多飞行器突防打击一体化微分对策制导律设计

针对多进攻弹突防弹群拦截再打击目标的交战场景，提出了一种可应用于对手信息不完全情况下的微分对策制导方法。建立多飞行器交战的线性化模型，并依据不同对抗组进行模型降阶。引入时间算子统一所有分组的终端时间，基于二人零和微分理论给出制导律。利用扩展卡尔曼滤波(EKF)实现对拦截弹和目标的状态估计，并将估计应用于所提制导律。在对手状态信息已知时，仿真突防脱靶量大于5 m，拦截脱靶量小于0.1 m。而在只给定粗糙有噪声观测的不完全信息下，滤波器对拦截弹与目标的状态估计误差可接受，仿真结果依然保持相近的脱靶精度。仿真结果表明，所提制导律能有效导引进攻弹规避拦截，并准确打击目标。 

Differential game guidance law design for integration of penetration and strike of multiple flight vehicles

To solve the problem of dodging the defense missile group and hitting the target, a differential game guidance law which can be applied under the condition of incomplete enemy information is proposed. The linearized model of multi-vehicle engagement was established and the order of the model was reduced according to different combat teams. A time operator is introduced to unify the terminal time of all teams, and thus the guidance law was deducted based on two-person zero-sum differential game theory. The state estimation of interceptors and target was applied to the proposed guidance law by employing the extended Kalman filter (EKF). The penetration miss distance is greater than 5 m assuming complete hostile state information, and the interception miss distance is less than 0.1 m. Given only the rough and noisy observations, to be a contrast, the state estimation error of interceptors and target is well acceptable, and similar miss distance accuracy can be achieved. The simulation results demonstrate that the proposed guidance law can effectively guide attacking missiles to evade interception and hit the target accurately.