A method for cooperative search path planning for aircraft

Abstract

This invention belongs to the field of aerial reconnaissance technology and relates to a method for collaborative search path planning for aircraft. It includes the division of specific defense zones within a defense perimeter and the planning of aircraft search routes for each defense zone. Based on the properties of Thiessen polygons, points within a Thiessen polygon are closest to its core, making the use of Thiessen polygons to divide defense zones highly reasonable. The search routes during conventional searches are divided into detour routes and transfer routes. Detour routes are parallel to the edges of the Thiessen polygon, while transfer routes are perpendicular to its edges. By dividing the outer defense zone into an inner outer zone and an outer outer zone, comprehensive and efficient utilization of aircraft with different platform capabilities is achieved.

Description

Technical Field

[0001] This invention belongs to the field of aerial reconnaissance technology and relates to a method for collaborative search path planning for aircraft. Background Technology

[0002] When engaging in open-sea combat, naval formations face threats from all sides. The main reconnaissance force within the formation comes from the ships carrying carrier-based aircraft. How to effectively utilize these aircraft for synchronized and efficient anti-submarine warfare (ASW) is an unresolved issue. The usual practice is as follows: long-range reconnaissance uses shore-based fixed-wing reconnaissance aircraft to conduct long-range ASW searches of the outer defense zone of the formation; medium-range reconnaissance uses towed sonar from surface ships, dispatching reconnaissance helicopters (carrying dipping sonar or sonobuoys) upon detecting suspicious targets; and short-range reconnaissance uses the ships' own onboard reconnaissance helicopters. There is currently no effective coordination method between these three defense zones, and flight routes within each defense zone are limited to that zone itself, without considering how to respond to ASW requests from other defense zones. Summary of the Invention

[0003] Purpose of the invention A collaborative search path planning method for aircraft is proposed. This method can rationally divide the defense zones of each ship node carrying an aircraft, enabling efficient search of flight routes within these zones. Furthermore, the various defense zones can cooperate to conduct emergency searches, facilitating the timely formation of encirclement zones and ensuring a clear division of labor in the search process.

[0004] Technical solution A cooperative search path planning method for aircraft includes the following steps: Step 1: Dividing the specific defense zones within the defense perimeter. Using each ship node carrying an aircraft in the ship formation as the core, generate Thiessen polygons. The Thiessen polygon corresponding to each node represents the defense zone for that node.

[0005] Step 2: Plan the search routes for aircraft in each defense zone.

[0006] 1) Short-range search route, i.e., the search route within the central vessel defense zone. The short-range search route includes a bypass route and a transfer route. The bypass route is parallel to the sides of the Thiessen polygon, while the transfer route is perpendicular to the sides of the Thiessen polygon. After completing one bypass loop, the vessel proceeds via the transfer route to the next bypass loop.

[0007] 2) Medium-range search routes, i.e., search routes within the inner defense zone. These medium-range search routes include bypass routes and transfer routes. The bypass route is parallel to the sides of the Thiessen polygon. Transfer routes within the medium-range search route must lie on the straight line connecting the vessels in the area and the central vessel.

[0008] 3) Long-range search routes, i.e., search routes within the outer defense zone. These long-range search routes include bypass routes and transfer routes.

[0009] Furthermore, the detour routes include clockwise or counterclockwise directions. Adjacent detour routes can be in the same direction or in opposite directions. The distance between two adjacent detour routes should be less than the search width L of the aircraft's detection payload.

[0010] Furthermore, the diversion route will be implemented at least once after the bypass route has been closed.

[0011] Furthermore, in the short-range and medium-range search routes, the polygonal bypass routes can be shifted from large to small or from small to large. In the short-range search route, the shift route can be set at any point on the trajectory of the bypass route. And adjacent shift routes do not need to be collinear.

[0012] Furthermore, in the aforementioned medium-range search route, the shorter sides of the polygon on the bypass route may collapse into a single point as it gradually shrinks, and the innermost bypass route has at least three sides. The bypass route can pass through vessels within this area. The transfer route must be on the line connecting the corresponding inner defense zone vessel node and the central vessel node.

