CN115328191A - Method, system, equipment and storage medium for controlling cruise of grazing cruise target - Google Patents
Method, system, equipment and storage medium for controlling cruise of grazing cruise target Download PDFInfo
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Abstract
The invention provides a method, a system, equipment and a storage medium for controlling cruise of a grazing cruise target, wherein the method comprises the following steps: controlling the ground sweeping cruise target to enter a climbing early stage based on a preset climbing early stage control strategy; after secondary ignition of the grazing land cruise target is detected, controlling the grazing land cruise target to enter a climbing later period, a depression leveling period and a grazing land cruise period based on a preset control strategy, wherein a first attack angle instruction is determined according to a preset high-altitude instruction, and the preset control strategy is determined according to a sideslip angle instruction and the first attack angle instruction; in the depression leveling period, after the grazing cruise target is detected to reach the preset height in the depression leveling period, the grazing cruise target is controlled to perform linear depression leveling based on a preset control strategy; and when the secondary engine of the ground sweeping cruise target is detected to be flamed out, controlling the ground sweeping cruise target to dive based on a preset dive control strategy. The invention improves the safety of the grazing cruise target in the stage of pressing down and leveling and reduces the risk of touchdown.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a method, a system, equipment and a storage medium for controlling cruise of a grazing cruise target.
Background
At present, cruise targets have a huge market in China, wherein the grazing cruise targets have better penetration performance. However, the terrain of China is high in the west and low in the east, the altitude difference is large, and the corresponding air density difference is also large, so that the target aerodynamic lift force of the grazing cruise target in the plateau environment is small, and the grazing cruise target has the risk of touching the ground in the stage of pressing down to level.
In the prior art, increasing the missile wing area of a cruise target is generally adopted to improve the aerodynamic lift in flight. However, increasing the missile wing area of the target decreases the cruising speed of the target and increases the design cost.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defect that the touchdown risk exists in the stage of depression and leveling when the aerodynamic lift of the grazing cruise target is small in the prior art, so that the method, the system, the equipment and the storage medium for controlling the cruise of the grazing cruise target are provided.
In a first aspect, the present invention provides a method of cruise control of a grazing cruise target, the method comprising:
controlling the ground sweeping cruise target to enter a climbing early stage based on a preset climbing early stage control strategy;
when secondary ignition of the grazing land cruise target is detected, controlling the grazing land cruise target to enter a climbing later period, a depression leveling period and a grazing land cruise period based on a preset control strategy, wherein a first attack angle instruction is determined according to a preset high-altitude instruction, and the preset control strategy is determined according to a sideslip angle instruction and the first attack angle instruction;
in the depression leveling period, after the grazing cruise target is detected to reach the preset height in the depression leveling period, the grazing cruise target is controlled to perform linear depression leveling based on a preset control strategy;
and when the ground sweeping cruise target is detected to be powered off by the secondary engine, controlling the ground sweeping cruise target to dive based on a preset dive control strategy.
In the method, the grazing land cruise target is controlled to fly through the corresponding control strategy at different flying stages of the grazing land cruise target, and when the grazing land cruise target reaches the preset height of the depression leveling period, the grazing land cruise target is controlled to perform linear depression leveling, so that the grazing land cruise target is reduced to the grazing land cruise height according to linear change, the safety of the grazing land cruise target at the depression leveling period is improved, and the ground contact risk is reduced.
In an embodiment, the preset early-climbing control strategy is:
wherein, delta xc 、δ yc And delta zc Respectively roll, yaw and pitch rudder yaw angle commands, k px 、k dx 、k py 、k dy 、k pz And k dz For controlling the coefficients, γ, β and α are the roll angle, the sideslip angle and the angle of attack, ω, respectively x 、ω y And ω z Roll, yaw and pitch angular velocities, respectively.
In one embodiment, after secondary ignition of the grazing cruise target is detected, the grazing cruise target is controlled to enter a post-climb period, a depression leveling period and a grazing cruise period based on a preset control strategy, and the method comprises the following steps:
when secondary ignition of the grazing cruise target is detected, controlling the grazing cruise target to enter a climbing later period and a depression leveling period based on a preset control strategy;
determining the real-time height setting of the depression leveling period based on the preset height instruction;
and when the grazing cruise target is detected to reach the fixed height, controlling the grazing cruise target to perform linear depression and leveling based on the preset control strategy.
