CN108984971A - A kind of multi-aircraft timesharing collaboration intercepts the design method of time interval - Google Patents
A kind of multi-aircraft timesharing collaboration intercepts the design method of time interval Download PDFInfo
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Abstract
Multi-aircraft timesharing collaboration intercepts the design method of time interval, belongs to aircraft guidance control field.The design that the collaboration of multi-aircraft timesharing at present intercepts does not consider to intercept the influence that time interval intercepts subsequent flights device performance, it is difficult to applied to intercept problems of the target motion information detection under inaccurate.Design the Campaign Process that timesharing collaboration intercepts；Calculated for subsequent aircraft M2In projection of the prediction hit area that different moments to be covered in LOS coordinate system Oyz plane；It constructs the timesharing collaboration based on region overlay and intercepts index, establish the mathematical model of timesharing collaboration intercept problems；Based on region overlay optimization method, the time interval that timesharing collaboration intercepts is designed.The present invention gives timesharing collaboration of the target motion information detection under inaccurate to intercept design framework, convert the design problem for intercepting time interval to the Solve problems of region overlay optimization, method proposed by the present invention applies also for the collaboration with decoy and intercepts design, has the wider scope of application.
Description
Technical field
The design method for intercepting time interval is cooperateed with the present invention relates to multi-aircraft timesharing, belongs to aircraft guidance control neck
Domain.
Background technique
In the midcourse guidance stage of interception, if the target motion information error that early warning system provides is larger, in middle terminal guidance
Aircraft will have biggish guidance deviation when handing over to the next shift, and under the conditions of maneuverability is limited, single aircraft is in terminal guidance
Stage, which is difficult to ensure, to hit target.Target is intercepted at a certain time interval according to multiple aircraft, in end system
The target motion information that leading the aircraft in stage can be obtained passes to subsequent flights device, enables subsequent flights device in
Guidance phases correct guidance deviation in advance, so as to be handed over to the next shift with end in the completion of lesser deviation.The mesh provided due to aircraft
Mark motion information have timeliness, and subsequent flights device the midcourse guidance stage can corrected range it is related with residual non-uniformity,
Therefore the time interval that timesharing collaboration intercepts hands over to the next shift performance with large effect to the middle end of subsequent flights device.It can look at present
The research that the multi-aircraft timesharing collaboration read intercepts does not consider that information is transmitted between the aircraft of front and back mostly, and does not block to collaboration
Cut time interval be designed, can application range it is extremely limited.
Summary of the invention
The object of the present invention is to provide
Multi-aircraft timesharing collaboration intercepts the design method of time interval, to solve the detection of midcourse guidance stage early warning system not
Target interception problem under quasi-, it is ensured that subsequent flights device can be handed over to the next shift with end in the completion of lesser guidance deviation, and in terminal guidance rank
Section can be hit target.
The technical solution adopted by the present invention to solve the above technical problem is:
A kind of multi-aircraft timesharing collaboration intercepts the design method of time interval, the method specifically includes the following steps:
One, the Campaign Process that design timesharing collaboration intercepts；
Two, second aircraft M is calculated2In the prediction hit area that different moments to be covered in LOS coordinate system Oyz
Projection in plane；
Three, timesharing collaboration of the construction based on region overlay intercepts index, establishes the mathematical model of timesharing collaboration intercept problems；
Four, region overlay optimization method, the time interval that design timesharing collaboration intercepts are based on.
In step 1, the Campaign Process of design timesharing collaboration interception is implemented as follows:
For the time flow for determining timesharing collaboration interception, such as given a definition: MjFor the flight of jth (j=1,2) secondary transmitting
Device, tj0,tj1And tj2Respectively indicate aircraft MjEmission time, middle end hand over to the next shift the moment and intercept finish time；Enable △ t1=
t21-t12Indicate the time interval intercepted twice, i.e. M1Intercepting terminates to arrive M2The time interval that middle end is handed over to the next shift；
During timesharing is cooperateed with and is intercepted, the aircraft M in the terminal guidance stage1The target motion information obtained passes
Pass the M in the midcourse guidance stage2；Ignore the initial guidance stage, according to the source of guidance information, aircraft M1Interception process point
For two stages, i.e. midcourse guidance stage under early warning system instruction and the terminal guidance stage based on itself detection information；Aircraft
M2Interception process can be divided into three phases: first stage t ∈ [t10,t11], M2Guidance information derive from early warning system；The
Two-stage t ∈ [t11,t21], M2Guidance information derive from M1；Phase III t ∈ [t21,t22], M2Into terminal guidance, guidance letter
Breath derives from the detection system of itself；Under conditions of maneuverability determines, the interception time interval between two aircraft is got over
Greatly, M2The midcourse guidance stage can maneuvering distance it is bigger；In M1Obtain target motion information on the basis of to target trajectory into
The forecast of row a period of time, even △ t1> 0, to make full use of M2In the maneuverability in midcourse guidance stage.
