CN108052112B - Multi-aircraft threat degree obtaining method based on PN guidance law identification - Google Patents

Multi-aircraft threat degree obtaining method based on PN guidance law identification Download PDF

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CN108052112B
CN108052112B CN201711251333.1A CN201711251333A CN108052112B CN 108052112 B CN108052112 B CN 108052112B CN 201711251333 A CN201711251333 A CN 201711251333A CN 108052112 B CN108052112 B CN 108052112B
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aircraft
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sight
missile
channel
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CN108052112A (en
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邹昕光
周荻
周成宝
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Harbin Institute of Technology
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Harbin Institute of Technology
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/107—Simultaneous control of position or course in three dimensions specially adapted for missiles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00—Defence installations; Defence devices
    • F41H11/02—Anti-aircraft or anti-guided missile or anti-torpedo defence installations or systems

Abstract

A method for acquiring threat degrees of multiple aircrafts based on PN guidance law identification relates to the field of aircraft anti-interception, in particular to a method for estimating the threat degree of multiple aircrafts after being threatened. The method aims to solve the problem that the aircraft is greatly threatened due to the fact that no method capable of estimating the threat degree of the intercepted missile to the aircraft exists at present. The method firstly establishes a relative motion equation of the intercepted missile and the aircraft, and the aircraft can obtain the intercepted missile PjEstimate of state, PjThe motion model is decoupled into a pitching channel and a yawing channel, and the line-of-sight inclination angle from the aircraft to the intercepted missile
Figure DDA0001491815960000011
And declination angle
Figure DDA0001491815960000012
Derived and based on the estimated value
Figure DDA0001491815960000013
Calculating an estimated value; then to
Figure DDA0001491815960000014
And
Figure DDA0001491815960000015
taking the derivatives and estimatingEvaluating value
Figure DDA0001491815960000016
Calculating an estimated value; definition of
Figure DDA0001491815960000017
And calculating a normalization factor for the convergence index of the angular velocity of the line of sight, and further obtaining the threat degree and the three-dimensional interception threat degree of the pitching channel and the yawing channel. The method is suitable for calculating the threat degree of the aircraft.

Description

Multi-aircraft threat degree obtaining method based on PN guidance law identification
Technical Field
The invention relates to the field of aircraft anti-interception, in particular to a method for estimating the threat degree of multiple aircraft.
Background
The aircraft can encounter interception of an interception missile during the flight process. In order to avoid interception, the aircraft often takes the form of a bait accompanying the flight, forming a situation of networking the flight of a plurality of aircraft. For the situation, the enemy interception missile adopts a plurality of interception missiles to intercept.
In order to effectively escape from interception, the aircraft and the accompanying bait need to estimate the motion state of the intercepting missile, such as the relative position, the relative speed between the two, the acceleration of the intercepting missile and the information related to the guidance law thereof. The information is used to determine its escape strategy.
The aircraft can execute the escape strategy more pertinently only by judging the threat degree of each interception missile of the enemy to the aircraft, so that the survival probability of the aircraft is improved. But methods for the calculation or estimation of threat levels for multiple aircraft are not currently seen in aircraft escape studies. If the threat degree of the intercepted missile to the aircraft is not estimated, the condition that the intercepted missile intercepts the aircraft cannot be effectively analyzed, and the aircraft is possibly threatened greatly and even is successfully intercepted.
Disclosure of Invention
The invention aims to solve the problem that the aircraft is greatly threatened because no method capable of estimating the threat degree of the intercepted missile to the aircraft exists at present. And further provides a multi-aircraft threat degree obtaining method based on PN guidance law identification.
The method for acquiring the threat degree of the multiple aircrafts based on PN guidance law identification comprises the following steps:
step 1, establishing a relative motion equation of the intercepted missile and the aircraft:
the aircraft group is called evaders, and the interception missile group is called purguers; n intercepting missiles and M aircrafts exist in the pursuirs intercepting scenes; intercept missile and record PjJ is 1, …, N; aircraft is marked as Ei,i＝1,…,M；
Oe0xe0ye0ze0Is E1To P1As the initial line of sight system, as the scene inertial frame, and as the aircraft EiThe inertial coordinate system of (a); o ispxpypzpIs to intercept missile PjThe inertial coordinate system of (a); coordinate system OpxpypzpAnd a scene inertial coordinate system Oe0xe0ye0ze0The relationship of (1) is: the coordinate origin is coincided, and a coordinate system formed by rotating 180 degrees around the y axis of any one coordinate system in the two coordinate systems is coincided with the other coordinate system;
intercept missile PjIntercepting aircraft E by adopting PN guidance lawiAircraft EiFor intercepting missile PjIs estimated, the state vector is
Figure BDA0001491815940000021
Wherein
Figure BDA0001491815940000022
And
Figure BDA0001491815940000023
for intercepting missile PjRelative to aircraft EiThe distance vector of (a) is in the scene inertial coordinate system;
Figure BDA0001491815940000024
and
Figure BDA0001491815940000025
is PjRelative to EiThe component of the relative velocity vector in the inertial coordinate system of the scene;
Figure BDA0001491815940000027
vector quantity
Figure BDA0001491815940000028
And
Figure BDA0001491815940000029
respectively as intercepting missiles PjAnd an aircraft EiAt the position under a scene inertia coordinate system, elements in the vector are components on each axis of the coordinate; vector quantity
Figure BDA00014918159400000210
And
Figure BDA00014918159400000211
are respectively PjAnd EiThe velocity under the inertial coordinate system of the scene, the element in the vector is the component on each axis of the coordinate;
intercept missile PjRelative to aircraft EiThe motion model of
Figure BDA00014918159400000212
Wherein the vector
Figure BDA00014918159400000213
Is PjAcceleration under a scene inertial coordinate system; vector quantity
Figure BDA00014918159400000214
As an aircraft EiUnder the scene inertial coordinate systemAcceleration; τ is a time constant;
Figure BDA00014918159400000215
and
Figure BDA00014918159400000216
respectively the navigation constants of a pitching channel and a yawing channel; r isijFor intercepting missile PjRelative to aircraft EiThe distance of (d); intermediate variable rho(i,j)、
Figure BDA00014918159400000217
And η(i,j)Is expressed as
Figure BDA00014918159400000218
Figure BDA00014918159400000219
Figure BDA0001491815940000031
Figure BDA0001491815940000032
Step 2, acquiring the plane interception threat degree of the intercepted missile on the aircraft:
by aircraft EiAll aircraft EiCan obtain all the interception missiles PjMeasurement information of the location; thus aircraft EiUsing Kalman filter, interception missile P can be obtainedjEstimation of state, i.e.
