基于冲突触发避碰机制的无人飞行器集群协同制导技术

doi:10.12382/bgxb.2022.0152

摘要/Abstract

摘要：

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。

关键词: 无人飞行器, 避碰约束, 协同制导, 时空同步

Abstract:

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.

Key words: unmanned aerial vehicle, collision avoidance, cooperative guidance, time and space synchronization

韩煜, 宋韬, 郑多, 刘鑫. 基于冲突触发避碰机制的无人飞行器集群协同制导技术[J]. 兵工学报, 2023, 44(7): 1881-1895.

HAN Yu, SONG Tao, ZHENG Duo, LIU Xin. Unmanned Aerial Vehicle Cluster Cooperative Guidance Technology Based on Conflict Trigger Mechanism[J]. Acta Armamentarii, 2023, 44(7): 1881-1895.

图/表 23

图1 飞行器避碰过程

Fig.1 Aircraft collision avoidance process

图2 无人飞行器碰撞示意图

Fig.2 Schematic diagram of UAV collision

图3 角度跟踪过程

Fig.3 Angle tracking process

图4 切线约束示意图

Fig.4 Tangent constraint diagram

图5 切线约束求解

Fig.5 Tangent constraint solution

图6 机动策略选择

Fig.6 Maneuver strategy selection

图7 无解情况

Fig.7 Unsolvable case

图8 协同与避碰过程

Fig.8 Cooperation and collision avoidance process

表1 无人飞行器集群和分散固定目标初始参数

Table 1 Initial conditionsof UAV clusters and decentralized fixed targets

飞行器编号	飞行器初始状态		目标位置/m
飞行器编号	位置/m	速度/(m·s^-1)	目标位置/m
U₁	[7000,3500]	100	[0,3500]
U₂	[6331,5558]	100	[668,1443]
U₃	[4582,6829]	100	[2418,171]
U₄	[2418,6829]	100	[4582,171]
U₅	[668,5557]	100	[6332,1443]
U₆	[0,3500]	100	[7000,3500]
U₇	[668,1443]	100	[6332,5557]
U₈	[2418,171]	100	[4582,6829]
U₉	[4582,171]	100	[2418,6829]
U₁₀	[6332,1443]	100	[668,5557]

图9 打击分散固定目标的集群飞行器轨迹

Fig.9 Trajectory of UAVs with decentralized fixed targets

图10 打击固定目标时飞行器间的最短距离

Fig.10 Shortest distance between aircrafts when attacking fixed targets

表2 多机集群协同打击分散固定目标的结果统计

Table 2 Cooperative attack results of multiple UAV clusters on decentralized fixed targets

飞行器编号	分配的目标	机间最短距离/m	到达时间/ s	脱靶量/ m
U₁	T₁	30.8043	68	0.9325
U₂	T₂	30.7672	68	0.9323
U₃	T₃	30.7672	68	0.9323
U₄	T₄	30.7735	68	0.9324
U₅	T₅	30.7735	68	0.9322
U₆	T₆	30.8009	68	0.9322
U₇	T₇	30.7958	68	0.9323
U₈	T₈	30.7958	68	0.9324
U₉	T₉	30.7969	68	0.9324
U₁₀	T₁₀	30.8043	68	0.9235

图11 打击固定目标1000次效用函数统计结果

Fig.11 Statistical results of the utility function of fixed targets hit 1000 times

表3 集群飞行器和编队移动目标初始参数

Table 3 Initial conditions of UAV clusters and formation moving targets

飞行器编号	飞行器初始状态		分配的目标	目标参数
飞行器编号	位置/m	速度/ (m·s^-1)	分配的目标	位置/m	速度/ (m·s^-1)
U₁	[1052,146]	117	T₅	[8161,1024]	30
U₂	[958,1587]	117	T₈	[8593,774]	30
U₃	[957,314]	116	T₄	[8161,525]	30
U₄	[1138,690]	116	T₁	[7296,1024]	30
U₅	[698,675]	112	T₂	[7728,774]	30
U₆	[526,1318]	118	T₆	[8161,1523]	30
U₇	[314,316]	112	T₉	[8593,1274]	30
U₈	[1003,708]	114	T₇	[8593,275]	30
U₉	[291,681]	119	T₁₀	[8593,1773]	30
U₁₀	[794,1430]	119	T₃	[7728,1274]	30