[0013] Furthermore, the outer defense zone needs to be further divided into an inner zone and an outer zone. This division is achieved by connecting nodes within the outer defense zone to nodes in adjacent outer defense zones, resulting in a closed shape closer to the central vessel and an open shape farther from the central vessel. The closed shape closer to the central vessel constitutes the inner zone of the outer defense zone. Connecting nodes within the outer defense zone to nodes in adjacent inner defense zones, and selecting any point on the connecting line that is outside the nodes (far from the central vessel is considered the outer zone) and does not exceed the boundary of the outer defense zone, then drawing perpendicular lines from this point to the sides of two adjacent Thiessen polygons, results in a closed shape farther from the central vessel, which is the outer zone of the outer defense zone.

[0014] Furthermore, in the aforementioned long-range search route, the transfer route within the inner zone of the outer defense zone must be on the line connecting the corresponding outer defense zone vessel node and its adjacent inner defense zone node. The bypass route within the inner zone of the outer defense zone is planned similarly to the bypass route in the medium-range search route. In the bypass route within the inner zone of the outer defense zone, the shorter side of the polygon may collapse into a single point as it gradually shrinks; the innermost bypass route has at least three sides. All routes within the outer zone of the outer defense zone are bypass routes. These bypass routes within the outer zone of the outer defense zone are strip-shaped routes, meaning they advance outwards gradually along a direction parallel to the boundary between the outer and inner zones of the outer defense zone.

[0015] Furthermore, this includes the aircraft search routes during a call-to-action search. During the call-to-action search, when a suspicious point appears in the central ship defense zone, aircraft within the central ship defense zone fly directly to the suspicious point and search its vicinity. Aircraft in each inner defense zone immediately fly along the shortest route (perpendicular direction) to the edge of the central ship defense zone and fly back and forth along that edge, simultaneously deploying detection buoys. To prevent the suspicious target from escaping further, aircraft in the inner area of ​​the outer defense zone immediately fly to the common edge between the inner and outer defense zones, and fly back and forth along this edge while deploying detection buoys. Aircraft in the outermost area of ​​the outer defense zone continue flying along their original routes and do not participate in this call-to-action search.

[0016] Furthermore, in the aforementioned emergency search route, when a suspicious point appears in the central ship defense zone, the detection range formed by the deployed probe buoys must be able to completely enclose the central ship defense zone. In the emergency search route, when a suspicious point appears in the inner defense zone, aircraft within the inner defense zone fly directly to the suspicious point and search its vicinity. Every aircraft in the inner defense zone adjacent to this inner defense zone, as well as aircraft in the central ship defense zone, immediately flies along the shortest route (perpendicular direction) to the edge of that inner defense zone and flies back and forth along that edge, simultaneously deploying probe buoys. Aircraft in the inner area of ​​the outer defense zone immediately fly to the common edge between the inner area of ​​the outer defense zone and the inner defense zone, and fly back and forth along the common edge while deploying probe buoys. Aircraft in the outer area of ​​the outer defense zone continue flying along their original route and do not participate in this emergency search.

[0017] Furthermore, in the aforementioned emergency search route, when a suspicious point appears in the inner defense zone, the detection range formed by the deployed probe buoys must be able to completely enclose the inner defense zone. In the emergency search route, when a suspicious point appears in the inner part of the outer defense zone, aircraft in the inner part of the outer defense zone fly directly to the suspicious point and search its vicinity. Each aircraft in the inner part of the outer defense zone adjacent to the inner part of the outer defense zone, as well as each aircraft in the adjacent inner defense zone, immediately fly along the shortest route (perpendicular direction) to the edge of the inner part of the outer defense zone and fly back and forth along that edge, simultaneously deploying probe buoys. Aircraft in the outer part of the outer defense zone immediately fly to the boundary between the outer part of the outer defense zone and the inner part of the outer defense zone, and fly back and forth along the boundary, deploying probe buoys. Aircraft in the central ship defense zone continue flying along their original route and do not participate in this emergency search. In the aforementioned emergency search route, when a suspicious point appears in the inner part of the outer defense zone, the detection range formed by the deployed probe buoys must be able to completely enclose the inner part of the outer defense zone. In the emergency search route, when a suspicious point appears in the outer part of the outer defense zone, aircraft in the outer part of the outer defense zone fly directly to the suspicious point and search its vicinity. Each aircraft in the outer part of the outer defense zone adjacent to that outer part immediately flies along the shortest route (perpendicular direction) to the edge of that outer part of the outer defense zone and flies back and forth along that edge, simultaneously deploying probe buoys. Aircraft in the inner part of the outer defense zone immediately fly to the boundary between the inner and outer parts of the outer defense zone and fly back and forth along the boundary, deploying probe buoys. To prevent suspicious targets from further intruding into the inner circle, aircraft in the inner defense zone adjacent to the outer defense zone immediately fly along the shortest path to the common edge between their area and the outer defense zone, and then fly back and forth along the common edge, while simultaneously deploying detection buoys. Aircraft in the central ship defense zone continue flying along their original routes and do not participate in this emergency search.

