CN110362112A - A kind of introducing method inhibiting engine jamming - Google Patents
A kind of introducing method inhibiting engine jamming Download PDFInfo
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- CN110362112A CN110362112A CN201910662659.6A CN201910662659A CN110362112A CN 110362112 A CN110362112 A CN 110362112A CN 201910662659 A CN201910662659 A CN 201910662659A CN 110362112 A CN110362112 A CN 110362112A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
The present invention provides a kind of introducing methods for inhibiting engine jamming, comprising the following steps: extract engine jamming torque-determinations introduce the time and it is noiseless under the conditions of the introducing angle-acquisition initial guidance introduced under the conditions of angle-acquisition disturbance introduce and order.The problem of introducing covering engine jamming range deficiency caused by the design of angle the present invention overcomes single height and leading to test failure；Give the design method that angle is introduced for the height under the conditions of different engine jammings；The optimal of precision highest and Guidance control loop performance can be guaranteed on the basis of maximum magnitude inhibits engine jamming by ensuring.
Description
Technical field
The present invention relates to a kind of introducing methods for inhibiting engine jamming, belong to aerospace applications field Guidance and control and return
Building block technique field is designed on road, is suitable under the conditions of larger engine jamming, in aircraft guidance Control System Design.
Background technique
During vehicle launch, launcher disturbance, the interference of motor power bias and aircraft installation error etc.
Many factors will have an impact aircraft flight track, to cause aircraft that can not complete according to the track of theory setting
Aerial mission will cause the failure of flight test under serious conditions.
In order to inhibit launcher to disturb and the influence to aircraft flight track such as motor power bias interference, and to just
Midcourse guidance, which is handed over to the next shift, creates good tracking condition, when Guidance control loop designs, needs in the vehicle launch initial stage,
Carry out the introducing initial guidance design for inhibiting transmitting interference.But traditional design for introducing initial guidance and introducing angle, flies just for difference
Row task chooses the suitable angle that introduces and introduce the calculating of instruction, although can inhibit transmitting dry to a certain extent
It disturbs, aircraft deviation theory track can be will cause, even under conditions of engine jamming introduces angle rejection ability beyond design
Cause test failure.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of introducing method for inhibiting engine jamming, inhibition hair
The introducing method of motivation interference is solved and is covered caused by single introducing angle design on the basis of meeting guidance control system verifying
The problem of lid engine jamming range deficiency.
The present invention is achieved by the following technical programs.
A kind of introducing method inhibiting engine jamming provided by the invention, comprising the following steps:
1. extracting engine jamming torque: passing through the used group of number without control state flight test and independent loop flight test
According to, rotary inertia, rotating torque caused by identification engine jamming is extracted；
2. determine introduce the time and it is noiseless under the conditions of introducing angle: according to engine operating duration, the average speed of aircraft
Degree and flying distance, determine the initial guidance end time；Line-of-sight course is used according to initial guidance, midcourse guidance uses proportional navigation method, really
It is fixed it is noiseless under the conditions of introducing angle；
3. being introduced into angle under the conditions of obtaining disturbance: by step, 1. the middle engine jamming torque identified substitutes into emulation,
And combine step 2. in it is noiseless under the conditions of introducing angle, obtain the introducing angle under the conditions of different engine jammings, then to difference
Introducing angle under the conditions of engine jamming carries out linear fit；
4. obtaining initial guidance introduces order: 3. according to step, obtaining the introducing instruction on orientation yaw direction, draw in setting
Before entering the initial guidance end time, aircraft flight is controlled by instruction is introduced.
1. the step is divided into following steps:
(1.1) the used group data of angular speed of flight test are analyzed；
(1.2) differential of angular speed between turning point is sought in segmentation, is multiplied with the rotary inertia work of corresponding axis, is obtained not Tongfang
To the disturbance torque of engine.
In the step (1.1), the used group data of angular speed are for recording different turning point angular velocity data sizes and moment.
2. the step is divided into following steps:
(2.1) by flying distance and aircraft average speed, the flight time is obtained；
(2.2) when the initial guidance end time is greater than engine operating duration, while the initial guidance end time is less than flight
Between 1/5th when, determine the initial guidance end time；
(2.3) it according to initial guidance end time and flying distance, is used in combination with initial guidance using line-of-sight course, midcourse guidance
Proportional navigation method, determine it is noiseless under the conditions of height introduce angle εyr0Angle beta is introduced with orientationyr0。
The line-of-sight course are as follows: for aircraft in the guided procedure of target of attack, aircraft is in guidance site and target always
Line on.
