阅读说明：本技术 一种抗雷达关机的制导方法、系统及介质 (Radar shutdown resistant guidance method, system and medium ) 是由 王明光 魏丽霞 赵凌雪 王晓燕 宗焕强 李世海 刘华 于 2021-06-22 设计创作，主要内容包括：本发明涉及一种抗雷达关机的制导方法及系统,基于视线角导引律的弹道特性,在目标雷达关机后,在假设目标静止的情况下,基于导引系数、初值弹道角和视线角等信息解算得到稳态导引指令,在此基础上基于关机前的导引指令和稳态导引指令规划一条后续导引指令。在弹目距离较近的情况下,当雷达关机时,可以获得较高的制导精度。(The invention relates to a guidance method and a guidance system for resisting radar shutdown, which are based on the ballistic characteristics of a line-of-sight angle guidance law, after a target radar is shutdown, under the condition of assuming that a target is static, a steady-state guidance instruction is obtained by resolving based on information such as a guidance coefficient, an initial value ballistic angle, a line-of-sight angle and the like, and a subsequent guidance instruction is planned based on the guidance instruction before shutdown and the steady-state guidance instruction on the basis. Under the condition that the shot-eye distance is short, when the radar is powered off, higher guidance precision can be obtained.)

1. A guidance method for resisting radar shutdown is characterized by comprising the following steps:

(1) integrating the basic proportion guidance equation to obtain an integral proportion guidance equation;

(2) making the tail section trajectory angle approach to a line of sight angle, and determining a steady-state guidance instruction, namely a terminal instruction of a guidance trajectory;

(3) planning a subsequent guidance instruction according to the steady-state guidance instruction and the guidance instruction before the radar is shut down;

(4) and performing guidance control according to the subsequent guidance instruction to realize guidance for resisting radar shutdown.

2. The guidance method against radar shutdown according to claim 1, characterized in that: the step (1) integrates the basic proportion guidance equation to obtain an integral proportion guidance equation, which specifically comprises the following steps:

the basic scale guidance equation isWherein the content of the first and second substances,in order to obtain the angular velocity of the trajectory,is the line-of-sight angular velocity, k is the guidance coefficient;

and (3) performing integral operation on two sides of the basic proportion guidance equation:

obtaining an integral type proportion guidance equation:

θ(t)＝θ(t₀)+k(q(t)-q(t₀))

in the formula t₀To advance the end of the guidance time, θ (t)₀) And q (t)₀) The respective angles of the projectile path and the sight line at the time of terminal guidance, theta (t)₀) Is marked as theta_c0，q(t₀) Is denoted as q₀。

3. The guidance method against radar shutdown according to claim 2, characterized in that: the determining the steady-state guidance instruction specifically includes:

suppose that the terminal is at time t_fFor attacking a static target, the characteristic of the guided trajectory is proportioned, namely the tail section trajectory angle tends to the line of sight angle, and then the guided command tends to a steady state, namely the tail section line of sight angle, so as to obtain a steady-state guided command, namely the terminal command of the guided trajectory is as follows:

denote the steady state steering command as θ_cf(ii) a Wherein, theta_c0The guidance instruction is the guidance instruction entering the terminal guidance time.

4. A guidance method against radar shutdown according to claim 3, characterized in that: and (3) planning a subsequent guidance instruction according to the steady-state guidance instruction and the guidance instruction before the radar is shut down, specifically: let the radar turn-off time be t₁When the corresponding ballistic angle command is theta_c1I.e. the guiding command before the radar is turned off is theta_c1Combined with steady state pilot commands theta_cfAnd a guidance instruction theta before radar shutdown_c1And carrying out polynomial fitting by a least square method to plan a subsequent guidance instruction.