图12 打击编队移动目标的集群飞行器轨迹

Fig.12 Trajectory of UAVs with decentralized formation moving targets

图13 打击编队移动目标时飞行器间的最短距离

Fig.13 Shortest distance between aircrafts when attacking formation moving targets

表4 多机集群协同打击编队移动目标的结果

Table 4 Cooperative attack results of multiple UAV clusters on formation moving targets

飞行器编号	打击的目标	机间最短距离/m	到达时间/ s	脱靶量/ m
U₁	T₅	170.8413	52.7156	0.8003
U₂	T₈	30.3548	52.7175	0.8848
U₃	T₄	30.3548	52.7138	0.4068
U₄	T₁	188.3557	52.7194	0.2794
U₅	T₂	99.0358	52.7150	0.9716
U₆	T₆	38.1245	52.7306	0.5067
U₇	T₉	30.9024	52.7194	0.3841
U₈	T₇	249.4957	52.7144	0.5970
U₉	T₁₀	91.5536	52.7338	0.8639
U₁₀	T₃	30.9024	52.7225	0.3765

图14 打击编队移动目标1000次效用函数统计结果

Fig.14 Statistical results of the utility function offormation moving targets hit 1000 times

表5 集群飞行器和编队机动目标参数

Table 5 Initial conditionsof UAV clusters and formation maneuvering targets

飞行器编号	飞行器位置初始状态		分配的目标	目标参数
飞行器编号	位置/m	速度/ (m·s^-1)	分配的目标	位置/m	速度/ (m·s^-1)
U₁	[1167,3067]	112	T₆	[6739,3847]	30
U₂	[1678,4305]	118	T₃	[7625,4390]	30
U₃	[1515,3897]	116	T₇	[6710,3475]	30
U₄	[1418,3140]	114	T₁₀	[7500,2800]	30
U₅	[1695,4177]	120	T₉	[7137,2887]	30
U₆	[1763,4363]	114	T₅	[6934,4166]	30
U₇	[1548,4378]	119	T₂	[7970,4247]	30
U₈	[1447,3598]	112	T₄	[7253,4361]	30
U₉	[1134,4234]	114	T₁	[8213,3963]	30
U₁₀	[2175,3445]	114	T₈	[6853,3130]	30

图15 打击编队机动目标的集群飞行器轨迹

Fig.15 Trajectory of UAVs with decentralized formation maneuvering targets

图16 打击编队机动目标时飞行器间的最短距离

Fig.16 Shortest distance between aircrafts when attacking formation maneuvering targets

表6 集群飞行器协同打击编队机动目标的结果

Table 6 Cooperative attack results of multiple UAV clusters on formation maneuvering targets

飞行器编号	打击的目标	机间最短距离/m	到达时间/ s	脱靶量/ m
U₁	T₆	32.1923	51.4519	0.6017
U₂	T₃	44.3185	51.4306	0.7211
U₃	T₇	112.7838	51.4988	0.5318
U₄	T₁₀	32.1923	51.6006	0.4136
U₅	T₉	36.2378	50.2988	0.9050
U₆	T₅	36.2379	50.4994	0.7721
U₇	T₂	37.7222	51.4375	0.6565
U₈	T₄	124.3851	51.4425	0.6433
U₉	T₁	129.7452	51.4744	0.9967
U₁₀	T₈	252.9497	52.6544	0.5169

图17 打击编队机动目标1000次效用函数统计结果

Fig.17 Statistical results of the utility function of formation maneuvering targets hit 1000 times

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