In order to achieve the measurement of unknown space optical environments for star sensors, the design of a wide and multi-spectral filter device integrated into the star sensor is proposed in this paper. The star point information and the spectral information of the space optical environment can be covered by the collected star images. On the basis of this process, experiments scheme of spectral response and radiation calibration and algorithm of brightness distribution inversion of the optical environment are conducted. The experimental results show that the inverted brightness of the optical environment is in good agreement with the measured values. The space optical environment for star sensor applications in real time can be estimated by applying this method conveniently based on a single star image. It can be served as a basis and reference for design optimization of subsequent star sensors and selection of observation windows.

Inertial measurement unit (IMU) is an important component of anti-aircraft missiles and its state is mainly attained from periodical manual testing, which is not effcient. Aiming at reducing the dependence on periodical testing, time series prediction methods are developed to predict part of the states of IMU by processing existing data. Under the consideration of the small sample size, overlapping segmentation averaging is used for data processing to reduce feature dimension and training difficulty. Long short term memory network (LSTM) is used for subsequent time series prediction. The effect of the proposed model is validated through practical data, which attains a high prediction accuracy while taking little time consumption.

An adaptive sliding mode control method is proposed for the control problem of a quadrotor UAV composed of six degrees of freedom under model uncertainties and unknown disturbances. This method can be used to realize position and attitude tracking control of quadrotor UAV. Firstly, based on the dynamics quadrotor system, the fully actuated and under-actuated subsystems are divided. The model uncertainties and unknown disturbances without upper and lower limit constraints are fully considered, and the lumped disturbance terms of each subsystem are extracted; Then, with the help of radial basis function neural network, the real-time approximation and estimation of the equivalent controller containing the extracted lumped disturbance terms are inplemented in progress. At the same time, adaptive control method is used to estimate the approximation error term. The sliding mode controller with the estimated values of the equivalent controller and approximation error terms and the corresponding adaptive update laws are designed. Based on Lyapunov theory, the reachability and convergence of the sliding mode surface where the state trajectories of each subsystem lies are analyzed and introduced. Finally, the comparative simulations are used to verify the effectiveness of the proposed method fairly well.

A differential games guidance law is proposed for the difficulty of intercept of hypersonic vehicle. Firstly, the model of air confrontation is established between friend and foe in three-dimensional space and the optimal performance indexes are proposed. The optimal strategies are resolved according to Riccati Equation updated in real-time that is based on state-dependent coefficient. In order to solve Riccati Equation, more accurate Schur method and approximate calculation that has but faster θ-D method are applied to obtaining two kinds of differential games guidance law. In the operational scenario of high speed serpentine maneuvering flight target, traditional proportional guidance and differential games guidance law are analyzed by using the simulation results. Compared with the performance, a conclusion is drawn that in face of high speed maneuvering target, the effect of differential games guidance law is superior to proportional guidance.

Regarding the controller design of the variant vehicle attitude control system, an integrated controller design method based on structure search and parameter optimization is proposed, which can realize the automation of the controller structure design work, searches for the most suitable controller structure and completes the parameter rectification in a shorter time. The simulation study on the attitude control of the pitch channel of a certain type of variant vehicle shows that the method can significantly improve the bandwidth of the system, and the number of iterations and the consumed time are both promoted by only about 38% than those of the traditional method.

Aiming at unexpected the sudden change in inertia parameters of spacecraft on-orbit servicing, real-time identification methods of inertial parameters based on on-orbit attitude and control information are proposed, and recursive least squares (RLS) and extended Kalman filter (EKF) identification algorithms are designed. Adaptive forgetting factors are introduced into the RLS algorithm, which assign weights of prior data and current data during each iteration process to ensure the identification value tracking in time. In the EKF algorithm, the influence of parameter variation on the prior prediction covariance is defined, and it is substituted to update the prediction covariance matrix to solve the mutation of inertia parameters. Under consideration of the mutation in inertia parameters, the simulation results show that the identification accuracy of RLS and EKF can reach 1.5% and 1%, and the identification time is better than 30 s and 40 s respectively; In the scenario of time-varying inertia, both methods can achieve on-orbit identification of inertia parameters, and the identification accuracy fulfills the requirements of the attitude control system.