5. A guidance system against radar shutdown realized by the guidance method against radar shutdown according to claim 1, characterized by comprising:

an integration module: integrating the basic proportion guidance equation to obtain an integral proportion guidance equation;

the steady state guidance instruction determination module: making the tail section trajectory angle approach to a line of sight angle, and determining a steady-state guidance instruction, namely a terminal instruction of a guidance trajectory;

a planning module: planning a subsequent guidance instruction according to the steady-state guidance instruction and the guidance instruction before the radar is shut down;

a guidance module: and performing guidance control according to the subsequent guidance instruction to realize guidance for resisting radar shutdown.

6. The guidance system against radar shutdown of claim 5, wherein: the basic scale guidance equation isWherein the content of the first and second substances,in order to obtain the angular velocity of the trajectory,is the line-of-sight angular velocity, k is the guidance coefficient;

and (3) performing integral operation on two sides of the basic proportion guidance equation:

obtaining an integral type proportion guidance equation:

θ(t)＝θ(t₀)+k(q(t)-q(t₀))

in the formula t₀To advance the end of the guidance time, θ (t)₀) And q (t)₀) Respectively is the end of feedTrack and line of sight angles, θ (t), at the time of guidance₀) Is marked as theta_c0，q(t₀) Is denoted as q₀。

7. The guidance system against radar shutdown of claim 5, wherein: determining a steady-state guidance instruction, specifically:

suppose that the terminal is at time t_fFor attacking a static target, the characteristic of the guided trajectory is proportioned, namely the tail section trajectory angle tends to the line of sight angle, and then the guided command tends to a steady state, namely the tail section line of sight angle, so as to obtain a steady-state guided command, namely the terminal command of the guided trajectory is as follows:

denote the steady state steering command as θ_cf(ii) a Wherein, theta_c0The guidance instruction is the guidance instruction entering the terminal guidance time.

8. The guidance system against radar shutdown of claim 5, wherein: planning a subsequent guidance instruction according to the steady-state guidance instruction and the guidance instruction before the radar is shut down, and specifically: let the radar turn-off time be t₁When the corresponding ballistic angle command is theta_c1I.e. the guiding command before the radar is turned off is theta_c1Combined with steady state pilot commands theta_cfAnd a guidance instruction theta before radar shutdown_c1And carrying out polynomial fitting by a least square method to plan a subsequent guidance instruction.

9. A storage medium characterized by comprising a stored program, wherein a device on which the storage medium is located is controlled to execute the guidance method against radar shutdown according to any one of claims 1 to 4 when the program is executed.

10. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute the guidance method against radar shutdown according to any one of claims 1 to 4 when running.

Technical Field

The invention relates to a guidance method, a guidance system and a guidance medium for resisting radar shutdown, and belongs to the technical field of passive anti-radiation guidance.

Background

The passive anti-radiation missile is a passive-seeking airborne air defense suppressed weapon for attacking electromagnetic signals such as enemy guidance radars, fire control radars and the like, plays an extremely important role in modern attack and defense wars, naturally adopts various effective countermeasures for improving the viability, and comprises the following steps: arranging a bait around the radar to decoy the anti-radiation missile, but the hardware cost of the radar system is increased, the operation difficulty is increased, and the work between the radar and the bait is coordinated; the second step is as follows: when the enemy radar judges that the missile is close to and threatens, the shutdown operation is executed, so that the missile cannot continuously lock the target, the cost of the radar is not increased, the radar is largely adopted in the actual operation, and the intermittent shutdown operation of the radar is adopted, so that the hit rate of the anti-radiation missile is sharply reduced.

Aiming at the situation of radar shutdown, the anti-radiation missile anti-radar shutdown technology in the prior art is deeply researched and roughly divided into the following three types:

1) the method comprises the steps that passive anti-radiation guidance and strapdown inertial navigation are combined, a target position is estimated and positioned through a Kalman filtering algorithm before the radar is turned off, and attack is continued based on a positioning result after the radar is turned off, but the target position is estimated inaccurately by the method, so that higher guidance precision is difficult to obtain;

2) the composite seeker is adopted to resist radar shutdown, for example, AGM-88C adopts a passive radar/infrared imaging composite dual-mode seeker, the method is an effective method for resisting radar shutdown, and the development of the dual-mode seeker has the defects of complex technology, high cost, inconvenience for miniaturization and the like;

3) the method adopts a cruise attack mode, the target radar is switched into a cruise state in the air after the radar is shut down, and the target radar is switched into an attack mode immediately after the target radar is started, but the fuel quality required by the cruise state is high, and the fuel quality of other equipment on the target radar can be correspondingly crowded.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the method and the system can solve to obtain a steady-state guidance instruction based on a line-of-sight angle guidance law, and obtain a subsequent guidance instruction based on the steady-state guidance instruction and the guidance instruction before the shutdown of the target radar.