Figure BDA0001491815940000033
Wherein the content of the first and second substances,
Figure BDA0001491815940000034
is a phase ofTo distance
Figure BDA0001491815940000035
An estimated value of (d);
Figure BDA0001491815940000036
is the relative velocity
Figure BDA0001491815940000037
An estimated value of (d);
Figure BDA0001491815940000038
for intercepting missile PjComponent under scene inertial coordinate system
Figure BDA0001491815940000039
An estimated value of (d);
Figure BDA00014918159400000310
and
Figure BDA00014918159400000311
navigation constants for pitch and yaw channels, respectively
Figure BDA00014918159400000312
And
Figure BDA00014918159400000313
an estimated value of (d);
in pair PjUnder the condition that the motion model is decoupled into a pitching channel and a yawing channel, an aircraft E is arrangediTo intercept missile PjHas a line-of-sight inclination of
Figure BDA00014918159400000314
And an off-angle of
Figure BDA00014918159400000315
For aircraft EiTo intercept missile PjInclination of line of sight
Figure BDA00014918159400000316
And declination angle
Figure BDA00014918159400000317
Calculating the time derivative to obtain an aircraft EiTo intercept missile PjLine of sight inclination velocity
Figure BDA00014918159400000318
And yaw rate
Figure BDA00014918159400000319
Based on the estimated value
Figure BDA00014918159400000320
Computing aircraft EiTo intercept missile PjEstimated line of sight angular velocity
Figure BDA00014918159400000321
And an estimate of line-of-sight declination velocity
Figure BDA00014918159400000322
Aircraft EiThrough communication links with other aircraft EkSharing aircraft to intercept missile PjEstimation of line of sight angle
Figure BDA00014918159400000323
k is not equal to i; aircraft EiObtaining all aircraft to all intercept missiles PjAn estimate of line-of-sight angular velocity;
at PjUnder the condition that the motion model is decoupled into a pitching channel and a yawing channel, the line-of-sight inclination angle speed is obtained
Figure BDA00014918159400000324
And yaw rate
Figure BDA00014918159400000325
Taking the derivative of time to obtain EiTo PjAngular tilt acceleration of
Figure BDA00014918159400000326
Sum line of sight angular yaw acceleration
Figure BDA00014918159400000327
Based on the estimated value
Figure BDA00014918159400000328
Computing aircraft EiTo intercept missile PjAngular dip acceleration estimate of line of sight
Figure BDA00014918159400000329
Sum line angle and declination acceleration estimation value
Figure BDA00014918159400000330
Definition of
Figure BDA00014918159400000331
For intercepting missile PjFor aircraft EiThe line-of-sight angular velocity convergence index; thus, intercept missile PjFor aircraft EiThe convergence indexes of the angular velocities of the sight lines of the pitching channel and the yawing channel are respectively
Figure BDA00014918159400000332
And
Figure BDA00014918159400000333
intercepting missile P according to the convergence index of the angular velocity of the sight linejFor aircraft EiThe threat level in the pitch and yaw channels is calculated as follows
Figure BDA0001491815940000041
In the formula (I), the compound is shown in the specification,
Figure BDA0001491815940000042
are respectively a normalization factor；
Figure BDA0001491815940000043
Respectively as intercepting missiles PjFor aircraft EiThe threat level in the pitch and yaw channels;
step 3, obtaining three-dimensional interception threat degree according to the threat degrees of the pitching channel and the yawing channel
Figure BDA0001491815940000044
I.e. interceptor PjFor aircraft EiEstimation of the three-dimensional interception threat.
Further, step 2 obtains interception missile PjFor aircraft EiAfter the threat degrees of the pitching channel and the yawing channel, carrying out weight adjustment on the threat degrees of the pitching channel and the yawing channel, and then calculating the three-dimensional interception probability through the step 3; the specific process of weight adjustment is as follows:
assuming line-of-sight angular velocity convergence index
Figure BDA0001491815940000045
Or
Figure BDA0001491815940000046
When the weight is a negative value, the corresponding weight is k times of the weight when the weight is a positive value, and k is more than 1; suppose that the M
Figure BDA0001491815940000047
Wherein α values are larger than zero, β values are smaller than or equal to zero, and the weight calculation equation is
Figure BDA0001491815940000048
The equation is solved as
Figure BDA0001491815940000049
Threat degree of pitch channel and yaw channel
Figure BDA00014918159400000410
And
Figure BDA00014918159400000411
the corresponding weight is
Figure BDA00014918159400000412
Figure BDA00014918159400000413
The threat degree of the pitching channel and the yawing channel after the weight is adjusted to be
Figure BDA0001491815940000051
Further, after the threat degrees of the pitching channel and the yawing channel are adjusted, the three-dimensional interception threat degree is obtained as follows
Figure BDA0001491815940000052
Further, the time constant τ in step 1 is 0.1.
Further, an aircraft E as described in step 1iTo intercept missile PjIs a distance of
Figure BDA0001491815940000053
Further, aircraft E in step 2iTo intercept missile PjInclination of line of sight
Figure BDA0001491815940000054
And declination angle
Figure BDA0001491815940000055
The following were used:
Figure BDA0001491815940000056
obtaining an aircraft E as described in step 2iTo intercept missile PjLine of sight inclination velocity
Figure BDA0001491815940000057
And yaw rate
Figure BDA0001491815940000058
The following were used:
Figure BDA0001491815940000059
the method described in step 2 based on the estimated values
Figure BDA00014918159400000510
Computing aircraft EiTo intercept missile PjEstimated line of sight angular velocity
Figure BDA00014918159400000511
And an estimate of line-of-sight declination velocity
Figure BDA00014918159400000512
The following were used:
Figure BDA00014918159400000513
obtaining E as described in step 2iTo PjAngular tilt acceleration of
Figure BDA00014918159400000514
Sum line angular yaw acceleration
Figure BDA00014918159400000515
The following were used:
Figure BDA0001491815940000061
the method described in step 2 based on the estimated values
Figure BDA0001491815940000062
Computing aircraft EiTo intercept missile PjAngular dip acceleration estimate of line of sight
Figure BDA0001491815940000063
Sum line angle and declination acceleration estimation value
Figure BDA0001491815940000064
The following were used:
Figure BDA0001491815940000065
the invention has the following beneficial effects:
by utilizing the method and the device, the motion state of the intercepted missile can be estimated, and the threat degree of the intercepted missile to the aircraft can be estimated, so that the defect that the aircraft cannot judge the threat degree of the intercepted missile to the aircraft and cannot design and execute an escape strategy in a targeted manner is avoided, the threat to the aircraft is reduced, and the survival probability of the aircraft is improved.
