Multi-UAV mission planning method and device based on shared threat data

Abstract

The present application discloses a multi-UAV task planning method and device based on shared threat data, the method comprising: classifying prior data and / or threat data, and storing them in storage blocks respectively to form a shared threat data pool; assigning target tasks to target UAVs, and iteratively executing route planning steps until the task is completed; including: determining the data category required by the target UAV, and retrieving the corresponding target threat data from the shared threat data pool; planning the target route of the target UAV according to the target threat data; classifying the new threat data detected by the target UAV and storing them in the corresponding storage blocks, updating the shared threat data pool, and executing the route planning steps. The method solves the problem that the existing processing of shared threat data of UAVs is cumbersome and difficult to meet its real-time requirements, realizes accurate retrieval of required data information, improves the efficiency of data transmission and processing, and improves the timeliness and reliability of the UAV cluster during the task process.

Description

Technical Field

[0001] The present application relates to the technical field of mission planning, and in particular to a method and device for multi-UAV mission planning based on shared threat data. Background Art

[0002] Multi-UAV mission planning based on shared threat data is a navigation method used to ensure the safety of drones and the success rate of mission execution in complex environments. The core of this method is that each drone uses preset or real-time updated "threat data" to evaluate and predict the dangers that the drone may encounter during flight, so as to plan a safe flight route, and update the "threat data" in real time based on the data detected by each drone during the mission to assist the drones in the drone cluster in route planning.

[0003] During the UAV mission planning process, it is necessary to retrieve threat data in the mission area to assist in decision-making. In the prior art, it is usually necessary to retrieve a large package of data and then screen and classify it, and then obtain threat data for analysis and reference by each planning part. This method of data transmission is inefficient and not easy to manage and process. If only one type of data is needed, all the data needs to be retrieved and screened, which increases the complexity of data processing and is prone to errors. In addition, the UAV mission environment is real-time, and this data processing method retrieves a large amount of data, and it is necessary to screen the required data from it, which takes a long time and is not conducive to the UAV to adjust its flight strategy in time during the mission. Summary of the invention

[0004] The embodiments of the present application provide a multi-UAV task planning method and device based on shared threat data, thereby solving the problem that the existing processing of UAV shared threat data is cumbersome and difficult to meet its real-time requirements.

[0005] In a first aspect, an embodiment of the present application provides a multi-UAV task planning method based on shared threat data, comprising: classifying prior data and / or threat data, and storing them in corresponding storage blocks according to the classified data categories to form a shared threat data pool; assigning target tasks to target UAVs in a UAV cluster according to the shared threat data pool, and iteratively executing route planning steps until the UAV cluster completes the task; the route planning steps include: determining the data category required for the target UAV according to the target task, and retrieving the target threat data in the corresponding storage block from the shared threat data pool; planning the target route of the target UAV according to the target threat data; classifying the new threat data detected by the target UAV during the execution of the target task and storing them in the corresponding storage block to update the shared threat data pool; and executing the route planning step based on the updated shared threat data pool.

[0006] In combination with the first aspect, in a possible implementation, the data categories include terrain constraint information, weather condition information, enemy strike position information, enemy electromagnetic interference area information, and enemy radar coverage area information.

[0007] In combination with the first aspect, in a possible implementation method, after classifying the prior data and / or threat data, it also includes: marking the threat characteristics of the prior data and / or threat data; wherein the threat characteristics include the threat type, threat level and threat value of the threat data.

[0008] In combination with the first aspect, in a possible implementation method, planning the target route of the target drone based on the target threat data includes: determining a description method of the threat area based on the threat type; and describing the threat range of the threat area based on the determined description method.

[0009] In combination with the first aspect, in a possible implementation method, planning the target route of the target UAV according to the target threat data includes: determining a safe path for the target UAV to avoid the threat area according to the threat level and the threat value of the target threat data; determining the distance cost and the threat cost of the target UAV according to the target threat data and the safe path; and planning the target route of the target UAV according to the distance cost, the threat cost and the safe path.

