CN113639586B - Guidance method, system and medium for resisting radar shutdown - Google Patents
Guidance method, system and medium for resisting radar shutdown Download PDFInfo
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- CN113639586B CN113639586B CN202110692783.4A CN202110692783A CN113639586B CN 113639586 B CN113639586 B CN 113639586B CN 202110692783 A CN202110692783 A CN 202110692783A CN 113639586 B CN113639586 B CN 113639586B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G7/00—Direction control systems for self-propelled missiles
- F41G7/34—Direction control systems for self-propelled missiles based on predetermined target position data
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/01—Arrangements thereon for guidance or control
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- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention relates to a guidance method and a system for resisting radar shutdown, which are based on the ballistic characteristic of a sight angle guidance law, and after a target radar is shut down, under the condition that the target is assumed to be stationary, a steady-state guidance instruction is obtained by calculating based on information such as a guidance coefficient, an initial value ballistic angle, a sight angle and the like, and a subsequent guidance instruction is planned based on the guidance instruction before the shutdown and the steady-state guidance instruction. Under the condition of a closer missile distance, when the radar is shut down, higher guidance precision can be obtained.
Description
Technical Field
The invention relates to a guidance method, a system and a medium for resisting radar shutdown, and belongs to the technical field of passive anti-radiation guidance.
Background
The passive anti-radiation missile is an airborne air defense pressing weapon for attacking electromagnetic signals of an enemy guidance radar, a fire control radar and the like, plays an extremely important role in modern attack and defense warfare, and naturally, the enemy radar naturally adopts various effective countermeasures for improving the viability, namely: decoys are arranged around the radar to decoy the anti-radiation missile, but the hardware cost of a radar system is increased, the operation difficulty is increased, and in addition, the work between the radar and the decoys is coordinated; and two,: when the enemy radar judges that the missile approaches and forms a threat, the shutdown operation is executed, so that the missile cannot continuously lock the target, the cost of the radar is not increased, the method is largely adopted in actual operation, and the radar intermittent shutdown operation is adopted, so that the anti-radiation missile hit rate is sharply reduced.
Aiming at the condition of radar shutdown, the anti-radar shutdown technology of the anti-radiation missile is studied in depth in the prior art and is roughly divided into the following three types:
1) The combination of passive anti-radiation guidance and strapdown inertial navigation carries out estimation and positioning on the target position by popularizing a Kalman filtering algorithm before the radar is shut down, and attack is continued based on a positioning result after the radar is shut down, but the estimation on the target position by the method is inaccurate, so that higher guidance precision is difficult to obtain;
2) The composite seeker is adopted to resist radar shutdown, for example, AGM-88C is adopted, namely, a passive radar/infrared imaging composite dual-mode seeker is adopted, and the method is a relatively effective method for resisting radar shutdown, but the development of the dual-mode seeker has the defects of complex technology, high cost, adverse miniaturization and the like;
3) The cruise attack mode is adopted, the radar is in an idle running state on the target radar after being powered off, the target radar is immediately switched into an attack mode after being started, but the fuel required by the cruise state has larger mass, and the mass of other equipment on the bomb can be correspondingly extruded.
Disclosure of Invention
The technical solution of the invention is as follows: the method and the system for guiding the radar shutdown are capable of solving and obtaining a steady-state guiding instruction based on a sight angle guiding law and obtaining a subsequent guiding instruction based on the steady-state guiding instruction and a guiding instruction before the target radar shutdown.
The technical scheme of the invention is as follows:
the guiding method for resisting the shutdown of the radar comprises the following steps:
(1) Integrating the basic proportional guide equation to obtain an integrated proportional guide equation;
(2) Enabling the end trajectory angle to trend to the line of sight angle, and determining a steady-state guide instruction, namely a terminal instruction of the guide trajectory;
(3) Planning a subsequent guide instruction according to the steady-state guide instruction and the guide instruction before the radar is shut down;
(4) And performing guidance control according to the subsequent guidance instruction, and realizing the guidance of resisting the shutdown of the radar.
Further, the step (1) integrates the basic proportional guide equation to obtain an integrated proportional guide equation, which specifically includes:
the basic proportion guide equation is
Wherein (1)>
Is ballistic angular velocity, & lt + & gt>
The angular velocity of the line of sight, k is the guide coefficient;
and (3) carrying out integral operation on two sides of the basic proportion guide equation:
the integral proportional guiding equation is obtained:
θ(t)＝θ(t 0 )+k(q(t)-q(t 0 ))
t is in 0 For terminal guidance time, θ (t 0 ) And q (t) 0 ) The trajectory angle and the line of sight angle at the terminal guidance time are respectively, θ (t 0 ) Recorded as theta c0 ，q(t 0 ) Denoted as q 0 。
Further, the determining the steady-state guiding command specifically includes:
let the terminal moment be t f For an attack stationary target, according to the characteristic of a proportional guiding trajectory, namely, a final segment trajectory angle tends to a sight angle, at the moment, a guiding instruction tends to a steady state, namely, a final segment sight angle, and a steady state guiding instruction, namely, a terminal instruction of the guiding trajectory is obtained as follows:
recording steady-state guide command as θ cf The method comprises the steps of carrying out a first treatment on the surface of the Wherein θ c0 For a guidance command to enter the terminal guidance moment.
