CN115823972A - Guided missile fuze explosion point control method - Google Patents

Guided missile fuze explosion point control method Download PDF

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CN115823972A
CN115823972A CN202211605470.1A CN202211605470A CN115823972A CN 115823972 A CN115823972 A CN 115823972A CN 202211605470 A CN202211605470 A CN 202211605470A CN 115823972 A CN115823972 A CN 115823972A
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missile
target
point
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ploy
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庄志洪
周鑫
王宏波
李磊
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Nanjing University of Science and Technology
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Nanjing University of Science and Technology
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Abstract

The invention discloses a missile detonator explosion point control method, which comprises the following steps: (10) parameter initialization: initializing various parameters of an aerial target, a missile and a warhead according to actual conditions; (20) constructing a battle area killing field model: constructing a killing field model according to the missile position attitude parameters and the warhead parameters; (30) ideal frying point calculation: calculating the ideal explosion point position of each trajectory; (40) fitting a program delay function based on the ant colony algorithm: fitting a program delay function according to ideal explosion points, relative speed of missile eyes, relative missile early arrival direction and miss distance information; (50) actual fry point calculation: and substituting the relative speed of the missile eyes, the relative missile early arrival direction and the miss distance provided by the missile flight control and the fuze into a program delay function, and calculating to obtain the actual position of the explosion point. The missile fuze explosion point control method provides a new explosion point calculation model, and can improve the accuracy of explosion point control.

Description

Guided missile fuze explosion point control method
Technical Field
The invention belongs to the technical field of guided fuzes, and relates to a guided missile fuze explosion point control method.
Background
According to the traditional side-looking fuze guidance, after a target is detected, detonation is carried out after fixed detonation delay, and due to the fact that influences such as relative speed, missile early arrival direction and miss distance are ignored, the calculated position deviation of a detonation point is large, and effective killing on the target is difficult to cause. At present, when the position of a detonation point is calculated under a side-looking fuze system, some scholars take relative speed into consideration, detonation is carried out after detonation delay is calculated by setting an algorithm related to relative speed of a bullet, and the accuracy of the detonation point is effectively improved. In order to further improve the target killing efficiency of the missile, the calculation of program delay by substituting the relative early arrival direction and the miss distance of the missile is very important.
The problems existing in the prior art are as follows: a certain error exists in the detonation delay calculated by using the fixed detonation delay or only considering the relative speed of the missile, the influence of the missile on the relative early arrival direction and the miss distance is ignored, and the killing effect of the missile on a target is reduced.
Disclosure of Invention
The invention aims to provide a missile detonator explosion point control method which can output more accurate detonation delay and has better target striking effect.
The technical solution for realizing the purpose of the invention is as follows: a missile fuze explosion point control method comprises the following steps:
(10) Initializing parameters: initializing various parameters of an aerial target, a missile and a warhead according to actual conditions;
(20) Constructing a warhead killing field model: constructing a killing field model according to the missile position attitude parameters and the warhead parameters;
(30) Calculating an ideal frying point: calculating the ideal explosion point position of each trajectory;
(40) Fitting a program delay function based on an ant colony algorithm: fitting a program delay function according to ideal explosion points, relative speed of missile eyes, relative missile early arrival direction and miss distance information;
(50) And (3) calculating an actual explosion point: and substituting the relative speed of the missile eyes, the relative missile early arrival direction and the miss distance provided by the missile flight control and the fuze into a program delay function, and calculating to obtain the actual position of the explosion point.
Preferably, the parameters to be initialized in step (10) are as follows:
the target position attitude parameters comprise a speed indicator of the targetQuantity V t Yaw angle T yaw Pitch angle T pitch And a roll angle T roll ；
The missile position attitude parameters comprise the velocity scalar V of the missile m Yaw angle M yaw Angle of pitch M pitch Roll angle M roll And an initial projectile distance R tm ；
The parameters of the warhead include Center offset of the warhead, angle of static dispersion, and killing radius R kill Static flying direction angle alpha, static explosion initial velocity scalar V s 。
Preferably, in the step (10), missile parameters are randomly sampled within a certain range according to missile characteristics to initialize missile parameters, target parameters are randomly sampled within a certain range according to target characteristics to initialize target parameters, and a killing field is initialized according to parameters of a battle area.
