面向探测效能增强的导弹路径规划方法

针对空空导弹在拦截飞机目标时规避人工诱饵干扰的探测路径规划需求，提出了一种面向探测效能增强的导弹路径规划方法。在传统A*路径规划方法的基础上，采用基于运动学的连续多步扩展方式生成路径扩展点，用于对干扰威胁区域的提前检测；采用速度与时间乘积表示规划步长，将固定距离步长转换为固定时间步长，以适应不同导弹速度下的路径规划；采用动态虚拟目标点替代真实目标点以将规划路径导向期望的探测进入角度。仿真结果表明，采用本文路径规划方法可以得到较小曲率、较短长度且可避开干扰威胁区域的路径，通过设定合适的探测进入角度可以减少导弹机动量并提高对目标的探测覆盖时长占比，有利于增强导弹对目标的探测效能。

Missile Path Planning Method for Detection Efficiency Enhancement

In order to meet the requirement of detecting path planning for air-to-air missiles to avoid artificial decoy interference when intercepting aircraft targets, a method of missile path planning for enhancing detection efficiency is proposed. Based on the traditional A* path planning method, the path expansion points are generated by a continuous multi-step expansion mode based on kinematics to detect the artificial decoy interference threat area in advance. The planning step is expressed by the product of speed and time, and the fixed distance step is converted into a fixed time step to adapt to the path planning under different missile speeds. The dynamic virtual target point is used to replace real target points to guide the planned path to the desired detection entry angle. The simulation results show that the path with small curvature, short length, and avoiding the artificial decoy interference threat area, can be obtained. By setting an appropriate detection entry angle, the missile maneuver can be reduced and the detection coverage duration ratio for the target can be improved, which is conducive to enhancing the target detection efficiency of the missile.