CN114415722B - Missile group cooperative guidance method, electronic equipment and storage medium - Google Patents
Missile group cooperative guidance method, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention provides a missile group cooperative guidance method, electronic equipment and a storage medium, wherein the method comprises the following steps: determining a lead bullet and a slave bullet in a target lead bullet group, and determining expected attack time of the lead bullet; determining a target yaw overload and a target pitch overload of the lead based on the expected attack time for the lead to guide based on the target yaw overload and the target pitch overload of the lead; and determining the target yaw overload and the target pitch overload of the slave bullet based on the communication topology network of the target bullet guiding group so as to guide the slave bullet based on the target yaw overload and the target pitch overload of the slave bullet, wherein the communication topology network is used for exchanging state information of the missile. The method, the electronic equipment and the storage medium provided by the invention complete the cooperative guidance function of the missile group about the attack time, realize the cooperative striking of the missile group on the target in the preset attack time, and further improve the cooperative guidance effect of the missile group.
Description
Technical Field
The invention relates to the technical field of guidance, in particular to a missile group cooperative guidance method, electronic equipment and a storage medium.
Background
With the rapid development of the anti-guided weapon system, the anti-collision space of the missile is greatly compressed. At present, a short-range weapon system is a common anti-guided weapon system, which can intercept a single missile through a fire control system and multiple speed cannons, based on which, a concurrent attack becomes an countermeasure against enemy defense, and cooperative guidance is a key technology for jointly attacking a missile group.
At present, a communication topology network among bullet groups can be utilized to continuously transmit state variables of each moment, so that a real-time coordination function with other missiles is realized. However, the final attack time determined by the real-time coordination function cannot be determined, i.e., the final attack time of the lead group cannot be controlled manually, thereby reducing the guidance effect of the lead group.
Disclosure of Invention
The invention provides a missile group collaborative guidance method, electronic equipment and a storage medium, which are used for solving the defect that the final attack time of a missile group cannot be controlled manually in the prior art and realizing high-performance collaborative guidance.
The invention provides a missile group cooperative guidance method, which comprises the following steps:
determining a lead bullet and a slave bullet in a target lead bullet group, and determining expected attack time of the lead bullet;
Determining a target yaw overload and a target pitch overload of the lead based on the expected attack time for the lead to guide based on the target yaw overload and the target pitch overload of the lead;
and determining the target yaw overload and the target pitch overload of the slave bullet based on the communication topology network of the target bullet guiding group so as to guide the slave bullet based on the target yaw overload and the target pitch overload of the slave bullet, wherein the communication topology network is used for exchanging state information of the missile.
According to the missile swarm collaborative guidance method provided by the invention, the target yaw overload and the target pitch overload of the missile are determined based on the expected attack time, and the method comprises the following steps:
determining the remaining attack time of the lead projectile, and calculating a time error based on the expected attack time and the remaining attack time of the lead projectile to obtain a sliding mode variable;
determining a yaw overload bias term of the collar projectile and a pitch overload bias term of the collar projectile based on the sliding mode variable;
a target yaw overload of the collar projectile is determined based on a yaw overload bias term of the collar projectile, and a target pitch overload of the collar projectile is determined based on a pitch overload bias term of the collar projectile.
According to the missile swarm collaborative guidance method provided by the invention, the yaw overload bias item of the collar projectile and the pitch overload bias item of the collar projectile are determined based on the sliding mode variable, and the method comprises the following steps:
and determining a yaw overload bias item of the collar projectile and a pitch overload bias item of the collar projectile based on the three-dimensional space relative motion model of the collar projectile, the guide head view field of the collar projectile, the preset guide head maximum view field, the preset navigation gain and the sliding mode variable.
According to the missile swarm collaborative guidance method provided by the invention, the target yaw overload of the collar projectile is determined based on the yaw overload bias item of the collar projectile, and the method comprises the following steps:
determining target yaw overload of the collar projectile based on the speed of the collar projectile, a speed front angle of the collar projectile on a yaw plane, a relative distance between the collar projectile and a target, a preset navigation gain and a yaw overload bias item of the collar projectile;
the determining the target pitch overload of the collar projectile based on the pitch overload bias term of the collar projectile comprises:
and determining the pitching overload of the target of the collar projectile based on the speed of the collar projectile, the speed leading angle of the collar projectile on a yaw plane, the speed leading angle of the collar projectile on a pitching plane, the relative distance between the collar projectile and the target, a preset navigation gain and a pitching overload bias item of the collar projectile.
According to the missile group collaborative guidance method provided by the invention, the target yaw overload and the target pitch overload of the slave missile are determined based on the communication topology network of the target missile group, and the method comprises the following steps:
exchanging state information of missiles based on a communication topology network of the target missile guide group to determine a normalized missile-target distance and a velocity lead angle of each missile in the target missile guide group;
determining the virtual control quantity of the slave missile based on the normalized missile-eye distance of each missile and the speed lead angle of each missile;
the target yaw overload of the slave bullet, and the target pitch overload of the slave bullet are determined based on the virtual control amount of the slave bullet, the velocity lead angle of the slave bullet in the yaw plane, the velocity lead angle of the slave bullet in the pitch plane, the relative distance between the slave bullet and the target, and the seeker field of view of the slave bullet.
According to the missile swarm collaborative guidance method provided by the invention, the virtual control quantity of the slave missiles is determined based on the normalized missile-eye distance of each missile and the speed lead angle of each missile, and the method comprises the following steps:
and determining the virtual control quantity of the slave missile based on the normalized missile-to-missile distance of each missile, the speed lead angle of each missile, a preset maximum view field of the seeker and a preset minimum view field of the seeker.
According to the missile group collaborative guidance method provided by the invention, the determination of the collar and slave missiles in the target missile group comprises the following steps:
determining the residual attack time of each missile based on the relative distance between each missile and the target in the target missile guide group, the speed of each missile, the guide head view field of each missile and a preset navigation gain;
determining a lead missile and a slave missile from the missiles based on the residual attack time of the missiles;
the determining the expected attack time of the projectile includes:
and determining the expected attack time of the lead projectile based on the residual attack time of each missile so that the expected attack time is greater than or equal to the residual attack time of any missile in the target lead projectile group.