Preferably, the specific method for constructing the killing field model according to the missile position attitude parameters and the warhead parameters comprises the following steps:
(21) Determining the initial position of the missile: according to the initial distance R of the bullet tm Determining missile initial position M by summing missile eye attitude angles position ；
(22) Killer field line segment start determination: determining the starting point Start [ i ] of the ith line segment of the killing field in a eye-linked relative speed coordinate system, specifically:
Start[i].x＝M position .x+Center
Start[i].y＝M position .y
Start[i].z＝M position .z
wherein Start [ i ] x, start [ i ] y, and Start [ i ] z respectively represent three-axis coordinate values of the Start point of the line segment,
M position .x、M position .y、M position z represents the three-axis coordinate value of the missile position, respectively, and the Center represents the Center offset of the warhead;
(23) And (3) determining the killing field line terminal: determining the terminal End [ i ] of the ith line segment of the killing field in a visual link relative speed coordinate system, specifically:
killer static flyaway vector under missile coordinate system:
Figure BDA0003998666060000021
Figure BDA0003998666060000022
Figure BDA0003998666060000023
in the formula V kill [i].x、V kill [i].y、V kill [i]Z represents the three-axis coordinate value, V, of the static scattering vector of the killer element, respectively s Representing a static detonation initial velocity scalar, alpha representing a static flying direction Angle, and Angle representing a static flying Angle;
and transferring the killer cell static flyoff vector to the geodetic coordinate system:
missile roll angle transformation matrix M [roll]
Figure BDA0003998666060000031
Missile yaw angle transformation matrix M [yaw]
Figure BDA0003998666060000032
Missile pitch angle transformation matrix M [pitch]
Figure BDA0003998666060000033
In the formula, ag missile .x、Ag missile .y、Ag missile Z is the roll angle degree, yaw angle degree and pitch angle degree of the missile respectively;
v in geodetic coordinate system kill [i]
Figure BDA0003998666060000034
Superposing a relative velocity vector on the killer cell static flyoff vector to obtain a killer cell dynamic flyoff vector:
V kill [i]＝V kill [i]+VR
wherein VR is a relative velocity vector;
calculating the End point End [ i ] of the killing field line segment
Figure BDA0003998666060000035
Wherein Start [ i ]]Indicating the beginning of the ith line segment of the killing field, R kill The radius of killing.
Preferably, according to the initial distance R of the projectile tm Determining missile initial position M by summing missile eye attitude angles position The specific method comprises the following steps:
according to the target attitude angle Ag taget Determining a roll angle transformation matrix T of an object [roll] Target yaw angle transformation matrix T [yaw] And target pitch angle transformation matrix T [pitch] ；
Target roll angle transformation matrix T [roll] ：
Figure BDA0003998666060000041
Target yaw angle transformation matrix T [yaw] ：
Figure BDA0003998666060000042
Target pitch angle transformation matrix T [pitch] ：
Figure BDA0003998666060000043
In the formula, ag taget .x、Ag taget .y、Ag taget Z is the roll angle degree, yaw angle degree and pitch angle degree of the target, respectively;
transforming matrix T according to target roll angle [roll] Target yaw angle transformation matrix T [yaw] Target pitch angle transformation matrix T [pitch] Determining a missile velocity vector VM, a target velocity vector VT and a missile-target relative velocity vector VR, which are respectively as follows:
Figure BDA0003998666060000044
Figure BDA0003998666060000045
VR＝VM-VT
according to the relative speed vector VR of the bullet eyes and the initial distance R of the bullet eyes tm Determining missile initial position M position ：
Figure BDA0003998666060000046
Preferably, said (30) ideal fry point calculating step comprises:
(31) Definition of ideal frying points: setting the target position to be fixed, moving the missile and the killing field in the direction of the relative speed of the missile-target, and when the killing field passes through the geometric center of the target, considering that the killing effect of a warhead on the target is the best under the condition, wherein the geometric center position of the missile at the current moment is the position of an ideal explosion point;
(32) Calculating the distance of missile movement when the killing field passes through the geometric center of the target: establishing a ray with a target geometric center Dot as a starting point and a bullet relative speed motion reverse direction as a direction, and traversing whether a triangular surface element formed by two adjacent killing field line segments intersects with the ray or not and an intersection point when the triangular surface element intersects with the ray;
