Multi-platform multi-target dynamic task allocation method, system, equipment and medium

Abstract

The embodiment of the invention provides a multi-platform multi-target dynamic task allocation method, system and device and a medium, and belongs to the field of multi-platform collaborative confrontation. The method comprises the following steps: performing time window segmentation on an action period of a target by using a platform; constructing a task allocation model; judging whether all targets in a model solving result are completely killed, and if so, taking the minimum total cost of consumed platform load as a first optimization target; and if not, taking the minimum target remaining overall threat as a second optimization target, and solving the first optimization target or the second optimization target by adopting a solve solver to obtain a target allocation scheme confronted by each platform channel in each action period. The task time window is segmented by adopting the action period, the problems of conflict of the platform to the target task time and waste of strike time are effectively solved, and according to whether the target is completely killed or not, the minimum platform load total cost or the minimum target residual overall threat is selected as an optimization index, so that the interception cost is minimum while the interception effect is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-platform collaborative confrontation, and specifically relates to a multi-platform multi-target dynamic task allocation method, system, device and medium. Background Art

[0002] The future will be the confrontation between systems, showing continuity, dynamics and complexity. Multi-platform collaborative confrontation of multi-targets will be a typical confrontation scenario, and the complexity of its task allocation decision-making far exceeds the human on-site processing ability.

[0003] Therefore, modeling and solving the multi-platform multi-target task allocation problem is crucial for quickly generating allocation plans and improving the overall utilization efficiency. For the multi-platform target task allocation problem, most current research is based on the situation and resource relationship between the two sides at a certain time point or time period for target allocation, without considering the conflict constraints of the task time of a single platform for multiple targets and multiple platforms for a single target, resulting in the target allocation result not being fine enough and there being a risk of plan failure; a few studies consider the constraint of the task time window, but the time window segmentation method is relatively simple, resulting in waste of task time slices. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a multi-platform multi-target dynamic task allocation method, system, device and medium, which uses the action cycle to segment the task time window, effectively solves the conflict of the platform's task time for the target and the waste of strike time, and can obtain a finer allocation plan. According to whether the target is completely killed, the minimum total cost of consuming the platform payload or the minimum remaining overall threat of the target is selected as the optimization index, which can ensure the interception effect while minimizing the interception cost, is applicable to different confrontation scenarios, and has strong versatility.

[0005] To achieve the above purpose, the embodiments of the present invention provide a multi-platform multi-target dynamic task allocation method, including: Using the action cycle of the platform for the target to segment the time window of the task to be allocated, wherein the segmentation of the time window is based on the number of consecutive actions of the platform channel for the target and each action cycle of the platform channel for the target; Constructing a task allocation model, including setting decision variables, objective functions and constraint conditions, wherein the objective functions include the objective function of the remaining overall threat of the target and the objective function of the total cost of consuming the platform payload; Determine whether all the targets of the solution result of the task allocation model are completely killed. If so, taking the minimum total cost of consuming the platform payload as the first optimization objective, use the solve solver to solve the first optimization objective to obtain the target allocation plan for each platform channel against each target in each action cycle; if not, taking the minimum remaining overall threat of the target as the second optimization objective, use the solve solver to solve the second optimization objective to obtain the target allocation plan for each platform channel against each target in each action cycle.

[0006] Optionally, the time window segmentation of the task to be allocated using the action cycle of the platform to the target satisfies the following conditions:

[0007] In the formula, is the platform channel against the target the number of consecutive action times, is the platform channel against the target the th action cycle, is the platform against the target task time window, is the start time of the task time window, is the end time of the task time window, is the start time of the first action cycle, is the th action cycle end time, represents the start time of the th action cycle, represents the th action cycle end time, represents the start time of the th action cycle.

