Surface ship illuminator mission planning method and system

Abstract

The application provides a surface ship illuminator task planning method and system, comprising the following steps: step 1: inputting target parameters, illuminator parameters, illumination state information and interception calculation parameter information; step 2: based on the target parameters, weapon interception calculation parameters and illuminator parameters and task state information, constructing calculation, prediction and decision matrix and vector; step 3: establishing an illuminator task planning model, determining optimization variables, optimization targets and constraint conditions; step 4: solving the illuminator task planning model by using an optimization algorithm to obtain target-illuminator-illumination period illumination task pairing and form an illuminator task sequence scheme. The application is suitable for surface ship multi-illuminator task planning, multi-target illumination distribution, fire control launch decision and the like, can improve illumination resource use efficiency and improve the combat effectiveness of ship-to-air weapons.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of air combat sensor task planning, in particular to a surface ship illuminator task planning method and system. BACKGROUND

[0002] Modern surface combat ships usually integrate multiple illuminators, which can irradiate the incoming target according to the indication information, and provide irradiation guidance signals for the terminal semi-active guidance system of ship-to-air missiles, guiding the missiles to fly to the combat target. Illuminator task planning is a process of completing irradiation task allocation and irradiation resource scheduling according to the guidance requirements of the missile, which is an important part of fire control decision.

[0003] Unlike phased array illuminators, mechanical illuminators track and irradiate targets by rotating within a certain mechanical limit. In the traditional irradiation task planning mode, the illuminator adopts relay irradiation, that is, the illuminator is occupied throughout the flight of the semi-active missile, especially for medium and long-range ship-to-air missiles, whose multi-target combat capability is severely restricted. At present, for economic and other reasons, mechanical illuminators are still not completely abandoned by combat ships of various countries. Therefore, how to utilize the characteristics of existing equipment and innovate the application mode of equipment has become an important way to improve the combat effectiveness of surface ships. Under this background, the surface ship illuminator time-sharing irradiation mode is proposed, which mainly irradiates the target in the terminal section of the flight of the medium and long-range ship-to-air missile, thereby releasing the occupation time of the illuminator and improving the utilization rate of irradiation resources. However, due to the changing battlefield situation, irradiation task planning needs to be reasonably carried out in this mode to ensure the stable combat effectiveness of the ship-to-air weapon system.

[0004] Patent document CN108415452A (application number: CN201711419530.X) discloses a hollow long-endurance unmanned aerial vehicle task planning system, which comprises a task planning intelligence database, a data connection and release module, a task planning module and a geographic information engine. The task intelligence database stores and manages geographic information data, task information data, unmanned aerial vehicle / load / link performance data, task area intelligence data, unmanned aerial vehicle system telemetry data, user and system information data; the data connection and release module receives unmanned aerial vehicle system telemetry data, task information data and task area intelligence data, and releases unmanned aerial vehicle state information and task reports in a specified format; the task planning module obtains unmanned aerial vehicle system telemetry data, task information data and task area intelligence data, completes threat space modeling, communication link usage planning, route design and load usage planning; the geographic information engine obtains geographic information data, task area intelligence data and unmanned aerial vehicle system telemetry data, and provides digital terrain, comprehensive situation display and task data editing services.

[0005] Currently, the research on the illuminator task planning of combat warships is relatively less, the innovative application mode research of traditional equipment is still in the exploratory stage, and the research on the warship illuminator task planning is mostly concentrated on the target channel allocation under the missile full-range illumination mode, the target-illuminator allocation method at the single-ship level is proposed for the single-ship air defense resource utilization problem, (such as, air target firepower distribution model research of surface warship, military operations research and system engineering, March 2005, Wang Yongchun; target allocation of multi-channel ship-to-air missile weapon system for single-ship air defense, tactical missile technology, July 2008; an illuminator allocation algorithm based on target direction, computer and digital engineering, No. 4, 2010, Zhao Jianjun; research on comprehensive air defense task planning and resource scheduling of ship-to-air missile, equipment theory and equipment technology, January 2019), for the networked cooperative combat problem of formation, the target-illuminator allocation method at the formation level is proposed, (such as, cooperative air defense target allocation decision of formation with separated launch and guidance, February 2013, Yao Yeting; research on formation cooperative air defense missile resource allocation based on two-dimensional contract, firepower and command control, Chen Hua-dong, June 2014). The above algorithms are essentially target full-range illumination task allocation methods, which do not consider the timing planning of the illumination task, and the improvement range of the multi-target combat capability of the ship-to-air missile weapon system is limited. SUMMARY

[0006] In view of the defects in the prior art, the purpose of the present application is to provide a surface warship illuminator task planning method and system.

