CN117663914A - Guidance method for 360-degree omnibearing attack target - Google Patents
Guidance method for 360-degree omnibearing attack target Download PDFInfo
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Abstract
The invention discloses a guidance method for a 360-degree omnibearing attack target, which integrates the flying speed, the residual flying time, the line-of-sight angular speed and the angle information of a missile, forms a high-low and horizontal two-direction proportional guidance overload instruction according to an optimal proportional guidance rule according to an expected ballistic inclination angle and a ballistic deflection angle, and controls the missile to strike the target at an expected angle. The invention can realize that the target is attacked at any angle at the tail end on the premise of ensuring the hit precision of the missile.
Description
Technical Field
The invention belongs to the technical field of missiles, and particularly relates to a guiding method for a 360-degree omnibearing attack target.
Background
In the prior art, the missile can adopt combined navigation and infrared/television combined guidance, an attack target comprises a hangar, a shelter and the like, the weak part of the target needs to be attacked in order to realize efficient damage of the target, the opening directions of the hangar and the shelter are uncertain relative to the attack direction of the missile, and high requirements are put forward on the angle direction of the missile hitting the target, so that 360-degree omnibearing hitting of the target needs to be realized.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a guidance method for a 360-degree omnibearing attack target, which integrates the flying speed, the residual flying time, the line-of-sight angular speed and the angle information of a missile, forms a high-low and horizontal two-direction proportional guidance overload instruction according to an optimal proportional guidance rule according to an expected ballistic inclination angle and a ballistic deflection angle, and controls the missile to strike the target at an expected angle. The invention can realize that the target is attacked at any angle at the tail end on the premise of ensuring the hit precision of the missile.
The technical scheme adopted by the invention for solving the technical problems comprises the following steps:
step 1: defining an emission coordinate system, a target local coordinate system and a sight line coordinate system, wherein the emission coordinate system, the target local coordinate system and the sight line coordinate system are respectively defined as follows:
emission coordinate system O F -x F y F z F : the origin of coordinates is located at the transmitting point, the x-axis is located in the horizontal plane of the transmitting point, the pointing target is positive, the y-axis is positive upwards along the direction of the plumb line of the transmitting point, and the z-axis, the x-axis and the y-axis form a right-hand coordinate system;
target local coordinate system O t -x t y t z t : the origin of coordinates is at the target shooting point, the x-axis is in the horizontal plane of the target point, the direction opposite to the direction of the shooting point is positive, the y-axis is positive upwards along the direction of the plumb line of the target point, and the z-axis, the x-axis and the y-axis form a right-hand coordinate system;
line of sight coordinate system O s -x s y s z s : the origin of coordinates is the mass center of the missile, the x axis points to the target, the y axis is in a plumb plane containing the x axis and is vertical to the x axis, the upward direction is positive, and the z, the x axis and the y axis form a right-hand coordinate system;
step 2: the overload instruction formula under the line-of-sight coordinate system is as follows:
high-low direction overload instruction:
horizontal overload instruction:
in the method, in the process of the invention,
-a high-low, horizontal line-of-sight angular velocity;
q α 、q β -a high-low, horizontal viewing angle;
K α 、K β -a high-low, horizontal direction proportional guiding coefficient;
t go -remaining time of flight;
θ DF 、θ DP -a desired ballistic tilt angle at the moment of target hit by the missile, a desired ballistic deflection angle;
v-missile flight speed;
g-gravitational acceleration;
step 3: determining the direction phi of a missile attack 0 And a falling angle theta relative to the target local level 0 ；
The missile attack direction and the falling angle are relative to a target local coordinate system O t -x t y t z t Build, O t -x t y t z t From the emission coordinate system O F -x F y F z F Around O F z F The shaft rotates by an angle delta, and the tangent value of delta is obtained by dividing the distance of the bullet and the eye by the radius r of the earth;
