Networked collaborative air defense mission planning method and system for naval fleets

Abstract

The present invention provides a method and system for planning networked collaborative air defense tasks for a fleet of warships, including: selecting a duty center node; building a unified battlefield situation; bidding for tracking tasks; bidding for tracking tasks; determining tracking nodes, and tracking targets to obtain tracking data; bidding for interception tasks; bidding for interception tasks; determining interception nodes; determining guidance nodes according to target data to be intercepted and guidance data of interception nodes; completing collaborative air defense tasks through tracking nodes, interception nodes and guidance nodes. Compared with the prior art, the present invention decouples various types of combat resources from the local area, can realize networked distributed collaborative combat from the architecture, enhances the anti-destruction capability of the system, and at the same time, under actual constraints, analyzes and evaluates incoming target threats from the perspective of the formation, fully utilizes various types of air defense combat resources in the formation, implements air defense task planning, generates a reliable kill chain, and improves the overall defense effectiveness of the formation.

Description

Technical Field

[0001] The present invention relates to the technical field of command and control system equipment, and in particular to a method and system for planning networked collaborative air defense tasks for a naval fleet. Background Art

[0002] A fleet is usually composed of multiple combat nodes such as surface ships and air combat platforms. Each combat node may be equipped with multiple types of air defense weapons, multiple types of detection sensors and guidance equipment, various types of communication equipment and other air defense combat equipment resources. It is a complex and highly integrated combat formation system. Therefore, the problem of coordinated air defense mission planning for a fleet is a problem of allocating and coordinating multiple types of resources at multiple platform nodes.

[0003] Traditional formation coordinated air defense mission planning operates under a centralized command mode of chimney structure, that is, the formation command decision center (usually an aircraft carrier or air defense command ship) uniformly carries out combat mission planning, and the sensors and weapon resources on each combat node are coupled with the platform. Except for the necessary information exchange with the central command node, they generally do not have interoperability with friendly platforms, which greatly reduces the connectivity and anti-destruction capability of the system. Limited by the combat interaction mode, the subordinate nodes lack the grasp of the overall situation. Once the central command node is hit, the coordinated combat capability of the entire formation will be greatly weakened; at the same time, because the sensors and weapon resources of each node are coupled with the platform, the command center cannot coordinate the resource matching between platforms when making planning decisions, resulting in the combat node can only rely on local detection and guidance information when intercepting the target, the formation resources cannot be fully utilized, and the combat effectiveness is greatly reduced.

[0004] As modern warfare shifts toward informatization, networked collaborative operations have gradually become an important way to improve the effectiveness of air defense operations of naval fleets. Networked collaborative air defense can build and jointly organize three types of combat networks: distributed sensor networks, command and control networks, and air defense engagement networks, effectively utilize various combat resources within the naval fleet, and improve the formation's air defense capabilities. In order to adapt to various air defense combat tasks such as ultra-low altitude target interception and anti-saturation attack, and to efficiently and reasonably utilize the formation's combat resources, it is necessary to combine the characteristics of networked operations to study the task planning of coordinated air defense of naval fleets under networked combat conditions.

[0005] At present, the research on the coordinated air defense mission planning of ship formations is still limited to the traditional mission planning model, and most of the research only focuses on single resource allocation problems such as weapons-targets or sensors-targets (such as: Dong Kuiyi et al., Research on the Optimal Allocation of Coordinated Targets of Ship Formations in Cyber ​​Warfare, "Tactical Missile Technology", July 2011; Jia Jian, Research on the Allocation Problem of Multi-Platform Air Defense Coordinated Tasks, "Master's Thesis of Beijing Institute of Technology", January 2016; Analysis and Solution of Formation Integrated Air Defense Problem Considering Coordinated Guidance, Liu Zhen et al., "Journal of Command and Control", September 2018; Optimal Allocation Algorithm for Coordinated Air Defense Targets of Ship Formations, Wang Zhaohui et al., "Ship Science and Technology", December 2018). The closed loop of the air defense combat link of sensors-weapons-guidance equipment-targets has not been formed, and various resources of the formation cannot be fully utilized, and the combat effectiveness is limited.

[0006] Patent document CN107832885A discloses a method for firepower allocation of a fleet of ships based on an adaptive migration strategy BBO algorithm, which mainly solves the optimization problem of firepower allocation of a fleet of ships. The method first establishes a mathematical model for firepower allocation of a fleet of ships based on damage effectiveness, defense effectiveness, and strike cost; secondly, the firepower allocation plan of the fleet of ships is encoded, the initial parameters of the algorithm are given, and the fitness function of the optimization problem is set; then, the migration rate and mutation rate of the population are calculated, and migration and mutation operations are performed; finally, the optimal firepower allocation plan is selected according to the fitness. However, this method does not solve the problem that various resources cannot be fully utilized and combat effectiveness is limited. Summary of the invention

[0007] In view of the defects in the prior art, the purpose of the present invention is to provide a method and system for planning networked collaborative air defense tasks for a naval fleet.

[0008] According to a method for planning a networked collaborative air defense mission for a fleet of warships provided by the present invention, the method comprises:

[0009] Step 1: Determine the duty center node of the fleet according to the preset rules;

[0010] Step 2: Build a unified battlefield situation based on the sensor data detected by each combat node;

[0011] Step 3: Obtain a list of threat targets based on the target data, and conduct a bidding for tracking tasks based on the list of threat targets;

[0012] Step 4: Based on the status data of each operational node, bid for the tracking task;

[0013] Step 5: Determine the tracking node according to the optimal tracking rule, track the target, and obtain tracking data;

[0014] Step 6: Based on the threat target list and tracking data, conduct interception mission bidding;

[0015] Step 7: Based on the status data of each combat node, bid for the interception mission;

[0016] Step 8: Determine the interception node according to the optimal interception rule;

[0017] Step 9: Determine the guidance node according to the target data to be intercepted and the guidance data of the interception node;

[0018] Step 10: Complete the coordinated air defense mission through tracking nodes, interception nodes and guidance nodes.

