CN-121806981-B - Maneuvering target interception track generation method and system considering route point constraint

CN121806981BCN 121806981 BCN121806981 BCN 121806981BCN-121806981-B

Abstract

The invention discloses a maneuvering target interception track generation method and system considering passing point constraint, which constructs a multi-stage interception planning model based on a target maneuvering prediction result, and the interception track generation strategies of the passing point section and the rolling optimized interception section are respectively designed, and the interception track generation rule under dynamic updating of the passing point is provided. Compared with the prior art, the method and the device consider the constraint of the passing point and the target maneuvering mode of the intercepting end section in the intercepting process, ensure the accurate arrival of the passing point, the smooth transition of the front and back states of the passing point and the dynamic response of the intercepting track of the end section, and can be applied to the aerial or offshore remote target intercepting task.

Inventors

LU YU
LEI YUXIN
SUN RUISHENG
ZHAO RI

Assignees

南京理工大学

Dates

Publication Date: 20260512
Application Date: 20260311

Claims (9)

1. A maneuvering target interception trajectory generation method considering a passing point constraint, comprising: step 1, setting initial parameters of interceptor states, a target motion model library and path point positions; Step 2, predicting a maneuvering target track according to the state of the interceptor, the target motion model and the path point position; Step 3, dividing the interception path into a passing point interception section and a rolling optimization interception section by taking the last passing point as a dividing point, and constructing a multi-stage interception planning model based on a maneuvering target track prediction result, wherein the multi-stage interception planning model comprises a passing point interception section planning model and a rolling optimization interception section planning model; Step 4, generating an interception track based on a multi-stage interception planning model, wherein the method comprises the steps of solving a passing point interception section planning model to generate an interception track of the passing point section for the passing point interception section, and solving the rolling optimization interception section planning model to generate an interception track of a future period by an interceptor based on a current target state in each period; Step 5, the interceptor carries out navigation and interception based on the interception track of the interception section of the passing point, judges whether interception is completed when the interceptor passes through each passing point, judges whether a new passing point is added if interception is not completed, and re-executes step 2-step 4 to generate a new interception track if the new passing point appears; the passing point interception section planning model is as follows: ; Wherein, the For the performance index of the passing through point segment, In order to adjust the weight coefficient of the light-emitting diode, Is the first The starting time of the phase is set to be the same, Is the first The end time of the phase is set to be, To intercept the party The position vector of the moment of time, Is aimed at The position vector of the moment of time, Is the first The position vector of the passing point, Is the first The energy consumed by the interceptor in stages; the performance index The constraints of (2) include: Kinetic constraints ; State variable constraints ; Control variable constraints ; Terminal constraints ; Phase engagement constraint ; Wherein, the Is the first Stage(s) The derivative of the state vector at the moment in time, Is the first Stage(s) The state vector of the moment of time, Is the first Stage(s) The control input vector of the moment in time, As a function of the state transition(s), For the upper and lower bounds of the state variables in the overall interception process, For the upper and lower bounds of the control variables in the whole interception process, Is the first The position vector of the interceptor at the end of the phase, Is the first At the initial moment of the phase(s), Is the first The position vector of the passing point, Is the first The state of the interceptor at the initial moment of the phase, Is the first The state of the interceptor at the moment of the stage terminal.
2. The maneuvering target interception trajectory generation method considering passing point constraints according to claim 1, wherein the interceptor state includes an interceptor position and an interceptor motion state, and the target motion model library includes a uniform linear motion model, a uniform acceleration linear motion model, a uniform circular motion model and a Singer maneuvering model.
3. The method for generating a maneuvering target interception track considering passing point constraint according to claim 2, wherein the interceptor is an unmanned vehicle, and the initial value of the interceptor state is Wherein As an initial position in the coordinate system, For the initial heading angle, Respectively the forward speed, the horizontal drifting speed and the bow rocking angular speed under the ship body coordinate system, To initially accumulate energy consumption.
4. The method for generating a maneuvering target interception trajectory taking into account the passing point constraint according to claim 1, wherein the step2 specifically comprises: when interception starts, an initial maneuvering target track is predicted by adopting an initially set target motion model; When the interceptor passes through each passing point, calculating and analyzing the distance prediction error between the interceptor and the target in real time, if the error is always lower than a preset threshold value, continuing to adopt the current target motion model to predict the maneuvering target track, otherwise, selecting a target motion model which is most matched with the actual observation data of the target from a target motion model library, and predicting the maneuvering target track.
