Cluster cooperative interference planning method based on optimal interference planning model

Abstract

The invention discloses a cluster cooperative interference planning method based on an optimal interference planning model, and the implementation steps are: constructing a cluster cooperative system including at least two jammers and one mission aircraft, constructing a planning model objective function according to the flight distance of the mission aircraft and the ratio of the power of the jammer to the target radar and the distance between the jammer and the target radar under the cluster system; using a multi-objective particle swarm algorithm to optimize the objective function of the interference planning model, generating an optimal solution set, each group of parameters in the optimal solution set corresponds to its corresponding interference planning scheme, and obtaining multiple interference planning schemes about the spatial position of each jammer, the power allocation of each jammer to the radar, and the flight route of the mission aircraft. The invention improves the interference effect of multiple jammers interfering with radars and the utilization efficiency of interference resources.

Description

Technical Field

[0001] The present invention belongs to the field of communication technology, and further relates to a cluster cooperative interference planning method based on an optimal interference planning model in the field of radar interference technology. The present invention can be used to plan the spatial position, power allocation and flight path of the jammer of our cluster system, so as to ensure that the jammer can effectively interfere with the networked radar. Background Art

[0002] Cluster systems are an important trend in the development of information countermeasure equipment in the future. Compared with traditional single-machine interference, cluster systems with group coordination functions have greater potential and advantages in effectively interfering with networked radars. This is mainly reflected in the fact that cluster formations can cooperate with each other in the airspace and time domain to coordinate interference with enemy networked radars, providing a safe and plannable space for subsequent route planning. However, existing technologies mainly focus on the combat effectiveness of electronic jamming aircraft and the interference suppression effect, and there are still certain problems and deficiencies in the interference planning of cluster systems. The power distribution and spatial position of the jammer in the cluster system will have a huge impact on the interference effect and the flight track of the penetration aircraft. Therefore, it is particularly important to plan the interference of the cluster system.

[0003] The University of Electronic Science and Technology of China disclosed a method for configuring interference sources based on the safe corridor mission goal in its patent document "Interference Source Configuration Method under the Safe Corridor Mission Goal" (application number 201710579395.9, application publication number: CN 107271969 A). In the long-distance support interference mode, this method gives an interference source force calculation model according to the mission goal requirements. When the mission goal is achieved, the most resource-saving interference source power calculation and position allocation are achieved. The beneficial effect of the present invention is that the present invention aims at the realization of the mission goal under long-distance support interference, that is, forming a safe corridor in the enemy radar detection area to protect our combat forces from being discovered by the enemy radar in the safe corridor area, and adopts a targeted interference resource configuration method to achieve effective utilization of interference resources. However, this method still has the disadvantage that in engineering practice, networked radars composed of multiple radars are often used, and this method only considers the interference effect of multiple single radars by the jammer to form an effective safety corridor. However, when multiple jammers interfere with multiple radars under the networked radar, the safety corridor formed by this method may be within the detection range of other radars in the networked radar, resulting in poor or even ineffective interference effect.

[0004] In their paper "Study on Interference Deployment of Multi-aircraft Cooperative Electronic Warfare Planning" (System Engineering and Electronic Technology, 2017, 39(03): 542-548), Zhang Huan et al. proposed the concept of safe zone for route planning in order to solve the interference deployment problem of multi-aircraft cooperative suppression of enemy air defense radar network in electronic warfare mission planning. Based on the mathematical morphology method, the minimum width of the safe zone was solved. The minimum width of the safe zone and the sum of the distances of each jammer from the center of the enemy radar network were used as the objective function. A multi-objective optimization model of interference deployment was constructed. The model was solved using a multi-objective particle swarm optimization algorithm. The Pareto optimal solution set was analyzed through simulation experiments, and the optimal interference deployment mode for each jammer to suppress the enemy radar network was obtained. This method verifies that the multi-objective particle swarm optimization algorithm is feasible and effective in solving the problem of multi-aircraft cooperative electronic warfare interference deployment. However, this method still has some shortcomings. In engineering practice, the optimal solution set obtained by this method is the maximum blank detection area of ​​the networked radar after the jammer interferes with the networked radar. The flight segment interfered by the jammer may not fully meet the flight segment of the current penetration mission, and the interference effect on the mission route is unevenly distributed. The interference resources are not maximized according to the flight route, resulting in a longer flight route for the mission aircraft and poor interference effect on some routes.