The proportional navigation method are as follows: aircraft is in the guided procedure of target of attack, the rotation angle of aircraft speed vector
Speed is proportional to the angular velocity of rotation of aircraft target link.
3. the step is divided into following steps:
(3.1) by step 1. in the engine jamming torque that identifies, substitute into Digital Simulation or HWIL simulation；
(3.2) determine that system is guided into start time, the introducing angle under positive maximum engine disturbed condition, and system guiding
Enter start time, introduces angle under negative sense maximum engine disturbed condition；
(3.3) combine step 2. in it is noiseless under the conditions of introducing angle, obtain the introducing under the conditions of different engine jammings
Angle；
(3.4) linear fit is carried out to the introducing angle under the conditions of different engine jammings.
4. the step is divided into following steps:
(4.1) according to step 3. in linear fit, obtain aircraft height introduce angle εyr, orientation introduce angle betayr, and
The aircraft angle of site ε of strapdown solution grateJL, aircraft azimuthal angle betaJLWith aircraft distance RJL；
(4.2) angle ε is introduced by aircraft heightyrWith aircraft angle of site εJL, obtain angle of site differential seat angle δ εyr；According to
Aircraft orientation introduces angle betayrWith aircraft azimuthal angle betaJL, obtain azimuth angle difference δ βyr；
(4.3) pass through angle of site differential seat angle δ εyrWith aircraft distance RJL, obtain height pitch orientation on line-of-sight course draw
Enter to instruct Kgdyr；Pass through azimuth angle difference δ βyrWith aircraft distance RJL, obtain orientation yaw direction on line-of-sight course introducing refer to
Enable Kfwyr；
(4.4) line-of-sight course on orientation yaw direction introduces instruction KfwyrRefer to the line-of-sight course introducing in height pitch orientation
Enable KgdyrIt is formed and introduces instruction；
(4.5) before setting introduces the initial guidance end time, by the introducing instruction control aircraft flight of formation.
The beneficial effects of the present invention are: it overcomes single height and introduces covering engine jamming range caused by the design of angle
It is insufficient and the problem of lead to test failure；Give the design side that angle is introduced for the height under the conditions of different engine jammings
Method；Precision highest and Guidance control loop performance can be guaranteed on the basis of maximum magnitude inhibits engine jamming by ensuring
It is optimal.
Detailed description of the invention
Fig. 1 is flow chart of the invention.
Specific embodiment
Be described further below technical solution of the present invention, but claimed range be not limited to it is described.
As shown in Figure 1, a kind of introducing method for inhibiting engine jamming, comprising the following steps:
1. extracting engine jamming torque: passing through the used group of number without control state flight test and independent loop flight test
According to, rotary inertia, rotating torque caused by identification engine jamming is extracted；It is specifically divided into following steps:
(1.1) the used group data of angular speed of flight test are analyzed；
(1.2) differential of angular speed between turning point is sought in segmentation, is multiplied with the rotary inertia work of corresponding axis, is obtained not Tongfang
To the disturbance torque of engine.
Preferably, in the step (1.1), the used group data of angular speed are for recording different turning point angular velocity data sizes
And the moment.
Specifically, the formula being related to is as follows:
In formula, JyIt is aircraft y to rotary inertia, JzIt is aircraft y to rotary inertia, i for aircraft z to turn to angular speed
Break number, j are aircraft z to angular speed turning point number, ty(i) when falling off for aircraft y to i-th of angular speed turning point
It carves, ty(i+1) it falls off moment, t for aircraft y to i+1 angular speed turning pointz(j) turn for aircraft z to j-th of angular speed
Break falls off moment, tz(j+1) it falls off moment, w for aircraft z to+1 angular speed turning point of jthyIt (i) is aircraft y to ty
(i) moment angular speed, wyIt (i+1) is aircraft y to ty(i+1) moment angular speed, wzIt (j) is aircraft z to tz(j) moment angle
Speed, wzIt (j+1) is aircraft z to tz(j+1) moment angular speed, MyIt (i) is ty(i) t is arrivedy(i+1) direction period y perturbed force
Square, MzIt (j) is tz(j) t is arrivedz(j+1) direction period z disturbance torque, y are to being aircraft orientation yaw direction, z to for flight
Device height pitch orientation.
