, cause the computer to perform the method as described in any one of claims 1-7.

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