In the method, after secondary ignition of the ground sweeping cruise target is detected, the ground sweeping cruise target is controlled to enter the climbing later stage, so that the phenomenon of 'bullet falling' of a climbing section caused by factors such as thrust deflection and the like can be prevented, and the initial launch angle is raised; when the grazing cruise target is detected to reach the fixed height, the grazing cruise target is controlled to be linearly pressed down and leveled, and the safety of pressing down and leveling of the grazing cruise target can be improved.
In one embodiment, the preset control strategy is:
wherein alpha is c A first angle of attack command;
the first angle of attack instruction is:
wherein k is pz2 And k iz2 For control coefficients, H is altitude, H c (t) is a preset high command that varies in time.
In one embodiment, the predetermined high instruction H c (t) is:
wherein, T dh Is the second stage ignition time, H c0 Is a predetermined glancing height H 1 Is a predetermined height value, T 6 Is the expected leveling time point.
In an embodiment, the preset diving control strategy is:
wherein k is ix To control the coefficient, t 0 Is time zero, t is time, beta c And alpha c The sideslip angle instruction and the second attack angle instruction are generated by an outer ring guidance link;
the second attack angle instruction is:
wherein k is pz1 And k iz1 To control the coefficient, θ c Indicating a ballistic inclination command, θ d Is the inclination of the trajectory, t 0 Time zero, t is time.
In a second aspect, the present invention provides a grazing cruise target cruise control system, the system comprising:
the first control module is used for controlling the swept-area cruise target to enter a climbing early stage based on a preset climbing early stage control strategy;
the second control module is used for controlling the grazing land cruise target to enter a climbing later period, a depression leveling period and a grazing land cruise period based on a preset control strategy after secondary ignition of the grazing land cruise target is detected, wherein in the depression leveling period, when the grazing land cruise target is detected to reach a preset height of the depression leveling period, the grazing land cruise target is controlled to linearly depress and level based on the preset control strategy;
in the depression leveling period, when the grazing cruise target is detected to reach the preset height of the depression leveling period, the grazing cruise target is controlled to perform linear depression leveling based on a preset control strategy;
and the third control module is used for controlling the ground sweeping cruise target to dive based on a preset dive control strategy after the secondary engine of the ground sweeping cruise target is detected to be flamed out.
In a third aspect, the present invention provides a computer device, comprising a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing therein computer instructions, and the processor executing the computer instructions to perform the cruise control method for a grazing cruise target according to any one of the first aspect and its optional embodiments.
In a fourth aspect, the present invention provides a computer readable storage medium having stored thereon computer instructions for causing a computer to execute the method for cruise control of a grazing cruise target of any one of the first aspect and its alternative embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic representation of various stages in a cruise process of an existing cruise target;
FIG. 2 is a flow chart of a method for cruise control of a grazing cruise target according to an embodiment of the present invention;
FIG. 3 is a schematic representation of the stages of the cruise trajectory of a grazing cruise target as proposed by an embodiment of the present invention;
FIG. 4 is a diagram illustrating a standard ballistic curve at a relative altitude of 15m in a plateau environment according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating a limit ballistic height curve at a relative height of 15m for sweeping a ground in a plateau environment according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a local ballistic inclination curve of a limited ballistic trajectory at a relative height of 15m in a plateau environment according to an embodiment of the present invention;
FIG. 7 is a diagram illustrating an extreme ballistic altitude curve obtained from a plateau environment at a relative altitude of 50m when sweeping the ground;
FIG. 8 is a schematic diagram of a limit ballistic local ballistic inclination curve at a relative altitude of 50m for sweeping terrain in a plateau environment according to an embodiment of the present invention;
FIG. 9 is a diagram illustrating a limit ballistic angle of attack curve at a relative altitude of 50m for sweeping a ground in a plateau environment according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of the same-limit ballistic altitude curve for a relative altitude of 5m when sweeping the ground in a plateau environment according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of local ballistic inclination curves of the same-limit ballistic trajectories at a relative height of 5m in a plateau environment according to an embodiment of the present invention;
FIG. 12 is a schematic diagram of the same-limit ballistic Mach number curve at a relative altitude of 5m in a highland environment according to an embodiment of the present invention;
fig. 13 is a block diagram of a grazing cruise target cruise control system according to an embodiment of the present invention;
fig. 14 is a schematic hardware structure diagram of a computer device according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The cruise trajectory of the existing cruise target is roughly divided into four parts, as shown in fig. 1, the trajectory is firstly lifted, namely, the "climbing" stage is entered, so as to avoid the "falling bullet" caused by factors such as thrust deflection and the like; secondly, the trajectory is pressed down and turned flat, namely, the trajectory enters a 'pressing down and turning flat' stage, and the trajectory inclination angle needs to be raised more quickly in the later stage of pressing down and turning flat, so that enough pneumatic pressure is required; then entering a 'ground sweeping cruising' stage; finally, entering a 'dive' stage.
