WU H , SHI Z S , WU Z H . Analysis of target capture characteristics of remote semi-active laser guided projectiles [C ] //Proceedings of the 2019 4th International Conference on Automation, Control and Robotics Engineering.New York,NY,US:ACM , 2019 : 1 - 7 .

王思卓 , 范世鹏 , 林德福 , 等 . 考虑目标机动和落角约束的二阶滑模制导律 [J ] . 兵工学报 , 2022 , 43 ( 12 ): 3048 - 3061 .

WANG S Z , FAN S P , LIN D F , et al. Second order sliding mode guidance law considering target maneuver and impact angle constraint [J ] . Acta Armamentarii , 2022 , 43 ( 12 ): 3048 - 3061 . (in Chinese) DOI: 10.12382/bgxb.2021.0641 http://doi.org/10.12382/bgxb.2021.0641 To meet the requirement of missiles attacking high maneuvering targets with desired impact angles during terminal guidance, a second-order sliding mode guidance law satisfying impact angle constraint is proposed by combining the super-twisting algorithm with adaptive sliding mode disturbance observer. The disturbance caused by target maneuver leads to the unknown upper bound of system disturbance. Taking target acceleration as system disturbance, an adaptive sliding mode disturbance observer is designed for on-line system disturbance estimation. By adaptively adjusting the observer gain, the defect that the traditional observer depends on the upper bound of disturbance when selecting the gain can be overcome.The improved super-twisting algorithm is designed as the reaching law of the guidance law, enabling the guidance law to make full use of the overload capacity of the missile while reducing the chattering, thus improving the convergence speed of the system, and solving the problem of slow convergence speed when the system state is far from the equilibrium point in the traditional super-twisting algorithm. Based on the Lyapunov stability theory，it is proven that the guidance system can converge in finite time. Finally, the effectiveness of the adaptive sliding mode disturbance observer and the designed guidance law is verified by mathematical simulation. The adaptive sliding mode disturbance observer can accurately track system disturbance, and the designed guidance law can meet the expected terminal angle constraint and has high impact accuracy, with the miss-distance smaller than 0.2 m.

CHUSILP P , CHARUBHUN W , RIDLUAN A . Developing firing table software for artillery projectiles using iterative search and 6-DOF trajectory model [C ] //Proceedings of the 2nd TSME International Conference on Mechanical Engineering. Krabi , Thailand : The Thai Society of Mechanical Engineers , 2011 : AME04 .

赵明阳 , 杨揆 , 王璟旻 , 等 . 基于贪心算法的气象修正表自动分区拟合算法设计 [J ] . 火炮发射与控制学报 , 2022 , 43 ( 4 ): 75 - 79 .

ZHAO M Y , YANG K , WANG J M , et al . Design of an automatic partition fitting algorithm for meteorological correction tables based on greedy algorithms [J ] . Journal of Gun Launch & Control , 2022 , 43 ( 4 ): 75 - 79 . (in Chinese)

褚进 , 陈瑞军 , 张宝 . 激光末制导炮弹高原弹道特性研究 [J ] . 火力与指挥控制 , 2021 , 46 ( 9 ): 182 - 186 .

CHU J , CHEN R J , ZHANG B . Research on plateau ballistic features of laser terminal guidance projectile [J ] . Fire Control& Command Control , 2021 , 46 ( 9 ): 182 - 186 . (in Chinese)

丁天宝 , 何朝 , 王良明 , 等 . 高速旋转炮弹宽海拔弹道解算方法 [J ] . 兵工学报 , 2021 , 42 ( 1 ): 209 - 213 .

DING T B , HE Z , WANG L M , et al . Calculation method of firing trajectory of high spinning projectile adapted to wide altitude [J ] . Acta Armamentarii , 2021 , 42 ( 1 ): 209 - 213 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2021.01.024 http://doi.org/10.3969/j.issn.1000-1093.2021.01.024 A new method which gives priority to the idea of theoretical calculation and simulation with data of a few tests is proposed to improve the traditional method of firing table development which depends on live firing test radically. A nonlinear motion equation of projectile coupled attitude is established, which is used to calculate the influence of initial disturbance on mean trajectory. The model of the variation of projectile resistance coefficient with the altitude is improved on the basis of the relational model of the ballistic coincidence coefficient and the firing angle of gun. Based on the feature information extracted from a few of high-precision ballistic test data, the theoretical calculation firing table is modified to achieve higher precision. In order to reduce the principle error of the intersection for two firing tables used on plateau and plain individually, a method of smoothing the connection of two firing tables is created. The correctness of the proposed method is proved by the results of the live fire tests, and the precision of the firing table is high enough, which is fully suitable for the applications at the altitude from 0 m to 4 500 m.