[0019] Preferably, step 9 comprises:

[0020] Step 901: Determine whether to conduct a collaborative guidance task bidding based on the target data to be intercepted and the guidance data of the interception node;

[0021] Step 902: If not, determine that the interception node is a guidance node;

[0022] Step 903: If yes, then conduct a collaborative guidance task bidding;

[0023] Step 904: bidding for the collaborative guidance task according to the target data and guidance requirements of the collaborative guidance task bidding;

[0024] Step 905: Determine the guidance node according to the guidance optimal rule.

[0025] Preferably, in step 2, each combat node performs target track fusion and management based on sensor data and data fusion processing algorithms to build a unified battlefield situation.

[0026] Preferably, step 5 comprises:

[0027] Step 501: Determine the tracking node according to the tracking task bidding result and the tracking benefit;

[0028] Step 502: Send the winning bid information to the tracking node;

[0029] Step 503: The tracking node tracks the target to obtain tracking data.

[0030] Preferably, step 7 comprises:

[0031] Step 701: Obtaining interception advantage according to the status data of each combat node;

[0032] Step 702: Bid for the interception mission based on the interception advantage.

[0033] According to a ship formation networked collaborative air defense mission planning system provided by the present invention, the system includes:

[0034] Module M1: used to determine the guard center node of the fleet according to preset rules;

[0035] Module M2: used to build a unified battlefield situation based on the sensor data detected by each combat node;

[0036] Module M3: used to obtain a threat target list based on target data, and to bid for tracking tasks based on the threat target list;

[0037] Module M4: used to bid for tracking tasks based on the status data of each combat node;

[0038] Module M5: used to determine the tracking node according to the optimal tracking rule, and track the target to obtain tracking data;

[0039] Module M6: used to bid for interception missions based on threat target lists and tracking data;

[0040] Module M7: used to bid for interception missions based on the status data of each combat node;

[0041] Module M8: used to determine the interception node according to the optimal interception rule;

[0042] Module M9: used to determine the guidance node according to the target data to be intercepted and the guidance data of the interception node;

[0043] Module M10: Used to complete coordinated air defense tasks through tracking nodes, interception nodes and guidance nodes.

[0044] Preferably, module M9 comprises:

[0045] Submodule M901: used to determine whether to conduct a collaborative guidance task bidding based on the target data to be intercepted and the guidance data of the interception node;

[0046] Submodule M902: if not, determine that the interception node is a guidance node;

[0047] Submodule M903: used for conducting collaborative guidance task bidding if yes;

[0048] Submodule M904: used to bid for collaborative guidance tasks based on target data and guidance requirements of collaborative guidance task bidding;

[0049] Submodule M905: used to determine the guidance node according to the guidance optimal rule.

[0050] Preferably, in module M2, each combat node performs target track fusion and management based on sensor data and data fusion processing algorithms to build a unified battlefield situation.

[0051] Preferably, module M5 comprises:

[0052] Submodule M501: used to determine the tracking node according to the tracking task bidding result and the tracking advantage;

[0053] Submodule M502: used to send the winning bid information to the tracking node;

[0054] Submodule M503: used for the tracking node to track the target and obtain tracking data.

[0055] Preferably, module M7 comprises:

[0056] Submodule M701: used to obtain the interception advantage based on the status data of each combat node;

[0057] Submodule M702: used to bid for interception missions according to interception advantage.

[0058] Compared with the prior art, the present invention has the following beneficial effects:

[0059] 1. Compared with the traditional task planning mode, the present invention enables the formation combat nodes to participate in the air defense task decision-making in the form of task negotiation, which can reduce the decision-making pressure of the central command node and enhance the system's anti-destruction capability. At the same time, it decouples sensors, interception weapons, and guidance equipment from the local area, and can realize networked distributed collaborative operations from the architecture.

[0060] 2. The present invention analyzes and evaluates the threat of incoming targets from a formation perspective, and comprehensively considers factors such as target attack intention and arrival time, which can effectively ensure the rationality and completeness of air defense mission input.

[0061] 3. The present invention designs a task planning method based on task segment bidding, which can make more effective use of various air defense combat resources such as tracking, interception, and guidance within the formation. In particular, it focuses on designing a resource combination utilization strategy for the guidance link to improve the overall combat effectiveness of the formation.

[0062] 4. The present invention comprehensively considers the engineering implementation constraints of each link and generates an efficient and reliable kill chain, which has practical guiding significance for subsequent research. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0064] Figure 1 It is a schematic diagram of the process of the present invention;

[0065] Figure 2 It is a schematic diagram of the interception weapon guidance area and the combat node guidance area of ​​the present invention. DETAILED DESCRIPTION

[0066] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0067] Figure 1 It is a schematic diagram of the process of the present invention, such as Figure 1 As shown, the present invention provides a method for planning a networked collaborative air defense mission for a fleet of warships, comprising the following steps:

[0068] Step 1: Determine the duty center node of the fleet according to preset rules.

[0069] The present invention does not limit the setting of preset rules, which can be explained according to specific circumstances. For example, when there is no duty center node in the formation system, a node with higher command authority is selected as the duty center node, which can be a ship formation command post, a fleet command post, etc.