Further, the steps are as follows(3) According to the steady-state guide instruction and the guide instruction before the radar is shut down, a subsequent guide instruction is planned, specifically: let the radar shutdown time be t 1 At this time, the corresponding ballistic angle command is θ c1 I.e. the guiding command before the radar is shut down is theta c1 In combination with steady-state pilot command θ cf And a guide command theta before the radar is shut down c1 And (5) performing polynomial fitting through a least square method, and planning a subsequent guiding instruction.
Furthermore, the invention also provides a guidance system for resisting radar shutdown, which comprises:
and an integration module: integrating the basic proportional guide equation to obtain an integrated proportional guide equation;
the basic proportion guide equation is
Wherein (1)>
Is ballistic angular velocity, & lt + & gt>
The angular velocity of the line of sight, k is the guide coefficient;
and (3) carrying out integral operation on two sides of the basic proportion guide equation:
the integral proportional guiding equation is obtained:
θ(t)＝θ(t 0 )+k(q(t)-q(t 0 ))
t is in 0 For terminal guidance time, θ (t 0 ) And q (t) 0 ) The trajectory angle and the line of sight angle at the terminal guidance time are respectively, θ (t 0 ) Recorded as theta c0 ，q(t 0 ) Denoted as q 0 。
Steady-state guidance instruction determination module: enabling the end trajectory angle to trend to the line of sight angle, and determining a steady-state guide instruction, namely a terminal instruction of the guide trajectory;
the steady-state guide instruction is determined, specifically:
let the terminal moment be t f For an attack stationary target, according to the characteristic of a proportional guiding trajectory, namely, a final segment trajectory angle tends to a sight angle, at the moment, a guiding instruction tends to a steady state, namely, a final segment sight angle, and a steady state guiding instruction, namely, a terminal instruction of the guiding trajectory is obtained as follows:
recording steady-state guide command as θ cf The method comprises the steps of carrying out a first treatment on the surface of the Wherein θ c0 For a guidance command to enter the terminal guidance moment.
And a planning module: planning a subsequent guide instruction according to the steady-state guide instruction and the guide instruction before the radar is shut down; according to the steady-state guide instruction and the guide instruction before the radar is shut down, a subsequent guide instruction is planned, specifically: let the radar shutdown time be t 1 At this time, the corresponding ballistic angle command is θ c1 I.e. the guiding command before the radar is shut down is theta c1 In combination with steady-state pilot command θ cf And a guide command theta before the radar is shut down c1 And (5) performing polynomial fitting through a least square method, and planning a subsequent guiding instruction.
Guidance module: and performing guidance control according to the subsequent guidance instruction, and realizing the guidance of resisting the shutdown of the radar.
Furthermore, the invention also provides a storage medium, which comprises a stored program, wherein the program is used for controlling equipment where the storage medium is located to execute the guidance method for resisting radar shutdown.
Furthermore, the invention also provides a processor for running a program, wherein the program runs to execute the guidance method for resisting the shutdown of the radar.
Compared with the prior art, the invention has the beneficial effects that:
(1) The method develops the guidance strategy based on radar shutdown resistance, is suitable for strapdown passive anti-radiation guidance, does not need to additionally increase hardware on the bullet, has simple mathematical derivation and definite meaning, and is easy to realize in engineering;
(2) According to the invention, based on the ballistic characteristic of the line-of-sight angle guidance law, after the target radar is shut down, a steady-state guidance instruction can be obtained by calculation based on information such as a guidance coefficient, and a subsequent guidance instruction is planned based on the guidance instruction before shut down and the steady-state guidance instruction. Under the condition of a closer missile-to-mesh distance, when the radar is turned off, higher guidance precision can be obtained;
(3) The coefficient of the guiding law of the invention is a fixed value; based on the characteristic of the guide trajectory, under the condition of taking a fixed guide coefficient, a steady-state guide instruction can be obtained by means of calculation;
(4) The method is characterized in that a guiding instruction to be flown is planned based on an instruction before the radar is shut down and a steady guiding instruction; when the seeker receives the target radar signal again, the missile can switch to a normal guidance command.
Drawings
FIG. 1 is a schematic diagram of a planned follow-up guidance instruction;
FIG. 2 is a schematic diagram of a subsequent guidance command planned after a seeker is out of lock;
FIG. 3 is a schematic view of the output line of sight after the seeker is unlocked;
fig. 4 is a flow chart of the method of the present invention.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the accompanying drawings.
