CN116954246A - Short-range burst-preventing aircraft and cooperative guidance control method thereof - Google Patents
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Abstract
The application discloses a short-range burst-prevention aircraft and a cooperative guidance control method thereof, wherein a satellite navigation module is arranged in the system and used for acquiring position information and speed information of the aircraft in real time, an IMU module is used for acquiring attitude information and acceleration information of the aircraft in real time, an inter-bullet communication module is used for carrying out interaction of coordination variables between adjacent aircraft, and a microprocessor is used for acquiring guidance instructions according to the received information; and the control module is used for generating rudder instructions according to the guidance instructions and further controlling the servo steering engine to deflect, wherein in the microprocessor, guidance control is performed through the variable gain cooperative proportional guidance laws, overload required is obtained, the microprocessor module is mounted on a plurality of aircrafts, and the aircrafts can simultaneously perform guidance control through the variable gain cooperative proportional guidance laws, so that the target position can be reached simultaneously.
Description
Technical Field
The application relates to the technical field of aircraft guidance control, in particular to a short-range burst prevention aircraft and a cooperative guidance control method thereof.
Background
At present, an advanced back-guiding system and a short-range weapon defense system increase the burst prevention difficulty of a single aircraft, reduce the burst prevention probability and greatly degrade the combat effectiveness. The concept of saturation attack can effectively solve the problem and improve the burst prevention probability of the aircraft. The saturation attack means that a plurality of aircrafts are emitted from different positions, perform omnidirectional attack on a target, and finally strike the target at the same moment.
To achieve simultaneous attack on the target, we are required to constrain the time of impact of the aircraft. Conventional fly-time constraints can be divided into two categories, namely: control guidance during open loop flight and cooperative guidance during closed loop flight. The two guidance control methods differ in the presence or absence of a communication network between the aircraft. Open loop flight control requires pre-stapling the desired flight prior to launch of the aircraft, which is difficult to achieve in practical engineering. In addition, the open loop flight control can be regarded as a single bullet-single target flight constraint guidance problem, and cannot be called real cooperative control. In contrast, the closed-loop control can perform real-time coordination variable interaction due to the communication network existing between the aircrafts, and expected flight time does not need to be preset. In addition, the distributed communication network can reduce the communication pressure of the communication network and enhance the reliability of the network.
Based on the thought of closed-loop guidance control, the inventor controls a plurality of aircrafts to attack targets at the expected moment at the same time, enhances the burst prevention capability and improves the combat efficiency, thereby designing a cooperative guidance control method for short-range burst prevention aircrafts.
Disclosure of Invention
In order to overcome the problems, the inventor has conducted intensive researches and designs a short-range burst-preventing aircraft and a cooperative guidance control method thereof, wherein a satellite navigation module is arranged in the system and is used for acquiring position information and speed information of the aircraft in real time, an IMU module is used for acquiring attitude information and acceleration information of the aircraft in real time, an inter-bullet communication module is used for carrying out interaction of coordination variables between adjacent aircraft, and a microprocessor is used for acquiring guidance instructions according to the received information; and the control module is used for generating rudder instructions according to the guidance instructions and further controlling the deflection of the servo steering engine, wherein in the microprocessor, guidance control is performed through the variable gain cooperative proportional guidance laws, overload required is obtained, the microprocessor module is mounted on a plurality of aircrafts, and the aircrafts can simultaneously perform guidance control through the variable gain cooperative proportional guidance laws, so that the target position can be reached simultaneously, and the application is completed.
In particular, the object of the application is to provide a short-range burst-preventing aircraft, characterized in that it comprises
The satellite navigation module is used for acquiring the position information and the speed information of the aircraft in real time and transmitting the position information and the speed information to the microprocessor;
the IMU module is used for acquiring the attitude information and the acceleration information of the aircraft in real time and transmitting the attitude information and the acceleration information to the microprocessor;
the inter-bullet communication module is used for carrying out interaction of coordination variables between adjacent aircrafts and transmitting the obtained coordination variables to the microprocessor;
a microprocessor for obtaining guidance instructions based on the received information; and
and the control module is used for generating a rudder instruction according to the guidance instruction so as to control the deflection of the servo steering engine.
