CN112648886A - Combined guidance target intercepting method and system - Google Patents

Combined guidance target intercepting method and system Download PDF

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CN112648886A
CN112648886A CN202011442004.7A CN202011442004A CN112648886A CN 112648886 A CN112648886 A CN 112648886A CN 202011442004 A CN202011442004 A CN 202011442004A CN 112648886 A CN112648886 A CN 112648886A
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guidance
sight
line
acceleration
target
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CN112648886B (en
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董希旺
赵冰倩
于江龙
韩亮
任章
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Beihang University
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    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/30—Command link guidance systems

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

The invention relates to a combined guidance target intercepting method and a system, wherein the method comprises the following steps: determining the acceleration of a TPN guidance instruction of a true proportional guidance law; determining pure proportional guidance law PPN guidance command acceleration within a capture condition range in a sight instantaneous rotation plane; determining a combined guidance instruction acceleration according to the TPN guidance instruction acceleration and the PPN guidance instruction acceleration; and controlling the intercepting bullet to intercept the target according to the combined guidance instruction acceleration. The technical scheme disclosed by the invention combines the advantages of PPN guidance and TPN guidance, has the advantages of small calculated amount, low dependence degree of a combined guidance law on measurement information and target estimation information, strong robustness, shortened intercepting time, capability of realizing rapid convergence of a bullet sight, stable trajectory in the later intercepting period, small energy consumption for intercepting and capability of realizing rapid intercepting of a target in an adjacent space.

Description

Combined guidance target intercepting method and system
Technical Field
The invention relates to the technical field of target interception, in particular to a combined guidance target interception method and a combined guidance target interception system.
Background
The method aims at intercepting hypersonic targets in a near space, and zero miss distance interception of the targets needs to be realized.
Intercepting a target by a pure proportion guidance law PPN based on differential geometric guidance: the guidance instruction acceleration is perpendicular to the speed direction of the interceptor, the rapid convergence of the missile eye sight can be realized, the design is designed for the intercepting missile which is greatly influenced by aerodynamic force in the atmosphere, the flying airspace of an intercepting object researched by the prior art is a near space, the atmosphere of the near space is thin, and the influence of aerodynamic force on the intercepting missile is smaller compared with low-level atmosphere; and the parameter e required by the guidance instructionr、eθ、eω、
Figure BDA0002822697880000011
The guidance performance and the information obtained by filtering are closely related depending on the accuracy of a filtering algorithm, errors and time delay are difficult to eliminate, and engineering realization is not facilitated.
Intercepting the target based on a true proportion guidance law TPN in the sight rotation plane: the guidance instruction acceleration is perpendicular to the sight direction, the convergence speed of the bullet sight is low, overload is required to be large in the later stage of interception, trajectory bending is obvious, and miss probability is high.
Disclosure of Invention
Based on this, the present invention provides a combined guidance target intercepting method and system to improve the accuracy of target interception.
In order to achieve the above object, the present invention provides a combined guidance target intercepting method, including:
step S1: determining the acceleration of a TPN guidance instruction of a true proportional guidance law;
step S2: determining pure proportional guidance law PPN guidance command acceleration within a capture condition range in a sight instantaneous rotation plane;
step S3: determining a combined guidance instruction acceleration according to the TPN guidance instruction acceleration and the PPN guidance instruction acceleration;
step S4: and controlling the intercepting bullet to intercept the target according to the combined guidance instruction acceleration.
Optionally, the determining the true proportional pilot law TPN guidance command acceleration specifically includes:
step S11: determining the visual normal e under the visual rotating coordinate systemθ；
Step S12: determining the line-of-sight rotation rate in the instantaneous rotation plane;
step S13: determining a real proportion guidance law TPN guidance instruction acceleration formula;
step S14: rotating the line of sight in the instantaneous plane of rotation
Figure BDA0002822697880000024
And said line of sight normal eθAnd determining the acceleration of the TPN guidance instruction of the true proportional guidance law.
Optionally, the determining the line-of-sight rotation rate in the instantaneous rotation plane specifically includes:
step S121: determining a proportional guidance law in an instantaneous rotation plane of the sight line;
step S122: and substituting the proportional guidance law in the instantaneous rotation plane of the sight line into a relative motion equation set to determine the sight line rotation rate in the instantaneous rotation plane.
Optionally, the determining, in the instantaneous sight rotation plane, a pure proportional guidance law PPN guidance command acceleration within a capture condition range specifically includes:
step S21: constructing a differential geometric coordinate system;
step S22: converting the position, the speed, the acceleration and the jerk vector of the particle motion into a differential geometric system according to the conversion relation to obtain a converted differential geometric system;
step S23: determining the curvature and the bending rate of the intercepting bullet in the converted differential geometric system;
step S24: determining a capturing condition in a sight line instantaneous rotation plane;
step S25: and determining the PPN guidance command acceleration of a pure proportion guidance law according to the curvature of the intercepting bomb in the capture condition range.
Optionally, the combined guidance instruction acceleration is determined according to the TPN guidance instruction acceleration and the PPN guidance instruction acceleration, and a specific formula is as follows:
Figure BDA0002822697880000021
wherein, amIs a combined guidance command acceleration, a'mFor the TPN guidance command acceleration, a ″)mThe PPN guidance command acceleration is obtained, N is a guidance coefficient,
Figure BDA0002822697880000022
is the derivative of the relative position r of the projectile,
Figure BDA0002822697880000023
as the line of sight slew rate, eθIs the normal direction of the line of sight, VmTo intercept the line speed of the projectile, kappamTo intercept the curvature of the projectile, k1∈(1,3),k2∈(0,0.5)，nmIs the normal vector of the velocity of the interceptor projectile.