[0008] Optionally, the target remaining overall threat objective function is characterized as:

[0009] In the formula, represents the threat level of the target , is the platform against the target kill probability, is a decision variable, represents the channel, represents the target the th action cycle, is the platform channel against the target The number of consecutive operations

[0010] Optionally, the total cost objective function of the consumption platform payload is characterized as:

[0011] In the formula, is the unit price of the platform payload, is a decision variable, represents the channel, represents the target of the th action cycle, is the number of consecutive operations that the platform channel can perform on the target The number of consecutive operations

[0012] Optionally, the constraint conditions include the constraint condition for the quantity of each platform payload, the constraint condition for simultaneously allocating the same target to a platform channel, the constraint condition for a single platform channel to simultaneously counter a target, and the constraint condition for completely killing each target.

[0013] Optionally, the constraint condition for the quantity of each platform payload is characterized as:

[0014] In the formula, is the quantity of the platform payload, is a decision variable, represents the channel, represents the target of the th action cycle, is the number of consecutive operations that the platform channel can perform on the target The number of consecutive operations

[0015] The constraint condition for simultaneously allocating the same target to a platform channel is characterized as:

[0016]

[0017] In the formula, is the platform channel for the target of the th action cycle.

[0018] The constraint condition for a single platform channel to simultaneously counter a target is characterized as:

[0019]

[0020] In the formula, is a decision variable, is the platform channel for the target the th action cycle.

[0021] The constraint condition that each target is completely killed is characterized as:

[0022] In the formula, is a decision variable, represents the channel, represents the target the th action cycle, is the number of consecutive actions that the platform channel can perform on the target , is the platform for the target kill probability.

[0023] Optionally, it is judged whether all targets are completely killed in the solution result of the task assignment model. If so, taking the minimum total cost of consuming platform payload as the first optimization objective, using the solve solver to solve the first optimization objective, and obtaining the target assignment scheme for each platform channel to confront in each action cycle; if not, taking the minimum remaining overall threat of the target as the second optimization objective, using the solve solver to solve the second optimization objective, and obtaining the target assignment scheme for each platform channel to confront in each action cycle, including: If all targets are completely killed in the solution result of the task assignment model, taking the minimum total cost of consuming platform payload as the first optimization objective, and using the constraint conditions of the quantity of each platform payload, the constraint condition that the same target is simultaneously assigned to one platform channel, the constraint condition that a single platform channel simultaneously confronts one target, and the constraint condition that each target is completely killed as the comprehensive constraint conditions, using the solve solver to solve the first optimization objective, and obtaining the target assignment scheme for each platform channel to confront in each action cycle; If all targets are not completely killed in the solution result of the task assignment model, taking the minimum remaining overall threat of the target as the second optimization objective, and using the constraint conditions of the quantity of each platform payload, the constraint condition that the same target is simultaneously assigned to one platform channel, and the constraint condition that a single platform channel simultaneously confronts one target as the comprehensive constraint conditions, using the solve solver to solve the first optimization objective, and obtaining the target assignment scheme for each platform channel to confront in each action cycle.

[0024] In the second aspect, the present invention also provides a multi-platform multi-target dynamic task assignment system, including: A splitting unit, configured to split the time window of the task to be allocated by using the action period of the platform for the target, wherein the splitting of the time window is based on the number of consecutive actions of the platform channel on the target and each action period of the platform channel on the target; A constructing unit, configured to construct a task allocation model, including setting decision variables, an objective function, and constraint conditions; An allocating unit, configured to determine whether all targets in the solution result of the task allocation model are completely killed. If so, taking the minimum total cost of consuming the platform payload as the first optimization objective, using the solve solver to solve the first optimization objective, and obtaining the target allocation scheme for each platform channel in each action period; if not, taking the minimum remaining overall threat of the target as the second optimization objective, using the solve solver to solve the second optimization objective, and obtaining the target allocation scheme for each platform channel in each action period.

[0025] In a third aspect, the present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps of the above-mentioned multi-platform multi-target dynamic task allocation method are implemented.

[0026] In a fourth aspect, the present invention further provides a storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned multi-platform multi-target dynamic task allocation method are implemented.

