CN116255874A - Method and system for precise missile guidance - Google Patents

Abstract

The present invention is applicable to the technical field of missile guidance, and provides a precise guidance method and system for missiles, comprising the following steps: obtaining theoretical flight routes and target position points; detecting the three-dimensional coordinates of missiles in real time, obtaining actual flight routes, and setting interval values Determine the thrust direction of the engine and the deflection angle of the rudder surface according to the actual flight route and the theoretical flight route; determine the position of the missile, and when the distance between the missile position and the target position point is less than the set distance value, the After the deflection angle is changed, calculate the predicted flight path; determine the prediction error between the predicted flight path and the target position point, and when the prediction error is within the set miss distance, no longer adjust the flight path; otherwise, continue to adjust the engine thrust direction and the deflection angle of the rudder surface until the guidance accuracy reaches the standard. In this way, even if the thrust direction of the engine and the deflection angle of the rudder surface cannot be adjusted in real time, the guidance accuracy of the missile can be guaranteed.

Description

Method and system for precise missile guidance

technical field

The invention relates to the technical field of missile guidance, in particular to a missile precision guidance method and system.

Background technique

The missile guidance system is a system that guides and controls the missile to adjust the flight path and guide the target according to the selected law. Its function is to measure and calculate the difference between the actual flight path and the theoretical flight path of the missile, and then adjust the engine thrust direction or rudder surface of the missile. The deflection angle is to control the flight path of the missile to approach or hit the target with an allowable error. Since the thrust direction of the engine and the deflection angle of the rudder surface will not be actively adjusted in real time, and the flight disturbance factors are constantly changing, it affects the missile guidance accuracy. Therefore, it is necessary to provide a missile precision guidance method and system aimed at solving the above problems.

Contents of the invention

Aiming at the deficiencies in the prior art, the purpose of the present invention is to provide a missile precision guidance method and system to solve the problems in the above-mentioned background technology.

The present invention is achieved like this, a kind of guided missile precise guidance method, described method comprises the following steps:

Obtain the theoretical flight route and target location point;

Detect the three-dimensional coordinates of the missile in real time to obtain the actual flight route, and determine the thrust direction of the engine and the deflection angle of the rudder surface according to the actual flight route and the theoretical flight route at every set interval value, so that the actual flight route is close to the theoretical flight route;

Determine the position of the missile. When the distance between the position of the missile and the target point is less than the set distance value, the predicted flight path is calculated after each change of the thrust direction of the engine and the deflection angle of the rudder surface;

Determine the prediction error between the predicted flight path and the target position point, and when the prediction error is within the set miss distance, no longer adjust the flight path; otherwise, continue to adjust the engine thrust direction and rudder surface deflection angle.

As a further solution of the present invention: the step of detecting the three-dimensional coordinates of the missile in real time and obtaining the actual flight route specifically includes:

Determine the three-dimensional coordinates of the missile according to the built-in satellite positioning system and altitude sensor in the missile;

Carry out path curve simulation on all determined three-dimensional coordinates of the missile to determine the actual flight route.

As a further solution of the present invention: the step of determining the thrust direction of the engine and the deflection angle of the rudder surface according to the actual flight path and the theoretical flight path specifically includes:

determining the flight disturbance information according to the actual flight route and the theoretical flight route, the flight disturbance information including the disturbance force and the disturbance direction;

Determine the current three-dimensional coordinates, flight direction, flight speed and missile weight of the missile, generate a new theoretical flight route based on the target position and flight interference information, and replace the original theoretical flight route with the new theoretical flight route;

Determine the thrust direction of the engine and the deflection angle of the rudder surface according to the new theoretical flight path.

As a further solution of the present invention: the step of determining the flight interference information according to the actual flight route and the theoretical flight route specifically includes:

Determine the current three-dimensional coordinates, flight direction, flight speed and flight time of the actual flight route, the actual flight route and the theoretical flight route are the functional relationship between the three-dimensional coordinates and the flight time, and each flight time is marked with the flight direction and flight speed;

According to the flight time, the three-dimensional coordinates, flight direction and flight speed of the theoretical flight route at the corresponding time are retrieved;

Determine the interference force and interference direction according to the actual three-dimensional coordinates, actual flight direction, actual flight speed, theoretical three-dimensional coordinates, theoretical flight direction, theoretical flight speed and missile weight, and integrate the interference force and interference direction to form flight interference information.