In order to solve the problem that the filtering result of RIMU/GNSS integrated navigation system based on filtering method is unstable under the condition of large maneuvering of carrier, an estimation method based on factor graph is proposed. The state equation and measurement equation oriented to the redundant inertial navigation system are established, and the redundant inertial data are fused into the carrier coordinate system three axes. A data fusion method based on factor graph is established, and the fused inertial data and satellite information are abstracted as factor nodes, and the state information is abstracted as variable nodes. The cost function including inertia factor and GNSS factor is established and the state quantity is estimated in a nonlinear optimization way. The reslult of numerical simulation shows that performance of using the factor graph method can effectively reduce the position error of the carrier and the root mean square error is obviously degraded than that of the Kalman filter.

In this paper, the problems of missile formation control in the process of external disturbances, input saturation and unknown obstacles in route planning are researched. Firstly, based on the missile nonlinear dynamic model, the absolute error control model of the missile formation is established by defining the position and speed error auxiliary variable under involving external disturibances. Secondly, on the basis of the nonlinear sliding mode surface based on obstacle avoidance potential function and hyperbolic tangent function, the controller for adaptive anti-saturation and robust missile formation obstacle avoidance is designed by applying adaptive technology and anti-saturation auxiliary system. Finally, Lyapunov stability theory is used to prove that the performance of the designed system is asymptotically stable, and the effectiveness of the designed control strategy is verified by digital simulation.

Regarding the issue of high angular velocity damping in satellites, a velocity damping strategy using attitude control thrusters is studied, which is token into account the design principles of fewer startup times and longer startup times for attitude control thrusters. A collaborative damping strategy is proposed, which combines the three-axis simultaneous damping method with the single axis sequential damping method. When the angular velocity of any two axes of the satellite exceeds the set angular velocity threshold, a Schmidt trigger is used for three-axis simultaneous damping to achieve effective damping of the satellite's large angular velocity. On the contrary, single axis damping is used in order of angular velocity to reduce the number of times that the thruster is turned on or off. The numerical simulation results show that the collaborative damping strategy can effectively achieve satellite high angular rate damping and effectively reduce the number and duration of thruster startup.

Aimed at the problem that traditional target tracking methods require prior position information of the target which are not suitable for non-cooperative target tracking, a target tracking method based on wide-angle camera image error for video satellite is proposed. A wide-angle camera imaging model is firstly established, and then the difference is calculated between the projected position of the target in the camera image plane and the expected position. The relative error, angular velocity and attitude error between the target and the small video satellite are calculated by image error, which are used as feedback terms to design a nonlinear controller. Finally, the stability of the system is demonstrated by using the Barbalat’s lemma. The simulation results show that the target driven to the desired position in the image plane can be effectively controlled in a wide field of view of a wide-angle camera and the effectiveness of this method is verified by Tiantuo-2 satellite on orbit data.

Regarding the stringent requirements of information confidentiality review in the aerospace field, current manual screening methods are suffering from high costs and insufficient accuracy of keyword matching. An enhanced review framework integrated with large language models is proposed to improve the efficiency and accuracy of confidential information screening. Initially, the characteristics of confidential information are analyzed in the aerospace sector, an architecture that enhances the auditing performance of large language models is introduced in this study, which is combined with dynamic domain-specific expert system prompts to enhance the granularity and accuracy of reviews among multiple perspectives including technical and business confidentiality. By introducing a dynamic system prompt mechanism, the framework is effectively combined the semantic understanding capabilities of large language models with the real-time updating of keywords. Additionally, in order to prevent excessive auditing by the large language model, a hybrid cross-training strategy is developed, which significantly improves the recall rate of confidential information that reaches by 96%. Experiments on a self-developed high quality test set of 1000 entries demonstrates that the proposed method outperforms global open-source large language models by 18% in aerospace classified information inspection tasks.

Aiming at using the attitude control scheme of taking rotator as ball-borne gondola, stepper motor is applied as the power source and a cascade controller based on active disturbance rejection control (ADRC) algorithm is designed, and the key parameters in the controller are optimized by using dung beetle optimization algorithm (DBO). The optimized controller parameters are then used to simulate the attitude control of the gondola, considering dropping ballast during the flight. The simulation results show that the proposed control algorithm can track static and dynamic targets with better control accuracy and anti-interference ability. Furthermore, the effectiveness of the DBO is also confirmed.