the initial positions of two adjacent killing field line segments are the same, and the initial position of the starting point and the end positions of the two line segments are recorded as a triangular surface element ploy;
ploy[0]＝Start[1]＝Start[2]
ploy[1]＝End[1]
ploy[2]＝End[2]
wherein ploy [0], ploy [1] and ploy [2] are respectively coordinates of three vertexes of a triangular surface element, start [1] and Start [2] are respectively coordinates of starting points and initial positions of two killing field line segments, and End [1] and End [2] are respectively coordinates of End points of the two killing field line segments;
the normal vector normal for ploy is:
normal＝(ploy[1]-ploy[0])×(ploy[2]-ploy[0])
if normal · VR =0, intersection is not possible, and the remaining case ray intersects the plane where the triangular bin is located, and intersection point inte is:
Figure BDA0003998666060000051
and (3) judging that the intersection point falls into a triangular surface element ploy:
PA＝ploy[0]-Intert
PB＝ploy[1]-Intert
PC＝ploy[2]-Intert
t1＝PA×PB
t2＝PB×PC
t3＝PC×PA
in the formula, PA, PB and PC respectively represent vectors from an intersection point Intert to three vertexes of a triangular surface element ploy, t1, t2 and t3 are vectors obtained by pairwise cross multiplication of the three vectors PA, PB and PC, and if t1, t2 and t3 have the same sign, the intersection point is in the triangular surface element;
the distance of missile motion when the killing field passes through the geometric center of the target is as follows:
Figure BDA0003998666060000052
wherein Intert.x, intert.y and Intert.z respectively represent the three-axis coordinate value of the intersection point, and dot.x, dot.y and dot.z are the three-axis coordinate value of the target geometric center;
(33) The ideal shot point coordinates, optBurst, are calculated as:
Figure BDA0003998666060000061
in the formula M position Representing the target position, and VR is the relative speed vector of the bullet.
Preferably, the (40) ant colony algorithm-based fitting procedure delay function procedure comprises:
(41) Acquiring the relative speed of a missile target, an ideal explosion point, the relative missile early arrival direction and miss distance information as a data set of a fitting function;
initializing according to the (10) parameters to obtain N random trajectories, and calculating according to the (30) optimal firing point to obtain the relative speed of the missile, the ideal firing point, the early arrival direction of the relative missile and the miss distance information, wherein the early arrival direction AREBird of the relative missile is defined as the following steps:
the miss plane is a plane passing through the geometric center of the target and vertical to the relative motion track of the elastic target;
the attack plane is a plane determined by the missile velocity vector and the target velocity vector;
the miss point is the intersection point of the relative movement track of the bullet eyes and the miss plane;
the relative missile early arrival direction is an included angle between a connecting line L1 of the target miss point and the geometric center of the target and a connecting line L2 of an attack plane and the target miss plane, and the positive direction is the connecting line and OY r Angle of axis, along OX r When the direction is seen, the clockwise rotation is positive, the L1 azimuth is greater than the L2 azimuth, and the value ranges from 0 degree to plus or minus 180 degrees]；
(42) Establishing a program delay function:
Figure BDA0003998666060000062
in the formula x 1 As a bullet relative velocity scalar, x 2 Relative missile early arrival orientation, x 3 For miss distance, y is program delay, a, b, c, d, e are modesA type parameter;
(43) Establishing an ant colony algorithm target function;
Figure BDA0003998666060000063
a∈J 1 ,b∈J 2 ,c∈J 3 ,d∈J 4 ,e∈J 5
wherein N is the number of data sets, VR is the scalar of the relative speed of the missile, AREBird is the relative missile early arrival direction, rou is the miss distance, J 1 、J 2 、J 3 、J 4 、J 5 The range of the estimated values for a, b, c, d, e is specified;
(44) Ant colony algorithm local search, each ant randomly searches in own neighborhood space, and when the new position is searched
Figure BDA0003998666060000064
If the target function is smaller than the original target function value, the ant is updated to a new position, otherwise, the ant does not move;
Figure BDA0003998666060000071
P i ＝(a,b,c,d,e)
in the formula P i The original position of the ants is the position of the ants,
Figure BDA0003998666060000072
is a new position of ants;
(45) Performing global search by using an ant colony algorithm, wherein each ant performs global random search or search according to pheromone distribution, wherein the pheromone is an objective function value of the current ant position;
Figure BDA0003998666060000073
0<q<10<q 0 <1
Figure BDA0003998666060000074
0<h<1 0<h 0 <1 0<α<1
in the formula P j The position of ant with smaller objective function value, h is transfer probability random number, h 0 For a set transition probability constant, α is a set transition step constant.