2. determine introduce time (i.e. the end time of initial guidance) and it is noiseless under the conditions of introducing angle: according to engine work
Make time, aircraft average speed and flying distance, determines the initial guidance end time；Line-of-sight course, middle system are used according to initial guidance
Lead determined using proportional navigation method it is noiseless under the conditions of introducing angle；It is specifically divided into following steps:
(2.1) by flying distance and aircraft average speed, the flight time is obtained；
(2.2) when the initial guidance end time is greater than engine operating duration, while the initial guidance end time is less than flight
Between 1/5th when, determine the initial guidance end time；
(2.3) it according to initial guidance end time and flying distance, is used in combination with initial guidance using line-of-sight course, midcourse guidance
Proportional navigation method, determine it is noiseless under the conditions of height introduce angle εyr0Angle beta is introduced with orientationyr0。
Specifically, the line-of-sight course are as follows: for aircraft in the guided procedure of target of attack, aircraft is in guidance site always
On the line of target.
Specifically, the proportional navigation method are as follows: aircraft in the guided procedure of target of attack, aircraft speed vector
Angular velocity of rotation is proportional to the angular velocity of rotation of aircraft target link.
Preferably, under the conditions of noiseless, height introduces angle εyr0Angle beta is introduced with orientationyr0For optimal corner, pass through optimal corner
Selection guarantees that under the conditions of noiseless, rail track feature is consistent substantially with theory locus, meets control track close to theoretical rail
The optimal design criterion of mark, and it is related to prediction flying distance.
Specifically, the formula being related to is as follows:
βyr=0 (4)
In formula, εyrAngle, β are introduced for aircraft heightyrAngle, w are introduced for aircraft orientationzIt is winged that start time is guided into for system
Row device height pitch orientation angular speed, wzmaxIt is high that aircraft under start time forward direction maximum engine disturbed condition is guided into for system
Low pitch orientation angular speed, wz0Start time is guided into without aircraft height pitch orientation angle speed under the conditions of engine jamming for system
Degree, wzminAircraft height pitch orientation angular speed, ε under start time negative sense maximum engine disturbed condition are guided into for systemymax
It is guided under start time forward direction maximum engine disturbed condition for system and just introduces angle, εyminIt is negative that start time is guided into for system
Angle, ε are just introduced under to maximum engine disturbed conditionyr0Start time is guided into without height under the conditions of engine jamming for system
Introduce angle.
3. being introduced into angle under the conditions of obtaining disturbance: by step, 1. the middle engine jamming torque identified substitutes into emulation,
According to the highest principle of precision, and combine step 2. in it is noiseless under the conditions of introducing angle, obtain different engine jamming conditions
Under introducing angle, then under the conditions of different engine jammings introducing angle carry out linear fit；It is specifically divided into following steps:
(3.1) by step 1. in the engine jamming torque that identifies, substitute into Digital Simulation or HWIL simulation；
(3.2) determine that system is guided into start time, the introducing angle under positive maximum engine disturbed condition, and system guiding
Enter start time, introduces angle under negative sense maximum engine disturbed condition；
(3.3) combine step 2. in it is noiseless under the conditions of introducing angle, obtain the introducing under the conditions of different engine jammings
Angle；
(3.4) linear fit is carried out to the introducing angle under the conditions of different engine jammings.
4. obtaining initial guidance introduces order: 3. according to step, obtaining the introducing instruction on orientation yaw direction, draw in setting
Before entering the initial guidance end time, aircraft flight is controlled by instruction is introduced；It is specifically divided into following steps:
(4.1) according to step 3. in linear fit, obtain aircraft height introduce angle εyr, orientation introduce angle betayr, and
The aircraft angle of site ε of strapdown solution grateJL, aircraft azimuthal angle betaJLWith aircraft distance RJL；
(4.2) angle ε is introduced by aircraft heightyrWith aircraft angle of site εJL, obtain angle of site differential seat angle δ εyr；According to
Aircraft orientation introduces angle betayrWith aircraft azimuthal angle betaJL, obtain azimuth angle difference δ βyr；
(4.3) pass through angle of site differential seat angle δ εyrWith aircraft distance RJL, obtain height pitch orientation on line-of-sight course draw
Enter to instruct Kgdyr；Pass through azimuth angle difference δ βyrWith aircraft distance RJL, obtain orientation yaw direction on line-of-sight course introducing refer to
Enable Kfwyr；
(4.4) line-of-sight course on orientation yaw direction introduces instruction KfwyrRefer to the line-of-sight course introducing in height pitch orientation
Enable KgdyrIt is formed and introduces instruction；
(4.5) before setting introduces the initial guidance end time, by the introducing instruction control aircraft flight of formation.