The technical solution of the invention is as follows:

a guidance method for resisting radar shutdown comprises the following steps:

(1) integrating the basic proportion guidance equation to obtain an integral proportion guidance equation;

(2) making the tail section trajectory angle approach to a line of sight angle, and determining a steady-state guidance instruction, namely a terminal instruction of a guidance trajectory;

(3) planning a subsequent guidance instruction according to the steady-state guidance instruction and the guidance instruction before the radar is shut down;

(4) and performing guidance control according to the subsequent guidance instruction to realize guidance for resisting radar shutdown.

Further, the step (1) integrates the basic proportion guidance equation to obtain an integral proportion guidance equation, which specifically includes:

the basic scale guidance equation isWherein the content of the first and second substances,in order to obtain the angular velocity of the trajectory,is the line-of-sight angular velocity, k is the guidance coefficient;

and (3) performing integral operation on two sides of the basic proportion guidance equation:

obtaining an integral type proportion guidance equation:

θ(t)＝θ(t₀)+k(q(t)-q(t₀))

in the formula t₀To advance the end of the guidance time, θ (t)₀) And q (t)₀) The respective angles of the projectile path and the sight line at the time of terminal guidance, theta (t)₀) Is marked as theta_c0，q(t₀) Is denoted as q₀。

Further, the determining the steady-state pilot command specifically includes:

suppose that the terminal is at time t_fFor attacking a static target, the characteristic of the guided trajectory is proportioned, namely the tail section trajectory angle tends to the line of sight angle, and then the guided command tends to a steady state, namely the tail section line of sight angle, so as to obtain a steady-state guided command, namely the terminal command of the guided trajectory is as follows:

denote the steady state steering command as θ_cf(ii) a Wherein, theta_c0The guidance instruction is the guidance instruction entering the terminal guidance time.

Further, the step (3) plans a subsequent guidance instruction according to the steady guidance instruction and the guidance instruction before the radar shutdown, and specifically includes: let the radar turn-off time be t₁When the corresponding ballistic angle command is theta_c1I.e. the guiding command before the radar is turned off is theta_c1Combined with steady state pilot commands theta_cfAnd a guidance instruction theta before radar shutdown_c1And carrying out polynomial fitting by a least square method to plan a subsequent guidance instruction.

Further, the present invention also provides a guidance system for resisting radar shutdown, including:

an integration module: integrating the basic proportion guidance equation to obtain an integral proportion guidance equation;

the basic scale guidance equation isWherein the content of the first and second substances,in order to obtain the angular velocity of the trajectory,is the line-of-sight angular velocity, k is the guidance coefficient;

and (3) performing integral operation on two sides of the basic proportion guidance equation:

obtaining an integral type proportion guidance equation:

θ(t)＝θ(t₀)+k(q(t)-q(t₀))

in the formula t₀To advance the end of the guidance time, θ (t)₀) And q (t)₀) The respective angles of the projectile path and the sight line at the time of terminal guidance, theta (t)₀) Is marked as theta_c0，q(t₀) Is denoted as q₀。

The steady state guidance instruction determination module: making the tail section trajectory angle approach to a line of sight angle, and determining a steady-state guidance instruction, namely a terminal instruction of a guidance trajectory;

determining a steady-state guidance instruction, specifically:

suppose that the terminal is at time t_fFor attacking a static target, the characteristic of the guided trajectory is proportioned, namely the tail section trajectory angle tends to the line of sight angle, and then the guided command tends to a steady state, namely the tail section line of sight angle, so as to obtain a steady-state guided command, namely the terminal command of the guided trajectory is as follows:

denote the steady state steering command as θ_cf(ii) a Wherein, theta_c0The guidance instruction is the guidance instruction entering the terminal guidance time.