Preferably, the (50) actual fry point calculation process is:
recording missile position P when fuze detects target 1 Substituting the relative speed of the missile, the relative missile early arrival direction and the miss distance into a program delay model to calculate the actual program delay t d And calculating the distance d of the missile movement in the actual program delay process 1 ：
d 1 ＝VR·t d
Calculating the time delay t of the security mechanism s Distance d of missile movement in process 2 ：
d 2 ＝VR·t s
From P 1 The point is translated along the direction of the relative speed vector of the bullet 1 +d 2 Obtaining the actual explosion point position BurstRel:
Figure BDA0003998666060000075
compared with the traditional frying point control method, the invention has the remarkable advantages that:
1. the control of the frying point is more accurate: the influence of the relative speed of the missile eyes, the early arrival direction and the miss distance of the missile on the program delay calculation is considered, so that the control of an explosion point is more accurate, and the damage effect of the missile on the target is improved.
2. The calculated amount is small: the process of fitting the program delay function by using the ant colony algorithm can be operated off line, so that the calculated amount of program delay is reduced when the actual missile attacks the target.
The invention is described in further detail below with reference to the figures and the detailed description.
Drawings
Fig. 1 is a main flow chart of a missile fuze explosion point control method.
Fig. 2 is a flow chart of the warhead killing field model configuration of fig. 1.
FIG. 3 is a flow chart of the ideal fry spot location calculation process of FIG. 1.
Fig. 4 is a flowchart of the ant colony algorithm-based fitting routine delay function in fig. 1.
Detailed Description
As shown in fig. 1, the method for controlling the firing point of the missile fuze comprises the following steps:
(10) Initializing parameters: initializing target position attitude parameters, missile position attitude parameters and various parameters of a warhead;
in the parameter initialization step (10), the parameters to be initialized are as follows:
the target position attitude parameter comprises a velocity scalar V of the target t (unit meter per second), yaw angle T yaw (unit degree), pitch angle T pitch (unit degree), roll angle T roll (degree of units);
the missile position attitude parameters comprise the velocity scalar V of the missile m (unit meter per second), yaw angle M yaw (unit degree), pitch angle M pitch (unit degree), roll angle M roll (in degrees) and initial projectile distance R tm (unit meter);
the parameters of the warhead include Center offset of the warhead, angle of static dispersion, and killing radius R kill (unit meter), static flying angle alpha (unit degree), static explosion initial velocity scalar V s (units of meters per second);
the missile parameters are randomly sampled within a certain range according to the characteristics of the missile to initialize the missile parameters, the target parameters are randomly sampled within a certain range according to the target characteristics to initialize the target parameters, and the killing field is initialized according to the parameters of a battle area.
(20) Constructing a warhead killing field model: constructing a killing field model according to the missile position attitude parameters and the warhead parameters;
as shown in fig. 2, the step of (20) constructing a warhead killing field model comprises:
(21) And (3) missile initial position determination: according to the initial distance R of the bullet tm Determining missile initial position M by summing missile eye attitude angles position ；
According to the target attitude angle Ag taget ：
Figure BDA0003998666060000081
Figure BDA0003998666060000082
Figure BDA0003998666060000091
Target roll angle transformation matrix T [roll]
Figure BDA0003998666060000092
Target yaw angle transformation matrix T [yaw]
Figure BDA0003998666060000093
Target pitch angle transformation matrix T [pitch]
Figure BDA0003998666060000094
Missile velocity vector VM, target velocity vector VT, missile-target relative velocity vector VR
Figure BDA0003998666060000095
Figure BDA0003998666060000096
VR＝VM-VT
According to the relative speed vector VR of the bullet eyes and the initial distance R of the bullet eyes tm Determining missile initial position M position :
Figure BDA0003998666060000097
(22) Killer field line segment start determination: determining the starting point Start [ i ] of the ith line segment of the killing field in a relative speed coordinate system of the eye joint;
starting point of a killer field line section under a missile coordinate system:
Start[i].x＝Center
Start[i].y＝0
Start[i].z＝0
and (3) turning the starting point of the killing field line section to a position below a target-linked relative speed coordinate system:
Start[i].x＝M position .x+Center
Start[i].y＝M position .y
Start[i].z＝M position .z
(23) And (3) determining the end point of the killing field line section: determining the terminal End [ i ] of the ith line segment of the killing field in a relative speed coordinate system of the eye joint;
