CN114440710A - Damage assessment-oriented heterogeneous smart guided missile before-group-launching collaborative planning method - Google Patents

Damage assessment-oriented heterogeneous smart guided missile before-group-launching collaborative planning method Download PDF

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CN114440710A
CN114440710A CN202210068554.XA CN202210068554A CN114440710A CN 114440710 A CN114440710 A CN 114440710A CN 202210068554 A CN202210068554 A CN 202210068554A CN 114440710 A CN114440710 A CN 114440710A
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CN114440710B (en
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王玥
刘劲涛
李兴斌
李东光
李瀚宇
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Beijing Institute of Technology BIT
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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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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Abstract

The invention discloses a damage evaluation-oriented heterogeneous fine guided missile group pre-launching collaborative planning method. The invention carries out collaborative planning before guided launch in space and time on the projectile group from the position of the target, the medicament launching point position and the predicted flight time of each kind of fine missile, the self detection load condition of the missile, and the like, determines reasonable launching time and sequence according to the difference of the penetration and damage prevention capability, the maneuvering capability, the damage capability and the detection load of each missile, ensures the penetration and damage prevention effect of the whole projectile group and the quality of the obtained damage evaluation information, provides detailed data for the effect evaluation of the cooperative operation of heterogeneous fine guided projectile groups, and can effectively improve the subsequent evaluation precision.

Description

Damage assessment-oriented heterogeneous smart guided missile before-group-launching collaborative planning method
Technical Field
The invention relates to the technical field of collaborative planning of heterogeneous smart guided missile groups, in particular to a damage assessment-oriented collaborative planning method for heterogeneous smart guided missile groups before launching.
Background
The heterogeneous fine guidance projectile group collaborative planning mainly achieves the preset targets of improving the missile defense penetration probability, reducing the missile miss distance and the like through reasonable pre-shooting collaborative planning and airborne planning promotion, and the overall operational efficiency of the projectile group is improved. According to different strike tasks, the pre-shooting collaborative planning of the heterogeneous fine guidance projectile group needs to be adjusted to a certain extent, and the strike time and the position of each node in the projectile group are ensured to meet the requirements of the strike tasks.
The damage effect evaluation on the complex target is mainly divided into four parts of research contents, namely target analysis, physical damage effect analysis, mapping relation analysis and functional damage effect aggregation analysis. The target analysis is the basis of damage effect evaluation, provides data support for subsequent physical damage and functional damage, and mainly analyzes the structure and characteristics of a target and the function expressed by the structure characteristics. The physical damage effect analysis refers to evaluating the damage condition of a target in a physical sense, and factors such as battlefield environment, firepower strength, target characteristics and the like need to be comprehensively considered. The mapping relationship from physical damage to functional damage is the most difficult problem in the evaluation process, the physical damage degree, the battlefield environment, the structure of a building, the personnel composition in the building, the psychological quality and the like are comprehensively considered, the relationship is generally described by the fuzzy mathematics theory, but an accurate conclusion is difficult to be obtained. The aggregate analysis of the function damage effect is to aggregate the function damage of a single target upwards on the basis of target analysis to finally obtain the reduction degree of the whole function.
The research content needs to be deeply analyzed based on the existing experimental damage data of the weaponry and the detected damage condition of the target. The more the missile-borne sensors acquire and transmit the more target damage information, the more accurate damage evaluation results can be obtained, and therefore, how to obtain more target damage information in one cooperative hitting process becomes a key problem for improving damage evaluation efficiency.
Disclosure of Invention
The invention provides a damage evaluation-oriented heterogeneous smart guided missile group pre-launching collaborative planning method based on a typical scene of multiple heterogeneous smart guided missiles with great differences in penetration capability, damage capability and maneuverability and oriented to complex target damage evaluation, so as to realize efficient damage image acquisition of a hit target as a task target.