[0010] In combination with the first aspect, in a possible implementation method, determining a safe path for the target UAV to avoid the threat area based on the threat level and the threat value of the target threat data includes: determining a lateral safety distance and a longitudinal safety distance based on the target threat data and the threat range of the threat area, respectively; calculating the distance cost and the threat cost of the lateral safety distance and the longitudinal safety distance, respectively, and determining the safe path for the threat area based on the calculation results.

[0011] In combination with the first aspect, in a possible implementation method, after assigning target tasks to target drones in the drone cluster according to the shared threat data pool, it also includes: if a preset condition is triggered, reallocating target tasks to target drones in the drone cluster based on the shared threat data pool, and iteratively executing the route planning steps until the task is completed; wherein the preset conditions include task changes and / or target drone failures and / or threat area changes and / or task duration warnings and / or sudden changes in weather conditions.

[0012] In a second aspect, an embodiment of the present application provides a multi-UAV task planning device based on shared threat data, including: a classification construction module, used to classify prior data and / or threat data, and store them in corresponding storage blocks according to the classified data categories to form a shared threat data pool; a task planning module, used to assign target tasks to target UAVs in a UAV cluster according to the shared threat data pool, and iteratively execute route planning steps until the UAV cluster completes the task; the route planning steps include: a data retrieval module, used to determine the data category required by the target UAV according to the target task, and retrieve the target threat data in the corresponding storage block from the shared threat data pool; a pre-planning module, used to plan the target route of the target UAV according to the target threat data; an update module, used to classify and store new threat data detected by the target UAV during the execution of the target task in the corresponding storage block to update the shared threat data pool; a re-planning module, used to execute the route planning step based on the updated shared threat data pool.

[0013] In a third aspect, an embodiment of the present application provides a device, comprising: a processor; a memory for storing processor-executable instructions; when the processor executes the executable instructions, it implements the method described in the first aspect or any possible implementation method of the first aspect.

[0014] In a fourth aspect, an embodiment of the present application provides a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium includes a medium for storing a computer program or instructions, which, when executed, enables the method described in the first aspect or any possible implementation method of the first aspect to be implemented.

[0015] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0016] The embodiment of the present application can reduce the data volume of a single request, speed up data retrieval and transmission, reduce the burden on the server, and realize on-demand loading by classifying and storing the prior data and / or threat data in blocks; by sharing the threat data pool, the target drones in the drone cluster are assigned target tasks and planned target routes, so that each drone in the drone cluster can simultaneously grasp the latest information of environmental changes so as to adjust the strategy in time. By updating the shared threat data pool, the validity and reliability of the data information used by the drone can be guaranteed, which effectively solves the problem that the existing processing of drone shared threat data is cumbersome and difficult to meet its real-time requirements, realizes accurate retrieval of the required data information, improves the efficiency of data transmission and processing, and thus improves the timeliness and reliability of the drone cluster during the task process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A flowchart of a multi-UAV mission planning method based on shared threat data provided in an embodiment of the present application;

[0019] Figure 2 A schematic diagram of the structure of a multi-UAV mission planning device based on shared threat data provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] The following describes some of the techniques involved in the embodiments of the present application to facilitate understanding, and they should be considered as merely exemplary. Therefore, it should be appreciated by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, some descriptions of well-known functions and structures are omitted in the following description.

[0022] Figure 1 1 is a flowchart of a multi-UAV mission planning method based on shared threat data provided by an embodiment of the present application, including steps 101 to 106. Among them, Figure 1 This is only an execution order shown in the embodiment of the present application, and does not represent the only execution order of the multi-UAV mission planning method based on shared threat data. If the final result can be achieved, Figure 1 The steps shown may be performed in parallel or reversed.

[0023] Step 101: Classify the prior data and / or threat data, and store them in corresponding storage blocks according to the data categories, to form a shared threat data pool. In the embodiment of the present application, the data categories of the prior data include: mission information, mission area information, drone cluster information and weather condition information. Corresponding mission information storage blocks, mission area information storage blocks, drone cluster information storage blocks and weather condition information storage blocks are respectively constructed to store the above-classified prior data.

