CN118428118B - Three-body game guidance law design method and device considering response delay of guidance system - Google Patents
Three-body game guidance law design method and device considering response delay of guidance system Download PDFInfo
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Abstract
The invention provides a method and a device for designing a three-body game guidance law in consideration of response delay of a guidance system, which relate to the technical field of three-body game guidance law design and comprise the following steps: establishing a three-game main body state equation according to the engagement characteristics of the three-game main body after linearization; under the action of the on-line fight characteristics, calculating the interception moment of the enemy attack aircraft to the me aircraft and the interception moment of the me defense aircraft to the enemy attack aircraft, and judging whether the interception fight is effective or not; if the three-dimensional game guidance law expressed by the zero control off-target quantity of the enemy attack aircraft and the zero control off-target quantity of the enemy attack aircraft is calculated and solved respectively according to the state equation at the interception moment of the enemy attack aircraft to the enemy aircraft and the interception moment of the enemy attack aircraft to the enemy attack aircraft; the technical problem of low reliability caused by the fact that the real situation is not considered in the guidance of the aircraft in the prior art is solved.
Description
Technical Field
The invention relates to the technical field of three-body game guidance law design, in particular to a three-body game guidance law design method and device considering response delay of a guidance system.
Background
With the development of aircraft technology, the performance of the aircraft is further improved, but the aircraft has become an important factor for determining the success or failure of the war in modern war, and the aircraft which is attacked by enemy with high guidance precision and strong maneuverability has a great survival threat to enemy targets, namely the aircraft in the execution task of the my.
Once the aircraft is locked by an enemy attack aircraft, passive defense such as escape maneuver, bait throwing and the like is adopted, so that the aircraft attack is difficult to avoid. In order to improve the survivability of the my aircraft, a common way is to launch a defending aircraft to intercept and actively defend the enemy attack aircraft after the my aircraft finds the enemy attack aircraft, and meanwhile, the my aircraft is maneuvered to escape.
According to the research of the inventor, the current aircraft guidance law design often carries out idealized treatment on the guidance systems of three fighter bodies, and the actual conditions that the guidance laws of the aircraft which are attacked by the enemy in the fighter scene are unknown and the guidance systems of the three fighter bodies respond to delay are not met.
Disclosure of Invention
The invention aims to provide a three-body game guidance law design method and device considering response delay of a guidance system, so as to solve the technical problem of low reliability caused by the fact that real situation is not considered in aircraft guidance in the prior art.
In a first aspect, an embodiment of the present invention provides a method for designing a three-body game guidance law in consideration of a response delay of a guidance system, including:
Establishing a state equation of the three-game main body according to the engagement characteristics of the three-game main body after linearization; wherein the three game bodies include my aircraft, my defending aircraft, and enemy attacking aircraft;
Under the action of the linearized fight feature, calculating the interception time of the enemy attack aircraft to the my aircraft and the interception time of the enemy defense aircraft to the enemy attack aircraft, and judging whether interception fight is effective or not;
if the interception operation is effective, according to the state equation, the interception time of the enemy attack aircraft to the my aircraft and the interception time of the enemy attack aircraft to the enemy attack aircraft are respectively calculated and solved, the zero control off-target quantity of the enemy attack aircraft and the enemy attack aircraft is expressed, and the three-body game guidance law expressed by the zero control off-target quantity of the enemy attack aircraft and the enemy aircraft is respectively calculated and solved.
With reference to the first aspect, the embodiment of the present invention provides a first possible implementation manner of the first aspect, where the step of establishing a state equation of the three-game main body according to the engagement feature of the three-game main body after the linearization includes:
Acquiring the engagement characteristics of the three game main bodies after linearization; the fight feature comprises an initial distance and an initial sight of fight between an opponent attack aircraft and a my defending aircraft, an initial distance and an initial sight of fight between the opponent attack aircraft and the my aircraft, and a ballistic dip angle, a velocity, an actual acceleration and a time constant corresponding to a first-order guidance system of the three-game main body respectively;
determining state quantity of the three game main bodies and linearization coefficients of a state equation based on the linearized engagement features;
And establishing a state equation of the three-game main body according to the state quantity, the instruction acceleration and the linearization coefficient.
With reference to the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where under the action of the linearized fight feature, a step of calculating an interception time of the enemy attack aircraft to the my aircraft and an interception time of the enemy defense aircraft to the enemy attack aircraft, and determining whether an interception fight is valid includes:
According to the fight characteristics and the physical geometrical characteristics of the three-game main body after being wired, the interception time of the enemy attack aircraft to the my aircraft and the interception time of the enemy defense aircraft to the enemy attack aircraft are calculated respectively;
if the interception time of the enemy attack aircraft to the my aircraft is smaller than the interception time of the enemy defense aircraft to the enemy attack aircraft, the interception operation is invalid;
And if the interception time of the enemy attack aircraft to the me aircraft is greater than the interception time of the me defending aircraft to the enemy attack aircraft, the interception operation is effective.
With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where, if the interception operation is effective, according to the state equation, the intercepting time of the enemy attack aircraft to the my aircraft and the intercepting time of the enemy attack aircraft to the enemy attack aircraft are calculated and solved respectively, and the steps of the three-body game guidance law expressed by the zero control miss amounts of the enemy attack aircraft and the enemy attack aircraft include:
According to the state equation, the interception time of the enemy attack aircraft to the enemy attack aircraft and the interception time of the enemy defense aircraft to the enemy attack aircraft are respectively calculated, and a state transition matrix from the current time to the fight time of the enemy attack aircraft;
According to the state transition matrix from the current moment to the moment of the fight between the my defending aircraft and the enemy attacking aircraft, the state transition matrix from the current moment to the moment of the fight between the my aircraft and the enemy attacking aircraft is used for calculating the zero control off-target quantity of the my defending aircraft and the enemy attacking aircraft and the zero control off-target quantity of the enemy attacking aircraft and the target;
And calculating the zero control off-target quantity of the enemy defending aircraft and the enemy attacking aircraft according to the zero control off-target quantity of the enemy defending aircraft and the enemy attacking aircraft, the zero control off-target quantity of the enemy attacking aircraft and preset guidance law super parameters, and the three-body game guidance law expressed by the zero control off-target quantity of the enemy defending aircraft and the enemy attacking aircraft.