[0018] The beneficial effects of this application are as follows: Based on the properties of Thiessen polygons, points within a Thiessen polygon are closest to its core, making the use of Thiessen polygons to divide defense zones highly rational. The search routes during conventional searches are divided into bypass routes and transfer routes. Bypass routes are parallel to the edges of the Thiessen polygon, while transfer routes are perpendicular to them. This ensures that bypass routes remain perpendicular to the lines connecting nodes, maximizing search efficiency in the area between nodes. Simultaneously, transfer routes are parallel to the lines connecting adjacent nodes, resulting in the fastest transfer speed. Since all transfer routes lie on the lines connecting the nodes within their respective defense zones to the formation's center vessel—meaning the center vessel is always positioned in the gradient direction of all route changes—the center vessel offers the highest safety compared to other route types. By dividing the outer defense zone into an inner outer zone and an outer outer zone, comprehensive and efficient utilization of aircraft with different platform capabilities is achieved. In other words, aircraft with small turning radii, low flight speeds, and short loiter times search smaller, more inward-facing areas; while aircraft with large turning radii, high flight speeds, and long loiter times search larger, more outward-facing areas. During a search response, aircraft in the area of ​​the suspected target and its adjacent areas work together to rapidly deploy probe buoys along the common boundary between the adjacent areas and the target area, quickly forming a search encirclement and preventing the suspected target from escaping. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a ship formation and its defensive perimeter.

[0020] Figure 2 This is a schematic diagram of a Thiessen polygon generated from the nodes of each ship carrying an aircraft within the ship formation.

[0021] Figure 3 An example diagram showing a ship carrying an aircraft and its corresponding defense zone.

[0022] Figure 4 This is a short-range search route map.

[0023] Figure 5 This is a route map for a medium-range search.

[0024] Figure 6 This is a long-range search route map.

[0025] Figure 7 Map for responding to a search route (when a suspicious point appears in the central ship defense zone).

[0026] Figure 8 Map showing the search route in response to a call for help (when a suspicious point appears in the inner defense zone).

[0027] Figure 9 This is a map showing the search route in response to a call for help (when a suspicious point appears in the inner part of the outer defense zone).

[0028] Figure 10 This is a map showing the search route in response to a call for help (when a suspicious point appears in the outermost part of the outer defense zone). Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions in the embodiments of this invention will be described in more detail below. In the examples, the same or similar reference numerals denote the same or similar components or elements having the same or similar functions throughout. The described embodiments are some, but not all, of the embodiments of this invention. The embodiments described below with reference to reference are exemplary and intended to explain this invention, and should not be construed as limiting the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention. The embodiments of this invention will be described in detail below.

[0030] To simplify the description, "node" refers to a ship carrying an aircraft. For example... Figure 1 , Figure 2 C is the center ship node of the formation, I1 to I6 are inner layer nodes, and O1 to O6 are outer layer nodes.

[0031] like Figure 3 D(Y) represents the Thiessen polygon region with node Y as the core, and D(Y) is the defense zone that node Y is responsible for (shown as point Ii in the figure).