And the microprocessor performs guidance control through a variable gain cooperative proportion guidance law to obtain overload.
Wherein the demand overload is obtained in real time in the microprocessor by the following formula (one):
wherein a is M,i Indicating a demand overload of the ith aircraft;
N t time-varying navigation ratio representing guidance law
V M,i Representing the speed of the ith aircraft;
indicating the angular velocity of the view line of sight of the ith aircraft.
Wherein the time-varying navigation ratio N of the guidance law t Obtained by the following formula (II):
wherein N is c Representing a navigation ratio;
alpha, beta, m, n, p and q all represent design parameters;
n represents the number of aircraft flying toward a target;
a ij elements representing row j of the adjacency matrix;
representing a remaining time-of-flight estimate for the ith aircraft;
representing the remainder of the jth aircraftTime of flight estimators.
Wherein the estimated remaining time of flight for the ith aircraftObtained by the following formula (III):
wherein R is i Representing the relative distance of the bullet eyes of the ith aircraft;
θ M,i representing the lead angle of the ith aircraft.
The application also provides a cooperative guidance control method on the short-range burst-prevention aircraft, which comprises the following steps:
the position information and the speed information of the aircraft are obtained in real time through the satellite navigation module, and are transmitted to the microprocessor;
acquiring attitude information and acceleration information of the aircraft in real time through an IMU module, and transmitting the attitude information and the acceleration information to a microprocessor;
interaction of coordination variables between adjacent aircrafts is carried out through the inter-bullet communication module, and the obtained coordination variables are transmitted to the microprocessor;
receiving information through a microprocessor, and obtaining a guidance instruction according to the received information;
and a rudder instruction is generated by the control module according to the guidance instruction, so that the deflection of the servo steering engine is controlled.
And the microprocessor performs guidance control through a variable gain cooperative proportion guidance law to obtain overload.
Wherein the demand overload is obtained in real time in the microprocessor by the following formula (one):
wherein a is M,i Indicating a demand overload of the ith aircraft；
N t Time-varying navigation ratio representing guidance law
V M,i Representing the speed of the ith aircraft;
indicating the angular velocity of the view line of sight of the ith aircraft.
Wherein the time-varying navigation ratio N of the guidance law t Obtained by the following formula (II):
wherein N is c Representing a navigation ratio;
alpha, beta, m, n, p and q all represent design parameters;
n represents the number of aircraft flying toward a target;
a ij elements representing row j of the adjacency matrix;
representing a remaining time-of-flight estimate for the ith aircraft;
representing a remaining time of flight estimate for the jth aircraft.
Wherein the estimated remaining time of flight for the ith aircraftObtained by the following formula (III):
wherein R is i Representing the relative distance of the bullet eyes of the ith aircraft;
θ M,i representing the lead angle of the ith aircraft.
The application has the beneficial effects that:
according to the short-range burst-prevention aircraft and the cooperative guidance control method thereof, provided by the application, the cooperative guidance control of a plurality of aircrafts is realized by a unified guidance control scheme with the lowest cost and the simplest scheme, the saturation striking of the same target is realized, and the hit precision of each aircraft can be ensured due to the adoption of the guidance scheme with enough rationality, so that the overall hit effect can meet the design requirement, and the practical application can be realized.
Drawings
FIG. 1 illustrates an overall logic diagram of a short-range burst-preventing aircraft according to a preferred embodiment of the present application;
FIG. 2 illustrates a topology communication network between aircraft in accordance with a first embodiment of the present application;
FIG. 3 is a schematic view of a flight path according to a first embodiment of the application;
FIG. 4 is a diagram showing the relative distance change of the bullets according to the first embodiment of the present application;
FIG. 5 is a schematic diagram showing the change of the residual time of flight estimation in the first embodiment of the present application;
FIG. 6 illustrates a topology communication network between aircraft in a second embodiment of the application;
FIG. 7 is a schematic diagram of a flight path in a second embodiment of the present application;
FIG. 8 is a diagram showing the relative distance change of the targets in the second embodiment of the application;
fig. 9 shows a schematic diagram of the change of the remaining time of flight estimation in the second embodiment of the present application.
Detailed Description
The application is further described in detail below by means of the figures and examples. The features and advantages of the present application will become more apparent from the description.