As a further solution of the present invention: after each engine thrust direction and rudder surface deflection angle are changed, the step of calculating and obtaining the predicted flight path specifically includes:

After each engine thrust direction and rudder surface deflection angle change, determine the three-dimensional coordinates of several missiles;

A fitting function is obtained by fitting the three-dimensional coordinates of several missiles by the method of least squares;

A predicted flight route is obtained according to the fitting function, and the predicted flight route is continuously extended.

Another object of the present invention is to provide a missile precision guidance system, said system comprising:

Target determination module, used to obtain theoretical flight path and target location point;

The path adjustment module is used to detect the three-dimensional coordinates of the missile in real time, obtain the actual flight path, and determine the thrust direction of the engine and the deflection angle of the rudder surface according to the actual flight path and the theoretical flight path at every set interval value, so that the actual flight path approaches the theoretical flight path;

The predictive flight module is used to determine the position of the missile. When the distance between the missile position and the target position point is less than the set distance value, the predicted flight route is calculated and obtained after each engine thrust direction and rudder surface deflection angle are changed;

The guidance determination module is used to determine the prediction error between the predicted flight route and the target position point. When the prediction error is within the set miss distance, the flight route is no longer adjusted; otherwise, the engine thrust direction and rudder surface deflection angle are continued to be adjusted .

As a further solution of the present invention: the path adjustment module includes:

The three-dimensional coordinate determination unit is used to determine the three-dimensional coordinates of the missile according to the built-in satellite positioning system and altitude sensor in the missile;

The actual flight route unit is used to perform path curve simulation on all determined three-dimensional coordinates of the missile to determine the actual flight route.

As a further solution of the present invention: the path adjustment module also includes:

a flight interference determining unit, configured to determine flight interference information according to an actual flight route and a theoretical flight route, the flight interference information including interference force and interference direction;

The theoretical flight route reset unit is used to determine the current three-dimensional coordinates, flight direction, flight speed and missile weight of the missile, and generate a new theoretical flight route according to the target position point and flight interference information, and replace the original theoretical flight route with the new theoretical flight route flight path;

The missile path adjustment unit is used to determine the thrust direction of the engine and the deflection angle of the rudder surface according to the new theoretical flight path.

As a further solution of the present invention: the flight interference determination unit includes:

The actual flight determination subunit is used to determine the current three-dimensional coordinates, flight direction, flight speed and flight time of the actual flight route. The actual flight route and the theoretical flight route are all functional relationships between the three-dimensional coordinates and the flight time, and each Each flight time is marked with flight direction and flight speed;

The theoretical flight retrieval subunit is used to retrieve the three-dimensional coordinates, flight direction and flight speed of the theoretical flight route at the corresponding time according to the flight time;

The flight interference determination subunit is used to determine the interference force and interference direction according to the actual three-dimensional coordinates, actual flight direction, actual flight speed, theoretical three-dimensional coordinates, theoretical flight direction, theoretical flight speed and missile weight. The force and disturbance direction are integrated to form flight disturbance information.

As a further solution of the present invention: the predicted flight module includes:

The three-dimensional coordinate acquisition unit is used to determine the three-dimensional coordinates of several missiles after each engine thrust direction and rudder surface deflection angle are changed;

A fitting function determining unit is used for fitting the three-dimensional coordinates of several missiles using the least square method to obtain a fitting function;

The predicted flight route unit is used to obtain the predicted flight route according to the fitting function, and the predicted flight route is continuously extended.

Compared with prior art, the beneficial effect of the present invention is:

The present invention detects the three-dimensional coordinates of the missile in real time, obtains the actual flight route, and determines the thrust direction of the engine and the deflection angle of the rudder surface according to the actual flight route and the theoretical flight route at every set interval value, so that the actual flight route approaches the theoretical flight route; Judgment, when the distance between the missile position and the target position point is less than the set distance value, after each engine thrust direction and rudder surface deflection angle change, the predicted flight route is calculated; determine the distance between the predicted flight route and the target position point Prediction error, when the prediction error is within the set miss distance, no longer adjust the flight route; otherwise, continue to adjust the engine thrust direction and rudder surface deflection angle until the guidance accuracy reaches the standard, so that even if the engine thrust direction and rudder surface deflection angle It cannot be adjusted in real time, and the guidance accuracy of the missile can also be guaranteed.