[0027] Through the above technical solution, the task time window is split by using the action period, effectively solving the problem of conflict in the task time of the platform for the target and waste of the strike time, and being able to obtain a finer allocation scheme. According to whether the target is completely killed, choosing the minimum total cost of consuming the platform payload or the minimum remaining overall threat of the target as the optimization index can ensure the interception effect while minimizing the interception cost, is applicable to different confrontation scenarios, and has strong versatility.

[0028] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent specific implementation part. Description of the Drawings

[0029] The drawings are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the specification, and are used to explain the embodiments of the present invention together with the following specific implementation manners, but do not constitute a limitation to the embodiments of the present invention. In the drawings: Figure 1 is a flowchart of a multi-platform multi-target dynamic task allocation method provided by an embodiment of the present invention; Figure 2 is a schematic diagram of splitting a time window provided by an embodiment of the present invention; Figure 3 It is a correspondence diagram between decision variables and time window segmentation provided by an embodiment of the present invention; Figure 4 It is a detailed implementation flowchart of a multi-platform multi-objective dynamic task allocation method provided by an embodiment of the present invention; Figure 5 It is a schematic structural diagram of a multi-platform multi-objective dynamic task allocation system provided by an embodiment of the present invention; Figure 6 It is a schematic hardware structure diagram of an electronic device provided by an embodiment of the present invention. Detailed implementation manners

[0030] In the following detailed description, various embodiments of the present disclosure will be more fully described. The present disclosure can have various embodiments and adjustments and changes can be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present disclosure to the specific embodiments disclosed herein, but the present disclosure should be understood to cover all adjustments, equivalents and / or alternative solutions falling within the spirit and scope of the various embodiments of the present disclosure.

[0031] In the following, the term "comprising" or "may comprise" that can be used in various embodiments of the present disclosure indicates the presence of the disclosed function or operation and does not limit the addition of one or more functions or operations. In addition, as used in various embodiments of the present disclosure, the terms "comprising", "having" and their cognates are only intended to indicate a specific feature, number, step, operation or combination of the foregoing items, and should not be construed as first excluding the existence or addition of one or more other features, numbers, steps, operations or combinations of the foregoing items.

[0032] In various embodiments of the present disclosure, the expression "or" or "at least one of A or / and B" includes any combination or all combinations of the recited words. For example, the expression "A or B" or "at least one of A or / and B" may include A, may include B, or may include both A and B.

[0033] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0034] Refer to Figure 1 The following is a flowchart of a multi-platform multi-objective dynamic task allocation method in a specific embodiment, including the following execution steps: Step 100: Divide the time window of the task to be assigned according to the action cycle of the platform on the target.

[0035] Among them, the division of the time window is based on the number of consecutive actions of the platform channel on the target and each action cycle of the platform channel on the target.

[0036] In some embodiments, consider M types of platforms for N targets cooperative task assignment problem. The number of channels of the platform is , the number of payloads of the platform is , the unit price of the payload of the platform is , the threat level of the target is , the kill probability of the platform on the target is , the task time window of the platform on the target is . To ensure that the task time does not conflict when a single platform channel acts continuously on multiple targets, divide the task time window according to the action cycle of the platform on the target. The time window division of the platform channel on the target is as shown in Figure 2 .

[0037] Specifically, dividing the time window of the task to be assigned according to the action cycle of the platform on the target satisfies the following conditions:

[0038] In the formula, is the number of consecutive actions that the platform channel can perform on the target , is the th action cycle of the platform channel on the target , is the task time window of the platform on the target , is the start time of the task time window, is the end time of the task time window, is the start time of the first action cycle, is the th end time of the action cycle, represents the The start time of a mission cycle Indicates the end time of the th mission cycle The start time of the

[0039] Step 101: Construct a task allocation model, including setting decision variables, objective functions, and constraint conditions. Among them, the objective functions include the objective remaining overall threat objective function and the total cost objective function of consuming platform payloads.

[0040] Specifically, let the decision variable be , taking values of 0 or 1. Indicates that platform 's channel in the mission cycle confronts target . Indicates that platform 's channel in the mission cycle does not confront target . The decision variable corresponds to the time window segmentation as Figure 3 shown.