The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The short-range burst prevention aircraft provided by the application, as shown in figure 1, comprises a satellite navigation module, an IMU module, an inter-bullet communication module, a microprocessor and a control module;
the satellite navigation module comprises four synthetic antennas, an anti-interference module and a satellite guidance system, wherein the four synthetic antennas are responsible for completing the reception of satellite signals and transmitting the received satellite signals to the anti-interference module; compared with the traditional conical antenna and the improved annular antenna, the antenna not only has stronger satellite signal receiving capacity, but also has the characteristic of high overload resistance; the anti-interference module carries out filtering processing on the received satellite signals and transmits the processed satellite signals to the satellite guidance system. The satellite guidance system includes a GPS receiver, a Beidou receiver, and a GLONASS receiver. The satellite guidance system calculates the position and speed information of the aircraft in real time according to the received satellite signals and transmits the position and speed information to the microprocessor; the design of the multi-receiver can improve the accuracy and the acceptance of the acquired information.
The I MU module comprises an accelerometer and an angular rate gyroscope and is used for measuring attitude information and acceleration information of the aircraft in the flight process; because of the error accumulation defect of the I MU component, the application combines the IMU and the satellite navigation module, and the satellite navigation module is used for aligning the IMU to eliminate the accumulated error.
The inter-bullet communication module comprises a wireless sending module, a wireless receiving module and a serial port communication protocol. Through the inter-missile communication module, interaction of coordination variables between adjacent missiles can be performed, and the obtained coordination variables are input into a microprocessor and further used for guiding calculation of instructions; the coordination variables specifically comprise residual flight time information;
the microprocessor receives signals output by the satellite navigation module, the I MU module and the inter-bullet communication module, and gathers the position and speed information transmitted by the satellite navigation module, the acceleration and gesture information transmitted by the I MU module and the coordination variable information obtained by the inter-bullet communication module; then, calculating guidance information and guidance instructions, namely, obtaining the guidance instructions according to the received information;
the control module comprises an overload driver and a servo steering engine, wherein the overload driver generates a rudder instruction according to a guidance instruction of the microprocessor and is used for guiding the servo steering engine to deflect a certain angle; the servo steering engine generates aerodynamic force and moment through the deflection angle, so that the gesture of the aircraft is correspondingly changed.
Preferably, the system further comprises a power supply module, wherein the power supply module is connected to a thermal power source loaded on the aircraft and integrates the input and output of the whole circuit to prevent the system from being burnt out due to the problems of short circuit and the like; the power supply module can provide the required rated voltage for each system module, so that the normal operation of the element is ensured; the power supply module may provide a reset voltage signal to some of the subsystems for their specific needs.
In a preferred embodiment, the microprocessor is configured to control guidance by a variable gain cooperative proportional guidance law to achieve a desired overload.
Specifically, the demand overload is obtained in real time in the microprocessor by the following formula (one):
wherein a is M,i Indicating a demand overload of the ith aircraft;
N t a time-varying navigational ratio representative of a guidance law;
V M,i representing the speed of the ith aircraft;
the angular velocity of the view point of the ith aircraft is represented, the satellite navigation module obtains the position information of the aircraft, and the satellite navigation module calculates the position information according to the view point relative position information by a microprocessorA kind of electronic device.
Preferably, the time-varying navigation ratio N of the guidance law t Obtained by the following formula (II):
wherein N is c Representing a navigation ratio; the value of the catalyst is 2 < N c < 6, more preferably N c The value is 3;
alpha, beta, m, n, p and q all represent design parameters; preferably, the design parameters are all greater than 0, more preferably, the specific values are α=β=2, m=9, n= 7,p =3, q=5;
n represents the number of aircraft flying towards a target, which value needs to be stitched in the microprocessor of the aircraft before the aircraft is launched;
a ij elements representing row i and column j of an adjacency matrix, the adjacency matrix representing a communication relationship, i.e., a laplace matrix, between a plurality of cooperating aircraft;
representing a remaining time-of-flight estimate for the ith aircraft;
representing a remaining time of flight estimate for the jth aircraft.
