可变时间下的GS-MPSP协同弹道规划算法

doi:10.12305/j.issn.1001-506X.2026.04.26

摘要/Abstract

摘要：

针对中制导协同弹道规划问题，提出一种可变时间下广义逆谱模型预测静态规划的协同弹道规划算法。首先，该算法利用Legendre伪谱法实现了权重矩阵的解算。然后，在连续积分形式下，考虑过程约束及末端时间可变性，建立了综合性能函数，推导更新显示表达式，降低了离散点的个数，提高了求解效率，同时保持了经典模型预测静态规划方法的求解精度。最后，采用分布式协同弹道规划策略完成了可变时间下的多飞行器协同弹道规划。仿真表明，与现有文献中的常见方法及策略相比，所提出算法更好地解决多约束条件下的协同规划问题，具备更高计算效率和精度。

关键词: 中制导, 模型预测静态规划, 可变时间, 协同规划, 协同策略

Abstract:

Aiming at the problem of collaborative trajectory planning in midcourse, a collaborative trajectory planning algorithm based on generalized quasi-spectral model predictive static planning guidance under variable time is proposed. Firstly, the algorithm employs the Legendre pseudospectral method to solve the weight matrix. Secondly, under the continuous integral form, it establishes a comprehensive performance function with the explicit expression by considering both process constraints and variable terminal time, which reduces the number of discrete points, improves the computational efficiency and maintaines the solution accuracy of the classical model predictive static planning method. Finally, the distributed collaborative trajectory planning strategy is applied to the variable time multi-vehicle collaborative trajectory planning. Simulations show that the proposed method demonstrates high computational efficiency, and high accuracy by comparing with common methods and strategies in existing literature to solve the collaborative planning problem under multiple constraints.

Key words: midcourse guidance, model predictive static planning, variable time, collaborative planning, collaborative strategy

中图分类号:

TP 301

郭建国, 许新鹏, 廖晶. 可变时间下的GS-MPSP协同弹道规划算法[J]. 系统工程与电子技术, 2026, 48(4): 1378-1385.

Jianguo GUO, Xinpeng XU, Jing LIAO. Variable time GS-MPSP collaborative trajectory planning algorithm[J]. Systems Engineering and Electronics, 2026, 48(4): 1378-1385.

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飞行器	位置/km	弹道倾角/（°）	弹道偏角/（°）	速度/（m/s）
飞行器1	（0,20,0）	0	0	2600
飞行器2	（10,20,1）	0	0	2600
飞行器3	（−10,20,−1）	0	0	2600

飞行器	位置/km	弹道倾角/（°）	弹道偏角/（°）
飞行器1	（295,40,16）	0	0
飞行器2	（300,40,16）	0	0
飞行器3	（305,40,16）	0	0

参数	热流密度/（MW/m²）	动压/kPa	过载/g	安全距离/m
取值	3 000	300	5	3 000

方法	时间误差/s	位置误差/m	消耗时间/s
改进MPSP	0.84	1260	4
GPM	1.25	2740	10.4
IDVD	0.033	100	16.5

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