Regarding meeting the task requirement of rapid missile launch, a fast firing data solving method based on neural network is proposed. Firstly, the mapping relationship among terminal velocity, altitude, velocity inclination and firing data is established, and the LM optimization neural network model is derived. Then, based on Bayesian regularization theory, the BP neural network structure is designed, and the optimized network structure which can meet the accuracy requirements is obtained. Finally, Newton iteration method is used to generate the database as training set which is used to train the neural network, so that the network model with optimized parameters is obtained, and the simulation is implemented. The theoretical and simulation results show that the rapid calculation of the firing data before shooting can be achieved by applying this method.

The design scheme and in-orbit verification results of the high-precision star tracker is presented, which is used in the Shenzhou series of spacecraft in China. In the lens design, a front-placed diaphragm structure is adopted to meet the needs of miniaturization and long-term applications; In the overall structure design, a "frame combination wrap-around" integrated structure is adopted to focus on lightweight and stability; In the circuit design,radiation-resistant reinforced APS image sensors, processors and ASIC are applied to ensurance of high-sensitivity detection and high-reliable information processing throughout the service life; In the algorithm, clustering extraction, fast triangular recognition, curtain compensation and dynamic adjustment of exposure time, etc. are used to achieve key performance indicators such as precision, update rate, dynamic and capture; In addition, the thermal stability of the whole machine is improved to ensure that the performance of the star tracker can be maintained. The star tracker is successfully applied to a series of major space projects, including manned spaceflight, lunar exploration and Beidou-3 which have more than 200 units in orbit operation.

A multi-channel and end-to-end attitude control method based on deep reinforcement learning is proposed for hypersonic morphing vehicle in the presence of situations by external disturbance and model uncertainty. Firstly, the attitude control model of hypersonic morphing vehicle is established. Secondly, the problem of vehicle attitude control is transformed into a Markov decision process. Furthermore, the training of the agent is implemented, which is based on the twin delayed deep deterministic policy gradient algorithm, and the end-to-end generated flight control instructions are deployed online. Finally, the proposed method's effectiveness and generalizability are confirmed through both basic performance and adaptive simulations.

In order to improve the accuracy and autonomy of aircraft navigation system, a gravity gradient/SINS/starlight integrated navigation method is proposed. In this integrated navigation system, the gravity gradient information is used to correct the position error of SINS, and the starlight information is used to correct the attitude error of SINS to improve the navigation accuracy and autonomy of the aircraft. Regarding overcoming the shortcomings of the traditional cubature Kalman filter algorithm(CKF) which has low accuracy, the random weighted cubature Kalman filter(RWCKF) is used to design the gravity gradient/SINS/starlight integrated navigation system. The simulation results show that the position errors of SINS/starlight integrated navigation system, gravity gradient/SINS integrated navigation system, SAR/SINS/starlight integrated navigation system and the proposed method are 78.1003 m,54.3399 m,39.2776 m and 19.8495 m respectively, which prove that the accuracy of the proposed integrated system is much higher than not only the two subsystems but also the SAR/SINS/starlight integrated navigation system.

A negotiated differential game optimal evasion strategy for multi pursuit-evasion is proposed for the optimal avoidance in the pursuit-evasion game in capture the flag (CTF). In order to solve this problem, an optimal evasion strategy based on a negotiated differential game is proposed. Firstly, the CTF pursuit-evasion linear model is established and the model reduced in order. Secondly, regarding the cost function based on the energy constraint and the distance between the two sides at the intersection time, Hamilton function is established. Finally, by applying the Hamilton-Jacobi-Isaacs (H-J-I) equations, the optimal evasion strategy based on the negotiated differential game is obtained. The designed strategy is simulated in “two chasing one” and multiplayer pursuit-evasion scenarios. The results show that the flag capture team has the least energy consumption while successfully capturing the flag, which verifies the effectiveness and applicability of the optimal evasion strategy based on a negotiated differential game in this paper.

In order to realize the compliant docking of the spacecraft and the solar wing, a contact force control strategy based on impedance control is proposed in this paper, and the six-degree-of-freedom parallel attitude adjustment mechanism is token as research purpose. Firstly, the impedance model between the docking member and the member to be docked is established, and the contact force error quantity is converted into the position correction quantity. Secondly, based on the impedance control, an adaptive controller is introduced, which solves the disadvantage of the fixed target parameter of the impedance control and improves the adaptability of the control system to the environment. At the same time, a fuzzy controller is incorporated to adjust the impedance parameter on-line in real time. Finally, a joint simulation is implemented, which verifies the effectiveness of the proposed method by the experimental results based on combining Adams with Simulink.

