CN114923365A - TVM-like guidance method and device - Google Patents
TVM-like guidance method and device Download PDFInfo
- Publication number
- CN114923365A CN114923365A CN202210631993.7A CN202210631993A CN114923365A CN 114923365 A CN114923365 A CN 114923365A CN 202210631993 A CN202210631993 A CN 202210631993A CN 114923365 A CN114923365 A CN 114923365A
- Authority
- CN
- China
- Prior art keywords
- missile
- target
- information
- guidance
- radar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention provides a TVM-like guidance method and a TVM-like guidance device, which belong to the field of TVM guidance and comprise missile information and target information measured by a ground guidance radar; the missile measures target information and sends the target information to a ground guidance station, and the ground guidance station extracts related information; the missile information and the target information are fused to form a control instruction; and sending the control command to the missile through an uplink channel, receiving the control command by the missile, and driving an actuating mechanism to adjust the posture of the missile to indirectly change the attack target of the missile trajectory. The method integrates the processing data of the active radar and the ground station, and greatly improves the accuracy of the guidance system; the precision loss when the ground station is far away from the missile and the target is made up by the high precision of active radar guidance; the problem of high-frequency flicker of a measurement signal when the missile is close to a target is solved by using the measurement data of the ground station; the accuracy is greatly improved by utilizing the strong operation processing capacity of the ground station computer.
Description
Technical Field
The invention belongs to the technical field of TVM guidance, and particularly relates to a TVM-like guidance method and device.
Background
TVM guidance (Track via mission, i.e., "guidance via missile", also known as command-and-seek guidance technology or active radar guidance technology). The TVM guidance system is developed gradually in order to cope with the new technology, new tactical tactics and more complex interference environment of enemy targets, is developed gradually under the limiting condition that the electronic technology of the last century cannot meet the requirement of complex processing of target signals on the missile, and is widely applied after eighties.
The TVM guidance system is a variant of semi-active homing guidance and has various advantages. However, TVM guidance systems require constant target exposure during missile flight control and have limited ability to cope with multiple targets.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a TVM-like guidance method and a TVM-like guidance device.
In order to achieve the above purpose, the invention provides the following technical scheme:
a TVM-like guidance method comprises the following steps:
acquiring missile operation information and target operation information;
mutually fusing missile operation information and target operation information, and generating a guidance instruction according to a fusion result;
and sending the guidance instruction to the missile, driving an executing mechanism of the missile to adjust the attitude of the missile, and indirectly changing the trajectory of the missile to attack the target.
Preferably, the missile operation information comprises missile position information, missile speed information and missile and ground guidance radar relative distance information,
the target operation information comprises target position information, target speed information, relative distance information between the target and the ground guidance radar, and position information of the target relative to the missile.
Preferably, the obtaining of the target position information, the target speed information and the relative distance information between the target and the ground guidance radar comprises the following steps:
the ground guidance radar transmitter generates a pulse train, and the pulse train is radiated and scanned outwards in the form of electromagnetic waves through the directional antenna;
the electromagnetic waves irradiate on the target, and after secondary scattering, a part of the electromagnetic waves reach the radar antenna and are sent to the receiver to be subjected to developed frequency mixing and detection processing so as to judge the direction and distance of the target/missile relative to the ground guidance radar and the speed information of the target/missile.
