Navigation method and device based on cluster confrontation

Abstract

The present invention discloses a navigation method and device based on cluster confrontation, relating to the field of navigation. The method includes: S1 obtaining relevant parameter information and basic maneuvering strategies of a mobile platform; S2 designating a reference platform and a reference position; S3 dividing a cluster confrontation operation area map and determining the initial position codes of other mobile platforms; S4 randomly generating risk threats; S5 determining cluster confrontation strategies; S6 determining navigation information; S7 simulating a navigation fuzzy path; S8 determining and executing a navigation implementation plan; S9 making the current position code serve as the initial position code and returning to S4; by establishing a cluster reference platform and a reference position as the basic reference system for multi-platform relative navigation calculation and position identification, unifying the basic environment for maneuvering navigation during confrontation, and constructing a relatively unified information-based environment for confrontation maneuvering navigation; by establishing a cluster confrontation operation area map model, the confrontation situation and the risk of confrontation movement can be intuitively analyzed, and the basic strategies for maneuvering navigation during confrontation can be quickly formed.

Description

Technical Field

[0001] The present invention relates to the field of navigation, and particularly to a navigation method and device based on cluster confrontation. Background Art

[0002] Navigation in an adversarial environment refers to the navigation work of completing the maneuver of a mobile platform operation or cluster movement under conditions of threat risks, and its main evaluation index is the platform maneuver freedom of equivalent attack.

[0003] The maneuver of a mobile platform operation is the relative position change when a mobile platform with certain functions conducts operations on a target object.

[0004] Cluster movement refers to the formation transformation and turning of two or more mobile platforms under different threat risk situations to achieve corresponding purpose effects.

[0005] In an adversarial environment, the confrontation functions of mobile platforms are becoming increasingly diverse, the performance of platform confrontation equipment is increasing day by day, and it has become normal for mobile platforms with different mission tasks to operate in a mixed cluster cooperation mode; with the increase in the number of platforms in the mixed cluster, the expansion of the speed range of the platforms, and the increasing requirement for the rhythm of cluster formation transformation, the demand for navigation methods and systems in the mixed cluster cooperation in an adversarial environment is becoming increasingly prominent. It is mainly manifested in: (1) The existing positioning and navigation methods with the geocentric coordinate as the reference system and a fixed point as the benchmark cannot meet the positioning and accurate description requirements of the complex formation of a moving mixed cluster; (2) The existing navigation methods cannot provide guidance for avoiding the navigation risks brought by collisions and operation restricted areas during the maneuver of a mobile platform operation and the formation transformation of a cluster; (3) The existing navigation methods cannot quickly and simply form accurate multi-platform navigation instructions to meet the rhythm requirements of cluster formation transformation and platform maneuver navigation, (4) Especially, the traditional navigation operation mechanism of "first draw a planned route and then accurately execute", which has long been established with fuel economy and platform safety as the main consideration indicators, severely restricts the maneuver navigation mode with improving the freedom of equivalent attack as an important consideration indicator in confrontation. These deficiencies seriously restrict the flexibility, timeliness, and safety of the navigation work in organizing the maneuver of a mobile platform operation and its cluster movement in an adversarial environment, and further affect the overall attack and defense efficiency of the mixed cluster operation.

[0006] Currently, there is still a blank field in establishing a positioning reference system, regional position instruction method that can adapt to the platform operation maneuver and its cluster movement in an adversarial environment, and a fuzzy path design that can improve the attack and defense freedom under the premise of the same threat and attack and defense probability. Therefore, it is necessary to establish a positioning and navigation method and system that adapts to the characteristics of mobile platform operation maneuver and its cluster movement in an adversarial environment. Summary of the Invention

[0007] The object of the present invention is to design a navigation method and device based on cluster confrontation in order to solve the above problems.

