CN-116560403-B - Intelligent time collaborative guidance method, system and equipment for hypersonic aircraft

CN116560403BCN 116560403 BCN116560403 BCN 116560403BCN-116560403-B

Abstract

The invention discloses an intelligent time collaborative guidance method, system and equipment for a hypersonic aircraft, and relates to the field of hypersonic aircraft collaborative guidance, wherein the method comprises the following steps: according to a dynamics model and a kinematic model of the hypersonic aircraft, determining a hypersonic aircraft collaborative time planning target, a flight process constraint condition and a terminal constraint condition; the method comprises the steps of determining a course angle corridor and a roll angle overturning logic according to the targets and constraint conditions, calculating a transverse cooperative time adjustment factor in transverse lateral guidance according to the course angle corridor and the roll angle overturning logic, calculating a roll angle section in longitudinal guidance according to the transverse cooperative time adjustment factor, determining a deep learning frame based on a transform network according to the transverse cooperative time adjustment factor and the roll angle section, and planning a hypersonic aircraft track on line to realize intelligent time cooperative guidance of the hypersonic aircraft.

Inventors

HUA YONGCHAO
LI QING
DONG XIWANG
YU JIANGLONG
FENG ZHI
LV JINHU
REN ZHANG

Assignees

北京航空航天大学

Dates

Publication Date: 20260505
Application Date: 20230524

Claims (8)

1. An intelligent time collaborative guidance method for a hypersonic aircraft is characterized by comprising the following steps: Establishing a dynamic model and a kinematic model of the hypersonic aircraft; according to the dynamic model and the kinematic model of the hypersonic aircraft, determining a hypersonic aircraft collaborative time planning target, and flight process constraint conditions and terminal constraint conditions; Determining course angle corridor and roll angle overturning logic according to the hypersonic aircraft collaborative time planning target, the flight process constraint condition and the terminal constraint condition; Calculating a transverse cooperative time adjustment factor in transverse and lateral guidance according to the course angle corridor and the roll angle overturning logic, wherein the transverse cooperative time adjustment factor is as follows Wherein, the method comprises the steps of, ; Is a lateral coordinated time error; calculating a roll angle profile in longitudinal guidance according to the transverse cooperative time adjustment factor; And determining a depth learning framework based on a transducer network according to the transverse cooperative time adjustment factor in transverse lateral guidance and the tilting angle section in longitudinal guidance, wherein the depth learning framework based on the transducer network is used for planning hypersonic aircraft tracks on line so as to realize intelligent time cooperative guidance of the hypersonic aircraft.
2. The intelligent time collaborative guidance method for a multi-hypersonic aircraft according to claim 1, wherein the multi-hypersonic aircraft collaborative time planning goal is considered Hypersonic aircraft, for any of the first Hypersonic aircraft, if th The moment when the hypersonic aircraft arrives at the terminal area Then consider The hypersonic aircrafts achieve the goal of time coordination.
3. The intelligent time collaborative guidance method for the hypersonic aircraft according to claim 1 is characterized in that flight process constraint conditions comprise overload constraint conditions, heat flux density constraint conditions, dynamic pressure constraint conditions and quasi-equilibrium gliding constraint conditions, and terminal constraint conditions comprise terminal flight waiting constraint conditions, longitude and latitude constraint conditions, time constraint conditions, altitude constraint conditions and course angle constraint conditions.
4. The method for intelligent time collaborative guidance of a hypersonic vehicle according to claim 1 wherein the heading angle corridor and roll angle flipping logic is: ; Wherein, the For the heading angle deviation of the ith hypersonic aircraft, For the heading angle of the ith hypersonic aircraft, Viewing the line of sight angle of the target for the ith hypersonic vehicle, Is the upper boundary of the heading angle corridor, Is the lower boundary of the heading angle corridor, For the roll angle in the last guidance round, Is the sign of the roll angle in the current guidance round.
5. The method for intelligent time collaborative guidance of a hypersonic vehicle according to claim 1, wherein the calculating of the lateral collaborative time adjustment factor in lateral guidance according to heading angle corridor and roll-over logic comprises: and calculating a transverse collaborative time adjustment factor in transverse and lateral guidance by utilizing a Newton iteration method according to the course angle corridor and the roll angle overturning logic.
6. The method for intelligent time collaborative guidance of a hypersonic aircraft according to claim 1, characterized in that determining a deep learning framework based on a Transformer network according to a lateral collaborative time adjustment factor in lateral guidance and a roll angle profile in longitudinal guidance, in particular comprises: And training the deep learning network based on the transducer network according to the transverse collaborative time adjustment factor in transverse lateral guidance and the track generated by the roll angle section in longitudinal guidance as a training set, so as to obtain the deep learning framework based on the transducer network.
7. An intelligent time cooperative guidance system for a hypersonic aircraft, comprising: The dynamic model and kinematic model building module is used for building a dynamic model and a kinematic model of the hypersonic aircraft; The target and constraint condition determining module is used for determining a multi-hypersonic aircraft collaborative time planning target, a flight process constraint condition and a terminal constraint condition according to a dynamics model and a kinematic model of the hypersonic aircraft; the course angle corridor and roll angle overturning logic determining module is used for determining course angle corridor and roll angle overturning logic according to the hypersonic aircraft collaborative time planning target, flight process constraint conditions and terminal constraint conditions; the transverse cooperative time adjustment factor calculation module is used for calculating the transverse cooperative time adjustment factor in transverse and lateral guidance according to the course angle corridor and the roll angle overturning logic, wherein the transverse cooperative time adjustment factor is as follows Wherein, the method comprises the steps of, ; Is a lateral coordinated time error; the roll angle profile calculation module is used for calculating a roll angle profile in longitudinal guidance according to the transverse cooperative time adjustment factor; the depth learning framework determining module based on the transform network is used for determining the depth learning framework based on the transform network according to the transverse cooperative time adjustment factor in transverse lateral guidance and the tilting angle section in longitudinal guidance, and the depth learning framework based on the transform network is used for planning hypersonic aircraft tracks on line so as to realize intelligent time cooperative guidance of the hypersonic aircraft.
8. An electronic device comprising a memory for storing a computer program and a processor that runs the computer program to cause the electronic device to perform a method of intelligent time co-guidance of a hypersonic flight vehicle according to any one of claims 1 to 6.

