拦截机动目标末制导技术研究
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摘要
拦截机动目标技术是现代导弹防御系统研究的热点,也是未来动能防御技术发展必须解决的关键技术之一。本文以拦截机动目标技术需求为主线,系统研究了动能拦截系统的拦截模式、导引头对目标的捕获概率、拦截机动目标的末制导律以及目标机动信息估计方法等问题,主要内容及成果如下:
分析了动能防御系统的拦截模式。1)建立了拦截器动力学模型,研究了广义顺轨拦截与广义逆轨拦截两种拦截模式各自的特点;2)对比了两种拦截模式对拦截器在末制导段最大修偏能力的影响,讨论了两种拦截模式下拦截弹道的过载分布、弹道稳定性等弹道特性;3)分析了顺轨拦截模式在实际应用中存在的问题,并提出了初步的解决方案。
提出了拦截器中末制导交班时导引头对目标捕获概率的计算方法并对其影响因素进行了分析。1)将捕获概率转化为拦截器和目标相对位置矢量落在一个圆锥体内的概率问题,并进一步转化为三维概率密度函数在圆锥区域内的积分;2)讨论了该积分的计算方法,得到了捕获概率的解析表达式,并根据实际问题的特点提出了一些假设,将捕获概率表达式进行了简化;3)分析了弹目距离、导引头最大捕获距离、最大视场角和相对位置误差对捕获概率的影响。
研究了拦截机动目标的末制导律,进而提出了一种新的目标机动信息的估计方法。1)基于微分几何方法分别在二维平面和三维空间内对拦截问题进行了分析,推导了相对运动方程及末制导律;2)为便于实际应用,将微分几何制导律转化为基于时域的表达方式并对制导律的应用方法进行了归纳;3)提出了采用与ARMA新息模型相结合的样条滤波估计目标机动信息的方法,通过ARMA新息模型将目标运动的历史信息用于对当前状态的估计中,提高了状态估计精度。
针对末制导初始时刻目标与拦截器相对距离测量误差较大而引起末制导过程中目标机动信息估计不准的问题,提出了一种基于拦截器自身主动机动提高相对距离测量精度的方法。1)在末制导初始阶段,拦截器按一定的路线进行主动机动,以机动过程中视线角序列作为观测量,分别采用非线性滤波方法和微分改进方法估计目标的相对状距离等信息,仿真结果显示采用此方法可以满足末制导的需求;2)采用可观测度分析的方法对不同的主动机动路线进行了对比,由分析结果可知在垂直视线方向的机动最为有效。
利用本文研究的末制导律和目标机动信息估计方法,结合基于四元数理论的大姿态角机动控制策略建立了较为完整的六自由度仿真系统。分别对逆轨拦截模式与顺轨拦截模式下的拦截过程进行了数值仿真,对相关技术进行了验证。
本文深入探讨了拦截机动目标末制导的相关技术问题,在研究中结合了联合误差协方差分析、时间序列分析等多个技术领域,为此类问题的研究提供了新的思路,具有一定的理论意义;同时本文提出的主动机动测量相对距离信息等方法和对拦截模式的分析成果对拦截机动目标技术的进一步发展具有重要的借鉴意义。
The technology of the interception for maneuvering targets is one of the focuses on the missile defense system. Focusing on technology requirements of intercepting for maneuvering targets, this dissertation studies the interception modes, the seeker’s capture probability, the terminal guidance law and the method to get the maneuver information. The main work and results achieved in this dissertation are summarized as follows:
The interception modes of the kinetic defense system are studied. 1) The dynamic model of the interceptor is established and the characteristics of the interception along track and the interception head-on are analyzed; 2) During the terminal guidance, the maximal correct warp ability of two interception modes above is compared, then the overload distribution and the stability of corresponding interception trajectories are discussed; 3) Application problems of the interception along track are analyzed, on this basis, the primary scheme is presented.