The invention relates to a damage evaluation-oriented heterogeneous fine missile before-group-launching collaborative planning method, which comprises the following steps:
step 1, setting a target hitting direction of a group of bullets and preset target hitting time according to strategic tactical requirements, and calculating to obtain a launching position of the ammunition;
step 2, carrying out space planning before shooting on the ammunition group to obtain a planned track of each ammunition;
step 3, dividing the ammunitions in the heterogeneous fine guided ammunitions according to the penetration prevention capability, the damage capability and the maneuvering capability to obtain H-type fine guided ammunitions with strong penetration prevention capability, D-type fine guided ammunitions with strong damage capability and F-type fine guided ammunitions with strong maneuvering capability;
step 4, determining the launching time windows of various ammunitions:
s41, determining the firing time window of the F type guided ammunition as
Figure BDA0003481174260000021
Wherein, t0A start time that is a predetermined striking period for the target; t is tdA target hitting time window for the heterogeneous fine missile group;
Figure BDA0003481174260000022
dDthe detection distance of the class F fine guided ammunition is obtained, and V is the average flight speed of the class F fine guided ammunition tail section;
s42, determining the hit time window of the H-type guided ammunition as
Figure BDA0003481174260000023
Figure BDA0003481174260000024
Then, the emission time window is reversely deduced from the hit time window; wherein, TFThe pharmacological thinking trajectory flight time of the class F fine missile;
s43, determining that the hit time window of the D-type fine-guided ammunition is a subset of the hit time window of the H-type fine-guided ammunition, and reversely deducing the emission time window of the D-type fine-guided ammunition according to the hit time window;
step 5, determining the launching time of each fine-guided ammunition:
equally dividing the launching time windows of other types of fine missile medicines except the F type fine missile medicine to obtain launching time and hit time of each batch;
for class F fine missile medicine, the hit time is the time obtained by subtracting the hit time of other fine missile medicines
Figure BDA0003481174260000031
And then the transmission time is deduced reversely from the hit time.
Preferably, in the step 4, the target time period of other types of fine missile medicines except the H-type fine missile medicine, the D-type fine missile medicine and the F-type fine missile medicine in the heterogeneous fine missile group is obtained according to the tactical planning, and the launching time period is reversely deduced according to the target time period.
Preferably, in the step 5, the method further comprises the following step of adjusting the hit time of the type F smart ammunition:
after the hit time of other fine guided ammunitions is obtained, determining the hit time window of the F-class fine guided ammunition wave number corresponding to the hit time ti for each hit time ti
Figure BDA0003481174260000032
The hit time of the wave-order F-class fine-guided ammunition is divided into a hit time window; wherein, Δ t1And Δ t2Are empirical values.
Preferably, in step 43, the arrival time of the 1 st D type guided ammunition is at the same time or after the kth wave H type guided ammunition, wherein k is greater than 1; the arrival time of the last D-type fine guided ammunition is the same as or before the arrival of the last H-type fine guided ammunition.
Preferably, the firing time window of the D-type fine-guided ammunition is
Figure BDA0003481174260000033
Wherein N is the total striking frequency of H-type fine-guide ammunition; k is the beating wave number of the class H fine missile medicine; t is a unit ofDThe pharmacological thinking trajectory flight time of the D-class fine missile is shown.
Preferably, the number of the F-class fine missile medicines is proportionally distributed according to the missile number ratio of each predicted time point.
Preferably, in the step 2, the pre-planned path points of the missiles launched in the same batch cannot be overlapped, and certain safety distances exist between the trajectories of different missiles; the routes of the missiles launched by the same launching platform can be overlapped, but the condition that the routes are crossed pairwise is not allowed to occur; missile routes launched by different launching platforms are not allowed to overlap, and route sections are not allowed to intersect pairwise.
Has the advantages that:
the research field of heterogeneous smart projectile group cooperative combat belongs to the more advanced and novel research field in the global scope at present, related theoretical researches are less, and the research directions of specific theories and related technologies are not clear yet. And the collaborative pre-shooting planning of the heterogeneous fine guidance missile groups is the basis and the premise for realizing the on-line planning of the missile groups, and the reasonable design must be carried out according to the actual missile performance parameters and the requirement of the hitting task. The invention provides a damage evaluation-oriented heterogeneous fine missile group before-launching collaborative planning method based on various constraint conditions in practical engineering application situations, and aims to guarantee the damage effect of a missile and improve the quality of acquired target damage information. The method specifically comprises the following steps:
the typical scene of cooperative damage assessment of the bullet group is provided, and the cooperative planning method before the group launching of the heterogeneous fine guided missiles for the damage assessment is provided. In the collaborative planning process, the method fully considers the missile pre-launching constraints in space and time, outputs the launching time of each missile, and ensures that the safe flying distance among the missiles can be kept in the flying process of the missiles.