Optionally, the curvature and the bending rate of the intercepting bullet are determined in the converted differential geometry system, and the specific formula is as follows:
Figure BDA0002822697880000031
wherein, κm、τmRespectively the curvature and the bending rate of the arresting projectile, amIndicating overload of the interceptor projectile, nmNormal vector, V, representing the velocity of the interceptor projectilemIndicating the velocity of the interceptor projectile, bmRepresenting the direction vector of the axis of rotation of the velocity of the interceptor projectile, atRepresenting the target acceleration vector, r representing the relative projectile distance,
Figure BDA0002822697880000032
as the line of sight slew rate, eθIs the normal direction of the sight line,eωis the angular velocity direction of the line of sightmFor the arc length of the movement of the interceptor projectile, omega is the angular velocity of the rotation of the sight line, erIs a line-of-sight unit vector.
Optionally, the capturing condition is specifically formulated as:
Figure BDA0002822697880000033
wherein r is0The initial shot-to-eye distance is indicated,
Figure BDA0002822697880000034
the sight line rotation rate at the initial moment, r is the relative distance vector between the interception bullet and the target,
Figure BDA0002822697880000035
a represents a guidance command acceleration, V, for the line of sight rotation ratemTo intercept the velocity of the projectile, VtIs the target linear velocity.
Optionally, the line-of-sight rotation rate in the instantaneous rotation plane is determined by substituting the proportional guidance law in the line-of-sight instantaneous rotation plane into a relative motion equation set, and the specific formula is as follows:
Figure BDA0002822697880000036
wherein, N is a pilot coefficient,
Figure BDA0002822697880000037
the first derivative of the relative distance vector r of the interceptor projectile from the target,
Figure BDA0002822697880000038
for line-of-sight rotation in the plane of instantaneous rotation
Figure BDA0002822697880000039
The derivative of (a) of (b),
Figure BDA00028226978800000310
to the initial moment of vision rotation rate, r0Is the relative distance between the intercepting bullet and the target at the initial moment.
Optionally, the relative motion equation set has a specific formula:
Figure BDA0002822697880000041
wherein, atrRepresenting the projection of the target acceleration in the direction of the line of sight, amrRepresenting the projection of the acceleration of the interceptor projectile in the direction of the line of sight, atθRepresenting the projection of the acceleration of the target in the normal direction of the line of sight, amθRepresenting the projection of the acceleration of the interceptor projectile in the normal direction of the line of sight, atωRepresenting the projection of the target acceleration in the direction of the angular velocity vector of the gaze rotation, amωShowing the projection of the acceleration of the interceptor projectile in the direction of the vector of the angular velocity of the rotation of the line of sight,
Figure BDA0002822697880000042
the rotation rate of the sight line, which represents the angular velocity of the sight line in the instantaneous rotation plane, is taken
Figure BDA0002822697880000043
Figure BDA0002822697880000044
Is the deflection of the sight line and represents the rotating angular speed of the instantaneous rotating plane of the sight line,
Figure BDA0002822697880000045
Figure BDA0002822697880000046
the derivative of the line-of-sight rotation rate, r is the relative distance vector of the interceptor projectile and the target,
Figure BDA0002822697880000047
and
Figure BDA0002822697880000048
the first and second derivatives of r, respectively.
The invention also provides a combined guidance target intercepting system, which comprises:
the TPN guidance instruction acceleration determining module is used for determining the real-proportion guidance law TPN guidance instruction acceleration;
the PPN guidance instruction acceleration determining module is used for determining the PPN guidance instruction acceleration of a pure proportion guidance law in the range of capturing conditions in the sight instantaneous rotation plane;
the combined guidance instruction acceleration determining module is used for determining combined guidance instruction acceleration according to the TPN guidance instruction acceleration and the PPN guidance instruction acceleration;
and the target interception module is used for controlling the interception bomb to intercept the target according to the combined guidance instruction acceleration.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the technical scheme disclosed by the invention combines the advantages of PPN guidance and TPN guidance, has the advantages of small calculated amount, low dependence degree of a combined guidance law on measurement information and target estimation information, strong robustness, shortened intercepting time, capability of realizing rapid convergence of a bullet sight, stable trajectory in the later intercepting period, small energy consumption for intercepting and capability of realizing rapid intercepting of a target in an adjacent space.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flow chart of a combined guidance target intercepting method according to an embodiment of the invention;
FIG. 2 is a schematic diagram illustrating a relative position relationship between the projectile and the projectile in the launching inertia system according to an embodiment of the present invention;
FIG. 3 is a schematic rotation diagram of a plane of instantaneous rotation according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a relationship between a gaze rotation coordinate system and a gaze coordinate system according to an embodiment of the present invention;
FIG. 5 is a three-dimensional graph of missile and target movement in the TPN and combined guidance mode of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a combined guidance target interception method and a combined guidance target interception system, so as to improve the accuracy of target interception.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the present invention discloses a combined guidance target intercepting method, which comprises:
step S1: and determining the acceleration of the TPN guidance instruction of the true proportional guidance law.
Step S2: and determining the PPN guidance command acceleration of the pure proportion guidance law within the range of the capture condition in the sight instantaneous rotation plane.
Step S3: and determining a combined guidance instruction acceleration according to the TPN guidance instruction acceleration and the PPN guidance instruction acceleration.
Step S4: and controlling the intercepting bullet to intercept the target according to the combined guidance instruction acceleration.
The individual steps are discussed in detail below:
if a particle moves in a curve in space, the linear velocity of the particle is V and the direction of the linear velocity is not fixed, and the velocity direction of the particle is tangential t of the space curve at any time. Since the direction of the velocity changes, if the rotational angular velocity direction of the velocity vector is b from the normal direction, the normal direction of the velocity is n — b × t. In the differential geometric principle, { t, n, b } represents the tangent, normal and normal directions of the space curve respectively, and is three mutually perpendicular and orthogonal unit vectors which form a moving coordinate system which changes along with the particle motion in the space.