Preferably, the target/missile orientation (x) t ,y t ,z t ) The four-station three-dimensional time difference positioning method adopting the arrival time difference positioning method specifically comprises the following steps:
set the coordinates (x) of the master station of the ground guidance radar 0 ,y 0 ,z 0 ) Three secondary coordinates (x) i ,y i ,z i ) When the main station receives the target/missile secondary scattering electromagnetic waves, the secondary station also receives the target/missile secondary scattering electromagnetic waves and forwards the target/missile secondary scattering electromagnetic waves to the main station in real time, and the main station measures the arrival time difference of the two electromagnetic waves:
Δti＝(Ro-Ri-d i )/c
wherein R is o Is the line of sight distance, R, of the target/missile to the Master station i Is the line-of-sight distance, d, of the target/missile to the secondary station i i The length of a base line from a main station to a secondary station, c is the wave velocity, and the following are converted:
ΔR i ＝R o -R i ＝cΔt i +d i
wherein, Δ R i For the distance difference between the target/missile and the primary station and the secondary station, for the convenience of description, the time difference is replaced by the equation set:
from measured Δ R i Target/missile position (x) is obtained by solving with the site of the main station and the auxiliary station t ,y t ,z t )；
Relative distance between target/missile and main station of guided radar
Component v of target/missile absolute velocity on Ax axis x ＝Δx/x\Δt＝(x(t 2 )-x(t 1 ))/(t 2 -t 1 ) Similarly, v can be obtained y 、v z Having target/missile velocity vectors
Preferably, the position information of the target relative to the missile is acquired through an active radar seeker, the position information of the target relative to the missile comprises missile-target line-of-sight angular velocity information, missile-target radial velocity information and missile-target distance information, and the information acquisition method specifically comprises the following steps:
the target sight angle (alpha) of the target signal deviating from the longitudinal axis of the missile is obtained by directional angle measurement of the phase interferometer Γ ,β Γ ) I.e. the angle of the missile-target connection line from the longitudinal axis of the missile, the angular velocity information of the line of sight being
The missile-target radial velocity is measured by the Doppler principle, and when a relative motion exists between a target and a radar, the carrier frequency of a received echo signal generates a frequency shift, namely Doppler frequency shift, relative to the originally transmitted carrier frequency
In the formula v r Is the radial velocity of the target and the radar, lambda is the radar operating wavelength, f d Is a two-way Doppler frequency;
the missile-target distance is expressed by R' ═ c/2 · Δ t, where Δ t is the time between the electromagnetic wave to and from the missile and the target, and c is the wave speed.
Preferably, the line of sight angular velocity information
By the line-of-sight angle information (alpha) Γ ,β Γ ) And obtaining the differential.
Preferably, the mutual fusion of the missile operation information and the target operation information and the generation of the guidance instruction according to the fusion result comprise the following steps:
fusing the missile operation information and the target operation information through a data fusion operator;
wherein f (-) is a data fusion operator;
according to the guiding rule of proportion
And forming a control command, wherein sigma is an included angle between the velocity vector of the missile and a datum line, q is a line-of-sight angle, and K is a navigation ratio.
Another objective of the present invention is to provide a TVM-like guidance device, comprising:
the ground guidance radar is used for measuring missile position information, missile speed information, relative distance information between the missile and the ground guidance radar, target position information, target speed information and relative distance information between the target and the ground guidance radar in the running process of the missile;
the active radar guide head is used for measuring the position information of the target relative to the missile, and the position information of the target relative to the missile comprises missile-target line-of-sight angular velocity information, missile-target radial velocity information and missile-target distance information;
the radio controller is used for mutually fusing the missile operation information and the target operation information and generating a guidance instruction according to a fusion result;
and the instruction sending module is used for sending the guidance instruction to the missile, driving an execution mechanism of the missile to adjust the attitude of the missile, and indirectly changing the trajectory of the missile to attack the target.
The TVM-like guidance method and device provided by the invention have the following beneficial effects:
(1) the invention changes the semi-active radar guidance in the traditional TVM guidance technology into the active radar guidance, reserves a plurality of advantages of the traditional TVM guidance technology, and integrates the advantages of the active radar guidance technology at the same time:
(2) and the processing data of the active radar and the ground station are fused, so that the accuracy of the guidance system is greatly improved.
(3) And the precision loss when the ground station is far away from the missile target and the target is made up by the high precision of active radar guidance.
(4) The problem of high-frequency flicker of a measuring signal when the bullet and the target are close to each other is solved by using the ground station measuring data.
(5) The accuracy is greatly improved by utilizing the strong operation processing capacity of the ground station computer.
Drawings
In order to more clearly illustrate the embodiments of the present invention and the design thereof, the drawings required for the embodiments will be briefly described below. The drawings in the following description are only some embodiments of the invention and it will be clear to a person skilled in the art that other drawings can be derived from them without inventive effort.