According to the missile group collaborative guidance method provided by the invention, the target yaw overload and the target pitch overload of the slave missile are determined based on the communication topology network of the target missile group, and then the method further comprises the following steps:
if the maximum difference value between the normalized missile eye distances of all missiles in the target missile guiding group is smaller than a first preset threshold value and the maximum difference value between the speed leading angles of all missiles in the target missile guiding group is smaller than a second preset threshold value, updating the target yaw overload and the target pitch overload of all missiles;
The updated target yaw overload for any one of the missiles is determined based on the steps of:
determining updated target yaw overload of any missile based on the speed of any missile, the speed leading angle of any missile on a yaw plane, the relative distance between any missile and a target and a preset navigation gain;
the updated target pitch overload for any one of the missiles is determined based on the steps of:
and determining updated pitching overload of the target of any missile based on the speed of any missile, the speed leading angle of any missile on a yaw plane, the speed leading angle of any missile on a pitching plane, the relative distance between any missile and the target and a preset navigation gain.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the steps of the missile group cooperative guidance method according to any one of the above when executing the program.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of a missile swarm collaborative guidance method as described in any of the above.
According to the missile group collaborative guidance method, the electronic equipment and the storage medium, the target yaw overload and the target pitch overload of the missile are determined based on the expected attack time, so that the attack time of the missile can be limited, and the missile can hit the target at the preset time; meanwhile, the target yaw overload and the target pitch overload of the slave bullet are determined based on the communication topology network of the target bullet guide group, so that the slave bullet tracks the motion state of the slave bullet, the attack moment is limited by the slave bullet, and the attack moment of the slave bullet can be limited based on the attack moment, so that the slave bullet can hit the target at a preset moment. Through the mode, the invention completes the cooperative task with expected attack time through the lead-in lead, fully plays the advantages of communication network topology among the missiles, and completes the consistency tracking of the lead-in lead by the lead-in lead through real-time state information exchange, so that the invention completes the cooperative guidance function of the missile group about attack time, realizes the cooperative striking of the lead group on the target in the preset attack time, and further improves the cooperative guidance effect of the lead group.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a missile swarm cooperative guidance method provided by the invention;
FIG. 2 is a second flow chart of the missile swarm cooperative guidance method provided by the invention;
FIG. 3 is a schematic view of a three-dimensional space provided by the present invention;
FIG. 4 is a third flow chart of the missile swarm cooperative guidance method provided by the invention;
fig. 5 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
With the rapid development of the anti-guided weapon system, the anti-collision space of the missile is greatly compressed. At present, a short-range weapon system is a common anti-guided weapon system, which can intercept a single missile through a fire control system and multiple speed cannons, based on which, a concurrent attack becomes an countermeasure against enemy defense, and cooperative guidance is a key technology for jointly attacking a missile group.
At present, a communication topology network among bullet groups can be utilized to continuously transmit state variables of each moment, so that a real-time coordination function with other missiles is realized. However, the final attack time determined by the real-time coordination function cannot be determined, that is, the final attack time of the guided missile group cannot be controlled manually, so that the damage effect of the guided missile group is difficult to control, and the guidance effect of the guided missile group is reduced.
Aiming at the problems, the invention provides a missile group cooperative guidance method. Fig. 1 is a schematic flow chart of a missile group cooperative guidance method provided by the invention, and as shown in fig. 1, the method includes:
step 110, determining a lead bullet and a slave bullet in a target lead bullet group, and determining the expected attack time of the lead bullet.
Here, the target lead group includes a plurality of missiles that need to attack the same target at the same time. The target lead group may include a plurality of lead and a plurality of slave, and in a particular embodiment, the target lead group includes a single lead and a plurality of slave.
Here, the collar projectile is a leader, the slave projectile is a follower, based on which, a collaborative structure of the collar projectile and the slave projectile can be established, and a distributed collaborative guidance technology is realized, so that a control law for tracking the motion state of the collar projectile can be controlled in correspondence with the design of the slave projectile, and the collar projectile and the slave projectile can hit a target at the same time. Therefore, a cooperative guidance strategy of a master-slave structure can be constructed to guide the missile group.
Specifically, the determining the leading and the trailing in the target leading group includes:
determining the initial state of each missile in the target missile guide group; based on the initial state of each missile, determining the lead missile and the slave missile from each missile.
More specifically, at the beginning of terminal guidance, determining the initial state of each missile in the target missile group; based on the initial state of each missile, determining the lead missile and the slave missile from each missile. I.e. the initial state is the missile state at the beginning of the terminal guidance.
The initial state may include, but is not limited to, one or more of the following: initial position, missile speed, missile seeker field of view and preset navigation gain.
In one embodiment, determining an initial position of each missile in the target missile group; based on the initial position of each missile, determining the leading missile and the trailing missile from each missile. More specifically, at the beginning of terminal guidance, determining the initial position of each missile in the target missile group; based on the initial position of each missile, determining the leading missile and the trailing missile from each missile. The initial position is the position of the missile at the beginning of terminal guidance.
Here, the desired attack time of the projectile may be manually controlled or set by the device, that is, may be set as the desired attack time of the projectile group. The expected attack time may be embodied as an expected attack duration, i.e. an expected remaining attack duration, and may also be embodied as an expected attack moment, i.e. a specific moment of the expected attack.
It will be appreciated that in order to ensure that all missiles in the lead group attack the target at the same time, the expected attack time of the lead is also the expected attack time of the target lead group.
In addition, to ensure stable operation of the missile group collaborative guidance, the expected attack time may be limited, for example, the expected attack time is limited to be greater than or equal to the remaining attack time of any missile in the target missile group.
In another embodiment, after determining the lead and slave in the target lead group, planning the network topology relationship of the target lead group to obtain the communication topology network of the target lead group, so that the lead is at the position of the root node in the lead network with the spanning tree.
In this embodiment, the execution body of the method may be a wargroup network formed by the target wargroup, which is specifically embodied as a central node in the wargroup network, or any missile in the target wargroup, that is, a processing manner of decentralizing. Specifically, determining a lead bullet and a slave bullet in a target lead bullet group through a central node in a bullet group network, determining expected attack time of the lead bullet, and sending the expected attack time of the lead bullet to the lead bullet; or determining the lead bullet and the slave bullet in the target lead bullet group through any missile in the bullet group network, and if any missile is the lead bullet, acquiring the expected attack time of the lead bullet.