the attack direction of the missile is that the speed direction of the missile at the moment of hitting the target is in the local coordinate system x of the target t O t z t Projection in plane and target local coordinate system O t x t The included angle of the axes, the speed direction projected on O t x t The left side of the shaft is positive, and the right side is negative; the falling angle is the speed of the shot at the moment of target hit and the local coordinate system x of the target t O t z t An included angle of the planes; the attack direction and the falling angle are determined by the target opening direction and the warhead performance index;
the formula for Δ is as follows:
wherein x is t And y t The coordinate position of the target in the transmitting coordinate system is given;
step 4: direction phi of missile attack 0 And a falling angle theta relative to the target local level 0 Converting to a transmitting coordinate system;
ballistic tilt angle theta and ballistic deflection angle phi for velocity direction of emission coordinate system v Description, θ refers to the velocity direction in the emission coordinate system x F O F z F The angle phi between the projection of the plane and the ox axis v Finger speed direction and emission coordinate system x F O F y F An included angle of the planes;
θ and ψ v The definition of (3-)2-1 rotation order, θ 0 And phi 0 The definition method of (2) is called 2-3-1 rotation sequence; when the missile is in flight control, firstly, according to theta 0 And phi 0 Solving an angle value theta corresponding to the expected speed direction according to the rotation sequence of 3-2-1 at the moment of hitting the target of the missile t And phi t Then the target trajectory inclination angle theta is obtained by transferring the target trajectory inclination angle theta to a launching coordinate system DF And the desired ballistic deflection angle theta DP The specific formula is as follows:
target local coordinate system desired ballistic tilt angle, 3-2-1 rotation order:
target local coordinate system desired ballistic deflection, 3-2-1 rotation order: phi (phi) t ＝arcsin(cosθ 0 sinφ 0 )；
The desired ballistic tilt angle in the emission coordinate system: θ DF ＝θ t +Δ；
The desired ballistic deflection angle in the emission coordinate system: θ DP ＝φ t ；
Step 5: the line of sight angular velocity and the line of sight angle of the line of sight coordinate system are calculated as follows:
viewing angle in high-low direction:
high-low direction line-of-sight angular velocity:
horizontal viewing angle:
horizontal line of sight angular velocity:wherein x is m 、y m 、z m For the position coordinates of the missile in a launching coordinate system, x t 、y t 、z t For the position coordinates of the object in the transmission coordinate system,for the distance between the eyes and the eyes>Is the bullet-eye distance change rate; v (V) x 、V y 、V z Representing the triaxial speed of the missile in a launching coordinate system;
step 6: the remaining time of flight is calculated as follows:
remaining time:
step 7: generating an omnibearing attack proportion guide overload instruction under a sight line coordinate system, wherein the calculation formula is as follows:
high-low direction overload instruction:
horizontal overload instruction:
and carrying out ballistic simulation verification by utilizing an omnibearing attack proportional guide overload instruction, and improving the off-target quantity and the angle control precision by adjusting a proportional guide coefficient.
Preferably, the K α =4 and K β ＝4。
The beneficial effects of the invention are as follows:
the invention has strong universality, simple design process and easy realization, is suitable for striking the targets such as hangars, shelters and the like with attack angle requirements, and has wide application prospect.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
FIG. 2 is a graph showing the trajectory of an attack target from different angles according to an embodiment of the present invention.
FIG. 3 is a graph showing the distance between targets for different angle attacks according to an embodiment of the present invention.
FIG. 4 is a graph of the inclination angle of the target trajectory for different angle attacks according to an embodiment of the present invention.
FIG. 5 is a graph of ballistic deflection of a target under different angles of attack in accordance with an embodiment of the present invention.
FIG. 6 is a graph showing low viewing angle at different angles of attack according to an embodiment of the present invention.
FIG. 7 is a graph of horizontal line of sight angle for different angles of attack targets in accordance with an embodiment of the present invention.
FIG. 8 is a functional block diagram of the guidance method of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
The invention aims to solve the technical problem of providing a simple and practical falling angle control method and solving the problem of omnibearing attack on a target by a medium-short-range conventional missile. The functional block diagram is shown in fig. 8.