[0032] like Figure 1 , Figure 3 The Thiessen polygon region where the central ship is located is the central defense zone, denoted as D(C); the Thiessen polygon region generated by the inner nodes of the formation is the inner defense zone, denoted as D(Ii); and the Thiessen polygon region generated by the outer nodes of the formation is the outer defense zone, denoted as D(Oj).

[0033] Search routes include detour routes and transfer routes. Detour routes are the actual search paths taken by the aircraft, while transfer routes are the paths used when progressing from the detour route to the inner / outer detour route.

[0034] like Figure 4 Taking the hexagonal Thiessen polygon as an example, the same applies to other numbers of sides. Point C is the central vessel, and P1 to P6 are the vertices of the Thiessen polygon in the central defense zone. The specific route planning method in D(C) is as follows: (1) Arrange points P7 to P12 in D(C) such that the polygon formed by P7 to P12 is parallel to each side of polygon P1 to P6, and the distance between each parallel side is not greater than the search width L of the aircraft. (2) Further arrange polygons P13 to P18 in polygons P7 to P12, so that the polygons formed by P13 to P18 are parallel to each side of polygons P7 to P12, and the distance between each parallel side is not greater than the search width L. (3) Repeat step (2) until polygons Px~Px+t are formed (P25~P28 in the figure, which can be more or less), such that the distance from any point in polygons Px~Px+t to each side of polygons Px~Px+t is no greater than the search width L. t is the number of vertices of the polygon - 1; (4) The detour route in D(C) is P1~Px+t (P1~P28 in the figure, which can be more or less); (5) Each time the detour route shrinks inward, use the transfer route Pz1~Pzy (y is the number of small polygons in D(C), which is Pz1~Pz4 in the figure, and can be more or less). The line connecting Pz1~Pzy and point C must be perpendicular to the side of the Thiessen polygon.

[0035] (6) Any transfer route Pzk-Pzk+1 can be perpendicular to any side of a Thiessen polygon (the transfer routes in the figure are all on the same straight line, or they may not be on the same straight line).

[0036] like Figure 5 Taking the Thiessen polygon of a pentagon as an example, the same applies to other numbers of sides.

[0037] Ii is a node in any inner defense zone, and Q1 to Q5 are vertices of the Thiessen polygon of the inner defense zone with Ii as the core, where Q1 is P1 and Q2 is P2. Q1Q2 (P1P2) is the common boundary between the central defense zone and the inner defense zone with Ii as the core.

[0038] The specific route planning method in D(Ii) is as follows: (1) Arrange points Q7 to Q10 in D(Ii) such that the polygon formed by Q7 to Q10 is parallel to each side of the polygon Q1 to Q5, and the distance between each parallel side is not greater than the search width L of the aircraft. (2) Repeat step (1) to generate a series of small polygons, where each edge of the small polygon is parallel to the edge of the polygon generated in the previous step, and the distance between each parallel edge is no greater than the search width L. Continue until the smallest polygon is formed, such that the distance from any point in the smallest polygon to each edge of the smallest polygon is no greater than the search width L; (3) During this process, the shorter side of the small polygon may collapse into a point, and the final small polygon should be at least a triangle; (4) During this process, the edge of the small polygon may pass through point Ii or may not pass through point Ii (the figure shows the case when it passes through point Ii). (5) The bypass route in D(Ii) is the edge of each small polygon (which may be more or less than the number shown in the figure). (6) The transfer route in D(Ii) must be on the straight line connecting Ii and C, that is, the transfer route is perpendicular to Q1Q2 (P1P2).

[0039] like Figure 6 Taking the Thiessen polygon of a pentagon as an example, the same applies to other numbers of sides. Oj is a node in any outer defense zone, and R1 and R2 are vertices of the Thiessen polygon of the outer defense zone with Oj as the core, where R1 is Q3 and R2 is Q4. R1R2 (Q3Q4) is the common boundary between the inner defense zone with Ii as the core and the outer defense zone with Oj as the core.