A designed method is proposed in this paper for the parameter adjustment of three-loop autopilot with pseudo-angle. Ulteriorly, regarding the open-loop performances indexes of the control system, the stabilizing and the overload loops are successively disconnected at the rudder control, and the relationship is established between open-loop parameters and the three-loop autopilot parameters with pseudo-angle. Then, by taking the open-loop performance parameters as independent variable and the closed-loop performance parameter as optimization goal, particle swarm optimization algorithm structure and boundary conditions are designed, and the quickly parameters adjustment of three-loop autopilot with pseudo-angle is realized. The simulation results show that good open and closed loop performance of three-loop autopilot can be achieved through the designed method based on particle swarm optimization.

In order to avoid the huge workload caused by repeated iterations in the process of guidance and control system design, a three-dimensional integrated guidance and control design under impact angle and rudder surface saturation constraints is proposed, which is more applicable in practice. Based on the 6 DOF nonlinear model of missile and the 3 DOF missile-target relative motion model, an integrated guidance and control model with full-state coupling is established. Based on the dynamic surface control method, a four-stage sliding surface design is applied to establish a controller which satisfies the impact angle and rudder surface saturation constraints, and the closed-loop stability of the system is proven. The correctness, effectiveness and robustness of the proposed method are effectively verified by simulation results.

Aiming at the collision rendezvous scene between the space vehicle and the potentially threatening object, a maneuvering and evading strategy of the space vehicle is proposed, which is based on genetic algorithm optimization and BP neural network prediction. By presenting the difference against the traditional maneuver strategy in the last phase of collision rendezvous, the evading strategy is selected after the warning and detection by the proposed strategy algorithm that expands the scope of time and space and takes the position and speed at both sides as input parameters, the time, direction and duration of maneuver as output parameters, miss distance and fuel consumption as performance indexes. The numerical simulation shows that the proposed strategy effectively reduces fuel consumption, increases miss distance and improving the possibility of successful evading, which is compared with the instantaneous maneuver strategy and provides a new idea of safety protection technology for space vehicle under security threat.

A pulse threshold relative orbit control method is proposed to address the issue of maintaining the formation configuration of inner formation satellite in case of collision due to the perturbation difference between internal and external satellite. A periodic-start pulse threshold controller is designed, and the applied pulse impulse is calculated based on the relative position and threshold of the inner and outer satellite centroids as well as the linearized relative orbital motion dynamics model. The Monte Carlo method is used to simulate the state estimation bias of the inner and outer satellite,which is compared with two continuous control methods under the same conditions. The results show that a good balance can be achieved by using this method regarding control accuracy, fuel consumption, and the influence of measurement error, which can effectively reduce the uncertainty caused by state deviation on fuel consumption and can be applied to the maintenance of formation configurations of inner formation satellite with low fuel consumption in orbit for a long time. The proposed method can also be applied to the maintenance of general formation satellite configurations and planetary companion flights.

In response to the requirements of aerospace electromechanical servo systems for fast step response, no overshoot and high steady-state accuracy during tracking continuously changing signals, a composite control is involved on the basis of position-speed-current triple closed-loop feedback control with introduction of feedforward control. The tracking accuracy of continuously changing signals without reducing the dynamic performance and stability of the system is improved by using this control strategy. The design methods of closed-loop controller and feedforward controller are analyzed.Regarding the noise sensitivity of the feedforward function designed by invariance principle, a designed method based on error coefficient method is developed, and experimental verification is conducted. The experimental results show that the servo mechanism system can respond to step commands quickly without overshoot. The system has good tracking accuracy for continuously changing signals, and the system bandwidth has been expanded. The experimental results demonstrate the effectiveness and practical feasibility of the control method proposed in this paper.

