考虑攻击时间与区域封控的协同制导方法

doi:10.16182/j.issn1004731x.joss.25-0392

系统仿真学报 ›› 2025, Vol. 37 ›› Issue (11): 2714-2723.doi: 10.16182/j.issn1004731x.joss.25-0392

• 论文 • 上一篇

考虑攻击时间与区域封控的协同制导方法

郭征¹, 李国飞¹, 熊华², 吴云洁³

^1.西北工业大学航天学院，陕西西安 710072
^2.北京电子工程总体研究所，北京 100854
^3.北京航空航天大学自动化科学与电气工程学院，北京 100191

收稿日期:2025-05-08 修回日期:2025-06-18 出版日期:2025-11-18 发布日期:2025-11-27
通讯作者: 李国飞
第一作者简介:郭征(2003-)，男，硕士生，研究方向为多飞行器协同制导与编队控制。
基金资助:
国家自然科学基金(62373304);国家自然科学基金(62003021);中国科协青年人才托举工程(YESS20230443);陕西省秦创原高层次创新创业人才引用项目(QCYRCXM-2022-136);陕西省青年人才托举计划(XXJS202218);陕西省自然科学基础研究计划实验室重点项目(2025SYS-SYSZD-020)

Cooperative Guidance Method Considering Impact Time and Area Sealing

Guo Zheng¹, Li Guofei¹, Xiong Hua², Wu Yunjie³

^1.School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China
^2.Beijing Institute of Electronic System Engineering, Beijing 100854, China
^3.School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China

Received:2025-05-08 Revised:2025-06-18 Online:2025-11-18 Published:2025-11-27
Contact: Li Guofei

摘要/Abstract

摘要：

针对机动目标的多飞行器协同打击问题，提出了攻击时间控制与末端区域封控下的协同制导方法。利用分布式干扰观测器达到对目标机动的估计，基于构建的攻击时间一致性协同误差设计视线方向协同制导律，实现对目标的指定时间同时命中；依据目标运动状态设计末端区域封控指令，构造滑模面并设计视线法向制导律，保证滑模面及视线角的收敛。理论分析表明：所设计制导方法可实现攻击时间控制下对目标的区域封控，数值仿真验证了方法的有效性。

关键词: 多飞行器, 协同制导, 攻击时间控制, 区域封控, 机动目标

Abstract:

To address the problem of multi-vehicle cooperative strike against maneuvering targets, a cooperative guidance method considering impact time control and terminal area sealing was proposed. The distributed disturbance observer was utilized to estimate target maneuvers. Based on the consensus errors of the impact time, the cooperative guidance law in the line-of-sight direction was proposed to achieve simultaneous hits on targets at a specified time. By considering the motion states of targets, the instructions of the terminal area sealing were designed to construct the sliding mode surface and design the line-of-sight guidance law, so as to ensure the convergence of the sliding mode and the angles of line-of-sight. Theoretical analysis has indicated that the designed guidance method can achieve the area sealing of targets with impact time control. The effectiveness of the proposed method is verified through numerical simulations.

Key words: multi-vehicle, cooperative guidance, impact time control, area sealing, maneuvering target

中图分类号:

TP391.9

郭征,李国飞,熊华等 . 考虑攻击时间与区域封控的协同制导方法[J]. 系统仿真学报, 2025, 37(11): 2714-2723.

Guo Zheng,Li Guofei,Xiong Hua,et al . Cooperative Guidance Method Considering Impact Time and Area Sealing[J]. Journal of System Simulation, 2025, 37(11): 2714-2723.

图/表 16

图1

图2

表1

飞行器与目标初始状态（场景I）

飞行器/目标	位置/m	速度/(m/s)	$σ i$ /(°)
1	(-10 000,1 000,1 000)	300	0
2	(-9 000,800,600)	310	0
3	(-9 500,1 100,800)	280	0
4	(-12 000,600,500)	350	0
5	(-9 500,1 500,600)	310	0
目标	(0,0,0)	50	180

表1

图3

图4

图5

图6

图7

图8

表2

飞行器与目标初始状态（场景II）

飞行器	位置/m	速度/(m/s)	$θ i$ /(°)	$σ i$ /(°)
1	(-8 000, -2 000, 2 000)	300	30	30
2	(-9 000, 1 500, -1 000)	300	30	45
3	(-9 000, 2 000, 1 000)	300	-30	60
4	(-8 000, -1 800, -2 500)	300	45	-30
5	(-8 000, 1 500, -3 000)	300	-60	-30