With reference to the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where, according to the state equation, a step of calculating, from a current time to a time of an intersection of the my defending aircraft with the enemy attack aircraft and a state transition matrix from the current time to a time of an intersection of the my fighter aircraft with the enemy attack aircraft, respectively, includes:
If the interception time of the enemy attack aircraft to the enemy attack aircraft is greater than the interception time of the enemy attack aircraft to the enemy defense aircraft and the current time is less than the interception time of the enemy attack aircraft to the enemy attack aircraft, calculating to obtain a state transition matrix of the state quantity from the current time to the fight time of the enemy attack aircraft to the enemy attack aircraft;
And if the interception time of the enemy attack aircraft to the enemy attack aircraft is greater than the interception time of the enemy attack aircraft to the enemy attack aircraft, and the current time is greater than the interception time of the enemy attack aircraft to the enemy attack aircraft and is smaller than the interception time of the enemy attack aircraft to the enemy attack aircraft, calculating to obtain a state transition matrix of the state quantity from the current time to the fight time of the enemy attack aircraft to the enemy attack aircraft.
With reference to the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, wherein the step of calculating the zero control miss amount of the my defending aircraft and the enemy incoming aircraft according to the zero control miss amount of the my defending aircraft and the enemy incoming aircraft, the zero control miss amount of the enemy incoming aircraft and the enemy incoming aircraft, and preset guidance law superparameters, and the three-body game guidance law expressed by the zero control miss amounts of the enemy incoming aircraft and the enemy incoming aircraft includes:
defining a performance index according to the zero control off-target quantity of the my defending aircraft and the enemy attacking aircraft, the zero control off-target quantity of the enemy attacking aircraft and the enemy aircraft and preset guidance law super-parameters;
Deducing a Hamiltonian based on the performance index, and determining a cooperative equation of the my defending aircraft and the enemy attacking aircraft, wherein the cooperative equation of the enemy attacking aircraft and the my aircraft;
and determining the optimal control quantity of the three-game main body according to the cooperative equation of the my defending aircraft and the enemy attacking aircraft, wherein the cooperative equation of the enemy attacking aircraft and the my aircraft.
With reference to the first aspect, the embodiment of the present invention provides a sixth possible implementation manner of the first aspect, where the method further includes a step of simplifying an optimal control amount of the three game main body, including:
Zero controlled miss distance of the my defending aircraft and the enemy attacking aircraft, and the zero control off-target quantity of the enemy attack aircraft and the my aircraft is subjected to simplification, derivation and order reduction operation;
Substituting the reduced zero control off-target quantity of the my defending aircraft and the enemy attacking aircraft and the zero control off-target quantity of the enemy attacking aircraft and the enemy aircraft into the optimal control quantity of the three-game main body to obtain the simplified optimal control quantity of the three-game main body;
Substituting the simplified optimal control quantity of the three game main bodies into zero control off-target quantities of the my defending aircraft and the enemy attacking aircraft and zero control off-target quantities of the enemy attacking aircraft and the enemy attacking aircraft to respectively obtain and integrate differential analysis expressions of the zero control off-target quantities of the enemy defending aircraft and the enemy attacking aircraft and the zero control off-target quantities of the enemy attacking aircraft;
Substituting the integrated zero control miss distance of the my defending aircraft and the enemy attacking aircraft and the differential analysis expression of the zero control miss distance of the enemy attacking aircraft and the enemy aircraft into the simplified optimal control quantity of the three-game main body to obtain the simplified optimal control quantity of the three-game guidance law.
In a second aspect, an embodiment of the present invention further provides a three-body game guidance law design apparatus considering a response delay of a guidance system, including:
The building module is used for building a state equation of the three-game main body according to the engagement characteristics of the three-game main body after the three-game main body is wired; wherein the three game bodies include my aircraft, my defending aircraft, and enemy attacking aircraft;
The judging module is used for calculating the interception time of the enemy attack aircraft and the interception time of the enemy defense aircraft on the enemy attack aircraft under the action of the linearized fight characteristics and judging whether the interception fight is effective or not;
and the calculation module is used for calculating and solving zero control off-target quantity of the enemy attack aircraft and the enemy attack aircraft according to the state equation and the interception time of the enemy attack aircraft, respectively, wherein the three-body game guidance law is expressed by the zero control off-target quantity of the enemy attack aircraft and the enemy attack aircraft.
In a third aspect, an embodiment provides an electronic device, including a memory, a processor, where the memory stores a computer program executable on the processor, and where the processor implements the steps of the method according to any of the foregoing embodiments when the computer program is executed.
In a fourth aspect, embodiments provide a machine-readable storage medium storing machine-executable instructions that, when invoked and executed by a processor, cause the processor to implement the steps of the method of any of the preceding embodiments.
The embodiment of the invention brings a three-body game guidance law design method and device considering the response delay of a guidance system, and a state equation considering the response delay of the guidance system can be established based on the engagement characteristics of linearization of a three-game main body; based on the linearization processing, whether the current interception fight is effective or not is judged according to the comparison condition of the interception time of the enemy attack aircraft to the me aircraft and the interception time of the me defense aircraft to the enemy attack aircraft, and under the condition that the interception fight is effective, the zero control miss distance of two kinds of fight processes is calculated according to the interception time respectively corresponding to the two kinds of fight processes, so that the three-body game guidance law characterized by the zero control miss distance of the two kinds of states is obtained, and more accurate three-body game guidance law design can be realized.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a three-body game guidance law design method considering the response delay of a guidance system provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of a three-game body-line-based engagement model according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a functional block of a three-body game guidance law design device with response delay of a guidance system considered according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a hardware architecture of an electronic device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Accurate guidance is one of the key technologies for the aircraft to finish target hitting, and the three-body countermeasure active defense scene involves three fight objects and two fight processes; wherein, the fight object comprises an enemy attack aircraft, a my defending aircraft and an enemy target my aircraft; the process of engagement can be understood as: a course of engagement between the enemy-attack aircraft and the my-defense aircraft, and a course of engagement between the enemy-attack aircraft and the my-aircraft; in the process of the fight, the enemy attack aircraft expects to successfully fight against the interception of the enemy defense aircraft and finally can hit the enemy aircraft, the defensive aircraft expects to successfully intercept the enemy attack aircraft, the enemy aircraft expects to successfully avoid the attack of the enemy attack aircraft, and the three main bodies fly according to the optimal guidance law according to the autonomous decision of the corresponding targets. The inventor researches and discovers that the differential game theory can solve the optimal control problem of two parties (multiple parties), dynamically considers the strategy of the other party in the game process to maximize the benefit of the inventor, and is suitable for solving the three-body game guidance law design problem.
