Research On Torpedo Cooperative Guidance Law Based On Time Constraint

The torpedo is an underwater precision-guided weapon.A single torpedo is affected by the complex marine environment and target confrontation,the precision strike capability against the target has dropped significantly.Constraining the attack time of torpedoes is an important aspect to achieve coordinated saturation attack on underwater moving targets.To effectively complete the torpedo attack time constraints,it is necessary to design a corresponding coordinated guidance law.Therefore,this paper studies and establishes the torpedo-target relative motion model,according to the commonly used coordinate system of torpedo guidance and analyzes torpedo full trajectory.Firstly,the proposed method simulates the torpedo classic guidance law,then the influence of torpedo motion parameters on the performance of the classic guidance law is analyzed.Also,a time-constrained collaborative guidance law is designed.The collaborative guidance law adopts a two-layer collaborative guidance architecture,including an upper coordination strategy layer and a lower guidance control layer.The coordination strategy layer uses the weighted remaining arrival time as the coordination variable to influence the guidance control layer.Two different classic guidance laws are selected as the local guidance laws of the torpedo by the guidance control layer.The guidance parameters are set to ensure that the torpedoes maintain a sufficiently safe distance.According to the remaining arrival time estimation model of the proportional guidance method,the remaining time of arrival of each torpedo is obtained.This paper proposes a cooperative guidance law based on the remaining time of arrival.The proportional guidance method is selected as the local guidance law of torpedoes and controls the remaining time of arrival of the torpedoes by setting a bias term.The simulation results and numerical analysis proves that the designed cooperative guidance law can guide multiple torpedoes to reach the target at the same time.The interactive multiple models Kalman filter is employed to filter the target observation trajectory,which improves the probability of a successful cooperative attack.Finally,this paper uses real data from the experimental boat to simulate the motion trajectory of the real underwater target.The simulation experiment of multiple torpedoes cooperatively attacks the moving target is designed.The simulation results verify the feasibility and effectiveness of the proposed cooperative guidance law.