[0005] In summary, for the application of interference planning methods in the direction of radar collaborative interference, the current technical methods cannot solve the problem of effective jammer deployment and interference energy resource allocation for the interference formation under the networked radar according to the real-time flight mission, so as to maximize the utilization of interference resources and form a stable and safe flight route. Summary of the invention

[0006] The purpose of the present invention is to propose a cluster collaborative interference planning method based on an optimal interference planning model in view of the deficiencies of the above-mentioned prior art, so as to solve the problems in the prior art that multiple jammers lack coordination, resulting in poor interference effect on networked radars, and the interference segments of multiple jammers on the radar network may not fully meet the segments of the penetration mission, and the interference effect on the mission route is unevenly distributed, and the interference resources cannot be maximized according to the flight route.

[0007] The technical idea for achieving the purpose of the present invention is: the present invention constructs a cluster coordination system, so that each jammer and the mission aircraft have coordination, and multiple jammers cooperate to interfere with the radar network, forming a stable full corridor that is safer and more effective, and solves the problem that the jammer has a poor interference effect on the networked radar. The present invention constructs a planning model objective function according to the flight distance of the mission aircraft and the ratio of the power of the jammer to the target radar to the distance of the jammer from the target radar, so that the interference planning scheme is combined with the flight route of the mission aircraft, and the interference resources can be maximized as much as possible. The objective function of the interference planning model is optimized using a multi-objective particle swarm algorithm to generate an optimal solution set, and obtain a variety of interference planning schemes for the spatial position of each jammer, the power allocation of each jammer to the radar, and the flight route of the mission aircraft. It solves the problem that the interference segment of multiple jammers on the radar network in the prior art may not fully meet the segment of the penetration mission and the interference effect distribution on the mission route is uneven, and the interference resources cannot be maximized according to the flight route.

[0008] The specific steps to achieve the purpose of the invention include the following:

[0009] Step 1: Build a cluster collaboration system:

[0010] (2a) Construct a swarm coordination system including at least two jammers and one mission aircraft;

[0011] (2b) In the cluster system, each jammer is outside the detection range of the radar network and provides support, suppression and jamming to the radars in the radar network, protecting the mission aircraft and ensuring the flight safety of the mission aircraft;

[0012] Step 2: Construct the interference planning model objective function as follows:

[0013] f=min[f1,f2]

[0014]

[0015]

[0016] Where f represents the objective function of the jamming planning model, min(·) represents the minimum value operation, f1 represents the flight distance of the mission aircraft during the support suppression jamming period, f2 represents the ratio of the jammer's power to the target radar to the distance between the jammer and the target radar during the support suppression jamming period, s represents the total number of track points of the mission aircraft's flight route, i represents the sequence number of the track points of the mission aircraft's flight route, i=1,2,...,s, x i ,y i Indicates the position coordinates corresponding to the i-th track point of the mission aircraft flight route, x i , R jrepresents the detection range of the radar network after being interfered by the cluster system, x i+1 ,y i+1 They represent the position coordinates of the mission aircraft at the i+1th track point, x i+1 =x i +v i t cosθ i ,y i+1 =y i +v i t sinθ i , v i represents the flight speed of the mission aircraft at the i-th track point, v min <v i <v max , v min ,v max represents the minimum and maximum flight speeds of the mission aircraft, t represents the time required from the ith track point to the i+1th track point, cos represents the cosine operation, sin represents the sine operation, θ i represents the flight angle of the mission aircraft at the i-th track point, θ i <θ max ,θ max represents the maximum turning angle of the mission aircraft, n j represents the total number of jammers in the cluster system, j represents the serial number of the jammer in the cluster system, j = 1, 2, ..., n j , r j represents the total number of radars that the jth jammer can interfere with, r represents the serial number of the radar that the jammer can interfere with, r = 1, 2, ..., r j , x j ,y j represents the position of the jth jammer in the cluster system, x j , R represents the detection range of the radar network after being interfered, x jr ,y jr represents the position coordinates of the rth radar interfered by the jth jammer in the cluster system, P rj It represents the interference power allocated when the jth jammer interferes with the rth radar. represents the maximum transmission power of the jth jammer, represents the effective jamming segment of the jth jammer, l J Indicates the effective interference segment required for the mission aircraft flight route;