Fig. 1 is a guidance principle of a TVM-like guidance method according to an embodiment of the present invention;
fig. 2 is a logic block diagram of a TVM-like guidance method according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention and can practice the same, the present invention will be described in detail with reference to the accompanying drawings and specific examples. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Example 1
The TVM-like guidance principle is shown in figure 1, a guidance loop of a missile is a closed loop system for measuring the positions of the missile and a target and realizing guidance control on the missile through a guidance method. The TVM-like guidance system mainly comprises a guidance radar, an on-missile active radar seeker, a radio controller, an autopilot, a missile and a kinematics link. The radio controller is divided into an uplink channel and a downlink channel for information transfer between the missile and the guidance radar, as shown in fig. 2.
The process of TVM-like guidance is as follows: after the missile is launched, the missile can be guided to a certain distance away from the target in a radio instruction guidance mode because the missile is far away from the target. The missile active radar seeker starts to work to measure the target azimuth motion information, and the measured information and the missile body motion information are sent to a ground guidance station through a missile downlink channel; meanwhile, the ground guidance station continuously measures the azimuth motion information of the missile and the target, performs data fusion with the target information transmitted by the missile to form a guidance instruction, and transmits the guidance instruction to the missile to control the missile to attack the target through an uplink channel.
Coordinate system
Ground coordinate system Axyz: the ground coordinate system is fixedly connected with the earth, and the origin A is taken at a ground station; the projection point of the Ax axis on the horizontal plane, which points to the target on the ground, is positive; the Ay axis is vertical to the ground and is positive upwards; the Az axis is perpendicular to the xAy plane and the orientation is determined according to the right hand rule.
Elastic coordinate system Ox 1 y 1 z 1 : the missile coordinate system is fixedly connected with a missile, and the origin O is taken on the missile centroid; ox (oxygen) 1 The axis is coincident with the longitudinal axis of the projectile body, and the pointing head is positive; oy 1 With axis in the longitudinal symmetry plane of the projectile body, perpendicular to Ox 1 Axis, positive upward; oz is a gas phase 1 Axis perpendicular to x 1 Oy 1 Plane, direction is determined according to the right hand rule.
Mathematical model
(1) Missile model
Missile state equation:
X m (k+1)＝Φ m (k+1,k)X m (k)+G m (k)V m (k)
in the formula, X m (k +1) is the missile state vector at the k +1 th moment, wherein the missile state vector comprises the position, the speed and the acceleration information of the missile
Φ m (k +1, k) is a state transition matrix at the kth time; g m (k) Is a control matrix; v m (k) Is the system process noise with a mean of zero and a covariance matrix of
Obeying a Gaussian distribution; (x) m ,y m ,z m ) Representing the missile position coordinates.
The observation of the ground guidance radar to the missile is generally the distance R m (k) Azimuth angle theta m (k) And pitch angle psi m (k) The observed quantity is:
Y(k)＝[R m (k),θ m (k),ψ m (k)]
the observation equation of the ground guidance radar for the missile is as follows:
Y(k)＝h 1 (X m (k))+W 1 (k)
in the formula h 1 (. to) is an observation function; w 1 (k) To observe noise, its mean is zero and the covariance matrix is C m
(2) Object model
Target state equation:
X t (k+1)＝Φ t (k+1,k)X t (k)+G t (k)V t (k)
in the formula, X t (k +1) is a state vector of the target at the (k +1) th moment, wherein the state vector comprises position, speed and acceleration information of the target
Φ t (k +1, k) is a state transition matrix at the kth time; g t (k) Is a control matrix; v t (k) Is the system process noise with a mean of zero and a covariance matrix of
A gaussian distribution.
The observed quantity of the ground-guided radar to the target is generally the distance R t (k) Azimuth angle theta t (k) And pitch angle psi t (k) The observed quantity is: z 1 (k)＝[R t (k),θ t (k),ψ t (k)]
The observation equation of the ground guidance radar to the target is as follows:
Z 1 (k)＝h 2 (X t (k))+W 2 (k)
in the formula h 2 (. to) is an observation function; w 2 (k) To observe noise, its mean is zero and the covariance matrix is C t .
