Multiple-stage spatial-temporal cooperative guidance without time-to-go estimation

This paper investigates the spatial-temporal cooperative guidance problem for multiple flight vehicles without relying on time-to-go information.First,a two-stage cooperative guidance strategy,namely the cooperative guidance and the Proportional Navigation Guidance(PNG)stage strategy,is developed to realize the spatial-temporal constraints in two dimensions.At the former stage,two controllers are designed and superimposed to satisfy both impact time consensus and impact angle constraints.Once the convergent conditions are satisfied,the flight vehicles will switch to the PNG stage to ensure zero miss distance.To further extend the results to three dimensions,a planar pursuit guidance stage is additionally imposed at the beginning of guidance.Due to the inde-pendence of time-to-go estimation,the proposed guidance strategy possesses great performance in satisfying complex spatial-temporal constraints even under flight speed variation.Finally,several numerical simulations are implemented to verify the effectiveness and advantages of the proposed results under different scenarios.     

基于流水避石原理的无人机三维航路规划方法

借鉴自然界流水避石现象,提出一种基于流体计算的无人机(UAV)三维(3D)航路规划方法.首先介绍了球心位于坐标原点时,球形障碍三维绕流问题的解析解.之后采用旋转平移矩阵与流线数据叠加方法生成了任意位置多障碍同时存在的三维流线.为验证解析解的有效性同时给出该方法基于数值模拟的计算过程,对适合无人机三维航路规划的流体模型和数值求解方法进行了分析,并给出了通过数值模拟求解航路的方法.最后,根据无人机机动约束对流线进行处理得到可飞航路,将航路长度、纵向和横侧向机动次数作为子目标函数对航路进行综合评价.仿真结果表明:解析法航路规划中,圆球障碍的地形建模简单计算量小,航路集中在由起点至终点的航路带间;数值法航路规划适合障碍分布复杂的地形,航路分布于规划空间中.这两种方法的航路平滑,能够满足无人机飞行约束,航路具有绕流意义的最优性,可以避免势场法的局部极小问题,并且可以提供多条备选航路.     

飞行器典型热密封结构

对航天飞机、X-38和X-51等飞行器的热密封结构进行了综合评述.分析了机身TPS、机身开口部位及控制面三个安装部位的热密封结构特点,综述了其热密封组件的研究历程和使用现状.     

基于多模型预测的再入飞行器制导方法

在具有控制和轨迹约束的再入制导中,提出了一种新的基于多模型预测再入飞行器纵向制导方法。首先对再入飞行器的纵向运动方程沿着标准轨道线性化,基于分段仿射约束系统建模理论逼近原非线性系统,并采用线性矩阵不等式(LMIs)优化技术离线将保证闭环系统稳定的终端二次代价项求出;然后,在每个制导周期内,基于多模型预测在线求解构造好的有限时域优化目标,从而获得控制量的增量,并把第一个控制增量分量与标准轨道的控制量叠加后形成全量控制,用于实际再入轨道的制导,而在下一个制导周期基于新的状态参数重复上面的优化过程。数字仿真结果证实了所提方法的有效性。     

考虑捷联导引头最小视场角约束的制导策略

针对高超声速飞行器捷联导引头,提出导引头最小视场角(FOV)约束问题.首先分析了导引头视线角变化规律,指出在攻击固定目标时,导引头最小视场角约束在弹道末段无法被满足,导引头将丢失目标.在此基础上,基于缩短导引头丢失目标距离的目标,提出一种满足导引头最小视场角约束的制导策略.该策略不依赖于末制导律形式,当最小视场角约束无...     

A parameterized geometry design method for inward turning inlet compatible waverider

Intensive studies have been carried out on generations of waverider geometry and hypersonic inlet geometry. However, integration efforts of waverider and related air-intake system are restricted majorly around the X43A-like or conical flow field induced configuration, which adopts mainly the two-dimensional air-breathing technology and limits the judicious visions of developing new aerodynamic profiles for hypersonic designers. A novel design approach for integrating the inward turning inlet with the traditional parameterized waverider is proposed. The proposed method is an alternative means to produce a compatible configuration by linking the off-the-shelf results on both traditional waverider techniques and inward turning inlet techniques. A series of geometry generations and optimization solutions is proposed to enhance the lift-to-drag ratio. A quantitative but efficient aerodynamic performance evaluation approach （the hypersonic flow panel method） with lower computational cost is employed to play the role of objective function for opti- mization purpose. The produced geometry compatibility with a computational fluid dynamics （CFD） solver is also verified for detailed flow field investigation. Optimization results and other numerical validations are obtained for the feasibility demonstration of the proposed method.     