Under the condition that three intercepting missiles are used for three aircrafts, the threat degree of the intercepting missiles on each aircraft in the aircraft group can be judged according to the method, so that the condition of the aircrafts targeted by the intercepting missiles is accurately judged, and the accuracy rate is over 95 percent.
Drawings
FIG. 1 is a scene of threat level estimation of three intercepting missiles on three aircraft;
FIGS. 2(a) and 2(b) show an aircraft EiTo intercept missile P2Comparing the estimated values of the components of the acceleration on the y axis and the z axis of the inertial coordinate system with the true values;
FIGS. 3(a) and 3(b) are aircraft EiTo intercept missile P2Estimated values of the navigation constants at the yaw channel and the pitch channel;
FIGS. 4(a) and 4(b) are aircraft EiTo the railMissile interception P2The estimated values of the line-of-sight angular velocity convergence index on a yaw channel and a pitch channel;
FIGS. 5(a) and 5(b) are aircraft EiTo intercept missile P2Estimation of the threat level on the yaw and pitch channels;
FIG. 6 is an aircraft EiTo intercept missile P2Evaluation of the threat degree.
Detailed Description
The first embodiment is as follows:
the method for acquiring the threat degree of the multiple aircrafts based on PN guidance law identification comprises the following steps:
step 1, establishing a relative motion equation of the intercepted missile and the aircraft:
the aircraft group is called evaders, and the interception missile group is called purguers; n intercepting missiles and M aircrafts exist in the pursuirs intercepting scenes; intercept missile and record PjJ is 1, …, N; aircraft is marked as EiI is 1, …, M; the parameter subscript contains e parameters corresponding to the aircraft, and the parameter subscript contains p parameters corresponding to the interception missile group;
for simplicity and clarity, fig. 1 shows a guidance law identification scene of three intercepting missiles for three aircrafts; but the method can be applied to the general situation that N intercepting missiles intercept M aircrafts; o in FIG. 1e0xe0ye0ze0Is E1To P1As the initial line of sight system, as the scene inertial frame, and as the aircraft EiThe inertial coordinate system of (a); definition of OpxpypzpIs to intercept missile PjThe inertial coordinate system of (a); coordinate system OpxpypzpAnd a scene inertial coordinate system Oe0xe0ye0ze0The relationship of (1) is: the coordinate origin is coincided, and a coordinate system formed by rotating 180 degrees around the y axis of any one coordinate system in the two coordinate systems is coincided with the other coordinate system;
suppose EiKnowing PjUsing PN guidance law, but not knowing the navigation constants of the pitch and yaw channelsA value; aircraft EiCan obtain the interception missile PjPosition information under a scene inertial coordinate system; need an aircraft EiJoint estimation interception missile PjAnd PN guidance law navigation constants, and calculates PjTo EiThe degree of threat of (c);
intercept missile PjIntercepting aircraft E by adopting PN guidance lawiAircraft EiFor intercepting missile PjIs estimated, the state vector is
Figure BDA0001491815940000071
Wherein
Figure BDA0001491815940000072
And
Figure BDA0001491815940000073
for intercepting missile PjRelative to aircraft EiThe distance vector of (a) is in the scene inertial coordinate system;
Figure BDA0001491815940000074
and
Figure BDA0001491815940000075
is PjRelative to EiThe component of the relative velocity vector in the inertial coordinate system of the scene;
Figure BDA0001491815940000081
Figure BDA0001491815940000082
vector quantity
Figure BDA0001491815940000083
And
Figure BDA0001491815940000084
respectively as intercepting missiles PjAnd an aircraft EiAt the position under a scene inertia coordinate system, elements in the vector are components on each axis of the coordinate; vector quantity
Figure BDA0001491815940000085
And
Figure BDA0001491815940000086
are respectively PjAnd EiThe velocity under the inertial coordinate system of the scene, the element in the vector is the component on each axis of the coordinate;
intercept missile PjRelative to aircraft EiThe motion model of
Figure BDA0001491815940000087
Wherein the above-parameter-represents the first derivative of the corresponding parameter; vector quantity
Figure BDA0001491815940000088
Is PjAcceleration under a scene inertial coordinate system; vector quantity
Figure BDA0001491815940000089
As an aircraft EiAcceleration under a scene inertial coordinate system; τ is a time constant;
Figure BDA00014918159400000810
and
Figure BDA00014918159400000811
respectively the navigation constants of a pitching channel and a yawing channel; r isijFor intercepting missile PjRelative to aircraft EiThe distance of (d); intermediate variable rho(i,j)、
Figure BDA00014918159400000812
And η(i,j)Is expressed as
Figure BDA00014918159400000813
Figure BDA00014918159400000814
Figure BDA00014918159400000815
Figure BDA00014918159400000816
Suppose aircraft EiCan measure interception missile PjThe relative self position under the scene inertia coordinate system is that the measurement matrix of the system is
Figure BDA0001491815940000091
H(i,j)The model is needed by the Kalman filter; considering that the filter equation of the Kalman filter is well known and is not given, it is only shown that H is used in the following filter equation(i,j)(ii) a The present invention uses the UKF as a filter on which the multi-vehicle threat calculations depend.
Step 2, acquiring the plane interception threat degree of the intercepted missile on the aircraft:
considering when intercepting missile PjIntercept aircraft EiIn time, a strategy of nulling the line-of-sight angular velocity of the aircraft is generally adopted; the invention proposes to use the product of the line-of-sight angular velocity and the line-of-sight angular acceleration
Figure BDA00014918159400000918
The method is used as a line-of-sight angular velocity convergence index which can be used as a basis for calculating the threat degree of multiple aircrafts;
suppose interception of missile PjIntercepting aircraft E before time t1After time t, pair E is discarded1Interception of, in turn, interception E2(ii) a Although before PjTo E1Angular velocity of line of sightVery close to zero point, but due to PjNo longer intercept E1So that the corresponding line-of-sight angular velocity begins to deviate from zero, so that the index
Figure BDA0001491815940000092
If true; when P is presentjBegin to intercept aircraft E2After, although before PjTo E2The apparent angular velocity of (2) deviates from the zero point, but then the apparent angular velocity starts to converge toward the zero point, so that
Figure BDA0001491815940000093
If true; in addition, when
Figure BDA0001491815940000094
Time and
Figure BDA0001491815940000095
when the line-of-sight angular velocity and the line-of-sight angular acceleration are close to zero, P is consideredjHas locked E2At this time, the interception probability should be highest;
therefore, according to the line-of-sight angular velocity convergence index, the idea of calculating the threat degree of the multiple aircrafts is as follows: when in use
Figure BDA0001491815940000096
And is
Figure BDA0001491815940000097
When the angular velocity and the angular acceleration of the line of sight are close to zero, P is consideredjFor corresponding aircraft EiThe highest threat level; when in
Figure BDA0001491815940000098
When, the angular velocity of the line of sight is illustrated
Figure BDA0001491815940000099
Has a tendency to converge, PjFor corresponding aircraft EiThe threat degree of (2) is higher; when in use
Figure BDA00014918159400000910
When, the angular velocity of the line of sight is illustrated
Figure BDA00014918159400000911
With a tendency to diverge, PjFor corresponding aircraft EiIs low; the specific calculation of the threat degree value based on the index of the product of the line-of-sight angular velocity and the line-of-sight angular acceleration is described as follows;
assume before all intercepting missiles PjThe position under the scene inertial coordinate system can be measured; by aircraft EiAll aircraft EiCan obtain all the interception missiles PjMeasurement information of the location; thus aircraft EiUsing Kalman filter, interception missile P can be obtainedjEstimation of state, i.e.