According to the Fossie formula:
Figure BDA0002822697880000061
where κ is the curvature of the motion of the space curve, the curvature representing the rotational speed of the tangent vector of the space curve with respect to the arc length, the greater the curvature, the greater the degree of curve curvature. τ is the deflection, the absolute value of which represents the rotation speed of the curve from the normal vector to the arc length, and if the deflection of the curve is constant at zero, the curve is a planar curve. s represents the arc length. Since the above equation is differentiated with the arc length as an argument, the equation of motion is also referred to as the equation of motion of the particle in the arc length domain.
From the concept of differential geometry, one can derive:
Figure BDA0002822697880000062
where ω is the rotation angular velocity of t, and ds/dt represents the linear velocity of the space curve, so:
Figure BDA0002822697880000063
where θ is the angle of rotation of the vector t.
Comparing the formula (1) and the formula (3) shows
Figure BDA0002822697880000064
The curvature represents the angle of rotation of the velocity direction within a unit arc length of the space curve.
B is the angular velocity direction of rotation of t, by definition, always perpendicular to t, and b can only rotate in a plane perpendicular to t. If Ω is a rotational angular velocity of b and Ω is a magnitude, the direction is along t, so:
Figure BDA0002822697880000065
where η is the rotation angle of vector b.
The following equations (1) and (4) show that:
Figure BDA0002822697880000071
as can be seen from comparison with equation (1), τ ═ d η/ds represents the angular velocity at which the velocity rotation plane rotates when the particle curve moves.
The curvature and the flexibility of the sight line can be further researched on the basis of the curvature and the flexibility of the space curve. Line of sight refers to the unit vector pointing from the interceptor projectile's centroid to the target centroid.
Assuming that there is a space curve with a linear velocity V, if the sight line direction e is defined asrRegarding the tangent direction t of the space curve, the vector direction e of the angular velocity of the visual line rotationωThe visual line is normal to e from the normal to b of the space curveθAnd determining the curvature and the flexibility of a sight line according to the curvature and the flexibility of the space curve, wherein the sight line refers to a unit vector pointing from the center of mass of the interceptor projectile to the center of mass of the target, and the specific formula is as follows:
Figure BDA0002822697880000072
wherein, κsAnd τsCurvature and flexibility of the line of sight, omegasIs the angular velocity direction e of the visual lineωMagnitude of angular velocity of rotation, ωsThe instantaneous rotation angular velocity of the sight line is shown, and V is the linear velocity of the space curve.
Step S1: determining the real proportional guidance law TPN guidance instruction acceleration, which specifically comprises the following steps:
step S11: determining a visual line direction unit vector e under a visual line rotating coordinate systemrNormal to the line of sight eθAnd the line-of-sight rotation angular velocity direction eωThe specific determination process is as follows:
as shown in fig. 2, the related parameter of the intercepting projectile is denoted by m, the related parameter of the target is denoted by t, the related parameter of the sight line is denoted by s, r is the relative distance between the projectile and the target, and r istIs a target position vector, rmAs vector of the location of the interceptor projectile, erIs a line-of-sight unit vector. The difference in projection perpendicular to the line of sight due to the speed of the projectile will result in a rotation of the line of sight.
Determining the relative distance of the bullet eyes under an inertial coordinate system, wherein the relative position of the bullet eyes represents the relative distance between an intercepted bullet and a target; the concrete formula is as follows:
r＝rt-rm＝rer (7)；
wherein r is the relative distance vector between the interception bomb and the target, erIs a unit vector of the direction of the line of sight, rtIs a target position vector, rmAnd r is the size of the relative distance vector between the intercepted bullet and the target.
The derivation is carried out on the relative distance of the bullet eyes, and the specific formula is as follows:
Figure BDA0002822697880000081
wherein the content of the first and second substances,
Figure BDA0002822697880000082
as derivative of the relative distance vector of the interceptor projectile to the target, erIs a unit vector of the sight line direction, r is the magnitude of a relative distance vector between the interception bullet and the target, V is the linear velocity of a space curve, V is the linear velocity of the space curvemIndicating the velocity of the interceptor projectile, VtRepresenting the target speed.
The line-of-sight rotation coordinate system is shown in FIG. 3 (e)ω×er) Perpendicular to eωAnd erIs set as the normal of line of sight eθThus eω、er、eθIs a unit vector orthogonal to each other, a unit vector e in the direction of line of sightrNormal to the line of sight eθThe rotation plane constituting the line of sight may cause rotation of the line of sight rotation plane because the direction of the line of sight rotation angular velocity is changing. Setting the angular velocity direction e of the viewing angleωHas a rotational angular velocity of Ωs. Angular velocity direction e of rotation due to line of sightωUnit vector e always perpendicular to the direction of viewingrAngular velocity direction e of line of sight rotationωAnd can only be in the unit vector e perpendicular to the line of sightrIs rotated in the plane of (a), and thus the angular velocity Ω is rotatedsIs a unit vector e of the direction of sight liner。
From the above analysis, the rotation of the line of sight has the same way as the rotation of the direction of the space curve { t, n, b }, namely: rotation in the plane of rotation, the plane of rotation consisting of { er,eθIs composed of erThe angular velocity of rotation in the plane of rotation is ωsIn the direction of eω(ii) a Plane of rotation { er,eθRotation of (c) with instantaneous e as axis of rotationrThe rotational angular velocity of the shaft is omegas。
Suppose the instantaneous angular velocity vector of the line of sight is ωs＝ωs·eω，ωsThe magnitude of the instantaneous angular velocity of the line of sight is as follows:
Figure BDA0002822697880000083
wherein e isrIs a unit vector of the direction of the line of sight, eθNormal to the line of sight, eωIs the line-of-sight rotation angular velocity direction.
