基于冲突触发避碰机制的无人飞行器集群协同制导技术

Unmanned Aerial Vehicle Cluster Cooperative Guidance Technology Based on Conflict Trigger Mechanism

协同打击是提升飞行器集群整体作战效能的重要模式。针对密集飞行器集群协同打击目标过程中存在的相互碰撞或彼此干扰问题,建立典型的多目标协同打击的任务场景模型,揭示飞行器集群协同运动过程中的机动规律;基于效用函数最优理论研究避免碰撞的飞行器集群协调最优机动策略,保证飞行器之间避免碰撞。考虑飞行器集群协同制导中的时间/空间同步到达约束,采用基于时间管控的多约束协同制导策略,同时满足到达时间和脱靶量要求;引入基于冲突触发的协同避碰机制,提出兼顾避碰和协同打击的协同调整策略,求得满足避免碰撞与时空同步的协同制导方法。仿真结果表明,新提出的考虑避碰约束的飞行器集群协同制导方法能够保证飞行器间的安全距离约束,具有较强的协同时间管控能力和较高的制导精度,且仅需较少迭代计算,降低了对机载处理器的要求,为飞行器集群协同打击中的避碰问题提供了一种解决方法,具有较强的工程应用价值。

Cooperative strike is an important mode to improve the overall combat effectiveness of aircraft clusters.To address the problem of mutual collision or interference in the process of cooperative attack on targets by dense aircraft clusters,a typical mission scenario model of multi-target cooperative attack is established,and the maneuver law in the process of cooperative movement of aircraft cluster is revealed.Then,based on the optimal theory of utility function,the coordinated optimal maneuver strategy of aircraft cluster to avoid collision is studied,ensuring collision avoidance between aircrafts.Considering the time/space synchronous arrival constraint in aircraft cluster cooperative guidance,a multi-constraint cooperative guidance strategy based on time control is adopted,which meets the requirements of arrival time and miss distance at the same time.On this basis,a cooperative collision avoidance mechanism based on conflict triggering is introduced,and a cooperative adjustment strategy that considers collision avoidance and cooperative attack is proposed.And a cooperative guidance method satisfying collision avoidance and spatio-temporal synchronization is obtained.The simulation results show that the proposed aircraft cluster cooperative guidance method considering collision avoidance constraints ensures safe distance constraints between aircrafts and has strong aircraft cluster cooperative time control ability and high guidance accuracy.It requires less iterative calculation,reduces the requirements for airborne processors,and provides a solution to the collision avoidance problem in aircraft cluster cooperative attack.This method has strong engineering application value.