[0007] The surface warship illuminator task planning method provided by the present application comprises:

[0008] Step 1: input the basic parameters required for task planning calculation, including the threat target parameter list, the target interception parameters of the interceptor weapon, the space working range of each illuminator and the arranged task sequence;

[0009] Step 2: construct the calculation matrix and vector, the prediction vector and the decision matrix and vector according to the input basic parameters, the calculation matrix and vector include the interception launch time vector of the weapon to the allocated illumination target, the illuminator space matrix and vector, the prediction vector includes the predicted space vector of the allocated illumination target relative to the warship platform, and the decision matrix and vector include the allocation decision matrix of the allocated illumination target, the illumination time matrix and the weapon interception launch time vector;

[0010] Step 3: construct the illuminator illumination task planning mathematical model, for the threat target to be illuminated, based on the constructed matrix and vector information, convert the multi-illuminator illumination task planning problem into a mixed integer programming problem under multiple constraints, establish the optimization objective and the constraint condition of the illumination task allocation, and construct the mathematical model of the illumination task planning problem;

[0011] Step 4: solving the mixed integer programming problem to obtain the illuminator illumination task planning scheme, solving the converted mixed integer programming problem to obtain the illumination task planning result under the optimization target, i.e. each illuminator illumination task sequence, updating each illuminator task sequence information, judging whether the task planning is ended, if not, returning to step 1 to continue execution.

[0012] Preferably, the step 1 comprises: the input threat target is TR={TR1, TR2, …, TRm}, m is the number of threat targets, wherein the number of targets to be illuminated and distributed is m'; the input illuminator is IR={IR1, IR2, …, IRn}, n is the number of illuminators; the input threat target parameter list information contains the current position P of each threat target in the ship's geographic system, the speed v, the radar cross section value σ of the target, the threat target parameter list is arranged in descending order according to the threat value; the intercept weapon-to-target intercept calculation parameter information includes the average flight speed v of the intercept weapon, the start and end of the launch time window of the target m n TR TR TR D The spatial working range information of each illuminator includes the start and end working azimuth angle of each illuminator IR IR sk The arranged task sequence information of each illuminator includes the start time

[0013] Preferably, the step 2 comprises: calculating the matrix and vector, which are determined by the input information of step 1, containing the weapon-to-target intercept start and end launch time vector The calculation matrix and vector are constructed as follows:

[0014]

[0015] ​​​​​​​​​​​​​​​​​​​​

[0016]

[0017] is n x m' dimensional, where is the illuminator IR i to the target TR j the maximum illumination distance, is the target TR j flight altitude, is the installation height of the illuminator IR i

[0018] The prediction vector is constructed from the input information of step 1, representing the estimated information of the target, including the predicted start illumination azimuth angle vector of the target to be assigned illumination relative to the ship platform and the predicted end illumination azimuth angle vector the predicted start illumination elevation angle vector and the predicted end illumination elevation angle vector the predicted start illumination distance vector and the predicted end illumination distance vector The prediction vector is constructed as follows:

[0019] where are the start illumination time j and the end illumination time of the target TR The distance between the ship and the target, x is determined by the decision matrix D, calculated as follows:

[0020]

[0021]

[0022]

[0023] where are the start illumination time j and the end illumination time of the target TR The azimuth angle of the target relative to the ship, calculated as follows:

[0024]

[0025] where are the start illumination time j and the end illumination time ​and the end of irradiation time the target relative to the ship's pitch angle, calculated according to the following formula:

[0026]

[0027] The decision matrix and vector are constructed by input information, as the output of the task planning, including the allocation decision matrix D' of the target to be irradiated, the interception launch time vector T Lch , the allocation decision matrix D of all threat targets, the irradiation start and end time matrix and The decision matrix and vector are constructed as follows:

[0028] is the decision matrix to be allocated, n x m' dimension;

[0029] is the allocation decision matrix of all targets, n x m dimension;

[0030] In the formula, d ij = 0 or 1, d ij = 1 represents that the irradiator IR i is allocated to irradiate the target TR j , otherwise the irradiator IR i is not allocated to irradiate the target TR j ;

[0031] is the scheduled interception launch time of the target TR j ;

[0032] are all n x m dimension, each row is sorted from small to large, where 1 ~ m' is the allocated irradiation target, m' + 1 ~ m column is the unallocated target; In the formula, are the start irradiation time and the end irradiation time of the irradiator IR i irradiating the target TR j , respectively, and indicates that the irradiator IR i is allocated to irradiate the target TR j , otherwise IR i is not allocated to irradiate the target TR j ; Calculated from the interception launch time, the value is as follows:

[0033]

[0034] ​

[0035] wherein r TR ||P TR is the distance between the current target TR j and the ship platform, t0 is the current time; D' and T Lch are obtained by selecting the main decision variables in the optimization process, and D' and T Lch are updated after the data is obtained, and D and T The integer variable in the decision variable is nm', and the non-integer variable is m'.

