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Evasion and pursuit guidance law against defended target

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Chinese Journal of Aeronautics 2017年第6期30卷 1958-1973页

作者： naiming qi qilong SUN Jun ZHAO Department of Aerospace Engineering Harbin Institute of Technology 150001 Harbin Heilongjiang China

This paper investigates a new approach for a scenario in which an Attacker attempts to intercept a defended aerial Target. The problem is formulated as a game among three players, an Attacker, a Defender, and a Target, with bounded controls. In the considered pursuit–evasion problem, the Target uses an optimal evasion strategy and the Defender uses an optimal pursuit *** proposed approach focuses on the miss distance as the outcome of the conflict. The infeasible region for the initial Zero-Effort-Miss（ZEM） distance between the Attacker and the Defender, for a scenario in which the Attacker evades the Defender, is analyzed, assuming that the Attacker uses a control effort chosen from the permitted control region. The sufficient conditions are investigated under which, for ideal players, the Attacker can pursue the Target while evading the Defender launched by the Target. The guidance provided on how the Attacker can accomplish the task is divided into two parts. During the final time between the Attacker and the Defender, the Attacker chooses the control effort that guarantees the miss distance, and then uses the optimal pursuit strategy to accomplish the task. The derived guidance law is verified by nonlinear simulation.

关键词： Evasion Pursuit Three players Two parts guidance lawZero-effort-miss

Linear Quadratic Differential Game Strategies with Two-pursuit Versus Single-evader

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Chinese Journal of Aeronautics 2012年第6期25卷 896-905页

作者： LIU Yanfang qi naiming TANG Zhiwei School of Astronautics Harbin Institute of Technology Harbin 150001 China

In order to intercept the future targets that are characterized by high maneuverability, multiple interceptors may be launched and aimed at single target. The scenario of two missiles P and Q intercepting a single target is modeled as a two-pursuit single-evader non-zero-sum linear quadratic differential game. The intercept space is decomposed into three subspaces which are mutually disjoint and their union covers the entire intercept space. The effect of adding the second interceptor arises in the intercept space of both P and Q （PQ-intercept space）. A guidance law is derived from the Nash equilibrium strategy set （NESS） of the game. Simulation studies are focused on the PQ-intercept space. It is indicated that 1） increasing the target＇s maneuverability will enlarge PQ-intercept space; 2） the handover conditions will be released if the initial zero-effort-miss （ZEM） of both interceptors has opposite sign; 3） overvaluation of the target＇s maneuverability by choosing a small weight coefficient will generate robust performance with respect to the target maneuvering command switch time and decrease the fuel requirement; and 4） cooperation between interceptors increases the interception probability.

关键词： missile linear quadratic differential games two-pursuit single-evader interception guidance

Modeling of disturbance torque in an aerostatic bearings-based nano-satellite simulator

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Journal of Systems Engineering and Electronics 2018年第3期29卷 618-624页

作者： LIU Yanfang HUO Mingying qi naiming Department of Aerospace Engineering Harbin Institute of Technology

The disturbance torque of aerostatic bearings is in the same order of the reaction wheel, which causes difficulty in evaluation of the designed attitude control strategy of a nano-satellite based on the aerostatic bearing. Two approaches are proposed to model the disturbance torque. Firstly, the gravity induced moment,the vortex torque, and the damping moment are modeled separately. However, the vortex torque and the damping moment are coupled with each other as both of them are caused by the viscosity. In the second approach, the coupling effect is considered. A nano-satellite is constructed based on aerostatic bearing. The time history of the free rotation rate from an initial speed is measured by the gyro, which is further used to calculate the rotation angle and acceleration. The static vortex torque is measured via the removable micro-torque measurement system. Based on these data, the model parameters are identified and modeling errors are presented. Results show that the second model is more *** root mean squire error is less than 0.5×10^（-4） N·m and the relative error of the static vortex torque is 0.16%.

