CN-121979229-A - Cluster three-dimensional collaborative coverage intersection method for high maneuvering target

CN121979229ACN 121979229 ACN121979229 ACN 121979229ACN-121979229-A

Abstract

The invention discloses a cluster three-dimensional collaborative coverage intersection method for a high maneuvering target, which is characterized in that elliptical interception domains of single interceptors in a three-dimensional space are strictly proved, compared with the traditional disc coverage, the elliptical interception domains of the single interceptors improve collaborative coverage precision in three-dimensional collaborative guidance, different coverage coordinate systems are established for each interceptor based on the three-dimensional collaborative interception model, the positions of the interception domains are changed by changing the coverage direction of the interceptors, the maneuvering domains of the high maneuvering target are cooperatively covered finally, at least one interceptor is ensured to be capable of completing interception, so that the interception efficiency of the interceptor with limited maneuvering capability in the face of the high maneuvering target is higher than that of the traditional guidance strategy, and the method has practical significance.

Inventors

SONG TAO
LIU BINGJIE
TAO HONG
Wang Daijing
LI WENBO

Assignees

北京理工大学

Dates

Publication Date: 20260505
Application Date: 20251222

Claims (9)

1. The cluster three-dimensional collaborative coverage intersection method for the high maneuvering target is characterized in that in the method, a plurality of interceptors are emitted aiming at one high maneuvering target, and maneuvering domains of the high maneuvering target are cooperatively covered through a plurality of interceptors; The plurality of interceptors acquire acceleration instructions in real time through a bias proportion guidance method, and an executing mechanism on each interceptor is controlled to work through the acceleration instructions, so that the interception domains of the interceptors are translated, and at least one interceptor is ensured to intercept the target finally.
2. The high maneuver object oriented clustered three-dimensional cooperative coverage intersection method as defined in claim 1 wherein, First, the Acceleration instructions of the interceptors, including Component on plane And at Component on plane ; The bias proportional guidance method obtains an acceleration instruction by the following formula (I): (one) Wherein, the Representing the proportional guide coefficient; represent the first Remaining time of flight of the interceptors; represent the first Zero control off-target quantity of each interceptor is as follows A component on the plane; represent the first Zero control off-target quantity of each interceptor is as follows A component on the plane; represent the first The number of interceptors is at Constant bias term on plane; represent the first The number of interceptors is at Constant bias term on the plane.
3. The high maneuver object oriented clustered three-dimensional cooperative coverage intersection method as defined in claim 2 wherein, Said first Residual time of flight of individual interceptors Obtained by the following formula (II): (II) Wherein, the Represent the first The relative distance between the interceptors and the target; represent the first Heading angle of each interceptor is at A component on the plane; represent the first Heading angle of each interceptor is at A component on the plane; represent the first The relative speed between the interceptors and the target is between A component on the plane; represent the first The relative speed between the interceptors and the target is between Components in the plane.
4. The method for three-dimensional collaborative coverage intersection of a high maneuver target oriented cluster of claim 3, The said And Obtained by the following formula (III): (III) Wherein, the Indicating that the target speed is at A component on the plane; indicating that the target speed is at A component on the plane; represent the first The speed of each interceptor is at A component on the plane; represent the first The speed of each interceptor is at A component on the plane; Indicating that the target course angle is at A component on the plane; Indicating that the target course angle is at A component on the plane; represent the first The line of sight angle of each interceptor is at A component on the plane; represent the first The line of sight angle of each interceptor is at Components in the plane.
5. The high maneuver object oriented clustered three-dimensional cooperative coverage intersection method as defined in claim 2 wherein, Said first Zero control off-target quantity of each interceptor is as follows Component on plane Obtained by the following formula (IV): (IV) Wherein, the Indicating that the target speed is at A component in the axial direction; indicating that the target speed is at A component in the axial direction; represent the first The speed of each interceptor is at A component in the axial direction; represent the first The speed of each interceptor is at A component in the axial direction; represent the first The line of sight angle of each interceptor is at Components in the plane.
6. The method for three-dimensional collaborative coverage intersection of high maneuver targets oriented clusters according to claim 2 wherein, Said first Zero control off-target quantity of each interceptor is as follows Component on plane Obtained by the following formula (five): (V) Wherein, the Indicating that the target speed is at A component in the axial direction; indicating that the target speed is at A component in the axial direction; represent the first The speed of each interceptor is at A component in the axial direction; represent the first The speed of each interceptor is at A component in the axial direction; represent the first The line of sight angle of each interceptor is at Components in the plane.
7. The high maneuver object oriented clustered three-dimensional cooperative coverage intersection method as defined in claim 2 wherein, Randomly selecting one interceptor from the plurality of interceptors as a first interceptor, the first interceptor being one of And The values of (2) are all 0; In the rest interceptors The values are all 0, and the rest interceptors are all The value of (c) is obtained by the following formula (six): (six) Wherein, the Representation of In-plane target speed direction and first Cosine of included angles of the sight directions of the interceptors; Representation of In-plane first Cosine of included angles between the speed directions of the interceptors and the sight line directions; Representation of In-plane first Cosine of included angles between the speed directions of the interceptors and the sight line directions; Representing the mobility limit of the interceptor, i.e. the maximum acceleration of the interceptor; Representing the mobility limit of the target, i.e. the maximum acceleration of the target; represent the first Coverage angles of the interceptors; represent the first Coverage angle of each interceptor.
8. The high maneuver object oriented clustered three-dimensional cooperative coverage intersection method as defined in claim 7 wherein, The said 、 And Obtained by the following formula (seven): (seven) Wherein, the Indicating that the target course angle is at A component on the plane; represent the first The initial moment line of sight angle of each interceptor is at A component on the plane; represent the first Heading angle of each interceptor A component on the plane; represent the first Heading angle of each interceptor A component on the plane; represent the first The initial moment line of sight angle of each interceptor is at Components in the plane.
9. The high maneuver object oriented clustered three-dimensional cooperative coverage intersection method as defined in claim 7 wherein, The said Obtained by the following formula (eight): (eight) Wherein the said Indicating the number of interceptors.