Step 120, determining a target yaw overload and a target pitch overload of the lead based on the expected attack time for the lead to guide based on the target yaw overload and the target pitch overload of the lead.
Here, the target yaw overload of the collar projectile is a lateral overload of the collar projectile, and the target pitch overload of the collar projectile is a longitudinal overload of the collar projectile.
The guidance is performed based on the target yaw overload and the target pitch overload, and the coupling influence of the transverse overload and the longitudinal overload of the missile on the spatial movement of the missile can be considered. Based on this, guidance laws under expected attack time constraints are designed for the lead projectile so that the lead projectile can hit the target at a predetermined timing.
Specifically, a guidance law of the lead projectile is determined based on the expected attack time for the lead projectile to determine a target yaw overload and a target pitch overload of the lead projectile based on the guidance law of the lead projectile. I.e. the guidance law of the lead projectile is the guidance law under the constraint of the preset attack time.
More specifically, the current state of the collar projectile and the remaining attack time of the collar projectile are determined, and the guidance law of the collar projectile is determined based on the expected attack time, the current state of the collar projectile and the remaining attack time of the collar projectile, so that the guidance law of the collar projectile is executed by the collar projectile in the normal direction of the speed of the collar projectile, the target yaw overload and the target pitch overload of the collar projectile are determined, and guidance is performed based on the target yaw overload and the target pitch overload of the collar projectile.
The current state of the projectile includes, but is not limited to, one or more of the following: the speed of the lead projectile, the speed leading angle of the lead projectile in a yaw plane, the speed leading angle of the lead projectile in a pitch plane, the relative distance between the lead projectile and a target, the preset navigation gain, the guide head view field of the lead projectile, the preset guide head maximum view field and the like.
The remaining attack time of the lead projectile can be determined based on the relative distance between the lead projectile and the target, the speed of the lead projectile, the field of view of the lead projectile, and the preset navigation gain.
It can be appreciated that determining the target yaw overload and the target pitch overload of the lead projectile based on the expected attack time can define the attack moment of the lead projectile so that the lead projectile can hit the target at a predetermined moment, thereby improving the guidance effect of the lead projectile group.
In this embodiment, the execution body of the method may be a wargroup network formed by the target wargroup, which is specifically embodied as a central node in the wargroup network, or any missile in the target wargroup, that is, a processing manner of decentralizing. Specifically, through a central node in the swarm network, determining a target yaw overload and a target pitch overload of the lead bullet based on the expected attack time, and transmitting the target yaw overload and the target pitch overload of the lead bullet to the lead bullet; alternatively, by a lead in the swarm network, a target yaw overload and a target pitch overload of the lead are determined based on the expected attack time.
And 130, determining target yaw overload and target pitch overload of the slave bullet based on a communication topology network of the target bullet guide group for guidance of the slave bullet based on the target yaw overload and the target pitch overload of the slave bullet, wherein the communication topology network is used for exchanging state information of the missile.
Here, the communication topology network is planned after determining the lead and slave bullets in the target lead group. Specifically, after determining the bullet receiving and bullet receiving in the target bullet guiding group, planning the network topology relation of the target bullet guiding group to obtain the communication topology network of the target bullet guiding group, so that the bullet receiving is positioned at the root node in the bullet group network with the spanning tree. In addition, the slave bullet can acquire the status information of the slave bullet and other slave bullets through the communication topology network.
Specifically, in the missile swarm collaborative guidance process, any missile in the target missile swarm exchanges respective state information with adjacent missiles through a communication topology network.
For ease of understanding, the communication topology network may be described by a relationship diagram, which may be
G(A)＝(v,ξ,A)；
Wherein v represents a set of nodes, namely, a set for representing each missile in the target missile guide group; ζ represents the relationship between nodes; matrix a= [ a ] ij ]∈R n×n Representing a weight coefficient matrix, if information exchange can be carried out between missile i and missile j, a ij > 0, otherwise a ij =0, especially a ii ＝0，i∈{1,2,...,n}。
Here, the missile status information includes, but is not limited to, one or more of the following: the speed of the missile, the relative distance between the missile and the target, the guide head view field of the missile, the speed front angle of the missile at a yaw plane, the speed front angle of the missile at a pitch plane, the yaw overload of the missile, the pitch overload of the missile and the like. Alternatively, the state information of the missile includes, but is not limited to, one or more of the following: normalized mesh distance and velocity lead angle for missiles, etc.
Here, the target yaw overload of the slave bullet is a lateral overload of the slave bullet, and the target pitch overload of the slave bullet is a longitudinal overload of the slave bullet.
The guidance is performed based on the target yaw overload and the target pitch overload, and the coupling influence of the transverse overload and the longitudinal overload of the missile on the spatial movement of the missile can be considered. Based on this, a consistency control law for tracking the state of motion of the lead bullet is designed for the slave bullet so that the slave bullet can hit the target simultaneously with the lead bullet, and the lead bullet can hit the target at a predetermined timing, and therefore, the slave bullet can hit the target simultaneously with the lead bullet at a predetermined timing.
Specifically, determining a consistency control law of the slave bullet based on the communication topology network, so that the slave bullet can determine a virtual control quantity of the slave bullet based on the consistency control law of the slave bullet; a target yaw overload and a target pitch overload of the slave bullet are determined based on the virtual control quantity of the slave bullet. I.e. the guidance law of the slave projectile is determined based on the communication topology network.
More specifically, the current state of the slave bullet is determined, the guidance law of the slave bullet is determined based on the communication topology network and the current state of the slave bullet, so that the slave bullet can execute the guidance law of the slave bullet in the normal direction of the speed of the slave bullet, thereby determining and obtaining the target yaw overload and the target pitch overload of the slave bullet, and further guiding based on the target yaw overload and the target pitch overload of the slave bullet.
Wherein the current state of the slave projectile includes, but is not limited to, one or more of the following: the velocity of the slave projectile, the velocity lead angle of the slave projectile in the yaw plane, the velocity lead angle of the slave projectile in the pitch plane, the relative distance between the slave projectile and the target, the field of view of the slave projectile's seeker, and the like.
It can be understood that the target yaw overload and the target pitch overload of the slave projectile are determined based on the communication topology network of the target lead projectile group, so that the slave projectile tracks the motion state of the slave projectile, and the slave projectile defines the attack moment, and based on the attack moment, the slave projectile can be defined so as to hit the target at the preset moment, thereby improving the guidance effect of the lead projectile group.