未知环境中微型飞行器障碍回避与导航技术研究进展

微型飞行器在未知环境中自主飞行,须具备障碍回避和导航的能力,关键技术包括：环境探测、动态航迹规划以及航路跟踪。本文综述了近年来国内外在该领域的主要研究进展,围绕微型飞行器障碍回避与导航技术的概念内涵和问题描述障碍回避与导航技术中的飞行环境探测方法与传感器、飞行环境要素的模型表征及航迹规划算法等方面,系统地给予了阐述与分析,最后指出了微型飞行器动态障碍回避与导航技术中需要进一步研究的问题,旨在为微型飞行器的自主导航技术的发展提供参考。     

Multiple-constraint cooperative guidance based on two-stage sequential convex programming

An improved approach is presented in this paper to implement highly constrained cooperative guidance to attack a stationary target. The problem with time-varying Proportional Navigation(PN) gain is first formulated as a nonlinear optimal control problem, which is difficult to solve due to the existence of nonlinear kinematics and nonconvex constraints. After convexification treatments and discretization, the solution to the original problem can be approximately obtained by solving a sequence of Second-Order Cone Programming(SOCP) problems, which can be readily solved by state-of-the-art Interior-Point Methods(IPMs). To mitigate the sensibility of the algorithm on the user-provided initial profile, a Two-Stage Sequential Convex Programming(TSSCP)method is presented in detail. Furthermore, numerical simulations under different mission scenarios are conducted to show the superiority of the proposed method in solving the cooperative guidance problem. The research indicated that the TSSCP method is more tractable and reliable than the traditional methods and has great potential for real-time processing and on-board implementation.     

基于虚拟领弹的攻击时间和攻击角度控制

构造一枚虚拟领弹按指定的攻击时间和攻击角度以直线飞向目标。实际导弹通过机动以"等待"虚拟领弹的到来,导弹与虚拟领弹相遇后随其一起飞向目标,从而实现导弹的攻击时间和攻击角度控制。对于这种导弹对虚拟领弹的轨迹跟踪问题,建立了控制设计模型并采用了分阶段控制设计方法。仿真结果验证了该方法的有效性。     

集群编队条件下通导一体高精度时间同步方法

针对集群编队条件下对高精度时间同步的需求,对通导一体高精度时间同步方法进行了研究,将卫星导航系统与数据链系统进行深度融合,提出了动基座条件下基于卫星导航载波差分算法的节点间高精度时间同步算法。该算法通过协同时间驯服的方式来抑制两次定位间隔间受钟漂影响导致的节点间时间同步误差发散以及节点间时钟修正不同步导致的时间同步误差,提升了编队组网条件下节点间的时间同步精度。最后,通过仿真对算法进行了验证。结果表明,时空同步精度可以达到1ns,可有力支撑未来集群编队作战、高精度协同探测、高精度协同制导等典型场景下对节点间高精度时间同步的需求。     

无人机航迹规划算法的初步研究

航迹规划算法是无人机的关键技术之一,本文初步综述了近年来国内外在该领域的主要研究成果。首先给出了航迹规划的描述和涉及的关键问题,然后着重介绍了几种较为常用的规划算法,如A-Star算法、遗传算法、神经网络、Voronoi图、PRM(ProbabilisticRoadmap)、RRTs(RapidlyExploringRandomTrees)、人工势场法、基于案例的算法等,最后讨论了航迹规划算法存在的问题和面临的挑战,指出飞行中实时重规划的研究是航迹规划未来主要的发展方向。     

Obstacle avoidance for multi-missile network via distributed coordination algorithm

A distributed coordination algorithm is proposed to enhance the engagement of the multi-missile network in consideration of obstacle avoidance. To achieve a cooperative interception,the guidance law is developed in a simple form that consists of three individual components for target capture, time coordination and obstacle avoidance. The distributed coordination algorithm enables a group of interceptor missiles to reach the target simultaneously, even if some member in the multi-missile network can only collect the information from nearest neighbors. The simulation results show that the guidance strategy provides a feasible tool to implement obstacle avoidance for the multi-missile network with satisfactory accuracy of target capture. The effects of the gain parameters are also discussed to evaluate the proposed approach.     

多导弹齐射攻击协同制导(英文)

Cooperative guidance problems of multiple missiles are considered in this article. A cooperative guidance scheme, where coordination algorithms and local guidance laws are combined together, is proposed. This scheme actually builds up a hierarchical cooperative guidance architecture, which may provide a general solution to the multimissile cooperative guidance problems. In the case of salvo attacks which require missiles to hit the target simultaneously, both centralized and distributed coordination algorithms are derived based on the impact-time-control guidance （ITCG） law. Numerical simulations are performed to demonstrate the effectiveness of the proposed approaches.     

过虚拟交班点的能量最优制导律

针对固定目标的导弹过虚拟交班点制导问题,在希尔伯特空间下,基于最优化理论设计了有无终端落角约束两种情况下的全局能量最优制导律。通过对模型进行线性化,将提出的最优制导模型转化为线性二次型最优控制问题,在此基础上利用零控脱靶量（ZEM）概念对系统模型进行降阶,并推导出解析解。设计的制导律可以使导弹准确经过虚拟交班点,并实现期望终端落角。仿真结果表明,与经典制导律对比,该制导律可以显著减少全局控制能量消耗。     

基于不同威胁体的无人作战飞机初始路径规划

 提出一种基于不同威胁体的路径规划新方法。从理论上建立了具有不同威胁体的局部空域路径选择原则,给出了根据不同威胁体建立相应路径图的步骤和方法。描述了基于图形模型的进化优化算法,并应用此算法进行了路径优化。进行了仿真验证,仿真结果表明,提出的路径规划方法不仅可行,而且有效地突破了原Voronoi 图只能对相同威胁体进行路径规划的局限。