不完全信息下基于微分对策的机动目标协同捕获

doi:10.7527/S1000-6893.2021.26905

集群智能与协同控制

本期目录 | 过刊浏览 | 高级检索

前一篇 | 后一篇

不完全信息下基于微分对策的机动目标协同捕获

胡艳艳¹, 张莉¹, 夏辉², 张乃文², 鄢镕易²

1. 北京科技大学自动化学院，北京　100083;
2. 北京电子工程总体研究所，北京　100854

收稿日期:2022-01-07 修回日期:2022-01-21 发布日期:2022-03-30
通讯作者: 张乃文,E-mail:zhangnaiwen@casic.com.cn E-mail:zhangnaiwen@casic.com.cn
基金资助:
国家自然科学基金（61773055）；国防科技创新特区项目

Cooperative capture of maneuvering targets with incomplete information based on differential game

HU Yanyan¹, ZHANG Li¹, XIA Hui², ZHANG Naiwen², YAN Rongyi²

1. School of Automation, University of Science and Technology Beijing, Beijing 100083, China;
2. Beijing Institute of Electronic System Engineering, Beijing 100854, China

Received:2022-01-07 Revised:2022-01-21 Published:2022-03-30
Supported by:
National Natural Science Foundation of China （61773055）； National Defense Science and Technology Innovation Special Zone Project

摘要/Abstract

摘要： 研究了不完全信息下基于微分对策的机动目标协同捕获问题。首先，给出了多飞行器协同捕获问题的微分对策建模及相应微分对策协同制导律。其次，针对零控脱靶量计算中目标加速度未知的情况，考虑目标可能发生的未知机动，建立了多模型滤波模型集，并利用交互式多模型粒子滤波算法得到了目标的实时加速度估计。最后，仿真实验验证了所提出估计算法的有效性，并在估计结果的基础上，利用所给出的协同制导律，实现了对目标的协同捕获。

关键词: 机动目标, 加速度估计, 微分对策, 协同捕获, 不完全信息

Abstract: In this paper， the problem of cooperative capture of maneuvering target with incomplete information is studied based on differential games. Firstly， the differential game model and the corresponding differential game cooperative guidance law for cooperative capture with multiple aircrafts are given. Secondly， considering that the acceleration of the target is unknown in the calculation of zero-control miss distance， the model set for multi-model filtering is established， with the possible maneuvers of target being taken into account. Then， estimation of target acceleration is obtained by the interacting multi-modal particle filtering algorithm. Finally， the effectiveness of the proposed estimation method is verified by the simulation scenario， and the target is successfully captured using the presented guidance law with the estimated target acceleration.

Key words: maneuver target, acceleration estimation, differential game, cooperative capture, incomplete information

中图分类号:

V249

胡艳艳, 张莉, 夏辉, 张乃文, 鄢镕易. 不完全信息下基于微分对策的机动目标协同捕获[J]. 航空学报, 2022, 43(S1): 726905-726905.

HU Yanyan, ZHANG Li, XIA Hui, ZHANG Naiwen, YAN Rongyi. Cooperative capture of maneuvering targets with incomplete information based on differential game[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(S1): 726905-726905.