[0017] Step 3: Use multi-objective particle swarm optimization to optimize the objective function of the interference planning model:

[0018] (3a) Under the condition that all jammer positions are outside the detection range of the radar network and the total transmit power of each jammer is within the maximum transmit power of the jammer, m groups of parameters are randomly generated, where m ≥ 20. Each group of parameters includes the positions of all jammers and the transmit power of all jammers for jamming the target radar.

[0019] (3b) Substitute each group of parameters into the objective function of the jamming planning model to obtain the flight distance parameters of the mission aircraft during the support suppression jamming period and the fitness value of the ratio parameter of the jammer's power to the target radar and the distance between the jammer and the target radar. The m groups of parameters and all their corresponding fitness values ​​form a Stem matrix. From the Stem matrix, select a group of parameters with the smallest fitness value as the current individual optimal parameter group;

[0020] (3c) selecting a parameter group from the Stem matrix one by one, and adding all parameter groups whose fitness values ​​in the selected parameter groups are smaller than the fitness values ​​corresponding to any parameter group in the external archive set to the external archive set;

[0021] (3d) sorting each parameter group in the external archive set according to its fitness value from small to large, randomly selecting a group of parameter groups from the top 10% of all the sorted parameter groups, and forming all the randomly selected parameter groups into the current global optimal parameter set;

[0022] (3e) using the jammer position update formula and the jammer transmission power update formula for jamming the target radar, updating the position of each jammer and the transmission power of each jammer for jamming the target radar in all sorted parameter groups;

[0023] (3f) Determine whether all fitness values ​​in the current external archive set converge. If so, the external archive set is the optimal solution set. Otherwise, substitute each parameter group after the current iteration update into the interference planning model objective function to execute step (4b);

[0024] Step 4: Form a suitable interference planning scheme:

[0025] The interference planning scheme of this group is composed of the positions of all jammers in each group of parameters in the optimal solution set, the transmission power of all jammers to interfere with the target radar, and the flight distance parameters of the mission aircraft during the support suppression interference period, and the interference planning scheme corresponding to each group of parameters in the optimal solution set is obtained.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] First, the present invention constructs a cluster cooperative system in which the safety corridor formed by multiple jammers may be within the detection range of other radars in the networked radar, overcoming the defects of the prior art that the interference effect is poor or even ineffective when there are multiple jammers, so that the multiple jammers of the present invention cooperate to interfere with the radar, thereby improving the interference effect of the multiple jammers interfering with the radar.

[0028] Second, the present invention constructs the objective function of the interference planning model under the cluster collaborative system, generates the optimal solution set of the objective function of the interference planning model optimized by the multi-objective particle swarm algorithm, and obtains a variety of interference planning schemes regarding the spatial position of each jammer, the power allocation of each jammer to the radar, and the flight route of the mission aircraft. It overcomes the shortcomings of the prior art that the flight segments interfered by the jammer cannot fully meet the flight segments of the current mission, the interference effect on the mission route is unevenly distributed, and the interference resources are not maximized according to the flight route. The present invention can further plan the position, power and flight route of the jammer, thereby improving the utilization efficiency of the interference resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a flow chart of the present invention;

[0030] Figure 2 A radar network detection range diagram according to an embodiment of the present invention;

[0031] Figure 3 Schematic diagram of the detection range of the radar network after being interfered by the cluster system in an embodiment of the present invention;

[0032] Figure 4 It is a fitness value distribution diagram of the optimal solution set of an embodiment of the present invention.

[0033] Figure 5 It is an interference planning scheme diagram of an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0035] Reference Figure 1 , the implementation steps of the present invention are further described in detail.

[0036] Step 2: Build a cluster collaboration system.

[0037] In the embodiment of the present invention, a cluster coordination system consisting of three jammers and one mission aircraft is constructed.

[0038] In the cluster system of the embodiment of the present invention, each jammer supports and suppresses the radar in the radar network outside the detection range of the radar network, thereby reducing the detection range of the radar and making the flight route of the mission aircraft outside the radar detection range, thereby protecting the mission aircraft and ensuring the flight route safety of the mission aircraft.