The method fully considers flight performance parameters of various missiles and ballistic characteristics of various missiles, can ensure that a plurality of detection angles meeting different ballistic characteristics exist simultaneously in the striking process, realizes multi-angle damage image acquisition of the target, and effectively improves damage information acquisition amount and damage information quality.
Thirdly, the missile can be struck in batches within a preset striking time period through reasonable batch design of the missile groups; meanwhile, a certain type of fine missile medicine with strong maneuverability is used as a main damage image acquisition node, so that the high maneuverability of the fine missile medicine is fully exerted; the image acquisition time of the type of precisely guided ammunition is distributed at intervals in a preset striking time period, the acquisition amount of the damage image is increased, and the full-flow continuous damage image acquisition in the striking process is realized.
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Fig. 1 is a diagram of the ideal effect of cooperative planning before projectile shooting.
Fig. 2 is a schematic diagram of the coordinated planning of the time before the projectile is fired.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a damage evaluation-oriented heterogeneous fine missile before-launching collaborative planning method, which is used for carrying out spatial and temporal guided launch before-launching collaborative planning on a missile group according to the position of a strike target, the launching point position and the predicted flight time of various fine missile types, the self-detection load condition of a missile and the like under the condition that the attack target and the preset strike time of the missile group are set. The collaborative planning method before guided launch in space mainly comprises two parts of contents: firstly, the preset drop point area of the missile must be highly overlapped with the position of a damaged target to ensure that the missile can hit the target; secondly, the trajectory of each missile is required to be ensured to be not coincident in the flying process, and the flying safety of each missile is ensured. The cooperative planning method before guided launch in time mainly requires that reasonable launch time and sequence are determined according to different missile penetration capabilities, maneuvering capabilities, damage capabilities and detection loads so as to ensure the penetration and damage effects of the whole missile group and the quality of acquired damage evaluation information.
In particular, the method comprises the following steps of,
before the missile is subjected to the cooperative planning before shooting, the direction S of a target hit by a missile group must be set according to strategic tactical requirementsT(xT,yT,zT) And a predetermined striking time T to the targetdesMeanwhile, the existing fire control system of the missile is utilized to calculate and obtain the launching position of the missile. After the target hitting position, the missile launching position and the target hitting time are determined, the damage assessment-oriented missile before-launching collaborative planning is carried out. According to the difference of the penetration prevention capability, the damage capability and the maneuvering capability of each guided missile in the heterogeneous fine guided missile group, the missile group is divided to obtain H-type fine guided ammunition with strong penetration prevention capability, D-type fine guided missile medicine with strong damage capability and F-type fine guided missile medicine with strong maneuvering capability. Suppose that the heterogeneous guided ammunition group comprises r class-H guided ammunitions with strong penetration resistance, s class-D guided ammunitions with strong damage capacity and t class-F guided ammunitions with strong maneuvering capacity.
Firstly, performing pre-shooting time collaborative planning on heterogeneous fine guidance projectile groups. In order to improve the overall penetration prevention and striking effect of the bullet group, the H-type fine missile medicines with strong penetration prevention capability are firstly adopted to damage the target, then the D-type fine missile medicines with strong damage capability are utilized to strike, and finally, in order to improve the overall damage assessment efficiency of the bullet group, the F-type fine missile medicines with strong maneuvering capability are adopted to carry out collaborative damage assessment finally. In order to meet the requirement of the multi-angle detection damage effect of the collaborative damage assessment, in the later stage of saturation attack, it is still required to ensure that the fine guided missiles with different ballistic characteristics provide damage images with different detection angles. Therefore, each missile in the three types of missiles has a certain time difference when hitting the target, and the launching time needs to be planned before launching. The ideal effect of cooperative planning before the group shot is shown in fig. 1.
And performing pre-launching space collaborative planning on the missile groups to realize conflict resolution of the planned trajectories of all the missiles and obtain the planned trajectories of all the missiles.