In this embodiment, the execution body of the method may be a wargroup network formed by the target wargroup, which is specifically embodied as a central node in the wargroup network, or any missile in the target wargroup, that is, a processing manner of decentralizing. Specifically, determining, by a central node in the swarm network, a target yaw overload and a target pitch overload of the slave bullet based on the communication topology network of the target lead swarm, and transmitting the target yaw overload and the target pitch overload of the slave bullet to the slave bullet; alternatively, the target yaw overload and the target pitch overload of the slave ammunition are determined by the slave ammunition in the swarm network based on the communication topology network of the target lead swarm.
According to the missile group collaborative guidance method provided by the embodiment of the invention, the target yaw overload and the target pitch overload of the missile are determined based on the expected attack time, so that the attack moment of the missile can be limited, and the missile can hit the target at the preset moment; meanwhile, the target yaw overload and the target pitch overload of the slave bullet are determined based on the communication topology network of the target bullet guide group, so that the slave bullet tracks the motion state of the slave bullet, the attack moment is limited by the slave bullet, and the attack moment of the slave bullet can be limited based on the attack moment, so that the slave bullet can hit the target at a preset moment. Through the mode, the embodiment of the invention completes the cooperative task with expected attack time through the lead bullet with the lead bullet, fully plays the advantages of the communication network topology among the missiles, and completes the consistency tracking of the lead bullet to the lead bullet through the real-time state information exchange, so that the embodiment of the invention completes the cooperative guidance function of the missile group about the attack time, realizes the cooperative striking of the lead bullet group to the target in the preset attack time, and further improves the cooperative guidance effect of the lead bullet group.
Based on the above embodiment, fig. 2 is a second schematic flow chart of the missile group cooperative guidance method provided by the present invention, as shown in fig. 2, in the method, the step 120 includes:
step 121, determining the remaining attack time of the lead projectile, and performing time error calculation to obtain a sliding mode variable based on the expected attack time and the remaining attack time of the lead projectile.
Here, the remaining attack time of the lead is an estimated value, i.e., an attack time estimated based on the current state of the lead.
Specifically, the determining the remaining attack time of the projectile includes:
and determining the residual attack time of the lead bullet based on the relative distance between the lead bullet and the target, the speed of the lead bullet, the field of view of the guide head of the lead bullet and the preset navigation gain.
More specifically, the remaining attack time of the lead projectile is calculated based on a remaining attack time estimation formula shown below:
wherein ,Ri Is the relative distance between the collar projectile and the target, V i Is the speed sigma of the projectile i Is the guide head view field of the bullet, and N is the preset navigation gain.
Here, the calculation formula of the sliding mode variable is as follows:
s＝T d -t-t go,0 ；
wherein s is a sliding mode variable, T d To expect attack time, t go,0 Is the remaining attack time for the projectile.
Step 122, determining a yaw overload bias term for the collar projectile and a pitch overload bias term for the collar projectile based on the slip mode variable.
Here, the yaw overload bias term of the pilot and the pitch overload bias term of the pilot are bias terms for controlling attack time and angle of the pilot in guidance instructions (target yaw overload of the pilot and target pitch overload of the pilot).
It will be appreciated that providing yaw overload bias for the collar projectile, and pitch overload bias for the collar projectile, may better achieve co-guidance.
In one embodiment, the step 122 includes:
and determining a yaw overload bias item of the collar projectile and a pitch overload bias item of the collar projectile based on the three-dimensional space relative motion model of the collar projectile, the guide head view field of the collar projectile, the preset guide head maximum view field, the preset navigation gain and the sliding mode variable.
Here, the three-dimensional spatial relative motion model of the projectile may be represented by the following dynamic equation:
wherein R is the relative distance between the missile and the target, theta L and ψL For the high-low angle and azimuth angle of missile sight, theta m For the velocity lead angle of the missile in the pitching plane, psi m A is the velocity lead angle of the missile in the yaw plane y For yaw overload of missiles, a z For pitch overload of the missile, V is the speed of the missile.
The method comprises the steps of establishing an inertial coordinate system, a sight line coordinate system and a speed coordinate system of the missile in a three-dimensional space, and obtaining a nonlinear relative kinematic model between the missile and a target, namely a three-dimensional space relative motion model through coordinate transformation.
For ease of understanding, as shown in FIG. 3, FIG. 3 includes a three-dimensional velocity coordinate system and a three-dimensional inertial coordinate system, X M 、Y M 、Z M X is X axis, Y axis, Z axis of the speed coordinate system I 、Y I 、Z I Is the X axis, Y axis and Z axis of an inertial coordinate system, V is the speed direction of the missile, and V and X M Coincidence, T is the target, θ L and ψL For the high-low angle and azimuth angle of missile sight, theta m For the velocity lead angle of the missile in the pitching plane, psi m For missiles at yaw planeThe front speed angle in the missile is R, the relative distance between the missile and the target T is R, the LOS is the missile sight, namely the LOS is the missile sight facing the target, and the seeker view field of the missile is the included angle between the missile sight LOS and the speed direction V of the missile.
Here, the preset navigation gain may be set according to the actual situation, which is not limited in the embodiment of the present invention.
Furthermore, the derivative of this sliding mode variable with respect to time is:
wherein s is a sliding mode variable, sigma 0 The view field of the seeker for the collar projectile, R 0 For the relative distance between the bullet and the target, N is the preset navigation gain, V is the speed of the bullet, a by0 A is a yaw overload bias item of a projectile bz0 For the pitch overload bias term, θ m0 In order to lead the bullet to be at the front angle of the speed of the pitching plane,is the velocity lead angle of the bullet in the yaw plane.
Based on the derivative of the sliding mode variable with respect to time, in order to enable the lead bullet to hit the target at a preset moment and ensure the lead head of the lead bullet to lock the target, a yaw overload bias item of the lead bullet and a pitch overload bias item of the lead bullet can be determined based on a three-dimensional space relative motion model of the lead bullet, a lead head view field of the lead bullet, a preset lead head maximum view field, a preset navigation gain and the sliding mode variable.