According to the method, based on the ballistic characteristic of the sight angle guidance law, after the target radar is shut down, under the condition that the target is assumed to be stationary, a steady-state guidance instruction is obtained through calculation based on information such as a guidance coefficient, an initial value ballistic angle, the sight angle and the like, and a subsequent guidance instruction is planned based on the guidance instruction before shut down and the steady-state guidance instruction. Under the condition of a closer missile distance, when the radar is shut down, higher guidance precision can be obtained.
As shown in fig. 4, the method for guiding the radar shutdown resistance provided by the invention specifically comprises the following steps:
assuming that the missile flight trajectory angle is theta (the trajectory inclination angle is theta in a longitudinal plane, the trajectory deflection angle is theta in a transverse plane), the missile visual line angle is q (the sight height angle is q in the longitudinal plane, the sight azimuth angle is q in the transverse plane), and the guiding coefficient is k;
step 1: integrating the basic proportional guide equation to obtain an integrated proportional guide equation;
let the terminal guidance time be t 0 Reference to the basic proportional guide equation
(/>
Is ballistic angular velocity, & lt + & gt>
Angular velocity of line of sight) on both sides:
the integral proportional guiding equation is obtained:
θ(t)＝θ(t 0 )+k(q(t)-q(t 0 ))
t is in 0 For terminal guidance. In θ (t) 0 ) (denoted as theta c0 ) And q (t) 0 ) (denoted as q 0 ) The trajectory angle and the line of sight angle at the terminal guidance time are respectively.
The coefficient of the guiding law is a fixed value; based on the characteristics of the guidance trajectory, a steady-state guidance command can be obtained by calculating the fixed guidance coefficient.
Step 2: enabling the end trajectory angle to trend to the line of sight angle, and determining a steady-state guide instruction, namely a terminal instruction of the guide trajectory;
let the terminal moment be t f For an attack on a stationary target, the end ballistic angle tends to the line of sight angle, i.e., θ (t) f )＝q(t f ) At this time, the guiding command tends to be steady, i.e. the final line of sight angle, so that
I.e. terminal command of guiding trajectory (denoted as θ cf ) Is related to the initial ballistic angle, line of sight angle, and guide coefficient. θ c0 For a guidance command to enter the terminal guidance moment.
Step 3: as shown in fig. 1, the following guidance command is planned according to the steady-state guidance command and the guidance command before the radar is shut down.
After the target radar is shut down, a steady-state guide instruction can be obtained by resolving based on information such as guide coefficients, and a subsequent guide instruction is planned based on the guide instruction before the target radar is shut down and the steady-state guide instruction. Under the condition of a closer missile distance, when the radar is shut down, higher guidance precision can be obtained. The guidance strategy is suitable for strapdown passive anti-radiation guidance, and does not need to increase hardware cost.
Let the radar shutdown time be t 1 At this time, the corresponding ballistic angle command is θ c1 In combination with steady-state pilot command θ cf And a guide command theta before the radar is shut down c1 And planning a subsequent guiding instruction based on least square polynomial fitting.
Step 4: and performing guidance control according to the subsequent guidance instruction, and realizing the guidance of resisting the shutdown of the radar.
After the target radar is shut down, assuming that the target is stationary, calculating the steady-state guide instruction by using information such as a guide coefficient, an initial ballistic angle, a sight angle and the like, and planning a subsequent guide instruction by using a polynomial fitting method based on the calculated steady-state guide instruction and the guide instruction before the target is shut down. When the seeker receives the radar signal again, the missile can switch to a normal guidance instruction according to the sight angle output by the seeker.
Examples:
some passive anti-radiation missile is put in the height of 9000m, the put in speed of 0.8mch and the range of 60km, after the terminal guidance is entered, the radar is started up (lock), the missile distance is shut down (unlock (10 km)) and the missile distance is shut down (unlock (5 km)) at the position of 10km, the guide coefficient is k=4, 5m/s upward gusts are increased in the height interval [3250m 3550m ], the output angle error of the guide head is compliant with normal distribution N (0.5.0.01), the following guide instruction planned according to the method is shown in fig. 1, and simulation results are shown in fig. 2-3 and table 1.
TABLE 1 six degrees of freedom ballistic simulation terminal data
Fig. 2 is a subsequent guidance command planned after the seeker is out of lock. The times indicated by the arrows (unlock at10km and unlock at 5 km) are the times when the radar is turned off at a mesh distance of 10km and 5km, respectively. It can be seen that the planned guidance command after the radar is shut down is basically consistent with the normal guidance command obtained by locking the radar all the time.
Fig. 3 is an output line of sight angle after the seeker is unlocked, and after the radar is turned off, the seeker cannot obtain the position information of the radar, so the line of sight angle becomes 0.