[0008] The present invention realizes the above object through the following technical solutions:

[0009] The navigation method based on cluster confrontation includes:

[0010] S1. Obtain the relevant parameter information of each mobile platform in the cluster and the basic maneuvering strategy when the mobile platform participates in the cluster movement;

[0011] S2. Designate one of the mobile platforms as the reference platform and reference position for the cluster movement;

[0012] S3. Divide the cluster confrontation operation area map and determine the initial position identifiers of other mobile platforms for the cluster movement navigation;

[0013] S4. Randomly generate the direction and threat level areas of the risk threats faced by the current cluster on the cluster confrontation operation area map;

[0014] S5. Determine the cluster confrontation strategy;

[0015] S6. Determine the operation maneuvers of each mobile platform and the navigation information of the cluster movement according to the cluster confrontation strategy;

[0016] S7. Simulate the navigation fuzzy paths of each mobile platform;

[0017] S8. Determine and execute the navigation implementation plan;

[0018] S9. Set the current position identifiers of each mobile platform as the initial position identifiers and return to S4.

[0019] The navigation device based on cluster confrontation includes:

[0020] A storage; a computer program is stored in the storage;

[0021] A processor; the processor is used to execute the computer program. When the processor executes the computer program in the storage, it realizes the navigation method based on cluster confrontation as described above.

[0022] The beneficial effects of the present invention are as follows: By setting up a cluster reference platform and reference position as the basic reference system for multi-platform relative navigation calculation and position identification, the basic environment for maneuvering navigation during confrontation is unified, and a relatively unified information environment for confrontation maneuvering navigation is constructed; By setting up a cluster confrontation operation area map model, the confrontation situation and the risk analysis of confrontation movement can be intuitively carried out, and the basic strategy for maneuvering navigation during confrontation can be quickly formed. By establishing a maneuvering navigation fuzzy path, the freedom degree of maneuvering navigation during confrontation can be improved. Brief Description of the Drawings

[0023] Figure 1 is a schematic flow chart of the navigation method based on swarm confrontation of the present invention;

[0024] Figure 2 is a system block diagram of the navigation method based on swarm confrontation of the present invention. Detailed Embodiments

[0025] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. Generally, the components of the embodiments of the present invention described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts fall within the scope of protection of the present invention.

[0027] It should be noted that: like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0028] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed during use, or the orientation or positional relationship commonly understood by those skilled in the art. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0029] In addition, the terms "first", "second", etc. are only used for descriptive distinction and should not be construed as indicating or implying relative importance.

[0030] In the description of the present invention, it should also be noted that, unless otherwise clearly specified and defined, terms such as "arrangement" and "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0031] The following will describe in detail the specific implementation manners of the present invention with reference to the accompanying drawings.

[0032] A navigation method based on swarm confrontation includes:

[0033] S1. Obtain the relevant parameter information of each mobile platform in the swarm and the basic maneuvering strategies when the mobile platform participates in the swarm movement; the relevant parameter information includes the operation performance, operation purpose, safety area radius, height or depth of the safety area, the range of variable mobile speeds in the safety area, and the center of the safety area is the platform antenna part; the basic maneuvering strategies include the inevitable selection of mobile speeds, the inevitable requirements for mobile directions, and the preset avoidance priority order for mobile platforms in different areas. The specific basic maneuvering strategies are as follows: when the mobile platform in the front area maneuvers towards the rear area, the component of its mobile speed in the direction of the reference platform's movement is less than the mobile speed of the reference platform; when the platform in the third front area maneuvers towards other areas, its moving direction is different from that of the reference platform; when multiple mobile platforms cross maneuver, according to the reference platform's moving direction and the preset avoidance priority order, the mobile platform responsible for avoidance passes through outside the safety area behind the mobile platform with priority.

[0034] S2. Designate one of the mobile platforms as the reference platform and reference position of the swarm movement. A swarm can include multiple subgroups. Designate one of the mobile platforms in the subgroup as the reference platform and reference position of the subgroup. The reference platform and reference position serve as the reference for each mobile platform in the subgroup.

[0035] S3. Divide the swarm confrontation operation area map and determine the initial position identifiers of other mobile platforms for swarm movement navigation. The initial position identifiers include the position points relative to the reference position, the reference position, and the code names.

[0036] The map for dividing the cluster confrontation operation area specifically includes: first, divide the area in front of and behind the beam of the reference platform along the moving direction of the reference platform as the front area and the rear area; in the area in front of the beam, divide the left and right areas with a transverse distance from the reference platform greater than the radius of the safe area of the reference platform, and the middle area with a transverse distance from the reference platform less than the radius of the safe area of the reference platform as the first front area, the second front area, and the third front area; in the area behind the beam, divide the left and right areas with a transverse distance from the reference platform greater than the radius of the safe area of the reference platform, and the middle area with a transverse distance from the reference platform less than the radius of the safe area of the reference platform as the first rear area, the second rear area, and the third rear area.

