Research On Maneuvering Target Tracking Algorithm And Muli-constraint Guidance Law

With the development of mobile tactical ballistic missiles,the effective tracking and terminal guidance interception of such targets have become the research focus of the air defense systems for every country in the world.Considering the limited interception time of terminal guidance and the requirements of special interception missions,this paper takes the high-speed maneuvering target as the research object and the problem of how to track the target quickly and stably and how to complete terminal guidance interception under the condition of multiple constraints are studied.This paper introduces the three-axis coordinate system involved in the process of intercepting target and the transformation relations between them.Without regard to loss of propellant,the equations of particle motion of target and interceptor missiles are presented,and a trajectory of the terminal stage of a high-speed maneuvering target is simulated.And the relative moving particle model of missile and target in two-dimensional plane is extended to three-dimensional space and the basic concepts of sliding mode variable structure control and finite time convergence control are briefly introduced.According to the strong maneuvering characteristic of high-speed maneuvering target,a new combined maneuvering target motion model is constructed by combining "current" statistical motion model and jerk motion model.Meanwhile,considering that the high-speed maneuvering target has a variety of motion mode switching in the process of terminal guidance interception,this paper compares the characteristics of the standard interactive multi-model algorithm and the proposed combined motion model.The final analysis shows that under the premise of limited interception time of terminal guidance,the new combined model can better track and filter the high-speed maneuvering target,and this model is combined with the classical kalman filter algorithm for numerical simulation verification.Under the constraint of limited interception time of terminal guidance,a kind of proportional guidance law with terminal guidance time constraint is proposed.However,under the guidance law,the line-of-sight rate of multiple missiles cooperative guidance cannot quickly approach zero,and the remaining flight time cannot quickly approach a same value.Therefore,this paper introduces the finite time convergence control method,and designs a finite-time consistency terminal guidance law which can make the line-of-sight rate and the remaining flight time of each interceptor missile converge rapidly.Under the constraint of final angle of terminal guidance,combined with sliding mode variable structure control method,a sliding mode terminal guidance law with angle constrained is designed.At the same time,through the lyapunov method,this guidance law is proved that it has the property that the line-of-sight rate can converge to zero in finite time.Under the same condition,the guidance law is compared with another differential game guidance law with terminal angle constraint,and the result shows that the superiority of this guidance law in satisfying the terminal angle constraint and the miss distance precision.Under the condition of satisfying the accuracy of terminal miss distance,combined with the time consistency constraint and angle constraint in the multiple missiles interception process of terminal guidance,a multi-constraint terminal guidance law is designed with radial guidance and longitudinal guidance channel adopted to solve the problem independently.In the simulation verification,the guidance law can not only satisfy the time consistency and terminal angle constraints,but also the statistics of the miss distance in the shooting test are within the acceptable range of guidance precision.