The method to calculate the seeker’s capture probability is proposed and the influencing factors of the probability are analyzed. 1) The capture probability is transformed into probability that the relative position vector between the interceptor and the target locates in a cone, further, the probability is transformed to an integral of a 3-D probability density function in a cone; 2) The calculation method of this integral is researched to obtain the analytic expression of capture probability, and then the expression is simplified with some assumptions; 3) The influence on capture probability by the distance between the interceptor and targets, the seeker’s maximum capture distance, the maximum view field angle and the relative position error is respectively discussed.
The terminal guidance laws of the interception for maneuvering targets are researched. Moreover, a new method to gain the necessary information for terminal guidance laws is put forward. 1) The interception problem is analyzed in 2-D plane and 3-D space with the differential geometry theory, then the relative motion equations and the terminal guidance laws are deduced; 2) For the application of practical work, the differential geometry guidance law is transformed into an expression based on time domain and application methods of the guidance law are concluded; 3) A spline filter method combined with ARMA innovation models to estimate the maneuvering targets information is proposed and it makes progress on the state estimate precision.
It was noticed that, if the relative position error became bigger, the estimate precision of the relative distance between the interceptor and the target would be damaged significantly. Aiming at the above problem, a new means based on the active maneuver of the interceptor, which can advance the estimate precision of the relative distance, is presented. 1) In the beginning of the terminal guidance, while the interceptor maneuvering with specific path, nonlinear filter and differential correction methods are used in the relative distance estimation by the Line-of-Sight angle sequence. The simulation results indicate this method can satisfy requirements of the terminal guidance. 2) Different maneuvers are discussed with observability analysis, according to the results, the maneuver which is vertical to the Line-of-Sight is most effective.
Based on the terminal guidance law, the estimate method and the large attitude angle control scheme using the quaternion theory, the integrated 6-DOF simulating system of the terminal guidance is established to analyze two interception modes and to confirm correlative conclusion.
Combining with multiple technology fields, such as joint error covariance analysis and time series analysis, this dissertation deeply researches some associated problems in the interception terminal guidance and provides a new thought for studying the similar condition. So, the dissertation has some theoretical significance. The estimate method based on the interceptor active maneuver and the analyses of interception modes are a good reference to the development of the interception for maneuvering targets.
分析了动能防御系统的拦截模式。1)建立了拦截器动力学模型,研究了广义顺轨拦截与广义逆轨拦截两种拦截模式各自的特点;2)对比了两种拦截模式对拦截器在末制导段最大修偏能力的影响,讨论了两种拦截模式下拦截弹道的过载分布、弹道稳定性等弹道特性;3)分析了顺轨拦截模式在实际应用中存在的问题,并提出了初步的解决方案。
提出了拦截器中末制导交班时导引头对目标捕获概率的计算方法并对其影响因素进行了分析。1)将捕获概率转化为拦截器和目标相对位置矢量落在一个圆锥体内的概率问题,并进一步转化为三维概率密度函数在圆锥区域内的积分;2)讨论了该积分的计算方法,得到了捕获概率的解析表达式,并根据实际问题的特点提出了一些假设,将捕获概率表达式进行了简化;3)分析了弹目距离、导引头最大捕获距离、最大视场角和相对位置误差对捕获概率的影响。
研究了拦截机动目标的末制导律,进而提出了一种新的目标机动信息的估计方法。1)基于微分几何方法分别在二维平面和三维空间内对拦截问题进行了分析,推导了相对运动方程及末制导律;2)为便于实际应用,将微分几何制导律转化为基于时域的表达方式并对制导律的应用方法进行了归纳;3)提出了采用与ARMA新息模型相结合的样条滤波估计目标机动信息的方法,通过ARMA新息模型将目标运动的历史信息用于对当前状态的估计中,提高了状态估计精度。
针对末制导初始时刻目标与拦截器相对距离测量误差较大而引起末制导过程中目标机动信息估计不准的问题,提出了一种基于拦截器自身主动机动提高相对距离测量精度的方法。1)在末制导初始阶段,拦截器按一定的路线进行主动机动,以机动过程中视线角序列作为观测量,分别采用非线性滤波方法和微分改进方法估计目标的相对状距离等信息,仿真结果显示采用此方法可以满足末制导的需求;2)采用可观测度分析的方法对不同的主动机动路线进行了对比,由分析结果可知在垂直视线方向的机动最为有效。
利用本文研究的末制导律和目标机动信息估计方法,结合基于四元数理论的大姿态角机动控制策略建立了较为完整的六自由度仿真系统。分别对逆轨拦截模式与顺轨拦截模式下的拦截过程进行了数值仿真,对相关技术进行了验证。
本文深入探讨了拦截机动目标末制导的相关技术问题,在研究中结合了联合误差协方差分析、时间序列分析等多个技术领域,为此类问题的研究提供了新的思路,具有一定的理论意义;同时本文提出的主动机动测量相对距离信息等方法和对拦截模式的分析成果对拦截机动目标技术的进一步发展具有重要的借鉴意义。