killer static flyaway vector under missile coordinate system:
Figure BDA0003998666060000101
Figure BDA0003998666060000102
Figure BDA0003998666060000103
and transferring the killer cell static flyoff vector to the geodetic coordinate system:
missile roll angle transformation matrix M [roll]
Figure BDA0003998666060000104
Missile yaw angle transformation matrix M [yaw]
Figure BDA0003998666060000105
Missile pitch angle transformation matrix M [pitch]
Figure BDA0003998666060000106
V in geodetic coordinate system kill [i]
Figure BDA0003998666060000107
V in geodetic coordinate system kill [i]
Figure BDA0003998666060000108
Superposing a relative velocity vector on the killer cell static flyoff vector to obtain a killer cell dynamic flyoff vector:
V kill [i]＝V kill [i]+VR
calculating a killing field line segment End [ i ]:
Figure BDA0003998666060000111
(30) Calculating an ideal frying point: calculating the ideal explosion point position of each trajectory;
as shown in fig. 3, the (30) ideal frying point calculating step includes:
(31) Definition of ideal frying points: the position of a target is set to be fixed, the missile and a killing field move in the direction of the relative speed of the missile and the target, when the killing field passes through the geometric center of the target, the killing effect of a warhead on the target is considered to be the best under the condition, and the geometric center position of the missile at the current moment is the position of an ideal explosion point.
(32) Calculating the distance of missile movement when the killing field passes through the geometric center of the target: establishing a ray with a target geometric center Dot as a starting point and the opposite direction of relative speed movement of the bullet as a direction, and traversing whether a triangular surface element formed by two adjacent killing field line segments intersects with the ray or not and an intersection point;
the initial positions of two adjacent killing field line segments are the same, and the initial position of the starting point and the end positions of the two line segments are recorded as a triangular surface element ploy;
ploy[0]＝Start[1]＝Start[2]
ploy[1]＝End[1]
ploy[2]＝End[2]
the normal vector normal for ploy is:
normal＝(ploy[1]-ploy[0])×(ploy[2]-ploy[0])
if normal · VR =0, intersection is not possible, and the remaining case ray intersects the plane where the triangular bin is located, and intersection point inte is:
Figure BDA0003998666060000112
and judging whether the intersection point falls into a triangular surface element ploy:
PA＝ploy[0]-Intert
PB＝ploy[1]-Intert
PC＝ploy[2]-Intert
t1＝PA×PB
t2＝PB×PC
t3＝PC×PA
wherein PA, PB, and PC respectively represent vectors from the intersection point inte to three vertices of the triangular surface element ploy, and if t1, t2, and t3 have the same sign, the intersection point is within the triangular surface element.
The distance of missile motion when the killing field passes through the geometric center of the target is as follows:
Figure BDA0003998666060000121
(33) The ideal fry point coordinates OptBurst are:
Figure BDA0003998666060000122
(40) Fitting a program delay function based on an ant colony algorithm: and fitting a program delay function according to the ideal explosion point, the relative speed of the missile target, the relative missile early arrival direction and the miss distance information.
As shown in fig. 4, the step of (40) fitting the program delay function based on the ant colony algorithm includes:
(41) Acquiring information of relative speed of a missile target, an ideal explosion point, a relative missile early arrival direction and miss distance as a data set;
initializing N random trajectories according to the (10) parameters, and calculating to obtain the relative speed of the missile, the ideal bomb point, the early arrival direction of the relative missile and the miss distance information according to the (30) optimal bomb point, wherein the early arrival direction AREBird of the relative missile is defined as the following steps:
the miss plane is a plane passing through the geometric center of the target and vertical to the relative motion track of the bullet;
the attack plane is a plane determined by the missile velocity vector and the target velocity vector;
the miss point is the intersection point of the relative movement track of the elastic target and the miss plane;
the relative missile early arrival direction is an included angle between a connecting line L1 of the target miss point and the geometric center of the target and a connecting line L2 of an attack plane and the target miss plane, and the positive direction is the connecting line and OY r Angle of axis, along OX r When the direction is seen, the clockwise rotation is positive, the L1 azimuth is greater than the L2 azimuth, and the value ranges from 0 degree to plus or minus 180 degrees]。
(42) Establishing a program delay function;
Figure BDA0003998666060000123
wherein x 1 As a bullet relative velocity scalar, x 2 Relative missile early arrival orientation, x 3 The miss distance is, y is the program delay, and a, b, c, d, e are model parameters.