[0024] Among them, the mission information includes: mission requirements, which are used to clarify the specific mission content that the drone needs to complete, such as reconnaissance, surveillance, attack, transportation, etc.; mission point location, which is used to plan the route of the drone from the current location to the mission point location, and each drone may have one mission point location depending on the mission content, or may have multiple mission point locations distributed in sequence by distance / time; mission time requirements, including the mission start time, end time and key time nodes in the middle; there may also be task priority, which is used to determine the priority order of each task when multiple tasks exist at the same time.

[0025] Mission area information includes: mission area boundaries, which are used to clarify the specific geographical area that the drone needs to cover or perform missions; no-fly zones, which are areas where drones are not allowed to enter, such as areas where flights are restricted by laws and regulations, military restricted areas, nature reserves, etc.; terrain constraint information, which is obstacles in the terrain that may affect the flight safety of drones, such as mountains, buildings, high-voltage lines, forests, and other terrain elevation constraint information; enemy strike position information, including missile launch positions, anti-aircraft artillery positions and other area information; enemy electromagnetic interference areas: such as the location, type, intensity, interference frequency band and other information of the enemy interference source radiation source; enemy radar coverage areas: such as the deployment location, coverage range and detection capability of the radar.

[0026] UAV cluster information includes: the type and number of UAVs in the UAV cluster, as well as the current position, performance and configuration of each UAV. UAV performance includes the minimum speed, maximum speed, maximum acceleration, maximum turning angular velocity, maximum range and other parameters that directly affect the flight trajectory and mission execution capabilities of the UAV. UAV configuration: Different types of UAVs (such as reconnaissance, attack, transport, etc.) have different mission capabilities and restrictions, and their configurations (such as sensor types, weapon systems, communication equipment, etc.) are usually different. UAV configuration will affect the allocation of tasks.

[0027] Meteorological conditions information, such as wind speed, wind direction, temperature, humidity and other factors that affect the flight performance and mission execution of the drone.

[0028] Threat data can be classified into: terrain constraint information (including terrain elevation constraint information such as mountains, forests, and buildings in the UAV mission area), meteorological condition information (including weather information such as rain, fog, low visibility, and thunderstorms), enemy strike position information (including missile launch positions, anti-aircraft artillery positions, etc.), enemy electromagnetic interference area information (such as the location, type, intensity, and interference frequency band of the enemy interference source radiation source), and enemy radar coverage area information (such as the deployment location, coverage, and detection capability of the radar). According to the data categories, corresponding storage blocks are constructed to store the above threat data by category.

[0029] It should be noted that in this application, the prior data includes threat data. The difference is that the prior data is the relevant data information obtained by the drone before performing the mission, and there are some independent data information (such as weather conditions) and dependent data information (which will change with the mission progress of our drone cluster, such as enemy electromagnetic interference areas, enemy radar coverage areas and enemy strike positions). Threat data is the current data information collected by the drone during the mission, which can be used to update the data information in the prior data.

[0030] A plurality of storage blocks for storing corresponding data information are created according to data categories classified by prior data and / or threat data classification, and these storage blocks constitute a shared threat data pool.

[0031] In addition, after the prior data and / or threat data are classified, the threat characteristics of the prior data and / or threat data may be marked, wherein the threat characteristics include the threat type, threat level and threat value of the threat data.

[0032] In one embodiment of the present application, the data information in each storage block can be further subdivided according to the geographical area range according to the location of the task point, so that the data information of the local area in the task area can be called.

[0033] Step 102: Assign target tasks to target drones in the drone cluster according to the shared threat data pool. In an embodiment of the present application, before executing a task, a target drone required to execute the task in the drone cluster is selected according to the task information in the shared threat data pool and the drone cluster information, and a target task is assigned to the target drone.

[0034] For example, if the task to be performed is a strike task, according to the task information in the prior data, this task requires some drones in the drone cluster to perform decoy tasks, some drones to perform penetration tasks, and then perform strike tasks after the penetration tasks. At this time, the target drones in the drone cluster are determined according to the required drone types, and the target tasks are assigned to the target drones according to the mission content.