Description of drawings

Figure 1 is a flow chart of a missile precision guidance method.

Fig. 2 is a flow chart of real-time detection of three-dimensional coordinates of missiles and obtaining actual flight routes in a missile precision guidance method.

Fig. 3 is a flow chart of determining the thrust direction of the engine and the deflection angle of the rudder surface according to the actual flight path and the theoretical flight path in a missile precision guidance method.

Fig. 4 is a flow chart of determining flight interference information according to the actual flight path and the theoretical flight path in a missile precision guidance method.

Fig. 5 is a flow chart of calculating and obtaining the predicted flight path after each engine thrust direction and rudder surface deflection angle are changed in a missile precision guidance method.

Fig. 6 is a structural schematic diagram of a missile precision guidance system.

Fig. 7 is a structural schematic diagram of a path adjustment module in a missile precision guidance system.

Fig. 8 is a schematic structural diagram of a flight interference determination unit in a missile precision guidance system.

Fig. 9 is a structural schematic diagram of a predictive flight module in a missile precision guidance system.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

The specific implementation of the present invention will be described in detail below in conjunction with specific embodiments.

As shown in Fig. 1, the embodiment of the present invention provides a kind of missile precision guidance method, and described method comprises the following steps:

S100, acquiring a theoretical flight route and a target location point;

S200, detecting the three-dimensional coordinates of the missile in real time, obtaining the actual flight path, and determining the thrust direction of the engine and the deflection angle of the rudder surface according to the actual flight path and the theoretical flight path at every set interval value, so that the actual flight path approaches the theoretical flight path;

S300, judging the position of the missile, when the distance between the position of the missile and the target position point is less than the set distance value, after each change of the thrust direction of the engine and the deflection angle of the rudder surface, calculate and obtain the predicted flight route;

S400. Determine the prediction error between the predicted flight route and the target position point. When the prediction error is within the set miss distance, no longer adjust the flight route; otherwise, continue to adjust the thrust direction of the engine and the deflection angle of the rudder surface.

It should be noted that the missile guidance system is a system that guides and controls the missile to adjust the flight path and guide the target according to the selected law. Its function is to measure and calculate the difference between the actual flight path and the theoretical flight path of the missile, and then adjust the engine of the missile. The thrust direction or rudder surface deflection angle controls the flight path of the missile to approach or hit the target with an allowable error. Since the engine thrust direction and rudder surface deflection angle will not be actively adjusted in real time, and the flight disturbance factors are constantly changing, it affects Missile guidance accuracy.

In the embodiment of the present invention, it is first necessary to determine the theoretical flight route according to the characteristics of the missile and the target position point. After the missile is launched, the actual three-dimensional coordinates of the missile need to be detected in real time, and then the actual flight route can be obtained. The flight path and the theoretical flight path determine the engine thrust direction and the deflection angle of the rudder surface, so that the actual flight path approaches the theoretical flight path. In addition, the embodiment of the present invention will also determine the position of the missile. When the distance between the missile position and the target position point When it is less than the set distance value, the set distance value is a fixed value set in advance. After each engine thrust direction and rudder surface deflection angle change, the predicted flight path will be calculated and the predicted flight path and target position point will be determined. The prediction error between , the prediction error is the shortest distance between the target position point and the predicted flight route, when the prediction error is within the set miss distance, it means that the guidance accuracy is up to standard, and the flight route will not be adjusted; otherwise, continue to adjust the engine The thrust direction and rudder surface deflection angle until the guidance accuracy reaches the standard, so that even if the engine thrust direction and rudder surface deflection angle cannot be adjusted in real time, the guidance accuracy of the missile can be guaranteed.