陈瑞军 , 褚进 , 张宝 . 激光末制导炮弹射表基本诸元计算方法 [J ] . 火力与指挥控制 , 2020 , 45 ( 1 ): 110 - 113 ,119.

CHEN R J , CHU J , ZHANG B . Research on the calculation method of laser terminal guidance projectile basic firing data [J ] . Fire Control& Command Control , 2020 , 45 ( 1 ): 110 - 113 ,119. (in Chinese)

贾波 , 张平 , 赵志明 , 等 . 基于弹道精确测量的射表编拟方法研究 [J ] . 弹道学报 , 2019 , 31 ( 4 ): 44 - 49 . DOI: 10.12115/j.issn.1004-499X(2019)04-008 http://doi.org/10.12115/j.issn.1004-499X(2019)04-008 射表试验弹药消耗大、试验周期长是长期存在的问题。针对此问题,根据刚体弹道理论,建立了弹箭六自由度弹道微分方程。开展了飞行诸元关于各气动参数的灵敏度分析,通过仿真计算,对弹箭气动参数准确辨识方法和全弹道符合计算方法进行了研究,初步形成了基于弹道精确测量的射表编拟新方法。仿真结果表明,新方法能够较准确辨识出弹箭气动参数,计算弹道与实际弹道一致性更好,更能反映弹箭的真实飞行状态。研究成果为改变射表试验消耗大、周期长的问题,进一步提高射表精度和射表编拟技术奠定了理论基础。

JIA B , ZHANG P , ZHAO Z M , et al . Method of firing-table compilation based on precise ballistic measurement [J ] . Journal of Ballistics , 2019 , 31 ( 4 ): 44 - 49 . (in Chinese) DOI: 10.12115/j.issn.1004-499X(2019)04-008 http://doi.org/10.12115/j.issn.1004-499X(2019)04-008 It is a long-term problem to consume a lot of ammunition and test cycle in firing table test. According to the theory of rigid body trajectory,a six-degree-of-freedom trajectory differential-equation for projectiles and rockets was established,and the sensitivity analysis of flight data on each aerodynamic parameter was carried out. By simulation calculation,the accurate identification method of aerodynamic parameters and the calculation method of full trajectory coincidence were studied,and a new method of compiling firing table based on precise ballistic measurement was preliminarily formed. The results show that the new method can accurately identify the aerodynamic parameters of the projectile,and the calculated trajectory is more consistent with the actual trajectory,which can better reflect the real flight state of the projectile. The research results lay a theoretical foundation for changing the problems of large test consumption and long test period,and further improving the accuracy and compling technology of the firing table.

余跃 , 王宏伦 . 基于深度学习的高超声速飞行器再入预测校正容错制导 [J ] . 兵工学报 , 2020 , 41 ( 4 ): 656 - 669 . DOI: 10.3969/j.issn.1000-1093.2020.04.005 http://doi.org/10.3969/j.issn.1000-1093.2020.04.005 针对故障条件下高超声速飞行器的容错制导问题，提出一种基于深度学习的预测校正容错制导算法。在纵向制导律设计中，求解故障下满足配平要求的攻角剖面和升力、阻力系数；构建并训练输入端包含升力、阻力系数变化量的深度神经网络来预测落点，以避免传统预测校正制导算法中大量的积分运算；侧向制导采用基于航向角误差走廊的倾侧角反转逻辑；构造扩张状态观测器对气动参数变化量进行估计，实时输入深度神经网络。仿真结果表明，所设计的容错制导算法制导精度高、实时性好，且在故障和参数摄动条件下能实时解算出满足飞行要求的制导指令。