[0036] Preferably, the step 3 comprises: constructing the illuminator task planning model as a constrained mixed integer programming model, including constraint conditions, optimization objectives, and optimization variables.

[0037] The constraint conditions include two types of illumination space constraints and illumination time constraints.

[0038] (1) Illumination space constraint:

[0039] 1) In the illumination period , the target is within the working azimuth angle range of the illuminator, and the constraint is expressed as:

[0040]

[0041]

[0042] wherein the operator * represents the multiplication of the same position elements of two matrices or vectors of the same dimension, and 0 1m′ is an m'-dimensional zero vector.

[0043] 2) In the illumination period , the target is within the working elevation angle range of the illuminator, and the constraint is expressed as:

[0044]

[0045]

[0046] wherein the operator * represents the multiplication of the same position elements of two matrices or vectors of the same dimension, and 0 1m′ is an m'-dimensional zero vector.

[0047] 3) In the illumination period , the target is within the working distance range of the illuminator, and the constraint is expressed as:

[0048]

[0049]

[0050] where the operator * represents the multiplication of elements in the same position of two matrices or vectors of the same dimension, 1n is a row vector with all elements equal to 1, 0 1m′ is an m'-dimensional zero vector;

[0051] (2) irradiation time constraints:

[0052] 1) Each target can only be assigned one irradiation device at a time, which is represented by the constraint:

[0053] I 1n ·D′-I 1m′ ≤0 1m′

[0054] where the operator * represents the multiplication of elements in the same position of two matrices or vectors of the same dimension, 1n , I 1m′ is a row vector with all elements equal to 1, 0 1m′ is an m'-dimensional zero vector;

[0055] 2) A single irradiation device can only irradiate one target at a time, which is represented by the constraint:

[0056]

[0057] where the operator * represents the multiplication of elements in the same position of two matrices or vectors of the same dimension;

[0058] The function is used to calculate the set of irradiation task periods C formed by the corresponding elements of any row The number of non-zero period elements in C i , q i The maximum number of intersections between all period elements in C i and the elements of the row ij The maximum number of intersections between all period elements in C Iterate through each row and output the calculation result vector I 1n is a vector with all elements equal to 1, 0 1n is an n-dimensional zero vector; 3) The selected weapon firing time is within the firing window, which is represented by the constraint:

[0059]

[0060]

[0061]

[0062] 4) The irradiation device has a preparation time between the front and rear irradiation tasks, which is represented by the constraint:

[0063]

[0064] ​In the formula, the function for calculating the irradiation task period set C composed of elements at corresponding positions in any row and The irradiation task period set C composed of elements at corresponding positions in any row i , C i The elements in C are sorted by start irradiation time in ascending order, and the number of non-zero period elements in C i is l i For any non-zero period element C i Among all elements in C, the start time The number of period elements q' in C ij whose end time differs from the start time by more than Δt is q' ij , Δt is the irradiation preparation time, and the function calculates the output result as

[0065]

[0066] I′ nm′ is an n×m' matrix, each row being [0 … 0 l i -1 l i -2 … 0] m′ ;

[0067] The optimization objective of the task planning model is represented as

[0068]

[0069] In the formula, the operator * represents multiplication of elements at the same position of two matrices or vectors of the same dimension, and the operator / / represents division of non-zero elements at the same position of two matrices or vectors of the same dimension. The optimization objective is to arrange as many targets as possible for irradiation as early as possible to ensure that the weapon system can effectively intercept targets as early as possible;

[0070] The optimization variable of the illuminator task planning model is represented as

[0071] The global optimization variable is where a single-target-illuminator-irradiation period pair is represented as

[0072] The illuminator task planning model under multiple constraints is represented as follows

[0073]

[0074] Preferably, step 4 includes solving the mixed integer programming model by using a genetic algorithm to obtain the allocation decision matrix D′, D, T Lch and the optimization variable and updating and The results of this irradiation task planning, namely the task sequence of each irradiator, are obtained and used as input for the next round of task planning.