The technology of the interception for maneuvering targets is one of the focuses on the missile defense system. Focusing on technology requirements of intercepting for maneuvering targets, this dissertation studies the interception modes, the seeker’s capture probability, the terminal guidance law and the method to get the maneuver information. The main work and results achieved in this dissertation are summarized as follows:
The interception modes of the kinetic defense system are studied. 1) The dynamic model of the interceptor is established and the characteristics of the interception along track and the interception head-on are analyzed; 2) During the terminal guidance, the maximal correct warp ability of two interception modes above is compared, then the overload distribution and the stability of corresponding interception trajectories are discussed; 3) Application problems of the interception along track are analyzed, on this basis, the primary scheme is presented.
The method to calculate the seeker’s capture probability is proposed and the influencing factors of the probability are analyzed. 1) The capture probability is transformed into probability that the relative position vector between the interceptor and the target locates in a cone, further, the probability is transformed to an integral of a 3-D probability density function in a cone; 2) The calculation method of this integral is researched to obtain the analytic expression of capture probability, and then the expression is simplified with some assumptions; 3) The influence on capture probability by the distance between the interceptor and targets, the seeker’s maximum capture distance, the maximum view field angle and the relative position error is respectively discussed.
The terminal guidance laws of the interception for maneuvering targets are researched. Moreover, a new method to gain the necessary information for terminal guidance laws is put forward. 1) The interception problem is analyzed in 2-D plane and 3-D space with the differential geometry theory, then the relative motion equations and the terminal guidance laws are deduced; 2) For the application of practical work, the differential geometry guidance law is transformed into an expression based on time domain and application methods of the guidance law are concluded; 3) A spline filter method combined with ARMA innovation models to estimate the maneuvering targets information is proposed and it makes progress on the state estimate precision.
It was noticed that, if the relative position error became bigger, the estimate precision of the relative distance between the interceptor and the target would be damaged significantly. Aiming at the above problem, a new means based on the active maneuver of the interceptor, which can advance the estimate precision of the relative distance, is presented. 1) In the beginning of the terminal guidance, while the interceptor maneuvering with specific path, nonlinear filter and differential correction methods are used in the relative distance estimation by the Line-of-Sight angle sequence. The simulation results indicate this method can satisfy requirements of the terminal guidance. 2) Different maneuvers are discussed with observability analysis, according to the results, the maneuver which is vertical to the Line-of-Sight is most effective.
Based on the terminal guidance law, the estimate method and the large attitude angle control scheme using the quaternion theory, the integrated 6-DOF simulating system of the terminal guidance is established to analyze two interception modes and to confirm correlative conclusion.
Combining with multiple technology fields, such as joint error covariance analysis and time series analysis, this dissertation deeply researches some associated problems in the interception terminal guidance and provides a new thought for studying the similar condition. So, the dissertation has some theoretical significance. The estimate method based on the interceptor active maneuver and the analyses of interception modes are a good reference to the development of the interception for maneuvering targets.
引文
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