In step 2, aircraft M2In t=t11And t=t21The expression formula point of the moment prediction hit area to be covered
It is not
Wherein, R2kFor aircraft M2In t=tk1(k=1,2) the moment prediction hit area to be covered, x indicate prediction
Hit area R2kInterior point,Indicating that x obeys mean value is that null covariance matrix isNormal distribution,'s
Expression formula is
Wherein, tfFor the terminal guidance flight time of aircraft, Qx0And Qv0The target position provided for early warning system and speed
The covariance matrix of information, Qx1And Qv1The covariance matrix of the target position and velocity information that are provided for aircraft, QaFor target
The covariance matrix of Maneuver Acceleration prediction error；
Region R2kIt is projected as in LOS coordinate system Oyz plane
Wherein,Expression formula be
Wherein, qε2,qβ2Respectively aircraft M2The sight angle of site and sight azimuth relative to target, L (qε2,qβ2)
For the coordinate conversion matrix of inertial coodinate system to LOS coordinate, expression formula is
And then attainable region domainProbability density function be
Wherein, ξ2kFor regionInterior point.
It is as follows that the timesharing collaboration constructed intercepts index
The physical significance of the target function is aircraft M2Middle end hand over to the next shift the probability of success, wherein p2kFor aircraft M2In t
=tk1The zero control terminal position at moment, f2k(ξ2k,p2k,△t1) indicate point ξ2kWhether the finger in the motor-driven coverage of aircraft
Show function, expression formula is
Wherein, ξ2kFor regionInterior any point,WithRespectively ξ2kY to coordinate and z to coordinate, p2kFor
Aircraft M2In t=tk1The zero control terminal position at (k=1,2) moment,WithRespectively p2kY to coordinate and z to coordinate,
d2k(k=1,2) aircraft M is indicated2Within+1 stage of kth it is maximum laterally can maneuvering distance, expression formula is
Wherein,WithRespectively aircraft M2In the maximum Maneuver Acceleration in midcourse guidance stage and terminal guidance stage；
During actually intercepting, aircraft M2Zero control terminal position p2kIt can be taken as the central point of prediction hit area,
And may be assumed that the relative motion of target aircraft in the plummet face of inertial coodinate system, even qβ2=0；Timesharing collaboration intercepts the time
The optimization problem at interval can be described as
Wherein,WithRespectively the sight angle of site can value lower bound and the upper bound.
The solution procedure of time interval is as follows
Enable s=[△ t1qε2]T, then optimal solution s*Solution procedure it is as follows:
Step 1: initialization, enables i=1, △1=[1 0]T, △2=[0 1]T, initialization △ t1(i) and qε2(i)；
Step 2: note ciFor the difference coefficient amplitude of i-th iteration, △ t is enabled respectively1=△ t1(i)±ci△1, calculate ξ2k(k
=1,2) probability density function φ2k(ξ2k), and according to φ2k(ξ2k) it is sampled, sample is denoted as respectivelyWithNξFor total sample number, size is taken as Nξ=100000；
Step 3: calculating separately △ t1=△ t1(i)±ci△1When target function J approximation, expression formula is respectively
Wherein,WithRespectively △ t1=△ t1(i)+ci△1With △ t1=△ t1(i)-ci△1When sample,WithRespectively target function J (s+ci△1) and J (s-ci△1) approximation.
Step 4: enabling q respectivelyε2=qε2(i)±ci△2, calculate ξ2k(k=1,2) probability density function φ2k
(ξ2k), and according to φ2k(ξ2k) it is sampled, sample is denoted as respectivelyWith
NξSize is taken as Nξ=100000；
Step 5: calculating separately qε2=qε2(i)±ci△2When target function J approximation, expression formula is respectively
Wherein,WithRespectively qε2=qε2(i)+ci△2And qε2=qε2(i)-ci△2When sample,WithRespectively J (s+ci△2) and J (s-ci△2) approximation.