Specifically, the formula being related to is as follows:
δεyr(N)=εyr-εJL(N) (5)
δβyr(N)=βyr-βJL(N) (6)
Kgdyr(N)=RJL(N)δεyr(N) (7)
Kfwyr(N)=RJL(N)δβyr(N) (8)
In formula, KfwyrInstruction, K are introduced for the line-of-sight course on orientation yaw directiongdyrFor the line-of-sight course in height pitch orientation
Introduce instruction, N is with guidance cycle interruption umber of beats, the R for being constantly 0 that fall offJLFor strapdown solution grate aircraft to launch point distance,
εyrAngle, β are introduced for aircraft heightyrAngle, ε are introduced for aircraft orientationJLThe aircraft angle of site, β for strapdown solution grateJLFor victory
The aircraft azimuth of connection solution grate, δ εyrAngle and aircraft strapdown solution grate angle of site differential seat angle, δ β are introduced for aircraft heightyrFor
Aircraft orientation introduces angle and aircraft strapdown solution grate azimuth angle is poor.
Embodiment
As described above, a kind of introducing method for inhibiting engine jamming, process are as follows:
Step (1) analyzes the used group data of angular speed of flight test, record different turning point angular velocity data sizes and when
It carves, the differential of angular speed between turning point is sought in segmentation, is made with the rotary inertia of corresponding axis multiplied to different directions engine
Disturbance torque.
For example, taking Jy=0.097, wy(1)=0.0205, ty(1)=0.01, wy(2)=- 0.9316, ty(2)=0.19,
wy(3)=0.9410, ty(3)=0.40, Jz=0.097, wz(1)=0.0575, tz(1)=0.01, wz(2)=- 2.1937, tz
(2)=0.225, wz(3)=0.6365, tz(3)=0.355, wz(4)=0.0954, tz(4)=0.4, calculation formula is as follows:
In formula, JyIt is aircraft y to rotary inertia, JzIt is aircraft y to rotary inertia, i for aircraft z to turn to angular speed
Break number, j are aircraft z to angular speed turning point number, ty(i) when falling off for aircraft y to i-th of angular speed turning point
It carves, ty(i+1) it falls off moment, t for aircraft y to i+1 angular speed turning pointz(j) turn for aircraft z to j-th of angular speed
Break falls off moment, tz(j+1) it falls off moment, w for aircraft z to+1 angular speed turning point of jthyIt (i) is aircraft y to ty
(i) moment angular speed, wyIt (i+1) is aircraft y to ty(i+1) moment angular speed, wzIt (j) is aircraft z to tz(j) moment angle
Speed, wzIt (j+1) is aircraft z to tz(j+1) moment angular speed, MyIt (i) is ty(i) t is arrivedy(i+1) direction period y perturbed force
Square, MzIt (j) is tz(j) t is arrivedz(j+1) direction period z disturbance torque, y are to being aircraft orientation yaw direction, z to for flight
Device height pitch orientation.
Step (2) takes 0.4s, aircraft average speed 160m/s and flying distance 960m according to engine operating duration,
It solves to obtain flight time 6s divided by aircraft average speed by flying distance, engine work is greater than with the initial guidance end time
Make the time, while the initial guidance end time is less than 1/5th design criteria of flight time, determines the initial guidance end time
For 1.2s, line-of-sight course is used according to initial guidance, midcourse guidance uses the guidance method of proportional guidance, high under the conditions of selection is noiseless
Low introducing angle εyr0Angle beta is introduced with orientationyr0, the height introducing angle ε of selectionyr0=0.1222 and orientation introduce angle betayr0=0 meets
Track is controlled close to the optimal design criterion of theory locus, it is related to flying distance to introduce angle.
