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| 面向有限固定目标的多飞行器攻击时间与终端航向约束协同制导方法 |
| Cooperative Guidance for Multiple Vehicles Against Finite Fixed Targets with Impact-Time and Terminal-Heading Constraints |
| 投稿时间：2026-09-10 修订日期：2026-10-12 |
| DOI： |
| 中文关键词: 协同制导 多飞行器 跨目标攻击 统一攻击时间 终端航向角 有限时域跟踪 |
| English Keywords:cooperative guidance multiple vehicles fixed target impact-time constraint terminal heading finite-horizon tracking |
| 基金项目: |
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| 中文摘要: |
| 针对多飞行器攻击有限固定目标时统一攻击时间与终端航向角难以同时满足的问题，提出一种基于可行基准轨迹规划与有限时域跟踪的协同制导方法。在预设目标分配结果和统一绝对攻击时间约束下，首先，固定绝对攻击时间并采用路径分段建模，基于飞行器执行机构动态特性生成有限备选基准轨迹，按终端航向包络储备优先、目标前方距离约束和机动方向切换次数较少原则筛选基准轨迹；随后采用时间归一化四状态有限时域（Time-Varying Linear Quadratic Regulator, TVLQR）控制飞行器实现实飞轨迹的闭环跟踪，以有界参考进度补偿修正持续速度亏损。仿真结果表明：在6架飞行器攻击3个固定目标的48项确定性任务矩阵仿真，全部通过设定指标要求，多飞行器跨目标最大攻击时间差、最大绝对攻击时间误差和终端航向角误差分别为24.659 ms、30.522 ms、4.683°；标称参数域内100项随机仿真任务通过98项。与基于改进的模型预测静态规划的制导方法（Modified Model Predictive Static Programming, MPSP-U）相比，在执行机构动态特性一致的前提下，本文所提方法在保持攻击时间与终端航向约束的同时，途中飞行轨迹满足65°航向包络。结果表明，本文所提方法能够在设定的二维空间仿真包络内，满足跨目标统一攻击时间与终端航向角约束。 |
| English Summary: |
| To address the difficulty of simultaneously satisfying unified impact time and terminal heading angle constraints when multiple vehicles attack a limited number of fixed targets, a cooperative guidance method based on feasible baseline trajectory planning and finite-horizon tracking is proposed. With predetermined target assignment and a unified absolute impact time constraint, the absolute impact time is first fixed and the path is modeled in segments. A finite set of candidate baseline trajectories is generated based on the actuator dynamics of the vehicles, and the baseline trajectory is selected according to the principles of prioritizing terminal heading envelope margin, satisfying the forward-distance constraint in front of the target, and having fewer maneuvering direction switches. Subsequently, a time-normalized four-state finite-horizon time-varying linear quadratic regulator (Time-Varying Linear Quadratic Regulator, TVLQR) is employed to achieve closed-loop tracking of the actual flight trajectory, and a bounded reference progress compensation term is used to correct persistent speed deficits. Simulation results show that in 48 deterministic mission-matrix simulations involving 6 vehicles attacking 3 fixed targets, all passed the prescribed performance criteria. The maximum inter-target impact time difference, maximum absolute impact time error, and terminal heading angle error are 24.659 ms, 30.522 ms, and 4.683°, respectively. Among 100 random simulation missions within the nominal parameter envelope, 98 passed. Compared with the modified model predictive static programming (Modified Model Predictive Static Programming, MPSP-U) guidance method, under identical actuator dynamics, the proposed method maintains the impact time and terminal heading constraints while ensuring that the en-route flight trajectories satisfy a 65° heading envelope. The results indicate that the proposed method can satisfy the unified impact time across targets and the terminal heading angle constraints within the prescribed two-dimensional simulation envelope. |
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