CN117663914B - Guidance method for 360-degree omnibearing attack target - Google Patents
Guidance method for 360-degree omnibearing attack target Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/01—Arrangements thereon for guidance or control
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Abstract
The invention discloses a guidance method for a 360-degree omnibearing attack target, which integrates the flying speed, the residual flying time, the line-of-sight angular speed and the angle information of a missile, forms a high-low and horizontal two-direction proportional guidance overload instruction according to an optimal proportional guidance rule according to an expected ballistic inclination angle and a ballistic deflection angle, and controls the missile to strike the target at an expected angle. The invention can realize that the target is attacked at any angle at the tail end on the premise of ensuring the hit precision of the missile.
Description
Technical Field
The invention belongs to the technical field of missiles, and particularly relates to a guiding method for a 360-degree omnibearing attack target.
Background
In the prior art, the missile can adopt combined navigation and infrared/television combined guidance, an attack target comprises a hangar, a shelter and the like, the weak part of the target needs to be attacked in order to realize efficient damage of the target, the opening directions of the hangar and the shelter are uncertain relative to the attack direction of the missile, and high requirements are put forward on the angle direction of the missile hitting the target, so that 360-degree omnibearing hitting of the target needs to be realized.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a guidance method for a 360-degree omnibearing attack target, which integrates the flying speed, the residual flying time, the line-of-sight angular speed and the angle information of a missile, forms a high-low and horizontal two-direction proportional guidance overload instruction according to an optimal proportional guidance rule according to an expected ballistic inclination angle and a ballistic deflection angle, and controls the missile to strike the target at an expected angle. The invention can realize that the target is attacked at any angle at the tail end on the premise of ensuring the hit precision of the missile.
The technical scheme adopted by the invention for solving the technical problems comprises the following steps:
step 1: defining an emission coordinate system, a target local coordinate system and a sight line coordinate system, the definition is as follows:
Emission coordinate system O F-xFyFzF: the origin of coordinates is located at the transmitting point, the x-axis is located in the horizontal plane of the transmitting point, the pointing target is positive, the y-axis is positive upwards along the direction of the plumb line of the transmitting point, and the z-axis, the x-axis and the y-axis form a right-hand coordinate system;
Target local coordinate system O t-xtytzt: the origin of coordinates is at the target shooting point, the x-axis is in the horizontal plane of the target point, the direction opposite to the direction of the shooting point is positive, the y-axis is positive upwards along the direction of the plumb line of the target point, and the z-axis, the x-axis and the y-axis form a right-hand coordinate system;
Line of sight coordinate system O s-xsyszs: the origin of coordinates is the mass center of the missile, the x axis points to the target, the y axis is in a plumb plane containing the x axis and is vertical to the x axis, the upward direction is positive, and the z, the x axis and the y axis form a right-hand coordinate system;
step 2: the overload instruction formula under the line-of-sight coordinate system is as follows:
High-low direction overload instruction:
horizontal overload instruction:
In the method, in the process of the invention,
-A high-low, horizontal line-of-sight angular velocity;
q α、qβ -height, horizontal direction line of sight angle;
K α、Kβ -high-low and horizontal proportional guide coefficients;
t go -remaining time of flight;
θ DF、θDP —desired ballistic dip angle, desired ballistic deflection angle at the moment of target hit by the missile;
v-missile flight speed;
g-gravitational acceleration;
Step 3: determining a missile attack direction phi 0 and a falling angle theta 0 relative to a target local horizontal plane;
The missile attack direction and the falling angle are established relative to a target local coordinate system O t-xtytzt, O t-xtytzt is obtained by rotating a transmitting coordinate system O F-xFyFzF around an O FzF shaft by an angle delta, and the tangent value of delta is obtained by dividing the missile distance by the earth radius r;
