基于数据融合的多模复合制导拦截技术的研究
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摘要
随着信息技术的发展,现代空中作战环境发生了巨大的变化。原有的战略手段已经不能满足当代实战的需要,日趋复杂的战争环境和各种新式武器的不断涌现给防空武器系统带来了很大的挑战,针对此种情况,本课题以航天支撑基金《××系统数据融合技术研究及在××中应用》内容为背景,主要研究了防空导弹武器系统中多模多传感器的融合制导技术、防空导弹的制导律及其融合技术,并将其做成一个完整的三维仿真系统。
针对空中机动目标的跟踪问题,本文针对四种常见机动模型,研究了四种融合跟踪算法。仿真结果表明,常用的非线性跟踪方法扩展卡尔曼滤波算法的Singer模型和Current模型对机动目标跟踪,在目标机动时会有较大的误差。为此,研究了一种强跟踪滤波算法,它能够在目标机动时有效地降低跟踪误差,且计算速度较快,而另一种基于扩展卡尔曼的粒子滤波算法在对机动目标的跟踪精度上表现出更加突出的能力,但是计算速度却较之慢了很多。因此,可根据不同环境条件和要求选择不同的跟踪算法。
根据背景需求,本文构建了由双模导引头和地面雷达网络组成的天地基一体化防空武器跟踪系统,并应用融合跟踪算法进行仿真实验,实验结果证明了该系统能够有效地提高跟踪精度。由于在弹目交会阶段,导弹和目标不能再当作一个质点来研究,因此建立了导弹和目标的实体运动模型,并提出了一种计算最佳延迟时间的算法,能够根据当前导弹与目标的运动状态准确地估计引信引爆时间,有效地拦截目标,弥补了制导律在复杂空间环境下脱靶量过大的缺陷。
针对空中机动目标的拦截问题,研究了三种现代制导律相对于经典比例制导律的不同特性。其中,一种具有强鲁棒性、高拦截精度的模糊自适应滑模制导律,能够在仅知道目标视线信息的条件下较好地适应当前复杂的空间作战环境,更有利于工程和实践中的应用。同时,由于不同制导律具有各自的拦截特点和优势,本文提出了制导律融合的概念与方法,将具有不同优势的两制导律有效地融合在一起,使导弹在拦截过程中能够具有二者共同的优势,并且提高了拦截精度,减少了拦截时间。
最后,将多模多传感器融合制导及拦截技术有机地组成一个三维防空武器系统,并用VC++和OpenGL实现了防空导弹对空中机动导弹目标的拦截的三维动态仿真实验。
With the development of information technology, the circumstance of modern war in the air has changed a lot. The former methods were not able to meet the actual battlefield needs, the circumstance of war is becoming more and more complicated, and there are more and more new weapons come forth, too. For these reasons, in this paper we mainly research on the fusion guidance with multi-sensor and multi-mode seeker, the guidance law of air defense missile and its fusion in the system of air defense weapon, under background of the contents in the fund of astronautics supporting, named“The XX Research and Application on Data fusion technology”, and we also have done a complete three-dimensional simulation system.
According to the problem of tracking the maneuvering target, the paper presents four algorithm of fusion tracking according to four common models of maneuvering. The simulation results show that the tracking errors are large when the target maneuvers, which we use the Singer model and Current model of the common nonlinear algorithm of extended kalman filtering. Therefore, we research on the algorithm of strong tracking filtering, which can reduce the tracking errors during the target maneuvering and calculate fast, and the particle filtering based on extended kalman filtering, which can be able to acquire better tracking precision than others, but calculate slow. So we could select the algorithm with the different conditions and requirements
in order to meet the demands of background,this paper constructs the system of air defense weapon with integration of space-based and foundation radars, which is composed of dual-mode seeker and radar net on the surface, and completes some simulation experiments with algorithm of fusion tracking. The results prove the system can enhance the tracking accuracy effectively. During missile target encounter, we can’t research on missile and target as particles. Therefore, this constructs a entity movement model of missile and target, and presents an algorithm of the best delay time. It can estimate the fuze detonating time accurately according to the motion state of missile and target, which is beneficial to intercept target, and remedy the defect of too large miss distance navigated by the guidance law in complicated air environment.