The reference coordinate system includes an emission coordinate system, a target local coordinate system and a sight line coordinate system, which are respectively defined as follows:
emission coordinate system O F -x F y F z F : the origin of coordinates is located at the transmitting point, the x-axis is located in the horizontal plane of the transmitting point, the pointing target is positive, the y-axis is positive upwards along the direction of the plumb line of the transmitting point, and the z-axis, the x-axis and the y-axis form a right-hand coordinate system;
target local coordinate system O t -x t y t z t : the origin of coordinates is at the target shooting point, the x-axis is in the horizontal plane of the target point, the direction opposite to the direction of the shooting point is positive, the y-axis is positive upwards along the direction of the plumb line of the target point, and the z-axis, the x-axis and the y-axis form a right-hand coordinate system;
line of sight coordinate system O s -x s y s z s : the origin of coordinates is the mass center of the missile, the x axis points to the target, the y axis is in a plumb plane containing the x axis and is vertical to the x axis, the upward direction is positive, and the z, the x axis and the y axis form a right-hand coordinate system;
the formula of the overload instruction under the vision coordinate system of the guidance method is as follows:
high-low direction overload instruction:
horizontal overload instruction:
in the method, in the process of the invention,
-a high-low, horizontal line-of-sight angular velocity;
q α 、q β -a high-low, horizontal viewing angle;
K α 、K β -a high-low, horizontal direction proportional guiding coefficient;
t go -remaining time of flight;
θ DF 、θ DP -a desired ballistic tilt angle at the moment of target hit by the missile, a desired ballistic deflection angle;
v-missile flight speed;
g-gravitational acceleration;
the specific implementation flow of the guidance method is shown in fig. 1.
The guidance method comprises six steps:
step one: determining the direction phi of a missile attack 0 And a falling angle theta relative to the target local level 0 . The attack direction and the falling angle index of the missile are relative to a target local coordinate system O t -x t y t z t Build, O t -x t y t z t From the emission coordinate system O F -x F y F z F Around O F z F The axis rotates by an angle delta, the tangent of delta being the distance of the bullet from eye divided by the radius r of the earth. The attack direction of the missile refers to that the speed direction of the missile at the moment of hitting the target is in the local coordinate system x of the target t O t z t Projection in plane with targetLocal coordinate system O t x t The included angle of the axes, the speed direction projected on O t x t The left side of the shaft is positive, and the right side is negative; the falling angle is the speed of the shot at the moment of target hit and the local coordinate system x of the target t O t z t Included angle of plane. The attack direction and landing angle are determined by the target opening orientation and the warhead performance index.
The formula for Δ is as follows:
x t and y t Is the coordinate position of the target in the emission coordinate system.
Step two: the attack direction phi of the missile flight end 0 And a falling angle theta relative to the target local level 0 And converting to a transmission coordinate system. Method for defining speed direction and phi when missile is controlled in launching coordinate system 0 And theta 0 Different, the unification is needed. Ballistic tilt angle theta and ballistic deflection angle phi for velocity direction of emission coordinate system v Description, θ refers to the velocity direction in the emission coordinate system x F O F z F The angle phi between the projection of the plane and the ox axis v Finger speed direction and emission coordinate system x F O F y F Included angle of plane. θ and ψ v The definition method of (2) is called 3-2-1 rotation sequence, theta 0 And phi 0 The definition method of the method is called 2-3-1 rotation sequence, and when missile flight control is performed, the method is firstly based on theta 0 And phi 0 Solving an angle value theta corresponding to the expected speed direction according to the rotation sequence of 3-2-1 at the moment of hitting the target of the missile t And phi t Then the target trajectory inclination angle theta is obtained by transferring the target trajectory inclination angle theta to a launching coordinate system DF And the desired ballistic deflection angle theta DP The specific formula is as follows:
target local coordinate system desired ballistic tilt angle (3-2-1 rotation order):
target local coordinate system expected trajectory biasAngle (3-2-1 rotation sequence): phi (phi) t ＝arcsin(cosθ 0 sinφ 0 )
The desired ballistic tilt angle in the emission coordinate system: θ DF ＝θ t +Δ
The desired ballistic deflection angle in the emission coordinate system: θ DP ＝φ t
Step three: the line of sight is calculated as the angular velocity and angle of sight. The calculation formula is as follows:
viewing angle in high-low direction:
high-low direction line-of-sight angular velocity:
horizontal viewing angle:
horizontal line of sight angular velocity:
wherein x is m 、y m 、z m For the position coordinates of the missile in the launching system, x t 、y t 、z t For the position coordinates of the target in the transmission system,for the distance between the eyes and the eyes>Is the bullet-eye distance change rate.
