终端航向角与时间约束的迭代再入制导方法

doi:10.12305/j.issn.1001-506X.2026.02.24

系统工程与电子技术 ›› 2026, Vol. 48 ›› Issue (2): 638-651.doi: 10.12305/j.issn.1001-506X.2026.02.24

终端航向角与时间约束的迭代再入制导方法

韩宛汝¹^,², 刘俊辉¹^,²^,*, 单家元¹^,², 王佳楠¹^,²

1. 北京理工大学宇航学院，北京 100081
2. 北京理工大学飞行器动力学与控制教育部重点实验室，北京 100081

收稿日期:2025-01-17 修回日期:2025-02-27 出版日期:2025-06-30 发布日期:2025-06-30
通讯作者: 刘俊辉
作者简介:韩宛汝（2001—），女，硕士研究生，主要研究方向为飞行器导航、制导与控制
单家元（1967—），男，教授，博士，主要研究方向为飞行器导航、制导与控制、系统仿真
王佳楠（1982—），男，教授，博士，主要研究方向为飞行器集群系统协同探测、制导与控制、群体智能与仿真
基金资助:
国家自然科学基金（62103049，62473043，62273043）；北京理工大学青年教师学术启动计划(XSQD-6120220106)资助课题

Iterative reentry guidance method with terminal heading angle and time constraints

Wanru HAN¹^,², Junhui LIU¹^,²^,*, Jiayuan SHAN¹^,², Jianan WANG¹^,²

1. School of Aerospace Engineering，Beijing Institute of Technology，Beijing 100081，China
2. Key Laboratory of Dynamic and Control of Flight Vehicle，Ministry of Education，Beijing Institute of Technology，Beijing 100081，China

Received:2025-01-17 Revised:2025-02-27 Online:2025-06-30 Published:2025-06-30
Contact: Junhui LIU

摘要/Abstract

摘要：

为满足高超声速飞行器中末交班的时间和终端航向角约束，提出一种攻角剖面修正与倾侧反转搜索的迭代再入制导方法。针对滑翔段的时间和航程约束，在纵向平面内设计基于再入走廊边界的双参数插值阻力加速度剖面。将航向角约束转化为侧向平面倾侧反转点的非线性优化问题，设计一种基于模拟退火-序列二次规划混合优化的倾侧反转搜索策略。进一步，为减弱纵向和侧向制导之间的耦合干扰误差，提出攻角剖面可实时修正的预测校正方法来提高制导精度。数值仿真实验验证了算法能严格满足飞行时间、航程、航向角等约束，且制导精度高，任务适应性强。Monte Carlo仿真进一步验证算法对初始状态偏差和过程扰动良好自适应性和鲁棒性。

关键词: 再入制导, 多约束制导, 侧向制导, 攻角剖面修正

Abstract:

An iterative reentry guidance method based on angle of attack profile correction and bank reversals search is proposed to meet constraints on the time and heading angle of the mid-terminal shift in hypersonic vehicle. To address the time and range constraints of the gliding phase, a dual-parameter drag acceleration profile with corridor-boundary interpolation is designed in the longitudinal-plane. The heading angle constraint is transformed into a nonlinear optimization problem of the lateral-plane bank angle reversal point, and a bank angle reversal search strategy based on simulated annealing-sequential quadratic programming （SA-SQP） hybrid optimization is developed. Furthermore, in order to reduce the coupling interference error between longitudinal and lateral guidance, a predictor-corrector method with real-time correction of the angle of attack profile is proposed to improve the guidance accuracy. Numerical simulation experiments verify that the algorithm can satisfy the constraints of flight time, range, heading angle, etc., and has high guidance accuracy and strong mission adaptability. Monte Carlo simulations further validate the adaptability and robustness of the method against initial state deviations and process disturbances.

Key words: reentry guidance, multi-constraint guidance, lateral guidance, angle of attack profile correction

中图分类号:

V 448.235

韩宛汝, 刘俊辉, 单家元, 王佳楠. 终端航向角与时间约束的迭代再入制导方法[J]. 系统工程与电子技术, 2026, 48(2): 638-651.

Wanru HAN, Junhui LIU, Jiayuan SHAN, Jianan WANG. Iterative reentry guidance method with terminal heading angle and time constraints[J]. Systems Engineering and Electronics, 2026, 48(2): 638-651.

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状态	参数	取值
初始状态	${h_0}$/km	45
	${v_0}$/（m/s）	5 200
	$ {\lambda _0} $/（°）	4
	${\phi _0}$/（°）	−4
	${\psi _0}$/（°）	30
终端状态	${h_{\text{f}}}$/km	26
	${v_{\text{f}}}$/（m/s）	2 000
	${\lambda _{\text{f}}}$/（°）	15
	${\phi _{\text{f}}}$/（°）	15

任务	${\lambda _0}$/（°）	${\phi _0}$/（°）	${\psi _0}$/（°）	${\psi _{\text{f}}}$/（°）	$s_{\text{f}}^*$/km	$t_{\text{f}}^*$/s
1	5	−3.2	30	25	2 326.1	622
2	−5	3	60	45	2 584.2	725
3	-8	25	−250	−255	2 667.1	765
4	8	38	−205	−220	2 673.2	751
5	−10	10	75	40	2 793.9	780
6	5	30	−210	−250	1 976.3	550

任务	$\Delta {h_{\text{f}}}$ /m	$ \Delta {v_{\text{f}}} $ /（m/s）	$\Delta {\psi _{\text{f}}}$ /（°）	$\Delta {s_{\text{f}}}$ /km	$\Delta {t_{\text{f}}}$ /s
1	590	−0.71	−0.11	1.74	1.8
2	355	−0.10	−0.93	2.43	2.1
3	−48	1.47	0.04	0.93	2.3
4	137	2.00	−1.04	0.91	2.8
5	−32	1.07	2.00	0.85	2.0
6	155	1.01	−1.80	0.84	0.9

调节系数	任务
调节系数	1	2	3	4	5	6
$ {k_1} $	0.636	0.057	0.000	0.107	0.142	0.663
$ {k_2} $	0.492	0.786	0.800	0.639	0.511	0.837

方法	$\Delta {h_{\text{f}}}$/m	$ \Delta {v_{\text{f}}} $/ （m/s）	$\Delta {\psi _{\text{f}}}$/ （°）	$\Delta {s_{\text{f}}}$/km	$\Delta {t_{\text{f}}}$/s
本文方法	590	−0.71	−0.11	1.74	1.8
对比方法	−75	−0.14	1.18	6.93	−1.3

终端航向角与时间约束的迭代再入制导方法

Iterative reentry guidance method with terminal heading angle and time constraints

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偏差参数	$h$/m	$v$/（m/s）	$\lambda $/（°）	$\phi $/（°）	$\gamma $/（°）	$\psi $/（°）
$3\sigma $	500	40	1	1	1	1

状态参数	$\Delta {h_{\text{f}}}$ /m	$ \Delta {v_{\text{f}}} $ /（m/s）	$\Delta {\psi _{\text{f}}}$/（°）	$\Delta {s_{\text{f}}}$ /km	$\Delta {t_{\text{f}}}$ /s
平均误差	502	0.13	1.04	2.65	2.08

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偏差参数	${C_D}$	${C_L}$	$\rho $
$3\sigma $	10	10	10