Step 6: approximate gradient of the parameter function J relative to s, expression formula are
Step 7: pressing following equation more new state s and Lagrange coefficient λc(c=1,2,3)
Wherein, αiFor the step-length of i-th iteration, λcFor Lagrange multiplier coefficient, lc(s (i)) is constraint function, table
It is up to formula
Expression formula be
The iteration step length α of i-th stepiWith difference coefficient step-length ciMeet
Step 8: if | J (i+1)-J (i) |≤ν, calculating terminate；Otherwise, it enables i=i+1 and returns to the first step；
Wherein, v is the solving precision of setting.
The beneficial effects of the present invention are:
The present invention with it is existing simultaneously cooperate with intercept design method compared with advantage be:
The design that multi-aircraft timesharing collaboration of the present invention intercepts considers interception time interval and blocks to subsequent flights device
The influence for cutting performance realizes the intercept problems under the detection of target motion information is not allowed.
The research achievement that the collaboration of multi-aircraft timesharing at present intercepts focuses primarily upon the Target Assignment under repeatedly collaboration interception,
Do not consider the communication capacity between the aircraft of front and back and intercepts the optimization design of time interval.The present invention gives target fortune
Timesharing collaboration under the conditions of dynamic information detection is inaccurate intercepts design framework, converts region for the design problem for intercepting time interval
The Solve problems of coverage optimization, method proposed by the present invention can also be used for the collaboration intercept problems with decoy, have wider
The general scope of application.The real goal motion information that aircraft in the terminal guidance stage will identify that passes to subsequent flights
Device can be improved the service efficiency of aircraft, have broad application prospects.
Detailed description of the invention
Fig. 1 is that timesharing collaboration intercepts time flow,
Fig. 2 is the convergence curve that timesharing collaboration intercepts time interval,
Fig. 3 is aircraft M2With the convergence curve of the line of sight angle of site,
Fig. 4 is aircraft M2Middle end is handed over to the next shift the convergence curve of the probability of success,
Fig. 5 is that the timesharing collaboration of two aircraft intercepts track convergence curve.
Specific embodiment
Specific embodiment 1: timesharing described in present embodiment collaboration intercept time interval design method, be according to
What following steps were realized:
One, the Campaign Process that design timesharing collaboration intercepts；
Two, calculated for subsequent aircraft M2It is flat in LOS coordinate system Oyz in the prediction hit area that different moments to be covered
Projection in face；
Three, timesharing collaboration of the construction based on region overlay intercepts index, establishes the mathematical model of timesharing collaboration intercept problems；
Four, region overlay optimization method, the time interval that design timesharing collaboration intercepts are based on；
Specific embodiment 2: the present embodiment is different from the first embodiment in that: in step 1, timesharing collaboration
The time flow of interception is as shown in Figure 1, wherein MjThe aircraft of jth (j=1,2) secondary transmitting, tj0,tj1And tj2It respectively indicates winged
Row device MjEmission time, middle end hand over to the next shift the moment and intercept finish time.Enable △ t1=t21-t12Indicated for the time intercepted twice
Interval, i.e. M1Intercepting terminates to arrive M2The time interval that middle end is handed over to the next shift.
During timesharing is cooperateed with and is intercepted, the aircraft M in the terminal guidance stage1The target motion information obtained passes
Pass the M in the midcourse guidance stage2.Ignore the initial guidance stage, according to the source of guidance information, aircraft M1Interception process can
To be divided into two stages, i.e. midcourse guidance stage under early warning system instruction and the terminal guidance stage based on itself detection information.Fly
Row device M2Interception process can be divided into three phases: first stage t ∈ [t10,t11], M2Guidance information derive from early warning system
System；Second stage t ∈ [t11,t21], M2Guidance information derive from M1；Phase III t ∈ [t21,t22], M2Into terminal guidance, system
Lead the detection system that information derives from itself.Under conditions of maneuverability determines, between the interception time between two aircraft
Every bigger, M2The midcourse guidance stage can maneuvering distance it is bigger.Therefore, in order to make full use of M2In the maneuver energy in midcourse guidance stage
Power, can be in M1The forecast for carrying out a period of time on the basis of acquisition target motion information to target trajectory, even △ t1>0。
Specific embodiment 3: the present embodiment is different from the first and the second embodiment in that: in step 2, flight
Device M2In t=t11And t=t21The moment expression formula for the prediction hit area to be covered is respectively
Wherein,
Wherein, tfFor the terminal guidance flight time of aircraft, Qx0And Qv0The target position provided for early warning system and speed
The covariance matrix of information, Qx1And Qv1The covariance matrix of the target position and velocity information that are provided for aircraft, QaFor target
The covariance matrix of Maneuver Acceleration prediction error.Then, region R2kIt is projected as in LOS coordinate system Oyz plane
Wherein,Expression formula be
Wherein, qε2,qβ2For aircraft M2The sight angle of site and sight azimuth relative to target, L (qε2,qβ2) it is used
To the coordinate conversion matrix of LOS coordinate, expression formula is property coordinate system
And then attainable region domainProbability density function be
Wherein, ξ2kFor regionInterior point.
