带视场约束的多飞行器协同导引律

针对带有视场约束的多飞行器协同攻击静止目标问题，提出一种分布式协同导引律。通过速度坐标系下交战运动方程，将非线性运动模型转换为2阶智能体模型、相应的视场约束转换为智能体类速度约束。结合速度约束一致性协议设计了一种到达时间协同导引律，实现了带视场约束条件下的多飞行器协同攻击。研究结果表明：提出的导引律克服了传统协同导引律存在数值奇点的问题，协同过程不需要进行导引律的切换。通过数值仿真和对比研究验证了所提导引律的有效性，并在测量噪声与通信延迟存在的情况下依然具有稳定的制导性能。

Cooperative Guidance Law of Multiple Aircrafts with Field-of-view Constraints

A distributed cooperative guidance law is proposed to solve the problem of multiple aircrafts cooperatively attacking a stationary target with field-of-view constraints. Firstly, the nonlinear motion model is transformed into a second-order agent model through the motion equations for engagement in the velocity coordinate system, and the field-of-view constraints are transformed into agent velocity constraints. Combined with the velocity constraint consistency protocol, an arrival time cooperative guidance law is designed to realize the cooperative attack of multiple aircrafts with field-of-view constraints. The proposed guidance law overcomes the problem of numerical singularities in the traditional cooperative guidance law, and there is no need to switch the guidance law in the cooperative process. Finally, through numerical simulation and comparative study, the effectiveness of the proposed guidance law is verified, which still has stable guidance performance in the presence of measurement noise and communication delay.