A planning module: planning a subsequent guidance instruction according to the steady-state guidance instruction and the guidance instruction before the radar is shut down; planning a subsequent guidance instruction according to the steady-state guidance instruction and the guidance instruction before the radar is shut down, and specifically: let the radar turn-off time be t₁When the corresponding ballistic angle command is theta_c1I.e. the guiding command before the radar is turned off is theta_c1Combined with steady state pilot commands theta_cfAnd a guidance instruction theta before radar shutdown_c1And carrying out polynomial fitting by a least square method to plan a subsequent guidance instruction.

A guidance module: and performing guidance control according to the subsequent guidance instruction to realize guidance for resisting radar shutdown.

Furthermore, the invention also provides a storage medium, which comprises a stored program, wherein when the program runs, the device where the storage medium is located is controlled to execute a guidance method for resisting radar shutdown.

Furthermore, the invention also provides a processor, which is used for running the program, wherein the program runs to execute the guidance method for resisting the radar shutdown.

Compared with the prior art, the invention has the beneficial effects that:

(1) the method develops a guidance strategy based on radar shutdown resistance, the guidance strategy is suitable for strapdown passive anti-radiation guidance, extra missile hardware is not required to be added, mathematical derivation is simple, the meaning is clear, and the method is easy to realize in engineering;

(2) according to the method, based on the ballistic characteristics of the line-of-sight angle guidance law, after the target radar is shut down, a steady-state guidance instruction can be obtained through calculation based on information such as guidance coefficients, and on the basis, a subsequent guidance instruction is planned based on the guidance instruction before shutdown and the steady-state guidance instruction. Under the condition that the shot distance is short, when the radar is shut down, higher guidance precision can be obtained;

(3) the coefficient of the guidance law is a fixed value; based on the characteristic of the guidance trajectory, under the condition of taking a fixed guidance coefficient, a steady-state guidance instruction can be obtained by calculation;

(4) the method comprises the steps of planning a guide instruction to be flown based on an instruction before the radar is turned off and a steady-state guide instruction; when the seeker receives the target radar signal again, the missile can be switched to a normal guidance instruction.

Drawings

FIG. 1 is a schematic diagram of a planned follow-up pilot command;

FIG. 2 is a schematic diagram of a subsequent guidance instruction planned after a seeker is out-of-lock;

FIG. 3 is a schematic view of an output line-of-sight angle after the seeker is unlocked;

FIG. 4 is a flow chart of the method of the present invention.

Detailed Description

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.

The method is based on the ballistic characteristics of the line-of-sight angle guidance law, after the target radar is shut down, under the condition that the target is supposed to be static, a steady-state guidance instruction is obtained through resolving based on information such as a guidance coefficient, an initial value ballistic angle and the line-of-sight angle, and a subsequent guidance instruction is planned based on the guidance instruction before the shutdown and the steady-state guidance instruction on the basis. Under the condition that the shot-eye distance is short, when the radar is powered off, higher guidance precision can be obtained.

As shown in fig. 4, the guidance method for resisting radar shutdown provided by the present invention specifically implements the following steps:

the missile flight path angle is assumed to be theta (theta is a trajectory inclination angle in a longitudinal plane; theta is a trajectory deflection angle in a transverse plane), the missile eye sight angle is q (q is a sight elevation angle in the longitudinal plane; q is a sight azimuth angle in the transverse plane), and the guidance coefficient is k;

step 1: integrating the basic proportion guidance equation to obtain an integral proportion guidance equation;

suppose the terminal guidance time is t₀To the basic ratio guidance equation(In order to obtain the angular velocity of the trajectory,line-of-sight angular velocity) are integrated:

obtaining an integral type proportion guidance equation:

θ(t)＝θ(t₀)+k(q(t)-q(t₀))

in the formula t₀The terminal guidance time is entered. In the formula, theta (t)₀) (note as. theta.)_c0) And q (t)₀) (note as q)₀) The bullet path angle and the sight line angle at the terminal guidance time are respectively.