[0040] The specific route planning method in D(Oj) is as follows: (1) First, divide the inner region of D(Oj) as follows: connect Oj and Oj-1, the intersection with the Thiessen polygon is S1, connect Oj and Oj+1, the intersection with the Thiessen polygon is S2. Oj-1 and Oj+1 are nodes in the outer defense zone adjacent to Oj. According to the properties of the Thiessen polygon, the line containing line segment R1S1 (Q3S1) is the perpendicular bisector of line segment OjOj-1; the line containing line segment R2S2 (Q4S2) is the perpendicular bisector of line segment OjOj+1. Then the polygon OjS1R1R2S2 (OjS1Q3Q4S2) is the inner region of D(Oj); (2) Next, divide the outer region of D(Oj) as follows: Connect OjIi (Oj and Ii are nodes in adjacent inner and outer defense zones). According to the properties of the Thiessen polygon, OjIi is the perpendicular bisector of R1R2 (Q3Q4). Select a point Tb on the line containing OjIi. Draw a perpendicular line from Tb to R1S1 (Q3S1), intersecting at point S3; draw a perpendicular line from Tb to R2S2 (Q4S2), intersecting at point S4; Tb, S3, and S4 are all outside the outer defense boundary of the formation, and N round-trip flight paths (N is a positive integer) can be divided between Oj and Tb. Then, polygon S1S3TbS4S2 is the outer region of D(Oj); (3) The route planning method in the inner area of ​​D(Oj) and Figure 5 Similarly, note that the transfer route must be on the straight line connecting points Ii and Oj, that is, the transfer route is only perpendicular to R1R2 (Q3Q4); (4) All routes in the outer area of ​​D(Oj) are detour routes. Taking the figure as an example, first go through the path Oj→T1→T2→T3→T4→T5→T6→T7→T8→T9→T10→T11→T12→T13 (Tb) to reach the far end Tb. Then start from Tb and return via Tb→T14→T9→T10→T11→T6→T7→T8→T3→T4→T5→T15→T1→Oj (the number of waypoints can be more or less than in the figure, but the method is the same).

[0041] like Figure 7 When a suspicious point appears within the central defense zone D(C), the call-to-response search route is planned as follows: (1) The aircraft in D(C) flies directly to the suspicious point and searches the vicinity of the suspicious point; (2) Any aircraft in any inner defense zone D(Ii) immediately flies along the shortest route to the common edge of D(C) and D(Ii) (Q1Q2(P1P2) in the figure); (3) The aircraft flies back and forth along the common side while deploying sonar buoys (the figure shows that after the aircraft in D(Ii) reaches the Q1Q2 (P1P2) side, it flies back and forth between Q1Q2 (P1P2) and deploys sonar buoys. The same applies to the aircraft in other inner defense zones). (4) The detection range formed by the deployed sonar buoys must be able to completely close off the central defense zone D(C); (5) In order to prevent the suspicious target from escaping further, the aircraft in the inner area of ​​the outer defense zone D(Oj) immediately flew to the common edge between the inner area of ​​D(Oj) and D(Ii), and flew back and forth along the common edge and deployed sonar buoys (the figure shows that after the aircraft in the inner area of ​​D(Oj) reaches Q3Q4, it flies back and forth along Q3Q4 and deploys sonar buoys. The same applies to the aircraft in other inner defense zones). (6) The aircraft in the outer area of ​​D(Oj) will continue to fly along the original search route and will not participate in this call-to-action search.

[0042] like Figure 8 When a suspicious point appears within any inner defense zone D(Ii), the call-to-action search route is planned as follows: (1) The aircraft in D(Ii) flies directly to the suspicious point and searches in the vicinity of the suspicious point; (2) The aircraft in D(C) immediately flies to the common edge of D(C) and D(Ii) (Q1Q2 (P1P2) in the figure) along the shortest path, and flies back and forth along the common edge while deploying sonar buoys; (3) The aircraft in other inner defense zones adjacent to D(Ii) immediately fly to the common edge between their area and D(Ii) along the shortest path, and fly back and forth along the common edge while deploying sonar buoys. (4) The aircraft in the inner area of ​​the outer defense zone adjacent to D(Ii) immediately fly to the common edge between its area and D(Ii) (Q3Q4 in the figure) along the shortest path, and fly back and forth along the common edge while deploying sonar buoys; (5) The detection range formed by the deployed sonar buoys must be able to completely close off the inner defense zone D(Ij) where suspicious points appear. (6) The aircraft in the outer area of ​​D(Oj) will continue to fly along the original search route and will not participate in this call-to-action search.