When the guided missiles are intensively launched and hit, certain safety distance needs to be ensured among the guided missiles, and the flying safety of the guided missiles is ensured. In addition, in the actual combat process, due to changes in the natural environment and the battlefield situation, an obstacle area may be generated. Fine missile medicines flying at high altitude, represented by ballistic missiles and gliding missiles, can directly and suddenly prevent threat areas in the actual combat process due to high flying height and high flying speed. Therefore, only a certain safety distance between different missiles needs to be ensured in the actual pre-shooting collaborative planning process. The influence of natural terrains such as islands and the like needs to be considered for the fine guided ammunition flying at low altitude and sea skimming, represented by the flying missile, and the flying speed is relatively low but the maneuvering capability is strong during flying, so that the path planning can be carried out on the fine guided ammunition before shooting, and the known obstacle area is avoided.
Specifically, on the aspect of engineering implementation, the missile plans a flight trajectory by setting path points, and realizes the pre-shooting collaborative planning of the trajectory, so that the process is constrained under the following constraint conditions:
1) the pre-planned path points of the missiles launched in the same batch cannot be overlapped, and certain safety distance d exists between the tracks of different missilessafeI.e. by
Figure BDA0003481174260000071
In the formula, Mik(x, y, z) refers to the position of a certain missile at a certain moment, wherein i represents the number of the missile, k represents the launching batch for launching the missile, (x, y, z) represents the longitude, latitude and altitude of the position of the missile respectively, and t represents the real time.
Furthermore, the larger the distance Δ d between the positions of different missiles, the better.
max(Δd＝|Mik(x,y,z)-M(i+m)k(x,y,z)|t),i＝1,2,3,…,k＝1,2,3,…,m＝1,2,3,…
2) For missiles launched successively by the same launching platform, the air paths can be overlapped, but the situation that every two air paths are crossed is not allowed.
Figure BDA0003481174260000072
In the formula, sigma Mijk(x, y, z) refers to a sequence of positions of a missile, i.e., the trajectory of the missile; j represents the platform number that launched the missile.
3) For missile routes launched by different launching platforms, overlapping is not allowed, and no two-by-two intersection of route sections is allowed.
∑Mijk(x,y,z)≠∑M(i+m)(j+n)(k+p)(x,y,z),i＝1,2,3,…,j＝1,2,3,…,k＝1,2,3,…,m＝1,2,3,…,n＝1,2,3,…,p＝0,1,2,3,…
Figure BDA0003481174260000073
In order to improve the missile defense-outburst probability, all the missiles in the missile group carry out saturation attack on the target, namely all the missiles in the missile group hit the target in a short time period. The lower limit value of the time period is the launching time interval of the isomorphic bombs, the time interval can be regarded as 0s when the launching platform is sufficient, and the upper limit value of the time period can be regarded as the maximum communication distance d of each node of the group of bombs in the subnetcThe difference between the target-hit times of the first and last target-hit missiles of the group. The values of class H, class D and class F fine missile drugs can be expressed as:
Figure BDA0003481174260000081
Figure BDA0003481174260000082
Figure BDA0003481174260000083
in the formula, VF、VH、VDRespectively representing the average flight speed of the class F, class H and class D fine missile medicines.
Thus the whole isomeric bombPredicted time-to-hit window t for a clusterdHas a maximum value of min (Δ t)F,ΔtH,ΔtD) The specific value can be set according to the task requirement.
Assuming that the pharmacological thinking trajectory flight time of class H fine missile is THAnd the pharmacological thinking trajectory flight time of the D-class fine missile is TDAnd the pharmacological thinking trajectory flight time of the class F fine missile is TF. From t0When the first F type fine guided ammunition is launched at the moment, the expected Hit time point Hit _ time of the guided ammunitionF1Is composed of
Hit_timeF1＝t0+TF
According to the cooperative detection requirement, part of H-class fine guided ammunition and D-class fine guided ammunition hit the aircraft carrier, the F-class fine guided ammunition finishes the detection task, and the flight time is tFdetThe detection distance d of class F fine missile medicineDAnd the last average flying speed V yields:
Figure BDA0003481174260000084
therefore, the first H-class sperm-guided missile medicine is predicted to Hit the time point Hit _ timeH1In the range of
Hit_timeH1∈(t0+TF-tFdet,t0+TF)
In the formula, the subscript H indicates that the missile is H-type guided ammunition, and the subscript 1 indicates that the missile is H-type guided ammunition hitting the target 1 st.