参考文献

[1] WEN G H, ZHOU J L, LYU Y Z, et al. Distributed coordination control in multi-missile cooperative tasks[J]. Journal of Command and Control, 2021, 7(2): 137-145 (in Chinese). 温广辉, 周佳玲, 吕跃祖, 等. 多导弹协同作战中的分布式协调控制问题[J]. 指挥与控制学报, 2021, 7(2): 137-145.
[2] CHEN Z Y, YU J L, DONG X W, et al. Three-dimensional cooperative guidance strategy and guidance law for intercepting highly maneuvering target[J]. Chinese Journal of Aeronautics, 2021, 34(5): 485-495.
[3] YU J L, DONG X W, LI Q D, et al. Distributed cooperative encirclement hunting guidance method for inter cepting the maneuvering target[J]. Acta Aeronautica et Astronautica Sinica, (2021-08-18) [2022-06-13]. http:∥kns.cnki.net/kcms/detail/11.1929.v.20210817.1013.010.html(in Chinese). 于江龙, 董希旺, 李清东, 等. 拦截机动目标的分布式协同围捕制导方法[J].航空学报, (2021-08-18) [2022-06-13]. http:∥kns.cnki.net/kcms/detail/11.1929.v.20210817.1013.010.html.
[4] SUN Q L, SHEN M H, GU X L, et al. Evasion-pursuit strategy against defended aircraft based on differential game theory[J]. International Journal of Aerospace Engineering, 2019(2019): 7980379.
[5] SUN Q L, QI N M, XIAO L X, et al. Differential game strategy in three-player evasion and pursuit scenarios[J]. Journal of Systems Engineering and Electronics, 2018, 29(2): 352-366.
[6] LI Y, CARBONI G, GONZALEZ F, et al. Differential game theory for versatile physical human-robot interaction[J]. Nature Machine Intelligence, 2019, 1(1): 36-43.
[7] YU J L, DONG X W, LI Q D, et al. Cooperative differential game guidance method for intercepting maneuvering target[J]. Journal of Command and Control, 2020, 6(3): 217-222 (in Chinese). 于江龙, 董希旺, 李清东, 等. 基于微分对策的拦截机动目标协同制导方法[J]. 指挥与控制学报, 2020, 6(3): 217-222.
[8] GUO Z Q, ZHOU S L. Research on cooperative differential game guidance law for multi-missile[J]. Journal of Ordnance Equipment Engineering, 2019, 40(5): 21-25 (in Chinese). 郭志强, 周绍磊. 多弹协同微分对策制导律研究[J]. 兵器装备工程学报, 2019, 40(5): 21-25.
[9] LIU Y F, QI N M, XIA Q, et al. Differential game guidance law for endoatmospheric interceptor missiles based on nonlinear model[J]. Acta Aeronautica et Astronautica Sinica, 2011, 32(7): 1171-1179 (in Chinese). 刘延芳, 齐乃明, 夏齐, 等. 基于非线性模型的大气层内拦截弹微分对策制导律[J]. 航空学报, 2011, 32(7): 1171-1179.
[10] LI Y Q, QI N M, SUN X L, et al. Game space decomposition study of differential game guidance law for endoatmospheric interceptor missiles[J]. Acta Aeronautica et Astronautica Sinica, 2010, 31(8): 1600-1607 (in Chinese). 李运迁, 齐乃明, 孙小雷, 等. 大气层内拦截弹微分对策制导律对策空间分布研究[J]. 航空学报, 2010, 31(8): 1600-1607.
[11] WANG Y Q, NING G D, WANG X F, et al. Maneuver penetration strategy of near space vehicle based on differential game[J]. Acta Aeronautica et Astronautica Sinica, 2020, 41(S2): 724276 (in Chinese). 王雨琪, 宁国栋, 王晓峰, 等. 基于微分对策的临近空间飞行器机动突防策略[J]. 航空学报, 2020, 41(S2): 724276.
[12] BARDHAN R, GHOSE D. Nonlinear differential games-based impact-angle-constrained guidance law[J]. Journal of Guidance, Control, and Dynamics, 2015, 38(3): 384-402.
[13] PERELMAN A, SHIMA T, RUSNAK I. Cooperative differential games strategies for active aircraft protection from a homing missile[J]. Journal of Guidance, Control, and Dynamics, 2011, 34(3): 761-773.
[14] HUA W H, ZHANG Y J, ZHANG J P, et al. Differential game guidance law for double missiles with cooperative intercept angle[J]. Journal of Chinese Inertial Technology, 2016, 24(6): 838-844 (in Chinese). 花文华, 张拥军, 张金鹏, 等. 双导弹拦截角度协同的微分对策制导律[J]. 中国惯性技术学报, 2016, 24(6): 838-844.