Specific embodiment 4: unlike one of present embodiment and specific embodiment one to three: in step 3,
It is as follows that the timesharing collaboration constructed intercepts index:
The physical significance of the target function is aircraft M2Middle end hand over to the next shift the probability of success, wherein p2kFor aircraft M2In t
=tk1The zero control terminal position at moment, f2k(ξ2k,p2k,△t1) expression formula be
Wherein,WithRespectively ξ2kY to coordinate and z to coordinate,WithRespectively p2kY to coordinate and z to
Coordinate, d2kExpression formula be
Wherein,WithRespectively aircraft M2In the maximum Maneuver Acceleration in midcourse guidance stage and terminal guidance stage.
During actually intercepting, aircraft M2Zero control terminal position p2kIt can be taken as the center of prediction hit area
Point, and may be assumed that the relative motion of target aircraft in the plummet face of inertial coodinate system, even qβ2=0.In conclusion timesharing
The optimization problem that collaboration intercepts time interval can be described as
Wherein,WithRespectively the sight angle of site can value lower bound and the upper bound.
Specific embodiment 5: unlike one of present embodiment and specific embodiment one to four: in step 4,
The solution procedure that the timesharing collaboration intercepts time interval optimization problem is as follows:
Enable s=[△ t1qε2]T, then optimal solution s*Solution procedure it is as follows:
Step 1: initialization, enables i=1, △1=[1 0]T, △2=[0 1]T, initialization △ t1(i) and qε2(i)；
Step 2: enabling △ t respectively1=△ t1(i)±ci△1, calculate ξ2k(k=1,2) probability density function φ2k
(ξ2k), and according to φ2k(ξ2k) it is sampled, sample is denoted as respectivelyWith
NξFor total sample number, size is taken as Nξ=100000；
Step 3: calculating separately △ t1=△ t1(i)±ci△1When target function J approximation, expression formula is respectively
Step 4: enabling q respectivelyε2=qε2(i)±ci△2, calculate ξ2k(k=1,2) probability density function φ2k
(ξ2k), and according to φ2k(ξ2k) it is sampled, sample is denoted as respectivelyWith
NξSize is taken as Nξ=100000；
Step 5: calculating separately qε2=qε2(i)±ci△2When target function J approximation, expression formula is respectively
Step 6: approximate gradient of the parameter function J relative to s, expression formula are
Wherein, ciFor the difference coefficient amplitude of i-th iteration.
Step 7: pressing following equation more new state s and Lagrange coefficient λc(c=1,2,3)
Wherein, lc(s (i)) is constraint function, and expression formula is
Expression formula be
αiFor the step-length of i-th iteration, αiAnd ciMeet
Step 8: if | J (i+1)-J (i) |≤ν, calculating terminate；Otherwise, it enables i=i+1 and returns to the first step；
Wherein, v is the solving precision of setting.
The time interval that inaccurate lower timesharing collaboration intercepts is detected to target motion information using the above method to be designed, and is obtained
To interception time interval optimal between the aircraft of front and back.