The observed quantity of the missile active radar guide head to the target is generally distance and deviation angle of the target relative to the longitudinal axis of the missile, namely observed quantity Z 2 (k)＝[R t '(k),α Γ (k),β Γ (k)]The observation equation of the missile-borne active radar seeker radar is as follows:
Z 2 (k)＝h 3 (X t (k))+W 3 (k)
based on the above, the invention provides a TVM-like guidance method, when a missile is guided to enter a certain range from a target, an active radar seeker and a ground guidance radar start to work simultaneously to enter TVM-like guidance, as shown in FIG. 2, the following steps are specifically performed:
step 1, measuring target information, comprising:
(1) the ground guidance radar measures missile information and target information, the missile measures the target information and sends the target information to the ground guidance station, and the ground guidance station extracts related information;
after TVM-like guidance starts to work, the ground guidance radar transmitter generates a high-frequency high-power pulse train, and the high-frequency high-power pulse train is radiated and scanned outwards in an electromagnetic wave form through the directional antenna. And irradiating the electromagnetic wave on the target, wherein part of the secondarily scattered electromagnetic wave reaches the radar antenna and is transmitted to the receiver for developed frequency mixing and detection processing to judge the direction and distance of the target/missile relative to the ground guidance radar and the speed information of the target/missile.
Target orientation (x) t ,y t ,z t ) Four-station three-dimensional time difference location by using a time difference of arrival location method can be adopted. Coordinates of the Master station (x) 0 ,y 0 ,z 0 ) Three secondary coordinates (x) i ,y i ,z i ) The primary station receives the secondary scattering electromagnetic wave of the target, the secondary station also receives the secondary scattering electromagnetic wave of the target and forwards the secondary scattering electromagnetic wave to the primary station in real time,the master station measures the time difference of arrival of two electromagnetic waves:
Δt i ＝(R o -R i -d i )/c
wherein R is o Is the line-of-sight distance, R, of the target to the Master station i Is the line-of-sight distance of the target to secondary station i, d 0 The length of a base line from the main station to the secondary station, c is the wave velocity, and the following are transformed:
ΔR i ＝R o -R i ＝cΔt i +d i
wherein Δ R i For the distance difference between the target and the primary station and the secondary station, for the convenience of description, the time difference is replaced by the equation:
from measured Δ R i The target position (x) can be obtained by solving the station address of the main station and the auxiliary station t ,y t ,z t )；
Relative distance between target and master station of guided radar
Component v of target absolute velocity on Ax axis x ＝Δx/x\Δt＝(x(t 2 )-x(t 1 ))/(t 2 -t 1 ) Similarly, v can be obtained y 、v z Is provided with
Similarly, the missile position (x) can be measured by a ground-guided radar m ,y m ,z m ) Velocity vector of guided missile
Relative distance R between missile and guided radar main station m 。
(2) The missile measures target information and sends the target information to a ground guidance station, and the ground guidance station extracts related information;
when the ground guidance station measures the missile information and the target information, the missile also measures the related information of the target. The information carrier of the active radar seeker is generated by a transmitter carried by the seeker, is transmitted out through a forward antenna, then is used for receiving a target reflection signal through the same antenna, and is forwarded to a ground station through a downlink channel by a radio controller in real time for coherent processing, so that missile-target line-of-sight angular velocity information, missile-target radial velocity information and missile-target distance information are extracted.
By directional angle measurement of the phase interferometer, the line-of-sight angle (alpha) of the target signal deviating from the longitudinal axis of the unmanned aerial vehicle can be obtained Γ ,β Γ ) I.e. the angle of the missile-target connection line from the line of sight of the longitudinal axis of the drone. Line of sight angular velocity information
It can be obtained by line-of-sight angle or by scaling the output voltage of the antenna automatic orientation system.