[15] GUO Z Q, ZHOU S L, YU Y Z. Research of cooperative norm differential games guidance law for intercepting a maneuvering target[J]. Computer Simulation, 2020, 37(3): 23-26 (in Chinese). 郭志强, 周绍磊, 于运治. 拦截机动目标的范数型协同微分对策制导律[J]. 计算机仿真, 2020, 37(3): 23-26.
[16] GUO Z Q, ZHOU S L, YU Y Z, et al. Nonlinear cooperative guidance law based on state-dependent Riccati-equation[J]. Journal of Chinese Inertial Technology, 2018, 26(6): 822-829 (in Chinese). 郭志强, 周绍磊, 于运治, 等. 基于状态相关黎卡提方程的非线性协同制导律[J]. 中国惯性技术学报, 2018, 26(6): 822-829.
[17] ZHANG S, ZHU D F, SUN J, et al. Bounded differential games strategies with two-pursuit single-evader[J]. Flight Control & Detection, 2019, 2(2): 46-53 (in Chinese). 张帅, 朱东方, 孙俊, 等. 双拦截弹拦截单目标边界型微分对策制导律研究[J]. 飞控与探测, 2019, 2(2): 46-53.
[18] LV M B, ZHAO X F, LIU G Z. Aerial high maneuvering target tracking algorithm[J]. Modern Defence Technology, 2018, 46(2): 45-50,172 (in Chinese). 吕梅柏, 赵小锋, 刘广哲. 空中大机动目标跟踪算法研究[J]. 现代防御技术, 2018, 46(2): 45-50,172.
[19] DAI S W, FANG J, ZHANG W G, et al. Modified IMM-CKF tracking algorithm for highly maneuvering hypersonic target[J]. Transducer and Microsystem Technologies, 2016, 35(9): 133-136, 140 (in Chinese). 戴邵武, 方君, 张文广, 等. 高超声速强机动目标改进IMM-CKF跟踪算法[J]. 传感器与微系统, 2016, 35(9): 133-136, 140.
[20] LI H H, ZHANG J, LUO Y Z. Spacecraft evasion strategy using active maneuvers based on maneuvering-target acceleration estimation[J]. Chinese Journal of Theoretical and Applied Mechanics, 2020, 52(6): 1560-1568 (in Chinese). 李皓皓, 张进, 罗亚中. 基于机动目标滤波估计的航天器主动规避策略[J]. 力学学报, 2020, 52(6): 1560-1568.
[21]
[22]
[23]
[24] LI Z Y, ZHU H, LUO Y Z. An escape strategy in orbital pursuit-evasion games with incomplete information[J]. Science China Technological Sciences, 2021, 64(3): 559-570.
[25] HUA W H, MENG Q L, ZHANG J P, et al. Differential game guidance law for dual and bounded controlled missiles[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(9): 1851-1856 (in Chinese). 花文华, 孟庆龄, 张金鹏, 等. 有界双重控制导弹微分对策制导律[J]. 北京航空航天大学学报, 2016, 42(9): 1851-1856.
[26] YANG M, ZHAO E J, CHAO T, et al. Cooperative estimation method for multiple flight vehicles based on consensus theory[J]. Journal of Chinese Inertial Technology, 2018, 26(2): 268-274 (in Chinese). 杨明, 赵恩娇, 晁涛, 等. 面向多飞行器的一致性协同估计方法[J]. 中国惯性技术学报, 2018, 26(2): 268-274.
[27] ZHAO E J, YANG M, CHAO T, et al. Cooperative interception for multiple flight vehicles with switching topologies[J]. Journal of Astronautics, 2019, 40(6): 646-654 (in Chinese). 赵恩娇, 杨明, 晁涛, 等. 通信拓扑切换下的多飞行器协同拦截方法[J]. 宇航学报, 2019, 40(6): 646-654.
[28] CHENG T, ZHAO H, DONG X F, et al. Differential game guidance law for integration of penetration and strike of multiple flight vehicles[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022,48(5): 898-909 (in Chinese). 程涛, 周浩, 董晓飞, 等. 多飞行器突防打击一体化微分对策制导律设计[J].北京航空航天大学学报, 2022,48(5): 898-909.
[29] SHAFERMAN V, SHIMA T. Cooperative differential games guidance laws for imposing a relative intercept angle[J]. Journal of Guidance, Control, and Dynamics, 2017, 40(10): 2465-2480.
[30]
[31] ZHOU H R. A "current" statistical model and adaptive tracking algorithm for maneuvering targets[J]. Acta Aeronautica et Astronautica Sinica, 1983, 4(1): 73-86 (in Chinese). 周宏仁. 机动目标"当前"统计模型与自适应跟踪算法[J]. 航空学报, 1983, 4(1): 73-86.
[32] MEHROTRA K, MAHAPATRA P R. A jerk model for tracking highly maneuvering targets[J]. IEEE Transactions on Aerospace and Electronic Systems, 1997, 33(4): 1094-1105.
[33]
[34]

