CN-121761715-B - Angle constraint three-dimensional guidance method based on target virtual speed

CN121761715BCN 121761715 BCN121761715 BCN 121761715BCN-121761715-B

Abstract

The application relates to the technical field of aerospace guidance, in particular to an angle constraint three-dimensional guidance method based on a target virtual speed, which comprises the steps of obtaining respective actual positions and actual speeds of an interceptor and an interceptor target at the current moment; the method comprises the steps of taking a relative speed deflection angle and a relative speed inclination angle of an interceptor and an interceptor target at expected interception time as angle constraint conditions, calculating virtual speeds of the interceptor target according to respective actual speeds of the interceptor and the interceptor target at the current time, superposing the actual speeds and the virtual speeds of the interceptor target, calculating relative positions of the interceptor and the interceptor target according to respective actual positions of the interceptor and the interceptor target at the current time, and carrying out three-dimensional guidance on the interceptor according to the superposed speeds, the relative positions and the actual speeds of the interceptor. Therefore, the problems that in the related art, the interceptor has high dependence on target state information during guidance, the guidance precision and the interception reliability are affected and the like are solved.

Inventors

YANG LUHUA
SHI HENG
ZHU JIHONG
KUANG MINCHI
YUAN XIAMING
ZHAO MENGKE

Assignees

清华大学

Dates

Publication Date: 20260512
Application Date: 20260302

Claims (9)