Description

Cluster three-dimensional collaborative coverage intersection method for high maneuvering target Technical Field The invention relates to an aircraft control and interception technology, in particular to a cluster three-dimensional collaborative coverage intersection method facing a high maneuvering target. Background With the continuous improvement of the maneuverability of an aerial vehicle and even higher than the maneuverability of an interception vehicle, the requirement on overload ratio in the traditional proportional guidance method cannot be met, a single interceptor is difficult to intercept with high precision, and the cooperative interception of multiple interceptors becomes one of the key research directions for intercepting the maneuvering advantage targets. The plurality of interceptors can cooperatively intercept not only the interception probability of a high maneuvering target with a quantity advantage, but also the plurality of interceptors can cooperatively form a trapping array to intercept the high threat target, wherein how to decompose the high maneuvering capability of the target into the plurality of interceptors is the most important problem in multi-pair single guidance. Therefore, the research on the problem of multi-interceptor collaborative guidance for high maneuvering targets is particularly important, and can be applied to low-cost interceptor formation interception of single high-value targets. In the face of a high maneuvering target, the cooperative guidance method based on the coverage theory shows obvious advantages, the escape range of the target is covered from the position domain and the maneuvering domain respectively, and the maneuvering advantages of the target are solved by utilizing the number advantages of the interceptors. Compared with the collaborative coverage of the position layer, linearization errors are easy to generate, the maneuvering domain coverage is deeply studied from the bias proportion guidance, the target acceleration probability and the like, but the methods are only applicable to the two-dimensional plane and cannot be directly migrated from the two-dimensional plane. In order to solve the problem that collaborative guidance in a three-dimensional space is nonlinear and multi-constraint, the method for decoupling three-dimensional collaborative guidance into two-dimensional planes is proposed, collaborative coverage guidance on a maneuvering target is realized by using a disc coverage method, and a three-dimensional collaborative coverage guidance method for maximizing interception probability under the condition that the number of interceptors is limited is also proposed on the basis of line segment coverage in the two-dimensional planes. However, most of the above methods do not build exactly the interceptor domain and cannot translate the interceptor domain position with high accuracy for collaborative coverage. Based on the problems, the inventor designs a cooperative coverage guidance strategy considering the interceptor maneuverability constraint, thereby providing a cluster three-dimensional cooperative coverage intersection method facing to a high maneuvering target, which can solve the problems. Disclosure of Invention In order to overcome the problems, the inventor performs intensive researches and designs a cluster three-dimensional collaborative coverage intersection method for high maneuvering targets, in the method, elliptical interception domains of single interceptors in a three-dimensional space are strictly proved, compared with traditional disc coverage, the single elliptical interception domains can improve collaborative coverage precision in three-dimensional collaborative guidance, different coverage coordinate systems are established for each interceptor based on a three-dimensional collaborative interception model, the positions of the interception domains are changed by changing the coverage directions of the interceptors, the maneuvering domains of the multi-interception domain collaborative coverage targets are finally realized, and interception of at least one interceptor is ensured to be completed, so that the interception efficiency of the interceptors with limited maneuvering capability in the face of the high maneuvering targets is higher than that of the interceptors in the traditional guidance strategy, the method has practical significance, and the method is completed. Specifically, the invention aims to provide a cluster three-dimensional collaborative coverage intersection method facing a high maneuvering target, wherein a plurality of interceptors are emitted for one high maneuvering target, and a maneuvering domain of the high maneuvering target is cooperatively covered by a plurality of interceptors; The plurality of interceptors acquire acceleration instructions in real time through a bias proportion guidance method, and an executing mechanism on each interceptor is controlled to work through the acc