It transmits a time point Launch _ timeH1In the range of
Figure BDA0003481174260000085
Launch_timeH1∈(t0+TF-tFdet-TH,t0+TX-TH)
Setting the distance of the first class-F fine missile when the first class-H fine missile is hit by the targetTarget
Figure BDA0003481174260000086
And at the moment, a plurality of F-type guided ammunitions and not less than 1 gliding or D-type guided ammunition are positioned in a detection mission area (generally determined according to the effective detection distance of a sensor). Therefore, the predicted Hit time Hit _ time of the first H-type guided ammunition can be obtainedH1The time is the predicted hit time point T of the first missile in the heterogeneous missile groupdes，
Figure BDA0003481174260000091
The transmission time point is
Figure BDA0003481174260000092
The last missile of the heterogeneous missile group hitting the target is an F-class fine missile medicament, and the predicted Hit time point Hit _ time of the missile isFtIs composed of
Figure BDA0003481174260000093
In the formula, a subscript F indicates that the missile is F-class guided ammunition, and a subscript t indicates that the missile is t-th F-class guided ammunition hitting a target, namely the last guided ammunition.
Its transmission time point Launch _ timeFtIs composed of
Figure BDA0003481174260000094
The class F fine missile medicine provides the damage condition that the last class H fine missile medicine hits the target, so the optimal image acquisition time delta t is needed2Then the target is hit, so when the last H-class fine missile is set to hit the target, the last F-class fine missile is set to be away from the target dDThe remaining flight time is tFdet. The last H class essenceExpected Hit time Hit _ time of a missileHrIs composed of
Figure BDA0003481174260000095
In the formula, the subscript H indicates that the missile is H-type guided ammunition, and the subscript r indicates that the missile is the H-type guided ammunition which the r-th target hits, i.e., the last guided ammunition.
Deducing back to obtain the Launch time point Launch _ timeHrIs composed of
Figure BDA0003481174260000101
At the moment, the projectile group launching time windows of the F-type fine guided ammunition and the H-type fine guided ammunition are determined. Launch time window Launch _ time of class F fine guided missile ammunitionFIs composed of
Figure BDA0003481174260000102
Launch time window Launch _ time of class H fine guided missile groupHIs composed of
Figure BDA0003481174260000103
According to the striking requirement, the H-class fine missile explosive arrives in N waves, the specific wave number N is set according to the striking task requirement, the N waves are evenly distributed in a launching time window, and the principle is explained according to the condition that the striking wave number is 5. The number of H-class fine missile medicines in each round can be expressed as P ═ P (P)1,p2,…,pN) Wherein p isiIs [0,1 ]]The number of missiles per wave can be expressed as the product of the number of the class H missiles and the proportion sequence P and the value after the product is rounded.
After the K (k is 1,2, …, N) wave times H class fine missile medicines are hit, D class fine missile medicines start to arrive one by one, and the first D class fine missile medicine is expected to hitTime Hit _ timeD1Is composed of
Figure BDA0003481174260000104
Backward deducing to obtain Launch time point Launch _ timeD1Is composed of
Figure BDA0003481174260000105
Similarly, when the last D-class fine missile explosive is set to hit the target, the last F-class fine missile explosive is set to be away from the target DDThe remaining flight time is tFdet. The last D type fine guided ammunition and the last H type fine guided ammunition arrive at the same time, and the Hit time point Hit _ time is predictedDsIs composed of
Figure BDA0003481174260000111
The same back-stepping obtains the emission time point of
Figure BDA0003481174260000112
Then the Launch time window Launch _ time of the class D fine missile ammunition groupDIs composed of
Figure BDA0003481174260000113
To this end, the launch time windows and expected hit time windows for all missiles have been obtained as follows:
TABLE 1 emission time Window and predicted hit time Window for various types of missiles
Figure BDA0003481174260000114
The D class fine missile medicine is set to be divided into N wavesSecond arrival, P ═ P (P)1,p2,…,pN) Wherein p isiIs [0,1 ]]The number of missiles per wave can be expressed as a value obtained by multiplying the number of D-type missiles by the proportion sequence P and rounding. The N wavenumbers are distributed evenly in the emission time window. The predicted hit time points of all D-class fine missile medicines and H-class fine missile medicines are counted to be at most (2N-2), and the predicted hit time points of different batches of partial different classes of fine missile medicines can be repeated.