1. The angle constraint three-dimensional guidance method based on the target virtual speed is characterized by comprising the following steps of: acquiring respective actual positions and actual speeds of an interceptor and an interception target at the current moment; Calculating the virtual speed of the interception target by taking the relative speed deflection angle and the relative speed inclination angle of the interceptor and the interception target at the expected interception moment as angle constraint conditions according to the actual speeds of the interceptor and the interception target at the current moment, wherein the method comprises the steps of obtaining the actual speed deflection angle and the actual speed inclination angle of the interception target at the current moment, assuming the current moment as the expected interception moment, calculating the direction unit vector of the interceptor according to the relative speed deflection angle, the relative speed inclination angle, the actual speed deflection angle and the actual speed inclination angle, and calculating the virtual speed of the interception target according to the direction unit vector of the interceptor, the actual speed of the interceptor and the actual speed of the interception target at the current moment; and superposing the actual speed and the virtual speed of the interception target, calculating the relative positions of the interceptor and the interception target according to the respective actual positions of the interceptor and the interception target at the current moment, and carrying out three-dimensional guidance on the interceptor according to the superposed speed, the relative positions and the actual speed of the interceptor.
2. The target virtual speed-based angle constraint three-dimensional guidance method according to claim 1, wherein the calculating the virtual speed of the interception target according to the direction unit vector of the interceptor, the actual speed of the interceptor, and the actual speed of the interception target comprises: calculating a speed vector of the interceptor according to the direction unit vector of the interceptor and the actual speed; determining the direction of the virtual speed according to the speed vector of the interceptor and the actual speed of the interception target, and obtaining the calculation gain of the virtual speed; and calculating the virtual speed of the interception target according to the direction of the virtual speed, the calculation gain of the virtual speed and the speed vector of the interceptor.
3. The target virtual velocity-based angle constraint three-dimensional guidance method according to claim 2, wherein the velocity vector has a calculation formula: , Wherein, the Which represents the desired velocity vector of the vehicle, For the direction unit vector of the interceptor, The actual speed of the interceptor at the current moment; The direction unit vector The method comprises the following steps: , Wherein, the Representing the x-axis component of the interceptor's desired velocity direction in the terrestrial coordinate system at the time of interception, Representing the y-axis component of the interceptor's desired velocity direction in the terrestrial coordinate system at the time of interception, Indicating the z-axis component of the expected speed direction of the interceptor at the moment of interception in a ground coordinate system, wherein the x-axis points to the local north direction, the y-axis points to the east direction, and the z-axis points to the ground direction; representing the actual velocity dip of the intercept target at the current time, For the angle of inclination of the relative velocity, The actual speed offset angle of the target is intercepted for the current moment, -The relative velocity bias angle; The calculation formula of the direction of the virtual speed is as follows: , Wherein, the Representing the direction of the virtual velocity, The actual speed of the target is intercepted for the current moment, Is relative velocity Is of a size of (2); the calculation formula of the virtual speed of the interception target is as follows: , Wherein, the Representing the virtual speed of the interception target, A calculated gain representing the virtual speed.
4. The three-dimensional guidance method of angle constraint based on a virtual target speed according to claim 1, wherein the three-dimensional guidance of the interceptor according to the superimposed speed, the relative position, and the actual speed of the interceptor comprises: Calculating the angular velocity of the sight line according to the superimposed velocity and the relative position; converting the angular velocity of the sight into a velocity coordinate system of the interceptor to obtain a proportional guidance law gain coefficient; And calculating an acceleration instruction of the interceptor according to the converted sight angular speed, the proportional guidance law gain coefficient and the actual speed of the interceptor, and performing three-dimensional guidance on the interceptor according to the acceleration instruction.
5. The three-dimensional guidance method of claim 4, wherein the calculation formula of the angular velocity of the line of sight is: , , , Wherein, the Representing the angular velocity of the line of sight in said velocity coordinate system, Representing a transformation matrix of the ground coordinate system to the speed coordinate system of the interceptor, For the angular velocity of the line of sight in the ground coordinate system, Representing the relative position of the interceptor and the interception target, Representing the velocity after the superposition, For the actual speed dip of the interceptor at the current time, The actual speed deflection angle of the interceptor at the current moment; The acceleration instruction is as follows: , Wherein, the Representing the y-axis component of the acceleration command in the velocity coordinate system, Representing the z-axis component of the acceleration command in the velocity coordinate system, Representing the proportional pilot law gain factor, Representing the angular velocity of the line of sight in the velocity coordinate system An axis component of the optical fiber, Representing the angular velocity of the line of sight in the velocity coordinate system An axis component.
6. The three-dimensional guidance method of angle constraint based on a virtual target speed according to claim 4, wherein three-dimensional guidance of the interceptor according to the acceleration command comprises: Inputting the acceleration instruction and the actual position and the actual speed of the interceptor at the current moment into a pre-established three-dimensional guidance dynamics model, and updating the actual position and the actual speed of the interceptor at the next moment through the three-dimensional guidance dynamics model, wherein the three-dimensional guidance dynamics model is provided with an interception success condition and the angle constraint condition, and the expression of the three-dimensional guidance dynamics model is as follows: , Wherein, the Representing the interceptor in the ground coordinate system The rate of change of the position of the shaft, Representing the interceptor in the ground coordinate system The rate of change of the position of the shaft, Representing the interceptor in the ground coordinate system The rate of change of the position of the shaft, For the actual speed dip of the interceptor at the current time, For the actual speed offset angle of the interceptor at the current moment, For the rate of change of the speed deflection angle of the interceptor, For the rate of change of the velocity tilt angle of the interceptor, Representing the y-axis component of the acceleration command in the velocity coordinate system, Representing a z-axis component of the acceleration command in the velocity coordinate system; the calculation formula of the interception success condition is as follows: , Wherein, the To desire the actual location of the interceptor at the time of interception, To expect the actual position of the interception target at the moment of interception, The expected interception time is; The calculation formula of the angle constraint condition is as follows: , Wherein, the To expect the actual speed offset angle of the interceptor at the moment of interception, To desire the actual speed declination of the intercept target at the moment of intercept, To expect the actual velocity tilt of the interceptor at the moment of interception, To desire the actual velocity dip of the intercept target at the moment of intercept, For the relative velocity bias angle in question, Is the relative velocity tilt angle.
7. An angle-constrained three-dimensional guidance device based on a target virtual speed, comprising: The acquisition module is used for acquiring the respective actual positions and actual speeds of the interceptor and the interception target at the current moment; The calculation module is used for obtaining the actual speed deflection angle and the actual speed inclination angle of the interception target at the current moment, assuming the current moment as the expected interception moment, calculating a direction unit vector of the interceptor according to the relative speed deflection angle, the relative speed inclination angle, the actual speed deflection angle and the actual speed inclination angle, and calculating the virtual speed of the interception target according to the direction unit vector of the interceptor, the actual speed of the interceptor and the actual speed of the interception target; The guidance module is used for superposing the actual speed and the virtual speed of the interception target, calculating the relative positions of the interceptor and the interception target according to the respective actual positions of the interceptor and the interception target at the current moment, and carrying out three-dimensional guidance on the interceptor according to the superposed speed, the relative positions and the actual speed of the interceptor.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the target virtual speed-based angle-constrained three-dimensional guidance method of any of claims 1-6.
9. A computer readable storage medium having stored thereon a computer program or instructions, which when executed, is adapted to carry out the target virtual speed based angle constraint three-dimensional guidance method according to any of claims 1-6.