Figure BDA00014918159400000912
Wherein the content of the first and second substances,
Figure BDA00014918159400000913
is a relative distance
Figure BDA00014918159400000914
An estimated value of (d);
Figure BDA00014918159400000915
is the relative velocity
Figure BDA00014918159400000916
An estimated value of (d);
Figure BDA00014918159400000917
for intercepting missile PjComponent under scene inertial coordinate system
Figure BDA0001491815940000101
An estimated value of (d);
Figure BDA0001491815940000102
and
Figure BDA0001491815940000103
navigation constants for pitch and yaw channels, respectively
Figure BDA0001491815940000104
And
Figure BDA0001491815940000105
an estimated value of (d);
in pair PjThe aircraft E is under the condition that the motion model is decoupled into a pitching channel and a yawing channeliTo intercept missile PjInclination of line of sight
Figure BDA0001491815940000106
And declination angle
Figure BDA0001491815940000107
The following were used:
Figure BDA0001491815940000108
calculating the time derivative of the formula (9) to obtain an aircraft EiTo intercept missile PjLine of sight inclination velocity
Figure BDA0001491815940000109
And yaw rate
Figure BDA00014918159400001010
Figure BDA00014918159400001011
Thus, can be based on the estimated value
Figure BDA00014918159400001012
Computing aircraft EiTo intercept missile PjEstimated line of sight angular velocity
Figure BDA00014918159400001013
And an estimate of line-of-sight declination velocity
Figure BDA00014918159400001014
Figure BDA00014918159400001015
Aircraft EiThrough communication link and aircraft EkSharing aircraft to intercept missile PjEstimation of line of sight angle
Figure BDA00014918159400001016
And
Figure BDA00014918159400001017
n, { i, k }, j ═ 1,2, · N; thus aircraft EiObtaining all aircraft to all intercept missiles PjEstimation of line-of-sight angular velocity
Figure BDA00014918159400001018
And
Figure BDA00014918159400001019
i＝1,2,...,M,j＝1,2,...,N；
will PjFor the aircraft E under the condition that the motion model is decoupled into a pitching channel and a yawing channeliTo intercept missile PjLine of sight inclination velocity
Figure BDA00014918159400001020
And yaw rate
Figure BDA00014918159400001021
Taking the derivative of time to obtain EiTo PjAngular tilt acceleration of
Figure BDA00014918159400001022
Sum line angular yaw acceleration
Figure BDA00014918159400001023
Figure BDA00014918159400001024
According to which the estimated value can be obtained
Figure BDA0001491815940000111
Computing aircraft EiTo intercept missile PjAngular dip acceleration estimate of line of sight
Figure BDA0001491815940000112
Sum line angle and declination acceleration estimation value
Figure BDA0001491815940000113
Figure BDA0001491815940000114
Definition of
Figure BDA0001491815940000115
For intercepting missile PjFor aircraft EiThe line-of-sight angular velocity convergence index; thus, intercept missile PjFor aircraft EiThe convergence indexes of the angular velocities of the sight lines of the pitching channel and the yawing channel are respectively
Figure BDA0001491815940000116
And
Figure BDA0001491815940000117
intercepting missile P according to the convergence index of the angular velocity of the sight linejFor aircraft EiThe threat level in the pitch and yaw channels is calculated as follows
Figure BDA0001491815940000118
In the formula (I), the compound is shown in the specification,
Figure BDA0001491815940000119
respectively are normalization factors;
Figure BDA00014918159400001110
the threat degrees of the pitch channel and the yaw channel respectively;
step 3, obtaining three-dimensional interception threat degree according to the threat degrees of the pitching channel and the yawing channel
Figure BDA00014918159400001111
I.e. interceptor PjFor aircraft EiEstimating the three-dimensional interception probability.
The second embodiment is as follows:
the method for acquiring the threat degree of the multiple aircrafts based on PN guidance law identification comprises the following steps:
step 1, establishing a relative motion equation of the intercepted missile and the aircraft:
the aircraft group is called evaders, and the interception missile group is called purguers; n intercepting missiles and M aircrafts exist in the pursuirs intercepting scenes; intercept missile and record PjJ is 1, …, N; aircraft is marked as EiI is 1, …, M; the parameter subscript contains e parameters corresponding to the aircraft, and the parameter subscript contains p parameters corresponding to the interception missile group;
for simplicity and clarity, fig. 1 shows a guidance law identification scene of three intercepting missiles for three aircrafts; but the method can be applied to the general situation that N intercepting missiles intercept M aircrafts; o in FIG. 1e0xe0ye0ze0Is E1To P1As the initial line of sight system, as the scene inertial frame, and as the aircraft EiThe inertial coordinate system of (a); definition of OpxpypzpIs to intercept missile PjThe inertial coordinate system of (a); coordinate system OpxpypzpAnd a scene inertial coordinate system Oe0xe0ye0ze0The relationship of (1) is: the origin of coordinates being coincident and wound around any one of the two coordinate systemsA coordinate system formed by rotating the y axis of the coordinate system by 180 degrees is superposed with the other coordinate system;
suppose EiKnowing PjAdopting a PN guidance law, but not knowing navigation constant values of a pitch channel and a yaw channel; aircraft EiCan obtain the interception missile PjPosition information under a scene inertial coordinate system; need an aircraft EiJoint estimation interception missile PjAnd PN guidance law navigation constants, and calculates PjTo EiThe degree of threat of (c);
intercept missile PjIntercepting aircraft E by adopting PN guidance lawiAircraft EiFor intercepting missile PjIs estimated, the state vector is
Figure BDA0001491815940000121
Wherein
Figure BDA0001491815940000122
And
Figure BDA0001491815940000123
for intercepting missile PjRelative to aircraft EiThe distance vector of (a) is in the scene inertial coordinate system;
Figure BDA0001491815940000124
and
Figure BDA0001491815940000125
is PjRelative to EiThe component of the relative velocity vector in the inertial coordinate system of the scene;
Figure BDA0001491815940000126
Figure BDA0001491815940000127
vector quantity
Figure BDA0001491815940000128
And
Figure BDA0001491815940000129
respectively as intercepting missiles PjAnd an aircraft EiAt the position under a scene inertia coordinate system, elements in the vector are components on each axis of the coordinate; vector quantity
Figure BDA00014918159400001210
And
Figure BDA00014918159400001211
are respectively PjAnd EiThe velocity under the inertial coordinate system of the scene, the element in the vector is the component on each axis of the coordinate;
intercept missile PjRelative to aircraft EiThe motion model of
Figure BDA0001491815940000131
Wherein the above-parameter-represents the first derivative of the corresponding parameter; vector quantity
Figure BDA0001491815940000132
Is PjAcceleration under a scene inertial coordinate system; vector quantity
Figure BDA0001491815940000133
As an aircraft EiAcceleration under a scene inertial coordinate system; τ is a time constant;
Figure BDA0001491815940000134
and
Figure BDA0001491815940000135
respectively the navigation constants of a pitching channel and a yawing channel; r isijFor intercepting missile PjRelative to aircraft EiThe distance of (d); intermediate variable rho(i,j)、
Figure BDA0001491815940000136
And η(i,j)Is expressed as
Figure BDA0001491815940000137
Figure BDA0001491815940000138
Figure BDA0001491815940000139
Figure BDA00014918159400001310
Suppose aircraft EiCan measure interception missile PjThe relative self position under the scene inertia coordinate system is that the measurement matrix of the system is
Figure BDA00014918159400001311
H(i,j)The model is needed by the Kalman filter; considering that the filter equation of the Kalman filter is well known and is not given, it is only shown that H is used in the following filter equation(i,j)(ii) a The present invention uses the UKF as a filter on which the multi-vehicle threat calculations depend.