The missile attack direction is an included angle between the projection of the speed direction of the missile at the moment of hitting the target in the plane of the target local coordinate system x tOtzt and the O txt axis of the target local coordinate system, wherein the projection of the speed direction on the left side of the O txt axis is positive, and the projection of the speed direction on the right side is negative; the falling angle is an included angle between the speed of the shot at the moment of hit of the target and the plane of the target local coordinate system x tOtzt; the attack direction and the falling angle are determined by the target opening direction and the warhead performance index;
the formula for Δ is as follows:
wherein x t and y t are coordinate positions of the target in the emission coordinate system;
Step 4: converting the missile attack direction phi 0 and the falling angle theta 0 relative to the target local horizontal plane into a launching coordinate system;
The velocity direction of the emission coordinate system is described by a ballistic inclination angle theta and a ballistic deflection angle phi v, wherein theta refers to an included angle between the projection of the velocity direction on the plane of the emission coordinate system x FOFzF and the ox axis, and phi v refers to an included angle between the velocity direction and the plane of the emission coordinate system x FOFyF;
The definition method of θ and ψ v is referred to as 3-2-1 rotation order, and the definition method of θ 0 and φ 0 is referred to as 2-3-1 rotation order; during missile flight control, firstly, according to theta 0 and phi 0, angle values theta t and phi t corresponding to the expected speed direction at the moment of missile hit according to the rotation sequence of 3-2-1 are calculated, and then the angle values are transferred to a launching coordinate system to obtain an expected ballistic inclination angle theta DF and an expected ballistic deflection angle theta DP, wherein the specific formula is as follows:
Target local coordinate system desired ballistic tilt angle, 3-2-1 rotation order:
Target local coordinate system desired ballistic deflection, 3-2-1 rotation order: phi t＝arcsin(cosθ0sinφ0);
the desired ballistic tilt angle in the emission coordinate system: θ DF＝θt +Δ;
The desired ballistic deflection angle in the emission coordinate system: θ DP＝φt;
Step 5: the line of sight angular velocity and the line of sight angle of the line of sight coordinate system are calculated as follows:
Viewing angle in high-low direction:
High-low direction line-of-sight angular velocity:
Horizontal viewing angle:
horizontal line of sight angular velocity: Wherein x m、ym、zm is the position coordinate of the missile in the emission coordinate system, x t、yt、zt is the position coordinate of the target in the emission coordinate system, For the distance between the bullet and the eye,Is the bullet-eye distance change rate; v x、Vy、Vz denotes the tri-axial velocity of the missile in the launch coordinate system;
step 6: the remaining time of flight is calculated as follows:
Remaining time:
Step 7: generating an omnibearing attack proportion guide overload instruction under a sight line coordinate system, wherein the calculation formula is as follows:
High-low direction overload instruction:
horizontal overload instruction:
And carrying out ballistic simulation verification by utilizing an omnibearing attack proportional guide overload instruction, and improving the off-target quantity and the angle control precision by adjusting a proportional guide coefficient.
Preferably, the method comprises the steps of, the K α =4 and K β =4.
The beneficial effects of the invention are as follows:
The invention has strong universality, simple design process and easy realization, is suitable for striking the targets such as hangars, shelters and the like with attack angle requirements, and has wide application prospect.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
FIG. 2 is a graph showing the trajectory of an attack target from different angles according to an embodiment of the present invention.
FIG. 3 is a graph showing the distance between targets for different angle attacks according to an embodiment of the present invention.
FIG. 4 is a graph of the inclination angle of the target trajectory for different angle attacks according to an embodiment of the present invention.
FIG. 5 is a graph of ballistic deflection of a target under different angles of attack in accordance with an embodiment of the present invention.
FIG. 6 is a graph showing low viewing angle at different angles of attack according to an embodiment of the present invention.
FIG. 7 is a graph of horizontal line of sight angle for different angles of attack targets in accordance with an embodiment of the present invention.
FIG. 8 is a functional block diagram of the guidance method of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
The invention aims to solve the technical problem of providing a simple and practical falling angle control method and solving the problem of omnibearing attack on a target by a medium-short-range conventional missile. The functional block diagram is shown in fig. 8.