[0070] Step 2: Build a unified battlefield situation based on the sensor data detected by each combat node.

[0071] Specifically, each combat node shares the target detection results of local sensors within the network, while receiving multi-source intelligence information within the network, obtaining sensor data, completing data fusion locally, and obtaining a unified battlefield situation.

[0072] Among them, in step 2, each combat node performs target track fusion and management based on sensor data and data fusion processing algorithms to build a unified battlefield situation.

[0073] Specifically, each combat node uses the same data fusion processing algorithm to independently fuse and manage target tracks, rather than unified fusion processing through a central node and then shared and distributed.

[0074] Step 3: Obtain a list of threat targets based on the target data, and conduct a bidding for tracking tasks based on the list of threat targets.

[0075] Among them, the target data includes the target track and characteristics.

[0076] Specifically, the duty center node assesses the threat level of the target according to the target track and characteristics, completes the threat ranking, and issues a tracking task tender based on the threat target list.

[0077] In an alternative embodiment, the on-duty center node calculates the path shortcut p and arrival time t of the target T relative to each combat node by integrating parameters such as the incoming direction, speed, and distance of the target, and then for multiple targets [T 1 T 2 …T m the threat degree matrix of the ship formation [S 1 S 2 …S m can be expressed by formula (1):

[0078]

[0079] where m is the number of targets and n is the number of formation combat nodes.

[0080] Furthermore, target threat judgment is performed based on the threat matrix of the target, including the following four steps:

[0081] Step 1: For each target T i (0 < i < m), attack intention recognition is performed. Traverse the path shortcut list [p i1 p i2 … p in to find its minimum path shortcut MinP i for each ship, that is, the object that the target is most likely to attack. If MinP i < p Max is satisfied, it is considered that the target poses a threat to the formation, and p Max is the target path threshold for threat judgment.

[0082] Step 2: For the target T i determined to be a threat, identify its type and divide the threat table into different sub-tables according to the target type. The sub-tables mainly include the aircraft target sub-table and the missile target sub-table.

[0083] Step 3: For the target T i determined to be a threat, sort its threat list for each combat node in ascending order according to the arrival time [t i1 t i2 … t in to obtain [t′ i ′ 1 t′ i ′ 2 … t′ i ′ n .[[]]

[0084] Step 4: For all targets in each sub-table, according to the first threat degree value t′ i ′ 1Sort the threat ranking score list from smallest to largest. Then, according to the target type attribute, summarize and sort the missile-type targets first and the aircraft-type targets later to obtain the total threat ranking table, that is, the threat target list.

[0085] Step 4: Conduct tracking task bidding based on the status data of each combat node.

[0086] Among them, the status data includes target parameters and the status of its own sensors.

[0087] Specifically, each combat node calculates the target tracking favorability based on the target parameters and the status of its own sensors and sends a tracking task bid to the duty center node.

[0088] In an optional implementation manner, the combat node first judges the trackability of the target T, and calculates the tracking favorability on this basis. Assume that node S j (0 < j ≤ n) contains multiple sensors [C 1 C 2 … C h , and h represents the number of sensors.

[0089] Specifically, the basis for judging the trackability of each sensor includes the following two points:

[0090] The first point: The target T is within the detection area of the sensor, that is, it satisfies formula (2):

[0091]

[0092] Among them, R T represents the distance between the target and the node; R Tmax represents the maximum detection power of the sensor for this target; E min , E max represent the boundary values of the elevation angle range of the sensor, A min , A max represent the boundary values of the azimuth angle range of the sensor, E T , A T represent the elevation angle and azimuth angle of the target relative to the node.

[0093] The second point: The sensor has available tracking resources, that is, it satisfies formula (3):

[0094] N < N max ; (3)

[0095] Among them, N represents the number of targets currently tracked by the sensor, and N max represents the maximum number of targets that the sensor can track.

[0096] Furthermore, the sensor C on node S j k(0 < k ≤ h)) Track the tracking favorability P jk Calculate through formula (4):

[0097]

[0098] Among them, d k represents the tracking accuracy of sensor C k ; r k represents the data rate of sensor C k ; δ 1 , δ 2 , δ 3 and δ 4 represent proportionality coefficients, and satisfy δ 1 +δ 2 +δ 3 +δ 4 = 1; When P jk = 0, tracking cannot be performed; When P jk = δ 1 · , tracking can be performed.

[0099] Furthermore, traverse sensors [C 1 C 2 … C h to calculate the tracking favorability to obtain the tracking favorability set [P j1 P j2 … P jh , and take P j = MaxP jk (0 < k ≤ h) as the local optimal tracking favorability for tracking bidding.

[0100] Step 5: Determine the tracking node according to the tracking optimal rule and track the target to obtain tracking data.

[0101] Among them, Step 5 includes: Step 501: Determine the tracking node according to the tracking task bidding result and the tracking favorability; Step 502: Send the winning bid information to the tracking node; Step 503: The tracking node tracks the target to obtain tracking data.

[0102] Specifically, the duty center node selects the tracking node with the optimal tracking favorability for the tracking task bidding result and sends the winning bid information. The winning bid node schedules the local sensor resources for target tracking, and the detection results are shared in the network.

[0103] Step 6: Conduct an interception task tender according to the threat target list and the tracking data.

[0104] Specifically, the duty center node issues an interception task tender based on the threat target list and the tracking data of the target.

[0105] Step 7: Based on the status data of each combat node, bid for the interception mission.

[0106] Among them, step 7 includes: step 701: obtaining the interception advantage based on the status data of each combat node; step 702: bidding for the interception task based on the interception advantage.