表2

图9

图10

图11

图12

图13

图14

参考文献 24

[1]	刘双喜, 徐小平, 黄伟, 等. 国外多弹协同项目发展及关键技术展望[J]. 航空兵器, 2024, 31(6): 1-13.
	Liu Shuangxi, Xu Xiaoping, Huang Wei, et al. Development and Key Technologies Outlook of Foreign Multi-Missile Collaborative Projects[J]. Aero Weaponry, 2024, 31(6): 1-13.
[2]	吕金虎, 于江龙, 董希旺. 飞行器集群协同制导新进展[J]. 自动化学报, 2025, 51(4): 727-743.
	Jinhu Lü, Yu Jianglong, Dong Xiwang. New Progress in Cooperative Guidance for Aircraft Swarm System[J]. Acta Automatica Sinica, 2025, 51(4): 727-743.
[3]	Jeon In-Soo, Lee Jin-Ik, Tahk Min-Jea. Homing Guidance Law for Cooperative Attack of Multiple Missiles[J]. Journal of Guidance, Control, and Dynamics, 2010, 33(1): 275-280.
[4]	Zhou Jialing, Yang Jianying. Guidance Law Design for Impact Time Attack Against Moving Targets[J]. IEEE Transactions on Aerospace and Electronic Systems, 2018, 54(5): 2580-2589.
[5]	Li Guofei, Jinhu Lü, Zhu Guoliang, et al. Distributed Observer-based Cooperative Guidance with Appointed Impact Time and Collision Avoidance[J]. Journal of the Franklin Institute, 2021, 358(14): 6976-6993.
[6]	Li Guofei, Zhong Qilin, Zuo Zongyu, et al. Performance Prescribed Cooperative Guidance Against Maneuvering Target Under Malicious Attacks[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2024, 54(12): 7770-7782.
[7]	Shashi Ranjan Kumar, Mukherjee Dwaipayan. Three-dimensional Nonsingular Impact Time Guidance with Limited Field-of-view[J]. IEEE Transactions on Control Systems Technology, 2022, 30(4): 1448-1459.
[8]	李国飞, 李博皓, 吴云洁, 等. 多群组飞行器攻击时间控制协同制导方法[J]. 宇航学报, 2023, 44(1): 110-118.
	Li Guofei, Li Bohao, Wu Yunjie, et al. Cooperative Guidance Law with Impact Time Control for Clusters of Flight Vehicles[J]. Journal of Astronautics, 2023, 44(1): 110-118.
[9]	李国飞, 李仕拓, 皇甫逸伦, 等. 多目标分时打击的多群组飞行器协同制导方法[J]. 系统仿真学报, 2025, 37(6): 1427-1434.
	Li Guofei, Li Shituo, Huangfu Yilun, et al. Cooperative Guidance for Multigroup Flight Vehicles Against Multiple Targets with Separated Impact Time[J]. Journal of System Simulation, 2025, 37(6): 1427-1434.
[10]	Chen Yadong, Wang Jianan, Shan Jiayuan, et al. Cooperative Guidance for Multiple Powered Missiles with Constrained Impact and Bounded Speed[J]. Journal of Guidance, Control, and Dynamics, 2021, 44(4): 825-841.
[11]	You Hao, Chang Xinlong, Zhao Jiufen, et al. Three-dimensional Impact-angle-constrained Cooperative Guidance Strategy Against Maneuvering Target[J]. ISA Transactions, 2023, 138: 262-280.
[12]	Chen Zhongyuan, Liu Xiaoming, Chen Wanchun. Three-dimensional Event-triggered Fixed-time Cooperative Guidance Law Against Maneuvering Target with the Constraint of Relative Impact Angles[J]. Journal of the Franklin Institute, 2023, 360(6): 3914-3966.
[13]	Zhang Shuai, Guo Yang, Liu Zhiguo, et al. Finite-time Cooperative Guidance Strategy for Impact Angle and Time Control[J]. IEEE Transactions on Aerospace and Electronic Systems, 2021, 57(2): 806-819.