Substituting equation (9) into equation (8) yields:
Figure BDA0002822697880000084
the derivation for equation (10) is:
Figure BDA0002822697880000085
the method comprises the following steps of constructing a Frasse formula of a sight line rotation coordinate system, wherein the specific formula is as follows:
Figure BDA0002822697880000091
wherein e isrIs a unit vector of the direction of the line of sight, eθNormal to the line of sight, eωIs the angular velocity direction of the line of sightsIs the instantaneous angular velocity vector of the line of sight, omegasIs a linear rotational angular velocity direction eωThe angular velocity of rotation of (1).
Substituting equation (12) into equation (11) can result in:
Figure BDA0002822697880000092
the formula (13) is arranged to obtain a relative motion equation set, and the specific formula is as follows:
Figure BDA0002822697880000093
wherein the subscripts "r, θ, ω" respectively denote the coordinate systems { e ] rotated along the line of sightr,eθ,eωRelative parameters of three axes, atrRepresenting the projection of the target acceleration in the direction of the line of sight, amrRepresenting the projection of the acceleration of the interceptor projectile in the direction of the line of sight, atθRepresenting the projection of the acceleration of the target in the normal direction of the line of sight, amθRepresenting the projection of the acceleration of the interceptor projectile in the normal direction of the line of sight, atωRepresenting the projection of the target acceleration in the direction of the angular velocity vector of the gaze rotation, amωShowing the projection of the acceleration of the interceptor projectile in the direction of the vector of the angular velocity of the rotation of the line of sight,
Figure BDA0002822697880000094
the rotation rate of the sight line, which represents the angular velocity of the sight line in the instantaneous rotation plane, is taken
Figure BDA0002822697880000095
Figure BDA0002822697880000096
Is the deflection of the sight line and represents the rotating angular speed of the instantaneous rotating plane of the sight line,
Figure BDA0002822697880000097
Figure BDA0002822697880000098
the derivative of the line-of-sight rotation rate.
From the formula (6), the curvature κ of the line of sightsRate of line of sight
Figure BDA0002822697880000099
Proportional, the line of sight deflection τsFlexibility of sight line
Figure BDA00028226978800000910
In direct proportion.
The motion equation set is a relative motion equation obtained by combining the basic law of the movement of the projectile on the basis of the basic principle of the rotation of the sight line, and the first formula and the second formula of the motion equation set determine the change of the relative distance of the projectile and the change law of the rotation rate of the sight line in the instantaneous rotation plane, and the third formula determines the rotation law of the instantaneous rotation plane and does not influence the interception effect. Therefore, through the analysis of the formula (14), the three-dimensional interception problem in the sight line rotation coordinate system can be converted into the sight line rotation plane for analysis, and the complexity of the interception problem is reduced.
According to formula (8), er、eθ、eωThe three direction vectors have the following relations with the relative position r and the relative speed V of the bullet:
Figure BDA0002822697880000101
if r and V are known, { e ] can be calculatedr,eθ,eωThe implemented rotation coordinate system constructed is in the direction of each time. Thus at the beginning of the algorithm, the initial relative position r of the bullet is known0And initial relative velocity V0The initial time e can be calculated using the above formular0、eθ0、eω0Three directional vectors, i.e.
Figure BDA0002822697880000102
The quantities measurable during actual guidance are the gaze elevation angle epsilon and the gaze azimuth angle beta,
Figure BDA0002822697880000103
and
Figure BDA0002822697880000104
and are not directly available. Therefore, it is necessary to rotate the emission inertial system by euler angles (the view angle epsilon and the view azimuth angle beta) to obtain a view coordinate system, as shown in fig. 4, so that the rotation angular velocity ω of the view coordinate system can be expressed as:
Figure BDA0002822697880000105
wherein, omega is the rotation angular velocity of the sight line coordinate system,
Figure BDA0002822697880000106
is the derivative of the elevation angle of the line of sight,
Figure BDA0002822697880000107
is the derivative of the azimuth angle of the sight line, epsilon is the elevation angle of the sight line,
Figure BDA0002822697880000108
and
Figure BDA0002822697880000109
respectively representing the component vectors of the three directions of the line of sight coordinate system.
For the angular velocity of rotation of the line of sight, only the rotation of the line of sight need be taken into account and not the rolling rotation of the line of sight about itself, i.e.
Figure BDA00028226978800001010
Component of direction, and therefore, angular velocity ω of rotation of the line of sightsComprises the following steps:
Figure BDA0002822697880000111
from the definition of the line-of-sight rotation angular velocity, one can obtain:
Figure BDA0002822697880000112
thus, a line-of-sight rotation coordinate system { e }can be obtainedr,eθ,eωExpression of }:
Figure BDA0002822697880000113
Figure BDA0002822697880000114
thus obtaining eωExpression in the transmit inertial system:
Figure BDA0002822697880000115
and further obtain eωThe expression in the line-of-sight coordinate system is as follows:
Figure BDA0002822697880000116
further, it can be seen that:
Figure BDA0002822697880000117
expressions (19) to (23) give a sight line rotation coordinate system er、eθ、eωUnit vector of three directions and curvature of sight line
Figure BDA0002822697880000118
A relation with the view angle epsilon and the view azimuth angle beta.
The following derivation studies the line-of-sight curvature derivative
Figure BDA0002822697880000119
And line of sight flexibility
Figure BDA00028226978800001110
The computational expression of (2).