Step (3), by the engine jamming torque of identification according to engine operating duration require substitute into Digital Simulation or
HWIL simulation determines that system is guided into start time forward direction maximum engine disturbed condition according to the highest principle of precision respectively
Lower introducing angle and system are guided under start time negative sense maximum engine disturbed condition and introduce angle, in conjunction with obtaining in step (2)
It is noiseless under the conditions of introducing angle, complete the linear fit at the introducing angle under the conditions of different engine jammings.
Further, it according to precision supreme principle, takes and introduces start time as 0.2s, wzmax=0.6981, wz0=-
0.0873、wzmin=-0.6981, εymax=0.1920, εyr0=0.1222, εymin=0.0873, calculation formula is as follows:
βyr=0 (4)
In formula, εyrAngle, β are introduced for aircraft heightyrAngle, w are introduced for aircraft orientationzIt is winged that start time is guided into for system
Row device height pitch orientation angular speed, wzmaxIt is high that aircraft under start time forward direction maximum engine disturbed condition is guided into for system
Low pitch orientation angular speed, wz0Start time is guided into without aircraft height pitch orientation angle speed under the conditions of engine jamming for system
Degree, wzminAircraft height pitch orientation angular speed, ε under start time negative sense maximum engine disturbed condition are guided into for systemymax
It is guided under start time forward direction maximum engine disturbed condition for system and just introduces angle, εyminIt is negative that start time is guided into for system
Angle, ε are just introduced under to maximum engine disturbed conditionyr0Start time is guided into without height under the conditions of engine jamming for system
Introduce angle.
Step (4), the aircraft height obtained according to step (3) design introduce angle εyr, step (3) design obtained orientation
Introduce angle betayr, strapdown solution grate aircraft angle of site εJL, strapdown solution grate aircraft azimuthal angle betaJL, calculate separately aircraft height
Low introducing angle and aircraft strapdown solution grate angle of site differential seat angle δ εyrAngle and aircraft strapdown solution grate orientation are introduced with aircraft orientation
Angle differential seat angle δ βyr, the angle of site differential seat angle that grate comes out will be solved and be multiplied to obtain the introducing of height direction with strapdown solution grate aircraft distance
Instruction will solve the azimuth angle difference that grate comes out and instruct with the introducing that strapdown solution grate aircraft distance is multiplied to obtain azimuth direction,
Before setting introduces the initial guidance end time, by the introducing instruction control aircraft flight of formation, calculation formula is as follows:
δεyr(N)=εyr-εJL(N) (5)
δβyr(N)=βyr-βJL(N) (6)
Kgdyr(N)=RJL(N)δεyr(N) (7)
Kfwyr(N)=RJL(N)δβyr(N) (8)
In formula, KfwyrInstruction, K are introduced for the line-of-sight course on orientation yaw directiongdyrFor the line-of-sight course in height pitch orientation
Introduce instruction, N is with guidance cycle interruption umber of beats, the R for being constantly 0 that fall offJLFor strapdown solution grate aircraft to launch point distance,
εyrAngle, β are introduced for aircraft heightyrAngle, ε are introduced for aircraft orientationJLThe aircraft angle of site, β for strapdown solution grateJLFor victory
The aircraft azimuth of connection solution grate, δ εyrAngle and aircraft strapdown solution grate angle of site differential seat angle, δ β are introduced for aircraft heightyrFor
Aircraft orientation introduces angle and aircraft strapdown solution grate azimuth angle is poor.
In conclusion the present invention overcomes single height introduce covering engine jamming range caused by the design of angle it is insufficient and
The problem of leading to test failure；Give the design method and solution that angle is introduced for the height under the conditions of different engine jammings
Analyse expression formula；On the basis of ensuring that energy maximum magnitude inhibits engine jamming, it ensure that precision highest and Guidance and control are returned
Road performance it is optimal.
