为了满足中近程导弹适用范围广、精度高的作战任务需求,文中设计了一种在线弹道规划方法。该方法对离线设计的大量弹道进行网格化,并通过树形结构进行存储,以减少存储时占用的空间。在线应用时,采用分段多项式对网格化弹道进行还原,分段多项式的系数通过建立并求解二次规划问题获取,得到控制指令的初值。进一步,利用控制指令对弹道进行积分运算,预测轨迹终点,并根据终点与目标点的误差,建立二次规划问题对控制指令的修正量进行求解。利用MATLAB对该方法进行仿真验证,结果表明该方法能够在较短的时间内完成弹道的优化,得到平滑、连续且满足各种约束条件的弹道。

To meet the demand of combat missions of medium and short range missiles, which are required to be applied in wide environments with high accuracy, an online trajectory planning method for missile is designed. This method girds a large number of trajectories which are designed offline, and uses tree-like structure to store trajectories, to reduce the space occupied for storage. In online application, Piecewise polynomial is used to restore gridded trajectories, the parameters of which are acquired by building and solving QP problem, to get the initial values of control instructions. Furthermore, control instructions are used for the integration calculation of the trajectory to predict the end point of the trajectory, and another QP problem is set up according to the error between the end point and the target, to solve the adjustments of control instructions. The method is simulated and tested on MATLAB, and the results indicate that the method can complete the optimization of a trajectory in a short time, while the trajectory is smooth, continuous and meets all restraint conditions.