Missile-target radial velocity can be measured by doppler principle. When there is a relative movement between the target and the radar, the carrier frequency of the received echo signal is shifted in frequency, i.e. Doppler shift, with respect to the originally transmitted carrier frequency by an amount corresponding to the Doppler shift
In the formula v r Is the radial velocity of the target and the radar, lambda is the radar operating wavelength, f d Is a two-way doppler frequency.
The missile-target distance can be represented by R' ═ c/2 · Δ t, where Δ t is the time between the electromagnetic wave to and from the missile and the target, and c is the wave speed.
And 2, mutually fusing the missile operation information and the target operation information, and generating a guidance instruction according to a fusion result.
The target position (x) measured by the ground guidance station is obtained by the above step 1 t ,y t ,z t ) Target velocity vector
Missile site (x) m ,y m ,z m ) Velocity vector of guided missile
Relative distance R between target and master station of guided radar t Relative distance R between missile and guided radar main station m (ii) a Target line-of-sight angle (alpha) determined by active radar seeker of missile Γ ,β Γ ) Target line of sight angular velocity
Missile-target radial velocity v r And missile-target distance R'.
At the moment, the data of the ground station has redundancy, the precision of the measured data can be further improved by adjusting the proportion of the measured data of the missile/ground station at different stages, and then parameters required by a guidance system are obtained and a control instruction is formed to drive the missile to attack the target.
According to the guiding rule of proportion
And forming a control command, wherein sigma is an included angle between the velocity vector of the missile and the datum line, q is a line-of-sight angle, and K is a navigation ratio.
And 3, sending the guidance instruction to the missile, driving an execution mechanism of the missile to adjust the attitude of the missile, and indirectly changing the trajectory of the missile to attack the target.
And sending the control command to the missile through an uplink channel, receiving the control command by the missile, and driving an executing mechanism to adjust the posture of the missile so as to indirectly change the attack target of the missile.
The above-mentioned embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, and any simple modifications or equivalent substitutions of the technical solutions that can be obviously obtained by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (8)
1. A TVM-like guidance method is characterized by comprising the following steps:
acquiring missile operation information and target operation information;
mutually fusing missile operation information and target operation information, and generating a guidance instruction according to a fusion result;
and sending the guidance instruction to the missile, driving an actuating mechanism of the missile to adjust the posture of the missile, and indirectly changing the trajectory of the missile to attack the target.
2. The TVM-like guidance method of claim 1, wherein the missile operation information includes missile position information, missile speed information, missile-to-ground guidance radar relative distance information,
the target operation information comprises target position information, target speed information, relative distance information of the target and the ground guidance radar, and position information of the target relative to the missile.
3. The TVM-like guidance method of claim 2, wherein the obtaining of the target position information, the target speed information, and the target-to-ground guidance radar relative distance information comprises the steps of:
the ground guidance radar transmitter generates a pulse train, and the pulse train is radiated and scanned outwards in the form of electromagnetic waves through the directional antenna;
the electromagnetic waves irradiate on the target, and after secondary scattering, a part of the electromagnetic waves reach the radar antenna and are transmitted to the receiver to be subjected to developed frequency mixing and detection processing so as to judge the direction and distance of the target/missile relative to the ground guidance radar and the speed information of the target/missile.
