基于载机视觉信息的改进视线制导律设计

doi:10.12305/j.issn.1001-506X.2024.08.25

摘要/Abstract

摘要：

针对无人机机载武器低成本精确打击的需求, 提出利用机载光电吊舱获取制导信息、采用视线制导法进行制导律设计的方案。通过分析载机、导弹和目标的运动关系, 建立了系统状态空间模型, 基于反步法和滑模控制设计了改进视线制导律。对制导律中无法由载机获取的参数进行了讨论, 采用跟踪微分器提取视线角并估计视线角速度信息。数值仿真结果表明, 在视线角存在噪声且导弹矢径拉偏的情况下, 改进视线制导律仍可保证对地面目标的精准打击。与传统视线制导律相比, 载机的运动方向不受限制, 可在发射导弹后远离目标以免受到威胁, 符合现实需求。

关键词: 视线制导, 反步法, 滑模控制, 机载空地导弹, 跟踪微分器

Abstract:

For the demand of low-cost precision strike of unmanned airborne weapons, the proposal of using airborne optoelectronic pods to obtain guidance information and using line-of-sight (LOS) guidance method for guidance law design is proposed. By analyzing the motion relationship of the carrier aircraft, missile, and target, a system state space model is established, and an improved LOS guidance law is designed based on the backstepping method and sliding mode control. The parameters in the guidance law that cannot be obtained by the aircraft are discussed. The tracking differentiator is used to extract the LOS angle and estimate the LOS velocity information. Numerical simulation results show that the improved LOS guidance law can still ensure the accurate strike on the ground target in the presence of LOS angle noise and missile vector pull-off. Compared with the traditional LOS guidance law, the movement direction of the aircraft is not limited, so it can stay away from the target after missile launching to avoid being threatened, which meets the practical demand.

Key words: line-of-sight (LOS) guidance, backstepping method, sliding mode control, airborne air-to-ground missile, tracking differentiator

中图分类号:

TJ765.3

张文稳, 张成, 郑晨明, 程润北, 陈天乐. 基于载机视觉信息的改进视线制导律设计[J]. 系统工程与电子技术, 2024, 46(8): 2779-2788.

Wenwen ZHANG, Cheng ZHANG, Chenming ZHENG, Runbei CHENG, Tianle CHEN. Design of improved line-of-sight guidance law based on aircraft visual information[J]. Systems Engineering and Electronics, 2024, 46(8): 2779-2788.

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初始状态	数值
载机位置P_a₀/m	(0, 500, 0)
导弹位置P_m₀/m	(0, 500, 0)
目标位置P_t₀/m	(1 700, 0, 0)
载机速度V_a/(m·s^－1)	25
导弹速度V_m₀/(m·s^－1)	25
导弹弹道倾角θ₀/(°)	-16.39
导弹弹道偏角$ \boldsymbol{\psi}_{V_0}$/(°)	0

目标状态	导弹矢径拉偏量/%	脱靶量/m
静止	+10	0.43
静止	-10	0.25
匀速直线	+10	0.20
匀速直线	-10	0.07
圆弧机动	+10	0.69
圆弧机动	-10	0.43

制导律	载机方位/(°)
制导律	0	45	－45	90	－90	135	－135	180
BS-LOSG	0.22	0.31	0.32	0.13	0.13	0.13	0.13	0.18
传统视线制导律	0.19	0.84	0.84	2.91	3.12	65.39	65.43	42.60

制导律	载机方位/(°)
制导律	0	45	－45	90	－90	135	－135	180
BS-LOSG	0.31	0.19	0.71	0.14	0.77	0.16	0.45	0.08
传统视线制导律	0.06	0.15	17.38	15.19	48.90	59.76	21.28	43.01

制导律	载机方位/(°)
制导律	0	45	－45	90	－90	135	－135	180
BS-LOSG	0.79	0.43	0.77	0.58	0.60	0.56	0.44	0.58
传统视线制导律	0.89	0.62	14.14	3.79	44.69	68.02	70.98	95.28