Step 2, acquiring the plane interception threat degree of the intercepted missile on the aircraft:
considering when intercepting missile PjIntercept aircraft EiIn time, a strategy of nulling the line-of-sight angular velocity of the aircraft is generally adopted; the invention proposes to use the product of the line-of-sight angular velocity and the line-of-sight angular acceleration
Figure BDA0001491815940000141
The method is used as a line-of-sight angular velocity convergence index which can be used as a basis for calculating the threat degree of multiple aircrafts;
suppose interception of missile PjIntercepting aircraft E before time t1After time t, pair E is discarded1Interception of, in turn, interception E2(ii) a Although before PjTo E1Is very close to zero, but due to PjNo longer intercept E1So that the corresponding line-of-sight angular velocity begins to deviate from zero, so that the index
Figure BDA0001491815940000142
If true; when P is presentjBegin to intercept aircraft E2After, although before PjTo E2The apparent angular velocity of (2) deviates from the zero point, but then the apparent angular velocity starts to converge toward the zero point, so that
Figure BDA0001491815940000143
If true; in addition, when
Figure BDA0001491815940000144
And is
Figure BDA0001491815940000145
When the angular velocity and the angular acceleration of the line of sight are close to zero, P is consideredjHas locked E2At this time, the interception probability should be highest;
therefore, according to the line-of-sight angular velocity convergence index, the idea of calculating the threat degree of the multiple aircrafts is as follows: when in use
Figure BDA0001491815940000146
And is
Figure BDA0001491815940000147
When the angular velocity and the angular acceleration of the line of sight are close to zero, P is consideredjFor corresponding aircraft EiThe highest threat level; when in
Figure BDA0001491815940000148
When, the angular velocity of the line of sight is illustrated
Figure BDA0001491815940000149
Has a tendency to converge, PjFor corresponding aircraft EiThe threat degree of (2) is higher; when in use
Figure BDA00014918159400001410
When, the angular velocity of the line of sight is illustrated
Figure BDA00014918159400001411
With a tendency to diverge, PjFor corresponding aircraft EiIs low; the specific calculation of the threat degree value based on the index of the product of the line-of-sight angular velocity and the line-of-sight angular acceleration is described as follows;
assume before all intercepting missiles PjThe position under the scene inertial coordinate system can be measured; by aircraft EiAll aircraft EiCan obtain all the interception missiles PjMeasurement information of the location; thus aircraft EiUsing Kalman filter, interception missile P can be obtainedjEstimation of state, i.e.
Figure BDA00014918159400001412
Wherein the content of the first and second substances,
Figure BDA00014918159400001413
is a relative distance
Figure BDA00014918159400001414
An estimated value of (d);
Figure BDA00014918159400001415
is the relative velocity
Figure BDA00014918159400001416
An estimated value of (d);
Figure BDA00014918159400001417
for intercepting missile PjComponent under scene inertial coordinate system
Figure BDA00014918159400001418
An estimated value of (d);
Figure BDA00014918159400001419
and
Figure BDA00014918159400001420
navigation constants for pitch and yaw channels, respectively
Figure BDA00014918159400001421
And
Figure BDA00014918159400001422
an estimated value of (d);
in pair PjThe aircraft E is under the condition that the motion model is decoupled into a pitching channel and a yawing channeliTo intercept missile PjInclination of line of sight
Figure BDA0001491815940000151
And declination angle
Figure BDA0001491815940000152
The following were used:
Figure BDA0001491815940000153
calculating the time derivative of the formula (9) to obtain an aircraft EiTo intercept missile PjLine of sight inclination velocity
Figure BDA0001491815940000154
And yaw rate
Figure BDA0001491815940000155
Figure BDA0001491815940000156
Thus, can be based on the estimated value
Figure BDA0001491815940000157
Computing aircraft EiTo intercept missile PjEstimated line of sight angular velocity
Figure BDA0001491815940000158
And an estimate of line-of-sight declination velocity
Figure BDA0001491815940000159
Figure BDA00014918159400001510
Aircraft EiThrough communication link and aircraft EkSharing aircraft to intercept missile PjEstimation of line of sight angle
Figure BDA00014918159400001511
And
Figure BDA00014918159400001512
n, { i, k }, j ═ 1,2, · N; thus aircraft EiObtaining all aircraft to all intercept missiles PjEstimation of line-of-sight angular velocity
Figure BDA00014918159400001513
And
Figure BDA00014918159400001514
i＝1,2,...,M,j＝1,2,...,N；
will PjFor the aircraft E under the condition that the motion model is decoupled into a pitching channel and a yawing channeliTo intercept missile PjLine of sight inclination velocity
Figure BDA00014918159400001515
And yaw rate
Figure BDA00014918159400001516
Taking the derivative of time to obtain EiTo PjAngular tilt acceleration of
Figure BDA00014918159400001517
Sum line angular yaw acceleration
Figure BDA00014918159400001518
Figure BDA00014918159400001519
According to which the estimated value can be obtained
Figure BDA00014918159400001520
Computing aircraft EiTo intercept missile PjAngular dip acceleration estimate of line of sight
Figure BDA00014918159400001521
Sum line angle and declination acceleration estimation value
Figure BDA00014918159400001522
Figure BDA0001491815940000161
Definition of
Figure BDA0001491815940000162
For intercepting missile PjFor aircraft EiThe line-of-sight angular velocity convergence index; thus, intercept missile PjFor aircraft EiThe convergence indexes of the angular velocities of the sight lines of the pitching channel and the yawing channel are respectively
Figure BDA0001491815940000163
And
Figure BDA0001491815940000164
intercepting missile P according to the convergence index of the angular velocity of the sight linejFor aircraft EiThe threat level in the pitch and yaw channels is calculated as follows
Figure BDA0001491815940000165
In the formula (I), the compound is shown in the specification,
Figure BDA0001491815940000166
respectively are normalization factors;
Figure BDA0001491815940000167