[0041] Specifically, the objective remaining overall threat objective function is characterized as:

[0042] In the formula, Indicates the threat level of target . Is the kill probability of platform against target . Is the decision variable. Indicates the channel. Indicates target 's th mission cycle. Is the maximum number of consecutive actions that the platform channel can take against target .

[0043] The total cost objective function of consuming platform payloads is characterized as:

[0044] In the formula, Is the unit price of the payload of platform . Is the decision variable. Indicates the channel. Indicates target 's th mission cycle. Is the maximum number of consecutive actions that the platform channel can take against target Number of consecutive effective times

[0045] In some embodiments, the constraint conditions include the constraint condition of the number of each platform load, the constraint condition that the same target is assigned to one platform channel at the same time, the constraint condition that a single platform channel confronts one target at the same time, and the constraint condition that each target is completely killed.

[0046] Furthermore, the constraint condition of the number of each platform load is characterized as (1):

[0047] wherein is the number of platform loads, is a decision variable, represents the channel, represents the target in the th effective cycle, is the number of consecutive effective times that the platform channel acts on the target Number of consecutive effective times

[0048] The constraint condition that the same target is assigned to one platform channel at the same time is characterized as (2):

[0049]

[0050] wherein is the platform channel acting on the target in the th effective cycle.

[0051] The constraint condition that a single platform channel confronts one target at the same time is characterized as (3):

[0052]

[0053] wherein is a decision variable, is the platform channel acting on the target in the th effective cycle.

[0054] The constraint condition that each target is completely killed is characterized as (4):

[0055] wherein is a decision variable, represents the channel, Indicates the target The th action cycle For the platform channel to the target The number of consecutive actions possible For the platform To the target Kill probability

[0056] Step 102: Determine whether all targets in the solution result of the task allocation model are completely killed. If so, with the minimum total cost of consuming platform payloads as the first optimization objective, use the solve solver to solve the first optimization objective to obtain the target allocation plan for each platform channel against each target in each action cycle; if not, with the minimum remaining overall threat of the targets as the second optimization objective, use the solve solver to solve the second optimization objective to obtain the target allocation plan for each platform channel against each target in each action cycle.

[0057] If the platform can completely kill all targets, then with the minimum total cost of consuming platform payloads as the optimization objective, that is ; If the platform cannot completely kill all targets, then with the minimum remaining overall threat of the targets as the optimization objective, that is .

[0058] Specifically, when executing step 102, the following steps can be specifically executed: S1: If all targets in the solution result of the task allocation model are completely killed, then with the minimum total cost of consuming platform payloads as the first optimization objective, and with the constraints of the quantity of each platform payload, the constraint that the same target is simultaneously assigned to one platform channel, the constraint that a single platform channel simultaneously confronts one target, and the constraint that each target is completely killed as the comprehensive constraints, use the solve solver to solve the first optimization objective to obtain the target allocation plan for each platform channel against each target in each action cycle.

[0059] S2: If all targets in the solution result of the task allocation model are not completely killed, then with the minimum remaining overall threat of the targets as the second optimization objective, and with the constraints of the quantity of each platform payload, the constraint that the same target is simultaneously assigned to one platform channel, the constraint that a single platform channel simultaneously confronts one target as the comprehensive constraints, use the solve solver to solve the first optimization objective to obtain the target allocation plan for each platform channel against each target in each action cycle.

[0060] In this embodiment, the mission time window is segmented by the action cycle, effectively solving the problems of conflict in the target mission time of the platform and waste of strike time, and a more refined allocation scheme can be obtained. According to whether the target is completely killed, the minimum total cost of consuming the platform payload or the minimum remaining overall threat of the target is selected as the optimization index, which can ensure the interception effect while minimizing the interception cost, is applicable to different confrontation scenarios, and has strong versatility.