(43) Establishing an ant colony algorithm target function;
Figure BDA0003998666060000124
a∈J 1 ,b∈J 2 ,c∈J 3 ,d∈J 4 ,e∈J 5
wherein N is the number of data sets, VR is the relative speed scalar of the missile, AREBird is the relative missile early arrival azimuth, rou is the miss distance, J 1 、J 2 、J 3 、J 4 、J 5 The range of the estimated values for a, b, c, d, e is specified.
(44) The ant colony algorithm searches locally, each ant searches randomly in the neighborhood space of the ant, and when the new position is searched
Figure BDA0003998666060000131
If the target function is smaller than the original target function value, the ant is updated to a new position, otherwise, the ant does not move;
Figure BDA0003998666060000132
P i ＝(a,b,c,d,e)
(45) Performing global search by using an ant colony algorithm, wherein each ant performs global random search or search according to pheromone distribution, wherein the pheromone is an objective function value of the current ant position;
Figure BDA0003998666060000133
0<q<10<q 0 <1
Figure BDA0003998666060000134
0<h<1 0<h 0 <1 0<α<1
P j the position of ant with smaller objective function value, h is transfer probability random number, h 0 α is a set transition step constant, which is a set transition probability constant.
(50) And (3) calculating an actual explosion point: and substituting parameters such as the relative speed of the missile, the relative missile early arrival direction, the miss distance and the like provided by the missile flight control and the fuze into a program delay function to calculate the actual position of the explosion point.

Claims (8)

1. A missile fuze explosion point control method is characterized by comprising the following steps:
(10) Initializing parameters: initializing various parameters of an aerial target, a missile and a warhead according to actual conditions;
(20) Constructing a warhead killing field model: constructing a killing field model according to the missile position attitude parameters and the warhead parameters;
(30) Calculating an ideal frying point: calculating the ideal explosion point position of each trajectory;
(40) Fitting a program delay function based on an ant colony algorithm: fitting a program delay function according to ideal explosion points, relative speed of missile eyes, relative missile early arrival direction and miss distance information;
(50) And (3) calculating an actual explosion point: and substituting the relative speed of the missile, the relative missile early arrival direction and the miss distance provided by the missile flight control and the fuze into a program delay function, and calculating to obtain the actual position of the explosion point.
2. The missile fuze point control method of claim 1, wherein the parameters to be initialized in step (10) are as follows:
the target position attitude parameter comprises a velocity scalar V of the target t Yaw angle T yaw Angle of pitch T pitch Angle of roll T roll ；
The missile position attitude parameters comprise the velocity scalar V of the missile m Yaw angle M yaw Angle of pitch M pitch Roll angle M roll And initial projectile distance R tm ；
The parameters of the warhead include Center offset of the warhead, angle of static dispersion, and killing radius R kill Static flying direction angle alpha, static explosion initial velocity scalar V s 。
3. The missile fuze point control method of claim 1, wherein in step (10), missile parameters are initialized by randomly sampling missile parameters within a certain range according to missile characteristics, target parameters are initialized by randomly sampling target parameters within a certain range according to target characteristics, and a kill field is initialized according to parameters of a battle sector.