[0035] Those skilled in the art should realize that if the number of drones of each type in the drone cluster exceeds the required number of target drones, the target drones can be determined based on the current location, performance, configuration, etc. of the drones.

[0036] Step 103: Determine the data category required by the target drone according to the target task, and retrieve the target threat data in the corresponding storage block from the shared threat data pool. In the embodiment of the present application, the corresponding data information in the shared threat data pool is called according to the target task, and there is no need to retrieve a large package of data information at one time and then filter it. Moreover, block division can also make data transmission more efficient, and small blocks of data are easier to retransmit, reducing overall data transmission failures or delays caused by link problems.

[0037] Before the mission is executed, the target route is planned based on the current position and target mission of each target UAV, using prior data, and then each target UAV is sent to execute the mission.

[0038] Exemplarily, target missions include penetration missions, reconnaissance missions, and strike missions.

[0039] Specifically, the penetration mission first calls the data information in the terrain constraint information storage block in the shared threat data pool to carry out mission planning, analyzes the restrictions of these terrain features on the UAV flight path, extracts the minimum safe flight altitude, obstacle avoidance and other data, and plans the shortest and safest flight path. Then, call the data information in the enemy and friendly situation and the enemy electromagnetic interference area information storage block and the enemy radar coverage area information storage block to carry out mission planning, judge which areas are high-risk areas and which areas are relatively safe, use the terrain to conceal, and choose the flight altitude and heading that are less affected by electromagnetic waves. Finally, call the data information in the meteorological condition information storage block to analyze the impact of current weather, lighting and other conditions on flight.

[0040] The reconnaissance mission is to conduct regional focused search based on threat area information. When new threat data is detected during the execution of the mission, it is necessary to update the new threat data into the shared threat data pool. First, based on the data information of each threat point in the mission area, analyze the possible threat points in the mission area, evaluate the threat level and activity mode of these threat points, and divide the mission area into key reconnaissance areas and general reconnaissance areas for reconnaissance missions. If the mission area is large, the area can be cut into smaller sub-areas based on the number of drone clusters to make the search and reconnaissance more efficient. Then, call the data information in the meteorological condition information storage block to analyze the impact of current weather, lighting and other conditions on the mission. Finally, call the data information in the enemy electromagnetic interference area information storage block and the enemy radar coverage area information storage block to understand the location, type, interference and detection capabilities of the enemy electromagnetic interference and radar coverage areas, analyze which areas are highly dangerous and which areas are relatively safe, and select the flight altitude and heading with the least impact.

[0041] The strike mission needs to call the data information in the shared threat data pool to analyze the factors affecting the mission, so that the target drone can avoid the enemy's deterrence range and complete the strike on the enemy target. First, retrieve the data information in the enemy electromagnetic interference area information storage block and the enemy radar coverage area information storage block, analyze the location, type, interference and detection capabilities of the enemy electromagnetic interference and radar coverage areas, analyze the high-risk areas, and plan a maneuverable evasion path. Then, retrieve the enemy strike position information in the mission area information storage block, analyze the location and activity range of the enemy strike equipment, and analyze the reasonable timing and time window for the strike action.

[0042] Those skilled in the art should be aware that when the target UAV performs the target mission, the data information required at different mission stages is different. The mission planning module can retrieve the required data information from the storage block according to the data category from the shared threat data pool based on the target mission and the mission stage of the target mission.

[0043] In one embodiment of the present application, real-time data information required during the UAV mission (such as weather conditions in the mission area) or data information required during the UAV mission (such as terrain constraint information) can also be automatically uploaded to the mission planning module after collection and classification.

[0044] In one embodiment of the present application, the target task area covered by the target task can be determined in the task area information according to the target task. When calling the storage block of the required data type in the shared threat data pool, only the data information of the local area corresponding to the target task area can be called to make the amount of data transmitted smaller and more accurate.