[0107] Specifically, each combat node calculates the target shooting advantage based on the target parameters and the status of its own interception weapon and sends an interception mission bid to the duty center node.

[0108] The following is an explanation of how a combat node determines the interceptability of a target and calculates the interception advantage.

[0109] First, determine the interceptability of the target, assuming that the combat node contains multiple types of interception weapons [D 1 D 2 … D g ], g represents the number of interception weapons. The basis for judging the interceptability of each type of interception weapon to the target includes the following two:

[0110] The first one is whether the target is within the range of the weapon's interception capability, which is determined by formula (5):

[0111]

[0112] Among them, p T Indicates the target T relative to the node S j Shortcuts to the route; jkmax Indicates interception weapon D k The maximum route shortcut for interceptable targets; v T represents the flight speed of target T; v jkmin 、v jkmax Indicates weapon D k The minimum and maximum speeds of the target that can be intercepted; h T Indicates the flight height of target T; h jkmin 、h jkmax Indicates weapon D k The minimum and maximum altitudes of the target that can be intercepted; L T Indicates the target T relative to the node S j Distance; L jkmin Indicates weapon D k The launch range of the interceptable target; L jkmax Indicates weapon D k The launch range of the target can be intercepted.

[0113] The second one is whether the remaining number of interception weapons can meet the interception needs, which can be judged by formula (6):

[0114] N jk >N launch ; (6)

[0115] Among them, N jk represents the remaining number of intercepting weapons of weapon D k ; N launch represents the number of weapons to be launched.

[0116] It can be understood that if the above two points are satisfied, it is determined that weapon D k can intercept target T, otherwise weapon D k cannot intercept target T.

[0117] Then, calculate the intercept advantage degree.

[0118] Specifically, when it is determined that the target can be intercepted, use the kill zone model of the weapon to calculate the earliest launch time t lch and the launch slant range R lch , and combine the target speed and the average speed of the intercepting weapon to calculate the encounter time t kill and the encounter slant range R kill .

[0119] Furthermore, the intercepting weapon D j mounted on node S k (0 < k ≤ g) The shooting advantage degree W jk The calculation formula is as shown in formula (7):

[0120]

[0121] Among them, t 0 represents the solution time. λ 1 , λ 2 and λ 3 represent proportionality coefficients, and satisfy λ 1 + λ 2 + λ 3 = 1.

[0122] Traverse the intercepting weapons [D 1 D 2 … D g to calculate the intercept advantage degree to obtain the intercept advantage degree set [W j1 W j2 …W jh , and take W j = MaxW jk (0 < k ≤ g) as the local optimal intercept advantage degree for intercept bidding.

[0123] Step 8: Determine the intercept node according to the intercept optimal rule.

[0124] Specifically, the on-duty center node selects the interception node with the best interception advantage based on the interception task bidding results and sends the winning bid information.

[0125] Step 9: Determine the guidance node based on the target data to be intercepted and the guidance data of the interception node.

[0126] Specifically, step 9 includes: step 901: determining whether to conduct a collaborative guidance task bidding based on the target data to be intercepted and the guidance data of the interception node; step 902: if not, determining that the interception node shown is a guidance node; step 903: if yes, conducting a collaborative guidance task bidding; step 904: conducting a collaborative guidance task bidding based on the target data and guidance requirements of the collaborative guidance task bidding; step 905: determining the guidance node according to the optimal guidance rule.

[0127] Among them, the guidance data includes the guidance system of the weapon expected to be used, the status of local guidance resources and the flight time of the interception weapon.

[0128] In actual situations, the interception node first determines whether local guidance is feasible based on its own target data to be intercepted, the guidance system of the weapon expected to be used, the status of local guidance resources, the flight time of the interception weapon, etc. If the interception weapon needs guidance but cannot be guided locally, a collaborative guidance task tender is sent to the network; then, each combat node calculates the guidance advantage based on the target data of the collaborative guidance tender and the guidance requirements of the interceptor missile, and sends a collaborative guidance task bid to the interception node; finally, the interception node selects a guidance node combination based on the guidance advantage bid results for the collaborative guidance task and sends the winning bid information.

[0129] Figure 2 This is a schematic diagram of the interception weapon guidance area and the combat node guidance area of ​​the present invention. Specifically, Figure 2 To explain, the interception node is expected to use interception weapon type D k , divided into guidance sections Q according to its guidance system zd It includes the following two steps:

[0130] Step 1: D k The weapon adopts only semi-active guidance system in the final stage of flight. lch And the required irradiation distance R zs Planning guidance section, that is, (0,R lch -R zs ) uses command guidance, (R lch -R zs ,R lch ) adopts semi-active guidance. The guidance section is shown in formula (8):

[0131]

[0132] Step 2: D k The semi-active and active composite guidance system is used in the terminal stage of the flight of this type of weapon. lch And the required irradiation distance R zs , Active required distance R zd Planning guidance section, that is, (0, R lch -R zs -R zd ] adopts command guidance mode, (R lch -R zs -R zd , R lch -R zd ] uses semi-active guidance, (R lch -R zd , R lch ] adopts active guidance mode, which can be expressed by formula (9):

[0133]

[0134] Furthermore, let the ground projection length of the line connecting the intercept node and the target be L jk , with min(L jk , L Lch ) as the guidance region length, with 2p jkmax As the guidance area is wide, the interception weapon D is obtained. k The area to be guided L lch is the launch slant distance R lch Then the guidance section Q obtained by intercept node planning is zd Projecting onto the ground, we get various guidance areas. Then, we take the interception node as the center, point along the length of the area toward the target as the x-axis, and determine the y-axis perpendicular to the x-axis according to the right-hand rule to establish the guidance area coordinate system.