关键词： aerostatic bearing disturbance torque vortex torque spacecraft simulator modeling and identification

Capture condition for endo-atmospheric interceptors steered by ALCS and ARCS

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Control Theory and Technology 2014年第1期12卷 56-67页

作者： Yanfang LIU naiming qi Tianye WANG Department of Aerospace Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China Department of Earth and Space Science and Engineering York University Toronto Canada

This contribution deals with capture condition for interceptor missiles steered by aero-lift control system （ALCS） and attitude reaction-jet control system （ARCS）. With the guidance law derived from bounded differential game formulation, existence condition of capture zone is studied for the case that the interceptor has advantage on maneuverability and disadvantage on agility. For the existence of the open capture zone, ARCS can only close after the engagement terminates. Moreover, ARCS also needs to contribute to maneuverability over the minimum required value. More fuel will be required if ARCS increases its contribution to maneuverability. The minimum required fuel occurs at the tangent point of two curves： the curve of critical parameters and a candidate constraint curve, which is also true even for the complex propellant constrain. The validity of these results is also demonstrated by simulations.

关键词： Capture condition Differential game Guidance law Interceptor missile Dual contro

Differential game strategy in three-player evasion and pursuit scenarios

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Journal of Systems Engineering and Electronics 2018年第2期29卷 352-366页

作者： SUN qilong qi naiming XIAO Longxu LIN Haiqi Department of Aerospace Engineering Harbin Institute of TechnologyHarbin 150001China The Rocket Force Equipment Academy Beijing 100096China

A conflict of three players, including an attacker, a defender, and a target with bounded control is discussed based on the differential game theories in which the target and the defender use an optimal pursuit strategy. The current approach chooses the miss distance as the outcome of the conflict. Different optimal guidance laws are investigated, and feasible conditions are analyzed for the attacker to accomplish an attacking task. For some given conditions, the attacker cannot intercept the target by only using a one-to-one optimal pursuit guidance law; thus, a guidance law for the attacker to reach a critical safe value is ***, the guidance law is divided into two parts. Before the engagement time between the defender and the attacker, the attacker uses this derived guidance law to guarantee that the evasion distance from the defender is safe, and that the zero-effort-miss(ZEM) distance between the attacker and the target is the *** that engagement time, the attacker uses the optimal one-toone guidance law to accomplish the pursuit task. The advantages and limited conditions of these derived guidance laws are also investigated by using nonlinear simulations.

关键词： three players differential game theory zero-effort-miss(ZEM) distance guidance law

ANALYSIS OF METHOD FOR DETERMINING AZIMUTH OF PRINCIPAL AXIS OF INERTIA BASED ON DYNAMIC BALANCE MEASUREMENT

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Chinese Journal of Mechanical Engineering 2006年第4期19卷 530-533页

作者： ZHAO Jun GUAN Yingzi qi naiming College of Astronautics Harbin Institute of Technology Harbin 150001 China

The dynamic balance quality of a rotating object is an important factor to maintain the stability and accuracy for motion. The azimuth of the principal axis of inertia is a major sign of dynamic balance. A usual method is measuring moment of inertia matrix relative to some base coordinates on a rotary inertia machine so as to calculate the azimuth of principal axis of inertia, By using the measured unbalance results on the two trimmed planes on a vertical hard bearing double-plane dynamic balancing machine, the dimension and direction of couple unbalance can be found. An azimuth angle formula for the principal axis of inertia is derived and is solved by using unbalance quantities. The experiments indicate that method based on dynamic balancing measurement is proved rational and effective and has a fine precision.