According to the problem of intercepting the maneuvering target, this paper researches on the features of three modern guidance law and classical proportional guidance law. One of them has strong robustness and high interception accuracy, which named fuzzy adaptive sliding mode guidance law. It can adapt the current complicated air environment only with the information line of sight, whose features are beneficial to be applied in projects and practice. Meanwhile, because the different guidance laws have different features and advantages, this paper presents the concept and method of the guidance law fusion. It can fuse advantages of the different guidance laws effectively, and make the process of interception have the features of two different guidance laws. So it can enhance the interception accuracy and reduce the interception time.
Finally, we put the parts above in an organic system with the software of VC++ and OpenGL. It has completed the experiment that the air defense missile intercepts maneuvering missile target and the three-dimensional dynamic simulation with the input of the experiment.
针对空中机动目标的跟踪问题,本文针对四种常见机动模型,研究了四种融合跟踪算法。仿真结果表明,常用的非线性跟踪方法扩展卡尔曼滤波算法的Singer模型和Current模型对机动目标跟踪,在目标机动时会有较大的误差。为此,研究了一种强跟踪滤波算法,它能够在目标机动时有效地降低跟踪误差,且计算速度较快,而另一种基于扩展卡尔曼的粒子滤波算法在对机动目标的跟踪精度上表现出更加突出的能力,但是计算速度却较之慢了很多。因此,可根据不同环境条件和要求选择不同的跟踪算法。
根据背景需求,本文构建了由双模导引头和地面雷达网络组成的天地基一体化防空武器跟踪系统,并应用融合跟踪算法进行仿真实验,实验结果证明了该系统能够有效地提高跟踪精度。由于在弹目交会阶段,导弹和目标不能再当作一个质点来研究,因此建立了导弹和目标的实体运动模型,并提出了一种计算最佳延迟时间的算法,能够根据当前导弹与目标的运动状态准确地估计引信引爆时间,有效地拦截目标,弥补了制导律在复杂空间环境下脱靶量过大的缺陷。
针对空中机动目标的拦截问题,研究了三种现代制导律相对于经典比例制导律的不同特性。其中,一种具有强鲁棒性、高拦截精度的模糊自适应滑模制导律,能够在仅知道目标视线信息的条件下较好地适应当前复杂的空间作战环境,更有利于工程和实践中的应用。同时,由于不同制导律具有各自的拦截特点和优势,本文提出了制导律融合的概念与方法,将具有不同优势的两制导律有效地融合在一起,使导弹在拦截过程中能够具有二者共同的优势,并且提高了拦截精度,减少了拦截时间。
最后,将多模多传感器融合制导及拦截技术有机地组成一个三维防空武器系统,并用VC++和OpenGL实现了防空导弹对空中机动导弹目标的拦截的三维动态仿真实验。
With the development of information technology, the circumstance of modern war in the air has changed a lot. The former methods were not able to meet the actual battlefield needs, the circumstance of war is becoming more and more complicated, and there are more and more new weapons come forth, too. For these reasons, in this paper we mainly research on the fusion guidance with multi-sensor and multi-mode seeker, the guidance law of air defense missile and its fusion in the system of air defense weapon, under background of the contents in the fund of astronautics supporting, named“The XX Research and Application on Data fusion technology”, and we also have done a complete three-dimensional simulation system.