[0061] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0062] In a specific embodiment, the Optimization Toolbox in MATLAB is used to solve the above optimization problem. The optimvar function is used to define variables, and the optimproblem function is used to construct an optimization problem object. The variables, objective function, and constraint conditions are integrated, and finally the solve solver is used to solve the result. Refer to Figure 4 As shown, the following is a detailed implementation flowchart of a multi-platform multi-target dynamic task allocation method provided by an embodiment of the present invention: Initialize problem parameters, including the number of platforms, the number of channels, the number of payloads, and the unit price of the payload; the kill probability of the platform on the target, the mission time window, the action cycle, and the target threat level. The platform channels segment the time window for the target according to the action cycle, and the objective function to be solved is , and the optimization model with constraints (1), (2), (3), and (4) is used to determine whether the target is completely killed after the solution result. If so, the result is output. Otherwise, the objective function to be solved is , and the optimization model with constraint conditions (1), (2), and (3) is used, and finally the result is output.

[0063] As Figure 5 shown, the following is an embodiment of a multi-platform multi-target dynamic task allocation system provided by an embodiment of the present disclosure, which belongs to the same inventive concept as the multi-platform multi-target dynamic task allocation methods of the above embodiments. For the details not described in detail in the embodiment of the multi-platform multi-target dynamic task allocation system, reference can be made to the embodiments of the multi-platform multi-target dynamic task allocation methods above.

[0064] A segmentation unit for segmenting the mission to be allocated by using the action cycle of the platform on the target, where the segmentation of the time window is based on the number of consecutive action times of the platform channel on the target and each action cycle of the platform channel on the target; A construction unit for constructing a task allocation model, including setting decision variables, an objective function, and constraint conditions; An allocation unit is used to determine whether all the targets in the solution result of the task allocation model are completely killed. If so, with the minimum total cost of consuming platform payload as the first optimization objective, the solve solver is used to solve the first optimization objective to obtain the target allocation scheme for each platform channel to counter in each action cycle; if not, with the minimum remaining overall threat of the targets as the second optimization objective, the solve solver is used to solve the second optimization objective to obtain the target allocation scheme for each platform channel to counter in each action cycle.

[0065] Figure 6 It is a schematic diagram of the hardware structure of an electronic device for implementing various embodiments of the present invention.

[0066] The multi-platform multi-target dynamic task allocation method provided by the embodiments of the present application can be applied to an electronic device. Those skilled in the art can understand that the structure of the electronic device involved in the embodiments of the present invention does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown, or combine certain components, or have different component arrangements. In the embodiments of the present invention, the electronic device includes, but is not limited to, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the embodiments of the present application described and / or claimed herein.

[0067] The electronic device may include a processor, an external memory interface, an internal memory, a universal serial bus (USB) interface, a charging management module, a power management module, a battery, a wireless communication module, an audio module, a speaker, a microphone, a sensor module, a key, a camera, a display screen, and a SIM card interface, etc.

[0068] It can be understood that the structure schematically shown in the embodiments of the present application does not constitute a specific limitation on the electronic device. In other embodiments of the present application, the electronic device may include more or fewer components than shown, or combine certain components, or split certain components, or have different component arrangements. The components shown may be implemented in hardware, software, or a combination of software and hardware.

[0069] The processor may include one or more processing units. For example, the processor may include a central processing unit (CPU), an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Among them, different processing units may be independent devices or integrated in one or more processors.

[0070] Among them, the processor may be the nerve center and command center of the electronic device. The controller can generate operation control signals according to the instruction operation code and timing signals to complete the control of fetching and executing instructions.

[0071] A memory may also be provided in the processor for storing instructions and data. In some embodiments, the memory in the processor is a cache memory. This memory can save the instructions or data that the processor has just used or reused. If the processor needs to use the instruction or data again, it can directly call it from this memory. This avoids repeated accesses, reduces the waiting time of the processor, and thus improves the system efficiency.

[0072] The external memory interface can be used to connect an external memory card, such as a MicroSD card, to expand the storage capacity of the electronic device. The external memory card communicates with the processor through the external memory interface to achieve the data storage function. For example, files such as music and videos are saved in the external memory card.