The derivation for (17) is as follows:
Figure BDA0002822697880000121
and because:
Figure BDA0002822697880000122
thus, there are:
Figure BDA0002822697880000123
Figure BDA0002822697880000124
at ysozsIn-plane, while also lying in { eθ,eωIn the plane of the component, due to:
Figure BDA0002822697880000125
thus, it is possible to obtain:
Figure BDA0002822697880000126
the unit vector e of the visual line direction in the visual line rotating coordinate system can be obtained by simultaneous equations (12), (15), (17), (18), (19), (22), (23) and (28)rNormal to the line of sight eθAnd the line-of-sight rotation angular velocity direction eω。
From the above formula, er、eθ、eω、
Figure BDA0002822697880000127
Can be expressed as epsilon, beta,
Figure BDA0002822697880000128
Figure BDA0002822697880000129
As a function of (c). Because the directly measurable data only comprises the sight line elevation angle epsilon and the sight line azimuth angle beta, the guidance instruction is required to be filtered in combination with the measurement of the seeker in the guidance process of the interceptor missile
Figure BDA00028226978800001210
In the invention, on the basis of ensuring the accuracy of the observed value, in order to simplify the calculation complexity and shorten the calculation time, first-order differentiation is selected for data processing, and in a discrete time domain, when the time interval delta t is extremely small, the time at t can be used
Figure BDA00028226978800001211
Instead of at time t +1
Figure BDA00028226978800001212
There is a certain time delay.
Step S12: determining the line-of-sight rotation rate in the instantaneous rotation plane, which specifically comprises the following steps:
step S121: determining a proportional guidance law in an instantaneous rotation plane of the sight line, wherein the specific formula is as follows:
Figure BDA0002822697880000131
wherein, amθIs the proportional guidance law in the instantaneous rotation plane of the sight line, N is a guidance coefficient,
Figure BDA0002822697880000132
the first derivative of the relative distance vector r of the interceptor projectile from the target,
Figure BDA0002822697880000133
is the line-of-sight rotation rate in the instantaneous plane of rotation.
Step S122: substituting the proportional guidance law in the instantaneous rotation plane of the sight line into a relative motion equation set to determine the sight line rotation rate in the instantaneous rotation plane, wherein the specific formula is as follows:
Figure BDA0002822697880000134
wherein, N is a pilot coefficient,
Figure BDA0002822697880000135
the first derivative of the relative distance vector r of the interceptor projectile from the target,
Figure BDA0002822697880000136
for line-of-sight rotation in the plane of instantaneous rotation
Figure BDA0002822697880000137
The derivative of (a) of (b),
Figure BDA0002822697880000138
to the initial moment of vision rotation rate, r0Is the relative distance between the intercepting bullet and the target at the initial moment.
The first equation of equation (14) is considered if the line-of-sight rate is changed
Figure BDA0002822697880000139
Then there are:
Figure BDA00028226978800001310
it is understood that the trend of the speed of the bullet in the vicinity of the target is determined by the magnitude of the acceleration of the bullet in the direction of the line of sight, and the larger the difference between the accelerations of the interceptor bullet and the target in the direction of the line of sight, the greater the approach speed and the shorter the time required for interception, and therefore the guidance law should be designed based on the increase in the difference between the accelerations of the interceptor bullet and the target in the direction of the line of sight. Instantaneous plane of rotation of the line of sight consisting of er,eθTherefore, the plane can be taken as an instantaneous control surface of the intercepting bomb to develop research on a guidance law.
Step S13: determining a real proportion guidance law TPN guidance instruction acceleration formula, which specifically comprises the following steps:
establishing a bullet eye motion equation in a sight line coordinate system, wherein the formula is as follows:
Figure BDA00028226978800001311
wherein the content of the first and second substances,
Figure BDA00028226978800001312
is omega at
Figure BDA00028226978800001313
The component of the axis is such that,
Figure BDA00028226978800001314
is omega at
Figure BDA00028226978800001315
The component of the axis is such that,
Figure BDA0002822697880000141
is omega at
Figure BDA0002822697880000142
Component of the axis, atx、aty、atzIs the component of the target acceleration along each axis in the line-of-sight coordinate system, amx、amy、amzIs the component of the acceleration of the interceptor projectile along each axis under the sight line coordinate system, r is the relative distance vector of the interceptor projectile and the target,
Figure BDA0002822697880000143
and
Figure BDA0002822697880000144
the first and second derivatives of r, respectively.
Figure BDA0002822697880000145
Wherein, amx、amy、amzIs the component of the acceleration of the interceptor projectile along each axis under a sight line coordinate system, N is a guide coefficient,
Figure BDA0002822697880000146
as the first derivative of the relative distance vector r of the interceptor projectile to the target, ωzs、ωysThe components of the visual line rotation angular velocity along each axis in the visual line coordinate system are respectively.
Because the TPN is at y in the line-of-sight coordinate systems,zsThe guidance instructions in the directions are independent from each other, so that the formula (31) and the formula (32) are combined to determine the real proportional guidance law TPN guidance instruction acceleration formula as follows:
Figure BDA0002822697880000147
wherein, a'mCommanding acceleration, y, for TPN guidances,zsAre the components of two axes under the sight line coordinate system, N is the guidance coefficient,
Figure BDA0002822697880000148
is the derivative of the relative position r of the projectile,
Figure BDA0002822697880000149
as the line of sight slew rate, eθIs the normal direction of the sight line,
Figure BDA00028226978800001410
is the derivative of the elevation angle of the line of sight,
Figure BDA00028226978800001411
the derivative of the azimuth angle of the sight line, epsilon, is the elevation angle of the sight line.
Step S14: rotating the line of sight in the instantaneous plane of rotation
Figure BDA00028226978800001412
And said line of sight normal eθAnd determining the acceleration of the TPN guidance instruction of the true proportional guidance law.
Step S2: in a sight line instantaneous rotation plane, determining pure proportional guidance law PPN guidance instruction acceleration in a capture condition range, and specifically comprising the following steps:
step S21: constructing a differential geometric coordinate system, wherein the specific formula is as follows:
Figure BDA0002822697880000151
wherein, tz、bzRespectively tangential and normal, nzIn order to be the normal direction,
Figure BDA0002822697880000152
is the curvature of the curved motion of the particle,
Figure BDA0002822697880000153
the bending rate of the mass point curve motion.
The particle motion in three-dimensional space forms a track, so that the velocity direction of the particle motion at each moment is tangential, and the velocity rotation axis is from the normal.