[14]	Chen Sai, Yang Yuan, Ma Dongying, et al. Cooperative Guidance Law with Impact Angle Coordination: A Nash Approach[J]. IEEE Transactions on Aerospace and Electronic Systems, 2022, 58(5): 3924-3931.
[15]	Teng Lü, Li Chuanjiang, Guo Yanning, et al. Three-dimensional Finite-time Cooperative Guidance for Multiple Missiles Without Radial Velocity Measurements[J]. Chinese Journal of Aeronautics, 2019, 32(5): 1294-1304.
[16]	李国飞, 汤清璞, 吴云洁. 从飞行器无导引头的主-从式多飞行器协同制导方法[J]. 兵工学报, 2023, 44(11): 3436-3446.
	Li Guofei, Tang Qingpu, Wu Yunjie. Cooperative Guidance Method of Leader and Seeker-less Follower Flight Vehicles[J]. Acta Armamentarii, 2023, 44(11): 3436-3446.
[17]	Wang Chunyan, Wang Weilin, Dong Wei, et al. Multiple-stage Spatial-temporal Cooperative Guidance Without Time-to-go Estimation[J]. Chinese Journal of Aeronautics, 2024, 37(9): 399-416.
[18]	Li Jiale, Li Guofei, Guo Zheng, et al. Robust Adaptive Fixed-time Consensus for Nonlinear High-order Multi-agent Systems[J]. IEEE Transactions on Automation Science and Engineering, 2025, 22: 15832-15845.
[19]	Li Guofei, Wang Xianzhi, Zuo Zongyu, et al. Distributed Extended State Observer-based Formation Control of Flight Vehicles Subject to Constraints on Speed and Acceleration[J]. IEEE Transactions on Cybernetics, 2025, 55(3): 1250-1263.
[20]	Wu Rong, Wei Changzhu, Yang Feng, et al. FxTDO -based Non-singular Terminal Sliding Mode Control for Second-order Uncertain Systems[J]. IET Control Theory & Applications, 2018, 12(18): 2459-2467.
[21]	叶帅, 蒋国平, 周映江, 等. 基于事件触发的多无人机固定时间编队控制[J]. 系统仿真学报, 2021, 33(10): 2420-2431.
	Ye Shuai, Jiang Guoping, Zhou Yingjiang, et al. Fixed-time Event-triggered Formation Control for Multiple UAVs[J]. Journal of System Simulation, 2021, 33(10): 2420-2431.
[22]	Li Guofei, Tang Qingpu, Zuo Zongyu, et al. Resilient Cooperative Guidance for Leader-follower Flight Vehicles Against Maneuvering Target[J]. IEEE Transactions on Aerospace and Electronic Systems, 2025, 61(3): 6310-6324.
[23]	王澍瀚, 崔颢, 徐琰珂, 等. 考虑导弹视场约束及落点姿态的协同制导律设计[J]. 航空兵器, 2023, 30(5): 17-24.
	Wang Shuhan, Cui Hao, Xu Yanke, et al. Design of Cooperative Guidance Law Considering Missile Field-of-view Constraint and Impact Point Attitude Constraint[J]. Aero Weaponry, 2023, 30(5): 17-24.
[24]	李昊键, 刘远贺, 梁彦刚, 等. 考虑视场角约束的碰撞角控制预设性能制导律[J]. 航空学报, 2023, 44(15): 452-466.
	Li Haojian, Liu Yuanhe, Liang Yangang, et al. Prescribed Performance Guidance Law with Field-of-view and Impact Angle Constraints[J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(15): 452-466.

考虑攻击时间与区域封控的协同制导方法

Cooperative Guidance Method Considering Impact Time and Area Sealing

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

图/表 16

参考文献 24

相关文章 5

编辑推荐

Metrics

本文评价

[1]	李国飞, 李仕拓, 皇甫逸伦, 华岳阳, 吴云洁, 左宗玉. 多目标分时打击的多群组飞行器协同制导方法[J]. 系统仿真学报, 2025, 37(6): 1427-1434.
[2]	李盈萱, 王中训, 董云龙. 两种新的机动目标仿真模型[J]. 系统仿真学报, 2023, 35(7): 1581-1589.
[3]	李景, 韩健, 张卿. 多飞行器协同制导仿真技术研究[J]. 系统仿真学报, 2019, 31(12): 2775-2780.
[4]	李博皓, 吴云洁. 弹载雷达成像制导路径规划的LSTM模型研究[J]. 系统仿真学报, 2019, 31(12): 2696-2701.
[5]	周彦, 胡岚, 王冬丽. 基于IMM-UKF-CS的混合环境目标跟踪[J]. 系统仿真学报, 2017, 29(1): 43-48.