[0135] Furthermore, the combat node first determines the guideability of the interception weapon to be used, and then calculates the guidance advantage based on this. Assuming that the node contains multiple guidance devices [Z 1 Z 2 ... Z l ], according to the system, it can be divided into many types of guidance equipment. The basis for each type of interception and guidance equipment to identify the target is as follows:

[0136] 1) Such guidance equipment is at least related to a certain section of the interceptor weapon. zd The guidance type matches and there is guidance margin;

[0137] 2) The guidance area of ​​this type of guidance equipment overlaps with the guidance area of ​​the intercepting weapon.

[0138] Specifically, let B s , B e Respectively represent the starting angle and ending angle of the working range of the guidance equipment; L z It represents the projection of the farthest guidance distance of the device to this target on the ground. For a single guidance device, Z ji Guidable area It can be expressed as the fan angle size B e -B s , radius L z The guidable area of ​​this type of guidance device is the union of the areas of all guidance devices of this type, which can be expressed by formula (10):

[0139]

[0140] Wherein, l′ represents the number of this type of guidance equipment; k represents the type number of the guidance equipment.

[0141] Furthermore, assuming that the interception weapon guidance section corresponding to this type of guidance equipment is Q zd ,calculate With Q zd The intersection of the corresponding distance segments. Calculated using geometric methods With Q zd The intersection point of the region in the x-axis direction Then obtain the coverable segment

[0142] Specifically, we traverse all kinds of guidance equipment and find out their guidance areas and coverage sections in turn. Then the guidance advantage of this node can be obtained by using node S j For each guidance section of the interception weapon Q zd The coverage capability representation of node S j Guidance advantage M j It is expressed as formula (11):

[0143] M j ={(x s1 ,x e1 ),…,(x sv ,x ev )}; (11)

[0144] Among them, v represents the number of guidance sections, which is usually 2 or 3.

[0145] Furthermore, the guidance combination is obtained by comprehensive processing according to the guidance advantage reported by each node, which specifically includes the following three steps:

[0146] Step 1: The guidance advantage matrix M is formed by the guidance advantage reported by each node, which can be expressed by formula (12):

[0147]

[0148] Step 2: For each guidance segment Q zd The maximum coverage solution can be obtained through formula (13):

[0149]

[0150] Among them, if Then it means segment Q zd Guidance is possible, otherwise section Q zd Guidance is not feasible.

[0151] Step 3: Solve the whole process guidance scheme. When each section is feasible, it is determined that the whole process is feasible. Solve each section Q in turn. zd The guidance combination scheme for M i (column i of M) according to x si Sorting from small to large gives formula (14):

[0152]

[0153] Specifically, The corresponding steering weight is assigned to node 1′, from Start, if Then the segment The steering right is assigned to node j′, 0<j′<n.

[0154] When guidance is not feasible for a certain section, it is determined that the entire process cannot be guided and re-planning is required.

[0155] Step 10: Complete the coordinated air defense mission through tracking nodes, interception nodes and guidance nodes.

[0156] Specifically, the grouping system selects the tracking nodes, interception nodes, and guidance nodes through the above steps to form a "sensor-interceptor-guidance equipment" interception combination to complete the air defense combat mission.

[0157] The present invention provides a networked collaborative air defense mission planning system for a naval fleet, comprising the following modules:

[0158] Module M1: used to determine the duty center node of the ship formation according to preset rules.

[0159] Module M2: Used to build a unified battlefield situation based on the sensor data detected by each combat node.

[0160] Among them, in module M2, each combat node performs target track fusion and management based on sensor data and data fusion processing algorithms to build a unified battlefield situation.

[0161] Module M3: used to obtain a threat target list based on target data, and to bid for tracking tasks based on the threat target list.

[0162] Module M4: Used to bid for tracking tasks based on the status data of each combat node.

[0163] Module M5: used to determine the tracking node according to the optimal tracking rule, and track the target to obtain tracking data.

[0164] Specifically, module M5 includes: submodule M501: used to determine the tracking node according to the bidding result of the tracking task and the tracking advantage; submodule M502: used to send the winning bid information to the tracking node; submodule M503: used for the tracking node to track the target and obtain tracking data.

[0165] Module M6: Used to bid for interception missions based on threat target lists and tracking data.

[0166] Module M7: Used to bid for interception missions based on the status data of each combat node.

[0167] Specifically, module M7 includes: submodule M701: used to obtain the interception advantage based on the status data of each combat node; submodule M702: used to bid for the interception task based on the interception advantage.

[0168] Module M8: used to determine the interception node according to the optimal interception rule.

[0169] Module M9: used to determine the guidance node based on the target data to be intercepted and the guidance data of the interception node.

[0170] Specifically, module M9 includes: sub-module M901: used to determine whether to conduct a collaborative guidance task bidding based on the target data to be intercepted and the guidance data of the interception node; sub-module M902: used to determine that the interception node shown is a guidance node if not; sub-module M903: used to conduct a collaborative guidance task bidding if so; sub-module M904: used to bid for the collaborative guidance task based on the target data and guidance requirements of the collaborative guidance task bidding; sub-module M905: used to determine the guidance node according to the optimal guidance rule.

[0171] Module M10: Used to complete coordinated air defense tasks through tracking nodes, interception nodes and guidance nodes.

[0172] The working principle of the present invention is:

[0173] The present invention decouples various combat resources from the local area, realizes networked distributed collaborative combat from the architecture, and enhances the system's anti-destruction capability. At the same time, under actual constraints, it analyzes and evaluates the threat of incoming targets from the formation's perspective, fully utilizes various air defense combat resources within the formation, implements air defense mission planning, generates a reliable kill chain, and improves the overall defense effectiveness of the formation.