Step four: and calculating the remaining time of flight. The calculation formula is as follows:
remaining time:
step five: and generating an omnibearing attack proportion guide overload instruction under a sight line coordinate system. The calculation formula is as follows:
high-low direction overload instruction:
horizontal overload instruction:
ballistic simulation verification is carried out by utilizing an omnibearing attack proportion guide overload instruction, and the off-target quantity and the angle control precision can be improved by adjusting the proportion guide coefficient.
Examples:
step one: determining the position of the target in a transmitting system, and transmitting a coordinate system O F -x F y F z F Around O F z F Rotation angle delta and target local coordinate system O t -x t y t z t Coincidence, calculating delta based on the position information;
wherein x is t For the target in the emission system direction coordinate, y t The coordinates of the target in the transmitting system are shown, and r is the earth radius.
Step two: determining the attack direction phi of the missile tail end under the 2-3-1 rotation sequence according to actual requirements 0 And a falling angle theta relative to the target local level 0 Calculating the expected ballistic inclination angle theta of the target in the local coordinate system under the 3-2-1 rotation sequence t And the desired ballistic deflection angle phi t ；
φ t ＝arcsin(cosθ 0 sinφ 0 )
Calculating the desired ballistic tilt angle in the emissive system in combination with deltaθ DF And the desired ballistic deflection angle theta DP
θ DF ＝θ t +Δ
θ DP ＝φ t
The following 9 groups of expected ballistic inclination angles theta under the emission system are selected in the simulation of the embodiment DF And the desired ballistic deflection angle theta DP To verify that the algorithm is capable of achieving an omni-directional strike on the target:
step three: calculating angular velocity of line of sight by using relative positional relationship between missile and targetAnd->Angle of sight q α And q β ；
Wherein,for the distance between the eyes and the eyes>Is the bullet-eye distance change rate.
Step four: by means of the distance R and the change rate of the distance RCalculating the remaining time of flight t go ；
Step five: in this embodiment, the proportional guide coefficient K is selected α =4 and K β =4. Introducing a remaining time correction term into an optimal proportion guiding rule, and designing a proportion guiding overload instruction in the high-low direction and the horizontal direction under a sight line coordinate system;
fig. 2-7 show the impact of a missile on 9 extreme directions of a target using an embodiment of the omnidirectional attack scale guidance method. Fig. 2 to 3 show the variation curves of the trajectory morphology and the relative distance of the missile at different attack angles, and the missile can finally hit the target accurately at different attack angles; fig. 4 to 7 show the variation curves of the trajectory inclination angle, the trajectory deflection angle, the high-low line-of-sight angle and the horizontal line-of-sight angle respectively, the high-low line-of-sight angle at the tail end of the missile trajectory and the trajectory inclination angle tend to be consistent under the simulation condition, the horizontal line-of-sight angle and the trajectory deflection angle tend to be consistent, the error between the actual falling angle and the expected falling angle is not more than 0.1 degree, and the accurate falling angle control requirement is met.
Simulation results show that the omnibearing attack proportion guiding method not only ensures the guiding precision of the missile weapon system, but also ensures that the missile can strike the target in omnibearing mode at any expected falling angle.