Assuming that the covariance matrix of target position and velocity error that early warning system provides is respectively
Meanwhile covariance matrix of the aircraft in the target position that the terminal guidance stage obtains and velocity error is respectively
The covariance matrix of Target Maneuvering Acceleration prediction error is taken as
Assuming that the sight angle of site is constrained to
-15°≤qεj≤-5° (21)
Parameter alphaiAnd ciIt is taken as respectively
The terminal guidance flight time of aircraft is tf=10s, it is assumed that aircraft is in midcourse guidance stage and terminal guidance stage
Maximum Maneuver Acceleration is amax=40m/s2.According to solution procedure described in specific embodiment five, aircraft M is obtained2
With M1Between interception time interval, the sight angle of site and middle end hand over to the next shift the probability of success respectively as shown in figs 2-4.According to excellent
Change result it is found that aircraft M2Hand over to the next shift moment and M at middle end1The time interval for intercepting finish time is 1.54s and relative to target
When the sight angle of site is -6.7 °, M2The middle end probability of success of handing over to the next shift be 100%, M at this time1、M2The time interval met with target
For 11.54s.Assuming that early warning system provides during intercepting target position and velocity error are respectively [2Km 2Km 2Km]TWith
[100m/s 100m/s 100m/s]T, error of the aircraft in the target position that the terminal guidance stage provides and speed be respectively
[100m 100m 100m]T[50m/s 50m/s 50m/s]T, the timesharing collaboration of two aircraft intercept track as shown in figure 5,
Aircraft M1And M2Miss distance be respectively 1473.3m and 0.02m, aircraft M2Finally hit target with lesser miss distance.
Above-mentioned theory and simulation result show the intercept problems under the detection of target motion information is not allowed, and pass through target
The transmitting of motion information and the optimization design for intercepting time interval, it can be ensured that subsequent flights device can complete terminal guidance in successfully
It hands over to the next shift, and realizes the interception to target in the terminal guidance stage.
Claims (5)
1. the design method that a kind of multi-aircraft timesharing collaboration intercepts time interval, which is characterized in that the method specifically includes
Following steps:
One, the Campaign Process that design timesharing collaboration intercepts；
Two, second aircraft M is calculated2In the prediction hit area that different moments to be covered in LOS coordinate system Oyz plane
Projection；
Three, timesharing collaboration of the construction based on region overlay intercepts index, establishes the mathematical model of timesharing collaboration intercept problems；
Four, region overlay optimization method, the time interval that design timesharing collaboration intercepts are based on.
2. the design method that multi-aircraft timesharing collaboration according to claim 1 intercepts time interval, which is characterized in that
In step 1, the Campaign Process of design timesharing collaboration interception is implemented as follows:
For the time flow for determining timesharing collaboration interception, such as given a definition: MjFor the aircraft of jth (j=1,2) secondary transmitting,
tj0,tj1And tj2Respectively indicate aircraft MjEmission time, middle end hand over to the next shift the moment and intercept finish time；Enable △ t1=t21-t12
Indicate the time interval intercepted twice, i.e. M1Intercepting terminates to arrive M2The time interval that middle end is handed over to the next shift；
During timesharing is cooperateed with and is intercepted, the aircraft M in the terminal guidance stage1The target motion information obtained passes to
M in the midcourse guidance stage2；Ignore the initial guidance stage, according to the source of guidance information, aircraft M1Interception process be divided into two
Midcourse guidance stage under the instruction of a stage, i.e. early warning system and the terminal guidance stage based on itself detection information；Aircraft M2's
Interception process can be divided into three phases: first stage t ∈ [t10,t11], M2Guidance information derive from early warning system；Second-order
Section t ∈ [t11,t21], M2Guidance information derive from M1；Phase III t ∈ [t21,t22], M2Into terminal guidance, guidance information is come
Derived from the detection system of itself；Under conditions of maneuverability determines, the interception time interval between two aircraft is bigger, M2
The midcourse guidance stage can maneuvering distance it is bigger；In M1One is carried out to target trajectory on the basis of acquisition target motion information
The forecast of section time, even △ t1> 0, to make full use of M2In the maneuverability in midcourse guidance stage.
3. the design method that multi-aircraft timesharing collaboration according to claim 2 intercepts time interval, which is characterized in that
In step 2, aircraft M2In t=t11And t=t21The moment expression formula for the prediction hit area to be covered is respectively
Wherein,For aircraft M2In t=tk1(k=1,2) the moment prediction hit area to be covered, x indicate prediction hit
RegionInterior point,Indicating that x obeys mean value is that null covariance matrix isNormal distribution,Table
It is up to formula
Wherein, tfFor the terminal guidance flight time of aircraft, Qx0And Qv0The target position provided for early warning system and velocity information
Covariance matrix, Qx1And Qv1The covariance matrix of the target position and velocity information that are provided for aircraft, QaFor target maneuver
The covariance matrix of acceleration prediction error；
RegionIt is projected as in LOS coordinate system Oyz plane
Wherein,Expression formula be
Wherein, qε2,qβ2Respectively aircraft M2The sight angle of site and sight azimuth relative to target, L (qε2,qβ2) it is used
To the coordinate conversion matrix of LOS coordinate, expression formula is property coordinate system
And then attainable region domainProbability density function be
Wherein, ξ2kFor regionInterior point.