5. The maneuvering target interception trajectory generation method considering passing point constraints according to claim 1, wherein the rolling optimization interception segment planning model is: ; Wherein, the Is the performance index of the rolling optimization interception section, Is the starting time of the current control period, Is the predicted time-domain length and, Is to predict the time-domain terminal moment, Is the interception party at the moment Is defined by the plane position vector of (a), Is the interception party at the moment Is defined by the plane position vector of (a), Is the target at the moment Is used to predict the position vector of the (c), Is the target at the moment Is used to predict the position vector of the (c), In order to intercept the energy consumption of the party, Is an adjustable weight coefficient; the performance index The constraints of (2) include: Kinetic constraints ; State variable constraints ; Control variable constraints ; Prediction time domain constraints ; Target motion prediction constraints ; Intercept terminal constraints ; Wherein, the Is the first Stage(s) The derivative of the state vector at the moment in time, Is the first Stage(s) The state vector of the moment of time, Is the first Stage(s) The control input vector of the moment in time, As a function of the state transition(s), For the upper and lower bounds of the state variables in the overall interception process, For the upper and lower bounds of the control variables in the whole interception process, In order to predict the time-domain minimum length, In order to predict the maximum length of the time domain, As a function of the motion prediction of the object, For the current observed state of the object, For the attenuation coefficient of the object model, In order to intercept the radius of success, For the end time of the scroll-intercept procedure, Is the interception party at the moment Is defined by the plane position vector of (a), Is the target at the moment Is included in the prediction position vector of (a).
6. The maneuvering target interception track generation method considering the passing point constraint according to claim 1, wherein step 4 adopts hp-self-adaptive Radau pseudo-spectrum method to solve a passing point interception section planning model and a rolling optimization interception section planning model.
7. The method for generating a maneuvering target interception trajectory taking into account passing point constraints according to claim 6, wherein for a rolling optimization interception section, a norm-Start strategy is adopted in each control period, an optimization solution of the previous period is used as an initial guess of the current optimization, and dynamic interception of the target is realized in the last control period.
8. The method for generating a maneuvering target interception trajectory taking into account a passing point constraint according to claim 1, wherein if a real-time distance between an interceptor and a target is smaller than a set value, then it is determined that interception is successful.
9. A maneuvering target interception trajectory generation system considering a passing point constraint, wherein the maneuvering target interception trajectory generation method according to any one of claims 1 to 8 is adopted, comprising: The parameter setting unit is used for setting initial parameters of the interceptor state, the target motion model library and the path point position; The target track prediction unit predicts the maneuvering target track according to the state of the interceptor, the target motion model and the path point position; the system comprises a multi-stage interception planning model construction unit, a motor target track prediction result and a control unit, wherein the multi-stage interception planning model construction unit takes the last passing point as a dividing point, divides an interception path into a passing point interception section and a rolling optimization interception section, and constructs a multi-stage interception planning model based on the motor target track prediction result, and the multi-stage interception planning model comprises a passing point interception section planning model and a rolling optimization interception section planning model; The interception track generation unit is used for generating an interception track based on a multi-stage interception planning model and comprises the steps of solving a passing point interception section planning model to generate an interception track of the passing point section for the passing point interception section, and solving the rolling optimization interception section planning model to generate an interception track of a future period by an interceptor based on the current target state in each period; The system comprises an interception judging unit, an interception party, a target track predicting unit, a multi-stage interception planning model constructing unit and an interception track generating unit, wherein the interception judging unit is used for navigating and intercepting based on an interception track of an interception section of a passing point, judging whether interception is completed when the interception party passes through each passing point, judging whether a new passing point is added if interception is not completed, and re-executing the target track predicting unit, the multi-stage interception planning model constructing unit and the interception track generating unit to generate a new interception track if the new passing point appears, wherein the interception track is used for navigating according to the track of the interception section in a rolling optimization mode if the new passing point does not appear, dynamically intercepting a target in a last control period if the current passing point is not the last passing point, and continuously intercepting according to the interception track generated by the interception section of the passing point.

