A cooperative guidance method for multi-hypersonic vehicles based on convex optimization

Time coordination is one of the main forms of cooperation among multi-hypersonic glide vehicles. The traditional reentry trajectory planning and guidance algorithm is difficult to satisfy terminal constraints and coordinated flight time simultaneously. Especially, the terminal accuracy will be greatly reduced when the target point changes online. To solve this problem, an online trajectory planning and guidance method based on sequential convex programming is proposed. Firstly, several waypoints are selected from the initial trajectory of the vehicles, and the cooperative time is updated at each waypoint according to the information of the target point and other members in the cluster. By using the concept of receding horizon control, the cooperative trajectory is reconstructed rapidly by the sequential convex programming algorithm. During the flight, the linear quadratic control method is utilized to track the trajectory planning results. Taking a reentry cluster including three common aero vehicles as an example, the effectiveness of the proposed method is verified. The simulation results show that the method can adapt to the online change of the target point, and ensure that the multi-hypersonic glide vehicles can reach the target point simultaneously under multi-constraints.