[0045] Step 104: Plan a target route of the target UAV according to the target threat data. In the embodiment of the present application, a description method of the threat area is determined according to the threat type. The threat range of the threat area is described according to the determined description method.

[0046] For example, depending on the threat type, the threat range of the threat area can be described in a spherical, conical, polygonal or other description method. For example, radar, interference source radiation source and enemy strike position can be described in a spherical or conical description method, and terrain constraints can be described in a polygonal description method. The spherical description method can indicate the threat radius and threat center coordinates of the threat, and the polygonal description method can indicate the vertex coordinates of the threat area.

[0047] According to the threat level and threat value of the target threat data, determine the safe path for the target drone to avoid the threat area. In an embodiment of the present application, the lateral safety distance and the longitudinal safety distance are determined respectively according to the target threat data and the threat range of the threat area. The distance cost and the threat cost of the lateral safety distance and the longitudinal safety distance are calculated respectively, and the safe path for the threat area is determined based on the calculation results. Exemplarily, if for the threat range, the distance cost and the threat cost of the lateral safety distance of the target drone are greater than the distance cost and the threat cost of the longitudinal safety distance, then the longitudinal obstacle avoidance path is used here as the safe path to avoid the threat area.

[0048] In addition, weights can be set for the distance cost and the threat cost to solve the situation that the distance cost and the threat cost of the lateral safety distance cannot be greater than / less than the distance cost and the threat cost of the longitudinal safety distance at the same time. Among them, the weight of the distance cost is less than the weight of the threat cost.

[0049] The distance cost and threat cost of the target drone are determined based on the target threat data and the safe path. The target route of the target drone is planned based on the distance cost, threat cost and safe path. In an embodiment of the present application, an elastic band algorithm is used to input the starting position, end position and threat area data of the target drone, and then output the path points of each target drone. The drone determines the target route that can avoid the threat area based on the distance cost, threat cost and safe path.

[0050] For example, a multi-objective optimization algorithm and a path-finding algorithm can be used to plan a target route for the target drone. The safety and efficiency of each route are then evaluated using the distance cost and the threat cost to determine the target route.

[0051] Step 105: Classify the new threat data detected by the target drone during the execution of the target mission and store it in the corresponding storage block to update the shared threat data pool. In the embodiment of the present application, the new threat data collected by the target drone during the execution of the target mission is classified according to the data category and then stored in the corresponding storage block for updating the shared threat data pool. After the shared threat data pool is updated, step 106 is executed.

[0052] Step 106: Determine whether the drone cluster has completed the task. Specifically, determine whether each target drone has completed the target task, that is, whether the drone cluster has completed the task. If the drone cluster has completed the task, then end. Otherwise, execute steps 103 to 106 until the drone cluster completes the task.

[0053] In one embodiment of the present application, after assigning a target task to a target drone in a drone cluster according to a shared threat data pool, that is, after executing step 102, it is determined whether the data information or the target drone in the shared threat data pool triggers a preset condition. If the preset condition is triggered, the target drone in the drone cluster is reallocated with the target task based on the shared threat data pool, and the route planning step is iteratively executed, that is, steps 102 to 106 are iteratively executed until the task is completed. The preset conditions include task changes and / or target drone failures and / or threat area changes and / or task duration warnings and / or sudden changes in weather conditions.

[0054] For example, if the target drone identifies new radar information data during the reconnaissance mission phase, such as the radar's location, type, threat level, illumination range, and other information, it means that the threat area has changed. At this time, the mission planning module will re-plan the mission and make a decision to attack or avoid the radar illumination area (threat area). When a target drone performs a destruction mission and the enemy's threat target is destroyed and no longer poses a threat, the threat area has also changed. The threat data information of the threat target can be deleted from the corresponding storage block in the shared threat data pool. Every change in the shared threat data pool will be decided by the mission planning module to trigger a new round of mission planning, so that the drone cluster can adapt to changes in the mission environment and complete the corresponding tasks safely, efficiently, and with low consumption.