[0037] S4. Randomly generate the area of the direction and threat level of the risk threats faced by the current cluster on the map of the cluster confrontation operation area.

[0038] S5. According to the situation of the threat risk relative to the reference position, combined with the operation performance and objectives of the cluster and each mobile platform, determine the cluster confrontation strategy. The cluster confrontation strategy includes the cluster confrontation operation position area, the cluster movement formation, the target positions of each mobile platform for confrontation operations, and the maneuvering methods of each mobile platform.

[0039] S6. Determine the operation maneuvers of each mobile platform and the navigation information of the cluster movement according to the cluster confrontation strategy. The navigation information includes instructions, specified completion time limits, the movement plan of the reference platform, and the maneuvering and cluster movement information of the remaining mobile platforms;

[0040] S7. Simulate and generate the navigation fuzzy paths of each mobile platform according to the navigation information and the safe area restrictions of each mobile platform in the cluster.

[0041] S8. Determine and execute the navigation implementation plan;

[0042] S9. Let the position identifiers of the current mobile platforms be used as the initial position identifiers, and repeat the execution of S4 - S8.

[0043] The navigation device based on cluster confrontation includes:

[0044] A memory; a computer program is stored in the memory;

[0045] A processor; the processor is used to execute the computer program. When the processor executes the computer program in the memory, it implements the navigation method based on cluster confrontation as described above.

[0046] As Figure 1 、 Figure 2 shown, this method includes the following steps:

[0047] S1. Set up a safety area centered on the antenna part of each mobile platform in the cluster, with a preset distance as the radius. Set the operating performance, operating purpose, height or depth of the safety area, and the variable range of the moving speed of the safety area as the characteristic data of the mobile platform and store it in the personalized database. The safety area has the same moving speed as the mobile platform. The radius of the safety area and the height or depth line of the safety area are the limiting boundary lines for constructing the navigation fuzzy path when the mobile platform maneuvers or participates in the cluster movement. When the mobile platform maneuvers, it needs to avoid the area surrounded by the limiting boundary lines of other mobile platforms;

[0048] Set the basic maneuvering strategy when the mobile platform participates in the cluster movement. The basic maneuvering strategy includes the inevitable choice of moving speed, the inevitable requirement for moving direction, and the preset avoidance priority order for mobile platforms in different areas. Specifically: when the mobile platform in the front area maneuvers towards the rear area, the component of its moving speed in the moving direction of the reference platform is less than the moving speed of the reference platform; when the platform in the third front area maneuvers to other areas, its moving direction is different from that of the reference platform; when multiple mobile platforms cross-maneuver, according to the moving direction of the reference platform and the preset avoidance priority order, the mobile platform responsible for avoidance passes through outside the safety area behind the mobile platform with priority.

[0049] S2. Designate one of the mobile platforms as the reference platform and reference position for the cluster movement. The reference position is the reference position. Only one mobile platform and position can be designated as the reference platform and reference position for the cluster. Any mobile platform in the cluster can be designated as the reference platform, but only one reference platform can be designated during the same time period; The subgroups set under a cluster can also designate the reference platform and reference position of the subgroup. The reference platform and reference position serve as the reference for each mobile platform in the subgroup;

[0050] During the cluster movement, the movement elements of the reference platform are the reference data for other mobile platforms to perform maneuvering navigation calculations; The reference position is defaulted to the position of the reference platform, or can also be designated as a relative position point of the reference platform. The moving direction and speed of the reference position are the same as those of the reference platform; During the cluster movement, the reference position is the reference origin for the position configuration of other mobile platforms or subgroups.