Further preferably, the estimated remaining time of flight for the ith aircraftObtained by the following formula (III):
wherein R is i Representing the relative distance of the bullet eyes of the ith aircraft; by satellite navigationThe navigation module is obtained according to ephemeris solution of the aircraft and the target;
θ M,i representing the leading angle of the ith aircraft, wherein the leading angle is the included angle between the bullet visual line angle and the ballistic inclination angle, and the expression is theta M,i ＝λ M,i -γ M,i Wherein λM,i The satellite navigation module obtains the angle of the bullet according to the bullet distance; γM,i the ballistic tilt angle of the aircraft may be obtained by an IMU module on board the aircraft.
The application also provides a cooperative guidance control method on the short-range burst-prevention aircraft, which comprises the following steps:
the position information and the speed information of the aircraft are obtained in real time through the satellite navigation module, and are transmitted to the microprocessor;
acquiring attitude information and acceleration information of the aircraft in real time through an IMU module, and transmitting the attitude information and the acceleration information to a microprocessor;
interaction of coordination variables between adjacent aircrafts is carried out through the inter-bullet communication module, and the obtained coordination variables are transmitted to the microprocessor;
receiving information through a microprocessor, and obtaining a guidance instruction according to the received information;
and a rudder instruction is generated by the control module according to the guidance instruction, so that the deflection of the servo steering engine is controlled.
Preferably, before the aircraft is launched and taken off, the ephemeris information of the aircraft and the target is bound in a microprocessor of the aircraft by a fire control computer; the aircraft is a short-range burst-prevention aircraft, and immediately enters a guidance stage after being launched, wherein the short range means that the range is within 10 km; the aircraft obtains the self residual flight time in real time through the third aircraft in the flight process, and then the residual flight time is used as a coordination variable to interact with other aircrafts; according to the application, the overload instruction is obtained in real time, the flight track is adjusted through the overload instruction, the rest flight time is controlled through controlling the flight track, and then the aircraft is finally driven to realize simultaneous attack.
Preferably, in the microprocessor, guidance control is performed by a variable gain cooperative proportional guidance law, so as to obtain the overload.
More preferably, the demand overload is obtained in real time in the microprocessor by the following formula (one):
wherein a is M,i Indicating a demand overload of the ith aircraft;
N t time-varying navigation ratio representing guidance law
V M,i Representing the speed of the ith aircraft;
indicating the angular velocity of the view line of sight of the ith aircraft.
Further preferably, the time-varying navigational ratio N of the guidance law t Obtained by the following formula (II):
wherein N is c Representing a navigation ratio;
α 、 β 、 m 、 n 、 p and q all represent design parameters;
n represents the number of aircraft flying toward a target;
a ij elements representing row j of the adjacency matrix;
representing a remaining time-of-flight estimate for the ith aircraft;
representing a remaining time of flight estimate for the jth aircraft.
Preferably, the estimated remaining time of flight of the ith aircraftObtained by the following formula (III):
wherein R is i Representing the relative distance of the bullet eyes of the ith aircraft;
θ M,i representing the lead angle of the ith aircraft.
Example 1
Selecting a plurality of identical aircrafts, and simultaneously launching and taking off aiming at the same target at different places; each aircraft is provided with a satellite navigation module, an IMU module, an inter-bullet communication module, a microprocessor and a control module;
the method comprises the steps of acquiring position information and speed information of an aircraft in real time through a satellite navigation module, and further acquiring the distance between the aircraft and a target and the angle of a bullet vision line in real time; acquiring attitude information and acceleration information of the aircraft in real time through the IMU module, and further acquiring a trajectory dip angle of the aircraft in real time; the communication module between the bullets enables a plurality of aircrafts to acquire the remaining flight time of other aircrafts in real time; acquiring a guidance instruction through a microprocessor; and a rudder instruction is generated through the control module, so that the deflection of the servo steering engine is controlled, and the flight track of the aircraft is adjusted.
In the microprocessor, the required overload is obtained in real time by the following formula (one):
a M,i indicating a demand overload of the ith aircraft;
V M,i representing the speed of the ith aircraft;
representing the angular velocity of the view line of sight of the ith aircraft;
N t obtained by the following formula (II):
navigation ratio N c The value is 3; design parameters α=β=2, m=9, n= 7,p =3, q=5;
representing the estimated remaining time of flight of the ith aircraft,/->Obtained by the following formula (III):
R i represents the relative distance, theta, of the bullet mesh of the ith aircraft M,i Representing the lead angle of the ith aircraft.