[0043] like Figure 9 When a suspicious point appears in the inner part of any outer defense zone D(Oj), the call search route is planned as follows: (1) The aircraft in the inner area of ​​D(Oj) flies directly to the suspicious point and searches in the vicinity of the suspicious point; (2) The aircraft in the inner defense zone adjacent to D(Oj) immediately fly to the common edge between its area and D(Oj) (R1R2(Q3Q4) in the figure) along the shortest path, and fly back and forth along the common edge while deploying sonar buoys. (3) Other aircraft in the inner area of ​​the outer defense zone adjacent to D(Oj) should immediately fly to the common edge between their area and D(Oj) (R2S2 (Q4S2) or R1S1 (Q3S1) in the figure) along the shortest path, and fly back and forth along the common edge while deploying sonar buoys (since the common edge between the inner area of ​​the adjacent outer defense zone and D(Oj) may be shorter than the corresponding edge of the inner area of ​​D(Oj), the larger one shall be used). (4) The aircraft in the outer zone of D(Oj) immediately flies to the boundary line between the inner and outer zones (S1OjS2 in the figure) via the shortest path, and flies back and forth along the boundary line while deploying sonar buoys. (5) The detection range formed by the deployed sonar buoys must be able to completely close off the inner area of ​​D(Oj) where the suspicious point appears; (6) The aircraft in D(C) continues to fly along the original search route and does not participate in this call-to-action search.

[0044] like Figure 10 When a suspicious point appears in the outermost area of ​​any outer defense zone D(Oj), the call search route is planned as follows: (1) D(Oj) The aircraft in the outer area flies directly to the suspicious point and searches in the vicinity of the suspicious point; (2) The aircraft in the inner area of ​​D(Oj) adjacent to D(Oj) immediately flies to the boundary line between the inner and outer areas (S1OjS2 in the figure) along the shortest path, and flies back and forth along the common edge while deploying sonar buoys. (3) In order to prevent the suspicious target from further intruding into the inner circle, the aircraft in D(Ii) adjacent to D(Oj) immediately flew to the common edge of its area and D(Oj) (R1R2(Q3Q4) in the figure) along the shortest path, and flew back and forth along the common edge while deploying sonar buoys. (4) Other outer defense zones adjacent to D(Oj) shall immediately fly to the common edge between their area and D(Oj) (S2S4 or S1S3 in the figure) via the shortest path, and fly back and forth along the common edge while deploying sonar buoys (since the common edge between the outer edge of the adjacent outer defense zone and D(Oj) may be shorter than the corresponding edge of the outer edge of D(Oj), the larger one shall be used). (5) The detection range formed by the deployed sonar buoys must be able to completely close off the outer area of ​​D(Oj) where the suspicious point appears; The aircraft in D(C) will continue to fly along its original search route and will not participate in this emergency search.

[0045] In this method, helicopters are generally used for aircraft in the central ship defense zone, the inner defense zone, and the innermost outer defense zone, while fixed-wing aircraft can be used in the outermost outer defense zone. The number of nodes can be more or less, and the planning method is similar. Within each defense zone, multi-aircraft joint search can be used. The search routes are similar to those of a single aircraft, i.e., the bypass route is parallel to the edges of the Thiessen polygon, and the transfer route is perpendicular to the edges of the Thiessen polygon.

[0046] Furthermore, unless otherwise defined, the technical or scientific terms used in this application description shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "upper," "lower," "left," "right," "center," "vertical," "horizontal," "inner," and "outer," etc., used in this application description to indicate relative direction or positional relationship are used only to indicate relative orientation or positional relationship, and do not imply that the device or component must have a specific orientation, or be constructed and operated in a specific orientation. When the absolute position of the described object changes, its relative positional relationship may also change accordingly, and therefore should not be construed as a limitation on this application. The terms "first," "second," "third," and similar terms used in this application description are used only for descriptive purposes to distinguish different components, and should not be construed as indicating or implying relative importance. The terms "a," "one," or "the," etc., used in this application description should not be construed as an absolute limitation on quantity, but should be construed as indicating the existence of at least one. The terms "including," "comprising," etc., used in this application description mean that the element or object preceding the word covers the element or object listed after the word and its equivalents, without excluding other elements or objects.