respectively as intercepting missiles PjFor aircraft EiThe threat level in the pitch and yaw channels;
for equation (14), there may be two threat level acquisitions in the process of two threat level acquisitions
Figure BDA0001491815940000168
(or
Figure BDA0001491815940000169
) Equal condition, but when
Figure BDA00014918159400001610
Or
Figure BDA00014918159400001611
When the channel is in the zero point, the visual line angular velocity of the corresponding channel is converged; when in
Figure BDA00014918159400001612
Or
Figure BDA00014918159400001613
When the angular velocity of the line of sight of the corresponding channel deviates from the zero point; the interception probability in this case should be greater than in the latter case; therefore, the formula (14) also needs to consider the index
Figure BDA00014918159400001614
And
Figure BDA00014918159400001615
the symbol of (a); when index is
Figure BDA00014918159400001616
Or
Figure BDA00014918159400001617
When the weight is less than zero, a larger weight is given; when index is
Figure BDA00014918159400001618
Or
Figure BDA00014918159400001619
When the weight is more than zero, a smaller weight is given; thereby increasing the accuracy of the threat;
assuming line-of-sight angular velocity convergence index
Figure BDA00014918159400001620
Or
Figure BDA00014918159400001621
When the weight is a negative value, the corresponding weight is k times of the weight when the weight is a positive value, and k is more than 1; suppose that the M
Figure BDA00014918159400001622
Wherein α values are larger than zero, β values are smaller than or equal to zero, and the weight calculation equation is
Figure BDA0001491815940000171
The equation is solved as
Figure BDA0001491815940000172
Threat degree of pitch channel and yaw channel
Figure BDA0001491815940000173
And
Figure BDA0001491815940000174
the corresponding weight is
Figure BDA0001491815940000175
Figure BDA0001491815940000176
The threat degree of the pitching channel and the yawing channel after the weight is adjusted to be
Figure BDA0001491815940000177
Step 3, obtaining three-dimensional interception threat degree according to the threat degrees of the pitching channel and the yawing channel
Figure BDA0001491815940000178
I.e. interceptor PjFor aircraft EiEstimating the three-dimensional interception probability.
Examples
In order to verify the effectiveness of the method, a simulation experiment is performed according to the second specific implementation mode through a scene containing 3 evaders and 3 pursurers. Intercepting missile P at final guidance initial stage1Intercept aircraft E1Intercept missile P2Intercept aircraft E2Intercept missile P3Intercept aircraft E3. Intercept missile P1The target is not changed in the whole guidance phase; to intercept missile P2After a period of time t2Post-change of target, in turn intercepting aircraft E1(ii) a Intercept missile P3After a period of time t3Post-change of target, in turn intercepting aircraft E1. Here the analysis is at t28 seconds and t 34 seconds for aircraft EiI-1, …,3 pairs of interceptor missiles PjJ-1, …,3, and the result of the estimation of the threat level.
Suppose aircraft EiI 1, …,3 move in a sinusoidal maneuver. The maximum manoeuvrability was 2 g. Aircraft E according to estimated state vector equation 1iFor intercepting missile PjAnd performing state estimation by adopting a Kalman filter. Of filters thereforThe process noise matrix and the measurement noise matrix are set to:
Q(i,j)＝diag(0.1,0.1,0.1,0.2,0.2,0.2,0.4,0.4,0.4,0.1,0.1)
R(i,j)＝diag(10,10,10)
in the formula Q(i,j)And R(i,j)Respectively, a Kalman filter process noise matrix and a measurement noise matrix. The Kalman filter state initial values are set to: the relative position state is a true value plus a mean value which is 0, and sigma is a normal distribution random vector of 3 m; the relative speed state is a true value plus a normal distribution random vector with the average value of 0 and sigma of 10 m/s; suppose we do not have any prior information about the acceleration, so the initial value of the acceleration is set to 0; the initial values of the pitch and yaw channel guidance constants are both 3, which is a typical value of the PN guidance law guidance constant.
Tables 1 to 6 show interception missiles PjJ-1, …,3 and aircraft EiAnd i is initial state information of 1, …, 3.
TABLE 1 interception of missile P1Simulation configuration information
Figure BDA0001491815940000181
TABLE 2 interception of missile P2Simulation configuration information
Figure BDA0001491815940000182
TABLE 3 interception of missile P3Simulation configuration information
Figure BDA0001491815940000191
TABLE 4 aircraft E1Simulation configuration information
Figure BDA0001491815940000192
TABLE 5 aircraft E2Simulation configuration information
Figure BDA0001491815940000193
TABLE 6 aircraft E3Simulation configuration information
Figure BDA0001491815940000194
For intercepting missile P2For aircraft EiThe threat degree change of i-1, …,3 is analyzed, and other cases of intercepting missiles can be analyzed in a similar way.
FIGS. 2(a) and 2(b) show an aircraft EiTo intercept missile P2And comparing the estimated values of the components of the acceleration on the y axis and the z axis of the inertial coordinate system with the true values. Since after 8 seconds, P is2The intercepted target is driven from E2Switch to E1At this time, missile P is intercepted2The line of sight angular velocity of (c) may jump. To zero the line-of-sight angular velocity, P2There will be a jump in the components of the acceleration in the y-axis and z-axis of the inertial frame. Aircraft EiI is 1, …,3 is all at P2And establishing a model for estimation on the basis of intercepting the self hypothesis. At P2Before switching over the target, P2Interception E2Thus E2The assumption of (c) is correct, while the other evaders' assumptions are wrong. Before 8 seconds, E2To P2The estimate of acceleration converges to the true value, and E1And E3The estimated value of (c) deviates from the true value. And after 8 seconds, P2Change into interception E1At this time E1The assumption of (c) is correct, while the other evader assumptions are wrong. After a dynamic period, E1To P2The acceleration estimate converges to the true value, while the other evaders are on P2The estimate of acceleration deviates far from the true value.