4. The TVM-like guidance method of claim 3, wherein the target/missile orientation (x) t ,y t ,z t ) The four-station three-dimensional time difference positioning method adopting the arrival time difference positioning method specifically comprises the following steps:
set the coordinates (x) of the master station of the ground guidance radar 0 ,y 0 ,z 0 ) Three secondary coordinates (x) i ,y i ,z i ) When the main station receives the target/missile secondary scattering electromagnetic waves, the secondary station also receives the target/missile secondary scattering electromagnetic waves and forwards the target/missile secondary scattering electromagnetic waves to the main station in real time, and the main station measures the arrival time difference of the two electromagnetic waves:
Δt i ＝(R o -R i -d i )/c
wherein R is o Is the line of sight distance, R, of the target/missile to the Master station i Is the line-of-sight distance, d, of the target/missile to the secondary station i i The length of a base line from the main station to the secondary station, c is the wave velocity, and the following are transformed:
ΔR i ＝R o -R i ＝cΔt i +d i
wherein, Δ R i For the distance difference between the target/missile and the primary station and the secondary station, and for the convenience of description, the time difference is replaced by the equation set:
from measured Δ R i Target/missile position (x) is obtained by solving with the site of the main station and the auxiliary station t ,y t ,z t )；
Relative distance between target/missile and main station of guided radar
Component v of target/missile absolute velocity on Ax axis x ＝Δx/x\Δt＝(x(t 2 )-x(t 1 ))/(t 2 -t 1 ) Similarly, v can be obtained y 、v z Having target/missile velocity vectors
5. The TVM-like guidance method of claim 4, wherein the position information of the target relative to the missile is acquired through an active radar seeker, the position information of the target relative to the missile comprises missile-target line-of-sight angular velocity information, missile-target radial velocity information and missile-target distance information, and the information acquisition method specifically comprises the following steps:
the target sight angle (alpha) of the target signal deviating from the longitudinal axis of the missile is obtained by directional angle measurement of the phase interferometer Γ ,β Γ ) I.e. the angle of the missile-target connection line from the longitudinal axis of the missile, the angular velocity information of the line of sight being
The missile-target radial velocity is measured by the Doppler principle, and when a relative motion exists between a target and a radar, the carrier frequency of a received echo signal generates a frequency shift, namely Doppler frequency shift, relative to the originally transmitted carrier frequency
In the formula v r Is the radial velocity of the target and the radar, lambda is the radar operating wavelength, f d Is the two-way Doppler frequency;
the missile-target distance is expressed by R' ═ c/2 · Δ t, where Δ t is the time between the electromagnetic wave to and from the missile and the target, and c is the wave speed.
6. The TVM-like guidance method of claim 5, wherein the line of sight angular velocity information
By the line-of-sight angle information (alpha) Γ ,β Γ ) And (4) differentiating to obtain.
7. The TVM-like guidance method according to claim 6, wherein the mutual fusion of the missile operation information and the target operation information and the generation of the guidance instruction according to the fusion result comprise the steps of:
fusing the missile operation information and the target operation information through a data fusion operator;
wherein f (-) is a data fusion operator;
according to the guiding rule of proportion
And forming a control command, wherein sigma is an included angle between the velocity vector of the missile and a datum line, q is a line-of-sight angle, and K is a navigation ratio.
8. A TVM-like guidance device comprising:
the ground guidance radar is used for measuring missile position information, missile speed information, relative distance information between the missile and the ground guidance radar, target position information, target speed information and relative distance information between the target and the ground guidance radar in the running process of the missile;
the active radar guide head is used for measuring the position information of the target relative to the missile, and the position information of the target relative to the missile comprises missile-target line-of-sight angular velocity information, missile-target radial velocity information and missile-target distance information;
the radio controller is used for mutually fusing the missile operation information and the target operation information and generating a guidance instruction according to a fusion result;
