Cooperative Guidance & Control of Missiles Autonomous Formation

Cooperative Guidance & Control of Missiles Autonomous Formation

Sentang Wu Cooperative Guidance & Control of Missiles Autonomous Formation 123

Sentang Wu Beihang University Beijing, China ISBN 978-981-13-0952-6 ISBN 978-981-13-0953-3 (ebook) https://doi.org/10.1007/978-981-13-0953-3 Jointly published with National Defense Industry Press, Beijing, China The print edition is not for sale in China Mainland. Customers from China Mainland please order the print book from: National Defense Industry Press, Beijing. Library of Congress Control Number: 2018944346 Translation from the Chinese language edition: 导弹自主编队协同制导控制技术 by Sentang Wu, National Defense Industry Press 2015. All Rights Reserved. National Defense Industry Press, Beijing and Springer Nature Singapore Pte Ltd. 2019 This work is subject to copyright. All rights are reserved by the Publishers, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publishers, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publishers nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publishers remains neutral with regard to jurisdictional claims in published maps and institutional affiliations. Printed on acid-free paper This Springer imprint is published by the registered company Springer Nature Singapore Pte Ltd. The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore 189721, Singapore

Preface The monograph mainly illustrates the rationale, design, and technical realization/ verification for the Cooperative Guidance & Control System (CGCS) of Missiles Autonomous Formation (MAF). According to the structure of the seven functions and five major compositions of CGCS by the way of combining theory method and engineering practice, the book systematically explains the concepts and definitions of MAF, the structure and integrated approach of CGCS, information acquisition system(ias), decision and management system (DMS), flight control system of MAF (FCSM), member flight control system (MFCS), support networks system (SNS), simulation and verification for the CGCS, etc. In view of the demand for the autonomous formation of cruise missiles, and combining bionics theory and practical project, this book illustrates the research content on the basic theory, synthesis design method, technology implementation, and technical identification by use of figure and figure lines as well as the application of a large number of wind tunnel test data digital simulation analysis, hardware-in-the-loop (HIL) system simulation test, and embedded system test results. This book consists of eight chapters. Chapter 1 outlines the seven functions of CGCS and its structure which is made up of five major compositions. Chapter 2 offers the concepts and definitions of MAF and discusses the structure of CGCS and the five major compositions in a thorough way. Chapter 3 introduces information acquisition system (IAS) and discusses space-time registration and relative navigation and other related concepts. Chapter 4 explains decision and management system (DMS) and illustrates formation principles, combat effectiveness indication, task planning, weapon-target assignment, route planning, cooperative guidance, management of leaving and joining formation, etc. Chapter 5 is about formation generation and guidance methods, focusing on flight control under the framework of loose formation and dense formation. Chapter 6 pays special attention to member flight control system (MFCS), including its modeling and design for the system. Chapter 7 defines support networks system (SNS) of MAF and explains networks support protocols and other related concepts. Finally, Chapter 8, respectively, talks about mathematical simulation analysis for the CGCS, the system simulation and v

vi Preface test based on hardware-in-the-loop (HIL), the embedded platform for equivalent flight test verification of the CGCS. This monograph is well-suited to be read by the engineers working on design of guidance and control system, as well as to be referred by the undergraduate and graduate majoring in guidance, navigation, and control. It should prove useful for both undergraduate and graduate courses in control theory and engineering. The author wishes to acknowledge many helpful discussions with colleagues from Beihang University and University of Chinese Academy of Sciences, in particular with Mr. Zhongbo Wu and also with Ph.D. Xing Liu, Ph.D. Xiaomin Mu, Ph.D. Chen Peng, Ph.D. Jian Sun, Ph.D. Yang Du, Ph.D. Nanxi Hu, Ph.D. Xiang Jia, Ph.D. Xiaolong Wu, Mr. Da Cai, Yongming Wen, Zheng Yao, Wenlei Liu, and Ms. Hongbo Zhao. Special thanks are due to Ms. Jia Deng and associate professor Miao Zhang for many hours of proofreading. The author also wishes to acknowledge the support of National Defense Industry Press. Beijing, China Sentang Wu

Contents 1 Introduction... 1 1.1 Application Background and Significance... 1 1.2 Summary... 3 1.2.1 Wireless Mobile Ad Hoc Network [2]... 4 1.2.2 Tactical Data Link... 6 1.2.3 Dynamic Route Planning... 7 1.2.4 Dynamic Task Planning/Dynamic Target Assignment... 7 1.2.5 Formation Configuration Control... 9 1.2.6 Network Control System... 10 1.2.7 Summary of Technique Application... 13 1.3 Summary of the CGC-of-MAF [64]... 14 1.4 Major Contents... 16 2 Basis of Cooperative Guidance & Control (CGC)... 19 2.1 Basic Concepts and Definitions... 19 2.1.1 The Concept of Autonomy... 19 2.1.2 Basic Principle of Cooperativity... 22 2.1.3 Basic Concepts and Definitions of MAF... 23 2.1.4 Typical Flight Area of Winged Missiles Autonomous Formation... 47 2.2 Cooperative Guidance & Control System (CGCS)... 52 2.2.1 Architecture of CGCS... 52 2.2.2 Information Acquisition System (IAS)... 54 2.2.3 Decision and Management System (DMS)... 55 2.2.4 Flight Control System of MAF (FCSM)... 57 2.2.5 Member Flight Control System (MFCS)... 59 2.2.6 Support Networks System (SNS)... 59 2.2.7 Combat Effectiveness Assessment (CEA) of MAF... 60 vii