[0039] The cluster system in the embodiment of the present invention can be represented by the following formula:

[0040]

[0041] Wherein, X represents a cluster system in an embodiment of the present invention, represents the transmission power of the jth jammer, represents the antenna gain of the jth jammer, represents the bandwidth of the signal transmitted by the jth jammer, represents the comprehensive loss of the jammer signal of the jth jammer, Tar j represents the target allocation of the jth jammer, v min ,v max represents the minimum and maximum flight speeds of the mission aircraft, θ max Indicates the maximum turning angle of the mission aircraft.

[0042] In the embodiment of the present invention, a radar network consisting of three radars is deployed, and the parameters and positions of the three radars are shown in Table 1 and Table 2.

[0043] Table 1 Parameters of three radars

[0044]

[0045] Table 2 Three radar position parameters

[0046] Radar number x / m y / m Radar 1 <![CDATA[4.7×10 5 ]]> <![CDATA[3×10 5 ]]> Radar 2 <![CDATA[2×10 5 ]]> <![CDATA[2.8×10 5 ]]> Radar 3 <![CDATA[3×10 5 ]]> <![CDATA[5×10 5 ]]>

[0047] In an embodiment of the present invention, v min =200m / s,v max =400m / s,θ max =90°, the parameters of the three jammers are shown in Table 3:

[0048] Table 3 Parameters of three jammers

[0049] Power / kW Antenna gain Bandwidth / Hz loss Interference target Jammer 1 300 6 <![CDATA[2×10 6 ]]> 20 Radar 1, Radar 2 Jammer 2 300 4 <![CDATA[2×10 6 ]]> 20 Radar 2, Radar 3 Jammer 3 300 6 <![CDATA[5×10 6 ]]> 20 Radar 3, Radar 1

[0050] Calculate the maximum detection range of each radar according to the following formula:

[0051]

[0052] in, Indicates the maximum detection range of the lth radar in the radar network, l = 1, 2, 3, represents the peak transmit power of the lth radar in the radar network, represents the gain of the lth radar transmitting antenna in the radar network, λ l represents the wavelength of the electromagnetic wave emitted by the lth radar in the radar network, σ l represents the cross-sectional area of ​​the target received by the first radar in the radar network, π represents the circumference of a circle, and k represents the Boltzmann constant, k = 1.38 × 10 -23 J / K, T0 represents the standard ambient temperature. In the embodiment of the present invention, the room temperature is 17C°, T0=290K, represents the working bandwidth of the first radar in the radar network, It represents the noise coefficient of the lth radar in the radar network, L l represents the loss of the lth radar in the radar network, It represents the minimum output signal-to-noise ratio required for the lth radar in the radar network to detect the target.

[0053] Reference Figure 2 , a further description is given of generating the detection range of the radar network by the union of the detection ranges of all radars in the radar network of an embodiment of the present invention.

[0054] Figure 2 The three circles represent the two-dimensional detection ranges of Radar 1, Radar 2, and Radar 3 respectively. The center of each circle is the setting position of the radar. The union of the detection ranges of the three radars, that is, the outermost part, constitutes the detection range of the radar network.

[0055] Step 3: Build an interference planning model.

[0056] The objective function of the jammer planning model is constructed based on the flight distance of the mission aircraft and the ratio of the jammer's power to the target radar and the distance between the jammer and the target radar as follows:

[0057] f=min[f1,f2]

[0058]

[0059]