According to the problem of tracking the maneuvering target, the paper presents four algorithm of fusion tracking according to four common models of maneuvering. The simulation results show that the tracking errors are large when the target maneuvers, which we use the Singer model and Current model of the common nonlinear algorithm of extended kalman filtering. Therefore, we research on the algorithm of strong tracking filtering, which can reduce the tracking errors during the target maneuvering and calculate fast, and the particle filtering based on extended kalman filtering, which can be able to acquire better tracking precision than others, but calculate slow. So we could select the algorithm with the different conditions and requirements
in order to meet the demands of background,this paper constructs the system of air defense weapon with integration of space-based and foundation radars, which is composed of dual-mode seeker and radar net on the surface, and completes some simulation experiments with algorithm of fusion tracking. The results prove the system can enhance the tracking accuracy effectively. During missile target encounter, we can’t research on missile and target as particles. Therefore, this constructs a entity movement model of missile and target, and presents an algorithm of the best delay time. It can estimate the fuze detonating time accurately according to the motion state of missile and target, which is beneficial to intercept target, and remedy the defect of too large miss distance navigated by the guidance law in complicated air environment.
According to the problem of intercepting the maneuvering target, this paper researches on the features of three modern guidance law and classical proportional guidance law. One of them has strong robustness and high interception accuracy, which named fuzzy adaptive sliding mode guidance law. It can adapt the current complicated air environment only with the information line of sight, whose features are beneficial to be applied in projects and practice. Meanwhile, because the different guidance laws have different features and advantages, this paper presents the concept and method of the guidance law fusion. It can fuse advantages of the different guidance laws effectively, and make the process of interception have the features of two different guidance laws. So it can enhance the interception accuracy and reduce the interception time.
Finally, we put the parts above in an organic system with the software of VC++ and OpenGL. It has completed the experiment that the air defense missile intercepts maneuvering missile target and the three-dimensional dynamic simulation with the input of the experiment.
引文
1 Yaakov Oshman. An Information Fusion Approach to Missile Guidance. IEEE International Conference on Control, Automation and Systems. 2007: 1~6
2 Muhammad Ilyas, Abdul Razzaq and Syed Shaukat Hussain.Analysis of Guidan-ce Laws for Manouvering and Non-Manouvering Targets. IEEE Proceedings of International Bhurban Conference on Applied Sciences & Technology. 2007: 90~96
3杨祖快,刘鼎臣,李红军.多模复合制导应用技术研究.导弹与航天动载技术. 2003, (3):13~18
4胡体玲,李兴国.毫米波/红外复合导引头关键技术分析.激光与红外. 2007, 37(2):101~103