At present, the three-body game is actively defended against the design of the aircraft guidance law in the fight process, or the unilateral optimal guidance law deduced after the known guidance law of the aircraft of the opponent is assumed, or the guidance system of the three fight subjects is subjected to idealized treatment when the derivative game guidance law is deduced, and the three fight subject guidance system does not conform to the real conditions that the guidance law of the aircraft of the opponent is unknown and the response of the three fight subject guidance system is delayed in the fight scene, so that the real states of the three fight subject guidance systems are required to be considered to ensure the guidance accuracy.
Based on the above, the three-body game guidance law design method and device considering the response delay of the guidance system provided by the embodiment of the invention can adapt to the influence of the response dynamics of the guidance system and have the potential of online use.
In order to facilitate understanding of the embodiment, firstly, a three-body game guidance law design method considering response delay of a guidance system disclosed by the embodiment of the invention is described in detail, and the method can be used in intelligent control equipment such as an upper computer, a server and the like; the method provided by the embodiment of the invention is applied to the condition that the guidance law of the enemy is unknown, and can be used for more accurately designing the three-body game guidance law through the optimal control of the differential countermeasure effect; if the guidance laws of the enemy are known, the three-body game guidance law design method provided by the embodiment of the invention is not needed, and a scheme of unilateral optimal control can be applied.
It should be noted that, how the optimal control theory mainly researches how to design a control law under the condition of meeting a certain system constraint condition, so that the performance index of the controlled system is optimal. In practical applications, the behavior of the control system is sometimes affected not only by self-decision, but also by interactions of external environments or other agents.
In a unilateral optimal control problem, it is often assumed that interactions with the environment or policies of the adversary are known. Such problems assume that the dynamic model of the system is deterministic, with the goal of minimizing or maximizing some performance index, such as off-target, time or energy consumption, etc. In this case, the optimal control strategy is entirely dependent on the dynamics of the system itself and on the given performance metrics.
Differential countermeasures are cases where the optimal control theory is extended to the resistant environment of multiple agents. In differential countermeasures, there are at least two participants who optimize their respective objective functions by controlling their own state variables, which are usually competing or coupled. The decision of each participant affects the results of the other participants and is therefore a dynamic gaming process. Since each participant does not know the actual strategy taken by the other party, the actual strategy obtained by the differential strategy is a relatively conservative strategy, namely a so-called Nash equilibrium solution or saddle point solution in game theory, which means that no benefit is obtained from any participant alone changing the strategy.
In general, single-side optimal control only focuses on a single control main body to optimize own performance indexes; differential countermeasures involve interactions and strategy countermeasures among multiple controlling principals, each principal taking into account not only its own optimal strategy, but also predicting and coping with actions that an opponent may take, resulting in a multi-principal dynamic gaming optimal control problem.
Meanwhile, saddle point solution solved by differential countermeasure refers to a strategy combination. For example, the challenge environment includes subject a and subject B, and the saddle point solution we solve will contain both strategies. One is the best strategy for principal a and the other is the best countermeasure strategy for principal B. In the saddle point state, regardless of how an adversary adjusts the strategy, the strategy of the main body A is always the optimal reaction; vice versa, subject B's policy is also the optimal response to any policy change by subject a. Such a combination of strategies forms an equilibrium state.
In the application scene of the invention, the countermeasure strategy of the carrier and the defending aircraft is mainly considered, the aim is to intercept the enemy attack aircraft through the defending aircraft, but the guidance law adopted by the enemy attack aircraft is unknown to the my, so that the bilateral optimal solution needs to be solved through differential countermeasures. Although the strategy of the attack aircraft is solved at the same time, the method is mainly aimed at a three-body game stage, and is not completely suitable for a two-body game stage after the fight process of the defense aircraft and the attack aircraft is finished. Meanwhile, the design of the performance index is more unfavorable for the attack aircraft, namely the performance index is reasonable for the carrier/defending aircraft, but is not reasonable for the attack aircraft, and the performance index does not reflect the killing radius of the defending aircraft, so that the attack aircraft is easy to avoid excessively for the defending aircraft. Thus, although one strategy combination is solved by differential countermeasures, it is still more applicable to the carrier/defending aircraft side.
FIG. 1 is a flowchart of a three-body game guidance law design method considering the response delay of a guidance system according to an embodiment of the present invention.
Referring to fig. 1, the method includes the steps of:
step S102, establishing a state equation of the three-game main body according to the engagement characteristics of the three-game main body after linearization;
the three-game main body comprises an aircraft on the my side, a defending aircraft on the my side and an aircraft on the attack of the enemy; and linearizing the three-game main body, extracting the linearized engagement features corresponding to the three-game main body respectively, and then establishing a linearized state equation corresponding to the three-game main body.
Step S104, under the action of the online fight feature, calculating the interception moment of the enemy attack aircraft to the aircraft on the my side and the interception moment of the enemy attack aircraft to the defensive aircraft on the my side, and judging whether the interception fight is effective or not.
On the premise of the linear processing of the three game main bodies in the step S102, the interception time of the enemy attack aircraft to the me aircraft and the interception time of the me defending aircraft to the enemy attack aircraft can be calculated and compared, and then the effectiveness of interception fight is determined according to the comparison result.
Step S106, if the interception operation is effective, according to a state equation, the interception time of the enemy attack aircraft to the my aircraft and the interception time of the enemy attack aircraft to the enemy attack aircraft are calculated and solved respectively, and the three-body game guidance law expressed by the zero control off-target amounts of the enemy attack aircraft and the zero control off-target amounts of the enemy attack aircraft and the enemy aircraft are calculated and solved.