[0060] Where f represents the objective function of the jamming planning model, min(·) represents the minimum value operation, f1 represents the flight distance of the mission aircraft during the support suppression jamming period, f2 represents the ratio of the jammer's power to the target radar to the distance between the jammer and the target radar during the support suppression jamming period, s represents the total number of track points of the mission aircraft's flight route, i represents the sequence number of the track points of the mission aircraft's flight route, i=1,2,...,s, x i ,y iIndicates the position coordinates corresponding to the i-th track point of the mission aircraft flight route, x i , R j represents the detection range of the radar network after being interfered by the cluster system, x i+1 ,y i+1 They represent the position coordinates of the mission aircraft at the i+1th track point, x i+1 =x i +v i t cosθ i ,y i+1 =y i +v i t sinθ i , v i represents the flight speed of the mission aircraft at the i-th track point, v min <v i <v max , v min ,v max represents the minimum and maximum flight speeds of the mission aircraft, t represents the time required from the ith track point to the i+1th track point, cos represents the cosine operation, sin represents the sine operation, θ i represents the flight angle of the mission aircraft at the i-th track point, θ i <θ max ,θ max represents the maximum turning angle of the mission aircraft, n j represents the total number of jammers in the cluster system, j represents the sequence number of the jammer in the cluster system, j = 1, 2, ..., j ra , j ra represents the total number of radars that the jth jammer can interfere with, r represents the serial number of the radar that the jammer can interfere with, r = 1, 2, ..., r j , x j ,y j represents the position of the jth jammer in the cluster system, x j , R represents the detection range of the radar network after being interfered, x jr ,y jr represents the position coordinates of the rth radar interfered by the jth jammer in the cluster system, P rj It represents the interference power allocated when the jth jammer interferes with the rth radar. represents the maximum transmission power of the jth jammer, represents the effective jamming segment of the jth jammer, l JIt indicates the effective interference segment required for the flight route of the mission aircraft. The effective interference segment refers to the flight segment in which the mission aircraft can avoid radar network detection under the premise of meeting the required minimum safety interval.

[0061] Calculate the detection range of each radar after being interfered with according to the following formula;

[0062]

[0063] Among them, R l It indicates the detection range of the first radar after being interfered. represents the transmission power of the jth jammer, represents the antenna gain of the jth jammer, represents the minimum suppression coefficient of the lth radar, represents the gain of the lth radar antenna in the interference direction of the jth jammer, represents the polarization loss of the jth jammer, represents the signal bandwidth of the first radar receiver, R lj represents the distance between the lth radar and the jth jammer, represents the comprehensive loss of the interference signal of the jth jammer, represents the bandwidth of the signal transmitted by the jth jammer, and π represents the circumference of a circle;

[0064] The gain of the lth radar antenna in the jamming direction of the ith jammer Determined by the following formula:

[0065]

[0066] in, represents the beam width of the lth radar antenna at the half-power point; K represents a constant randomly selected in the range of (0.04, 0.1).

[0067] In the embodiment of the present invention, the total number of flight path points of the mission aircraft is s=8, and the polarization loss of the three jammers is r J =1, the minimum suppression coefficient K of the three radars J =5, lobe width at half power point Constant K = 0.04.

[0068] Reference Figure 3 , further describing the detection range of the radar network after being interfered by the cluster system according to the embodiment of the present invention.

[0069] Figure 3The part marked with "*" represents the positions of the three jammers in the embodiment of the present invention. The three irregular figures respectively represent the detection ranges of radar 1, radar 2, and radar 3 after being interfered with. The union of the detection ranges of the three radars constitutes the detection range of the radar network after the radar network is interfered with by the cluster system.

[0070] Step 4: Use multi-objective particle swarm optimization to optimize the objective function of the interference planning model.

[0071] The first step is to randomly generate m groups of parameters, m ≥ 20, under the condition that all jammer positions are outside the detection range of the radar network and the total transmit power of each jammer is within the maximum transmit power of the jammer. Each group of parameters includes the positions of all jammers and the transmit power of all jammers to interfere with the target radar.

[0072] In the embodiment of the present invention, the parameter group m=20, and each parameter group includes the positions of three jammers and the transmission powers of the three jammers for jamming the target radar.

[0073] In the second step, each group of parameters is substituted into the objective function of the interference planning model to obtain the flight distance parameters of the mission aircraft during the support suppression interference period, as well as the fitness value of the ratio parameter of the jammer's power to the target radar and the distance between the jammer and the target radar. The m groups of parameters and all their corresponding fitness values ​​are combined into a Stem matrix. From the Stem matrix, a group of parameters with the smallest fitness value is selected as the individual optimal parameter group for the current update iteration.

[0074] In the embodiment of the present invention, the Stem matrix includes 20 groups of parameters and their corresponding two fitness values, which is a 14×20 matrix.