As shown in Figure 2, as a preferred embodiment of the present invention, the step of detecting the three-dimensional coordinates of the missile in real time and obtaining the actual flight path specifically includes:

S201, determining the three-dimensional coordinates of the missile according to the built-in satellite positioning system and height sensor in the missile;

S202, performing path curve simulation on all determined three-dimensional coordinates of the missile to determine an actual flight path.

In the embodiment of the present invention, a satellite positioning system and a height sensor are built in the missile, the plane coordinates can be obtained through the satellite positioning system, the vertical coordinates can be obtained through the height sensor, and then the three-dimensional coordinates of the missile are obtained; then all determined three-dimensional coordinates of the missile are carried out The path curve simulation can determine the actual flight route.

As shown in Figure 3, as a preferred embodiment of the present invention, the step of determining the thrust direction of the engine and the deflection angle of the rudder surface according to the actual flight path and the theoretical flight path specifically includes:

S203. Determine flight interference information according to the actual flight route and the theoretical flight route, where the flight interference information includes interference force and interference direction;

S204, determine the current three-dimensional coordinates, flight direction, flight speed and missile weight of the missile, generate a new theoretical flight route according to the target position point and flight interference information, and replace the original theoretical flight route with the new theoretical flight route;

S205. Determine the thrust direction of the engine and the deflection angle of the rudder surface according to the new theoretical flight route.

In the embodiment of the present invention, the flight interference information will be automatically determined according to the actual flight route and the theoretical flight route. The flight interference information specifically includes the interference force and the interference direction, and then the current three-dimensional coordinates, flight direction, flight speed and missile weight of the missile are determined. , and combined with the target position and flight disturbance information, a new theoretical flight path can be generated, and the new theoretical flight path can be used to replace the original theoretical flight path. The new theoretical flight path takes into account the role of flight disturbance information and is more accurate. Determine the thrust direction of the engine and the deflection angle of the rudder surface according to the new theoretical flight path. In addition, both the theoretical flight route and the actual flight route are constantly updated, and the flight disturbance information will also be updated accordingly, so that the determined engine thrust direction and rudder surface deflection angle are more accurate.

As shown in Figure 4, as a preferred embodiment of the present invention, the step of determining the flight interference information according to the actual flight route and the theoretical flight route specifically includes:

S2031, determine the current three-dimensional coordinates, flight direction, flight speed and flight time of the actual flight route, the actual flight route and the theoretical flight route are both the functional relationship between the three-dimensional coordinates and the flight time, and each flight time is marked with flight direction and flight speed;

S2032. Retrieving the three-dimensional coordinates, flight direction and flight speed of the theoretical flight route at the corresponding time according to the flight time;

S2033, determine the interference force and interference direction according to the actual three-dimensional coordinates, actual flight direction, actual flight speed, theoretical three-dimensional coordinates, theoretical flight direction, theoretical flight speed, and missile weight, and integrate the interference force and interference direction to form Flight interference information.

In the embodiment of the present invention, in order to determine the flight interference information, it is necessary to obtain the current three-dimensional coordinates, flight direction, flight speed and flight time of the actual flight route. It should be noted that the actual flight route and the theoretical flight route are three-dimensional coordinates and flight time The functional relationship between them, and each flight time is marked with the flight direction and flight speed, according to the current flight time, the three-dimensional coordinates, flight direction and flight speed of the theoretical flight route at the flight time are retrieved; finally, according to the actual three-dimensional coordinates , the actual flight direction, the actual flight speed, the theoretical three-dimensional coordinates, the theoretical flight direction, the theoretical flight speed, and the weight of the missile determine the interference force and interference direction, and the flight interference information can be formed by integrating the interference force and interference direction.

As shown in Figure 5, as a preferred embodiment of the present invention, after each engine thrust direction and rudder surface deflection angle are changed, the step of calculating and obtaining the predicted flight path specifically includes:

S301, determining the three-dimensional coordinates of several missiles after each engine thrust direction and rudder surface deflection angle are changed;

S302, using the least square method to fit the three-dimensional coordinates of several missiles to obtain a fitting function;

S303. Obtain the predicted flight route according to the fitting function, and the predicted flight route is continuously extended.