The coefficient of the guidance law is a fixed value; based on the characteristics of the guidance trajectory, a steady guidance instruction can be calculated with a fixed guidance coefficient.

Step 2: making the tail section trajectory angle approach to a line of sight angle, and determining a steady-state guidance instruction, namely a terminal instruction of a guidance trajectory;

suppose that the terminal is at time t_fFor attacking a stationary target, the end-segment ballistic angle tends towards the line-of-sight angle, i.e., θ (t), in accordance with the characteristics of the proportional guided ballistic_f)＝q(t_f) When the pilot command approaches the steady state, i.e. the end view angle, it can be obtained

I.e. terminal command to guide trajectory (denoted as theta)_cf) Related to the initial ballistic angle, line of sight angle and guidance factor. Theta_c0The guidance instruction is the guidance instruction entering the terminal guidance time.

And step 3: as shown in fig. 1, a subsequent guidance instruction is planned according to the steady-state guidance instruction and the guidance instruction before the radar is turned off.

After the target radar is shut down, a steady-state guidance instruction can be obtained through calculation based on information such as guidance coefficients, and a subsequent guidance instruction is planned based on the guidance instruction before shutdown and the steady-state guidance instruction. Under the condition that the shot-eye distance is short, when the radar is powered off, higher guidance precision can be obtained. The guidance strategy is suitable for strapdown passive anti-radiation guidance and does not need to increase hardware cost.

Suppose the radar shutdown time is t₁When the corresponding ballistic angle command is theta_c1Combined with steady state pilot commands theta_cfAnd a guidance instruction theta before radar shutdown_c1And planning a subsequent guidance instruction based on least square polynomial fitting.

And 4, step 4: and performing guidance control according to the subsequent guidance instruction to realize guidance for resisting radar shutdown.

According to the method, after the target radar is shut down, assuming that the target is static, the steady-state guidance instruction is obtained through resolving information such as the guidance coefficient, the initial value ballistic angle and the line-of-sight angle, and the subsequent guidance instruction is planned through a polynomial fitting method based on the steady-state guidance instruction obtained through resolving and the guidance instruction before the target is shut down. When the seeker receives the radar signal again, the missile can be switched to a normal guidance instruction according to the line-of-sight angle output by the seeker.

Example (b):

a certain passive anti-radiation missile is launched at a height of 9000m, a launching speed of 0.8mch and a range of 60km, after the passive anti-radiation missile enters terminal guidance, the radar is always started (lock), the missile is shut down (unlock (10km)) at a distance of 10km from the missile eyes, the missile is shut down (unlock (5km)) at a distance of 5km from the missile eyes, a guidance coefficient k is 4, an upward gust of 5m/s is increased in a height interval [3250m 3550m ], the output angle error of a guidance head obeys normal distribution N (0.50.01), and subsequent guidance instructions planned according to the method are shown in fig. 1, and simulation results are shown in fig. 2-3 and table 1.

Table 1 six degree of freedom trajectory simulation terminal data

Fig. 2 shows a subsequent guidance instruction planned after the guidance head is out of lock. The time points (unlock at10km and unlock at 5km) indicated by the arrows are the time points when the radar is turned off when the shot distance is 10km and 5km, respectively. It can be seen that the planned guidance instruction after the radar is turned off is substantially consistent with the normal guidance instruction obtained by locking the radar all the time.

Fig. 3 shows the output line-of-sight angle after the seeker is unlocked, and after the radar is turned off, the seeker cannot obtain the position information of the radar, so that the line-of-sight angle becomes 0.

As can be seen from the comparison data in Table 1, the method provided by the invention can still ensure higher guidance precision under the condition that the shot-to-eye distance is short after the radar is powered off.

Those matters not described in detail in the present specification are well known in the art.