Claims (2)
1. The guidance method for the 360-degree omnibearing attack target is characterized by comprising the following steps of;
step 1: defining an emission coordinate system, a target local coordinate system and a sight line coordinate system, wherein the emission coordinate system, the target local coordinate system and the sight line coordinate system are respectively defined as follows:
emission coordinate system O F -x F y F z F : the origin of coordinates is located at the transmitting point, the x-axis is located in the horizontal plane of the transmitting point, the pointing target is positive, the y-axis is positive upwards along the direction of the plumb line of the transmitting point, and the z-axis, the x-axis and the y-axis form a right-hand coordinate system;
target local coordinate system O t -x t y t z t : the origin of coordinates is at the target shooting point, the x-axis is in the horizontal plane of the target point, the direction opposite to the direction of the shooting point is positive, the y-axis is positive upwards along the direction of the plumb line of the target point, and the z-axis, the x-axis and the y-axis form a right-hand coordinate system;
line of sight coordinate system O s -x s y s z s : the origin of coordinates is the mass center of the missile, the x axis points to the target, the y axis is in a plumb plane containing the x axis and is vertical to the x axis, the upward direction is positive, and the z, the x axis and the y axis form a right-hand coordinate system;
step 2: the overload instruction formula under the line-of-sight coordinate system is as follows:
high-low direction overload instruction:
horizontal overload instruction:
in the method, in the process of the invention,
-a high-low, horizontal line-of-sight angular velocity;
q α 、q β -viewing angle in the vertical and horizontal directions；
K α 、K β -a high-low, horizontal direction proportional guiding coefficient;
t go -remaining time of flight;
θ DF 、θ DP -a desired ballistic tilt angle at the moment of target hit by the missile, a desired ballistic deflection angle;
v-missile flight speed;
g-gravitational acceleration;
step 3: determining the direction phi of a missile attack 0 And a falling angle theta relative to the target local level 0 ；
The missile attack direction and the falling angle are relative to a target local coordinate system O t -x t y t z t Build, O t -x t y t z t From the emission coordinate system O F -x F y F z F Around O F z F The shaft rotates by an angle delta, and the tangent value of delta is obtained by dividing the distance of the bullet and the eye by the radius r of the earth;
the attack direction of the missile is that the speed direction of the missile at the moment of hitting the target is in the local coordinate system x of the target t O t z t Projection in plane and target local coordinate system O t x t The included angle of the axes, the speed direction projected on O t x t The left side of the shaft is positive, and the right side is negative; the falling angle is the speed of the shot at the moment of target hit and the local coordinate system x of the target t O t z t An included angle of the planes; the attack direction and the falling angle are determined by the target opening direction and the warhead performance index;
the formula for Δ is as follows:
wherein x is t And y t The coordinate position of the target in the transmitting coordinate system is given;
step 4: direction phi of missile attack 0 And a falling angle theta relative to the target local level 0 Converting to a transmitting coordinate system;
ballistic tilt angle theta and ballistic deflection angle phi for velocity direction of emission coordinate system v Description, θ refers to the velocity direction in the emission coordinate system x F O F z F The angle phi between the projection of the plane and the ox axis v Finger speed direction and emission coordinate system x F O F y F An included angle of the planes;
θ and ψ v The definition method of (2) is called 3-2-1 rotation sequence, theta 0 And phi 0 The definition method of (2) is called 2-3-1 rotation sequence; when the missile is in flight control, firstly, according to theta 0 And phi 0 Solving an angle value theta corresponding to the expected speed direction according to the rotation sequence of 3-2-1 at the moment of hitting the target of the missile t And phi t Then the target trajectory inclination angle theta is obtained by transferring the target trajectory inclination angle theta to a launching coordinate system DF And the desired ballistic deflection angle theta DP The specific formula is as follows:
target local coordinate system desired ballistic tilt angle, 3-2-1 rotation order:
target local coordinate system desired ballistic deflection, 3-2-1 rotation order: phi (phi) t ＝arcsin(cosθ 0 sinφ 0 )；
The desired ballistic tilt angle in the emission coordinate system: θ DF ＝θ t +Δ；
The desired ballistic deflection angle in the emission coordinate system: θ DP ＝φ t ；
Step 5: the line of sight angular velocity and the line of sight angle of the line of sight coordinate system are calculated as follows:
viewing angle in high-low direction:
high-low direction line-of-sight angular velocity:
horizontal viewing angle:
horizontal line of sight angular velocity:
wherein x is m 、y m 、z m For the position coordinates of the missile in a launching coordinate system, x t 、y t 、z t For the position coordinates of the object in the transmission coordinate system,for the distance between the eyes and the eyes>Is the bullet-eye distance change rate; v (V) x 、V y 、V z Representing the triaxial speed of the missile in a launching coordinate system;
step 6: the remaining time of flight is calculated as follows:
remaining time:
step 7: generating an omnibearing attack proportion guide overload instruction under a sight line coordinate system, wherein the calculation formula is as follows:
high-low direction overload instruction:
horizontal overload instruction:
and carrying out ballistic simulation verification by utilizing an omnibearing attack proportional guide overload instruction, and improving the off-target quantity and the angle control precision by adjusting a proportional guide coefficient.
2. A method for guiding a 360 ° omnidirectional attack target according to claim 1, wherein said K is α =4 and K β ＝4。
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