[0075] In the third step, a parameter group is selected one by one in the Stem matrix, and all parameter groups whose fitness values ​​in the selected parameter groups are smaller than the fitness values ​​corresponding to any set of parameters in the external archive set are added to the external archive set.

[0076] The fourth step is to sort each parameter group in the external archive set from small to large according to its fitness value, randomly select a group from the first 10% of all sorted parameter groups, and form all the randomly selected parameter groups into the current global optimal parameter set.

[0077] The fifth step is to use the jammer position update formula and the transmission power update formula to update the position of each jammer in all sorted parameter groups and the transmission power of the jammer to interfere with the target radar.

[0078] The jammer position update formula is as follows:

[0079]

[0080] Among them, X j ′ represents the updated position of the jth jammer, X j represents the position of the jth jammer before updating, represents the inertia factor, v j represents the update speed of the jth jammer before updating, c1, c2 represent learning factors, which are non-negative constants, r1, r2 represent random numbers between (0, 1), represents the position of the jth jammer in the individual optimal parameter group of the current update iteration, Represents the position of the jth jammer in the global optimal parameter group of the current update iteration.

[0081] The inertia factor Determined by the following formula:

[0082]

[0083] in, Inertia factor The maximum and minimum values ​​of t represents the number of current update iterations, and T represents the maximum number of update iterations when all fitness values ​​in the current external archive set converge.

[0084] The transmit power update formula is as follows:

[0085]

[0086] Among them, P rj ′ represents the updated interference power allocated when the jth jammer interferes with the rth radar, P rj Pv represents the interference power allocated before updating when the jth jammer interferes with the rth radar. rj It represents the speed after the interference power allocated when the jth jammer interferes with the rth radar. It represents the individual optimal interference power allocated when the j-th jammer interferes with the r-th radar in the individual optimal parameter group of the current update iteration, It represents the global optimal interference power allocated when the j-th jammer in the global optimal set of the current update iteration interferes with the r-th radar.

[0087] In the embodiment of the present invention, the jammer initial update speed v j =1000, learning factor c1=c2=2.0, random number r1=0.2, r2=0.8, maximum update iteration number T=300.

[0088] The sixth step is to determine whether all fitness values ​​in the current external archive set converge. If so, the external archive set is used as the optimal solution set and step 5 is executed. Otherwise, each set of parameter groups after the current iterative update is substituted into the objective function of the interference planning model and the second step of this step is executed.

[0089] Reference Figure 4 The fitness value distribution of the optimal solution set obtained in the embodiment of the present invention is further described.

[0090] Figure 4 The x-axis in represents the fitness value corresponding to the flight distance fitness value in each set of parameters, and the y-axis represents the fitness value corresponding to the fitness value of the ratio of the jammer's power to the target radar and the distance between the jammer and the target radar. Figure 4 It can be seen that the points that make up the fitness value constitute the Pareto surface, and are evenly distributed in the middle, indicating that the fitness value has converged after 300 iterations.

[0091] Step 5: Screen the appropriate interference planning scheme.

[0092] The interference planning scheme of this group is composed of the positions of all jammers in each group of parameters in the optimal solution set, the transmission power of all jammers to interfere with the target radar, and the flight distance parameters of the mission aircraft during the support suppression interference period, and the interference planning scheme corresponding to each group of parameters in the optimal solution set is obtained.

[0093] Reference Figure 5 A further description is given of an interference planning scheme for a mission with a shorter flight route in an embodiment of the present invention.

[0094] Figure 5 The dotted line in the figure is the flight route of the mission aircraft under the interference planning scheme of the present invention. The positions marked with squares and five-pointed stars in the dotted line are the starting point and target point of the mission aircraft. The three irregular figures respectively represent the detection ranges of radar 1, radar 2, and radar 3 after interference under the interference planning scheme of the present invention. The positions marked with "*" are the positions of the three jammers in the interference planning scheme of the present invention.

[0095] Table 4 Transmission power of three jammers to target radar

[0096] Jammer number Transmitting power for radar 1 / kW Transmitting power for radar 2 / kW Jammer 1 250 50 Power allocated to radar 2 / kW For radar 3 power / kW Jammer 2 200 100 Power allocation to radar 3 / kW Power allocated to radar 1 / kW Jammer 3 300 0

[0097] In the jamming planning scheme of the present invention, the transmission power of the three jammers to the target radar is shown in Table 4.