3 of the same aircraft described above were invoked,
the target coordinates are (X T ,Y T )＝(8000,0)；
The initial firing conditions for the 3 aircraft were:
the communication relationship among 3 aircrafts, the topology communication network is shown in fig. 2, and the corresponding laplace matrix is:
a ij represents the L 1 Elements of row i and column j; a, a 11 ＝1，a 22 ＝2；
The observation of the flight trajectory of 3 aircraft is shown in fig. 3, the relative trajectory of 3 aircraft during flight is shown in fig. 4, and the remaining time of flight estimate of 3 aircraft is shown in fig. 5.
According to the observation of fig. 3, fig. 4 and fig. 5, the short-range burst prevention aircraft and the cooperative guidance control method thereof provided by the application can effectively control 3 aircrafts to realize simultaneous attack. Further analysis shows that M 1 And M 2 Compared with M 3 Is more curved due to M 3 Initial remaining time of flight ratio M 1 And M 1 Long, M for simultaneous attack 1 And M 2 Waiting for M by changing trajectory 3 . As can be seen from the figure, the aircraft terminal achieves a simultaneous attack at approximately 36 s. The graph can show that the residual flight time can be converged and consistent approximately at 13s, so that the coordination variables of the aircraft are ensured to be uniform and consistent before the targets are hit.
Example 2:
selecting a plurality of identical aircrafts, and simultaneously launching and taking off aiming at the same target at different places; each aircraft is provided with a satellite navigation module, an IMU module, an inter-bullet communication module, a microprocessor and a control module;
the method comprises the steps of acquiring position information and speed information of an aircraft in real time through a satellite navigation module, and further acquiring the distance between the aircraft and a target and the angle of a bullet vision line in real time; acquiring attitude information and acceleration information of the aircraft in real time through the IMU module, and further acquiring a trajectory dip angle of the aircraft in real time; the communication module between the bullets enables a plurality of aircrafts to acquire the remaining flight time of other aircrafts in real time; acquiring a guidance instruction through a microprocessor; and a rudder instruction is generated through the control module, so that the deflection of the servo steering engine is controlled, and the flight track of the aircraft is adjusted.
In the microprocessor, the required overload is obtained in real time by the following formula (one):
a M,i indicating a demand overload of the ith aircraft;
V M,i representing the speed of the ith aircraft;
representing the angular velocity of the view line of sight of the ith aircraft;
N t obtained by the following formula (II):
navigation ratio N c The value is 3; design parameters α=β=2, m=9, n= 7,p =3, q=5;
representing the estimated remaining time of flight of the ith aircraft,/->Obtained by the following formula (III):
R i represents the relative distance, theta, of the bullet mesh of the ith aircraft M,i Representing the lead angle of the ith aircraft.
4 of the same aircraft described above were invoked,
the target coordinates are (X T ,Y T )＝(8000,0)；
The initial firing conditions for the 4 aircraft were:
the communication relationship among 4 aircrafts, the topology communication network is shown in fig. 6, and the corresponding laplace matrix is:
a ij represents the L 2 Elements of row i and column j; a, a 14 ＝0，a 22 ＝2；
The observation of the flight trajectory of 4 aircraft is shown in fig. 7, during which the relative distance of the trajectory of 4 aircraft is shown in fig. 8 and the remaining time of flight estimate of 4 aircraft is shown in fig. 9.
According to the observation of fig. 7, 8 and 9, the short-range burst prevention aircraft and the cooperative guidance control method thereof provided by the application can effectively control three aircrafts to realize simultaneous attack. Further analysis shows that at about 30s, the aircraft terminal achieves a simultaneous attack. The remaining flight time can be converged and consistent about 3s, so that the coordination variables of the aircrafts are enabled to be even and consistent before hitting the target, and the result of the embodiment 2 further verifies that the short-range burst-preventing aircrafts and the cooperative guidance control method thereof have higher reliability, and a plurality of aircrafts can hit the target accurately at the same time.