In order to fulfill the demands for rapid and precise attitude adjustment during the docking process of solar arrays, and to resolve the challenges associated with manual adjustment,this study proposes a leveling strategy, which can update the kinematic parameters of the AAM according to the ground leveling situation, uses the laser tracker to obtain the pose required for leveling, applies closed-loop joint position control based on kinematic inverse solution to realizing the leveling of the moving platform, avoids the false leg in the leveling process through implementation of the traditional outrigger lifting and leveling method, and realizes the automatic adjustment of the AAM from the state of the outrigger stowed away to the state of touching the ground as support and then to the state that the moving platform is automatically adjusted to the horizontal plane level. The feasibility of the leveling strategy is verified through simulation, which provides a solution to false leg-leveling in the engineering application of AAM during solar wing docking.

In this paper, a novel predefined-time line of sight (LOS) angle rate convergence guidance law is proposed for the diverse engagements in three-dimensional (3D) scenarios. By using this guidance law, the LOS angle rate can be converged to zero in an arbitrarily prespecified time, which is independent of the initial conditions and control parameters. Besides, there exists an exact upper bound of the convergence time. Firstly, a planar guidance law is designed to introduce guidance commands in two-dimensional (2D) scenarios by decoupling the 3D engagement model. Then, the guidance commands can be functional in 3D scenarios by the theoretical analysis. Finally, simulations are implemented to validate the guidance law and show the effectiveness of proposed method.

According to calibration problem of ten redundant laser gyroscopes ‘three-autonomy’ strapdown inertial measurement units, A calibration model and calibration scheme are deduced, which includes five-axis gyros and five-axis accelerometers. The ten-axis redundant inertial measurement unit is divided into two groups known as straight assemble X\Y\Z and oblique assemble S\T. A system level calibration method is adopted for the straight assemble, by establishing a state equation about the calibration error model, taking navigation speed error as the measurement, and estimating the calibration error parameters through Kalman filtering. Using the calibration results of the straight assemble as reference, separate calibration models are established for the accelerometer, gyros scale coefficient and gyro bias. Finally, the calibration of ten redundant laser strapdown inertial units is verified by combining the 19-position system-level calibration method with the discrete calibration method. The calibration results are correct and the characteristics of the calibration errors are analyzed.

According to inertial uncertainties and multiple types of actuator faults of spacecraft formation attitude cooperative control, the generalized disturbances and actuator faults of the formation system are estimated by using the approximation property of the broad learning system, in the meantime, the hysteresis quantizer is also used to quantize the control torque signal, thereby reducing the communication speed requirements and jitter phenomenon. On this basis, a composite structure fault-tolerant controller based on model predictive control and fast non-singular integral terminal sliding mode is proposed. The stability of the closed-loop attitude system is analyzed by involving algebraic graph theory and Lyapunov theory. Finally, simulation results show the superiority of the proposed control method compared with existing methods.

In order to solve the low fault diagnosis accuracy of aircraft rudders under complex and dynamically changing operating conditions, an NDTL-CNN fault diagnosis method that combined convolutional neural network (CNN) with network-based deep transfer learning (NDTL) is proposed. Firstly, a simulation model of aircraft rudder fault is established to collect multi-dimensional sensor data under different operating conditions and health states; Then, a CNN is designed to adaptively extract deep features from the fixed operating conditions data, which can effectively capture the fault feature signals of the rudder; Finally, the pre-trained CNN under the fixed operating conditions is fine-tuned and transferred to variable operating conditions for fault diagnosis. The experimental results show that the proposed method improves the diagnostic accuracy of the CNN under variable operating conditions by 15% in a short time and the final diagnostic accuracy of the NDTL-CNN reaches 97.7%, which is capable of accurately recognizing the rudder's health state under complex and dynamically changing operating conditions.

A solid strap-on launch vehicle joint swing control scheme is proposed, which is dedicated to handle large range thrust variation and the non-synchronous thrust among solid boosters. Firstly, the combustion chamber pressure is used to estimate the real-time thrust of each solid booster, and the controller parameters are accordingly modified on-line due to the thrust variation. Secondly, by adopting the feed-forward control to eliminate the loss of thrust synchronism. Finally, the real time swing subsidence angle compensation for solid booster is adopted to solve the effect of pivot point excursion. The simulation results show that the proposed adaptive control scheme is able to efficiently solve control matters caused by the thrust uncertainties and the non-synchronization thrust among solid boosters, which takes advantage of increasing the attitude control precision with large scale and improving the launch vehicle’s adaptive capability in the real flying environment.