In the embodiment of the present invention, it is easy to understand that as long as the set miss distance is satisfied, then the guidance accuracy meets the requirements. Even if the actual flight path does not coincide with the theoretical flight path, the actual flight path may also meet the requirements. Specifically, when the missile position When the distance between the point and the target position is less than the set distance value, after each change of the thrust direction of the engine and the deflection angle of the rudder surface, determine the three-dimensional coordinates of several missiles, and use the least square method to fit the three-dimensional coordinates of several missiles A fitting function is obtained, and the predicted flight path is obtained according to the fitting function, and the predicted flight path is continuously extended, so that the shortest distance between the target position point and the predicted flight path can be calculated, when the shortest distance is within the set miss distance , indicating that the guidance accuracy is up to standard.

As shown in Figure 6, the embodiment of the present invention also provides a missile precision guidance system, the system includes:

A target determination module 100, configured to obtain theoretical flight routes and target location points;

The path adjustment module 200 is used to detect the three-dimensional coordinates of the missile in real time to obtain the actual flight path, and determine the thrust direction of the engine and the deflection angle of the rudder surface according to the actual flight path and the theoretical flight path at every set interval value, so that the actual flight path approaches the theoretical flight path ;

The predictive flight module 300 is used to determine the position of the missile. When the distance between the missile position and the target position point is less than the set distance value, the predicted flight route is calculated and obtained after each engine thrust direction and rudder deflection angle are changed;

The guidance determination module 400 is used to determine the prediction error between the predicted flight route and the target position point. When the prediction error is within the set miss distance, the flight route is no longer adjusted; otherwise, the thrust direction of the engine and the deflection of the rudder surface are continued to be adjusted horn.

In the embodiment of the present invention, it is first necessary to determine the theoretical flight route according to the characteristics of the missile and the target position point. After the missile is launched, the actual three-dimensional coordinates of the missile need to be detected in real time, and then the actual flight route can be obtained. The flight path and the theoretical flight path determine the engine thrust direction and the deflection angle of the rudder surface, so that the actual flight path approaches the theoretical flight path. In addition, the embodiment of the present invention will also determine the position of the missile. When the distance between the missile position and the target position point When it is less than the set distance value, the set distance value is a fixed value set in advance. After each engine thrust direction and rudder surface deflection angle change, the predicted flight path will be calculated and the predicted flight path and target position point will be determined. The prediction error between , the prediction error is the shortest distance between the target position point and the predicted flight route, when the prediction error is within the set miss distance, it means that the guidance accuracy is up to standard, and the flight route will not be adjusted; otherwise, continue to adjust the engine The thrust direction and rudder surface deflection angle until the guidance accuracy reaches the standard, so that even if the engine thrust direction and rudder surface deflection angle cannot be adjusted in real time, the guidance accuracy of the missile can be guaranteed.

As shown in FIG. 7, as a preferred embodiment of the present invention, the path adjustment module 200 includes:

The three-dimensional coordinate determining unit 201 is used to determine the three-dimensional coordinates of the missile according to the built-in satellite positioning system and altitude sensor in the missile;

The actual flight route unit 202 is configured to perform path curve simulation on all determined three-dimensional coordinates of the missile to determine the actual flight route.

As shown in FIG. 7, as a preferred embodiment of the present invention, the path adjustment module 200 further includes:

A flight interference determining unit 203, configured to determine flight interference information according to an actual flight route and a theoretical flight route, the flight interference information including interference force and interference direction;

The theoretical flight path resetting unit 204 is used to determine the current three-dimensional coordinates, flight direction, flight speed and missile weight of the missile, generate a new theoretical flight path according to the target position point and flight interference information, and replace the original theoretical flight path with the new theoretical flight path. theoretical flight path;

The missile path adjustment unit 205 is used to determine the thrust direction of the engine and the deflection angle of the rudder surface according to the new theoretical flight path.