It should be noted that, step S106 occurs when the foregoing embodiment is in the condition that the interception of the combat is effective; if the intercept combat is invalid, terminating the calculation flow before executing step S106;
In a practical preferred embodiment, a state equation considering the response delay of the guidance system can be established based on the engagement feature of linearization of the three-game main body; based on the linearization processing, whether the current interception fight is effective or not is judged according to the comparison condition of the interception time of the enemy attack aircraft to the me aircraft and the interception time of the me defense aircraft to the enemy attack aircraft, and under the condition that the interception fight is effective, the zero control miss distance of two kinds of fight processes is calculated according to the interception time respectively corresponding to the two kinds of fight processes, so that the three-body game guidance law characterized by the zero control miss distance of the two kinds of states is obtained, and more accurate three-body game guidance law design can be realized.
In some embodiments, a first-order guidance system time constant of the aircraft, the defending aircraft and the aircraft of the enemy attack can be preset, a reasonable state quantity is selected under the online assumption, and a state equation of the aircraft, the defending aircraft and the aircraft of the enemy attack is established; the step S102 of linearizing the three-game body and establishing a state equation considering the response delay of the guidance system includes:
step 1.1), acquiring the linear engagement features of the three game main bodies;
The fight feature comprises an initial distance and an initial sight of fight between an enemy attack aircraft and a my defending aircraft, an initial distance and an initial sight of fight between the enemy attack aircraft and the my aircraft, and a ballistic dip angle, a speed, an actual acceleration and a time constant respectively corresponding to a first-order guidance system of the three-game main body;
Specifically, as shown in FIG. 2, the geometric relationship of the guided three-game body engagement can be seen, in FIG. 2 Is the initial distance between the enemy incoming aircraft M and the enemy target (My aircraft) T,Is the initial distance between the enemy's incoming aircraft M and the defending aircraft D,Initial line of sight for enemy attack aircraft M and enemy target (My aircraft) T,An enemy attacks the initial line of sight of aircraft M and defending aircraft D from the fight.Is the ballistic inclination angle of an aircraft which is struck by an enemy,Is used for defending the ballistic inclination angle of the aircraft,Is the inclination angle of the trajectory of the enemy target,Is the speed of an aircraft which is attacked by an enemy,Is used for defending the speed of an aircraft,Is the speed of the enemy object,Is the actual acceleration of the aircraft from the enemy,Is to defend the actual acceleration of the aircraft,Is the actual acceleration of the target of the enemy, and respectively presets the time constants of the target, the defending aircraft and the first-order guidance system of the aircraft from which the enemy attacksWherein, the method comprises the steps of, wherein,For the current enemy incoming aircraft to be wired to the my aircraft, and for the initial deviation between the current enemy incoming aircraft and the my aircraft wiring,For the current enemy incoming aircraft to be wired to the my defending aircraft, and for the initial enemy incoming aircraft to be wired to the my defending aircraft, as shown in figure 2,Respectively isIs the derivative of the aircraft, the defensive aircraft and the aircraft on the my sideRespectively, the respective command accelerationsThe method comprises the following steps:
(1)
calculating the instruction acceleration through a transfer function of a guidance system to obtain the actual acceleration acting on the projectile (aircraft); the instruction acceleration is delayed by the guidance system and then acts as the actual acceleration, and the instruction acceleration and the actual acceleration meet the following formula:
(2)
Step 1.2), determining state quantity of a three-game main body and a linearization coefficient of a state equation based on the linearized engagement characteristics;
Here, the determined state quantity is obtained according to the geometric relationship of the three-game main body engagement shown in FIG. 2 ; And then the linearization coefficient of the state equation can be obtained according to the state quantity:
step 1.3), according to the state quantity, the instruction acceleration and the linearization coefficient, a state equation of the three-game main body is established, as follows:
(3)
It should be noted that the commanded acceleration of the three-game body in step S102 is understood as a parameter for indicating the commanded acceleration, and the actual value is not indicated in this step.
In practical application, under the linear processing condition of the steps of the embodiment, respectively calculating the interception time of the enemy attack aircraft to the my aircraft, and defending the interception time of the aircraft to the enemy attack aircraft; judging the effectiveness of defending the fight of the aircraft, and stopping the calculation flow if the fight interception is invalid; if the interception operation is effective, then solving the three-body game guidance law by using the subsequent steps according to the relation between the current moment and the interception moment; step S104, wherein determining whether the interception of the combat is effective may be implemented by:
step 2.1), according to the fight characteristics and the physical geometrical characteristics of the three-game main body after linearization, respectively calculating the interception time of the enemy attack aircraft to the My aircraft and the interception time of the My defense aircraft to the enemy attack aircraft.
Here, according to the linear assumption of the three game main bodies and the calculation formula of the journey time corresponding to fig. 2, the interception time of the target by the opponent's attack aircraft can be calculatedInterception moment of aircraft for defending against attack of enemy by aircraft：
(4)
Step 2.2), if the interception moment of the enemy attack aircraft to the my aircraft is smaller than the interception moment of the enemy defense aircraft to the enemy attack aircraft, the interception operation is invalid.
Here, the time difference between the two interception moments calculated in the foregoing embodiment; If it isUnder the current fight situation, intercepting that the fight of the aircraft is invalid and stopping the calculation flow;
Step 2.3), if the interception moment of the enemy attack aircraft to the my aircraft is larger than the interception moment of the enemy defense aircraft to the enemy attack aircraft, the interception operation is effective.
If it isThen when the current timeSatisfy the following requirementsWhen the fight between the defending aircraft and the aircraft from the enemy is finished, the control quantity of the defending aircraft can be controlled in the flight processTo further simplify the calculation of the three-body game guidance law.