Claims

1. A cluster collaborative interference planning method based on an optimal interference planning model, characterized in that: The objective function of the interference planning model is constructed under the cluster collaborative system, and the multi-objective particle swarm algorithm is used to optimize the objective function of the interference planning model to obtain multiple interference planning schemes regarding the spatial position of each jammer, the power allocation of each jammer to the radar, and the flight route of the mission aircraft. The specific steps of this method include the following: Step 1: Build a cluster collaboration system: (1a) Construct a swarm coordination system consisting of at least two jammers and one mission aircraft; (1b) In the cluster system, each jammer supports and suppresses the radars in the radar network outside the detection range of the radar network, covers the mission aircraft, and ensures the flight safety of the mission aircraft; Step 2: Construct the interference planning model objective function as follows: f=min[f1,f2] Where f represents the objective function of the jamming planning model, min(·) represents the minimum value operation, f1 represents the flight distance of the mission aircraft during the support suppression jamming period, f2 represents the ratio of the jammer's power to the target radar to the distance between the jammer and the target radar during the support suppression jamming period, s represents the total number of track points of the mission aircraft's flight route, i represents the sequence number of the track points of the mission aircraft's flight route, i=1,2,...,s, x i ,y i Indicates the position coordinates corresponding to the i-th track point of the mission aircraft flight route, represents the detection range of the radar network after being interfered by the cluster system, x i+1 ,y i+1 They represent the position coordinates of the mission aircraft at the i+1th track point, x i+1 =x i +v i tcosθ i ,y i+1 =y i +v i tsinθ i , v i represents the flight speed of the mission aircraft at the i-th track point, v min <v i <v max , v min ,v max represents the minimum and maximum flight speeds of the mission aircraft, t represents the time required from the ith track point to the i+1th track point, cos represents the cosine operation, sin represents the sine operation, θ i represents the flight angle of the mission aircraft at the i-th track point, θ i <θ max ,θ max represents the maximum turning angle of the mission aircraft, n j represents the total number of jammers in the cluster system, j represents the serial number of the jammer in the cluster system, j = 1, 2, ..., n j , r j represents the total number of radars that the jth jammer can interfere with, r represents the sequence number of the radars that the jammer can interfere with, r = 1, 2, ..., r j , x j ,y j represents the position of the jth jammer in the cluster system, R represents the detection range of the radar network after being interfered, x jr ,y jr represents the position coordinates of the rth radar interfered by the jth jammer in the cluster system, P rj It represents the interference power allocated when the jth jammer interferes with the rth radar. represents the maximum transmission power of the jth jammer, represents the effective jamming segment of the jth jammer, l J Indicates the effective interference segment required for the mission aircraft flight route; Step 3: Use multi-objective particle swarm optimization to optimize the objective function of the interference planning model: (3a) Under the condition that all jammer positions are outside the detection range of the radar network and the total transmit power of each jammer is within the maximum transmit power of the jammer, m groups of parameters are randomly generated, where m ≥ 20. Each group of parameters includes the positions of all jammers and the transmit power of all jammers for jamming the target radar. (3b) Substitute each group of parameters into the objective function of the jamming planning model to obtain the flight distance parameters of the mission aircraft during the support suppression jamming period and the fitness value of the ratio parameter of the jammer's power to the target radar and the distance between the jammer and the target radar. The m groups of parameters and all their corresponding fitness values ​​form a Stem matrix. From the Stem matrix, select a group of parameters with the smallest fitness value as the individual optimal parameter group for the current update iteration; (3c) selecting a parameter group in the Stem matrix one by one, and adding all parameter groups whose fitness values ​​in the selected parameter groups are smaller than the fitness values ​​corresponding to any set of parameters in the external archive set to the external archive set; (3d) sorting each parameter group in the external archive set according to its fitness value from small to large, randomly selecting a group of parameter groups from the top 10% of all the sorted parameter groups, and forming all the randomly selected parameter groups into the current global optimal parameter set; (3e) using the jammer position update formula and the transmission power update formula, respectively updating the position of each jammer in all the sorted parameter groups and the transmission power of the jammer to interfere with the target radar; (3f) Determine whether all fitness values ​​in the current external archive set have converged. If so, take the external archive set as the optimal solution set and execute step 4. Otherwise, substitute each set of parameter groups after the current iteration update into the interference planning model objective function and execute step (3b); Step 4: Form a suitable interference planning scheme: The interference planning scheme of this group is composed of the positions of all jammers in each group of parameters in the optimal solution set, the transmission power of all jammers to interfere with the target radar, and the flight distance parameters of the mission aircraft during the support suppression interference period, and the interference planning scheme corresponding to each group of parameters in the optimal solution set is obtained.