[0051] S3. Divide the surrounding area of the "benchmark position" to form a cluster confrontation operation area map that moves with the benchmark platform of the cluster. The cluster confrontation operation area map has the same moving direction and speed as the cluster benchmark platform. The specific division method is as follows: First, divide the area before and after the beam reach along the moving direction of the benchmark platform as the front area and the rear area. In the area before the beam reach, divide the left and right areas with a transverse distance from the benchmark platform greater than the radius of the safety area of the benchmark platform, and the middle area with a transverse distance from the benchmark platform less than the radius of the safety area of the benchmark platform as the first front area, the second front area, and the third front area. In the area after the beam reach, divide the left and right areas with a transverse distance from the benchmark platform greater than the radius of the safety area of the benchmark platform, and the middle area with a transverse distance from the benchmark platform less than the radius of the safety area of the benchmark platform as the first rear area, the second rear area, and the third rear area.

[0052] Determine the initial position identifier of other mobile platforms for cluster movement navigation: The position is a position point or local area relative to the benchmark position. The position identifier code includes a code method, the code of the benchmark platform (benchmark position), and numerical information relative to the benchmark position, that is, a preset identifier code - position mapping table. A position can have different code methods, and the relationship between the position and the identifier code is one - to - many. The position identifier code - position mapping table is stored in the basic database.

[0053] S4. Mark the direction of the threat risk faced by the cluster and the areas of each threat level on the cluster confrontation operation area map, which can be randomly generated by software with the function of generating the direction of threat risk and the areas of each threat level.

[0054] S5. According to the threat risk situation relative to the benchmark position, combined with the operation performance and objectives of the cluster and each mobile platform, set the operation position area of the cluster confrontation risk threat, the cluster movement formation, the target positions of each mobile platform for confrontation operations, and the maneuver of the mobile platform operation. The maneuver code of the mobile platform operation and the target position code of the cluster movement are the main labels of the navigation information.

[0055] S6. According to the basic maneuver strategy, determine the maneuver methods and their codes applicable to the mobile platform maneuver and the cluster movement, and formulate the instruction labels for the mobile platform operation maneuver and the cluster movement according to the initial position identifier, target position, and maneuver method of the mobile platform operation maneuver and the cluster movement.

[0056] The maneuver methods of the mobile platform operation or participating in the cluster movement are classified according to the number of times of changing the moving direction. The cluster movement includes cluster turning, and the cluster turning method is classified according to the number of times of changing the positions of each mobile platform in the formation. The mapping table between the mobile platform maneuver method category and the maneuver method code is stored in the basic database, and the mapping table between the cluster turning method category and the turning method code is stored in the basic database.

[0057] The instruction label consists of the platform maneuvering method code or steering method code, the navigation initial position code, and the designated (destination) position code.

[0058] S7. On the cluster confrontation operation area map, according to the instruction label of the cluster movement, the designated completion time limit, and the movement plan of the reference platform, simulate and generate the navigation fuzzy path of each mobile platform. The navigation fuzzy path is composed of the possible position points of the platform during movement. According to the propulsion performance range value of the mobile platform, the direction range, speed range, and time range for each position point on the path to reach the designated position within the time limit can be displayed;

[0059] The instruction label, the designated completion time limit, and the movement plan of the reference platform constitute the navigation information for platform maneuvering and cluster movement;

[0060] Typical navigation information for mobile platform maneuvering and cluster movement and the reference navigation path for the mobile platform to move are stored in the personalized database;

[0061] The fuzzy path range is determined by the propulsion performance range of the mobile platform, the time range of the designated completion time limit, and the limit boundary lines of other mobile platforms; the propulsion performance range value of the mobile platform is the speed range that the mobile platform can execute.

[0062] S8. In the cluster confrontation operation area map, each mobile platform selects and executes the navigation implementation plan in the navigation fuzzy path according to the threat and the probability level of attack and defense, as well as the maneuvering operation performance and requirements of the mobile platform; the shortest path in the navigation fuzzy path is defaulted as the navigation implementation path, but it is not limited that the shortest path must be the navigation implementation path.

[0063] S9. When it is necessary to change the cluster movement formation due to the change in the direction of the confrontation risk threat or the threat level area, it is necessary to re-determine the navigation designated (destination) position of the cluster movement, so return to S4 for loop execution.