In order to improve the safety of the grazing cruise target in the depression leveling stage, the embodiment of the invention provides the grazing cruise target cruise control method which is suitable for the subsonic cruise target, the grazing cruise target (hereinafter referred to as the target), a target drone, a cruise missile and the like, and is mainly applied to environments with small lifting force or air density in plateau areas and the like. As shown in fig. 2, the method includes the following steps S1 to S4.
Step S1: and controlling the grazing cruise target to enter the early climbing stage based on a preset early climbing stage control strategy.
In the embodiment of the invention: as shown in fig. 3, the climbing stage is divided into an early climbing stage and a late climbing stage, and the 1 st stage is the early climbing stage.
Specifically, the preset climbing early-stage control strategy is as follows:
wherein, delta xc 、δ yc And delta zc Respectively roll, yaw and pitch rudder yaw angle commands, k px 、k dx 、k py 、k dy 、k pz And k dz For controlling the coefficients, γ, β and α are the roll angle, the sideslip angle and the angle of attack, ω, respectively x 、ω y And ω z Roll, yaw and pitch angular velocities, respectively.
It should be noted that, each parameter related in the control strategy is reasonably set according to an actual application scenario, and is not specifically limited herein.
In the embodiment of the invention, the target is controlled to enter the early climbing stage based on the preset early climbing stage control strategy, and before secondary ignition, the rolling angle is mainly ensured to be near the zero position.
Step S2: and when secondary ignition of the grazing cruise target is detected, controlling the grazing cruise target to enter a climbing later period, a depression rotation leveling period and a grazing cruise period based on a preset control strategy.
In the embodiment of the invention: and when the target meets the overload instruction in the continuous preset period, the target is at the second-stage ignition moment. And when secondary ignition of the target is detected, controlling the target to enter the later climbing period based on a preset control strategy, wherein the 2 nd period is the later climbing period as shown in fig. 3.
When the target reaches the highest altitude of the climbing stage, the target is controlled to enter a depression leveling period based on a preset control strategy, as shown in fig. 3, the 3 rd stage and the 4 th stage are depression leveling periods, and the 5 th stage is a sweeping cruise period.
In the embodiment of the invention: a first attack angle instruction is determined according to a preset high-height instruction, a preset pressure-reducing leveling control strategy is determined according to the sideslip angle instruction and the first attack angle instruction, and as shown in fig. 3, the 4 th stage is a linear pressure-reducing leveling stage.
Specifically, after secondary ignition of the grazing cruise target is detected, the grazing cruise target is controlled to enter a climbing later period and a depression leveling period based on a preset control strategy;
determining the real-time high setting of the depression leveling period based on a preset high setting instruction;
when the grazing cruise target is detected to reach the fixed height, the grazing cruise target is controlled to conduct linear depression leveling based on a preset control strategy.
In the embodiment of the invention: the fixed height of the pressing-down leveling period is the highest altitude of the target in the climbing period, and the target is controlled to fall when the target reaches the fixed height.
And when the preset height of the target in the stage of pressing down and leveling is detected, controlling the target to perform linear pressing down and leveling based on a preset control strategy.
