Research On Cooperative Trajectory Planning And Guidance For Multi-Aircraft

With the development of air defense and anti-missile defense system,the traditional single aircraft operation has been unable to meet the requirements of combat tasks in the complex battlefield environment in the future.The multi-aircraft cooperative combat will become a typical combat style in the future.The cooperative trajectory planning and guidance,as two key technologies in multi-aircraft collaborative operations,are important means to improve the precision strike capabilitiy of aircraft.For this reason,this study discusses the two key technologies based on the background of multi-aircraft cooperative combat.First,in order to offset the shortages of the research on cooperative combat,the penetration trajectory optimization method considering the influence of aircraft radar cross-section(RCS)and the cooperative penetration strategy is proposed in this study.A trajectory optimization framework with the dynamic model,constraint conditions and optimal objectives is formed.Using the hp-adaptive Radau pseudo-spectral method,the optimal control problem for a single aircraft flight is solved.A cooperative penetration strategy is proposed to solve the cooperative penetration problem of multi-aircraft,which satisfies the impact time and angle constaints.Second,considering that the terminal phase cooperative guidance techonlogy cannot be directly applied to the glide phase,two methods of multi-aircraft cooperative reentry trajectory planning are proposed.(1)Starting from the design of longitudinal profile,a time coordinated reentry trajectory planning method based on the hight-velocity(H-V)profile is proposed.Two control parameters on the H-V profile are designed to meet the constraints of the remaining range and the time-to-go.And the tracking of the H-V profile is realized based on the feedback linearization tracking guidance.(2)Based on the real-time update of the boundary of the heading error corridor,a time coordinated reentry trajectory planning method based on predictor-corrector guidance is proposed.The design parameter of bank angle in longitudinal profile is corrected by predicting the terminal range.The time-variable heading error corridor is adopted to the lateral profile to realize the time coordinate reentry trajectory planning.Thirdly,a modified proportional navigational guidance(MPNG)law is proposed for the impact time control to overcome the shortcoings of the existing terminal cooperative guidance law.When the leading angle is large,the precision of the traditional time-to-go estimation is poor.To solve this problem,a more accurate expression of the time-to-go estimation of proportional navigation guidance(PNG)is first proposed.Second,in order to meet the impact time control requirement and solve the problem that some existing impact time control laws cannot satisfy the impact time constraint when the initial leading angle is zero,a term of impact time error feedback and an additional command are designed.Finally,considering the information interaction between missile members during flight and taking the desired impact time as coordination variable,a cooperative guidance law using coordination variable is designed.Fourthly,a design method of terminal cooperative guidance law for missiles with time-varying velocity is proposed.Two kinds of velocity curves are designed and the analytical expressions of velocity are proposed,which are applied to the accurate time-to-go estimation and the modified proportional navigational guidance law.Fifth,a time cooperative distributed guidance law based on the consensus theory is proposed,which can overcome the disadvantages of the centralized strategy.A singular sliding mode guidance law for impact time control is proposed on the lower level.The guidance law is then extended to hit maneuvering target by using the predicted interception point(PIP)strategy.On the upper level,the desired impact time is taken as coordination variable and the first-order closed-loop cooperative control system is established.Then,a distributed coordination strategy is designed based on the consensus cooperative control theory.This study focuses on improving the integrated combat capability of aircraft.Two key technologies of cooperative trajectory planning and cooperative guidance are researched in depth,which is conductive to the continuous development of multi-aircraft cooperative combat technology in the future and the cross-domain development of weapons.