FIGS. 3(a) and 3(b) are aircraft EiTo intercept missile P2Estimates of the navigation constants in the pitch and yaw channels. Aircraft EiI is 1, …,3 is all at P2And establishing a model for estimation on the basis of intercepting the self hypothesis. Before 8 secondsP2Interception E2Thus E2Can be seen in the pitch and yaw channels, E2To P2Converges from the initial value of 3 to the true value. While other evaders have wrong assumptions about P at this time2The estimated value of the navigation constant deviates from the true value. P after 8 seconds2Interception E1Thus E1Is correct, in the pitch and yaw channels, E1To P2Converges towards the true value. And other evaders for P2Deviates from true.
FIGS. 4(a) and 4(b) are aircraft EiTo intercept missile P2The line of sight angular velocity converges to an estimate of the index on the pitch and yaw channels. Taking the pitch channel as an example, since P2The target intercepted in the initial guidance stage is E2Thus the first 8 seconds, P2To E2The estimated value and the true value of the line-of-sight angular velocity convergence index are very close to each other and are all very close to zero, which indicates that P is close to zero at the moment2Has locked E2. And to E1And E3The line-of-sight angular velocity convergence index comparison E2The convergence index of the line of sight angular velocity of (2) deviates greatly from the true value. After 8 seconds, P2The intercepted target is changed, and the interception E is abandoned2In turn intercept E1. Due to guidance initial time pair E2Aiming and zero-ing the first 8 seconds effort pair E2Line of sight angular velocity such that P is over a period of time2To E2The line-of-sight angular velocity convergence index of (a) is still very close to zero. Albeit P after 8 seconds2Is to intercept E1But externally its interception E2The ability of (2) is still greater than the interception E1The ability of the cell to perform. It can be said that if during this time, P2And change the idea to intercept E2It remains more intercepted than interception E1It is easier. Therefore, during this time even P2Subjective intention is to intercept E1But should still consider P2Interception E2The probability of (2) is high. And P is2To E1The convergence index of line of sight angular velocity of (E) gradually decreases after 8 seconds and converges toward the true value of the convergence index of line of sight angular velocity of (E)1Begins to converge towards zero. After a period of time P2To E2Begin to increase rapidly and deviate from zero, P2Abandon interception E2The effect of (2) starts to be displayed. After this moment, P2Interception E1Odds ratio interception E2It is easier. Thus, P can be considered2Interception E1The probability of (c) is greater.
FIGS. 5(a) and 5(b) are aircraft EiTo intercept missile P2Estimation of the threat level on the pitch and yaw channels. Take the pitch channel as an example. Early stage P2To E2Is more threatening than E1The probability of (c). Although P is2Abandoning interception E starting at 8 seconds2In turn intercept E1But due to the initial guidance pair E2Aiming and zero-ing effort within 8 seconds of pair E2So that E is intercepted before this time2Odds ratio interception E1Easier, so consider to E2The threat level of (2) is large. After that, for E1Rapidly surpass the threat level of E2And is stable at about 1.
FIG. 6 is an aircraft EiTo intercept missile P2The estimated threat level is the average of the threat levels for the pitch and yaw channels. The results are similar to those of the pitch channel or the yaw channel.

Claims (9)

1. The method for acquiring the threat degree of the multiple aircrafts based on PN guidance law identification is characterized by comprising the following steps:
step 1, establishing a relative motion equation of the intercepted missile and the aircraft:
the aircraft group is called evaders, and the interception missile group is called purguers; n intercepting missiles and M aircrafts exist in the pursuirs intercepting scenes; intercept missile and record PjJ is 1, …, N; aircraft is marked as Ei,i＝1,…,M；
Oe0xe0ye0ze0Is E1To P1As the scene inertial coordinate system, and as the initial line-of-sight system ofAircraft EiThe inertial coordinate system of (a); o ispxpypzpIs to intercept missile PjThe inertial coordinate system of (a); coordinate system OpxpypzpAnd a scene inertial coordinate system Oe0xe0ye0ze0The relationship of (1) is: the coordinate origin is coincided, and a coordinate system formed by rotating 180 degrees around the y axis of any one coordinate system in the two coordinate systems is coincided with the other coordinate system;
intercept missile PjIntercepting aircraft E by adopting PN guidance lawiAircraft EiFor intercepting missile PjIs estimated, the state vector is
Figure FDA0002627157860000011
Wherein
Figure FDA0002627157860000012
And
Figure FDA0002627157860000013
for intercepting missile PjRelative to aircraft EiThe distance vector of (a) is in the scene inertial coordinate system;
Figure FDA0002627157860000014
and
Figure FDA0002627157860000015
is PjRelative to EiThe component of the relative velocity vector in the inertial coordinate system of the scene;
Figure FDA0002627157860000016
Figure FDA0002627157860000017
vector quantity
Figure FDA0002627157860000018
And
Figure FDA0002627157860000019
respectively as intercepting missiles PjAnd an aircraft EiAt the position under a scene inertia coordinate system, elements in the vector are components on each axis of the coordinate; vector quantity
Figure FDA00026271578600000110
And
Figure FDA00026271578600000111
are respectively PjAnd EiThe velocity under the inertial coordinate system of the scene, the element in the vector is the component on each axis of the coordinate;
intercept missile PjRelative to aircraft EiThe motion model of
Figure FDA0002627157860000021
Wherein the vector
Figure FDA0002627157860000022
Is PjAcceleration under a scene inertial coordinate system; vector quantity
Figure FDA0002627157860000023
As an aircraft EiAcceleration under a scene inertial coordinate system; τ is a time constant;
Figure FDA0002627157860000024
and
Figure FDA0002627157860000025
respectively the navigation constants of a pitching channel and a yawing channel; r isijFor intercepting missile PjRelative to aircraft EiThe distance of (d); inThe interval variable rho(i,j)、
Figure FDA0002627157860000026
And η(i,j)Is expressed as
Figure FDA0002627157860000027
Figure FDA0002627157860000028
Figure FDA0002627157860000029
Figure FDA00026271578600000210
Step 2, acquiring the plane interception threat degree of the intercepted missile on the aircraft:
by aircraft EiAll aircraft EiCan obtain all the interception missiles PjMeasurement information of the location; thus aircraft EiUsing Kalman filter, interception missile P can be obtainedjEstimation of state, i.e.