[0064] By setting up the safe area for the movement of the mobile platform, the safety during the cross maneuvering of multiple mobile platforms during confrontation is ensured; by setting up the reference platform (reference point) and reference position of the cluster as the basic reference system for the relative navigation calculation and position identification of multiple mobile platforms, the basic environment for maneuvering navigation during confrontation is unified; by setting up the cluster confrontation operation area map model, the confrontation situation and the risk analysis of the confrontation movement can be visually carried out, and the basic strategy for maneuvering navigation during confrontation can be quickly formed; by setting up the navigation information instruction method, the navigation command during confrontation can be conveniently and accurately implemented, and the information environment for maneuvering navigation during confrontation is relatively unified; by establishing the maneuvering navigation fuzzy path, the freedom of maneuvering navigation during confrontation is improved.

[0065] The technical solution of the present invention is not limited to the limitations of the above specific embodiments. Any technical deformation made according to the technical solution of the present invention falls within the protection scope of the present invention.

Claims

1. A navigation method based on swarm confrontation, characterized in that Including: S1. Obtain the relevant parameter information of each mobile platform in the cluster and the basic maneuvering strategies when the mobile platform participates in the cluster movement. The relevant parameter information includes the operation performance, operation purpose, safety area radius, height or depth of the safety area, the variable range of the moving speed of the safety area, and the center of the safety area is the platform antenna part; the basic maneuvering strategies include the inevitable selection of the moving speed, the inevitable requirements for the moving direction, and the preset avoidance priority order of the mobile platforms in different areas; S2. Designate one of the mobile platforms as the reference platform and reference position of the cluster movement; S3. Divide the cluster confrontation operation area map and determine the initial position identification of other mobile platforms for the cluster movement navigation; The specific division of the cluster confrontation operation area map includes: first, divide the area before and after the beam of the reference platform along the moving direction of the reference platform as the front area and the rear area; in the area before the beam, divide the left and right areas with a transverse distance from the reference platform greater than the safety area radius of the reference platform, and the middle area with a transverse distance from the reference platform less than the safety area radius of the reference platform as the first front area, the second front area, and the third front area; in the area after the beam, divide the left and right areas with a transverse distance from the reference platform greater than the safety area radius of the reference platform, and the middle area with a transverse distance from the reference platform less than the safety area radius of the reference platform as the first rear area, the second rear area, and the third rear area; S5. Randomly generate the direction and threat level area of the risk threats faced by the current cluster on the cluster confrontation operation area map; S6. Determine the cluster confrontation strategy; S7. Determine the operation maneuvers of each mobile platform and the navigation information of the cluster movement according to the cluster confrontation strategy; S8. Simulate the navigation fuzzy paths of each mobile platform; S9. Determine and execute the navigation implementation plan; S10. Set the current position identification of each mobile platform as the initial position identification and return to S4.

2. The navigation method based on cluster confrontation according to claim 1, characterized in that In S5, according to the situation of the threat risk relative to the reference position, combined with the operation performance and purpose of the cluster and each mobile platform, determine the cluster confrontation strategy. The cluster confrontation strategy includes the cluster confrontation operation position area, the cluster movement formation, the target positions of each mobile platform for the confrontation operation, and the maneuvering methods of each mobile platform.

3. The navigation method based on cluster confrontation according to claim 2, wherein The basic maneuvering strategy is specifically: when the mobile platform in the current area maneuvers towards the rear area, the component of its moving speed in the moving direction of the reference platform is less than the moving speed of the reference platform; when the platform in the third front area maneuvers to other areas, its moving direction is different from that of the reference platform; When multiple mobile platforms cross maneuver, according to the moving direction of the reference platform and the preset avoidance priority order, the mobile platform responsible for avoidance passes through outside the safety area behind the mobile platform with priority.

4. The navigation method based on swarm confrontation according to claim 1, wherein In S7, the navigation fuzzy paths are generated according to the navigation information and the safety area restrictions of each mobile platform in the cluster. The navigation information includes instructions, specified completion time limits, the moving plan of the reference platform, the maneuvering and cluster movement information of the remaining mobile platforms.

5. The navigation method based on swarm confrontation according to claim 1, wherein A cluster includes multiple subgroups. One mobile platform in a specified subgroup is designated as the reference platform and reference position of the subgroup, and the reference platform and reference position serve as the benchmark reference for each mobile platform in the subgroup.

6. The navigation device based on cluster confrontation, characterized in that, Including: A memory; A computer program is stored in the memory; A processor; The processor is used to execute the computer program. When the processor executes the computer program in the memory, it implements the navigation method based on cluster confrontation described in any one of claims 1-5.

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