The reference coordinate system includes an emission coordinate system, a target local coordinate system and a sight line coordinate system, which are respectively defined as follows:
Emission coordinate system O F-xFyFzF: the origin of coordinates is located at the transmitting point, the x-axis is located in the horizontal plane of the transmitting point, the pointing target is positive, the y-axis is positive upwards along the direction of the plumb line of the transmitting point, and the z-axis, the x-axis and the y-axis form a right-hand coordinate system;
Target local coordinate system O t-xtytzt: the origin of coordinates is at the target shooting point, the x-axis is in the horizontal plane of the target point, the direction opposite to the direction of the shooting point is positive, the y-axis is positive upwards along the direction of the plumb line of the target point, and the z-axis, the x-axis and the y-axis form a right-hand coordinate system;
Line of sight coordinate system O s-xsyszs: the origin of coordinates is the mass center of the missile, the x axis points to the target, the y axis is in a plumb plane containing the x axis and is vertical to the x axis, the upward direction is positive, and the z, the x axis and the y axis form a right-hand coordinate system;
the formula of the overload instruction under the vision coordinate system of the guidance method is as follows:
High-low direction overload instruction:
horizontal overload instruction:
In the method, in the process of the invention,
-A high-low, horizontal line-of-sight angular velocity;
q α、qβ -height, horizontal direction line of sight angle;
K α、Kβ -high-low and horizontal proportional guide coefficients;
t go -remaining time of flight;
θ DF、θDP —desired ballistic dip angle, desired ballistic deflection angle at the moment of target hit by the missile;
v-missile flight speed;
g-gravitational acceleration;
the specific implementation flow of the guidance method is shown in fig. 1.
The guidance method comprises six steps:
Step one: the missile attack direction phi 0 and the falling angle theta 0 relative to the target local level are determined. The attack direction and the falling angle index of the missile are established relative to a target local coordinate system O t-xtytzt, O t-xtytzt is obtained by rotating a transmitting coordinate system O F-xFyFzF around an O FzF shaft by an angle delta, and the tangent value of delta is obtained by dividing the missile distance by the earth radius r. The attack direction of the missile refers to an included angle between the projection of the speed direction of the missile in the plane of the target local coordinate system x tOtzt at the moment of hitting the target and the O txt axis of the target local coordinate system, wherein the projection of the speed direction is positive on the left side of the O txt axis, and negative on the right side; the falling angle is the included angle between the speed of the hit target and the plane of the target local coordinate system x tOtzt. The attack direction and landing angle are determined by the target opening orientation and the warhead performance index.
The formula for Δ is as follows:
x t and y t are the coordinate positions of the target in the emission coordinate system.
Step two: the missile end-of-flight attack direction phi 0 and the fall angle theta 0 relative to the target local horizontal plane are converted into a launch coordinate system. When the missile is controlled in a launching coordinate system, the speed and direction definition method is different from phi 0 and theta 0, and the speed and direction definition method is required to be unified. The velocity direction of the emission coordinate system is described by a ballistic dip angle theta and a ballistic deflection angle phi v, theta refers to the angle between the projection of the velocity direction on the plane of the emission coordinate system x FOFzF and the ox axis, and phi v refers to the angle between the velocity direction and the plane of the emission coordinate system x FOFyF. The definition method of theta and phi v is called 3-2-1 rotation sequence, the definition method of theta 0 and phi 0 is called 2-3-1 rotation sequence, when missile flight control is performed, Firstly, according to theta 0 and phi 0, calculating angle values theta t and phi t corresponding to the expected speed direction at the moment of missile hit according to the rotation sequence of 3-2-1, and then the target trajectory inclination angle theta DF and the target trajectory deflection angle theta DP are obtained by transferring the target trajectory inclination angle theta DF and the target trajectory deflection angle theta DP under a launching coordinate system, wherein the specific formulas are as follows:
target local coordinate system desired ballistic tilt angle (3-2-1 rotation order):
Target local coordinate system desired ballistic deflection (3-2-1 rotation order): phi t＝arcsin(cosθ0sinφ0)
The desired ballistic tilt angle in the emission coordinate system: θ DF＝θt +Δ
The desired ballistic deflection angle in the emission coordinate system: θ DP＝φt
Step three: the line of sight is calculated as the angular velocity and angle of sight. The calculation formula is as follows:
Viewing angle in high-low direction:
High-low direction line-of-sight angular velocity:
Horizontal viewing angle:
horizontal line of sight angular velocity:
Wherein x m、ym、zm is the position coordinate of the missile in the launching system, x t、yt、zt is the position coordinate of the target in the launching system, For the distance between the bullet and the eye,Is the bullet-eye distance change rate.
Step four: and calculating the remaining time of flight. The calculation formula is as follows:
Remaining time:
Step five: and generating an omnibearing attack proportion guide overload instruction under a sight line coordinate system. The calculation formula is as follows:
High-low direction overload instruction:
horizontal overload instruction:
Ballistic simulation verification is carried out by utilizing an omnibearing attack proportion guide overload instruction, and the off-target quantity and the angle control precision can be improved by adjusting the proportion guide coefficient.