Specifically, the yaw overload bias term of the collar projectile and the pitch overload bias term of the collar projectile are determined based on the following formulas:
wherein ,aby0 A is a yaw overload bias item of a projectile bz0 Pitch passing for the collar projectileThe bias term is carried over and is not limited to,for leading the velocity of the projectile in the yaw plane to be at a preset angle, V 0 For the speed of the bullet, N is the preset navigation gain, sigma 0 The view field of the seeker, sigma, of the collar projectile max For presetting the maximum view field of the seeker, s is a sliding mode variable, R 0 For the relative distance between the projectile and the target, θ m0 Is the speed leading angle of the bullet in the pitching plane.
The guide head of the missile is a device for measuring the motion parameters of a target relative to the missile and generating a guidance command, and is core equipment for realizing accurate guidance of the missile. The view field of the seeker is limited, and the missile must always keep the capturing state of the target in the maneuvering process, so how to design the cooperative guidance law for realizing the attack time coordination of the missile group under the condition of considering the view field constraint of the seeker becomes a problem to be solved. Therefore, in the embodiment of the invention, the yaw overload bias term of the collar projectile and the pitch overload bias term of the collar projectile are determined based on the field of view of the guide head of the collar projectile.
In addition, it should be noted that most of the existing collaborative guidance technologies are directed to a decoupled plane motion model of the projectile group, and the missile actually moves in a three-dimensional space, so in the embodiment of the invention, an uncoupling relative motion model in the three-dimensional space (a three-dimensional space relative motion model of the projectile) is utilized to be more fit with the actual situation.
In addition, it should be noted that the design of the guidance law depends on the relative motion state information between the missile and the target, and whether the seeker can acquire the information of the target is important. In the prior art, the influence of the seeker on the guidance process is mostly ignored in the collaborative guidance process, and the situation that the missile can always obtain the information of the target is assumed to be inconsistent with the reality, so in the embodiment of the invention, in the design of the guidance law, the view field of the missile does not exceed the maximum visible range of the seeker, namely the yaw overload bias item of the seeker and the pitch overload bias item of the seeker are considered, and the information is required to be obtained based on the maximum view field of the seeker. That is, for the projectile, the tracking of the predetermined attack time by the projectile is ensured by utilizing the limited time convergence control law, so that the constraint on the view field angle of the projectile group is added in the collaborative guidance process, and the target projectile group is ensured to always keep the capturing state of the target in the maneuvering process.
Step 123, determining a target yaw overload of the collar projectile based on a yaw overload bias term of the collar projectile, and determining a target pitch overload of the collar projectile based on a pitch overload bias term of the collar projectile.
Here, the target yaw overload and the target pitch overload of the lead projectile are determined, so that the attack moment of the lead projectile can be limited, the lead projectile can hit the target at a preset moment, and the guidance effect of the lead projectile group is improved.
In a specific embodiment, in the step 123, determining the target yaw overload of the collar projectile based on the yaw overload bias term of the collar projectile includes:
and determining target yaw overload of the collar ball based on the speed of the collar ball, a speed front angle of the collar ball on a yaw plane, a relative distance between the collar ball and a target, a preset navigation gain and a yaw overload bias item of the collar ball.
In the step 123, determining the target pitch overload of the collar projectile based on the pitch overload bias term of the collar projectile includes:
and determining the pitching overload of the target of the collar projectile based on the speed of the collar projectile, the speed leading angle of the collar projectile on a yaw plane, the speed leading angle of the collar projectile on a pitching plane, the relative distance between the collar projectile and the target, a preset navigation gain and a pitching overload bias item of the collar projectile.
Here, the preset navigation gain may be set according to the actual situation, which is not limited in the embodiment of the present invention.
Specifically, the target yaw overload and the target pitch overload of the lead bullet are determined based on a bias ratio guidance law, which is as follows:
wherein ,ay0 Yaw overload for target of projectile, a z0 For target pitching overload of the collar projectile, N is preset navigation gain, V 0 For the speed of the bullet to be picked up,for leading the velocity angle of the projectile in the yaw plane, R 0 A is the relative distance between the projectile and the target by0 Yaw overload bias term for projectile, θ m0 A is the speed leading angle of the collar spring in the pitching plane bz0 Is a pitching overload bias term of the collar projectile.
The proportion guide item in the bias proportion guide law can guide the sight angular speed of the guided missile to approach 0, so that the target can be precisely hit, the bias guide item controls the remaining time of the guided missile to approach the expected attack time, and the target is ensured to be always located in the detection range of the guide head. In addition, the design of the guidance law simultaneously considers various constraints in the guidance process and achieves limited time convergence of the residual attack time error.
It should be noted that, the generation of the missile guidance law requires the relative motion information of the missile between the targets, so that at the starting moment of the missile terminal guidance, the guide head of the missile captures the targets, that is, at the initial moment, the field of view of the guide head of the lead missile is smaller than the maximum field of view of the preset guide head, and the lead missile guidance law can ensure that the guide head always maintains the capturing state of the targets in the terminal guidance process, thereby meeting the field of view limitation of the guide head.
According to the missile group collaborative guidance method provided by the embodiment of the invention, the sliding mode variable is determined through the expected attack time and the residual attack time, so that the yaw overload bias item and the pitch overload bias item are determined based on the sliding mode variable, and further the target yaw overload and the target pitch overload are determined, and the collaborative task of the missile-picking collar with the expected attack time is facilitated.
Based on any of the above embodiments, fig. 4 is a third flow chart of a missile group cooperative guidance method according to the present invention, as shown in fig. 4, in the method, the step 130 includes:
step 131, exchanging state information of the missiles based on the communication topology network of the target missile guide group to determine normalized missile distance and speed lead angle of each missile in the target missile guide group.
Here, the normalized missile distance is obtained by normalizing the relative distance between the missile and the target.
Both the normalized shot distance and the velocity lead angle can be used as coordination variables.
For ease of understanding, the normalized bullet distance and normalized approach speed are as follows:
wherein ,xi To normalize the shot distance, v i To normalize the approach speed, R i V is the relative distance between the missile and the target i For speed of missile, sigma i Is the seeker view field of the missile, and cos sigma i ＝cosθ mi cosψ mi ，θ mi For the velocity lead angle of the missile in the pitch plane,is the velocity lead angle of the missile in the yaw plane.