As can be seen from the comparison data in Table 1, the method disclosed by the invention still can ensure higher guidance precision under the condition of a closer missile distance after the radar is shut down.
What is not described in detail in the present specification is a technology known in the art.
Claims (4)
1. The guidance method for resisting the shutdown of the radar is characterized by comprising the following steps:
(1) Integrating the basic proportional guide equation to obtain an integrated proportional guide equation;
(2) Enabling the end trajectory angle to trend to the line of sight angle, and determining a steady-state guide instruction, namely a terminal instruction of the guide trajectory;
(3) Planning a subsequent guide instruction according to the steady-state guide instruction and the guide instruction before the radar is shut down;
(4) Performing guidance control according to the subsequent guidance instruction, and realizing guidance for resisting radar shutdown;
the step (1) integrates the basic proportional guide equation to obtain an integrated proportional guide equation, which is specifically as follows:
the basic proportion guide equation is
Wherein (1)>
Is ballistic angular velocity, & lt + & gt>
The angular velocity of the line of sight, k is the guide coefficient;
and (3) carrying out integral operation on two sides of the basic proportion guide equation:
the integral proportional guiding equation is obtained:
θ(t)＝θ(t 0 )+k(q(t)-q(t 0 ))
t is in 0 For terminal guidance time, θ (t 0 ) And q (t) 0 ) The trajectory angle and the line of sight angle at the terminal guidance time are respectively, θ (t 0 ) Recorded as theta c0 ，q(t 0 ) Denoted as q 0 ；
The determining steady-state guide instruction specifically comprises the following steps:
let the terminal moment be t f For an attack stationary target, according to the characteristic of a proportional guiding trajectory, namely, a final segment trajectory angle tends to a sight angle, at the moment, a guiding instruction tends to a steady state, namely, a final segment sight angle, and a steady state guiding instruction, namely, a terminal instruction of the guiding trajectory is obtained as follows:
recording steady-state guide command as θ cf ；
The step (3) is to plan out a subsequent guiding instruction according to the steady guiding instruction and the guiding instruction before the radar is shut down, and the following specific steps are as follows: let the radar shutdown time be t 1 At this time, the corresponding ballistic angle is θ c1 I.e. the guiding command before the radar is shut down is theta c1 In combination with steady-state pilot command θ cf And a guide command theta before the radar is shut down c1 And (5) performing polynomial fitting through a least square method, and planning a subsequent guiding instruction.
2. A guidance system for resisting radar shutdown implemented in accordance with the guidance method for resisting radar shutdown of claim 1, comprising:
and an integration module: integrating the basic proportional guide equation to obtain an integrated proportional guide equation;
steady-state guidance instruction determination module: enabling the end trajectory angle to trend to the line of sight angle, and determining a steady-state guide instruction, namely a terminal instruction of the guide trajectory;
and a planning module: planning a subsequent guide instruction according to the steady-state guide instruction and the guide instruction before the radar is shut down;
guidance module: performing guidance control according to the subsequent guidance instruction, and realizing guidance for resisting radar shutdown;
the basic proportion guide equation is
Wherein (1)>
Is ballistic angular velocity, & lt + & gt>
The angular velocity of the line of sight, k is the guide coefficient;
and (3) carrying out integral operation on two sides of the basic proportion guide equation:
the integral proportional guiding equation is obtained:
θ(t)＝θ(t 0 )+k(q(t)-q(t 0 ))
t is in 0 For terminal guidance time, θ (t 0 ) And q (t) 0 ) The trajectory angle and the line of sight angle at the terminal guidance time are respectively, θ (t 0 ) Recorded as theta c0 ，q(t 0 ) Denoted as q 0 ；
The steady-state guide instruction is determined, specifically:
let the terminal moment be t f For an attack stationary target, according to the characteristic of a proportional guiding trajectory, namely, a final segment trajectory angle tends to a sight angle, at the moment, a guiding instruction tends to a steady state, namely, a final segment sight angle, and a steady state guiding instruction, namely, a terminal instruction of the guiding trajectory is obtained as follows:
recording steady-state guide command as θ cf ；
According to the steady-state guide instruction and the guide instruction before the radar is shut down, a subsequent guide instruction is planned, specifically: let the radar shutdown time be t 1 At this time, the corresponding ballistic angle is θ c1 I.e. the guiding command before the radar is shut down is theta c1 In combination with steady-state pilot command θ cf And a guide command theta before the radar is shut down c1 And (5) performing polynomial fitting through a least square method, and planning a subsequent guiding instruction.
3. A storage medium comprising a stored program, wherein the program, when run, controls a device in which the storage medium is located to perform the guidance method against radar shutdown of claim 1.
4. A processor for running a program, wherein the program runs on to perform the guidance method of claim 1 against radar shutdown.
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