Examples:
step one: determining the position of a target in a transmitting system, rotating the transmitting coordinate system O F-xFyFzF around O FzF by an angle delta, then overlapping the transmitting coordinate system O F-xFyFzF with a target local coordinate system O t-xtytzt, and calculating delta based on position information;
Where x t is the target in-system radial coordinate, y t is the target in-system radial coordinate, and r is the earth radius.
Step two: determining the attack direction phi 0 of the missile terminal and the falling angle theta 0 of the missile terminal relative to the local horizontal plane of the target in the 2-3-1 rotation sequence according to actual requirements, and calculating the expected ballistic inclination angle theta t and the expected ballistic deflection angle phi t of the target in the local coordinate system in the 3-2-1 rotation sequence;
φt＝arcsin(cosθ0sinφ0)
Calculating the expected ballistic tilt angle theta DF and the expected ballistic deflection angle theta under the emission system by combining delta DP
θDF＝θt+Δ
θDP＝φt
In the simulation of the embodiment, the following 9 groups of expected ballistic inclination angles theta DF and expected ballistic deflection angles theta DP under the emission system are selected to verify that the algorithm can realize omnibearing striking of the target:
step three: calculating angular velocity of line of sight by using relative positional relationship between missile and target AndAnd line of sight angles q α and q β;
wherein, For the distance between the bullet and the eye,Is the bullet-eye distance change rate.
Step four: by means of the distance R and the change rate of the distance RCalculating the remaining flight time t go;
Step five: in this embodiment, the proportional guide coefficients K α =4 and K β =4 are selected. Introducing a remaining time correction term into an optimal proportion guiding rule, and designing a proportion guiding overload instruction in the high-low direction and the horizontal direction under a sight line coordinate system;
Fig. 2-7 show the impact of a missile on 9 extreme directions of a target using an embodiment of the omnidirectional attack scale guidance method. Fig. 2 to 3 show the variation curves of the trajectory morphology and the relative distance of the missile at different attack angles, and the missile can finally hit the target accurately at different attack angles; fig. 4 to 7 show the variation curves of the trajectory inclination angle, the trajectory deflection angle, the high-low line-of-sight angle and the horizontal line-of-sight angle respectively, the high-low line-of-sight angle at the tail end of the missile trajectory and the trajectory inclination angle tend to be consistent under the simulation condition, the horizontal line-of-sight angle and the trajectory deflection angle tend to be consistent, the error between the actual falling angle and the expected falling angle is not more than 0.1 degree, and the accurate falling angle control requirement is met.
Simulation results show that the omnibearing attack proportion guiding method not only ensures the guiding precision of the missile weapon system, but also ensures that the missile can strike the target in omnibearing mode at any expected falling angle.
Claims (2)
1. The guidance method for the 360-degree omnibearing attack target is characterized by comprising the following steps of;
step 1: defining an emission coordinate system, a target local coordinate system and a sight line coordinate system, the definition is as follows:
Emission coordinate system O F-xFyFzF: the origin of coordinates is located at the transmitting point, the x-axis is located in the horizontal plane of the transmitting point, the pointing target is positive, the y-axis is positive upwards along the direction of the plumb line of the transmitting point, and the z-axis, the x-axis and the y-axis form a right-hand coordinate system;
Target local coordinate system O t-xtytzt: the origin of coordinates is at the target shooting point, the x-axis is in the horizontal plane of the target point, the direction opposite to the direction of the shooting point is positive, the y-axis is positive upwards along the direction of the plumb line of the target point, and the z-axis, the x-axis and the y-axis form a right-hand coordinate system;
Line of sight coordinate system O s-xsyszs: the origin of coordinates is the mass center of the missile, the x axis points to the target, the y axis is in a plumb plane containing the x axis and is vertical to the x axis, the upward direction is positive, and the z, the x axis and the y axis form a right-hand coordinate system;
step 2: the overload instruction formula under the line-of-sight coordinate system is as follows:
High-low direction overload instruction:
horizontal overload instruction:
In the method, in the process of the invention,
-A high-low, horizontal line-of-sight angular velocity;