Furthermore, the above coordination variables are available with respect to time derivative:
wherein ,xi To normalize the shot distance, v i In order to normalize the approach speed,V i for missile speed, R i For missiles and purposesRelative distance between targets, sigma i For the guided-head field of view, θ, of the missile mi For the velocity lead angle of the missile in the pitch plane, < ->A is the velocity lead angle of the missile in the yaw plane zi For pitch overload of missiles, a yi Is yaw overload of the missile.
Based on the above, when the coordination variable of the slave projectile approaches to the coordination variable of the lead projectile, the target lead projectile group hits the target at the same time, that is, the target lead projectile group meets the following conditions:
wherein ,xi To normalize the distance of the bullet from the bullet, x 0 Normalized eye distance, v, for the projectile i To normalize approach velocity of the slave projectile, v 0 Normalized approach velocity for the projectile, v min For minimum normalized approach speed, v max For maximum normalized approach velocity, v min ＝-cosσ min ，v max ＝-cosσ max ，σ min Minimum field of view, sigma, for a predetermined seeker for a missile max The maximum field of view of the leader is preset for the missile.
It should be noted that, for the slave missile, a limitation on the state variable, namely, the limitation on the coordination variable is added in the consistency tracking control law, so that the seeker view field of the missile is ensured to be within the maximum view field range.
And 132, determining the virtual control quantity of the slave missile based on the normalized missile eye distance of each missile and the speed lead angle of each missile.
The virtual control quantity of the slave projectile is determined, so that the minimized overload can be used as a target subsequently, the design of transverse overload and longitudinal overload is guided, the missile attack target is guided by a relatively small control quantity, and the performance of cooperative guidance of the missile group is improved.
Specifically, the step 132 includes:
and determining the virtual control quantity of the slave missile based on the normalized missile-to-missile distance of each missile, the speed lead angle of each missile, a preset maximum view field of the seeker and a preset minimum view field of the seeker.
Here, the virtual control amount of the slave bullet is determined based on the distributed tracking control law satisfying the limit of the field of view of the seeker. The distributed tracking control law is as follows:
wherein ,ui K is the virtual control quantity of the slave bomb i Is a proportionality coefficient, v i To normalize the approach velocity of the slave projectile,n is the number of missiles of the target guided missile group, and if information exchange can be carried out between the missiles i and j, a is carried out ij > 0, otherwise a ij =0, especially a ii =0, i e {1,2,., n }, at a ij At > 0, the a ij Can be set according to practical conditions, such as a ij ＝1，x i Normalized missile eye distance, x, for missile i j Normalized missile distance, v, for missile j i Normalized approach velocity for missile i, v j Normalized approach velocity for missile j;σ min to preset the minimum field of view of the seeker, sigma max The maximum field of view of the seeker is preset.
Step 133, determining a target yaw overload of the slave bullet and a target pitch overload of the slave bullet based on the virtual control amount of the slave bullet, the velocity lead angle of the slave bullet in the yaw plane, the velocity lead angle of the slave bullet in the pitch plane, the relative distance between the slave bullet and the target, and the seeker field of view of the slave bullet.
Based on the above, the virtual control amount of the slave bomb can be expressed as:
k zi a zi +k yi a yi ＝u i -ξ i ；
wherein ,kzi ＝sinθ mi cosψ mi /V i ，k yi ＝sinψ mi /V i ，ξ i ＝V i sin 2 σ i /R i ，a zi For pitch overload of the slave spring, a yi For yaw overload of the slave bullet, u i Virtual control quantity of the slave projectile; v (V) i For missile speed, R i Sigma, the relative distance between the missile and the target i For the guided-head field of view, θ, of the missile mi For the velocity lead angle of the missile in the pitch plane,is the velocity lead angle of the missile in the yaw plane.
Based on the above, in order to minimize the virtual control amount of the slave bullet, the target pitch overload of the slave bullet is determined based on the following formula:
wherein ,kzi ＝sinθ mi cosψ mi /V i ，k yi ＝sinψ mi /V i ，ξ i ＝V i sin 2 σ i /R i ，a zi For pitch overload of the slave spring, a yi For yaw overload of the slave bullet, u i Virtual control quantity of the slave projectile; v (V) i For missile speed, R i Sigma, the relative distance between the missile and the target i For the guided-head field of view, θ, of the missile mi For the velocity lead angle of the missile in the pitch plane,for the velocity lead angle of the missile in the yaw plane。
It will be appreciated that for the follower (slave projectile), a distributed collaborative guidance law with FOV constraints is proposed with normalized bullet mesh distance and speed lead angle as coordination variables instead of preload attack time.
According to the missile group collaborative guidance method provided by the embodiment of the invention, the target yaw overload and the target pitch overload of the slave missile are determined based on the communication topology network of the target missile group, so that the slave missile tracks the motion state of the slave missile, the attack moment of the slave missile is limited, and the attack moment of the slave missile can be limited based on the target yaw overload and the target pitch overload, so that the slave missile can hit the target at the preset moment. Meanwhile, the guidance law with view angle constraint is designed for the secondary missile, so that the view angle of the missile is always in the maximum view range in the cooperative guidance process of the target missile guide group, and the constraint of the view angle is favorable for forming a smooth trajectory.
Based on any of the above embodiments, in the method, in the step 110, determining the leading and the trailing bullet in the target leading bullet group includes:
determining the residual attack time of each missile based on the relative distance between each missile and the target in the target missile guide group, the speed of each missile, the guide head view field of each missile and a preset navigation gain;
and determining the lead projectile and the slave projectile from the missiles based on the residual attack time of the missiles.
Here, the remaining attack time of each missile is an estimated value. The remaining attack time of each missile is calculated based on a remaining attack time estimation formula, and the remaining attack time estimation formula is as follows:
wherein ,Ri Is guided missile and targetRelative distance between marks, V i Is the velocity, sigma, of the missile i Is the seeker field of view of the missile, and N is the preset navigation gain.
In a specific embodiment, in order to avoid that some missiles in the target lead group cannot complete the task of co-striking, the missile with the largest remaining attack time is regarded as the lead missile, and then other missiles are regarded as the slave missiles. I.e. the missile with the largest remaining attack time can be considered as the leader and the remaining missiles as the follower.
In the step 110, determining the expected attack time of the projectile includes:
and determining the expected attack time of the lead projectile based on the residual attack time of each missile so that the expected attack time is greater than or equal to the residual attack time of any missile in the target lead projectile group.