[0047] Furthermore, it should be noted that, unless otherwise explicitly specified and limited, terms such as “installation,” “connection,” and “linkage” used in the description of this application should be interpreted broadly. For example, a connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; or it can be a connection within two components. Those skilled in the art can understand its specific meaning in this application according to the specific circumstances.

[0048] The above description is merely a specific embodiment of the present invention and is not intended to limit the present invention. Within the spirit and principles of the present invention, any person skilled in the art may use the above-disclosed technical content to make changes or modifications to equivalent embodiments and apply them to other fields. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention, as well as any modifications, equivalent substitutions, improvements, etc., should be included within the protection scope of the present invention.

Claims

1. A method for cooperative search path planning for aircraft, characterized in that, The process includes the following steps: Step 1, division of specific defense zones within the defense perimeter; Using each ship node carrying an aircraft in the fleet as the core, generate a Thiessen polygon; the Thiessen polygon corresponding to each node is the defense zone corresponding to that node; Step 2, planning aircraft search routes for each defense zone; 1) Short-range search routes, i.e., search routes within the central ship defense zone; the short-range search routes include bypass routes and transfer routes; wherein, the bypass route is parallel to the edges of the Thiessen polygon, and the transfer route is perpendicular to the edges of the Thiessen polygon; after completing one loop of the bypass route, the transfer route is used to enter the next loop of the bypass route; 2) Medium-range search routes, i.e., search routes within the inner defense zone; the medium-range search routes include bypass routes and transfer routes; wherein, the bypass route is parallel to the edges of the Thiessen polygon; the transfer routes on the medium-range search routes must be on the straight line connecting the ships in that area and the central ship; 3) Long-range search routes, i.e., search routes within the outer defense zone; the long-range search routes include bypass routes and transfer routes; the outer defense zone needs to be further divided into an inner zone and an outer zone; the division method is as follows: connecting the nodes within the outer defense zone with the nodes in the adjacent outer defense zone yields a closed shape close to the central vessel and an open shape far from the central vessel; the closed shape close to the central vessel is the inner zone of the outer defense zone; connecting the nodes within the outer defense zone with the nodes in the adjacent inner defense zone, selecting any point on the connecting line that is outside the nodes and does not exceed the boundary of the outer defense zone, and drawing perpendicular lines from this point to the sides of two adjacent Thiessen polygons, the resulting closed shape far from the central vessel is the outer zone of the outer defense zone.

2. The method as described in claim 1, characterized in that, The detour routes include clockwise or counterclockwise directions; adjacent detour routes can be in the same direction or in opposite directions; the distance between two adjacent detour routes should be less than the search width L of the aircraft's detection payload.

3. The method as described in claim 2, characterized in that, The diversion route will be implemented at least once after the bypass route has been closed.

4. The method as described in claim 3, characterized in that, In the short-range and medium-range search routes, the polygonal bypass routes can be shifted from large to small or from small to large; in the short-range search route, the shift route can be set at any point on the trajectory of the bypass route; and adjacent shift routes do not need to be collinear.

5. The method as described in claim 4, characterized in that, In the medium-range search route, the shorter side of the polygon on the bypass route may collapse into a point as it gradually shrinks. The innermost bypass route has at least three sides. The bypass route can pass through ships in the area. The transfer route needs to be on the line connecting the corresponding inner defense zone ship node and the central ship node.

6. The method as described in claim 5, characterized in that, In the long-range search route, the transfer route in the inner area of ​​the outer defense zone needs to be on the line connecting the corresponding outer defense zone ship node and the adjacent inner defense zone node; the bypass route in the inner area of ​​the outer defense zone is similar to the bypass route planning method in the medium-range search route; the shorter side of the bypass route in the inner area of ​​the outer defense zone may collapse into a point as the polygon gradually shrinks, and the innermost bypass route has at least three sides; the outer area of ​​the outer defense zone consists entirely of bypass routes; the bypass route in the outer area of ​​the outer defense zone is a strip-shaped route, that is, it gradually advances the search outward along the direction parallel to the boundary between the outer and inner areas of the outer defense zone.