In order to achieve rapid and accurate recognition of combat intent in complex battlefield environments with fewer air combat data samples, a combat intent recognition model based on meta-metric learning framework is proposed.Regarding received small sample data during air combat intent recognition, a two-way gated recurrent unit network based on the air combat temporal data are developed to realize effective feature extraction, and the attention mechanism is introduced for promoting the network to fully extract the temporal core features of the air combat data when facing the small sample data are merely available for obtaining the inter-class differences which finally achieve a fairly higher recognition accuracy and recognition speed.Simulation results show that the model proposed in this paper has better accuracy and real-time performance for air combat target intent recognition, especially in the case of small sample data.

Aiming at the problem of multi-coverage of hot regions,a design scheme of common ground track constellation with regression orbit attribute is applied,and a design method based on genetic algorithm(GA)for optimization of the orbital parameters of a single satellite and analytic method for solving the orbital parameters of a constellation is proposed in this paper. Firstly, a regression orbit model for muti-coverage of hot region is established.Secondly,by taking the optimal coverage effect of a hot region as the performance index,genetic algorithm(GA)is used to optimize and solve the orbit parameters of a single satellite.Finally,the orbit parameters of the constellation are solved by analytical method. The results of theoretical analysis and simulation totally show that the design method can achieve periodic multi-coverage of hot regions and higher time resolution ratio, which present fairly good engineering application value.

A study is conducted on the problem of achieving attitude safety control under low redundancy in micro-nano satellite. A resource efficient attitude safety control scheme is proposed, which aims to cut off all potential fault sources as much as possible when diagnostic information is not in complete. Only magnetometer and magnetic torquer are used to reconstruct the satellite attitude control system. The proposed scheme can realize angular velocity damping under any initial attitude condition of the satellite, and can control the satellite maneuvering to the sun oriented attitude, which ensures the efficiency of the solar array charging and thus extends the satellite’s lifespan under fault conditions. Mathematical simulation shows that even when the main control components such as gyroscopes, star sensors and momentum wheels are not available, the proposed scheme can still achieve stable single axis safe attitude control towards the sun, which achieves attitude determination precision by better than 2 degrees and the sun orientation precision by better than 5 degrees that greatly improves the satellite’s safety operation ability in orbit.

A trajectory planning method is proposed for morphing aircraft with threat zones overlapped and full coverage of flight paths, which involves the probability of passing through the threat zone and optimization of variable shape parameters. Based on the idea of hierarchical reinforcement learning, a hierarchical reinforcement learning model for route decision of morphing aircraft is established by configuring the flight environment set, decision options, cost function, Q function and strategies within the options. By training the evaluation network, it can make route decisions for actual scenarios based on the probability of passing through the threat zone. According to the characteristics of the variable shape of the aircraft, the obtained decision results are optimized by parameters to obtain the full process travel trajectory and aircraft shape. The simulation results show that this method can make real-time flight route decisions based on actual situations, and the trajectory and the flight form in overall procedure can be obtained after optimization.

A method aiming at the formation control problem during the reentry of multi-unpowered vehicles is discussed in this paper. Based on second-order system consistency theory of virtual leader, a distributed formation keeping and control algorithm switching of adjustable assembly time is proposed by selecting optimal coordination variables and introducing a special transition link. The altitude of multi-vehicles are allowed to be changed in a certain range by using this proposed solution that considers the flight ability under the restraint of multi-vehicles formation mission and then realizes the accurate online control of the relative transverse and longitudinal range. Simulation results show that the proposed algorithm can achieve the desired control effect in scenarios of formation assembly and keeping, formation configuration switching and formation lateral maneuver. The algorithm takes into account the effects of the earth’s curvature and rotation on the reentry dynamics, and can adapt to random aerodynamic coefficients and atmosphere density pulling by good robustness.

In order to solve the problem of positioning and reliable recovery of some important structures of aircraft after flight test, a highly reliable positioning system based on Beidou and GPS dual-mode module is designed. The system uses the BDM 910 module integrated with GPS/RNSS (Radio navigation satellite system) module and RDSS (Radio determination satellite system) module as the core positioning device is used in the system, and the BDS (Beidou navigation satellite system) frequency point and GPS frequency point navigation messages are received through dual links and four antennas redundancy. While effective satellite navigation signals are captured, the system own position information is resoved in real time. The location information is sent to the search device in real time in the form of Beidou short message, and the landing point coordinates of the aircraft are finally determined. The problem of positioning and recovery of relevant important structures is solved in the flight test in a complex environment. The positioning system has the ability to analyze the positioning data and the communication information of the positioning device in real time, the data analysis rate is less than 5 s, the positioning accuracy is less than 10 m, the communication success rate is more than 95%, the system is continuously running and lasts more than 4 hours, and the positioning is highly reliable.