[0055] Although the present application provides method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps listed in this embodiment is only one way of executing the order of many steps and does not represent the only execution order. When the actual device or client product is executed, it can be executed in sequence or in parallel according to the method shown in this embodiment or the accompanying drawings (for example, in a parallel processor or multi-threaded processing environment).

[0056] like Figure 2 As shown, the embodiment of the present application also provides a multi-UAV mission planning device 200 based on shared threat data. The device includes: a classification construction module 201, a mission planning module 202, a data retrieval module 203, a pre-planning module 204, an update module 205 and a re-planning module 206, as follows.

[0057] The classification construction module 201 is used to classify the priori data and / or threat data, and store them in corresponding storage blocks according to the classified data categories to form a shared threat data pool.

[0058] The mission planning module 202 is used to assign target missions to target drones in the drone cluster according to the shared threat data pool, and iteratively execute the route planning steps until the drone cluster completes the mission.

[0059] Route planning steps include:

[0060] The data retrieval module 203 is used to determine the data category required by the target UAV according to the target task, and retrieve the target threat data in the corresponding storage block from the shared threat data pool.

[0061] The pre-planning module 204 is used to plan a target route of the target UAV according to the target threat data.

[0062] The updating module 205 is used to classify and store new threat data detected by the target UAV during the execution of the target mission in the corresponding storage block to update the shared threat data pool.

[0063] The re-planning module 206 is used to perform a route planning step based on the updated shared threat data pool.

[0064] Some modules in the apparatus described in the present application can be described in the general context of computer executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0065] The devices or modules described in the above application embodiments can be implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above devices are described in various modules according to their functions. When implementing the embodiments of the present application, the functions of each module can be implemented in the same or multiple software and / or hardware. Of course, the module that implements a certain function can also be implemented by combining multiple sub-modules or sub-units.

[0066] The methods, devices or modules described in this application can be implemented in the form of computer-readable program codes. The controller can be implemented in any appropriate manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program codes (such as software or firmware) that can be executed by the (micro)processor, logic gates, switches, application-specific integrated circuits (English: Application Specific Integrated Circuit; Abbreviation: ASIC), programmable logic controllers and embedded microcontrollers. Examples of controllers include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in the form of pure computer-readable program codes, the controller can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included in it for implementing various functions can also be regarded as structures within the hardware component. Or even, the means for realizing various functions may be regarded as both a software module for realizing the method and a structure within a hardware component.

[0067] An embodiment of the present application further provides a device, comprising: a processor; a memory for storing processor executable instructions; when the processor executes the executable instructions, the method described in the embodiment of the present application is implemented.

[0068] The embodiments of the present application also provide a non-volatile computer-readable storage medium on which a computer program or instruction is stored. When the computer program or instruction is executed, the method described in the embodiments of the present application is implemented.

[0069] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist independently, or two or more modules may be integrated into one module.

[0070] The above storage media include but are not limited to random access memory (RAM), read-only memory (ROM), cache, hard disk drive (HDD) or memory card. The memory can be used to store computer program instructions.

[0071] It can be seen from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary hardware. Based on this understanding, the technical solution of the present application can be essentially or partly reflected in the prior art in the form of a software product, or it can be reflected in the implementation process of data migration. The computer software product can be stored in a storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a mobile terminal, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0072] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. All or part of this application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld devices or portable devices, tablet devices, mobile communication terminals, multi-processor systems, microprocessor-based systems, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc.

[0073] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present application.

Claims

1. A multi-UAV mission planning method based on shared threat data, characterized in that: include: Classify the prior data and / or threat data, and store them in corresponding storage blocks according to the data categories to form a shared threat data pool; wherein the prior data is the data information obtained by the drone before performing the mission, and the threat data is the current data information collected by the drone during the mission; Determine a target drone in the drone cluster according to the target task to be performed, assign a target task to the target drone in the drone cluster according to the shared threat data pool, and iteratively perform route planning steps until the drone cluster completes the task; The route planning steps include: During the target UAV's execution of the target mission, different data information is required at different stages; the target threat data corresponding to the storage block is retrieved from the shared threat data pool according to the current mission stage of the target mission; wherein, the real-time data information required during the UAV mission and / or the necessary data information during the UAV mission are automatically uploaded to the mission planning module after collection and classification; the real-time data information includes the meteorological condition information of the mission area, and the necessary data information includes the terrain constraint information; planning a target route for the target UAV based on the target threat data; Classifying and storing new threat data detected by the target UAV during the execution of the target mission in the corresponding storage block to update the shared threat data pool; The route planning step is performed based on the updated shared threat data pool.