关键词： Dynamic balance machine Principal axis of inertia Azimuth

Fast cooperative trajectory optimization and test verification for close-range satellite formation using Finite Fourier Series method

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Chinese Journal of Aeronautics 2020年第8期33卷 2224-2229页

作者： Mingying HUO Zichen FAN naiming qi Zhiguo SONG Xin SHI School of Astronautics Harbin Institute of TechnologyHarbin 150001China China Academy of Launch Vehicle Technology Beijing 100076China

The process of formation reconfiguration for close-range satellite formation should take into account the risk of collisions between *** this end,this paper presents a method to rapidly generate low-thrust collision-avoidance trajectories in the formation reconfiguration using Finite Fourier Series(FFS).The FFS method can rapidly generate the collision-avoidance threedimensional *** results obtained by the FFS method are used as an initial guess in the Gauss Pseudospectral Method(GPM)solver to verify the applicability of the *** with the GPM method,the FFS method needs very little computing time to obtain the results with very little difference in performance *** verify the effectiveness,the proposed method is tested and validated by a formation control *** satellite simulators in the testbed are used to simulate two-dimensional satellite formation *** simulation and experimental results show that the FFS method can rapidly generate trajectories and effectively reduce the risk of collision between *** fast trajectory generation method has great significance for on-line,constantly satellite formation reconfiguration.

关键词： Collision-avoidance Finite Fourier Series(FFS) Satellite formation reconfiguration Satellite simulators Shape-Based(SB)method

Feature-aided pose estimation approach based on variational auto-encoder structure for spacecrafts

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Chinese Journal of Aeronautics 2024年第8期37卷 329-341页

作者： Yanfang LIU Rui ZHOU Desong DU Shuqing CAO naiming qi Department of Aerospace Engineering Harbin Institute of TechnologyHarbin 150001China Suzhou Research Institute of HIT Suzhou 215104China Shanghai Institute of Spaceflight Control Technology Shanghai 201109China Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai 201109China

Real-time 6 Degree-of-Freedom(DoF)pose estimation is of paramount importance for various on-orbit *** from the development of deep learning,Convolutional Neural Networks(CNNs)in feature extraction has yielded impressive achievements for spacecraft pose *** improve the robustness and interpretability of CNNs,this paper proposes a Pose Estimation approach based on Variational Auto-Encoder structure(PE-VAE)and a Feature-Aided pose estimation approach based on Variational Auto-Encoder structure(FA-VAE),which aim to accurately estimate the 6 DoF pose of a target *** methods treat the pose vector as latent variables,employing an encoder-decoder network with a Variational Auto-Encoder(VAE)*** enhance the precision of pose estimation,PE-VAE uses the VAE structure to introduce reconstruction mechanism with the whole ***,FA-VAE enforces feature shape constraints by exclusively reconstructing the segment of the target spacecraft with the desired *** evaluation against leading methods on public datasets reveals similar accuracy with a threefold improvement in processing speed,showcasing the significant contribution of VAE structures to accuracy enhancement,and the additional benefit of incorporating global shape prior features.

关键词： Pose estimation Variational auto-encoder Feature-aided Pose Estimation Approach On-orbit measurement tasks Simulated and experimental dataset

Guidance laws for attacking defended target

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Chinese Journal of Aeronautics 2019年第10期32卷 2337-2353页

作者： qilong SUN Chenfeng ZHANG Ning LIU Weixue ZHOU naiming qi Beijing Institute of Space Long March Vehicle Beijing 100076China Department of Aerospace Engineering Harbin Institute of TechnologyHarbin 150001China

In this paper,two new guidance laws based on differential game theory are proposed and investigated for the attacker in an attacker-defender-target *** conditions for the attacker winning the game are analyzed when the target and defender using the differential game guidance law based on the linear *** core ideas underlying the two guidance laws are the attacker evading to a critical safe boundary from the defender,and then maintaining a critical miss *** guidance law more appropriate for the attacker to win the game differs according to the initial *** other guidance laws,when using the derived guidance laws there is no need to know the target and the defender’s control *** results of numerical simulations show that the attacker can evade the defender and hit the target successfully by using the proposed derived guidance laws.

关键词： Attacking Control effort Differential game theory Guidance law Miss distance