[0174] Compared with the prior art, the present invention has the following beneficial effects:

[0175] 1. Compared with the traditional task planning mode, the present invention enables the formation combat nodes to participate in the air defense task decision-making in the form of task negotiation, which can reduce the decision-making pressure of the central command node and enhance the system's anti-destruction capability. At the same time, it decouples sensors, interception weapons, and guidance equipment from the local area, and can realize networked distributed collaborative operations from the architecture.

[0176] 2. The present invention analyzes and evaluates the threat of incoming targets from a formation perspective, and comprehensively considers factors such as target attack intention and arrival time, which can effectively ensure the rationality and completeness of air defense mission input.

[0177] 3. The present invention designs a task planning method based on task segment bidding, which can make more effective use of various air defense combat resources such as tracking, interception, and guidance within the formation. In particular, it focuses on designing a resource combination utilization strategy for the guidance link to improve the overall combat effectiveness of the formation.

[0178] 4. The present invention comprehensively considers the engineering implementation constraints of each link and generates an efficient and reliable kill chain, which has practical guiding significance for subsequent research.

[0179] Those skilled in the art know that, in addition to implementing the system, device and its various modules provided by the present invention in a purely computer-readable program code, it is entirely possible to implement the same program in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, the system, device and its various modules provided by the present invention can be considered as a hardware component, and the modules included therein for implementing various programs can also be considered as structures within the hardware component; the modules for implementing various functions can also be considered as both software programs for implementing the method and structures within the hardware component.

[0180] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A method for planning a networked collaborative air defense mission for a fleet of warships, characterized in that: The method comprises: Step 1: Determine the guard center node of the fleet according to a preset rule; Step 2: Build a unified battlefield situation based on the sensor data detected by each combat node; Step 3: Obtain a threat target list according to the target data, and conduct a tracking task bidding according to the threat target list; Step 4: bidding for tracking tasks according to the status data of each of the operational nodes; Step 5: Determine the tracking node according to the optimal tracking rule, track the target, and obtain tracking data; Step 6: Conducting an interception mission bidding based on the threat target list and the tracking data; Step 7: bidding for interception tasks according to the status data of each combat node; Step 8: Determine the interception node according to the optimal interception rule; Step 9: Determine the guidance node according to the target data to be intercepted and the guidance data of the interception node; Step 10: completing the coordinated air defense mission through the tracking node, the interception node and the guidance node; In step 3, the guard center node calculates the route shortcut p and arrival time t of target T relative to each combat node based on the target attack direction, speed and distance parameters, and then multiple targets [T1T2…T m ]Ship formation [S1S2…S m The threat degree matrix of ] can be expressed by formula (1): Among them, m is the number of targets, and n is the number of grouping combat nodes; Furthermore, target threat judgment is performed based on the target threat matrix, including the following four steps: Step 1: For each target T i Perform attack intention recognition, where 0 < i < m; traverse the list of route shortcuts [p i1 p i2 …p in , and find its minimum route shortcut MinP for each ship i , that is, consider the target as the most likely object of attack. If MinP i <p Max , it is considered that the target poses a threat to the formation, and p Max is the target route threshold for judging threats; Step 2: For the target T identified as a threat i , identify its type and divide the threat table into different sub-tables according to the target type, the sub-tables mainly include aircraft target sub-table and missile target sub-table; Step 3: Target T identified as a threat i , and sort the threat list of each combat node according to the arrival time [t i1 t i2 … t in ] Sort from small to large to get [t′ i1 t′ i2 … t′ in ]; Step 4: sort all the targets in each sub-table according to the first threat level value t' in the list sorted in step 3 i1 Sort from small to large to get a threat ranking list; then, according to the target type attributes, sort by missile targets first and aircraft targets last to get a threat ranking list, i.e., a threat target list; In step 9, the interception node is expected to use interception weapon type D k , divided into guidance sections Q according to its guidance system zd It includes the following two steps: Step 1: D k The weapon adopts only semi-active guidance system in the final stage of flight. lch And the required irradiation distance R zs Planning guidance section, that is, (0,R lch -R zs ) uses command guidance, (R lch -R zs ,R lch ) adopts semi-active guidance mode; the guidance section is shown in formula (2): Step 2: D k The semi-active and active composite guidance system is used in the terminal stage of the flight of this type of weapon. lch And the required irradiation distance R zs , Active required distance R zd Planning guidance section, that is, (0, R lch -R zs -R zd ] adopts command guidance mode, (R lch -R zs -R zd , R lch -R zd ] uses semi-active guidance, (R lch -R zd , R lch ] adopts active guidance mode, specifically, it is expressed by formula (3): Furthermore, let the ground projection length of the line connecting the intercept node and the target be L jk , with min(L jk , L Lch ) as the guidance region length, with 2p jkmax As the guidance area is wide, we get the interception weapon D k The area to be guided L lch is the launch slant distance R lch The ground projection of the intercept node is then used to plan the guidance section Q zd Projecting onto the ground, we get various guidance areas. Then, we take the interception node as the center, point along the length of the area toward the target as the x-axis, and determine the y-axis perpendicular to the x-axis according to the right-hand rule to establish the guidance area coordinate system. Furthermore, the combat node first determines the guideability of the interception weapon to be used, and then calculates the guidance advantage based on this; assuming that the node contains multiple guidance devices [Z1 Z2...Z l ], according to the system, it can be divided into many types of guidance equipment. The basis for each type of interception and guidance equipment to identify the target is as follows: 1) Such guidance equipment is at least related to a certain section of the interceptor weapon. zd The guidance type matches and there is guidance margin; 2) The guidance area of ​​this type of guidance equipment overlaps with the guidance area of ​​the interception weapon; Specifically, let B s , B e Respectively represent the starting angle and ending angle of the working range of the guidance equipment; L z It represents the projection of the farthest guidance distance of the device to this target on the ground. For a single guidance device, Z ji Guidable area It can be expressed as the fan angle size B e -B s , radius L z The guidable area of ​​this type of guidance device is the union of the areas of all guidance devices of this type, which can be expressed by formula (4): Where, l′ represents the number of this type of guidance equipment; k represents the type number of the guidance equipment; Furthermore, assuming that the interception weapon guidance section corresponding to this type of guidance equipment is Q zd ,calculate With Q zd The intersection of the corresponding distance segments; calculated using geometric methods With Q zd The intersection point of the region in the x-axis direction Then obtain the coverable segment Specifically, traverse all kinds of guidance equipment and obtain their guidance areas and covered sections in turn; then the guidance advantage of this node is expressed by node S j For each guidance section of the interception weapon Q zd The coverage capability characterization of node S j Guidance advantage M j It is expressed as formula (5): M j ={(x s1 ,x e1 ),…,(x sv ,x ev )}; (5) Where v represents the number of guidance sections, which is 2 or 3; Furthermore, the guidance combination is obtained by comprehensive processing according to the guidance advantage reported by each node, which specifically includes the following three steps: Step 1: The guidance advantage matrix M is formed by the guidance advantage reported by each node, which can be expressed by formula (6): Step 2: For each guidance segment Q zd The maximum coverage solution can be obtained through formula (7): Among them, if Then it means segment Q zd Guidance is possible, otherwise section Q zd Guidance is not feasible; Step 3: Solve the whole process guidance scheme. When each section is feasible, it is determined that the whole process is feasible. Solve each section Q in turn. zd The guidance combination scheme of M i Follow x si Sorting from small to large, we get formula (8), where M i is the i-th column of M; Specifically, The corresponding steering weight is assigned to node 1′, from Start, if Then the segment The guidance right is assigned to node j′, 0<j′<n; When guidance is not feasible for a certain section, it is determined that the entire process cannot be guided and re-planning is required.