7. The method as described in claim 6, characterized in that, This also includes aircraft search routes during a call-to-action search. During the call-to-action search, when a suspicious point appears in the central ship defense zone, aircraft within the central ship defense zone fly directly to the suspicious point and search its vicinity. Aircraft in each inner defense zone immediately fly along the shortest route to the edge of the central ship defense zone and fly back and forth along that edge, simultaneously deploying detection buoys. To prevent the suspicious target from escaping further, aircraft in the inner area of ​​the outer defense zone immediately fly to the common edge between the inner and outer defense zones, and fly back and forth along that edge while deploying detection buoys. Aircraft in the outermost area of ​​the outer defense zone continue flying along their original routes and do not participate in this call-to-action search.

8. The method as described in claim 7, characterized in that, In the aforementioned emergency search route, when a suspicious point appears in the central ship defense zone, the detection range formed by the deployed probe buoys must be able to completely enclose the central ship defense zone. In the emergency search route, when a suspicious point appears in the inner defense zone, the aircraft in the inner defense zone fly directly to the suspicious point and search in the vicinity of the suspicious point. Every aircraft in the inner defense zone adjacent to the inner defense zone, as well as the aircraft in the central ship defense zone, immediately flies along the shortest route to the edge of the inner defense zone and flies back and forth along the edge, while deploying probe buoys. The aircraft in the inner area of ​​the outer defense zone immediately flies to the common edge between the inner area of ​​the outer defense zone and the inner defense zone, and flies back and forth along the common edge while deploying probe buoys. The aircraft in the outer area of ​​the outer defense zone continue to fly along the original route and do not participate in this emergency search.

9. The method as described in claim 8, characterized in that, In the aforementioned emergency search route, when a suspicious point appears in the inner defense zone, the detection range formed by the deployed probe buoys must be able to completely enclose the inner defense zone. In the emergency search route, when a suspicious point appears in the inner part of the outer defense zone, aircraft in the inner part of the outer defense zone fly directly to the suspicious point and search its vicinity. Each aircraft in the inner part of the outer defense zone adjacent to the inner part of the outer defense zone, as well as each aircraft in the adjacent inner defense zone, immediately fly along the shortest route to the edge of the inner part of the outer defense zone and fly back and forth along that edge, simultaneously deploying probe buoys. Aircraft in the outer part of the outer defense zone immediately fly to the boundary between the outer part of the outer defense zone and the inner part of the outer defense zone, and fly back and forth along the boundary edge while deploying probe buoys. Aircraft in the central ship defense zone continue flying along their original route and do not participate in this emergency search. In the aforementioned emergency search route, when a suspicious point appears in the inner part of the outer defense zone, the deployed probe buoys form... The detection range must be able to completely enclose the inner area of ​​the outer defense zone; during the call-to-action search route, when a suspicious point appears in the outer area of ​​the outer defense zone, the aircraft in the outer area of ​​the outer defense zone will fly directly to the suspicious point and search the vicinity of the suspicious point; each aircraft in the outer area of ​​the outer defense zone adjacent to the outer area of ​​the outer defense zone will immediately fly along the shortest route to the edge of the outer area of ​​the outer defense zone and fly back and forth along the edge, while deploying detection buoys; aircraft in the inner area of ​​the outer defense zone will immediately fly to the boundary edge between the inner area of ​​the outer defense zone and the outer area of ​​the outer defense zone, and fly back and forth along the boundary edge while deploying detection buoys; in order to prevent the suspicious target from further intruding into the inner circle, aircraft in the inner defense zone adjacent to the outer defense zone will immediately fly along the shortest path to the common edge between their area and the outer defense zone and fly back and forth along the common edge, while deploying detection buoys; aircraft in the central ship defense zone will continue to fly along the original route and will not participate in this call-to-action search.

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