In some embodiments, the three-body game guidance law can be further expressed by zero-control miss distance according to the state equation established in the previous embodiments and the calculated interception time; specifically, this step S106 includes:
Step 3.1), according to a state equation, respectively calculating a state transition matrix from the current moment to the moment of the fight of the enemy attack aircraft and a state transition matrix from the current moment to the moment of the fight of the enemy attack aircraft;
for example, a state transition matrix of different engagement processes may be calculated according to the comparison result between interception moments, including:
1) If the interception time of the enemy attack aircraft to the enemy attack aircraft is greater than the interception time of the enemy defense aircraft to the enemy attack aircraft and the current time is less than the interception time of the enemy attack aircraft to the enemy attack aircraft, calculating to obtain a state transition matrix of the state quantity from the current time to the fight time of the enemy attack aircraft to the enemy attack aircraft;
time difference when intercepting time And at the current momentIn this case, the state quantity is calculated by the following equation (5)From the current timeBy the time of ending the fight against the aircraft and the aircraft attack by the enemyState transition matrix of (a)：
(5)
In the method, in the process of the invention,
It should be noted that the number of the substrates,The remaining time of flight for an enemy to attack the aircraft and my defend against the aircraft's combat,Is thatIs used for the normalization of the results of (a),、AndThe functions used to simplify the substitution expressions are separately.
2) If the interception time of the enemy attack aircraft to the enemy attack aircraft is greater than the interception time of the enemy defense aircraft to the enemy attack aircraft and the current time is greater than the interception time of the enemy defense aircraft to the enemy attack aircraft and is less than the interception time of the enemy attack aircraft to the enemy attack aircraft, calculating to obtain a state transition matrix of the state quantity from the current time to the fight time of the enemy aircraft to the enemy attack aircraft.
Time difference when intercepting timeAnd the current moment meetsIn this case, the state quantity is calculated by the formula (6)From the current time t to the time when the fight between the my aircraft and the enemy attack aircraft is finishedState transition matrix of (a)：
(6)
In the method, in the process of the invention,
Wherein,The remaining time of flight for an enemy to attack an aircraft and for my aircraft to fight,Is thatIs used for the normalization of the results of (a),、AndThe functions used to simplify the substitution expressions are separately.
Step 3.2), calculating zero control off-target quantity of the my defending aircraft and the enemy attacking aircraft and zero control off-target quantity of the enemy attacking aircraft and the target according to a state transition matrix from the current moment to the moment of the engagement of the my defending aircraft and the enemy attacking aircraft;
Here, the zero control miss distance between the enemy attack aircraft and the my aircraft and the zero control miss distance between the defending aircraft and the enemy attack aircraft can be obtained through the state transition matrix calculated in the step 3.1); illustratively, the state transition matrix obtained in step 3.1) is utilized ，The zero control off-target quantity of the defending aircraft and the enemy attack aircraft can be calculated respectively by using the formula (7)Zero control miss distance between enemy attack aircraft and targetWhereinIs the state quantity at the current t moment.
(7)
Wherein,The linear coefficient D is similar to the linear coefficient ABC in the previous embodiment, and will not be described here.
It should be noted that the number of the substrates,To provide zero input response to the instant of interception of my aircraft by an enemy-attacking aircraft,Zero input response at the moment of interception of the aircraft from the defensive aircraft against the enemy.
Step 3.3), calculating the three-body game guidance law expressed by the zero control off-target quantity of the my defending aircraft and the enemy attacking aircraft and the zero control off-target quantity of the enemy attacking aircraft and the enemy aircraft according to the zero control off-target quantity of the me defending aircraft and the enemy attacking aircraft and the preset guidance law super-parameters.
As an optional embodiment, a performance index can be defined according to preset guidance law super-parameters, the performance index is expressed by zero control miss distance, a Hamiltonian function is deduced, and a cooperative variable is solved, so that a three-body game guidance law expressed by zero control miss distance is obtained; illustratively, it comprises:
a. Defining performance indexes according to zero control miss distance of the defensive aircraft and the enemy attack aircraft, the zero control miss distance of the enemy attack aircraft and the enemy aircraft and preset guidance law super-parameters;
Presetting guidance law super parameter Using zero-controlled off-targetAnd a controlled amountDefine the performance index shown in the following formula (8)：
(8)
B. Deducing a Hamiltonian based on the performance index, and determining a cooperative equation of the my defending aircraft and the enemy attacking aircraft, wherein the cooperative equation of the enemy attacking aircraft and the my aircraft;
deriving the performance index of formula (8) to Hamiltonian for optimal control of control quantityIs of formula (9):
(9)
Wherein, AndTo introduce the covariates, the covariates change rateThe time-dependent equation of the synergy is shown in the following formula (10):
(10)
calculating the value of the cooperative variable corresponding to each cooperative equation through the transversal condition:
(11)
c. And determining the optimal control quantity of the three-game main body according to the cooperative equation of the my defending aircraft and the enemy attacking aircraft.
Here, the optimal control of the enemy-attack aircraft, the my aircraft, and the defending aircraft can be obtained by solving the variance method shown in the formula (12)Expressed in terms of zero controlled off-target amount, is represented by the following formula (13):
(12)
(13)
It should be noted that, the three-game guidance law design provided by the embodiment of the present invention may be equivalent to determining to express the three-game guidance law with a zero-control miss amount, or equivalent to determining an optimal control amount of the three-game main body.
In practical application, in order to further accelerate the response speed of the optimal control amount of the three-game main body, the method can be realized by simplifying the optimal control amount of the three-game main body; the method of the embodiment of the invention further comprises the step of simplifying the optimal control quantity of the three-game main body, and the method can be realized by the following steps:
step 4.1), simplifying, deriving and reducing zero control off-target quantity of the my defending aircraft and the enemy attacking aircraft and zero control off-target quantity of the enemy attacking aircraft and the my aircraft;
Here, the zero controlled miss distance obtained by the above formula (7) The expression is simplified to obtain a formula (14), and the derivative of the zero control off-target quantity is obtained after the derivative of the formula (14) is reducedLaw of time variation:
(14)
(15)
Wherein the method comprises the steps of As a function of the step-up function,Intermediate functions introduced to simplify the expression:
Step 4.2), substituting the zero control off-target quantity of the reduced my defending aircraft and the enemy attacking aircraft and the zero control off-target quantity of the enemy attacking aircraft and the enemy aircraft into the optimal control quantity of the three-game main body to obtain the simplified optimal control quantity of the three-game main body;
the reduced zero controlled miss distance derivative expression (15) is brought into a three-body game guidance law expression (13) expressed in the form of zero controlled miss distance, and the simplified optimal control expression is shown as a formula (16):
(16)
Step 4.3), substituting the optimal control quantity of the simplified three-game main body into the zero control off-target quantity of the defensive aircraft and the enemy attack aircraft and the zero control off-target quantity of the enemy attack aircraft and the enemy attack aircraft to respectively obtain differential analysis expressions and integration of the zero control off-target quantity of the defensive aircraft and the enemy attack aircraft and the zero control off-target quantity of the enemy attack aircraft;
The simplified optimal control expression (16) is brought into a reduced zero control off-target derivative expression (15), and a zero control off-target differential analysis expression is obtained as shown in a formula (17):
(17)
respectively at two parts AndIntegrating to obtain the end of the fight against the enemy aircraft and the targetZero control miss distance at momentAnd defend aircraft from fight aircraft against enemyZero control miss distance at momentThe analytical expression of (2) is:
(18)
Wherein the method comprises the steps of
And 4.4), substituting the integrated zero control off-target quantity of the my defending aircraft and the enemy attacking aircraft and the differential analysis expression of the zero control off-target quantity of the enemy attacking aircraft and the my aircraft into the simplified optimal control quantity of the three-game main body to obtain the simplified optimal control quantity of the three-game guidance law.