4. the design method that multi-aircraft timesharing collaboration according to claim 3 intercepts time interval, which is characterized in that institute
It is as follows that the timesharing collaboration of construction intercepts index
The physical significance of the target function is aircraft M2Middle end hand over to the next shift the probability of success, wherein p2kFor aircraft M2In t=tk1
The zero control terminal position at moment, f2k(ξ2k,p2k,△t1) indicate point ξ2kWhether the instruction letter in the motor-driven coverage of aircraft
Number, expression formula are
Wherein, ξ2kFor regionInterior any point,WithRespectively ξ2kY to coordinate and z to coordinate, p2kFor flight
Device M2In t=tk1The zero control terminal position at (k=1,2) moment,WithRespectively p2kY to coordinate and z to coordinate, d2k(k
=1,2) aircraft M is indicated2Within+1 stage of kth it is maximum laterally can maneuvering distance, expression formula is
Wherein,WithRespectively aircraft M2In the maximum Maneuver Acceleration in midcourse guidance stage and terminal guidance stage；
During actually intercepting, aircraft M2Zero control terminal position p2kIt can be taken as the central point of prediction hit area, and can
Assuming that the relative motion of target aircraft is in the plummet face of inertial coodinate system, even qβ2=0；Timesharing collaboration intercepts time interval
Optimization problem can be described as
Wherein,q εWithRespectively the sight angle of site can value lower bound and the upper bound.
5. the design method that multi-aircraft timesharing collaboration according to claim 4 intercepts time interval, which is characterized in that when
Between the solution procedure that is spaced it is as follows
Enable s=[△ t1 qε2]T, then optimal solution s*Solution procedure it is as follows:
Step 1: initialization, enables i=1, △1=[1 0]T, △2=[0 1]T, initialization △ t1(i) and qε2(i)；
Step 2: note ciFor the difference coefficient amplitude of i-th iteration, △ t is enabled respectively1=△ t1(i)±ci△1, calculate ξ2k(k=1,2)
Probability density function φ2k(ξ2k), and according to φ2k(ξ2k) it is sampled, sample is denoted as respectivelyWithNξFor total sample number, size is taken as Nξ=100000；
Step 3: calculating separately △ t1=△ t1(i)±ci△1When target function J approximation, expression formula is respectively
Wherein,WithRespectively △ t1=△ t1(i)+ci△1With △ t1=△ t1(i)-ci△1When sample,WithRespectively target function J (s+ci△1) and J (s-ci△1) approximation.
Step 4: enabling q respectivelyε2=qε2(i)±ci△2, calculate ξ2k(k=1,2) probability density function φ2k(ξ2k), and
According to φ2k(ξ2k) it is sampled, sample is denoted as respectivelyWithNξSize
It is taken as Nξ=100000；
Step 5: calculating separately qε2=qε2(i)±ci△2When target function J approximation, expression formula is respectively
Wherein,WithRespectively qε2=qε2(i)+ci△2And qε2=qε2(i)-ci△2When sample,
WithRespectively J (s+ci△2) and J (s-ci△2) approximation.
Step 6: approximate gradient of the parameter function J relative to s, expression formula are
Step 7: pressing following equation more new state s and Lagrange coefficient λc(c=1,2,3)
Wherein, αiFor the step-length of i-th iteration, λcFor Lagrange multiplier coefficient, lc(s (i)) is constraint function, expression formula
For
Expression formula be
The iteration step length α of i-th stepiWith difference coefficient step-length ciMeet
Step 8: if | J (i+1)-J (i) |≤ν, calculating terminate；Otherwise, it enables i=i+1 and returns to the first step；
Wherein, v is the solving precision of setting.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111174643A (en) * | 2020-01-16 | 2020-05-19 | 中国人民解放军火箭军工程大学 | Aircraft interception method and system under condition of bait interference |
| CN113791633A (en) * | 2021-08-05 | 2021-12-14 | 北京航空航天大学 | Cyclic veto target allocation method based on maximum marginal profit |
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| CN113791633A (en) * | 2021-08-05 | 2021-12-14 | 北京航空航天大学 | Cyclic veto target allocation method based on maximum marginal profit |
| CN113791633B (en) * | 2021-08-05 | 2023-12-15 | 北京航空航天大学 | Circulation overrule target distribution method based on maximum marginal benefit |
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