Figure FDA00026271578600000211
Wherein the content of the first and second substances,
Figure FDA00026271578600000212
is a relative distance
Figure FDA00026271578600000213
An estimated value of (d);
Figure FDA00026271578600000214
is the relative velocity
Figure FDA00026271578600000215
An estimated value of (d);
Figure FDA00026271578600000216
for intercepting missile PjComponent under scene inertial coordinate system
Figure FDA00026271578600000217
An estimated value of (d);
Figure FDA00026271578600000218
and
Figure FDA00026271578600000219
navigation constants for pitch and yaw channels, respectively
Figure FDA00026271578600000220
And
Figure FDA00026271578600000221
an estimated value of (d);
in pair PjUnder the condition that the motion model is decoupled into a pitching channel and a yawing channel, an aircraft E is arrangediTo intercept missile PjHas a line-of-sight inclination of
Figure FDA0002627157860000031
And a line of sight declination of
Figure FDA0002627157860000032
For aircraft EiTo intercept missile PjInclination of line of sight
Figure FDA0002627157860000033
And declination angle
Figure FDA0002627157860000034
The derivative of the time is taken and,obtain an aircraft EiTo intercept missile PjLine of sight inclination velocity
Figure FDA0002627157860000035
And line of sight declination velocity
Figure FDA0002627157860000036
Based on the estimated value
Figure FDA0002627157860000037
Computing aircraft EiTo intercept missile PjEstimated line of sight angular velocity
Figure FDA0002627157860000038
And an estimate of line-of-sight declination velocity
Figure FDA0002627157860000039
Aircraft EiThrough communication links with other aircraft EkSharing aircraft to intercept missile PjEstimation of line of sight angle
Figure FDA00026271578600000310
Aircraft EiObtaining all aircraft to all intercept missiles PjAn estimate of line-of-sight angular velocity;
at PjUnder the condition that the motion model is decoupled into a pitching channel and a yawing channel, the line-of-sight inclination angle speed is obtained
Figure FDA00026271578600000311
And yaw rate
Figure FDA00026271578600000312
Taking the derivative of time to obtain EiTo PjAcceleration of line of sight inclination
Figure FDA00026271578600000313
And line of sight declination acceleration
Figure FDA00026271578600000314
Based on the estimated value
Figure FDA00026271578600000315
Computing aircraft EiTo intercept missile PjEstimated line of sight inclination acceleration
Figure FDA00026271578600000316
And the estimated value of the declination acceleration of the sight line
Figure FDA00026271578600000317
Definition of
Figure FDA00026271578600000318
For intercepting missile PjFor aircraft EiThe line-of-sight angular velocity convergence index of (1); thus, intercept missile PjFor aircraft EiThe convergence indexes of the line-of-sight angular velocities in the pitching channel and the yawing channel are respectively
Figure FDA00026271578600000319
And
Figure FDA00026271578600000320
intercepting missile P according to the convergence index of the angular velocity of the sight linejFor aircraft EiThe threat level in the pitch and yaw channels is calculated as follows
Figure FDA00026271578600000321
In the formula (I), the compound is shown in the specification,
Figure FDA00026271578600000322
are respectively a normalization factor；
Figure FDA00026271578600000323
Respectively as intercepting missiles PjFor aircraft EiThe threat level in the pitch and yaw channels;
step 3, obtaining three-dimensional interception threat degree according to the threat degrees of the pitching channel and the yawing channel
Figure FDA00026271578600000324
Namely interception of missile PjFor aircraft EiEstimation of the three-dimensional interception threat.
2. The PN guidance law identification-based multi-aircraft threat degree acquisition method according to claim 1, wherein the step 2 obtains interception missiles PjFor aircraft EiAfter the threat degrees of the pitching channel and the yawing channel, carrying out weight adjustment on the threat degrees of the pitching channel and the yawing channel, and then calculating the three-dimensional interception probability through the step 3; the specific process of weight adjustment is as follows:
assuming line-of-sight angular velocity convergence index
Figure FDA0002627157860000041
Or
Figure FDA0002627157860000042
When the weight is negative, the corresponding weight is k times of the weight when the weight is positive, and k is>1; suppose that the M
Figure FDA0002627157860000043
Wherein α values are larger than zero, β values are smaller than or equal to zero, and the weight calculation equation is
Figure FDA0002627157860000044
The equation is solved as
Figure FDA0002627157860000045
Threat degree of pitch channel and yaw channel
Figure FDA0002627157860000046
And
Figure FDA0002627157860000047
the corresponding weight is
Figure FDA0002627157860000048
Figure FDA0002627157860000049
The threat degree of the pitching channel and the yawing channel after the weight is adjusted to be
Figure FDA00026271578600000410
3. The PN guidance law identification-based multi-aircraft threat degree acquisition method according to claim 2, wherein after the weight values of the threat degrees of the pitch channel and the yaw channel are adjusted, three-dimensional interception threat degrees are obtained as follows
Figure FDA00026271578600000411
4. The PN guidance law identification-based multi-aircraft threat degree acquisition method according to claim 1,2 or 3, wherein the time constant τ in the step 1 is 0.1.
5. The PN guidance law identification-based multi-aircraft threat degree acquisition method according to claim 4, wherein in the step 2, the aircraft E isiTo intercept missile PjInclination of line of sight
Figure FDA0002627157860000051
And declination of line of sight
Figure FDA0002627157860000052
The following were used:
Figure FDA0002627157860000053
6. the PN guidance law identification-based multi-aircraft threat degree acquisition method according to claim 5, wherein the aircraft E obtained in the step 2iTo intercept missile PjLine of sight inclination velocity
Figure FDA0002627157860000054
And line of sight declination velocity
Figure FDA0002627157860000055
The following were used:
Figure FDA0002627157860000056
7. the PN guidance law identification-based multi-aircraft threat level acquisition method according to claim 6, wherein the step 2 is based on the estimated value
Figure FDA0002627157860000057
Computing aircraft EiTo intercept missile PjEstimated line of sight angular velocity
Figure FDA0002627157860000058
And an estimate of line-of-sight declination velocity
Figure FDA0002627157860000059
The following were used:
Figure FDA00026271578600000510
8. the PN guidance law identification-based multi-aircraft threat level acquisition method according to claim 7, wherein the step 2 is used for obtaining EiTo PjAcceleration of line of sight inclination
Figure FDA00026271578600000511
And line of sight declination acceleration
Figure FDA00026271578600000512
The following were used:
Figure FDA00026271578600000513
9. the PN guidance law identification-based multi-aircraft threat level acquisition method according to claim 8, wherein the step 2 is based on the estimated value
Figure FDA00026271578600000514
Computing aircraft EiTo intercept missile PjAngular dip acceleration estimate of line of sight
Figure FDA00026271578600000515
And the estimated value of the declination acceleration of the sight line
Figure FDA00026271578600000516
The following were used:
Figure FDA0002627157860000061
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