5 Zhihuan Peng, Jinfu Feng, Youli Wu, Tao Zhou, Xiaolong Liang. Data Fusion Approach MMW Radar and IR Sensor Based on MEKF.IEEE International Conference on Mechatronics and Automation. 2007:1992~1996
6 Joel P. Booth, Sonya Read, Barry Allen. Weather and Propagation Effects on Multi-Mode Seeker Systems. IEEE. 2009:1~9
7王飞,雷虎民.红外/毫米波雷达双模制导跟踪融合算法的优化.红外与激光工程. 2008, 37(2):250~254
8秦玉亮,于涛,邓彬,王宏强,黎湘.地空反辐射导弹红外/被动微波复合导引头数据融合技术研究.兵工学报. 2009, 30(3):333~337
9艾薇,刘峥.雷达/红外复合导引头信息融合技术研究.航空兵器. 2007, (4):30~33
10郭天吉.引信战斗部一体化设计仿真研究.中北大学硕士学位论文. 2006:10~23
11何向军,任宏斌.基于引制一体化的定向战斗部起爆控制研究.电讯技术. 2006,(1):148~151
12谷志勇,沈明辉,韩彦东.最优滑模变结构末制导律设计.弹箭与制导学报.2008,28(3):35~37
13朱隆魁,汤国建,余梦伦.一种大气层内拦截弹自适应滑模制导律研究.飞行力学.2008,26(3):64~67
14 Wen-jin Gu, Ru-chuan Zhang, Jin-yong Yu. A three-dimensional Missile Guidance Law with Angle Constraint Based on Sliding Mode Control. International Conference on Control and Automation, IEEE. 2007:299~302
15 Hexner. G, Shirna. T, Weiss.H. LQG Guidance Law with Bounded Acceleration Command. IEEE Transactions on Aerospace and Electronic Systems. 2008,44(1):77~86
16 Hexner. G, Shirna. T. Stochastic Optimal Control Guidance Law with Bounded Accleration. 43rd IEEE Conference on Decision and Control. 2004:3021~3026
17 Ming-Hsiung Hsueh, Chin-I Huang, Li-Chen Fu. Differential Game Based Guidance Interceptor Missiles. The 33rd Annual Conference of the IEEE Industrial Electonics Society(IECON). 2007,5-8:665~670
18 Yaakov Oshman, David Arad. Differential-Game-Based Guidance Law using Target Orientation Observations. IEEE Transactions on Aerospace and Electionic Systems. 2006, 42(1):316~326
19 Zhang J S, Yang W Q, Hu S Q. Target Tracking Using the Interactive Multiple Model Method. Journal of Beijing Institute of Technology. 1998,7(3): 299~304
20 Y.Bar-Shalom, T.E.Fortmann. Tracking and Data Association. Academic press, 1988
21周宏仁,毛士艺.多目标跟踪中的若干问题.多目标探测跟踪与攻击技术专集,中国雷华电子技术研究, 1993
22 Huiping Li, Demin Xu, Yao Yao and Fubin Zhang. Strong Tracking Filter Simultaneous Localizationand Mapping Algorithm. IEEE International Confer-ence on Computer Science and Software Engineering. 2008:1085~1088
23 Deng Xiao-long, Xie Jian-ying, Yang Yu-pu. Improved Particle Filter for Passive Target Tracking. Journal of Shanghai University. 2005, 9(6):534~538
24葛致磊,周军.主/被动雷达导引头信息融合方法研究.西北工业大学学报. 2007, 25(1):148~152
25徐春夷.复合制导技术的现状与发展.制导与引信. 2008, 29(1):17~21
26 Yuan Ping; Zhang He; Chen Bingling; Sun Lei. Research and application of multifunction electronic fuze. IEEE. 47th Midwest Symposium. 2004:261~263
27何向军,任宏斌.基于引制一体化的定向战斗部起爆控制研究.电讯技术. 2006, 1:148~151
28 Chengtian Song; Yuxian Bai; Keyong Wang. Research on the virtual simulation and testing technology of capacitance proximity fuze. IEEE Intelligent Control and Automation WCICA 7th World Congress 2008:7552~7555
29 Sun Qing; Sun Yong; Tong Chuangming; Huang Xueyu. Application in Fuse Simulation of Algorithm for Near Field Scattering by Complex Target. ICEMI 8th International Conference. 2007:255~258
30涂建平,彭应宁.空空导弹红外成像引信及其起爆控制算法.红外与激光工程. 2002, 31(3): 244~248
31 Philip A. Johnson, Richard T. O'Brien, Jr. An Investigation of Interceptor Guidance Methods throughModeling and Simulation. IEEE 39th Southeastern Symposium on System Theory. 2007:258~262
