### 基于虚拟视角约束的机动目标拦截制导方法

1. 1. 北京理工大学 宇航学院, 北京 100081;
2. 北京理工大学 无人机自主控制技术北京市重点实验室, 北京 100081;
3. 中国人民解放军63961部队, 北京 100012
• 收稿日期:2020-09-27 修回日期:2020-11-23 出版日期:2022-01-15 发布日期:2020-11-13
• 通讯作者: 王辉 E-mail:wanghuibit@bit.edu.cn
• 基金资助:
国家自然科学基金（U1613225）；"高动态导航技术北京市重点实验室"的开放课题基金（HDN2020101）

### Guidance method for maneuvering target interception based on virtual look angle constraint

WANG Yaning1,2, WANG Hui1,2, LIN Defu1,2, YUAN Yifang3

1. 1. School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China;
2. Beijing Key Laboratory of UAV Autonomous Control, Beijing Institute of Technology, Beijing 100081, China;
3. Unit 63961 of Chinese People’s Liberation Army, Beijing 100012, China
• Received:2020-09-27 Revised:2020-11-23 Online:2022-01-15 Published:2020-11-13
• Supported by:
National Natural Science Foundation of China(U1613225); Open Project Fund of "Beijing Key Laboratory of High Dynamic Navigation Technology"(HDN2020101)

Abstract: To enable the missile to intercept one maneuvering target with a certain terminal attack angle, a guidance method for interception of the maneuvering target with terminal virtual look angle and terminal line-of-sight angle constraints is proposed. According to the transform relationship between the motion vectors in the velocity coordinates system, the nonlinear model of relative motion in the virtual coordinates system is established. Then, the thought of polynomial guidance in the linear model is introduced into the nonlinear model creatively. Through the constraints of the terminal virtual look angle and the terminal line-of-sight angle, the solution of the polynomial virtual control variable of the distance between the missile and the target is derived. Finally, according to the transformation relation between the virtual vectors and the motion vectors, the acceleration command expression in the velocity coordinates system is obtained. Simulations under the conditions of different guidance coefficients, terminal attack angles and types of maneuvering targets are carried out to verify the method proposed. The simulation results are compared with those of the optimal guidance law of Trajectory Shaping Guidance. Simulation results show that the proposed guidance lawallows the missile to intercept the maneuvering target with a desired attack angle and the terminal virtual look angle converges to zero, which can avoid terminal command saturation.