viii Contents 3 Information Acquisition System (IAS) of MAF... 63 3.1 Compositions of IAS... 63 3.1.1 Node Local Information... 63 3.1.2 Characteristic Information of SNS... 63 3.1.3 Task and Battlefield Information... 64 3.2 Time-Space Registration for IAS... 64 3.2.1 Task of Time-Space Registration... 65 3.2.2 Deviation Estimation and Compensation... 65 3.2.3 Space Registration Methods... 66 3.2.4 Assessment and Selection of Space Registration Methods... 69 3.2.5 Multi-sensors Time Registration... 70 3.2.6 Assessment and Selection of Multi-sensors Time Registration... 74 3.3 Relative Navigation of MAF... 74 3.3.1 Task of Relative Navigation... 74 3.3.2 Technical Requirements of Relative Navigation... 75 3.3.3 Relative Navigation Method Based on GPS... 76 3.4 Relative Velocity Algorithm Based on Carrier Phase Time Difference Observation... 81 4 Decision and Management System (DMS) of MAF... 89 4.1 Compositions of DMS... 89 4.2 Basic Principle of MAF... 90 4.3 Combat Effectiveness Indication of MAF... 90 4.3.1 Combat Effectiveness Indication of Missile Weapon System... 90 4.3.2 Combat Effectiveness Indication of Winged Missile... 95 4.4 Task Planning and Dynamic Weapon-Target Assignment... 97 4.4.1 Summary... 97 4.4.2 Mathematic Models for Task Planning... 98 4.4.3 Task Static Planning Method... 109 4.4.4 Task Dynamic Planning Method... 120 4.5 Cooperative Route Planning... 132 4.5.1 Route Planning Methods... 133 4.5.2 Cooperative Route Planning Methods... 141 4.5.3 Route Smoothing and Instruction Transformation for TF=TA 2... 150 4.6 Handover Guidance and Cooperative Guidance... 159 4.6.1 Design and Analysis of Guidance Handover Boundary... 159 4.6.2 Time Consistence of Distributed Cooperative Guidance... 164 4.6.3 Simulation of Cooperative Guidance... 177

Contents ix 4.7 Management of Leaving and Joining Formation... 186 4.7.1 Management Method of Leaving and Joining Formation... 187 4.7.2 Management Strategy of Leaving and Joining Formation... 189 4.7.3 Simulation for Management of Leaving and Joining Formation... 194 5 Flight Control System of MAF (FCSM)... 195 5.1 Compositions of FCSM... 195 5.2 Formation Generation and Guidance... 195 5.2.1 Flocking for Multi-agent Dynamic Systems... 196 5.2.2 Simulation for the Airbreathing Hypersonic Vehicles Formation... 201 5.3 Loose Formation Control... 204 5.3.1 Models of MAF... 208 5.3.2 MPC Controllers Design of MAF... 211 5.3.3 Simulation for MPC Controllers... 216 5.3.4 Avoidance Obstacles Control of MAF... 218 5.4 Dense Formation Control... 224 5.4.1 Analysis of Animal Groups Movement Behaviors... 226 5.4.2 Collision Avoidance Methods of FCSM... 228 5.4.3 Analysis of Collision Avoidance Problem of Dense Formation... 229 5.4.4 Light Passing Hypothesis for Collision Avoidance Mechanism... 233 5.4.5 LMPC Controllers of Dense Formation... 237 5.4.6 Collision Avoidance Simulation of LMPC Controllers of Dense Formation... 244 5.4.7 Formation Changing Methods... 247 5.4.8 Formation Turning Flight and Formation Split Methods... 254 6 Member Flight Control System (MFCS)... 261 6.1 Configuration Design of MFCS... 261 6.1.1 Compositions of MFCS... 261 6.1.2 Modeling and Design Methods for MFCS... 261 6.1.3 Network Control System Based on the Markov Jump Models... 264 6.1.4 Stability of Network Control System Based on the Markov Jump Models... 266 6.1.5 Robustness Design Methods for MFCS... 267

x Contents 6.2 The Example of Robustness Design for MFCS.... 270 6.2.1 Overlord Controller Design of the Missile... 271 6.2.2 Networked Flight Controller Design of the Missile... 274 7 Support Networks System (SNS) of MAF... 283 7.1 Foreword... 283 7.2 Support Networks System (SNS)... 284 7.2.1 Analysis of Support Networks... 284 7.2.2 Compositions of SNS... 286 7.3 Protocols for Support Networks System of MAF... 293 7.3.1 Concept of Support Protocols for SNS... 293 7.3.2 Communication Protocols Design of Support Networks... 295 7.3.3 Media Access Control (MAC) of STDMA... 302 7.3.4 Time Slot Allocation Protocols Based on STDMA... 303 7.3.5 Network Management Protocols Based on STDMA... 311 7.3.6 Distributed Redundant Cluster Heads Selection Protocol... 319 7.3.7 Distributed Border Decision Protocol... 321 8 Simulation and Verification for the CGCS... 331 8.1 Foreword... 331 8.2 Simulation and Verification for the CGCS... 332 8.2.1 Function Framework for the CGCS of IPCLab... 332 8.2.2 The Mathematical Simulation System for the CGCS of IPCLab... 332 8.2.3 The Simulation and Test System Based on HIL for the CGCS of IPCLab... 335 8.2.4 The Embedded Platform for Equivalent Flight Test Verification of the CGCS... 336 8.3 The Equivalent Flight Test Verification... 358 References... 361