Description

Intelligent time collaborative guidance method, system and equipment for hypersonic aircraft Technical Field The invention relates to the field of hypersonic aircraft collaborative guidance, in particular to an intelligent time collaborative guidance method, system and equipment for a hypersonic aircraft. Background When the hypersonic aircraft flies in the near space, the flying speed can reach more than 5 Mach, and the hypersonic aircraft has the characteristics of high flying speed, long range and strong sudden prevention capability, is applied to the field of rapid remote striking, and has strong strategic deterrent significance. In recent years, the collaborative combat of a plurality of hypersonic aircrafts has become a hot spot problem for research. Reentry guidance of multiple hypersonic aircrafts involves how to guide multiple hypersonic aircrafts to achieve coordinated time attacks on a target under various typical constraints, thereby completing destructive strikes on the target. With the development of artificial intelligence technology, deep learning has become an effective way to solve the calculation delay problem in recent years, and how to solve the hypersonic aircraft online trajectory planning problem by using a deep learning algorithm and shorten the online planning time is also a considerable research hotspot. Collaborative guidance has been well-established in multi-missile missiles. However, for hypersonic aircrafts, due to their complex nonlinear model, extremely fast flight speeds, fast time-varying flight environments, traditional collaborative guidance control methods cannot be directly applied to reentry flight of hypersonic aircrafts. In recent years, some students have also studied the problem of co-guidance of hypersonic aircrafts. In Jianglong et al, a hypersonic aircraft cooperative guidance strategy is proposed that considers attack time and attack angle, and divides the planning problem into two stages, wherein in the glide reentry stage, the cooperation of attack angle is realized by controlling roll angle, and in the terminal guidance stage, the cooperation of attack time is realized by controlling attack angle. However, the glide reentry phase does not take into account the limitations of the collaborative attack time, and the computing power of the on-board computer severely affects the planning time. Li Zhenhua et al analyzed the time frame of the multi-hypersonic aircraft reentry flight and studied the time collaborative reentry guidance algorithm of the multi-hypersonic aircraft. But essentially, this method calculates a coordinated time based on the capabilities of each hypersonic aircraft, and then each hypersonic aircraft individually implements a coordinated time constraint. Once a hypersonic aircraft encounters an unknown disturbance during a mission, the hypersonic aircraft cannot guarantee the same arrival time. In addition, this method is computationally intensive and has a computational delay problem that is difficult to overcome. Therefore, the technical problem to be solved is to study the hypersonic aircraft intelligent collaborative time planning problem and to carry out simulation verification. Disclosure of Invention The invention aims to provide an intelligent time collaborative guidance method, system and equipment for a multi-hypersonic aircraft, which can realize online track planning and realize that the multi-hypersonic aircraft simultaneously arrives at a terminal area. In order to achieve the above object, the present invention provides the following solutions: In a first aspect, the invention provides an intelligent time collaborative guidance method for a hypersonic aircraft, comprising the following steps: Establishing a dynamic model and a kinematic model of the hypersonic aircraft; according to the dynamic model and the kinematic model of the hypersonic aircraft, determining a hypersonic aircraft collaborative time planning target, and flight process constraint conditions and terminal constraint conditions; Determining course angle corridor and roll angle overturning logic according to the hypersonic aircraft collaborative time planning target, the flight process constraint condition and the terminal constraint condition; According to course angle corridor and roll angle overturning logic, calculating a transverse cooperative time adjustment factor in transverse and lateral guidance; calculating a roll angle profile in longitudinal guidance according to the transverse cooperative time adjustment factor; And determining a depth learning framework based on a transducer network according to the transverse cooperative time adjustment factor in transverse lateral guidance and the tilting angle section in longitudinal guidance, wherein the depth learning framework based on the transducer network is used for planning hypersonic aircraft tracks on line so as to realize intelligent time cooperative guidance of the hypersonic aircraft. In a second