Description

Maneuvering target interception track generation method and system considering route point constraint Technical Field The invention belongs to the technical field of interception control, and particularly relates to a maneuvering target interception track generation method and system considering passing point constraint. Background Because the sea is affected by sea clutter and meteorological interference and the air is affected by complex airspace and electromagnetic environment, the difficulty in detecting and tracking maneuvering targets is increased, and the interception capability for the middle and long distance maneuvering targets is required to be improved. The prior target interception technology mainly performs interception track planning respectively from two aspects of control and optimization. The target interception based on the control method mostly generates a target interception track based on the theories of PID control, sliding mode control, self-adaptive control or model prediction control and the like so as to ensure tracking precision, and the target interception based on the optimization method often uses the shortest interception time and the lowest energy consumption as indexes to construct a constraint optimization model so as to generate an optimal interception track. Considering the complexity of the maneuvering movement of the target and the uncertainty of the medium-and-long-distance interception process, the research limitation of the existing target interception track generation method is mainly reflected in the following two aspects: Firstly, the safety of the interception process is difficult to fully guarantee in a medium-long distance range. Most of the current research on target intercept planning is in close range deployment. The environment characteristics are complex in the middle-long distance range, the safety action airspace/sea area of the interceptor is often irregular and unstructured and sometimes dynamically changed, and the interceptor needs to be considered to pass through some dynamically updatable passing points. If the constraint of the passing points is not considered in the interception planning process, the safety of the interception process of the interceptor is difficult to be fully ensured. Secondly, the requirement of interception precision of the end section is difficult to meet under the target maneuvering condition. In the interception process, the sudden maneuver of the target is easy to cause the accumulation of prediction errors of the track of the interceptor, and the prediction errors of the track of the target can be further amplified by the environmental disturbance in a medium-long distance range. Due to the narrow end segment interception window and short response time, the traditional track generation method is difficult to adapt to the maneuvering state of the target in time, and the interception path cannot be corrected quickly, so that the space position of the interceptor and the target is not matched sufficiently, and finally the end segment precision threshold value of accurate interception is difficult to reach. Disclosure of Invention The invention aims to provide a method and a system for generating a maneuvering target interception track by considering the constraint of a passing point, which ensure the safety, the accuracy and the dynamic responsiveness of the interception track in a medium-and-long-distance maneuvering target interception scene. The technical solution for realizing the purpose of the invention is as follows: a maneuvering target interception track generation method considering a passing point constraint comprises the following steps: step 1, setting initial parameters of interceptor states, a target motion model library and path point positions; Step 2, predicting a maneuvering target track according to the state of the interceptor, the target motion model and the path point position; Step 3, dividing the interception path into a passing point interception section and a rolling optimization interception section by taking the last passing point as a dividing point, and constructing a multi-stage interception planning model based on a maneuvering target track prediction result, wherein the multi-stage interception planning model comprises a passing point interception section planning model and a rolling optimization interception section planning model; Step 4, generating an interception track based on a multi-stage interception planning model, wherein the method comprises the steps of solving a passing point interception section planning model to generate an interception track of the passing point section for the passing point interception section, and solving the rolling optimization interception section planning model to generate an interception track of a future period by an interceptor based on a current target state in each period; And 5, the interceptor navigates and intercepts based on the interception