And step S3: and when the ground sweeping cruise target is detected to be powered off by the secondary engine, controlling the ground sweeping cruise target to dive based on a preset dive control strategy.
In the embodiment of the invention: as shown in fig. 3, stage 6 is a dive stage. The control strategy of the target in the stage of cruising on the swept ground and diving is consistent with that in the later stage of climbing, but the corresponding attack angle command is different.
Through the embodiment, the ground sweeping cruise target is controlled to fly through the corresponding control strategy at different flight stages of the ground sweeping cruise target, and when the ground sweeping cruise target reaches the preset height of the pressing-down leveling period, the ground sweeping cruise target is controlled to perform linear pressing-down leveling, so that the ground sweeping cruise target is reduced to the ground sweeping cruise height according to linear change, the safety of the ground sweeping cruise target at the pressing-down leveling period is improved, and the ground contact risk is reduced.
Specifically, the preset control strategy is as follows:
wherein alpha is c A first angle of attack command;
the first angle of attack instruction is:
wherein k is pz2 And k iz2 For control factor, H is altitude, H c (t) is a preset high command that varies over time.
Specifically, the high-altitude instruction H is preset c (t) is a height set according to a time-varying command, and specifically comprises the following steps:
wherein, T dh Is the second stage ignition time, H c0 Is a predetermined glancing height H 1 Is a predetermined height value, H 1 Greater than H c0 ，T 6 Is the expected leveling time point. In particular, in a plateau environment, H 1 The values of (d) may be: h 1 ＝H c0 +100. When the cruise target is in the plateau environment, T is used for improving the safety of target leveling 6 Should be properly enlarged.
Specifically, the preset dive control strategy is:
wherein k is ix To control the coefficient, t 0 Is time zero, t is time, beta c And alpha c The sideslip angle instruction and the second attack angle instruction are generated by an outer ring guidance link;
the second attack angle instruction is:
wherein k is pz1 And k iz1 To control the coefficient, θ c Indicating a ballistic inclination command, θ d Is the inclination of the trajectory, t 0 Time zero, t is time.
Note that, the above k px 、k dx 、k py 、k dy 、k pz 、k dz 、k ix 、k pz1 、k iz1 、k pz2 And k iz2 The control coefficients may be determined based on the actual conditions of the target cruise process.
In this embodiment, the technical solution corresponding to fig. 1 is used as a comparison group, as shown in fig. 4 to 6, fig. 4 to 6 respectively compare a standard ballistic curve at a relative height of 15m in a grazing ground, a certain limit ballistic altitude curve, and a certain limit ballistic local ballistic inclination angle curve in a plateau environment, and in some limit situations, for example, a negative lift force deviation, a positive mass deviation, and the like, when a target is pressed down, the ballistic inclination angle cannot be raised relatively quickly due to a small lift force, so that the target touches the ground, whereas the corresponding technical solution in this embodiment can improve the safety of the target when the target is pressed down and flattened.
In this embodiment, as shown in fig. 7 to 9, fig. 7 to 9 are a limit ballistic altitude curve, a ballistic inclination angle curve and a ballistic attack angle curve respectively when a plateau environment is 50m glancing relative to a height, in a limit situation of a control group, a depression is about 40m at a later stage of a depression leveling stage, and a higher attack angle is required for a rapid raising ballistic inclination angle control group. In order to ensure flight safety, the lowest relative cruising height of the control group should be more than 40m, and the embodiment can ensure that the target can safely turn flat when the lifting force is insufficient, and the cruising height can be reduced moderately to enable the target to cruise at ultra-low altitude and low ground.
Under the same limit condition, by adopting the technical scheme of the embodiment to perform grazing cruising at a relative height of 5m, as shown in fig. 10 to 12, fig. 10 to 12 are respectively a same limit ballistic altitude curve, a local ballistic inclination angle curve and a ballistic mach number curve when the relative height of 5m is grazing at a plateau environment. When the control group carries out 5m relative height grazing, the ground is touched in the stage of pressing down and rotating level, while the embodiment can safely rotate level and cruise at constant height, and can properly reduce the height of the grazing, in the embodiment, the lowest relative cruise height is 5m +/-2 m, so that the target has stronger breakthrough performance.