[0073] The internal memory can be used to store computer-executable program code, and the computer-executable program code includes instructions. The processor executes various functional applications and data processing of the electronic device by running the instructions stored in the internal memory. The internal memory may include a program storage area and a data storage area. The internal memory may include a high-speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, a universal flash storage (UFS), etc.

[0074] The wireless communication function of the electronic device can be implemented through an antenna, a wireless communication module, a modem processor, a baseband processor, etc.

[0075] The wireless communication module can provide solutions for wireless communications applied to electronic devices, including wireless local area networks (WLANs) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite systems (GNSSs), frequency modulation (FM), near field communication (NFC), infrared (IR), etc.

[0076] The electronic device can implement audio functions through an audio module, speakers, receivers, microphones, headphone jacks, application processors, etc.

[0077] The electronic device can implement shooting functions through an ISP, a camera, a video codec, a GPU, a display screen, an application processor, etc.

[0078] The electronic device can implement display functions through a GPU, a display screen, an application processor, etc.

[0079] The GPU is a microprocessor for image processing, connecting the display screen and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor may include one or more GPUs, which execute program instructions to generate or change display information.

[0080] The display screen is used to display images, videos, etc. The display screen includes a display panel.

[0081] In the storage medium provided in this application, there is a program product that can implement the multi-platform and multi-target dynamic task allocation method.

[0082] The multi-platform multi-target dynamic task allocation method includes: dividing the to-be-allocated tasks into time windows by using the action cycle of the platform on the target, where the division of the time window is based on the number of consecutive actions of the platform channel on the target and each action cycle of the platform channel on the target; constructing a task allocation model, including setting decision variables, an objective function, and constraint conditions, where the objective function includes an overall threat objective function of the remaining targets and a total cost objective function of consuming the platform payload; determining whether all targets in the solution result of the task allocation model are completely killed. If so, taking the minimum total cost of consuming the platform payload as the first optimization objective, using the solve solver to solve the first optimization objective, and obtaining the target allocation scheme for each platform channel to counter in each action cycle; if not, taking the minimum overall threat of the remaining targets as the second optimization objective, using the solve solver to solve the second optimization objective, and obtaining the target allocation scheme for each platform channel to counter in each action cycle.

[0083] In some possible implementation manners, the subject name of the multi-platform multi-target dynamic task allocation method and system of the present disclosure can be implemented in the form of a program product, which includes program code. When the program product runs on a terminal device, the program code is used to cause the terminal device to execute the steps according to various exemplary embodiments of the present disclosure described in the "Exemplary Method" section of this specification.

[0084] The storage medium of the present disclosure may adopt any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0085] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-platform multi-objective dynamic task allocation method, characterized in that: include: The time window of the assigned task is divided by using the action cycle of the platform on the target, wherein the time window is divided based on the number of times the platform channel can continuously act on the target and each action cycle of the platform channel on the target; Constructing a task allocation model, including setting decision variables, objective functions and constraints, wherein the objective function includes a target remaining overall threat objective function and a total cost objective function of consuming platform payloads; Determine whether all targets are completely killed in the task allocation model solution. If so, the first optimization goal is to minimize the total cost of consuming platform load, and the solve solver is used to solve the first optimization goal to obtain the target allocation plan for each platform channel to confront in each action cycle; if not, the second optimization goal is to minimize the overall threat of the target remaining, and the solve solver is used to solve the second optimization goal to obtain the target allocation plan for each platform channel to confront in each action cycle.

2. The multi-platform multi-objective dynamic task allocation method according to claim 1 is characterized in that: The time window segmentation of the assigned tasks using the platform's action cycle on the target meets the following conditions: In the formula, For platform channel To target Continuous action times: For platform channel To target No. Action cycle, For the platform To target The task time window, is the task time window start time, is the end time of the task time window, is the start time of the first action cycle, For the The end time of a cycle of action, Indicates The start time of a cycle, Indicates The end time of a cycle of action, Indicates The start time of a cycle.