Specifically, the expected attack time T of the projectile d To meet T d ≥max{t go,1 ,t go,2 ,...,t go,N And can ensure the stable operation of the cooperative guidance of the target missile group, t go,1 To t go,N Remaining attack time for each missile.
According to the missile swarm collaborative guidance method provided by the embodiment of the invention, the missile receiving and the missile receiving can be accurately determined based on the residual attack time of each missile. Meanwhile, based on the residual attack time of each missile, the expected attack time of the missile can be accurately determined.
Based on any of the above embodiments, the method further includes, after the step 130:
if the maximum difference value between the normalized missile eye distances of all missiles in the target missile guiding group is smaller than a first preset threshold value and the maximum difference value between the speed leading angles of all missiles in the target missile guiding group is smaller than a second preset threshold value, updating the target yaw overload and the target pitch overload of all missiles;
the updated target yaw overload for any one of the missiles is determined based on the steps of:
Determining updated target yaw overload of any missile based on the speed of any missile, the speed leading angle of any missile on a yaw plane, the relative distance between any missile and a target and a preset navigation gain;
the updated target pitch overload for any one of the missiles is determined based on the steps of:
and determining updated pitching overload of the target of any missile based on the speed of any missile, the speed leading angle of any missile on a yaw plane, the speed leading angle of any missile on a pitching plane, the relative distance between any missile and the target and a preset navigation gain.
The first preset threshold may be set according to actual requirements, so that when the maximum difference between the normalized missile eye distances of the missiles in the target missile guide group is smaller than the first preset threshold, the normalized missile eye distances of the target missile guide group tend to be consistent; the second preset threshold value can be set according to actual requirements, so that when the maximum difference value between the speed advance angles of all missiles in the target lead group is smaller than the second preset threshold value, the speed advance angles of the target lead group tend to be consistent.
Specifically, the steps 120 and 130 are repeated until the normalized missile-eye distance of each missile in the target missile group is consistent, and the speed lead angle of each missile in the target missile group is consistent, that is, until the coordinated variable of each missile in the target missile group is consistent, the target yaw overload and the target pitch overload of each missile in the target missile group are updated, that is, the guidance law of the previous guided missile and the guidance law of the previous guided missile are switched to the proportional guidance law. Further, the normalized missile eye distance trend of each missile in the target missile guide group is consistent, the speed lead angle trend of each missile in the target missile guide group is consistent, and after the switching node is reached, the target yaw overload and the target pitch overload of each missile in the target missile guide group are updated, namely, the guidance law of the previous missile is switched from the guidance law of the missile to the proportional guidance law.
It should be noted that, two singular points exist in the guidance law of the lead bullet and the guidance law of the slave bullet, in order to avoid the situation of the failure of the guidance law, the embodiment of the invention designs a guidance law switching strategy. In particular, since the state variables of the missile can converge rapidly to agree, when max { σ } 1 -σ 0 ,σ 2 -σ 0 ,...,σ N -σ 0 }＜ε，σ 0 The view field of the seeker, sigma, of the collar projectile 1 -σ N For the leader view of the slave projectile, epsilon is a preset threshold value, which can be set according to actual needs, and the guidance instructions of the target leader group (here, target yaw overload and target pitch overload) can be switched to a proportional guidance law.
Here, the updated target yaw overload and the updated target pitch overload are determined based on a proportional guidance law, which is as follows:
wherein ,ayi For updated target yaw overload, a zi For updated target pitch overload, N is a preset navigation gain, V i For the speed of the missile,r is the velocity lead angle of the missile in the yaw plane i For the relative distance between the missile and the target, theta mi Is the velocity lead angle of the missile in the pitching plane.
It can be understood that when the coordination variables (normalized target distance and speed advance angle) of the target missile group tend to be consistent, the remaining attack time of the target missile group also tends to be consistent, and the target of the target missile group collaborative guidance can be realized.
In addition, when the target guided bullet group hits the target under the guidance of the proportional guidance law, the collaborative guidance process is ended. Specifically, if the target enters the bullet-guiding blind area, if so, the terminal guidance is finished, and if not, the bullet-guiding and the secondary bullet continue to execute the proportional guidance law until the target enters the bullet-guiding blind area.
According to the missile group collaborative guidance method provided by the embodiment of the invention, the guidance law switching strategy is designed in the mode, so that the situation of failure of the guidance law can be avoided.
Fig. 5 illustrates a physical schematic diagram of an electronic device, as shown in fig. 5, which may include: processor 510, communication interface (Communications Interface) 520, memory 530, and communication bus 540, wherein processor 510, communication interface 520, memory 530 complete communication with each other through communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform a missile swarm co-guidance method, including: determining a lead bullet and a slave bullet in a target lead bullet group, and determining expected attack time of the lead bullet; determining a target yaw overload and a target pitch overload of the lead based on the expected attack time for the lead to guide based on the target yaw overload and the target pitch overload of the lead; and determining the target yaw overload and the target pitch overload of the slave bullet based on the communication topology network of the target bullet guiding group so as to guide the slave bullet based on the target yaw overload and the target pitch overload of the slave bullet, wherein the communication topology network is used for exchanging state information of the missile.
Further, the logic instructions in the memory 530 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, where the computer program product includes a computer program, where the computer program can be stored on a non-transitory computer readable storage medium, and when the computer program is executed by a processor, the computer can execute the missile group collaborative guidance method provided by the above methods, and the method includes: determining a lead bullet and a slave bullet in a target lead bullet group, and determining expected attack time of the lead bullet; determining a target yaw overload and a target pitch overload of the lead based on the expected attack time for the lead to guide based on the target yaw overload and the target pitch overload of the lead; and determining the target yaw overload and the target pitch overload of the slave bullet based on the communication topology network of the target bullet guiding group so as to guide the slave bullet based on the target yaw overload and the target pitch overload of the slave bullet, wherein the communication topology network is used for exchanging state information of the missile.