Step S22: and converting the position, the speed, the acceleration and the jerk vector of the particle motion into a differential geometric system according to the conversion relation to obtain the converted differential geometric system.
The conversion relation is specifically as follows:
Figure BDA0002822697880000154
wherein, azIs the acceleration vector of the z mass point at a certain time, tzThe velocity direction of the particle motion, i.e. the tangential direction,
Figure BDA0002822697880000155
is the velocity vector V of the z mass point at a certain timezDerivative of, nzIs the normal direction of the particle motion,
Figure BDA0002822697880000156
is the derivative of the acceleration vector of the z particle at a certain time, bzFrom the normal direction of particle motion.
Step S23: determining the curvature and the bending rate of the intercepting bullet in a converted differential geometric system, wherein the specific formula is as follows:
Figure BDA0002822697880000161
wherein, κm、τmRespectively the curvature and the bending rate of the arresting projectile, amIndicating overload of the interceptor projectile, nmNormal vector, V, representing the velocity of the interceptor projectilemIndicating the velocity of the interceptor projectile, bmRepresenting the direction vector of the axis of rotation of the velocity of the interceptor projectile, atIndicating target accelerationThe degree vector, r, represents the projectile distance,
Figure BDA0002822697880000162
as the line of sight slew rate, eθNormal to the line of sight, eωIs the angular velocity direction of the line of sightmFor the arc length of the movement of the interceptor projectile, "r, θ, ω" respectively represent the coordinate system { e ] rotated along the line of sightr,eθ,eωRelative parameters of three axes, erIs a line-of-sight unit vector.
Step S24: in the line-of-sight instantaneous rotation plane, a capture condition is determined.
For intercepting a hypersonic speed target in a near space, the speed of an interception bullet is usually smaller than that of the target, the initial capture condition analysis is performed below, and at the final moment of interception, if capture can be realized, the following conditions need to be met: r is equal to 0, and r is equal to 0,
Figure BDA0002822697880000163
bounded, and thus the available capture conditions are as follows:
Figure BDA0002822697880000164
wherein r is0The initial shot-to-eye distance is indicated,
Figure BDA0002822697880000165
the sight line rotation rate at the initial moment, r is the relative distance vector between the interception bullet and the target,
Figure BDA0002822697880000166
a represents a guidance command acceleration, V, for the line of sight rotation ratemTo intercept the velocity of the projectile, VtIs the target linear velocity.
Step S25: and determining a PPN guidance command acceleration of a pure proportion guidance law according to the curvature of the intercepting bomb within the capture condition range, wherein the specific formula is as follows:
a″m＝Vm 2κmnm (38)；
wherein a' is PPN guidance instruction acceleration, VmTo intercept the line speed of the projectile, kappamTo intercept the curvature of the projectile, k1∈(1,3),k2∈(0,0.5)，nmIs the normal vector of the velocity of the interceptor projectile.
The proportional guidance law can be divided into two fields according to different applied directions of guidance instruction acceleration:
1) TPN with guidance command acceleration perpendicular to the sight line direction;
2) the guidance command acceleration is perpendicular to the PPN of the direction of the interceptor velocity.
From the analysis of mathematics, the TPN with the guidance command acceleration perpendicular to the sight line direction is easier to obtain an analytic solution and is convenient to analyze compared with the PPN, and the PPN is difficult to be put into practical use because the guidance acceleration is perpendicular to the speed direction, so that the PPN cannot be widely applied to actual anti-guidance interception, and most scholars carry out deep research on the TPN.
For true proportional navigation law (TPN) in the plane of rotation of the line of sight: the guidance instruction acceleration is perpendicular to the sight direction, the convergence speed of the bullet sight is low, overload is required to be large in the later stage of interception, trajectory bending is obvious, and miss probability is high.
The differential geometric guidance law proposed above is a PPN with a guidance instruction acceleration perpendicular to the speed direction of the interceptor, and is designed for the intercepting bomb with a large aerodynamic influence in the atmosphere, while the flying airspace of an intercepting object researched by the prior art is a near space, the atmosphere of the near space is thin, and compared with the low-level atmosphere, the intercepting bomb is less influenced by the aerodynamic force; and the parameter e required by the guidance instructionr、eθ、eω、
Figure BDA0002822697880000171
The guidance performance and the information obtained by filtering are closely related depending on the accuracy of a filtering algorithm, errors and time delay are difficult to eliminate, and engineering realization is not facilitated.
In order to reduce the degree of dependence of the guidance law for intercepting the maneuvering target on the measurement information and the target estimation information, improve the robustness of the guidance law for intercepting the maneuvering target and reduce the time required for interception, a combined guidance law is provided, model parameters of PPN are estimated by adopting a first-order differential which is simple to calculate, and design is carried out by combining TPN, and the steps are as follows:
step S3: determining a combined guidance instruction acceleration according to the TPN guidance instruction acceleration and the PPN guidance instruction acceleration, wherein the specific formula is as follows:
Figure BDA0002822697880000172
wherein, amIs a combined guidance command acceleration, a'mFor the TPN guidance command acceleration, a ″)mThe PPN guidance command acceleration is obtained, N is a guidance coefficient,
Figure BDA0002822697880000173
is the derivative of the relative position r of the projectile,
Figure BDA0002822697880000174
as the line of sight slew rate, eθIs the normal direction of the line of sight, VmTo intercept the line speed of the projectile, kappamTo intercept the curvature of the projectile, k1∈(1,3),k2∈(0,0.5)，nmIs the normal vector of the velocity of the interceptor projectile.
Wherein, with k2The acceleration of the intercepted projectile is gradually increased in a component perpendicular to the speed direction, the initial curvature of the intercepted trajectory is increased, the time required for interception is reduced, compared with TPN in a sight rotation coordinate plane, the trajectory of the combined guidance law in the later interception stage is stable, and the energy required for interception is small. The combined guidance law designed by the method combines the advantages of the two methods, the calculated amount is small, the dependence degree of the guidance law on the measurement information and the target estimation information is low, the robustness is high, the time required by interception is shortened, the missile eye sight can be quickly converged, and the target can be quickly intercepted in the adjacent space.