q α、qβ -height, horizontal direction line of sight angle;
K α、Kβ -high-low and horizontal proportional guide coefficients;
t go -remaining time of flight;
θ DF、θDP —desired ballistic dip angle, desired ballistic deflection angle at the moment of target hit by the missile;
v-missile flight speed;
g-gravitational acceleration;
Step 3: determining a missile attack direction phi 0 and a falling angle theta 0 relative to a target local horizontal plane;
The missile attack direction and the falling angle are established relative to a target local coordinate system O t-xtytzt, O t-xtytzt is obtained by rotating a transmitting coordinate system O F-xFyFzF around an O FzF shaft by an angle delta, and the tangent value of delta is obtained by dividing the missile distance by the earth radius r;
The missile attack direction is an included angle between the projection of the speed direction of the missile at the moment of hitting the target in the plane of the target local coordinate system x tOtzt and the O txt axis of the target local coordinate system, wherein the projection of the speed direction on the left side of the O txt axis is positive, and the projection of the speed direction on the right side is negative; the falling angle is an included angle between the speed of the shot at the moment of hit of the target and the plane of the target local coordinate system x tOtzt; the attack direction and the falling angle are determined by the target opening direction and the warhead performance index;
The calculation formula of delta is as follows:
wherein x t and y t are coordinate positions of the target in the emission coordinate system;
Step 4: converting the missile attack direction phi 0 and the falling angle theta 0 relative to the target local horizontal plane into a launching coordinate system;
The velocity direction of the emission coordinate system is described by a ballistic inclination angle theta and a ballistic deflection angle phi v, wherein theta refers to an included angle between the projection of the velocity direction on the plane of the emission coordinate system x FOFzF and the ox axis, and phi v refers to an included angle between the velocity direction and the plane of the emission coordinate system x FOFyF;
The definition method of θ and ψ v is referred to as 3-2-1 rotation order, and the definition method of θ 0 and φ 0 is referred to as 2-3-1 rotation order; during missile flight control, firstly, according to theta 0 and phi 0, angle values theta t and phi t corresponding to the expected speed direction at the moment of missile hit according to the rotation sequence of 3-2-1 are calculated, and then the angle values are transferred to a launching coordinate system to obtain an expected ballistic inclination angle theta DF and an expected ballistic deflection angle theta DP, wherein the specific formula is as follows:
Target local coordinate system desired ballistic tilt angle, 3-2-1 rotation order:
Target local coordinate system desired ballistic deflection, 3-2-1 rotation order: phi t＝arcsin(cosθ0sinφ0);
the desired ballistic tilt angle in the emission coordinate system: θ DF＝θt ++Δ;
The desired ballistic deflection angle in the emission coordinate system: θ DP＝φt;
Step 5: the line of sight angular velocity and the line of sight angle of the line of sight coordinate system are calculated as follows:
Viewing angle in high-low direction:
High-low direction line-of-sight angular velocity:
Horizontal viewing angle:
horizontal line of sight angular velocity:
Wherein x m、ym、zm is the position coordinate of the missile in the emission coordinate system, x t、yt、zt is the position coordinate of the target in the emission coordinate system, For the distance between the bullet and the eye,Is the bullet-eye distance change rate; v x、Vy、Vz denotes the tri-axial velocity of the missile in the launch coordinate system;
step 6: the remaining time of flight is calculated as follows:
Remaining time:
Step 7: and carrying out ballistic simulation verification by utilizing an omnibearing attack proportional guide overload instruction, and improving the off-target quantity and the angle control precision by adjusting a proportional guide coefficient.
2. The method of claim 1, wherein K α =4 and K β =4 are used for the guidance of a 360 ° omnidirectional attack target.
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| CN105043171A (en) * | 2015-06-30 | 2015-11-11 | 北京航天长征飞行器研究所 | Longitudinal guidance method of rocket projectile with inclined-angle restraining |
| CN110425943A (en) * | 2019-08-06 | 2019-11-08 | 西北工业大学 | Engineering reentry guidance method towards Moving aircraft |
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| CN105043171A (en) * | 2015-06-30 | 2015-11-11 | 北京航天长征飞行器研究所 | Longitudinal guidance method of rocket projectile with inclined-angle restraining |
| CN110425943A (en) * | 2019-08-06 | 2019-11-08 | 西北工业大学 | Engineering reentry guidance method towards Moving aircraft |
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