In yet another aspect, the present invention further provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the missile group cooperative guidance method provided by the above methods, the method comprising: determining a lead bullet and a slave bullet in a target lead bullet group, and determining expected attack time of the lead bullet; determining a target yaw overload and a target pitch overload of the lead based on the expected attack time for the lead to guide based on the target yaw overload and the target pitch overload of the lead; and determining the target yaw overload and the target pitch overload of the slave bullet based on the communication topology network of the target bullet guiding group so as to guide the slave bullet based on the target yaw overload and the target pitch overload of the slave bullet, wherein the communication topology network is used for exchanging state information of the missile.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. The missile group cooperative guidance method is characterized by comprising the following steps of:
determining a lead bullet and a slave bullet in a target lead bullet group, and determining expected attack time of the lead bullet;
determining a target yaw overload and a target pitch overload of the lead based on the expected attack time for the lead to guide based on the target yaw overload and the target pitch overload of the lead;
determining target yaw overload and target pitch overload of the slave bullet based on a communication topology network of the target bullet guide group for guidance of the slave bullet based on the target yaw overload and the target pitch overload of the slave bullet, wherein the communication topology network is used for exchanging state information of the missile;
the determining a target yaw overload and a target pitch overload of the projectile based on the expected attack time includes:
determining the remaining attack time of the lead projectile, and calculating a time error based on the expected attack time and the remaining attack time of the lead projectile to obtain a sliding mode variable;
determining a yaw overload bias term of the collar projectile and a pitch overload bias term of the collar projectile based on the sliding mode variable;
determining a target yaw overload of the collar projectile based on a yaw overload bias term of the collar projectile, and determining a target pitch overload of the collar projectile based on a pitch overload bias term of the collar projectile;
The derivative of the sliding mode variable with respect to time is:
；
the yaw overload bias term of the collar projectile and the pitch overload bias term of the collar projectile are determined based on the following formula:
；
the target yaw overload and the target pitch overload of the collar projectile are determined based on a bias proportion guidance law, and the bias proportion guidance law is as follows:
；
wherein ,is a sliding mode variable>The view field of the seeker for the collar projectile, +.>For the relative distance between the bullet and the target, N is the preset navigation gain, ++>V is the speed of the projectile, +.>Yaw overload bias term for collar>Pitch overload bias term for collar>Front angle of speed of collar spring in pitching plane, < ->Front angle for the speed of the projectile in the yaw plane, < >>For presetting the maximum field of view of the seeker, < >>Yaw overload for the target of the projectile, +.>The pitch overload is the target of the projectile.
2. The missile swarm collaborative guidance method according to claim 1, wherein the determining a yaw overload bias term for the collar projectile and a pitch overload bias term for the collar projectile based on the sliding mode variable includes:
and determining a yaw overload bias item of the collar projectile and a pitch overload bias item of the collar projectile based on the three-dimensional space relative motion model of the collar projectile, the guide head view field of the collar projectile, the preset guide head maximum view field, the preset navigation gain and the sliding mode variable.
3. The missile swarm collaborative guidance method of claim 1, wherein the determining a target yaw overload of the collar projectile based on a yaw overload bias term of the collar projectile comprises:
determining target yaw overload of the collar projectile based on the speed of the collar projectile, a speed front angle of the collar projectile on a yaw plane, a relative distance between the collar projectile and a target, a preset navigation gain and a yaw overload bias item of the collar projectile;
the determining the target pitch overload of the collar projectile based on the pitch overload bias term of the collar projectile comprises:
and determining the pitching overload of the target of the collar projectile based on the speed of the collar projectile, the speed leading angle of the collar projectile on a yaw plane, the speed leading angle of the collar projectile on a pitching plane, the relative distance between the collar projectile and the target, a preset navigation gain and a pitching overload bias item of the collar projectile.
4. The missile swarm cooperative guidance method of claim 1, wherein the determining the target yaw overload and the target pitch overload of the slave missile based on the communication topology network of the target missile swarm comprises:
exchanging state information of missiles based on a communication topology network of the target missile guide group to determine a normalized missile-target distance and a velocity lead angle of each missile in the target missile guide group;
Determining the virtual control quantity of the slave missile based on the normalized missile-eye distance of each missile and the speed lead angle of each missile;
the target yaw overload of the slave bullet, and the target pitch overload of the slave bullet are determined based on the virtual control amount of the slave bullet, the velocity lead angle of the slave bullet in the yaw plane, the velocity lead angle of the slave bullet in the pitch plane, the relative distance between the slave bullet and the target, and the seeker field of view of the slave bullet.
5. The missile swarm cooperative guidance method of claim 4, wherein the determining the virtual control amount of the slave missiles based on the normalized mission distance of each missile and the velocity lead angle of each missile comprises:
and determining the virtual control quantity of the slave missile based on the normalized missile-to-missile distance of each missile, the speed lead angle of each missile, a preset maximum view field of the seeker and a preset minimum view field of the seeker.
6. The missile swarm collaborative guidance method according to claim 1, wherein the determining of the collar and slave missiles in the target missile swarm comprises:
determining the residual attack time of each missile based on the relative distance between each missile and the target in the target missile guide group, the speed of each missile, the guide head view field of each missile and a preset navigation gain;
Determining a lead missile and a slave missile from the missiles based on the residual attack time of the missiles;
the determining the expected attack time of the projectile includes:
and determining the expected attack time of the lead projectile based on the residual attack time of each missile so that the expected attack time is greater than or equal to the residual attack time of any missile in the target lead projectile group.
7. The missile swarm collaborative guidance method according to any of claims 1-6, wherein the communication topology network based on the target missile swarm determines a target yaw overload and a target pitch overload of the slave missile, and further comprising:
if the maximum difference value between the normalized missile eye distances of all missiles in the target missile guiding group is smaller than a first preset threshold value and the maximum difference value between the speed leading angles of all missiles in the target missile guiding group is smaller than a second preset threshold value, updating the target yaw overload and the target pitch overload of all missiles;
the updated target yaw overload for any one of the missiles is determined based on the steps of:
determining updated target yaw overload of any missile based on the speed of any missile, the speed leading angle of any missile on a yaw plane, the relative distance between any missile and a target and a preset navigation gain;
The updated target pitch overload for any one of the missiles is determined based on the steps of:
and determining updated pitching overload of the target of any missile based on the speed of any missile, the speed leading angle of any missile on a yaw plane, the speed leading angle of any missile on a pitching plane, the relative distance between any missile and the target and a preset navigation gain.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor performs the steps of the missile swarm co-guidance method according to any of claims 1 to 7 when the program is executed.
9. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor performs the steps of the missile swarm co-guidance method according to any of claims 1 to 7.
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