2. The method according to claim 1, characterized in that: The data categories include terrain constraint information, weather condition information, enemy strike position information, enemy electromagnetic interference area information and enemy radar coverage area information.

3. The method according to claim 1, characterized in that: After classifying the prior data and / or threat data, the method further includes: The threat characteristics of the prior data and / or threat data are marked; wherein the threat characteristics include the threat type, threat level and threat value of the threat data.

4. The method according to claim 3, characterized in that The step of planning a target route of the target UAV according to the target threat data includes: Determining a description method of the threat area according to the threat type; The threat range of the threat area is described according to the determined description method.

5. The method according to claim 3, characterized in that: The step of planning a target route of the target UAV according to the target threat data includes: Determining a safe path for the target UAV to avoid the threat area according to the threat level and the threat value of the target threat data; Determine the distance cost and threat cost of the target UAV according to the target threat data and the safe path; The target route of the target UAV is planned according to the distance cost, the threat cost and the safe path.

6. The method according to claim 5, characterized in that Determining a safe path for the target UAV to avoid the threat area according to the threat level and the threat value of the target threat data includes: Determine a horizontal safety distance and a vertical safety distance respectively according to the target threat data and the threat range of the threat area; The distance cost and the threat cost of the lateral safety distance and the longitudinal safety distance are calculated respectively, and the safe path for the threat area is determined based on the calculation results.

7. The method according to claim 1, characterized in that After assigning target tasks to target drones in the drone cluster according to the shared threat data pool, the method further includes: If the preset conditions are triggered, the target tasks are reallocated to the target drones in the drone cluster based on the shared threat data pool, and the route planning steps are iteratively executed until the task is completed; wherein the preset conditions include task changes and / or target drone failures and / or threat area changes and / or task duration warnings and / or sudden changes in weather conditions.

8. A multi-UAV mission planning device based on shared threat data, characterized in that: include: A classification construction module is used to classify the prior data and / or threat data, and store them in corresponding storage blocks according to the classified data categories to form a shared threat data pool; wherein the prior data is the data information obtained by the drone before performing the mission, and the threat data is the current data information collected by the drone during the mission; A mission planning module, used to determine a target drone in the drone cluster according to a target mission to be performed, assign a target mission to the target drone in the drone cluster according to the shared threat data pool, and iteratively execute a route planning step until the drone cluster completes the mission; The route planning steps include: The data retrieval module is based on the different data information required at different stages during the target UAV's execution of the target mission; the target threat data corresponding to the storage block is retrieved from the shared threat data pool according to the current mission stage of the target mission; wherein the real-time data information required during the UAV mission and / or the necessary data information during the UAV mission are automatically uploaded to the mission planning module after collection and classification; the real-time data information includes the meteorological condition information of the mission area, and the necessary data information includes the terrain constraint information; A pre-planning module, used to plan a target route of the target UAV according to the target threat data; An updating module, configured to classify and store new threat data detected by the target UAV during the execution of the target mission in the corresponding storage block, so as to update the shared threat data pool; A re-planning module is used to perform the route planning step based on the updated shared threat data pool.

9. A device for executing a multi-UAV mission planning method based on shared threat data, characterized in that: include: processor; a memory for storing processor-executable instructions; When the processor executes the executable instructions, the method according to any one of claims 1 to 7 is implemented.

10. A non-volatile computer-readable storage medium, characterized in that: The device comprises a computer program or an instruction for storing the computer program or the instruction, which, when executed, enables the method according to any one of claims 1 to 7 to be implemented.

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