The analysis expression (18) of zero control off-target quantity at the interception moment is brought into the optimal control law (16) expressed by the zero control off-target quantity to obtain the three-body game guidance law in the analysis form, which is shown as the formula (19):
(19)
Wherein, The equivalent guiding ratio is:
in some embodiments, as shown in fig. 3, the embodiment of the present invention further provides a three-body game guidance law design device considering a response delay of a guidance system, including:
The building module is used for building a state equation of the three-game main body according to the engagement characteristics of the three-game main body after the three-game main body is wired; wherein the three game bodies include my aircraft, my defending aircraft, and enemy attacking aircraft;
The judging module is used for calculating the interception time of the enemy attack aircraft and the interception time of the enemy defense aircraft on the enemy attack aircraft under the action of the linearized fight characteristics and judging whether the interception fight is effective or not;
and the calculation module is used for calculating and solving zero control off-target quantity of the enemy attack aircraft and the enemy attack aircraft according to the state equation and the interception time of the enemy attack aircraft, respectively, wherein the three-body game guidance law is expressed by the zero control off-target quantity of the enemy attack aircraft and the enemy attack aircraft.
In some embodiments, the establishing module is further specifically configured to obtain a linearized engagement feature of the three-game main body; the fight feature comprises an initial distance and an initial sight of fight between an opponent attack aircraft and a my defending aircraft, an initial distance and an initial sight of fight between the opponent attack aircraft and the my aircraft, and a ballistic dip angle, a velocity, an actual acceleration and a time constant corresponding to a first-order guidance system of the three-game main body respectively; determining state quantity of the three game main bodies and linearization coefficients of a state equation based on the linearized engagement features; and establishing a state equation of the three-game main body according to the state quantity, the instruction acceleration and the linearization coefficient.
In some embodiments, the judging module is further specifically configured to calculate, according to the engagement feature and the physical geometric feature of the three-game body after the linearization, an interception time of the enemy attack aircraft to the my aircraft and an interception time of the enemy defense aircraft to the enemy attack aircraft respectively; if the interception time of the enemy attack aircraft to the my aircraft is smaller than the interception time of the enemy defense aircraft to the enemy attack aircraft, the interception operation is invalid; and if the interception time of the enemy attack aircraft to the me aircraft is greater than the interception time of the me defending aircraft to the enemy attack aircraft, the interception operation is effective.
In some embodiments, the calculation module is further specifically configured to calculate, according to the state equation, a state transition matrix from a current time to a time when the enemy attack aircraft is in engagement with the enemy attack aircraft and a state transition matrix from the current time to a time when the enemy attack aircraft is in engagement with the enemy attack aircraft, respectively; according to the state transition matrix from the current moment to the moment of the fight between the my defending aircraft and the enemy attacking aircraft, the state transition matrix from the current moment to the moment of the fight between the my aircraft and the enemy attacking aircraft is used for calculating the zero control off-target quantity of the my defending aircraft and the enemy attacking aircraft and the zero control off-target quantity of the enemy attacking aircraft and the target; and calculating the zero control off-target quantity of the enemy defending aircraft and the enemy attacking aircraft according to the zero control off-target quantity of the enemy defending aircraft and the enemy attacking aircraft, the zero control off-target quantity of the enemy attacking aircraft and preset guidance law super parameters, and the three-body game guidance law expressed by the zero control off-target quantity of the enemy defending aircraft and the enemy attacking aircraft.
In some embodiments, the calculating module is further specifically configured to calculate a state transition matrix of the state quantity from the current time to a time when the my defending aircraft and the enemy attacking aircraft fight if the interception time of the enemy attacking aircraft to the my aircraft is greater than the interception time of the my defending aircraft to the enemy attacking aircraft and the current time is less than the interception time of the enemy defending aircraft to the enemy attacking aircraft; and if the interception time of the enemy attack aircraft to the enemy attack aircraft is greater than the interception time of the enemy attack aircraft to the enemy attack aircraft, and the current time is greater than the interception time of the enemy attack aircraft to the enemy attack aircraft and is smaller than the interception time of the enemy attack aircraft to the enemy attack aircraft, calculating to obtain a state transition matrix of the state quantity from the current time to the fight time of the enemy attack aircraft to the enemy attack aircraft.
In some embodiments, the computing module is further specifically configured to define a performance index according to the zero control miss distance of the my defending aircraft and the enemy attacking aircraft, the zero control miss distance of the enemy attacking aircraft and the enemy aircraft, and a preset guidance law super parameter; deducing a Hamiltonian based on the performance index, and determining a cooperative equation of the my defending aircraft and the enemy attacking aircraft, wherein the cooperative equation of the enemy attacking aircraft and the my aircraft; and determining the optimal control quantity of the three-game main body according to the cooperative equation of the my defending aircraft and the enemy attacking aircraft, wherein the cooperative equation of the enemy attacking aircraft and the my aircraft.
In some embodiments, the apparatus is further specifically configured to simplify the optimal control amounts of the three-gaming body, including: zero controlled miss distance of the my defending aircraft and the enemy attacking aircraft, and the zero control off-target quantity of the enemy attack aircraft and the my aircraft is subjected to simplification, derivation and order reduction operation; substituting the reduced zero control off-target quantity of the my defending aircraft and the enemy attacking aircraft and the zero control off-target quantity of the enemy attacking aircraft and the enemy aircraft into the optimal control quantity of the three-game main body to obtain the simplified optimal control quantity of the three-game main body; substituting the simplified optimal control quantity of the three game main bodies into zero control off-target quantities of the my defending aircraft and the enemy attacking aircraft and zero control off-target quantities of the enemy attacking aircraft and the enemy attacking aircraft to respectively obtain and integrate differential analysis expressions of the zero control off-target quantities of the enemy defending aircraft and the enemy attacking aircraft and the zero control off-target quantities of the enemy attacking aircraft; substituting the integrated zero control miss distance of the my defending aircraft and the enemy attacking aircraft and the differential analysis expression of the zero control miss distance of the enemy attacking aircraft and the enemy aircraft into the simplified optimal control quantity of the three-game main body to obtain the simplified optimal control quantity of the three-game guidance law.
In the embodiment of the present invention, the electronic device may be, but is not limited to, a personal computer (Personal Computer, PC), a notebook computer, a monitoring device, a server, and other computer devices with analysis and processing capabilities.
As an exemplary embodiment, referring to fig. 4, an electronic device 110 includes a communication interface 111, a processor 112, a memory 113, and a bus 114, the processor 112, the communication interface 111, and the memory 113 being connected by the bus 114; the memory 113 is used for storing a computer program supporting the processor 112 to execute the method, and the processor 112 is configured to execute the program stored in the memory 113.
The machine-readable storage medium referred to herein may be any electronic, magnetic, optical, or other physical storage device that can contain or store information, such as executable instructions, data, or the like. For example, a machine-readable storage medium may be: RAM (Radom Access Memory, random access memory), volatile memory, non-volatile memory, flash memory, a storage drive (e.g., hard drive), any type of storage disk (e.g., optical disk, dvd, etc.), or a similar storage medium, or a combination thereof.
The non-volatile medium may be a non-volatile memory, a flash memory, a storage drive (e.g., hard drive), any type of storage disk (e.g., optical disk, dvd, etc.), or a similar non-volatile storage medium, or a combination thereof.
It can be understood that the specific operation method of each functional module in this embodiment may refer to the detailed description of the corresponding steps in the above method embodiment, and the detailed description is not repeated here.
The computer readable storage medium provided by the embodiments of the present invention stores a computer program, where the computer program code may implement the method described in any of the foregoing embodiments when executed, and the specific implementation may refer to the method embodiment and will not be described herein.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
In addition, in the description of embodiments of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (8)
1. A three-body game guidance law design method considering response delay of a guidance system is characterized by comprising the following steps:
Establishing a state equation of the three-game main body according to the engagement characteristics of the three-game main body after linearization; wherein the three game bodies include my aircraft, my defending aircraft, and enemy attacking aircraft;
Under the action of the linearized fight feature, calculating the interception time of the enemy attack aircraft to the my aircraft and the interception time of the enemy defense aircraft to the enemy attack aircraft, and judging whether interception fight is effective or not;
If the interception operation is effective, according to the state equation, the interception time of the enemy attack aircraft to the my aircraft and the interception time of the enemy attack aircraft to the enemy attack aircraft are respectively calculated and solved, and the three-body game guidance law expressed by the zero control miss distance between the enemy attack aircraft and the enemy attack aircraft is expressed;
Under the action of the linearized fight feature, calculating the interception time of the enemy attack aircraft to the my aircraft and the interception time of the enemy defense aircraft to the enemy attack aircraft, and judging whether interception fight is effective or not, including the steps of:
According to the fight characteristics and the physical geometrical characteristics of the three-game main body after being wired, the interception time of the enemy attack aircraft to the my aircraft and the interception time of the enemy defense aircraft to the enemy attack aircraft are calculated respectively;
if the interception time of the enemy attack aircraft to the my aircraft is smaller than the interception time of the enemy defense aircraft to the enemy attack aircraft, the interception operation is invalid;
If the interception time of the enemy attack aircraft to the my aircraft is larger than the interception time of the enemy defense aircraft to the enemy attack aircraft, the interception operation is effective;
If the interception operation is effective, according to the state equation, calculating and solving zero control off-target amounts of the enemy attack aircraft and the enemy attack aircraft respectively according to the interception time of the enemy attack aircraft and the interception time of the enemy attack aircraft, wherein the three-body game guidance law expressed by the zero control off-target amounts of the enemy attack aircraft and the enemy attack aircraft comprises the following steps:
According to the state equation, the interception time of the enemy attack aircraft to the enemy attack aircraft and the interception time of the enemy defense aircraft to the enemy attack aircraft are respectively calculated, and a state transition matrix from the current time to the fight time of the enemy attack aircraft;
According to the state transition matrix from the current moment to the moment of the fight between the my defending aircraft and the enemy attacking aircraft, the state transition matrix from the current moment to the moment of the fight between the my aircraft and the enemy attacking aircraft is used for calculating the zero control off-target quantity of the my defending aircraft and the enemy attacking aircraft and the zero control off-target quantity of the enemy attacking aircraft and the target;
And calculating the zero control off-target quantity of the enemy defending aircraft and the enemy attacking aircraft according to the zero control off-target quantity of the enemy defending aircraft and the enemy attacking aircraft, the zero control off-target quantity of the enemy attacking aircraft and preset guidance law super parameters, and the three-body game guidance law expressed by the zero control off-target quantity of the enemy defending aircraft and the enemy attacking aircraft.
2. The method of claim 1, wherein the step of establishing the state equation for the three-gaming entity based on the linearized engagement characteristics of the three-gaming entity comprises:
Acquiring the engagement characteristics of the three game main bodies after linearization; the fight feature comprises an initial distance and an initial sight of fight between an opponent attack aircraft and a my defending aircraft, an initial distance and an initial sight of fight between the opponent attack aircraft and the my aircraft, and a ballistic dip angle, a velocity, an actual acceleration and a time constant corresponding to a first-order guidance system of the three-game main body respectively;
determining state quantity of the three game main bodies and linearization coefficients of a state equation based on the linearized engagement features;
And establishing a state equation of the three-game main body according to the state quantity, the instruction acceleration and the linearization coefficient.
3. The method according to claim 2, wherein the steps of calculating a state transition matrix from a current time to a time of engagement of the enemy attack aircraft with the enemy attack aircraft and a state transition matrix from the current time to a time of engagement of the enemy attack aircraft with the enemy attack aircraft, respectively, from the current time to the time of engagement of the enemy attack aircraft with the enemy attack aircraft by the enemy attack aircraft, according to the state equation, include:
If the interception time of the enemy attack aircraft to the enemy attack aircraft is greater than the interception time of the enemy attack aircraft to the enemy defense aircraft and the current time is less than the interception time of the enemy attack aircraft to the enemy attack aircraft, calculating to obtain a state transition matrix of the state quantity from the current time to the fight time of the enemy attack aircraft to the enemy attack aircraft;
And if the interception time of the enemy attack aircraft to the enemy attack aircraft is greater than the interception time of the enemy attack aircraft to the enemy attack aircraft, and the current time is greater than the interception time of the enemy attack aircraft to the enemy attack aircraft and is smaller than the interception time of the enemy attack aircraft to the enemy attack aircraft, calculating to obtain a state transition matrix of the state quantity from the current time to the fight time of the enemy attack aircraft to the enemy attack aircraft.
4. A method according to claim 3, wherein the step of calculating the three-body game guidance law expressed in the zero control miss amount of the my defending aircraft and the enemy incoming aircraft according to the zero control miss amount of the my defending aircraft and the enemy incoming aircraft, the zero control miss amount of the enemy incoming aircraft and the enemy incoming aircraft, and preset guidance law superparameters, comprises:
defining a performance index according to the zero control off-target quantity of the my defending aircraft and the enemy attacking aircraft, the zero control off-target quantity of the enemy attacking aircraft and the enemy aircraft and preset guidance law super-parameters;
Deducing a Hamiltonian based on the performance index, and determining a cooperative equation of the my defending aircraft and the enemy attacking aircraft, wherein the cooperative equation of the enemy attacking aircraft and the my aircraft;
and determining the optimal control quantity of the three-game main body according to the cooperative equation of the my defending aircraft and the enemy attacking aircraft, wherein the cooperative equation of the enemy attacking aircraft and the my aircraft.
5. The method of claim 1, further comprising the step of simplifying the optimal control of the three game bodies, comprising:
Zero controlled miss distance of the my defending aircraft and the enemy attacking aircraft, and the zero control off-target quantity of the enemy attack aircraft and the my aircraft is subjected to simplification, derivation and order reduction operation;
Substituting the reduced zero control off-target quantity of the my defending aircraft and the enemy attacking aircraft and the zero control off-target quantity of the enemy attacking aircraft and the enemy aircraft into the optimal control quantity of the three-game main body to obtain the simplified optimal control quantity of the three-game main body;
Substituting the simplified optimal control quantity of the three game main bodies into zero control off-target quantities of the my defending aircraft and the enemy attacking aircraft and zero control off-target quantities of the enemy attacking aircraft and the enemy attacking aircraft to respectively obtain and integrate differential analysis expressions of the zero control off-target quantities of the enemy defending aircraft and the enemy attacking aircraft and the zero control off-target quantities of the enemy attacking aircraft;
Substituting the integrated zero control miss distance of the my defending aircraft and the enemy attacking aircraft and the differential analysis expression of the zero control miss distance of the enemy attacking aircraft and the enemy aircraft into the simplified optimal control quantity of the three-game main body to obtain the simplified optimal control quantity of the three-game guidance law.
6. A three-dimensional game guidance law design device considering a response delay of a guidance system, comprising:
The building module is used for building a state equation of the three-game main body according to the engagement characteristics of the three-game main body after the three-game main body is wired; wherein the three game bodies include my aircraft, my defending aircraft, and enemy attacking aircraft;
The judging module is used for calculating the interception time of the enemy attack aircraft and the interception time of the enemy defense aircraft on the enemy attack aircraft under the action of the linearized fight characteristics and judging whether the interception fight is effective or not;
The calculation module is used for calculating and solving zero control off-target quantity of the enemy attack aircraft and the enemy attack aircraft according to the state equation and the interception time of the enemy attack aircraft, respectively, wherein the three-body game guidance law is expressed by the zero control off-target quantity of the enemy attack aircraft and the enemy attack aircraft;
the judging module is further used for respectively calculating the interception time of the enemy attack aircraft to the my aircraft and the interception time of the enemy defense aircraft to the enemy attack aircraft according to the engagement characteristics and the physical geometric characteristics of the three-game main body after being wired; if the interception time of the enemy attack aircraft to the my aircraft is smaller than the interception time of the enemy defense aircraft to the enemy attack aircraft, the interception operation is invalid; if the interception time of the enemy attack aircraft to the my aircraft is larger than the interception time of the enemy defense aircraft to the enemy attack aircraft, the interception operation is effective;
the calculation module is further configured to calculate, according to the state equation, a state transition matrix from a current time to a time when the enemy attack aircraft and the enemy attack aircraft fight each other, and a state transition matrix from the current time to a time when the enemy attack aircraft and the enemy attack aircraft fight each other, respectively; according to the state transition matrix from the current moment to the moment of the fight between the my defending aircraft and the enemy attacking aircraft, the state transition matrix from the current moment to the moment of the fight between the my aircraft and the enemy attacking aircraft is used for calculating the zero control off-target quantity of the my defending aircraft and the enemy attacking aircraft and the zero control off-target quantity of the enemy attacking aircraft and the target; and calculating the zero control off-target quantity of the enemy defending aircraft and the enemy attacking aircraft according to the zero control off-target quantity of the enemy defending aircraft and the enemy attacking aircraft, the zero control off-target quantity of the enemy attacking aircraft and preset guidance law super parameters, and the three-body game guidance law expressed by the zero control off-target quantity of the enemy defending aircraft and the enemy attacking aircraft.
7. An electronic device comprising a memory, a processor and a program stored on the memory and capable of running on the processor, the processor implementing the method of any one of claims 1 to 5 when executing the program.
8. A computer readable storage medium, characterized in that the computer program is stored in the readable storage medium, which computer program, when executed, implements the method of any of claims 1-5.
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