Step S4: and controlling the intercepting bullet to intercept the target according to the combined guidance instruction acceleration.
The technical scheme disclosed by the invention combines the advantages of PPN guidance and TPN guidance, has small calculated amount, low dependence degree of a combined guidance law on measurement information and target estimation information and strong robustness, shortens the time required for interception, can realize quick convergence of a bullet sight, has stable trajectory in the later interception stage, requires less energy for interception, and can realize quick interception of a target in an adjacent space.
The invention also provides a combined guidance target intercepting system, which comprises:
and the TPN guidance instruction acceleration determining module is used for determining the real-proportion guidance law TPN guidance instruction acceleration.
And the PPN guidance instruction acceleration determining module is used for determining the PPN guidance instruction acceleration of the pure proportion guidance law within the capture condition range in the sight instantaneous rotation plane.
And the combined guidance instruction acceleration determining module is used for determining the combined guidance instruction acceleration according to the TPN guidance instruction acceleration and the PPN guidance instruction acceleration.
And the target interception module is used for controlling the interception bomb to intercept the target according to the combined guidance instruction acceleration.
As an implementation mode, the TPN guidance instruction acceleration determination module of the present invention specifically includes:
a normal sight determination unit for determining a normal sight direction e in the rotary coordinate system of the sightθ。
And the sight line rotation rate determining unit is used for determining the sight line rotation rate in the instantaneous rotating plane.
And the TPN guidance instruction acceleration formula determining unit is used for determining a real proportion guidance law TPN guidance instruction acceleration formula.
A TPN guidance instruction acceleration determining unit for converting the line of sight rotation rate in the instantaneous rotation plane
Figure BDA0002822697880000181
And said line of sight normal eθAnd determining the acceleration of the TPN guidance instruction of the true proportional guidance law.
As an embodiment, the gaze slew rate determining unit of the present invention specifically includes:
the proportional guidance law determining subunit is used for determining a proportional guidance law in the sight instantaneous rotation plane;
and the sight line rotation rate determining subunit is used for substituting the proportional guidance law in the sight line instantaneous rotation plane into the relative motion equation set to determine the sight line rotation rate in the instantaneous rotation plane.
As an embodiment, the module for determining the PPN guidance instruction acceleration specifically includes:
a coordinate system construction unit for constructing a differential geometrical coordinate system.
And the conversion unit is used for converting the position, the speed, the acceleration and the jerk vector of the particle motion into a differential geometric system according to the conversion relation to obtain the converted differential geometric system.
And the curvature and flexibility determining unit of the intercepting bullet is used for determining the curvature and the flexibility of the intercepting bullet in the converted differential geometrical system.
And a capturing condition determining unit for determining a capturing condition in the sight line instantaneous rotation plane.
And the PPN guidance command acceleration determining unit is used for determining the PPN guidance command acceleration of a pure proportion guidance law according to the curvature of the intercepting bomb in the capture condition range.
The simulation calculation is as follows:
the method comprises the steps of selecting a target as a near-space hypersonic cruise aircraft X-51, enabling the cruise speed to be higher than Mach 5, enabling the target to fly in an airspace range of 20-30 km, enabling an interception bullet to be a kinetic energy interception bullet, destroying the target in a direct collision mode, and requiring zero miss distance to intercept the target. Setting the initial position vector and the initial velocity vector of the bullet in a launching inertia system as follows under the condition of meeting the initial capturing condition:
rm0＝[10 0 30]Tkm,rt0＝[30 20 0]Tkm
Vm0＝[1 0.1 0.033807]Tkm/s,Vt0＝[-0.9 -0.8 1.2]Tkm/s
target acceleration vector is at＝[-5g -5g 0]Wherein g is 9.81, and the guidance parameters are selected as follows: n is 3, k1＝2,k20.5, from the initial position of the missile and target: e.g. of the typer0＝[0.4851 0.4851 -0.7276]T,eθ0＝[-0.7503 0.6583 -0.0613]T，eω0＝[-0.4492 0.5756 -0.6832]TFrom the missile velocity vector, the following can be known: t is tm＝[0.99 0.0994 0.0336]T，
Figure BDA0002822697880000191
Setting nm＝[-0.1 0.8 -0.5916]TThe initial condition for knowing that interception is satisfied is calculated.
The interception process based on the two modes of TPN and combined guidance is simulated, and the result is shown in table 1 and fig. 5:
table 1 TPN and combination guidance interception maneuvering target performance comparison
Figure BDA0002822697880000192
Figure BDA0002822697880000201
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (10)

1. A combined guidance target intercepting method is characterized by comprising the following steps:
step S1: determining the acceleration of a TPN guidance instruction of a true proportional guidance law;
step S2: determining pure proportional guidance law PPN guidance command acceleration within a capture condition range in a sight instantaneous rotation plane;
step S3: determining a combined guidance instruction acceleration according to the TPN guidance instruction acceleration and the PPN guidance instruction acceleration;
step S4: and controlling the intercepting bullet to intercept the target according to the combined guidance instruction acceleration.
2. The combined guidance target intercepting method according to claim 1, wherein the determining of the true proportional guidance law TPN guidance instruction acceleration specifically comprises:
step S11: determining the visual normal e under the visual rotating coordinate systemθ；
Step S12: determining the line-of-sight rotation rate in the instantaneous rotation plane;
step S13: determining a real proportion guidance law TPN guidance instruction acceleration formula;
step S14: rotating the line of sight in the instantaneous plane of rotation
Figure FDA0002822697870000011
And said line of sight normal eθAnd determining the acceleration of the TPN guidance instruction of the true proportional guidance law.
