多飞行器再入段时间协同弹道规划方法

提出了一种多飞行器再入段时间协同弹道规划方法。首先，在纵向平面内规划满足航程与终端约束的纵向标称轨迹。随后，在采用轨迹跟踪律跟踪纵向标称轨迹的同时，运用考虑初始横侧向状态的多边界航向偏差角走廊策略控制飞行器的横侧向机动，以满足到达时间约束与终端约束，进而实现单枚飞行器到达时间约束下的轨迹规划。在此基础上，完成了飞行器的到达时间分布与飞行能力分析，给出了最小与最大到达时间的分析计算方法，并根据多飞行器协同再入的任务需求完成了协同飞行时间决策。最后，多飞行器协同再入与扰动条件下的仿真结果表明，该方法能够规划出满足到达时间与终端约束的协同再入轨迹，具备良好的计算精度与鲁棒性。

Trajectory optimization for cooperative reentry of multiple hypersonic glide vehicle

This paper presents a trajectory optimization method for the cooperative reentry of multiple hypersonic glide vehicles. First, the nominal longitudinal trajectory is planned to satisfy the path and terminal constraints. Second, the trajectory tracking law is used to track the nominal longitudinal trajectory. Meanwhile, a multi-layer bounded corridor for heading error considering the initial lateral state is proposed to control the lateral maneuver, so as to meet the requirement of arrival time and the terminal constraints. Then the trajectory planning with arrival time constraints for a single vehicle is implemented. On this basis, the arrival time distribution and the flight capability are analyzed, and the analysis and the calculation methods for the minimum and the maximum arrival time are given. For the multiple hypersonic glide vehicle cooperative reentry scenario, the cooperative flight time decision-making is completed. Finally, numerical results show that the trajectory optimization method achieves a good performance on the arrival time and the terminal constraints, which indicates that the proposed method can realize the cooperative reentry of multiple hypersonic glide vehicle. The results in dispersed cases indicate that the trajectory optimization method has good calculation accuracy and robustness.