Multi-constrained intelligent trajectory planning for gliding missiles

Hui-bing SHAO; Chang-zhu WEI

doi:10.3788/OPE.20192702.410

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Multi-constrained intelligent trajectory planning for gliding missiles

Micro/Nano Technology and Fine Mechanics | 更新时间：2020-08-13

- Multi-constrained intelligent trajectory planning for gliding missiles
- Optics and Precision Engineering Vol. 27, Issue 2, Pages: 410-420(2019)
- 作者机构：
  
  哈尔滨工业大学航天学院，黑龙江哈尔滨 150006
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20192702.410
  CLC： V448.2
- Received：09 August 2018，
  
  Accepted：13 September 2018，
  
  Published：15 February 2019
- 稿件说明：
移动端阅览
Hui-bing SHAO, Chang-zhu WEI. Multi-constrained intelligent trajectory planning for gliding missiles[J]. Optics and precision engineering, 2019, 27(2): 410-420.
DOI：

Hui-bing SHAO, Chang-zhu WEI. Multi-constrained intelligent trajectory planning for gliding missiles[J]. Optics and precision engineering, 2019, 27(2): 410-420. DOI： 10.3788/OPE.20192702.410.

摘要

滑翔导弹末段飞行时空复杂度高、不确定性强、约束多，给弹道规划与制导算法带来了较大的建模和求解难度。针对这一问题，同时增大末段机动范围并提高弹道规划效率，本文提出一种利用连续型深度置信神经网络(Convolutional Deep Brief Networks，CDBN)预测机动能力、设计经由点状态实现末段多约束智能弹道规划的方法。过程中采用CDBN对机动能力进行在线预测，快速判定经由点状态的可行性，并且通过经由点状态智能设计，实现前后段能量的优化分配，扩大弹道机动包络；通过设计三角函数型弹目视线角实现末段弹道摆动机动，推导机动弹道最优末制导律对视线角进行跟踪，并调节机动频率以满足速度约束。仿真结果表明，CDBN相对BP网络具有更高的机动能力预测精度；本文所提智能弹道规划方法在满足末端速度约束的前提下，可以实现弹道摆动机动并大幅增加飞行包络。弹道规划能够在0.5 s内完成，满足工程应用的快速性要求。

Abstract

The terminal flight of the gliding missile involves high complexity

strong uncertainty

and many constraints. It is difficult to model and solve the corresponding trajectory planning and guidance problems. To increase the maneuvering range of the gliding missile and reduce the difficulty of trajectory planning

a multi-constrained trajectory intelligent planning method was proposed. This method included waypoint design and maneuverability prediction using the Continuous Deep Belief Network (CDBN). The CDBN was used to predict the maneuvering ability online

and the feasibility of the waypoint´s state was determined rapidly. With the intelligent design of the waypoints

optimized allocation of energy was realized

which increases the flight envelope. To realize oscillatory maneuvering

the Line of Sight (LOS) relative to the target was designed as a trigonometric function

which was tracked by designing the optimal maneuvering guidance law. Finally

the desired velocity constraint was satisfied by adjusting the frequency of the LOS angle. The simulation results show that the CDBN has higher maneuverability prediction accuracy than the BP network. The proposed method can realize oscillatory maneuvering and achieve a large increase in the flight envelope while satisfying the terminal velocity constraint. Online trajectory planning based on the CDBN can be completed in half a second

which satisfies the rapidity requirements for engineering applications.

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references

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