基于贝塞尔曲线的飞行器末端协同制导  

Terminal cooperative guidance based on Bezier curves for flight vehicles

作　　者：王肖 涂建秋[1] 李富贵[1] 姚庆睿 刘晓琳 Wang Xiao;Tu Jianqiu;Li Fugui;Yao Qingrui;Liu Xiaolin(China Academy of Launch Vehicle Technology,Beijing 100076,China)

机构地区：[1]中国运载火箭技术研究院,北京100076

出　　处：《战术导弹技术》2024年第5期151-159,167,共10页Tactical Missile Technology

摘　　要：针对无动力飞行器末端协同制导问题,采用轨迹成型和预测校正方法,提出了一种基于贝塞尔曲线和数值计算方法的协同制导律,可实现多飞行器终端攻击时间和攻击角度的精确控制。基于轨迹成型的思想,采用二阶、三阶贝赛尔曲线分别设计飞行器纵、侧向轨迹,根据终端切线方向满足终端角度约束,跟踪曲线完成轨迹跟踪制导。利用数值积分直接预测飞行时间,以改进割线法校正侧向贝赛尔曲线参数满足时间约束,在线不断更新轨迹参数实现时间闭环控制。数值仿真表明,该方法可有效约束终端攻击角度与攻击时间,在扰动条件下具有一定精度和鲁棒性。Aim at the problem of cooperative guidance for unpowered high-speed flight vehicles at final phase,a cooperative guidance method based on Bezier curves and numerical calculation using trajectory shaping and predictive correction methods is proposed to achieve terminal attack time and angle constraints.Based on trajectory shaping concept,second-order and third-order Bezier curves are used for designing the trajectory of the vehicle in longitudinal and lateral planes,and the terminal angle constraints are met according to the terminal tangent direction,and the trajectory tracking guidance is completed through tracking the curve.Numerical integration is adopted to predict the flight time directly,and the improved secant method is used for correcting the lateral Bezier curve coefficients to meet the time constraint,thus realizing time cooperative guidance by updating the trajectory coefficients online.Numerical simulations show that the method can constraint the final time and angle effectively with robustness and accuracy under disturbance.

关 键 词：时间角度约束 协同制导 贝塞尔曲线 轨迹成型 数值计算 预测校正 

分 类 号：TJ765.3[兵器科学与技术—武器系统与运用工程]