2. The method for planning a networked collaborative air defense mission for a fleet of warships according to claim 1, characterized in that: The step 9 comprises: Step 901: Determine whether to conduct a collaborative guidance task bidding according to the target data to be intercepted and the guidance data of the interception node; Step 902: If not, determining that the interception node is the guidance node; Step 903: If yes, then conduct a collaborative guidance task bidding; Step 904: bidding for the collaborative guidance task according to the target data and guidance requirements of the collaborative guidance task bidding; Step 905: Determine the guidance node according to the guidance optimal rule.

3. The method for planning a networked collaborative air defense mission for a fleet of warships according to claim 1, characterized in that: In step 2, each of the combat nodes performs target track fusion and management based on the sensor data and data fusion processing algorithm to build a unified battlefield situation.

4. The method for planning a networked collaborative air defense mission for a fleet of warships according to claim 1, characterized in that: The step 5 comprises: Step 501: Determine the tracking node according to the tracking task bidding result and the tracking benefit; Step 502: Sending the winning bid information to the tracking node; Step 503: The tracking node tracks the target to obtain tracking data.

5. The method for planning a networked collaborative air defense mission for a fleet of warships according to claim 1, characterized in that: The step 7 comprises: Step 701: Obtaining interception advantage according to the status data of each combat node; Step 702: Based on the interception advantage, bid for the interception task.