32 Gyorgy Hexner, Tal Shima, Haim Weiss, Rafael. LQG Guidance Law withBounded AccelerationCommand. IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMSIEEE. 2008, 44(1):77~86
33 Gyorgy Hexner and Tal Shima. Stochastic Optimal Control Guidance Lawwith Bounded Acceleration43rd IEEE Conference on Decision and Control. 2004: 3021~3026
34 Chang-Kyung Ryoo, Hangju Cho, and Min-Jea Tahk. Time-to-Go Weighted Optimal GuidanceWith Impact Angle Constraints. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY. 2006,14(3): 483~492
35 Dongxu Li, and Jose B. Cruz. A Two-Player Stochastic Pursuit-Evasion Differential Game. Proceedings of the 46th IEEE Conference on Decision and Control, 2007:4057~4062
36顾斌,李忠应.地空导弹微分对策最优制导律研究.北京航空航天大学学报. 1994,20(1):78~84
37 SunWeimeng, Zheng Zhiqiang. 3D Variable Structure Guidance Law Based on Adaptive Model-following Control with Impact Angular Constraints. Proceedings of the 26th Chinese Control Conference. 2007:61~66
38 Wen-jin Gu, Ru-chuan Zhang, Jin-yong YU. A three-dimensional Missile Guidance Law with Angle Constraint Based on Sliding Mode Control. IEEE International Conference on Control and Automation. 2007:299~302
39郑立伟,荆武兴,谷立祥.一种适用于大气层外动能拦截器的末制导律.航空学报. 2007, 28(4):953~958
40朱隆魁,汤国建,余梦伦.一种大气层内拦截弹自适应滑模制导律研究.飞行力学. 2008, 26(3):64~67
41赵康.基于VC和OpenGL的立交桥三维可视化研究.昆明理工大学硕士论文.2007:21~32
42陈贵彬.基于OpenGL的三维场景建模.电脑知识与技术. 2009,5(9):2279~2281
43 D. W. Seng. H.X. Wang and G..Y. Yue. 3D modeling and visualization of complex geological structures using OpenGL. Proceedings of the International Young Scholars' Symposium on Rock Mechanics. 2008, 16:935~938
44冯伟,周云才.基于VC++和OpenGL的3ds文件的读取与控制.科技信息. 2009.1:479~480
45周莉,苏鸿根.通用3D模型文件格式和算法的研究及其OpenGL实现.计算机工程与设计. 2009,30(2):433~439
46孙永刚,吴桂霞,李博超.斜拉桥基于OpenGL的参数化实现三维模型的建立.桥梁隧道. 2009:421~431
2 Muhammad Ilyas, Abdul Razzaq and Syed Shaukat Hussain.Analysis of Guidan-ce Laws for Manouvering and Non-Manouvering Targets. IEEE Proceedings of International Bhurban Conference on Applied Sciences & Technology. 2007: 90~96
3杨祖快,刘鼎臣,李红军.多模复合制导应用技术研究.导弹与航天动载技术. 2003, (3):13~18
4胡体玲,李兴国.毫米波/红外复合导引头关键技术分析.激光与红外. 2007, 37(2):101~103
5 Zhihuan Peng, Jinfu Feng, Youli Wu, Tao Zhou, Xiaolong Liang. Data Fusion Approach MMW Radar and IR Sensor Based on MEKF.IEEE International Conference on Mechatronics and Automation. 2007:1992~1996
6 Joel P. Booth, Sonya Read, Barry Allen. Weather and Propagation Effects on Multi-Mode Seeker Systems. IEEE. 2009:1~9
7王飞,雷虎民.红外/毫米波雷达双模制导跟踪融合算法的优化.红外与激光工程. 2008, 37(2):250~254
8秦玉亮,于涛,邓彬,王宏强,黎湘.地空反辐射导弹红外/被动微波复合导引头数据融合技术研究.兵工学报. 2009, 30(3):333~337
9艾薇,刘峥.雷达/红外复合导引头信息融合技术研究.航空兵器. 2007, (4):30~33
10郭天吉.引信战斗部一体化设计仿真研究.中北大学硕士学位论文. 2006:10~23
11何向军,任宏斌.基于引制一体化的定向战斗部起爆控制研究.电讯技术. 2006,(1):148~151
12谷志勇,沈明辉,韩彦东.最优滑模变结构末制导律设计.弹箭与制导学报.2008,28(3):35~37
13朱隆魁,汤国建,余梦伦.一种大气层内拦截弹自适应滑模制导律研究.飞行力学.2008,26(3):64~67
14 Wen-jin Gu, Ru-chuan Zhang, Jin-yong Yu. A three-dimensional Missile Guidance Law with Angle Constraint Based on Sliding Mode Control. International Conference on Control and Automation, IEEE. 2007:299~302
15 Hexner. G, Shirna. T, Weiss.H. LQG Guidance Law with Bounded Acceleration Command. IEEE Transactions on Aerospace and Electronic Systems. 2008,44(1):77~86
16 Hexner. G, Shirna. T. Stochastic Optimal Control Guidance Law with Bounded Accleration. 43rd IEEE Conference on Decision and Control. 2004:3021~3026