Number Num of class H fine guided missiles of ith waveHiPer in amountHiAnd a corresponding predicted Hit time point Hit _ timeHiCan be respectively expressed as
NumHi＝round(r·pi),i＝1,2,…N,
Figure BDA0003481174260000121
Figure BDA0003481174260000122
Where round denotes rounding the numbers.
Similarly, the number Num of class D fine guided missiles of the ith waveDiPer in amountDiAnd a corresponding predicted Hit time point Hit _ timeDiCan be respectively expressed as
NumDi＝round(s·pi),i＝1,2,…N
Figure BDA0003481174260000123
Figure BDA0003481174260000124
And proportionally distributing the number of the F-class fine missile medicines according to the proportion of the number of the missiles at each predicted time point. After determining each predicted hit time pointBefore the missile hits the target, the optimal image acquisition time is delta t due to damage assessment1Δ t after second2Second and flight time tFdetSetting the distance target of each class F fine guided missile medicine when acquiring the image
Figure BDA0003481174260000131
A remaining flight time of
Figure BDA0003481174260000132
Because the actual flight time of each missile has a certain difference with the ideal trajectory flight time, the actual hitting time points of the H-type fine guided ammunition and the D-type fine guided ammunition can be considered to be normally distributed according to the expected hitting time point, and the maximum difference of the expected hitting time points is delta t (delta t is less than or equal to 10 s). Accordingly, the corresponding task time periods of the F-class fine guided missiles can be obtained. It is worth noting that due to the requirement of the saturation striking time, partial overlapping of each task time period may exist, and at the time, damage assessment tasks of the same batch of H-type/D-type fine missile medicines are allowed to be completed cooperatively by different batches of F-type fine missile medicines.
Per is the ratio of the quantity of class F fine missile medicines according to the z wave orderFzNumber Num can be obtainedFzAnd a corresponding task period Dec _ timeFzCan be respectively expressed as
PerFz＝PerHiOr PerDu,i＝1,2,…N,u＝1,2,…N,z＝1,2,…(2N-2)
NumFz＝round(t·PerFz),z＝1,2,…(2N-2)
Figure BDA0003481174260000133
Or
Figure BDA0003481174260000134
Figure BDA0003481174260000135
In the formula, the wave number z of the F-type fine guided ammunition is the sum of the wave numbers of the H-type fine guided ammunition and the D-type fine guided ammunition, namely z is i + u.
And F-class fine guided ammunition is properly shared to execute the detection task, so that the F-class fine guided ammunition in each corresponding task time period is set to be evenly distributed on the expected hit time sequence. Therefore, the expected hit time point corresponding to each class F fine missile medicine can be determined, and the expected trajectory flight time T can be determined according to the class F fine missile pharmacologyFAnd (5) obtaining an F-class fine guided missile medicine launching time sequence by reverse pushing.
In practical engineering application, after the launching sites and the planned trajectories of all missile nodes in a missile group are determined, a real missile group launching time sequence can be determined according to the predicted flight time of each missile, and the original time plan is finely adjusted. And finishing the pre-shooting collaborative planning of the heterogeneous fine guidance projectile group. A schematic diagram of the time collaborative planning before the shot group is shot is shown in fig. 2.