YU Y , WANG H L . Deep learning-based reentry predictor-corrector fault-tolerant guidance for hypersonic vehicles [J ] . Acta Armamentarii , 2020 , 41 ( 4 ): 656 - 669 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2020.04.005 http://doi.org/10.3969/j.issn.1000-1093.2020.04.005 A deep learning-based predictor-corrector fault-tolerant guidance method is proposed for fault-tolerant guidance of hypersonic vehicles. In the design of longitudinal guidance law, the trimmable angle of attack profile and the coefficients of lift and drag in case of fault are calculated. A deep neural network which inputs contain variations of lift and drag coefficients is developed to predict landing point, thus avoiding large quantities of integral operations in traditional predictor-corrector guidance method. A bank angle reversal logic based on heading angle error corridor is designed for the lateral guidance. Extended state observer is constructed to estimate the variations of lift and drag coefficients, and the estimates are input into the deep neural network. Simulated result shows that the proposed fault-tolerant guidance algorithm has high guidance precision and excellent real-time characteristics and can calculate guidance command which meets flight requirements in real time. Key

闫孟达 , 杨任农 , 左家亮 , 等 . 基于深度学习的空空导弹多类攻击区实时解算 [J ] . 兵工学报 , 2020 , 41 ( 12 ): 2466 - 2477 . DOI: 10.3969/j.issn.1000-1093.2020.12.012 http://doi.org/10.3969/j.issn.1000-1093.2020.12.012 现代空战日趋复杂，传统攻击区只能提供导弹发射的限度，无法满足现代空战决策的需求。基于目标机水平逃逸角度的最大攻击区、50°攻击区、90°攻击区、水平不可逃逸攻击区、最小攻击区等5类攻击区，针对现有攻击区解算方法无法同时解算多种攻击区的问题，提出多函数深度拟合网络(MFDFN)模型，以实现多种攻击区的同时解算。设计了改进的进退法解算流程，通过弹道仿真获取攻击区数据样本库。根据多函数拟合网络的特点，设计了“整体预训练+局部微调”训练策略，并对网络进行有监督训练。仿真结果表明：采用“整体预训练+局部微调”训练策略的MFDFN比传统网络不仅提高了计算实时性，而且很大程度上提高了计算准确性，其平均相对误差低至0.27%，平均绝对误差低至58.81 m；MFDFN模型具有较强的可靠性和实用性。

YAN M D , YANG R N , ZUO J L , et al. Real-time computing of air-to-air missile multiple capture zones based on deep Learning [J ] . Acta Armamentarii , 2020 , 41 ( 12 ): 2466 - 2477 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2020.12.012 http://doi.org/10.3969/j.issn.1000-1093.2020.12.012 Modern air combat is becoming more and more complex，and the traditional attack zones can only provide the limits of missile launch，which cannot meet the needs of modern air combat decision-making. For this reason，five types of attack zones, maximun attack zone, 50° attack zone, 90° attack zone, horizontal unescapable attack zone, and minimun attack zone, based on escape angles of enemy aircraft are proposed. The existing solving method of attack zone cannot be used to simultaneously solve the problem of multiple attack zones.A multi-function deep fitting network (MFDFN) is proposed to realize the simultaneous solution of multiple attack zones. Firstly，an improved advance-retreat method is designed，and the sample library of capture zone is obtained through ballistic simulation. According to the characteristics of multi-function fitting network，a training strategy，called “overall pre-training and local fine-tuning”，is presented，by which network is supervised trained.The simulated results show that the MFDFN using the “overall pre-training and local fine-tuning” training strategy reduces the computing time while greatly improving the computing accuracy. The average relative error is about 0.27%，and the average absolute error is about 58.81 meters，which proves that the model is reliable and practical.

任济寰 , 吴祥 , 薄煜明 , 等 . 基于增强上下文信息长短期记忆网络的弹道轨迹预测 [J ] . 兵工学报 , 2023 , 44 ( 2 ): 462 - 471 . DOI: 10.12382/bgxb.2021.0489 http://doi.org/10.12382/bgxb.2021.0489 根据己方观测数据进行弹道轨迹预测是现代陆军实施精准打击的重要一环。针对现有弹道轨迹预测方法存在精度不足且实时性不强的问题,提出一种新的增强上下文信息长短期记忆(CE-LSTM)网络轨迹预测模型,进行弹道轨迹的长期精准预测。在LSTM网络可逼近任意非线性函数且具备长期记忆能力的基础上,构建隐藏层输出混合单元提取短时上下文信息,进一步逼近弹体运动状态;通过建立不同条件下的弹道轨迹的数据集,训练得到具备最优超参数的CE-LSTM网络。实验结果表明,与弹道微分方程组的数值积分解法以及高斯混合模型相比,CE-LSTM网络在预测的精度上优于其他2种方法,预测速度提高了3~10倍,且具备较强的泛化能力。

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