In summary, when the target navigates in a rough ground in a plateau environment, the target may touch the ground at low pressure and normal rotation because the aerodynamic lift force is small, and the embodiment can properly reduce the height of the target in the rough ground and enhance the breakthrough performance of the target.
Based on the same inventive concept, the invention also provides a cruise control system of the grazing cruise target.
FIG. 13 is a block diagram of a proposed ground-sweeping cruise target cruise control system according to an exemplary embodiment. As shown in FIG. 13, the system includes a first control module 1301, a second control module 1302, and a third control module 1303.
The first control module 1301 is used for controlling the ground sweeping cruise target to enter a climbing early stage based on a preset climbing early stage control strategy;
the second control module 1302 is configured to control the swept-ground cruise target to enter a climbing later period, a depression leveling period and a swept-ground cruise period based on a preset control strategy when secondary ignition of the swept-ground cruise target is detected, wherein a first attack angle instruction is determined according to a preset high-altitude instruction, and the preset control strategy is determined according to a sideslip angle instruction and the first attack angle instruction;
in the depression leveling period, when the grazing cruise target is detected to reach the preset height of the depression leveling period, the grazing cruise target is controlled to perform linear depression leveling based on a preset control strategy;
and the third control module 1303 is used for controlling the grazing cruise target to dive based on a preset dive control strategy after the secondary engine of the grazing cruise target is detected to be flamed out.
In one embodiment, the second control module 1302 includes:
the fourth control submodule is used for controlling the grazing cruise target to enter a climbing later period and a depression rotation leveling period based on a preset control strategy when secondary ignition of the grazing cruise target is detected;
the determining submodule is used for determining the real-time height setting of the depression leveling period based on a preset height instruction;
and the sixth control submodule is used for controlling linear depression and leveling based on a preset control strategy when the grazing cruise target is detected to reach the fixed height.
The specific limitations and beneficial effects of the grazing cruise target cruise control system can be referred to the limitations of the grazing cruise target cruise control method in the above, and the details are not repeated here. The various modules described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
Fig. 14 is a schematic hardware configuration diagram of a computer device according to an exemplary embodiment. As shown in fig. 14, the apparatus includes one or more processors 1410 and a storage 1420, where the storage 1420 includes persistent memory, volatile memory, and a hard disk, and one processor 1410 is taken as an example in fig. 14. The apparatus may further include: an input device 1430 and an output device 1440.
The processor 1410, memory 1420, input 1430, and output 1440 may be connected by a bus or other means, such as the bus connection illustrated in FIG. 14.
The memory 1420, which is a non-transitory computer readable storage medium, includes a persistent memory, a volatile memory, and a hard disk, and can be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the service management method in the embodiment of the present application. The processor 1410, by running non-transitory software programs, instructions, and modules stored in the memory 1420, performs various functional applications of the server and data processing, i.e., implementing any of the above described grazing cruise target cruise control methods.
The memory 1420 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data used as needed or desired, and the like. Further, memory 1420 may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory 1420 optionally includes memory located remotely from processor 1410, which may be connected to a data processing apparatus via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 1430 may receive input numeric or character information and generate key signal inputs related to user settings and function control. The output device 1440 may include a display device such as a display screen.
One or more modules are stored in the memory 1420 that, when executed by the one or more processors 1410, perform a grazing cruise target cruise control method as shown in fig. 2.
The product can execute the method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For details of the technology that are not elaborated in this embodiment, reference may be made specifically to the description related to the embodiment shown in fig. 2.
Embodiments of the present invention further provide a non-transitory computer storage medium, where a computer-executable instruction is stored in the computer storage medium, and the computer-executable instruction may execute the authentication method in any of the above method embodiments. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (9)
1. A grazing cruise target cruise control method is characterized by comprising the following steps:
controlling the ground sweeping cruise target to enter a climbing early stage based on a preset climbing early stage control strategy;
after secondary ignition of the grazing land cruise target is detected, controlling the grazing land cruise target to enter a climbing later period, a depression leveling period and a grazing land cruise period based on a preset control strategy, wherein a first attack angle instruction is determined according to a preset high-altitude instruction, and the preset control strategy is determined according to a sideslip angle instruction and the first attack angle instruction;
in the depression leveling period, after the grazing cruise target is detected to reach the preset height in the depression leveling period, the grazing cruise target is controlled to perform linear depression leveling based on a preset control strategy;
and when the ground sweeping cruise target is detected to be powered off by the secondary engine, controlling the ground sweeping cruise target to dive based on a preset dive control strategy.