3. The combined guidance target intercepting method according to claim 2, wherein the determining of the line-of-sight rotation rate in the instantaneous rotation plane specifically comprises:
step S121: determining a proportional guidance law in an instantaneous rotation plane of the sight line;
step S122: and substituting the proportional guidance law in the instantaneous rotation plane of the sight line into a relative motion equation set to determine the sight line rotation rate in the instantaneous rotation plane.
4. The combined guidance target intercepting method according to claim 1, wherein the determining of the pure proportional guidance law PPN guidance command acceleration within the capture condition range in the sight line instantaneous rotation plane specifically comprises:
step S21: constructing a differential geometric coordinate system;
step S22: converting the position, the speed, the acceleration and the jerk vector of the particle motion into a differential geometric system according to the conversion relation to obtain a converted differential geometric system;
step S23: determining the curvature and the bending rate of the intercepting bullet in the converted differential geometric system;
step S24: determining a capturing condition in a sight line instantaneous rotation plane;
step S25: and determining the PPN guidance command acceleration of a pure proportion guidance law according to the curvature of the intercepting bomb in the capture condition range.
5. The combined guidance target intercepting method according to claim 1, wherein the combined guidance instruction acceleration is determined according to the TPN guidance instruction acceleration and the PPN guidance instruction acceleration, and the specific formula is as follows:
Figure FDA0002822697870000021
wherein, amIs a combined guidance command acceleration, a'mFor the TPN guidance command acceleration, a ″)mThe PPN guidance command acceleration is obtained, N is a guidance coefficient,
Figure FDA0002822697870000022
is the derivative of the relative position r of the projectile,
Figure FDA0002822697870000023
as the line of sight slew rate, eθIs the normal direction of the line of sight, VmTo intercept the line speed of the projectile, kappamTo intercept the curvature of the projectile, k1∈(1,3),k2∈(0,0.5)，nmFor intercepting the bullet speedNormal vector of degrees.
6. The combined guidance target intercepting method according to claim 4, wherein the curvature and the flexibility of the intercepting bullet are determined in a transformed differential geometrical system, and the specific formula is as follows:
Figure FDA0002822697870000024
wherein, κm、τmRespectively the curvature and the bending rate of the arresting projectile, amIndicating overload of the interceptor projectile, nmNormal vector, V, representing the velocity of the interceptor projectilemIndicating the velocity of the interceptor projectile, bmRepresenting the direction vector of the axis of rotation of the velocity of the interceptor projectile, atRepresenting the target acceleration vector, r representing the relative projectile distance,
Figure FDA0002822697870000025
as the line of sight slew rate, eθNormal to the line of sight, eωIs the angular velocity direction of the line of sightmFor the arc length of the movement of the interceptor projectile, omega is the angular velocity of the rotation of the sight line, erIs a line-of-sight unit vector.
7. The combined guidance target intercepting method according to claim 4, wherein the capturing condition is specifically defined as:
Figure FDA0002822697870000026
wherein r is0The initial shot-to-eye distance is indicated,
Figure FDA0002822697870000027
the sight line rotation rate at the initial moment, r is the relative distance vector between the interception bullet and the target,
Figure FDA0002822697870000028
a represents a guidance command acceleration, V, for the line of sight rotation ratemTo intercept the velocity of the projectile, VtIs the target linear velocity.
8. The combined guidance target intercepting method according to claim 3, wherein the vision rotation rate in the instantaneous rotation plane is determined by substituting a proportional guidance law in the vision instantaneous rotation plane into a relative motion equation set, and the specific formula is as follows:
Figure FDA0002822697870000031
wherein, N is a pilot coefficient,
Figure FDA0002822697870000032
the first derivative of the relative distance vector r of the interceptor projectile from the target,
Figure FDA0002822697870000033
for line-of-sight rotation in the plane of instantaneous rotation
Figure FDA0002822697870000034
The derivative of (a) of (b),
Figure FDA0002822697870000035
to the initial moment of vision rotation rate, r0Is the relative distance between the intercepting bullet and the target at the initial moment.
9. The combined guidance target intercepting method according to claim 3, wherein the relative motion equation set has a specific formula:
Figure FDA0002822697870000036
wherein, atrTo show the eyesProjection of the target acceleration in the direction of the line of sight, amrRepresenting the projection of the acceleration of the interceptor projectile in the direction of the line of sight, atθRepresenting the projection of the acceleration of the target in the normal direction of the line of sight, amθRepresenting the projection of the acceleration of the interceptor projectile in the normal direction of the line of sight, atωRepresenting the projection of the target acceleration in the direction of the angular velocity vector of the gaze rotation, amωShowing the projection of the acceleration of the interceptor projectile in the direction of the vector of the angular velocity of the rotation of the line of sight,
Figure FDA0002822697870000037
the rotation rate of the sight line, which represents the angular velocity of the sight line in the instantaneous rotation plane, is taken
Figure FDA0002822697870000038
Figure FDA0002822697870000039
Is the deflection of the sight line and represents the rotating angular speed of the instantaneous rotating plane of the sight line,
Figure FDA00028226978700000310
Figure FDA00028226978700000311
the derivative of the line-of-sight rotation rate, r is the relative distance vector of the interceptor projectile and the target,
Figure FDA00028226978700000312
and
Figure FDA00028226978700000313
the first and second derivatives of r, respectively.
10. A combined homing target interception system, said system comprising:
the TPN guidance instruction acceleration determining module is used for determining the real-proportion guidance law TPN guidance instruction acceleration;
the PPN guidance instruction acceleration determining module is used for determining the PPN guidance instruction acceleration of a pure proportion guidance law in the range of capturing conditions in the sight instantaneous rotation plane;
the combined guidance instruction acceleration determining module is used for determining combined guidance instruction acceleration according to the TPN guidance instruction acceleration and the PPN guidance instruction acceleration;
and the target interception module is used for controlling the interception bomb to intercept the target according to the combined guidance instruction acceleration.
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