The application has been described above in connection with preferred embodiments, which are, however, exemplary only and for illustrative purposes. On this basis, the application can be subjected to various substitutions and improvements, and all fall within the protection scope of the application.
Claims (10)
1. A short-range burst-preventing aircraft, the aircraft comprising
The satellite navigation module is used for acquiring the position information and the speed information of the aircraft in real time and transmitting the position information and the speed information to the microprocessor;
the IMU module is used for acquiring the attitude information and the acceleration information of the aircraft in real time and transmitting the attitude information and the acceleration information to the microprocessor;
the inter-bullet communication module is used for carrying out interaction of coordination variables between adjacent aircrafts and transmitting the obtained coordination variables to the microprocessor;
a microprocessor for obtaining guidance instructions based on the received information; and
and the control module is used for generating a rudder instruction according to the guidance instruction so as to control the deflection of the servo steering engine.
2. The short-range burst-preventing aircraft according to claim 1, wherein,
and in the microprocessor, guidance control is carried out by the variable gain cooperative proportion guidance law, so that overload is required to be obtained.
3. The short-range burst-preventing aircraft according to claim 2, wherein,
the required overload is obtained in real time in the microprocessor by the following formula (one):
wherein a is M,i Indicating a demand overload of the ith aircraft;
N t time-varying navigation ratio representing guidance law
V M,i Representing the speed of the ith aircraft;
indicating the angular velocity of the view line of sight of the ith aircraft.
4. The short-range burst-preventing aircraft according to claim 3,
the time-varying navigation ratio N of the guidance law t Obtained by the following formula (II):
wherein N is c Representing a navigation ratio;
alpha, beta, m, n, p and q all represent design parameters;
n represents the number of aircraft flying toward a target;
a ij elements representing row j of the adjacency matrix;
representing a remaining time-of-flight estimate for the ith aircraft;
representing a remaining time of flight estimate for the jth aircraft.
5. The short-range burst-preventing aircraft according to claim 4,
residual time-of-flight estimator for an ith aircraftObtained by the following formula (III):
wherein R is i Representing the relative distance of the bullet eyes of the ith aircraft;
θ M,i representing the lead angle of the ith aircraft.
6. A method of cooperative guidance control on a proximity-emergency aircraft, the method comprising the steps of:
the position information and the speed information of the aircraft are obtained in real time through the satellite navigation module, and are transmitted to the microprocessor;
acquiring attitude information and acceleration information of the aircraft in real time through an IMU module, and transmitting the attitude information and the acceleration information to a microprocessor;
interaction of coordination variables between adjacent aircrafts is carried out through the inter-bullet communication module, and the obtained coordination variables are transmitted to the microprocessor;
receiving information through a microprocessor, and obtaining a guidance instruction according to the received information;
and a rudder instruction is generated by the control module according to the guidance instruction, so that the deflection of the servo steering engine is controlled.
7. The method of cooperative guidance control on a short-range burst-preventing aircraft of claim 6,
and in the microprocessor, guidance control is carried out by the variable gain cooperative proportion guidance law, so that overload is required to be obtained.
8. The method of cooperative guidance control on a short-range burst-preventing aircraft of claim 7,
the required overload is obtained in real time in the microprocessor by the following formula (one):
wherein a is M,i Indicating a demand overload of the ith aircraft;
N t time-varying navigation ratio representing guidance law
V M,i Representing the speed of the ith aircraft;
indicating the angular velocity of the view line of sight of the ith aircraft.
9. The method of cooperative guidance control on a short-range burst-preventing aircraft of claim 8,
the time-varying navigation ratio N of the guidance law t Obtained by the following formula (II):
wherein N is c Representing a navigation ratio;
alpha, beta, m, n, p and q all represent design parameters;
n represents the number of aircraft flying toward a target;
a ij elements representing row j of the adjacency matrix;
representing a remaining time-of-flight estimate for the ith aircraft;
representing a remaining time of flight estimate for the jth aircraft.
10. The method of cooperative guidance control on a short-range burst-preventing aircraft of claim 9,
residual time-of-flight estimator for an ith aircraftObtained by the following formula (III):
wherein R is i Representing the relative distance of the bullet eyes of the ith aircraft;
θ M,i representing the ith aircraftIs a leading angle of (c).
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