and the instruction sending module is used for sending the guidance instruction to the missile, driving an executing mechanism of the missile to adjust the posture of the missile, and indirectly changing the trajectory of the missile to attack the target.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210631993.7A CN114923365B (en) | 2022-06-07 | 2022-06-07 | TVM-like guidance method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210631993.7A CN114923365B (en) | 2022-06-07 | 2022-06-07 | TVM-like guidance method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114923365A true CN114923365A (en) | 2022-08-19 |
| CN114923365B CN114923365B (en) | 2023-01-17 |
Family
ID=82811906
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210631993.7A Active CN114923365B (en) | 2022-06-07 | 2022-06-07 | TVM-like guidance method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114923365B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5917442A (en) * | 1998-01-22 | 1999-06-29 | Raytheon Company | Missile guidance system |
| CN101832738A (en) * | 2010-04-28 | 2010-09-15 | 北京航空航天大学 | Remote air-to-air missile multi-platform cooperative guidance system and realization method thereof |
| CN107179021A (en) * | 2017-06-14 | 2017-09-19 | 北京理工大学 | Many bullet collaboration zero-miss guidance control methods under a kind of beam rider guidance system |
| CN108169746A (en) * | 2017-12-21 | 2018-06-15 | 南京理工大学 | Chirp Semi-active RADAR guidance header signal processing method |
| CN110345814A (en) * | 2019-06-14 | 2019-10-18 | 上海航天控制技术研究所 | A kind of terminal guidance algorithm not depending on itself target seeker metrical information |
| CN111965637A (en) * | 2020-08-20 | 2020-11-20 | 西安电子科技大学 | Projectile body analysis positioning method based on double/multiple base radars |
-
2022
- 2022-06-07 CN CN202210631993.7A patent/CN114923365B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5917442A (en) * | 1998-01-22 | 1999-06-29 | Raytheon Company | Missile guidance system |
| CN101832738A (en) * | 2010-04-28 | 2010-09-15 | 北京航空航天大学 | Remote air-to-air missile multi-platform cooperative guidance system and realization method thereof |
| CN107179021A (en) * | 2017-06-14 | 2017-09-19 | 北京理工大学 | Many bullet collaboration zero-miss guidance control methods under a kind of beam rider guidance system |
| CN108169746A (en) * | 2017-12-21 | 2018-06-15 | 南京理工大学 | Chirp Semi-active RADAR guidance header signal processing method |
| CN110345814A (en) * | 2019-06-14 | 2019-10-18 | 上海航天控制技术研究所 | A kind of terminal guidance algorithm not depending on itself target seeker metrical information |
| CN111965637A (en) * | 2020-08-20 | 2020-11-20 | 西安电子科技大学 | Projectile body analysis positioning method based on double/multiple base radars |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114923365B (en) | 2023-01-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP0797068B1 (en) | A guidance system for air-to-air missiles | |
| US7425918B2 (en) | System and method for the measurement of full relative position and orientation of objects | |
| JP2802052B2 (en) | Combined SAR monopulse and inverse monopulse weapon guidance | |
| CN107179021B (en) | More bullets cooperate with zero-miss guidance control methods under a kind of beam rider guidance system | |
| CN109669480B (en) | Seeker control method for predicting target position | |
| CN110208801B (en) | Universal SAR imaging PRF optimization design method | |
| CN112526872B (en) | Method for processing guidance and terminal guidance handover and guidance information in constraint with large falling angle | |
| CN109613842A (en) | One kind becoming laser energy emulation mode and system for unmanned plane laser-guided bomb | |
| CN111649624A (en) | Space miniature precise guided weapon control method | |
| CN111025282A (en) | Tracking radar data processing method | |
| CN111324149A (en) | Composite guidance method based on line-of-sight angle information and preposed guidance information | |
| CN110764523A (en) | Proportional-integral pre-guiding attack target method based on anti-saturation smooth transformation | |
| CN114489101B (en) | Terminal guidance control method and system for unmanned aerial vehicle | |
| CN105445757B (en) | A kind of vehicles guiding system and bootstrap technique | |
| CN114923365B (en) | TVM-like guidance method and device | |
| CN109543135A (en) | Based on information, maximumlly more AUV cooperate with guidance method simultaneously to one kind | |
| CN110645843B (en) | High-dynamic compensation guidance control system and method for high-speed maneuvering target | |
| CN102176013A (en) | Mixing degree extracting method for Missile-borne non-ideal staring spotlight SAR (synthetic aperture radar) | |
| CN116400734A (en) | Multi-strategy online outburst prevention track planning method based on multi-curve combination | |
| CN114485676B (en) | Track planning method of distributed flying radar platform | |
| RU2436032C1 (en) | Guided missile control method | |
| Maklouf et al. | Performance Evaluation of Proportional Navigation Homing Guidance Law | |
| CN114608391B (en) | Cannonball guidance method and system with stealth effect | |
| CN115289908B (en) | Remote control instruction air-defense missile introduction section guiding method and device | |
| Wang et al. | A three dimensional guidance and control method for suicide UAV and the flight test verification |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |