CN110657713B - Active defense missile optimal launching opportunity searching method adopting predictive guidance - Google Patents
Active defense missile optimal launching opportunity searching method adopting predictive guidance Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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Abstract
The invention relates to the technical field of aircraft guidance and control, and discloses an optimal launching opportunity searching method for an active defense missile by adopting predictive guidance, which comprises the following steps: the active defense three-body confrontation kinematics model is characterized in that the flight trajectory of an incoming missile under a known guidance law is solved according to the flight states of a carrier and the incoming missile, the predicted interception point sequences under different defense missile launching times are calculated, the predicted course deviation angle sequence formed by the defense missile and the predicted interception point is calculated, and the optimal launching opportunity of the defense missile is searched. The method searches and obtains the optimal launching opportunity of the defense missile in the active defense problem, provides the intelligent launching capability for the aircraft, optimizes the guidance overload of the defense missile and minimizes the guidance energy loss relative to the situation of non-optimal launching opportunity, and reduces the performance requirement on the defense missile, thereby improving the survival probability of the aircraft.
Description
Technical Field
The invention relates to the technical field of aircraft guidance and control, in particular to an optimal launching opportunity searching method for an active defense missile by adopting predictive guidance.
Background
In air battles, the combat aircraft is often locked by enemy air-to-air missiles and ground-to-air missiles as a primary attack target, and the traditional coping mode is a passive defense mode such as maneuvering evasion and bait throwing. However, with the rapid development of guided missile technologies such as seeker target identification, the traditional passive avoidance mode has difficulty in guaranteeing the safety of the airplane. When the airplane is locked as an attack target by the incoming missile, a defense missile can be launched to quickly intercept the incoming missile, so that the safety of the airplane is ensured. The airplane (aerial carrier) for launching the defense missile, the defense missile and the incoming missile form a three-body attack and defense problem of active defense. In order to realize efficient interception of defense missiles, the aircraft and the defense missiles can adopt a cooperative prediction Guidance mode to reduce Guidance energy loss and improve interception probability (H.Shi, J.Zhu, M.Kuang, and X.Yuan, "Predictive Guidance structures for active air guide Defence," Proc.of the AIAA Guidance, Navigation, and controlConference, p.2343, 2019).
The energy consumption and overload performance of guidance are influenced by different battlefield situations when the defense missile is launched. Defense missiles are generally inferior to incoming missiles in size, energy, and overload performance due to limitations in various aspects of the onboard equipment. Launching the defense missile too early will result in more energy being consumed in the guidance process, affecting the interception success rate; and launching the defense missile too late may result in the carrier not being able to avoid the blast area and thus causing loss. The defense missile is intelligently launched at the optimal time, so that the guidance difficulty of the defense missile is effectively reduced, and the guidance overload requirement on the defense missile is greatly reduced, but the traditional research on the active defense problem has not been researched on the launching time of the defense missile.
Disclosure of Invention
Aiming at the selection problem of the launching opportunity of the defense missile, the invention provides an active defense missile optimal launching opportunity searching method adopting prediction guidance so as to ensure the guidance energy consumption of the defense missile
Is optimal, wherein aD(t) as a function of the time of the defense missile guidance overload, t0And tfRespectively the start time and the end time of the interception process.
According to the active defense three-body interception method, the active defense three-body interception relation is deduced from the geometric angle, and in the active defense prediction guidance law, a predicted course deviation angle is formed by the real-time position of a prediction interception point and the real-time flight direction of an aircraft, as shown in figure 2. Under the condition that the aircraft maneuvers to a certain degree, if the defense missile can be launched under the condition that the predicted course deviation angle is zero, the defense missile theoretically has a straight trajectory and directly hits a predicted point, and therefore the moment of occurrence of the minimum deviation angle needs to be solved.
The invention comprises the following steps:
s1: establishing a three-body antagonistic kinematics model of active defense:
wherein r isi(tk)，vi(tk)，ai(tk) At t for each moving body respectivelykThe position, velocity and acceleration vectors at time, subscript T, A, D for the aircraft, incoming missile and defensive missile, respectively, and Δ T is the time step.
S2: according to the model, the flight trajectory of the incoming missile under the known guidance law is solved according to the flight states of the aircraft and the incoming missile, and the solving specific method comprises the following steps:
wherein a isA(τ) is the commanded acceleration of guidance for the incoming missile, obtained from the known guidance law, rA0And vA0Respectively the position and the speed of the incoming missile at the initial moment.
S3: according to the flight trajectory of the incoming missile, the predicted interception point sequence of the defense missile and the incoming missile under different launching times of the defense missile is solved, and the calculation method comprises the following steps:
relative position and relative velocity of the defense missile and the incoming missile:
rDA＝rA0-rD0
vDA＝vA0-vD0
wherein r isA0And vA0Respectively the position and the speed, r, of the incoming missile at the initial momentD0And vD0The position and the speed of the defense missile at the initial moment are respectively;
the approaching speed of the defense missile and the incoming missile:
Vc,DA＝rDA·vDA/|rDA|
remaining interception time of defense missile and incoming missile:
tgo,DA＝|rDA|/Vc,DA
thereby obtaining the defense missile and the incoming missile at different launching time tLThe following predicted intercept points are:
rP(tL)＝rA(tL+tgo,DA)
s4: and solving a predicted course deviation angle sequence formed by the defense missile and the predicted interception point under different defense missile launching times according to the predicted interception point sequence. The specific calculation method comprises the following steps:
defense missile at tLThe position of the moment is the position of the carrier when transmitting:
rD(tL)＝rT(tL)
relative position vector of defense missile and prediction interception point:
rDP(tL)＝rP(tL)-rD(tL)
the predicted course deviation angle is the included angle between the relative position vector and the speed vector of the carrier during transmission:
wherein v isT(tL) For the aircraft at tLVelocity vector of the moment.
S5: and finding out the corresponding launching time when the predicted course deviation angle value is minimum according to the predicted course deviation angle sequence, namely the optimal launching opportunity of the defense missile.
The method is not only suitable for researching the active defense problem in the plane, but also suitable for solving the three-dimensional scene.
The invention has the advantages that:
(1) the optimal launching opportunity of the defense missile in the active defense problem is obtained through searching, and compared with the working condition of non-optimal launching opportunity, the guidance overload of the defense missile is optimal, the guidance energy loss is minimum, and the interception trajectory is more straight.
(2) The acquisition of the optimal launching opportunity provides the intelligent launching capability for the aircraft, and compared with the working condition of non-optimal launching opportunity, the performance requirement on the defense missile is reduced, so that the survival probability of the aircraft is improved.
Drawings
FIG. 1: adopting a flow chart of an optimal launching opportunity searching method of an active defense missile with prediction guidance;
FIG. 2: predicting a course deviation angle schematic diagram;
FIG. 3: predicting the variation trend of the course deviation angle along with the emission time;
FIG. 4: a defense missile interception trajectory comparison graph at different launching moments;
FIG. 5: contrast graphs of defense missile guidance overload at different launching moments;
FIG. 6: and (5) defense missile guidance energy consumption comparison diagrams at different launching moments.
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to specific drawings and examples.
The invention discloses an optimal launching opportunity searching method of an active defense missile by adopting predictive guidance, which comprises the following specific steps:
s1: establishing a three-body antagonistic kinematics model of active defense:
wherein r isi(tk)，vi(tk)，ai(tk) At t for each moving body respectivelykThe position, velocity and acceleration vectors at time, subscript T, A, D for the aircraft, incoming missile and defensive missile, respectively, and Δ T is the time step.
S2: according to the model, the flight trajectory of the incoming missile under the known guidance law is solved according to the flight states of the aircraft and the incoming missile, and the solving specific method comprises the following steps:
wherein a isA(τ) is the commanded acceleration of guidance for the incoming missile, obtained from the known guidance law, rA0And vA0Respectively the position and the speed of the incoming missile at the initial moment.
S3: according to the flight trajectory of the incoming missile, the predicted interception point sequence of the defense missile and the incoming missile under different launching times of the defense missile is solved, and the calculation method comprises the following steps:
relative position and relative velocity of the defense missile and the incoming missile:
rDA＝rA0-rD0
vDA＝vA0-vD0
wherein r isA0And vA0Respectively the position and the speed, r, of the incoming missile at the initial momentD0And vD0The position and the speed of the defense missile at the initial moment are respectively;
the approaching speed of the defense missile and the incoming missile:
Vc,DA＝rDA·vDA/|rDA|
remaining interception time of defense missile and incoming missile:
tgo,DA＝|rDA|/Vc,DA
thereby obtaining the defense missile and the incoming missile at different launching time tLThe following predicted intercept points are:
rP(tL)＝rA(tL+tgo,DA)
s4: and solving a predicted course deviation angle sequence formed by the defense missile and the predicted interception point under different defense missile launching times according to the predicted interception point sequence. The specific calculation method comprises the following steps:
defense missile at tLThe position of the moment is the position of the carrier when transmitting:
rD(tL)＝rT(tL)
relative position vector of defense missile and prediction interception point:
rDP(tL)＝rP(tL)-rD(tL)
the predicted course deviation angle is the included angle between the relative position vector and the speed vector of the carrier during transmission:
wherein v isT(tL) For the aircraft at tLVelocity vector of the moment.
S5: and finding out the corresponding launching time when the predicted course deviation angle value is minimum according to the predicted course deviation angle sequence, namely the optimal launching opportunity of the defense missile.
In order to verify the effectiveness and superiority of the designed guidance method, simulation experiments are carried out in the section.
The initial state of the selected interception scene is as follows:
the carrier starts flying from the origin, the initial position rT0(0,0), initial velocity direction along x-axis direction, velocity magnitude 300m/s, initial velocity vector vT0Maneuvers in the-y direction with an overload of 3g ═ 300, 0; initial position r of incoming missileA0(9850,1735) speed size 850m/s, initial velocity vector vA0-826, -200, using proportional guidance law to fly towards the loader; the speed of the defense missile is 500m/s, and the launching direction is along the instantaneous speed direction of the carrier.
According to the calculation steps of the method for searching the optimal launching opportunity of the active defense missile adopting the predictive guidance, a predicted course deviation angle sequence formed by the defense missile and the predictive interception point is obtained by solving, and the variation trend of the predicted course deviation angle along with the launching time is shown in figure 3.
The interception trajectories formed by the active defense missiles at different launching moments are shown in fig. 4. Guidance overload of the defense missile at different launch times is shown in fig. 5, and guidance energy consumption is shown in fig. 6.
As can be seen from FIG. 3, when the transmission timing is tL1.4s, the resulting predicted heading deviation angle is zero, so t is t according to the method described hereinL1.4s should be selected as the optimal transmit opportunity. As can be seen from FIGS. 4 and 5, at tLThe guidance overload and guidance energy consumption required for launching defense missiles at 1.4s are always keptAnd the minimum value is obtained, so that the optimal transmitting opportunity obtained by solving the method provided by the invention can be verified to be effective. Also as can be seen in fig. 4, the premature emission (t)L0) the maximum guidance overload required is also the largest, the closer the launching time is to the obtained optimal launching opportunity, the smaller the overload required, therefore, the reasonable launching opportunity can effectively reduce the overload performance requirement on the defense missile.
Claims (3)
1. The method for searching the optimal launching opportunity of the active defense missile by adopting the predictive guidance is characterized by comprising the following steps of:
s1: establishing a three-body antagonistic kinematics model of active defense:
wherein r isi(tk)，vi(tk)，ai(tk) At t for each moving body respectivelykThe position, speed and acceleration vectors at the moment, subscripts T, A, D represent the carrier, the incoming missile and the defense missile respectively, and delta T is the time step;
s2: according to the model, the flight trajectory of the incoming missile under the known guidance law is solved according to the flight states of the aircraft and the incoming missile, and the solving specific method comprises the following steps:
wherein a isA(τ) is the commanded acceleration of guidance for the incoming missile, obtained from the known guidance law, rA0And vA0The position and the speed of an incoming missile at the initial moment are respectively;
s3: according to the flight trajectory of the incoming missile, solving the predicted interception point sequence of the defense missile and the incoming missile at different launching times of the defense missile;
s4: according to the predicted interception point sequence, solving a predicted course deviation angle sequence formed by the defense missile and the predicted interception point under different defense missile launching times;
s5: and finding out the corresponding launching time when the predicted course deviation angle value is minimum according to the predicted course deviation angle sequence, namely the optimal launching opportunity of the defense missile.
2. The method for searching the optimal launching opportunity of the active defense missile adopting the predictive guidance as claimed in claim 1, wherein the method for calculating the sequence of the predicted interception points of the defense missile and the incoming missile in the step S3 is as follows:
relative position and relative velocity of the defense missile and the incoming missile:
rDA＝rA0-rD0
vDA＝vA0-vD0
wherein r isA0And vA0Respectively the position and the speed, r, of the incoming missile at the initial momentD0And vD0The position and the speed of the defense missile at the initial moment are respectively;
the approaching speed of the defense missile and the incoming missile:
Vc,DA＝rDA·vDA/|rDA|
remaining interception time of defense missile and incoming missile:
tgo,DA＝|rDA|/Vc,DA
thereby obtaining the defense missile and the incoming missile at different launching time tLThe following predicted intercept points are:
rP(tL)＝rA(tL+go,DA)。
3. the method for searching the optimal launching opportunity of the active defense missile adopting the predictive guidance as claimed in claim 1, wherein the method for calculating the predicted heading deviation angle sequence formed by the defense missile and the predictive interception point in the step S4 comprises the following steps:
defense missile at tLThe position of the moment, i.e. the position at which the carrier is transmitting：
rD(tL)＝rT(tL)
Relative position vector of defense missile and prediction interception point:
rDP(tL)＝rP(tL)-rD(tL)
the predicted course deviation angle is the included angle between the relative position vector and the speed vector of the carrier during transmission:
wherein v isT(tL) For the aircraft at tLVelocity vector of the moment.
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