Aiming at the strong coupling, nonlinearity and severe aerodynamic parameter variations under the complex environment of vehicles, an active disturbance rejection controller design method based on the dragonfly algorithm is proposed. Firstly, a mathematical model based on the three-channel powerless reentry process of vehicles is established. The extended state observer is used to estimate the system state and total disturbance, and then the observed disturbance is compensated. The dragonfly algorithm is employed to optimize the parameters of the active disturbance rejection controller. Finally, validation is shown through a vehicle simulation of six-degree-of-freedom. The results show that the optimized controller parameters have better control accuracy and maintain good control performance even under significant aerodynamic parameter deviations.

A dual-arm space robot finite time compliant capture strategy for non-cooperative targets is proposed. Firstly, the end-effector dynamic model of generalized coordinates presented by end-effector pose degree of freedom based on the free-floating space manipulator is established. On the basis of this, a global fast non-singular terminal sliding mode controller has been designed to achieve the finite-time trajectory tracking control of the end-effector. Furthermore, a three-fingered end-gripper mechanism has been introduced and a sub-system dynamic model consists of the end-effector and the target has been established. Based on this model, a composite compliant grasping control strategy has been designed, which is based on the compliant control theory to resolve the compliant grasping control of the end-effector towards the target. The simulation results show that the compliant capture of a tumbling target by a dual-arm space manipulator can be achieved by the proposed control strategy.

Aiming at the multi-constraint and strongly time-varying problems of high-speed aircraft during re-entry gliding, this paper combines the online autonomous decision-making advantages of the Deep Deterministic Policy Gradient (DDPG) algorithm to generate avoidance strategies in real time based on threat zone information for dynamic no-fly zone avoidance trajectory planning. In order to further enhance the anti-interference ability of high-speed aircraft to environmental uncertainties, a set of route feature points is selected based on the avoidance trajectory, and a online predictor-corrector guidance method is used to correct the flight status of the high-speed aircraft in real time according to flight mission requirements and terminal constraints, and finally achieve precise guidance of high-speed aircraft. At the same time, in order to verify the effectiveness of the method, this paper carried out corresponding numerical simulation analysis. The results show that the method proposed in this paper can effectively avoid no-fly zones and enhance the adaptability to uncertain factors, and has certain engineering application value.

In order to solve the path planning of unmanned aerial vehicles (UAVs) in three-dimensional space under threats, an improved snake optimization (ISO) algorithm is proposed for the challenging optimization of UAVs path planning in three-dimensional complex environments. Firstly, the total cost function including range, threat, altitude and smoothing costs is established, and the path planning of UAVs is transformed into an optimization issue that takes into account the safe operation requirements of UAV. In the framework of snake optimization (SO), Tent chaotic map is used to initialize the population, and the temperature threshold is dynamically adjusted to improve the local optimization ability of the algorithm, and Lévy flight strategy is introduced in the exploitation phase to improve the global optimization ability of the algorithm. The simulation results show that the ISO algorithm is superior to the SO algorithm by solving the path planning of UAVs.

Aiming at the problem of multi-aircraft game confrontation under the condition of network communication delay, a cooperative differential guidance law is proposed. Firstly, based on the differential countermeasure theory on the basis of the traditional norm-type performance index, the weight coefficient is designed to increase the weight coefficient and a collaborative differential guidance method is derived under “bang-bang” structure. Secondly, by considering the time delay in the network communication among interceptors, the target acceleration value obtained is an attainable domain instead of an accurate value, and the target acceleration range can be reduced by introducing the observed target acceleration direction information, and the error between the target acceleration and the target actual acceleration can be reduced, thus, the guidance precision of the interceptor is improved. Finally, numerical simulation is implemented to verify the effectiveness of this algorithm, and the simulation results show that this guidance law does not need to assume the maneuvering law of the target in advance and can effectively intercept the maneuvering target under the information time delay.