2. The cluster collaborative interference planning method based on the optimal interference planning model according to claim 1 is characterized in that: The detection range of the radar network described in step (1b) is determined by the following formula: in: represents the maximum detection range of the lth radar in the radar network, l=1,2,...,n, n represents the total number of radars in the radar network, n≥2, represents the peak transmit power of the lth radar in the radar network, represents the gain of the lth radar transmitting antenna in the radar network, λ l represents the wavelength of the electromagnetic wave emitted by the lth radar in the radar network, σ l represents the cross-sectional area of ​​the target received by the first radar in the radar network, π represents the circumference of a circle, and k represents the Boltzmann constant, k = 1.38 × 10 -23 J / K, T0 represents the standard ambient temperature, represents the working bandwidth of the first radar in the radar network, represents the noise coefficient of the lth radar in the radar network, L l represents the loss of the lth radar in the radar network, It represents the minimum output signal-to-noise ratio required for the lth radar in the radar network to detect the target.

3. The cluster collaborative interference planning method based on the optimal interference planning model according to claim 1 is characterized in that: The detection range of the radar network after interference described in step 2 is determined by the following formula: Among them, R l It indicates the detection range of the first radar after being interfered. represents the transmission power of the jth jammer, represents the antenna gain of the jth jammer, represents the minimum suppression coefficient of the lth radar, represents the gain of the lth radar antenna in the interference direction of the jth jammer, represents the polarization loss of the jth jammer, represents the signal bandwidth of the first radar receiver, R lj represents the distance between the lth radar and the jth jammer, represents the comprehensive loss of the interference signal of the jth jammer, represents the bandwidth of the signal transmitted by the jth jammer, and π represents the circumference of a circle; The gain of the lth radar antenna in the jamming direction of the ith jammer Determined by the following formula: in, represents the beam width of the lth radar antenna at the half-power point; K represents a constant randomly selected in the range of (0.04, 0.1).

4. The cluster collaborative interference planning method based on the optimal interference planning model according to claim 1 is characterized in that: The effective interference segment l required for the mission aircraft flight route described in step 2 J It refers to the flight segment in which the mission aircraft can avoid the detection range of the radar network while meeting the required minimum safety interval.

5. The cluster collaborative interference planning method based on the optimal interference planning model according to claim 1, characterized in that: The jammer position update formula described in step (3e) is as follows: Among them, X j ′ represents the updated position of the jth jammer, X j represents the position of the jth jammer before updating, represents the inertia factor, v j represents the update speed of the jth jammer before updating, c1, c2 represent learning factors, which are non-negative constants, r1, r2 represent random numbers between (0, 1), represents the position of the jth jammer in the individual optimal parameter group of the current update iteration, represents the position of the jth jammer in the global optimal parameter group of the current update iteration; The inertia factor Determined by the following formula: in, Inertia factor The maximum and minimum values ​​of t represents the number of current update iterations, and T represents the maximum number of update iterations when all fitness values ​​in the current external archive set converge.

6. The cluster collaborative interference planning method based on the optimal interference planning model according to claim 5 is characterized in that: The transmit power update formula described in step (3e) is as follows: Among them, P rj ′ represents the updated interference power allocated when the jth jammer interferes with the rth radar, P rj Pv represents the interference power allocated before updating when the jth jammer interferes with the rth radar. rj It represents the speed after the interference power allocated when the jth jammer interferes with the rth radar. It represents the individual optimal interference power allocated when the j-th jammer interferes with the r-th radar in the individual optimal parameter group of the current update iteration, It represents the global optimal interference power allocated when the j-th jammer in the global optimal set of the current update iteration interferes with the r-th radar.

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