4. The missile fuze point control method of claim 1, wherein the specific method for constructing the killer field model according to the missile position attitude parameters and the warhead parameters comprises the following steps:
(21) Determining the initial position of the missile: according to the initial distance R of the bullet tm Determining missile initial position M by summing missile eye attitude angles position ；
(22) Killer field line segment start determination: determining the starting point Start [ i ] of the ith line segment of the killing field in a eye-linked relative speed coordinate system, specifically:
Start[i].x＝M position .x+Center
Start[i].y＝M position .y
Start[i].z＝M position .z
wherein Start [ i ]].x、Start[i].y、Start[i]Z represents the three-axis coordinate value of the starting point of the line segment, M position .x、M position .y、M position Z represents the three-axis coordinate value of the missile position, respectively, and the Center represents the Center offset of the warhead;
(23) And (3) determining the killing field line terminal: determining the terminal End [ i ] of the ith line segment of the killing field in a visual link relative speed coordinate system, specifically:
killer static flyaway vector under missile coordinate system:
Figure FDA0003998666050000021
Figure FDA0003998666050000022
Figure FDA0003998666050000023
in the formula V kill [i].x、V kill [i].y、V kill [i]Z represents the three-axis coordinate value, V, of the static scattering vector of the killer element, respectively s Representing a static detonation initial velocity scalar, alpha representing a static flying direction Angle, and Angle representing a static flying Angle;
and transferring the killer cell static flyoff vector to the geodetic coordinate system:
missile roll angle transformation matrix M [roll]
Figure FDA0003998666050000024
Missile yaw angle transformation matrix M [yaw]
Figure FDA0003998666050000025
Missile pitch angle transformation matrix M [pitch]
Figure FDA0003998666050000026
In the formula, ag missile .x、Ag missile .y、Ag missile Z is the roll angle degree, yaw angle degree and pitch angle degree of the missile respectively;
v in geodetic coordinate system kill [i]
Figure FDA0003998666050000031
Superposing a relative velocity vector on the killer cell static flyoff vector to obtain a killer cell dynamic flyoff vector:
V kill [i]＝V kill [i]+VR
wherein VR is a relative velocity vector;
calculating the End point End [ i ] of the killing field line segment
Figure FDA0003998666050000032
Wherein Start [ i ]]Indicating the beginning of the ith line segment of the killing field, R kill The radius of killing.
5. The missile fuze firing point control method of claim 4, wherein the initial distance R is based on the missile mesh tm Determining the initial position M of the missile according to the attitude angle of the missile position The specific method comprises the following steps:
according to the target attitude angle Ag taget Determining a roll angle transformation matrix T of an object [roll] Target yaw angle transformation matrix T [yaw] And target pitch angle transformation matrix T [pitch] ；
Target roll angle transformation matrix T [roll] ：
Figure FDA0003998666050000033
Target yaw angle transformation matrix T [yaw] ：
Figure FDA0003998666050000034
Target pitch angle transformation matrix T [pitch] ：
Figure FDA0003998666050000035
In the formula, ag taget .x、Ag taget .y、Ag taget Z is the roll angle degree, yaw angle degree and pitch angle degree of the target, respectively;
transforming the matrix T according to the target roll angle [roll] Target yaw angle transformation matrix T [yaw] Target pitch angle transformation matrix T [pitch] Determining a missile velocity vector VM, a target velocity vector VT and a missile relative velocity vector VR, which are respectively specifically as follows:
Figure FDA0003998666050000041
Figure FDA0003998666050000042
VR＝VM-VT
according to the relative speed vector VR of the bullet eyes and the initial distance R of the bullet eyes tm Determining missile initial position M position ：
Figure FDA0003998666050000043
6. The missile fuze fire point control method of claim 1, wherein the (30) ideal fire point calculation step comprises:
(31) Definition of ideal frying points: setting the target position to be fixed, moving the missile and the killing field in the direction of the relative speed of the missile-target, and when the killing field passes through the geometric center of the target, considering that the killing effect of a warhead on the target is the best under the condition, wherein the geometric center position of the missile at the current moment is the position of an ideal explosion point;
(32) Calculating the distance of missile movement when the killing field passes through the geometric center of the target: establishing a ray with a target geometric center Dot as a starting point and a bullet relative speed motion reverse direction as a direction, and traversing whether a triangular surface element formed by two adjacent killing field line segments intersects with the ray or not and an intersection point when the triangular surface element intersects with the ray;
the initial positions of two adjacent killing field line segments are the same, and the initial position of the starting point and the end positions of the two line segments are recorded as a triangular surface element ploy;
ploy[0]＝Start[1]＝Start[2]
ploy[1]＝End[1]
ploy[2]＝End[2]
wherein ploy [0], ploy [1] and ploy [2] are respectively coordinates of three vertexes of a triangular surface element, start [1] and Start [2] are respectively coordinates of starting points and initial positions of two killing field line segments, and End [1] and End [2] are respectively coordinates of End points of the two killing field line segments;
the normal vector normal for ploy is:
normal＝(ploy[1]-ploy[0])×(ploy[2]-ploy[0])
if normal · VR =0, intersection is not possible, and the remaining case ray intersects the plane where the triangular bin is located, and intersection point inte is:
Figure FDA0003998666050000051
and (3) judging that the intersection point falls into a triangular surface element ploy:
PA＝ploy[0]-Intert
PB＝ploy[1]-Intert
PC＝ploy[2]-Intert
t1＝PA×PB
t2＝PB×PC
t3＝PC×PA
in the formula, PA, PB and PC respectively represent vectors from an intersection point Intert to three vertexes of a triangular surface element ploy, t1, t2 and t3 are vectors obtained by pairwise cross multiplication of the three vectors PA, PB and PC, and if t1, t2 and t3 have the same sign, the intersection point is in the triangular surface element;
the distance of missile motion when the killing field passes through the geometric center of the target is as follows:
Figure FDA0003998666050000052
in the formula, intert.x, intert.y and Intert.z respectively represent the three-axis coordinate values of the intersection points, and dot.x, dot.y and dot.z are the three-axis coordinate values of the geometric center of the target;
(33) The ideal shot point coordinates, optBurst, are calculated as:
Figure FDA0003998666050000053
in the formula M position Representing the target position, VR is the bullet relative velocity vector.