Claims (8)
1. a kind of introducing method for inhibiting engine jamming, it is characterised in that: the following steps are included:
1. extract engine jamming torque: by without control state flight test and independent loop flight test used group of data, turn
Dynamic inertia extracts rotating torque caused by identification engine jamming；
2. determine introduce the time and it is noiseless under the conditions of introducing angle: according to engine operating duration, aircraft average speed and
Flying distance determines the initial guidance end time；Line-of-sight course is used according to initial guidance, midcourse guidance uses proportional navigation method, determines nothing
Introducing angle under disturbed condition；
3. being introduced into angle under the conditions of obtaining disturbance: by step, 1. the middle engine jamming torque identified substitutes into emulation, and ties
Close step 2. in it is noiseless under the conditions of introducing angle, obtain the introducing angle under the conditions of different engine jammings, then start to difference
Introducing angle under machine disturbed condition carries out linear fit；
4. obtain initial guidance is introduced into order: according to step 3. in linear fit, acquisition orientation yaw direction on introducing instruct,
Before setting introduces the initial guidance end time, control aircraft flight is instructed by introducing.
2. inhibiting the introducing method of engine jamming as described in claim 1, it is characterised in that: 1. the step is divided into following
Step:
(1.1) the used group data of angular speed of flight test are analyzed；
(1.2) differential of angular speed between turning point is sought in segmentation, is multiplied with the rotary inertia work of corresponding axis, is obtained different directions hair
The disturbance torque of motivation.
3. inhibiting the introducing method of engine jamming as claimed in claim 2, it is characterised in that: in the step (1.1), angle
The used group data of speed are for recording different turning point angular velocity data sizes and moment.
4. inhibiting the introducing method of engine jamming as described in claim 1, it is characterised in that: 2. the step is divided into following
Step:
(2.1) by flying distance and aircraft average speed, the flight time is obtained；
(2.2) it is greater than engine operating duration when the initial guidance end time, while the initial guidance end time is less than the flight time
When 1/5th, the initial guidance end time is determined；
(2.3) according to initial guidance end time and flying distance, ratio is used using line-of-sight course, midcourse guidance in combination with initial guidance
Daoyin technique, determine it is noiseless under the conditions of height introduce angle εyr0Angle beta is introduced with orientationyr0。
5. inhibiting the introducing method of engine jamming as described in claim 1, it is characterised in that: the line-of-sight course are as follows: flight
In the guided procedure of target of attack, aircraft is on the line of guidance site and target device always.
6. inhibiting the introducing method of engine jamming as described in claim 1, it is characterised in that: the proportional navigation method are as follows:
Aircraft is in the guided procedure of target of attack, the angular velocity of rotation of aircraft speed vector and the rotation of aircraft target link
Angular speed is proportional.
7. inhibiting the introducing method of engine jamming as described in claim 1, it is characterised in that: 3. the step is divided into following
Step:
(3.1) by step 1. in the engine jamming torque that identifies, substitute into Digital Simulation or HWIL simulation；
(3.2) determine that system is guided into start time, the introducing angle under positive maximum engine disturbed condition, and system and is guided into out
Begin the moment, introduces angle under negative sense maximum engine disturbed condition；
(3.3) combine step 2. in it is noiseless under the conditions of introducing angle, obtain the introducing angle under the conditions of different engine jammings；
(3.4) linear fit is carried out to the introducing angle under the conditions of different engine jammings.
8. inhibiting the introducing method of engine jamming as described in claim 1, it is characterised in that: 4. the step is divided into following
Step:
(4.1) according to step 3. in linear fit, obtain aircraft height introduce angle εyr, orientation introduce angle betayrAnd strapdown
The aircraft angle of site ε of resolvingJL, aircraft azimuthal angle betaJLWith aircraft distance RJL；
(4.2) angle ε is introduced by aircraft heightyrWith aircraft angle of site εJL, obtain angle of site differential seat angle δ εyr；According to flight
Device orientation introduces angle betayrWith aircraft azimuthal angle betaJL, obtain azimuth angle difference δ βyr；
(4.3) pass through angle of site differential seat angle δ εyrWith aircraft distance RJL, obtain the line-of-sight course introducing instruction in height pitch orientation
Kgdyr；Pass through azimuth angle difference δ βyrWith aircraft distance RJL, obtain the line-of-sight course introducing instruction on orientation yaw direction
Kfwyr；
(4.4) line-of-sight course on orientation yaw direction introduces instruction KfwyrInstruction is introduced with the line-of-sight course in height pitch orientation
KgdyrIt is formed and introduces instruction；
(4.5) before setting introduces the initial guidance end time, by the introducing instruction control aircraft flight of formation.
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