As shown in Figure 8, as a preferred embodiment of the present invention, the flight interference determination unit 203 includes:

The actual flight determination subunit 2031 is used to determine the current three-dimensional coordinates, flight direction, flight speed and flight time of the actual flight route, the actual flight route and the theoretical flight route are the functional relationship between the three-dimensional coordinates and the flight time, and Each flight time is marked with flight direction and flight speed;

The theoretical flight retrieval subunit 2032 is used to retrieve the three-dimensional coordinates, flight direction and flight speed of the theoretical flight route at the corresponding time according to the flight time;

The flight interference determination subunit 2033 is used to determine the interference force and the interference direction according to the actual three-dimensional coordinates, the actual flight direction, the actual flight speed, the theoretical three-dimensional coordinates, the theoretical flight direction, the theoretical flight speed and the weight of the missile. The interference force and interference direction are integrated to form flight interference information.

As shown in Figure 9, as a preferred embodiment of the present invention, the flight prediction module 300 includes:

The three-dimensional coordinate acquisition unit 301 is used to determine the three-dimensional coordinates of several missiles after each engine thrust direction and rudder surface deflection angle are changed;

A fitting function determining unit 302, configured to use the least squares method to fit the three-dimensional coordinates of several missiles to obtain a fitting function;

The predicted flight route unit 303 is configured to obtain the predicted flight route according to the fitting function, and the predicted flight route is continuously extended.

The above is only a detailed description of the preferred embodiments of the present invention, and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

It should be understood that although the various steps in the flow charts of the embodiments of the present invention are shown sequentially according to the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in each embodiment may include multiple sub-steps or multiple stages, these sub-steps or stages are not necessarily executed at the same time, but may be executed at different times, the sub-steps or stages The order of execution is not necessarily performed sequentially, but may be performed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be realized through computer programs to instruct related hardware, and the programs can be stored in a non-volatile computer-readable storage medium When the program is executed, it may include the processes of the embodiments of the above-mentioned methods. Wherein, any references to memory, storage, database or other media used in the various embodiments provided in the present application may include non-volatile and/or volatile memory. Nonvolatile memory can include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Chain Synchlink DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

Other embodiments of the present disclosure will readily occur to those skilled in the art from consideration of the disclosure at the specification and examples. This application is intended to cover any modification, use or adaptation of the present disclosure, and these modifications, uses or adaptations follow the general principles of the present disclosure and include common knowledge or conventional technical means in the technical field not disclosed in the present disclosure . The specification and examples are to be considered exemplary only, with the true scope and spirit of the disclosure indicated by the appended claims.

Claims (10)