6. A networked collaborative air defense mission planning system for a fleet of warships, characterized in that: The system comprises: Module M1: used to determine the guard center node of the fleet according to preset rules; Module M2: used to build a unified battlefield situation based on the sensor data detected by each combat node; Module M3: used to obtain a threat target list according to the target data, and to bid for tracking tasks according to the threat target list; Module M4: used for bidding for tracking tasks according to the status data of each of the operational nodes; Module M5: used to determine the tracking node according to the optimal tracking rule, and track the target to obtain tracking data; Module M6: used for bidding for interception tasks according to the threat target list and the tracking data; Module M7: used for bidding for interception tasks according to the status data of each combat node; Module M8: used to determine the interception node according to the optimal interception rule; Module M9: used to determine the guidance node according to the target data to be intercepted and the guidance data of the interception node; Module M10: used to complete the coordinated air defense task through the tracking node, the interception node and the guidance node; In module M3, the guard center node calculates the route shortcut p and arrival time t of target T relative to each combat node based on the target attack direction, speed and distance parameters, and then multiple targets [T1T2…T m ]Ship formation [S1S2…S m The threat degree matrix of ] can be expressed by formula (1): Among them, m is the number of targets, and n is the number of grouping combat nodes; Furthermore, target threat judgment is performed based on the target threat matrix, including the following four steps: Step 1: For each target T i Perform attack intention recognition, where 0 < i < m; traverse the list of route shortcuts [p i1 p i2 …p in , and find its minimum route shortcut MinP for each ship i , that is, consider the target as the most likely object of attack. If MinP i < p Max , it is considered that the target poses a threat to the formation, and p Max is the target route threshold for judging threats; Step 2: Target T identified as a threat i , identify its type and divide the threat table into different sub-tables according to the target type. The sub-tables mainly include aircraft target sub-table and missile target sub-table; Step 3: Target T identified as a threat i , and sort the threat list of each combat node according to the arrival time [t i1 t i2 … t in ] Sort from small to large to get [t′ i1 t′ i2 … t′ in ]; Step 4: sort all the targets in each sub-table according to the first threat level value t' in the list sorted in step 3 i1 Sort from small to large to get a threat ranking list; then, according to the target type attributes, sort by missile targets first and aircraft targets last to get a threat ranking list, i.e., a threat target list; In module M9, the interception node is expected to use interception weapon type D k , divided into guidance sections Q according to its guidance system zd It includes the following two steps: Step 1: D k The weapon adopts only semi-active guidance system in the final stage of flight. lch And the required irradiation distance R zs Planning guidance section, that is, (0,R lch -R zs ) uses command guidance, (R lch -R zs ,R lch ) adopts semi-active guidance mode; the guidance section is shown in formula (2): Step 2: D k The semi-active and active composite guidance system is used in the terminal stage of the flight of this type of weapon. lch And the required irradiation distance R zs , Active required distance R zd Planning guidance section, that is, (0, R lch -R zs -R zd ] adopts command guidance mode, (R lch -R zs -R zd , R lch -R zd ] uses semi-active guidance, (R lch -R zd , R lch ] adopts active guidance mode, specifically, it is expressed by formula (3): Furthermore, let the ground projection length of the line connecting the intercept node and the target be L jk , with min(L jk , L Lch ) as the guidance region length, with 2p jkmax As the guidance area is wide, we get the interception weapon D k The area to be guided L lch is the launch slant distance R lch The ground projection of the intercept node is then used to plan the guidance section Q zd Projecting onto the ground, we get various guidance areas. Then, we take the interception node as the center, point along the length of the area toward the target as the x-axis, and determine the y-axis perpendicular to the x-axis according to the right-hand rule to establish the guidance area coordinate system. Furthermore, the combat node first determines the guideability of the interception weapon to be used, and then calculates the guidance advantage based on this; assuming that the node contains multiple guidance devices [Z1 Z2...Z l ], according to the system, it can be divided into many types of guidance equipment. The basis for each type of interception and guidance equipment to identify the target is as follows: 1) Such guidance equipment is at least related to a certain section of the interceptor weapon. zd The guidance type matches and there is guidance margin; 2) The guidance area of ​​this type of guidance equipment overlaps with the guidance area of ​​the interception weapon; Specifically, let B s , B e Respectively represent the starting angle and ending angle of the working range of the guidance equipment; L z It represents the projection of the farthest guidance distance of the device to this target on the ground. For a single guidance device, Z ji Guidable area It can be expressed as the fan angle size B e -B s , radius L z The guidable area of ​​this type of guidance device is the union of the areas of all guidance devices of this type, which can be expressed by formula (4): Wherein, l' represents the number of this type of guidance equipment; k represents the type number of the guidance equipment; Furthermore, assuming that the interception weapon guidance section corresponding to this type of guidance equipment is Q zd ,calculate With Q zd The intersection of the corresponding distance segments; calculated using geometric methods With Q zd The intersection point of the region in the x-axis direction Then obtain the coverable segment Specifically, traverse all kinds of guidance equipment and obtain their guidance areas and covered sections in turn; then the guidance advantage of this node is expressed by node S j For each guidance section of the interception weapon Q zd The coverage capability characterization of node S j Guidance advantage M j It is expressed as formula (5): M j ={(x s1 ,x e1 ),…,(x sv ,x ev )}; (5) Where v represents the number of guidance sections, which is 2 or 3; Furthermore, the guidance combination is obtained by comprehensive processing according to the guidance advantage reported by each node, which specifically includes the following three steps: Step 1: The guidance advantage matrix M is formed by the guidance advantage reported by each node, which can be expressed by formula (6): Step 2: For each guidance segment Q zd The maximum coverage solution can be obtained through formula (7): Among them, if Then it means segment Q zd Guidance is possible, otherwise section Q zd Guidance is not feasible; Step 3: Solve the whole process guidance scheme. When each section is feasible, it is determined that the whole process is feasible. Solve each section Q in turn. zd The guidance combination scheme of M i Follow x si Sorting from small to large, we get formula (8), where M i is the i-th column of M; Specifically, The corresponding steering weight is assigned to node 1′, from Start, if Then the segment The guidance weight is assigned to node j′, 0 <j′<n; When guidance is not feasible for a certain section, it is determined that the entire process cannot be guided and re-planning is required.

7. The ship formation networked collaborative air defense mission planning system according to claim 6 is characterized in that: The module M9 comprises: Submodule M901: used to determine whether to conduct a collaborative guidance task bidding according to the target data to be intercepted and the guidance data of the interception node; Submodule M902: if not, determine that the interception node is the guidance node; Submodule M903: used for bidding for collaborative guidance tasks if yes; Submodule M904: for bidding for the collaborative guidance task according to the target data and guidance requirements of the collaborative guidance task bidding; Submodule M905: used to determine the guidance node according to the guidance optimal rule.

8. The ship formation networked collaborative air defense mission planning system according to claim 6 is characterized in that: In the module M2, each combat node performs target track fusion and management based on the sensor data and data fusion processing algorithm to build a unified battlefield situation.

9. The ship formation networked collaborative air defense mission planning system according to claim 6 is characterized in that: The module M5 comprises: Submodule M501: used to determine the tracking node according to the tracking task bidding result and the tracking advantage; Submodule M502: used to send the winning bid information to the tracking node; Submodule M503: used by the tracking node to track the target and obtain tracking data.

10. The ship formation networked collaborative air defense mission planning system according to claim 6, characterized in that: The module M7 comprises: Submodule M701: used to obtain the interception advantage according to the status data of each combat node; Submodule M702: used to bid for the interception mission according to the interception advantage.

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