7. The missile fuze point control method of claim 1, wherein the (40) ant colony algorithm-based fitting procedure delay function process comprises:
(41) Acquiring the information of the relative speed of the missile, the ideal explosion point, the relative missile early arrival direction and the miss distance as a data set of a fitting function;
initializing according to the parameters (10) to obtain N random trajectories, and calculating according to the optimal firing point (30) to obtain the information of the relative speed of the missile, the ideal firing point, the early arrival direction and the miss distance of the relative missile, wherein the early arrival direction AREBird of the relative missile is defined as the following steps:
the miss plane is a plane passing through the geometric center of the target and vertical to the relative motion track of the bullet;
the attack plane is a plane determined by the missile velocity vector and the target velocity vector;
the miss point is the intersection point of the relative movement track of the bullet eyes and the miss plane;
off-target and target relative to early arrival direction of missileThe included angle between the connecting line L1 of the geometric centers and the intersecting line L2 of the attack plane and the miss plane, the positive direction is the connecting line and OY r Angle of axis, along OX r When the direction is seen, the clockwise rotation is positive, the L1 azimuth is greater than the L2 azimuth, and the value ranges from 0 degree to plus or minus 180 degrees]；
(42) Establishing a program delay function:
Figure FDA0003998666050000061
in the formula x 1 As a bullet relative velocity scalar, x 2 Relative missile early arrival orientation, x 3 The miss distance is, y is program delay, a, b, c, d, e are model parameters;
(43) Establishing an ant colony algorithm target function;
Figure FDA0003998666050000062
a∈J 1 ,b∈J 2 ,c∈J 3 ,d∈J 4 ,e∈J 5
wherein N is the number of data sets, VR is the scalar of the relative speed of the missile, AREBird is the relative missile early arrival direction, rou is the miss distance, J 1 、J 2 、J 3 、J 4 、J 5 Ranges of estimated values for a, b, c, d, e are specified;
(44) The ant colony algorithm searches locally, each ant searches randomly in the neighborhood space of the ant, and when the new position is searched
Figure FDA0003998666050000063
If the target function is smaller than the original target function value, the ant is updated to a new position, otherwise, the ant does not move;
Figure FDA0003998666050000064
P i ＝(a,b,c,d,e)
in the formula P i The original position of the ants is the position of the ants,
Figure FDA0003998666050000065
is a new position of ants;
(45) Performing global search by using an ant colony algorithm, wherein each ant performs global random search or search according to pheromone distribution, wherein the pheromone is an objective function value of the current ant position;
Figure FDA0003998666050000066
0<q<1 0<q 0 <1
Figure FDA0003998666050000067
0<h<1 0<h 0 <1 0<α<1
in the formula P j The positions of ants with smaller objective function values, h is a random number of transition probability, h 0 For a set transition probability constant, α is a set transition step constant.
8. The missile fuze fire point control method of claim 1, wherein the (50) actual fire point calculation process is:
recording missile position P when fuze detects target 1 Substituting the relative speed of the missile, the relative missile early arrival direction and the miss distance into a program delay model to calculate the actual program delay t d And calculating the distance d of the missile movement in the actual program delay process 1 ：
d 1 ＝VR·t d
Calculating security mechanism time delay t s Distance d of missile movement in process 2 ：
d 2 ＝VR·t s
From P 1 The point is translated along the direction of the relative speed vector of the bullet 1 +d 2 The actual explosion point position BurstRel is obtained:
Figure FDA0003998666050000071
CN202211605470.1A 2022-12-14 2022-12-14 Guided missile fuze explosion point control method Pending CN115823972A (en)

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