17 Ming-Hsiung Hsueh, Chin-I Huang, Li-Chen Fu. Differential Game Based Guidance Interceptor Missiles. The 33rd Annual Conference of the IEEE Industrial Electonics Society(IECON). 2007,5-8:665~670
18 Yaakov Oshman, David Arad. Differential-Game-Based Guidance Law using Target Orientation Observations. IEEE Transactions on Aerospace and Electionic Systems. 2006, 42(1):316~326
19 Zhang J S, Yang W Q, Hu S Q. Target Tracking Using the Interactive Multiple Model Method. Journal of Beijing Institute of Technology. 1998,7(3): 299~304
20 Y.Bar-Shalom, T.E.Fortmann. Tracking and Data Association. Academic press, 1988
21周宏仁,毛士艺.多目标跟踪中的若干问题.多目标探测跟踪与攻击技术专集,中国雷华电子技术研究, 1993
22 Huiping Li, Demin Xu, Yao Yao and Fubin Zhang. Strong Tracking Filter Simultaneous Localizationand Mapping Algorithm. IEEE International Confer-ence on Computer Science and Software Engineering. 2008:1085~1088
23 Deng Xiao-long, Xie Jian-ying, Yang Yu-pu. Improved Particle Filter for Passive Target Tracking. Journal of Shanghai University. 2005, 9(6):534~538
24葛致磊,周军.主/被动雷达导引头信息融合方法研究.西北工业大学学报. 2007, 25(1):148~152
25徐春夷.复合制导技术的现状与发展.制导与引信. 2008, 29(1):17~21
26 Yuan Ping; Zhang He; Chen Bingling; Sun Lei. Research and application of multifunction electronic fuze. IEEE. 47th Midwest Symposium. 2004:261~263
27何向军,任宏斌.基于引制一体化的定向战斗部起爆控制研究.电讯技术. 2006, 1:148~151
28 Chengtian Song; Yuxian Bai; Keyong Wang. Research on the virtual simulation and testing technology of capacitance proximity fuze. IEEE Intelligent Control and Automation WCICA 7th World Congress 2008:7552~7555
29 Sun Qing; Sun Yong; Tong Chuangming; Huang Xueyu. Application in Fuse Simulation of Algorithm for Near Field Scattering by Complex Target. ICEMI 8th International Conference. 2007:255~258
30涂建平,彭应宁.空空导弹红外成像引信及其起爆控制算法.红外与激光工程. 2002, 31(3): 244~248
31 Philip A. Johnson, Richard T. O'Brien, Jr. An Investigation of Interceptor Guidance Methods throughModeling and Simulation. IEEE 39th Southeastern Symposium on System Theory. 2007:258~262
32 Gyorgy Hexner, Tal Shima, Haim Weiss, Rafael. LQG Guidance Law withBounded AccelerationCommand. IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMSIEEE. 2008, 44(1):77~86
33 Gyorgy Hexner and Tal Shima. Stochastic Optimal Control Guidance Lawwith Bounded Acceleration43rd IEEE Conference on Decision and Control. 2004: 3021~3026
34 Chang-Kyung Ryoo, Hangju Cho, and Min-Jea Tahk. Time-to-Go Weighted Optimal GuidanceWith Impact Angle Constraints. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY. 2006,14(3): 483~492
35 Dongxu Li, and Jose B. Cruz. A Two-Player Stochastic Pursuit-Evasion Differential Game. Proceedings of the 46th IEEE Conference on Decision and Control, 2007:4057~4062
36顾斌,李忠应.地空导弹微分对策最优制导律研究.北京航空航天大学学报. 1994,20(1):78~84
37 SunWeimeng, Zheng Zhiqiang. 3D Variable Structure Guidance Law Based on Adaptive Model-following Control with Impact Angular Constraints. Proceedings of the 26th Chinese Control Conference. 2007:61~66
38 Wen-jin Gu, Ru-chuan Zhang, Jin-yong YU. A three-dimensional Missile Guidance Law with Angle Constraint Based on Sliding Mode Control. IEEE International Conference on Control and Automation. 2007:299~302
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