Description

Angle constraint three-dimensional guidance method based on target virtual speed Technical Field The application relates to the technical field of aerospace guidance, in particular to an angle constraint three-dimensional guidance method based on a target virtual speed. Background In the field of aerospace guidance, in a three-dimensional guidance scene aiming at an interception target, the expected interception moment angle constraint is one of key requirements for improving an interception effect. In the prior art, the problem of high dependence on target state information exists in the expected interception moment angle constraint guidance method in practical application, accurate guidance can be realized only by acquiring complete parameters such as target acceleration and the like, and the target state is difficult to sense comprehensively and accurately in a complex battlefield environment, so that the guidance precision and interception reliability are affected. Disclosure of Invention The application provides an angle constraint three-dimensional guidance method, device, equipment and medium based on a target virtual speed, which are used for solving the problems that the dependence on target state information is high, the guidance precision and the interception reliability are affected and the like when an interceptor is used for guiding in the related art. The embodiment of the first aspect of the application provides an angle constraint three-dimensional guidance method based on a target virtual speed, which comprises the following steps of obtaining respective actual positions and actual speeds of an interceptor and an interceptor target at the current moment, calculating the virtual speed of the interceptor target according to the respective actual speeds of the interceptor and the interceptor target at the current moment by taking a relative speed deflection angle and a relative speed inclination angle of the interceptor and the interceptor target at the expected interception moment as angle constraint conditions, superposing the actual speeds and the virtual speeds of the interceptor target at the current moment, calculating the relative positions of the interceptor and the interceptor target according to the respective actual positions of the interceptor and the interceptor at the current moment, and carrying out three-dimensional guidance on the interceptor according to the superposed speeds, the relative positions and the actual speeds of the interceptor. According to the technical means, the embodiment of the application constructs the association of angle constraint and three-dimensional guidance through the virtual speed of the target, and generates the guidance instruction through simple vector operation, coordinate system conversion and trigonometric function operation without additional information such as acceleration of the target according to the current position and speed of the interceptor and the target and the relative speed deflection angle and relative speed inclination angle of the expected interception moment, thereby reducing the dependence on a sensing system, simplifying calculation logic, adapting to a small interceptor, ensuring the angle constraint precision of the expected interception moment through state real-time updating and closed loop verification, improving the guidance precision and interception reliability, and effectively improving the interception effect and engineering practicability. The virtual speed of the interception target is calculated according to the actual speed of the interception target at the current moment, wherein the virtual speed of the interception target is calculated according to the actual speed of the interception target at the current moment, the virtual speed of the interception target is calculated according to the relative speed deflection angle, the actual speed deflection angle and the actual speed deflection angle, which are assumed to be the expected interception moment at the current moment, the direction unit vector of the interception target is calculated according to the direction unit vector of the interception target, the actual speed of the interception target and the actual speed of the interception target. According to the technical means, the embodiment of the application derives the direction unit vector of the interceptor by assuming that the current moment is the simplified thought of the expected interception moment, combining the relative speed deflection angle and the relative speed inclination angle of the expected interception moment and the current speed deflection angle and the current speed inclination angle of the interception target, and calculates the virtual speed based on the direction unit vector, the actual speed of the interceptor and the actual speed of the target. The whole process does not need to rely on additional complex information such as target acceleration, and the guidance basis meetin