3. The multi-platform multi-objective dynamic task allocation method according to claim 1 is characterized in that: The target remaining overall threat objective function is characterized as: In the formula, Indicates the target The threat level, For the platform To target The probability of killing, is the decision variable, Indicates the channel, Indicates the target No. Action cycle, Platform channel to target The number of consecutive actions.

4. The multi-platform multi-objective dynamic task allocation method according to claim 1 is characterized in that: The objective function of the total cost of consuming platform load is expressed as: In the formula, , For the platform Load unit price, is the decision variable, Indicates the channel, Indicates the target No. Action cycle, Platform channel to target The number of consecutive actions.

5. The multi-platform multi-objective dynamic task allocation method according to claim 1, characterized in that: The constraints include the number of payloads for each platform, the same target being assigned to a platform channel at the same time, a single platform channel fighting against a target at the same time, and each target being completely killed.

6. The multi-platform multi-objective dynamic task allocation method according to claim 5 is characterized in that: The load quantity constraint of each platform is characterized as follows: In the formula, , For the platform Number of loads, is the decision variable, Indicates the channel, Indicates the target No. Action cycle, Platform channel to target The number of consecutive actions that can be taken; The constraint that the same target is assigned to a platform channel at the same time is represented as: In the formula, For platform channel To target No. Action cycle; The constraints for a single platform channel to fight against a target at the same time are characterized as follows: In the formula, is the decision variable, For platform channel To target No. Action cycle; The constraint that each target is completely killed is represented as: In the formula, is the decision variable, Indicates the channel, Indicates the target No. Action cycle, Platform channel to target Continuous action times: For the platform To target probability of killing.

7. The multi-platform multi-objective dynamic task allocation method according to claim 5, characterized in that: Determine whether all targets are completely killed in the task allocation model solution. If so, the first optimization goal is to minimize the total cost of consuming platform loads, and the solve solver is used to solve the first optimization goal to obtain the target allocation plan for each platform channel to fight in each action cycle; if not, the second optimization goal is to minimize the overall threat of the target remaining, and the solve solver is used to solve the second optimization goal to obtain the target allocation plan for each platform channel to fight in each action cycle, including: If all targets are completely killed as a result of the task allocation model solution, the first optimization goal is to minimize the total cost of consuming platform loads, and the comprehensive constraints are the number of constraints on each platform load, the constraint that the same target is simultaneously assigned to a platform channel, the constraint that a single platform channel simultaneously fights against a target, and the constraint that each target is completely killed. The solve solver is used to solve the first optimization goal to obtain the target allocation scheme that each platform channel fights against in each action cycle; If all targets are not completely killed as a result of solving the task allocation model, the second optimization goal is to minimize the remaining overall threat of the target. The constraints on the number of payloads of each platform, the constraint that the same target is assigned to one platform channel at the same time, and the constraint that a single platform channel simultaneously fights against one target are used as comprehensive constraints. The solve solver is used to solve the first optimization goal to obtain the target allocation plan that each platform channel fights against in each action cycle.

8. A multi-platform multi-objective dynamic task allocation system, characterized in that: include: A segmentation unit, used for performing time window segmentation on the assigned task by using the action cycle of the platform on the target, wherein the time window segmentation is based on the number of times the platform channel can continuously act on the target and each action cycle of the platform channel on the target; A construction unit is used to construct a task allocation model, including setting decision variables, objective functions, and constraints; The allocation unit is used to determine whether all targets are completely killed in the solution results of the task allocation model. If so, the first optimization goal is to minimize the total cost of consuming platform load, and the solve solver is used to solve the first optimization goal to obtain the target allocation plan for each platform channel to confront in each action cycle; if not, the second optimization goal is to minimize the overall threat of the target remaining, and the solve solver is used to solve the second optimization goal to obtain the target allocation plan for each platform channel to confront in each action cycle.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the multi-platform multi-target dynamic task allocation method as described in any one of claims 1 to 7 are implemented.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the multi-platform multi-target dynamic task allocation method according to any one of claims 1 to 7 are implemented.

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