2. The method of claim 1, wherein the preset pre-climb control strategy is:
wherein, delta xc 、δ yc And delta zc Respectively roll, yaw and pitch rudder yaw angle commands, k px 、k dx 、k py 、k dy 、k pz And k dz For controlling the coefficients, γ, β and α are the roll angle, the sideslip angle and the angle of attack, ω, respectively x 、ω y And ω z Roll, yaw and pitch angular velocities, respectively.
3. The method according to claim 1, wherein after secondary ignition of the grazing cruise target is detected, controlling the grazing cruise target to enter a late climb period, a depressed transition period and a grazing cruise period based on a preset control strategy, and comprises the following steps:
after secondary ignition of the grazing cruise target is detected, the grazing cruise target is controlled to enter a climbing later period and a depression leveling period based on a preset control strategy;
determining the real-time high setting degree of the depression leveling period based on the preset high setting degree instruction;
and when the grazing cruise target is detected to reach the fixed height, controlling the grazing cruise target to perform linear depression and leveling based on the preset control strategy.
4. The method of claim 3, wherein the preset control strategy is:
wherein alpha is c A first angle of attack command;
the first angle of attack instruction is:
wherein k is pz2 And k iz2 For control coefficients, H is altitude, H c (t) is a preset high command.
5. The method of claim 4,
the preset high-altitude instruction H c (t) is:
wherein, T dh Is the second stage ignition timing, H c0 Is a predetermined glancing height H 1 Is a predetermined height value, T 6 Is the expected leveling time point.
6. The method of claim 5, wherein the preset nose down control strategy is:
wherein k is ix To control the coefficient, t 0 Is time zero, t is time, beta c And alpha c The sideslip angle instruction and the second attack angle instruction are generated by an outer ring guidance link;
the second attack angle instruction is:
wherein k is pz1 And k iz1 To control the coefficient, θ c Indicating a ballistic inclination command, θ d Is the inclination of the trajectory, t 0 Is time zero and t is time.
7. A grazing cruise target cruise control system, the system comprising:
the first control module is used for controlling the ground sweeping cruise target to enter a climbing early stage based on a preset climbing early stage control strategy;
the second control module is used for controlling the grazing cruise target to enter a climbing later period, a depression leveling period and a grazing cruise period based on a preset control strategy after secondary ignition of the grazing cruise target is detected, wherein a first attack angle instruction is determined according to a preset high-altitude instruction, and the preset control strategy is determined according to a sideslip angle instruction and the first attack angle instruction;
in the depression leveling period, when the grazing cruise target is detected to reach the preset height of the depression leveling period, the grazing cruise target is controlled to perform linear depression leveling based on a preset control strategy;
and the third control module is used for controlling the ground sweeping cruise target to dive based on a preset dive control strategy after the secondary engine of the ground sweeping cruise target is detected to be flamed out.
8. A computer device comprising a memory and a processor, the memory and the processor being communicatively coupled to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the cruise control method according to any one of claims 1-6.
9. A computer-readable storage medium having stored thereon computer instructions for causing a computer to execute the ground-swerving cruise target cruise control method of any one of claims 1-6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210837005.4A CN115328191B (en) | 2022-07-15 | 2022-07-15 | Method, system, equipment and storage medium for controlling cruising of ground sweeping cruising target |
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| CN202210837005.4A CN115328191B (en) | 2022-07-15 | 2022-07-15 | Method, system, equipment and storage medium for controlling cruising of ground sweeping cruising target |
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| CN115659103A (en) * | 2022-12-27 | 2023-01-31 | 北京航天众信科技有限公司 | Method, device, medium and equipment for calculating roll angle of rotating target |
| CN115993847A (en) * | 2023-03-23 | 2023-04-21 | 北京航天众信科技有限公司 | Height setting method, device, medium and equipment of glancing cruise bomb |
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