In addition, if other types of fine guided ammunitions exist in the heterogeneous fine guided ammunition group besides the H-type fine guided ammunition, the D-type fine guided ammunition and the F-type fine guided ammunition, the same is carried out by firstly obtaining the hit time period according to tactical planning and then reversely deducing the launching time period according to the hit time period.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. A damage assessment-oriented heterogeneous smart missile before-launching collaborative planning method is characterized by comprising the following steps:
step 1, setting a target hitting direction of a group of bullets and preset target hitting time according to strategic tactical requirements, and calculating to obtain a launching position of the ammunition;
step 2, carrying out space planning before shooting on the ammunition group to obtain a planned track of each ammunition;
step 3, dividing the ammunitions in the heterogeneous fine guided ammunitions according to the penetration prevention capability, the damage capability and the maneuvering capability to obtain H-type fine guided ammunitions with strong penetration prevention capability, D-type fine guided ammunitions with strong damage capability and F-type fine guided ammunitions with strong maneuvering capability;
step 4, determining the launching time windows of various ammunitions:
s41, determining the firing time window of the F type guided ammunition as
Figure FDA0003481174250000016
Wherein, t0A start time that is a predetermined striking period for the target; t is tdA target hit time window for the heterogeneous fine missile group;
Figure FDA0003481174250000012
dDthe detection distance of the F-class fine guided ammunition is obtained, and V is the average flight speed of the tail section of the F-class fine guided ammunition;
s42, determining the hit time window of the H-type guided ammunition as
Figure FDA0003481174250000013
Figure FDA0003481174250000014
Then, the emission time window is reversely deduced from the hit time window; wherein, TFThe pharmacological thinking trajectory flight time of the class F fine missile;
s43, determining that the hit time window of the D-type fine-guided ammunition is a subset of the hit time window of the H-type fine-guided ammunition, and then reversely deducing the launching time window of the D-type fine-guided ammunition according to the hit time window;
step 5, determining the launching time of each fine-guided ammunition:
equally dividing the launching time windows of other types of fine missile medicines except the F type fine missile medicine to obtain launching time and hit time of each batch;
for class F fine missile medicine, the hit time is the time obtained by subtracting the hit time of other fine missile medicines
Figure FDA0003481174250000015
Then hit byTime extrapolates back to its launch time.
2. The damage evaluation-oriented heterogeneous fine missile group pre-launching collaborative planning method according to claim 1, wherein in the step 4, other types of fine missile medicines except for H-type fine missile medicines, D-type fine missile medicines and F-type fine missile medicines in the heterogeneous fine missile group are obtained according to tactical planning, and the launching time period is reversely deduced according to the hitting time period.
3. The damage evaluation-oriented collaborative planning method for heterogeneous guided missile group before launching as claimed in claim 1, wherein the step 5 further comprises the adjustment of the hit time of the type F guided ammunition:
after the hit time of other fine guided ammunitions is obtained, determining the hit time window of the F-class fine guided ammunition wave number corresponding to the hit time ti for each hit time ti
Figure FDA0003481174250000021
The hit time of the wave-order F-class fine-guided ammunition is divided into a hit time window; wherein, Δ t1And Δ t2Are empirical values.
4. The damage-assessment-oriented heterogeneous smart missile pre-launching collaborative planning method according to any one of claims 1 to 3, wherein in the step 43, the arrival time of the 1 st D-type smart ammunition is at the same time or after the kth wave H-type smart ammunition, wherein k is greater than 1; the arrival time of the last D-type fine guided ammunition is the same as or before the arrival of the last H-type fine guided ammunition.
5. The damage-assessment-oriented collaborative planning method before group launching of heterogeneous smart missiles according to claim 4, wherein the launching time window of the D-type smart guided ammunition is
Figure FDA0003481174250000022
Wherein N is the total striking frequency of H-type fine-guide ammunition; k is HPrecisely guiding the striking frequency of the ammunition; t isDThe pharmacological thinking trajectory flight time of the D-class fine missile is shown.
6. The damage evaluation-oriented collaborative planning method for heterogeneous fine missile groups before launching as claimed in claim 1, wherein the number of F-class fine missile medicines is proportionally distributed according to the missile number ratio of each predicted time point.
7. The damage evaluation-oriented collaborative planning method before group launching of heterogeneous smart missiles according to claim 1, wherein in the step 2, pre-planned path points of missiles launched in the same batch cannot be overlapped, and certain safe distances exist between trajectories of different missiles; the routes of the missiles launched by the same launching platform can be overlapped, but the condition that the routes are crossed pairwise is not allowed to occur; missile routes launched by different launching platforms are not allowed to overlap, and route sections are not allowed to intersect pairwise.
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