1. a missile precision guidance method, is characterized in that, described method comprises the following steps: Obtain the theoretical flight route and target location point; Detect the three-dimensional coordinates of the missile in real time to obtain the actual flight route, and determine the thrust direction of the engine and the deflection angle of the rudder surface according to the actual flight route and the theoretical flight route at every set interval value, so that the actual flight route is close to the theoretical flight route; Determine the position of the missile. When the distance between the position of the missile and the target point is less than the set distance value, the predicted flight path is calculated after each change of the thrust direction of the engine and the deflection angle of the rudder surface; Determine the prediction error between the predicted flight path and the target position point, and when the prediction error is within the set miss distance, no longer adjust the flight path; otherwise, continue to adjust the engine thrust direction and rudder surface deflection angle. 2. The missile precision guidance method according to claim 1, wherein the step of detecting the three-dimensional coordinates of the missile in real time and obtaining the actual flight route specifically includes: Determine the three-dimensional coordinates of the missile according to the built-in satellite positioning system and altitude sensor in the missile; Carry out path curve simulation on all determined three-dimensional coordinates of the missile to determine the actual flight route. 3. The missile precision guidance method according to claim 1, wherein the step of determining the thrust direction of the engine and the deflection angle of the rudder surface according to the actual flight route and the theoretical flight route specifically includes: determining the flight disturbance information according to the actual flight route and the theoretical flight route, the flight disturbance information including the disturbance force and the disturbance direction; Determine the current three-dimensional coordinates, flight direction, flight speed and missile weight of the missile, generate a new theoretical flight route based on the target position and flight interference information, and replace the original theoretical flight route with the new theoretical flight route; Determine the thrust direction of the engine and the deflection angle of the rudder surface according to the new theoretical flight path. 4. The missile precision guidance method according to claim 3, wherein the step of determining the flight interference information according to the actual flight route and the theoretical flight route specifically includes: Determine the current three-dimensional coordinates, flight direction, flight speed and flight time of the actual flight route, the actual flight route and the theoretical flight route are the functional relationship between the three-dimensional coordinates and the flight time, and each flight time is marked with the flight direction and flight speed; According to the flight time, the three-dimensional coordinates, flight direction and flight speed of the theoretical flight route at the corresponding time are retrieved; Determine the interference force and interference direction according to the actual three-dimensional coordinates, actual flight direction, actual flight speed, theoretical three-dimensional coordinates, theoretical flight direction, theoretical flight speed and missile weight, and integrate the interference force and interference direction to form flight interference information. 5. The missile precision guidance method according to claim 1, characterized in that, after each engine thrust direction and rudder surface deflection angle change, the step of calculating and predicting the flight path specifically includes: After each engine thrust direction and rudder surface deflection angle change, determine the three-dimensional coordinates of several missiles; A fitting function is obtained by fitting the three-dimensional coordinates of several missiles by the method of least squares; The predicted flight route is obtained according to the fitting function, and the predicted flight route is continuously extended. 6. A missile precision guidance system, characterized in that said system comprises: Target determination module, used to obtain theoretical flight path and target location point; The path adjustment module is used to detect the three-dimensional coordinates of the missile in real time, obtain the actual flight path, and determine the thrust direction of the engine and the deflection angle of the rudder surface according to the actual flight path and the theoretical flight path at every set interval value, so that the actual flight path approaches the theoretical flight path; The predicted flight module is used to determine the position of the missile. When the distance between the missile position and the target position point is less than the set distance value, the predicted flight route is calculated and obtained after each engine thrust direction and rudder surface deflection angle are changed; The guidance determination module is used to determine the prediction error between the predicted flight route and the target position point. When the prediction error is within the set miss distance, the flight route is no longer adjusted; otherwise, the engine thrust direction and rudder surface deflection angle are continued to be adjusted . 7. missile precision guidance system according to claim 6, is characterized in that, described path adjustment module comprises: The three-dimensional coordinate determination unit is used to determine the three-dimensional coordinates of the missile according to the built-in satellite positioning system and altitude sensor in the missile; The actual flight route unit is used to perform path curve simulation on all determined three-dimensional coordinates of the missile to determine the actual flight route. 8. missile precision guidance system according to claim 6, is characterized in that, described path adjusting module also comprises: a flight interference determining unit, configured to determine flight interference information according to an actual flight route and a theoretical flight route, the flight interference information including interference force and interference direction; The theoretical flight route reset unit is used to determine the current three-dimensional coordinates, flight direction, flight speed and missile weight of the missile, and generate a new theoretical flight route according to the target position point and flight interference information, and replace the original theoretical flight route with the new theoretical flight route flight path; The missile path adjustment unit is used to determine the thrust direction of the engine and the deflection angle of the rudder surface according to the new theoretical flight path. 9. missile precision guidance system according to claim 8, is characterized in that, described flight interference determining unit comprises: The actual flight determination subunit is used to determine the current three-dimensional coordinates, flight direction, flight speed and flight time of the actual flight route. The actual flight route and the theoretical flight route are the functional relationship between the three-dimensional coordinates and the flight time, and each Each flight time is marked with flight direction and flight speed; The theoretical flight retrieval subunit is used to retrieve the three-dimensional coordinates, flight direction and flight speed of the theoretical flight route at the corresponding time according to the flight time; The flight interference determination subunit is used to determine the interference force and interference direction according to the actual three-dimensional coordinates, actual flight direction, actual flight speed, theoretical three-dimensional coordinates, theoretical flight direction, theoretical flight speed and missile weight. The force and disturbance direction are integrated to form flight disturbance information. 10. missile precision guidance system according to claim 6, is characterized in that, described predictive flight module comprises: The three-dimensional coordinate acquisition unit is used to determine the three-dimensional coordinates of several missiles after each engine thrust direction and rudder surface deflection angle are changed; A fitting function determining unit is used for fitting the three-dimensional coordinates of several missiles using the least square method to obtain a fitting function; The predicted flight route unit is used to obtain the predicted flight route according to the fitting function, and the predicted flight route is continuously extended.

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