本論文首先推導了比例導引律與尾隨導引律之混合型三維導引律，並針對致動器動態提出了補償；為了應付被追擊目標各種可能的逃脫策略及動態時間常數的變化，本論文運用田口品質工程法，將此二者視為雜訊因子，找出了對雜訊因子最具強健性的導引常數。本論文驗證導引律及導引常數的模擬環境，為一具自我決策之多機空戰模擬系統，建立此系統的關鍵在於設計方向、距離、速度、高度之計分函數，以及總計分函數，並利用U-解實現於多機空戰中。而為了增加多機空戰模擬系統運算速度，達到即時反應之目的，本論文運用CPU平行化運算技術分配戰機及飛彈模擬，利用CUDA進行策略選擇的平行化運算。
本論文進行兩種傳統導引律與推導出的混合型三維導引律進行比較，以及觀察致動器動態是否補償的差異，並使用真實戰機閃避飛彈常用戰術如Jink動作、破S、直線加速，比較強健導引常數性能。模擬結果顯示，具強健導引常數且致動器動態有補償之導引律具有最佳之對抗外擾的強健性，以及飛彈最大發射區與戰機脫逃最小距離之優異性能。另外由多機空戰模擬系統平行化運算的測試結果來看，CPU的平行化運算有一定的效益，但以GPU來進行平行運算，在戰機數越多時，GPU的效能才趨能顯現。

The purpose of this dissertation is to combine proportional navigation guidance (PNG) along the pitch-axis and pursuit guidance (PG) along the yaw-axis to derive a three-dimensional coupled missile guidance law with actuator dynamic compensation. A three-dimensional space can be constructed by two two-dimensional models that are pitch-plane and yaw-plane. PNG controls the direction of a missile on the pitch-plane and PG controls the direction of a missile on the yaw-plane. In order to cope with the possible maneuver tactics and the variations of the time constant of a pursued target, this dissertation asserts that a target’s maneuverability, and the time constant of a control surface actuator, can be regarded as noise factors.The Taguchi Quality Method was applied to determine the robust navigation constants that have the best robustness against noise factors. A multi-fighter air combat simulation system equipped with an automated decision support was applied to verify the feasibility and performance of the proposed guidance law and robust navigation constants. The critical point of established processes for the simulation system is the design of the resulting score function, which includes an orientation score function, a relative range score function, a velocity score function and a terrain score function.The resulting scores can be implemented by a Utilitarian Solution on the multi-fighter air combat simulation system. In order to increase the computing performance of multi-fighter air combat simulation, parallel computing was conducted in this dissertation, including distributed computing with a Central Processing Unit (CPU) applied for missile guidance and aircraft motion and Graphics Processing Unit (GPU) parallel computing adopted for strategy selection.
The performance of PNG and PG was compared to that of the proposed three-dimensional coupled missile guidance law, and three kinds of pursuit-evasion scenarios, including long acceleration, Jink and Split-S, were applied to test the performance of the navigation constants, in which the effect of compensation for actuator dynamics of control surfaces was highlighted. Simulation results showed that the guidance law with robust navigation constants and actuator dynamic compensation possessed the better performance, including robustness against external disturbances, the maximum effective missile launch area, and the minimum aircraft evasion distance. Moreover, the results of utilizing parallel computing indicated that CPU parallelization did exert an effect on computing performance to a certain extent, but the merits of GPU parallelization was manifested by having a greater number of fighters to fight.

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