E-mail：hkxb@buaa.edu.cn

关于我们

期刊社服务

专业学科

封面文章

友情链接

主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

不完全信息下基于微分对策的机动目标协同捕获

Cooperative capture of maneuvering targets with incomplete information based on differential game

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	于江龙, 董希旺, 李清东, 吕金虎, 任章. 拦截机动目标的分布式协同围捕制导方法[J]. 航空学报, 2022, 43(9): 325817-325817.
[2]	熊伟, 朱洪峰, 崔亚奇. 在线学习的循环自适应机动目标跟踪算法[J]. 航空学报, 2022, 43(5): 325250-325250.
[3]	王亚宁, 王辉, 林德福, 袁亦方. 基于虚拟视角约束的机动目标拦截制导方法[J]. 航空学报, 2022, 43(1): 324799-324799.
[4]	乔殿峰, 梁彦, 张会霞, 赵鹏蛟. 具有自动回溯的机动目标航迹精细化分段识别[J]. 航空学报, 2021, 42(4): 524744-524744.
[5]	王雨琪, 宁国栋, 王晓峰, 郝明瑞, 王江华. 基于微分对策的临近空间飞行器机动突防策略[J]. 航空学报, 2020, 41(S2): 724276-724276.
[6]	董晓飞, 任章, 池庆玺, 李清东. 有向拓扑条件下针对机动目标的分布式协同制导律设计[J]. 航空学报, 2020, 41(S1): 723762-723762.
[7]	肖惟, 于江龙, 董希旺, 李清东, 任章. 过载约束下的大机动目标协同拦截[J]. 航空学报, 2020, 41(S1): 723777-723777.
[8]	白志会, 黎克波, 苏文山, 陈磊. 现实真比例导引拦截任意机动目标捕获区域[J]. 航空学报, 2020, 41(8): 323947-323947.
[9]	党小为, 唐鹏, 孙洪强, 郑琛. 基于角加速度估计的非线性增量动态逆控制及试飞[J]. 航空学报, 2020, 41(4): 323534-323534.
[10]	张峰. 一种IRST双机协同被动探测机动目标定位新方法[J]. 航空学报, 2020, 41(2): 322988-322988.
[11]	刘冰雁, 叶雄兵, 高勇, 王新波, 倪蕾. 基于分支深度强化学习的非合作目标追逃博弈策略求解[J]. 航空学报, 2020, 41(10): 324040-324040.
[12]	王树亮, 毕大平, 阮怀林, 周阳. 基于视觉注意机制的认知雷达数据关联算法[J]. 航空学报, 2018, 39(6): 321828-321828.
[13]	李辕, 闫梁, 赵继广, 陈景鹏. 顺轨拦截模式剩余飞行时间估计方法[J]. 航空学报, 2015, 36(9): 3082-3091.
[14]	张翔宇, 王国宏, 李俊杰, 盛丹. 临近空间高超声速滑跃式轨迹目标跟踪技术[J]. 航空学报, 2015, 36(6): 1983-1994.
[15]	黄大荣, 郭新荣, 张磊, 邢孟道, 保铮. 稀疏孔径ISAR机动目标成像与相位补偿方法[J]. 航空学报, 2014, 35(7): 2019-2030.