[0075] The surface ship illumination device mission planning system provided by the present invention includes:

[0076] Module M1: Input the basic parameters required for mission planning and calculation, including the list of threat target parameters, the interception parameters of the interceptor weapon against the target, the spatial working range of each illuminator, and the arranged mission sequence;

[0077] Module M2: Constructs computational matrices and vectors, prediction vectors, and decision matrices and vectors based on the input basic parameters. The computational matrices and vectors include the weapon's interception and launch time vector for the target to be illuminated, and the illuminator's workspace matrix and vector. The prediction vectors include the prediction space vector of the target to be illuminated relative to the ship platform. The decision matrices and vectors include the allocation decision matrix for the target to be illuminated, the illumination time matrix, and the weapon's interception and launch time vector.

[0078] Module M3: Constructs a mathematical model for irradiation task planning. Based on the constructed matrix and vector information, it transforms the multi-irradiation task planning problem into a mixed integer programming problem under multiple constraints, and establishes the optimization objective and constraints for irradiation task allocation, thereby constructing a mathematical model for the irradiation task planning problem.

[0079] Module M4: Solve the mixed integer programming problem to obtain the irradiation task planning scheme of the irradiator. Solve the transformed mixed integer programming problem to obtain the irradiation task planning result under the optimization objective, that is, the irradiation task sequence of each irradiator. Update the task sequence information of each irradiator and determine whether the task planning has ended. If not, return to module M1 to continue execution.

[0080] Preferably, the module M1 includes: the input threat target is TR = {TR1, TR2, ..., TR} m}, where m is the number of threat targets, and m′ is the number of targets to be irradiated; the input irradiators are IR={IR1,IR2,…,IR n}, where n is the number of illuminators; the input threat target parameter list includes the current location P of each threat target in the ship's geographic system. TR Speed ​​v TR Radar Cross Section (RCS) σ TR The list of threat target parameters is arranged from highest to lowest threat value; the interception weapon's interception calculation parameters include the interceptor weapon's average flight speed v. D The start and end of the launch window for the target. The spatial working range information of each illuminator includes the start and end working azimuth angles of each illuminator and High and low limit angles and Maximum working distance and typical RCS value σ IR , installation height h IR , homing head on distance r sk The scheduled task sequence information of each illuminator includes the start time of the illuminating task that each illuminator has been scheduled End time

[0081] Preferably, the module M2 includes: a calculation matrix and vector determined by the input information of the module Ml, containing the weapon-to-be-allocated-illuminating-target's interception start and end launch time vector and Illuminator working start and end azimuth angle vector and Illuminator working high limit angle vector and low limit angle vector and illuminator-to-target maximum working distance matrix The calculation matrix and vector are constructed as follows:

[0082]

[0083]

[0084]

[0085] is of n x m' dimension, where, is the maximum illuminating distance of the illuminator IR i to the target TR j , is the flight height of the target TR j , is the installation height of the illuminator IR i ;

[0086] The prediction vector is constructed according to the input information of the module Ml, representing the estimated information of the target, including the predicted start illuminating azimuth angle vector of the illuminating target to be allocated relative to the ship platform and the predicted end illuminating azimuth angle vector Predicted start illuminating elevation angle vector and predicted end illuminating elevation angle vector Predicted start illuminating distance vector and predicted end illuminating distance vector The prediction vector is constructed as follows:

[0087] in The target TR is respectively j Start of irradiation and the end time of irradiation The distance x between the ship and the target is determined by the decision matrix D. Calculate using the following formula:

[0088]

[0089]

[0090]

[0091] in The target TR is respectively j Start of irradiation and the end time of irradiation The target's bearing relative to the ship. Calculate according to the following formula:

[0092]

[0093] in The target TR is respectively j Start of irradiation and the end time of irradiation The target's pitch angle relative to the ship. Calculate according to the following formula:

[0094]

[0095] The decision matrix and vector are constructed from the input information and serve as the output of mission planning. They include the allocation decision matrix D′ of the targets to be illuminated and the interception launch time vector T. Lch The decision matrix D for all threat targets, and the matrix of irradiation start and end times. and The decision matrix and vectors are constructed as follows:

[0096] Let the decision matrix to be assigned be n×m′ dimensional;

[0097] Assign a decision matrix of n×m dimensions to all objectives;

[0098] In the formula, d ij =0 or 1, d ij =1 represents the irradiator IR iAssigned to target TR j Irradiation is performed; otherwise, the irradiator IR... i Not assigned to target TR j Irradiate;

[0099] For target TR j Scheduled to intercept the launch time;

[0100] All are n×m dimensional, each row is arranged according to The targets are sorted from smallest to largest, where 1 to m′ are the targets already assigned for illumination, and m′+1 to m are the unassigned targets; In the formula, Irradiator IR i For target TR j The start and end times of irradiation. and It indicates that the irradiator IR i Assigned to target TR j Irradiation, otherwise IR i Unassigned to target TR j Irradiation; Calculated from the interception launch time, the values ​​are as follows:

[0101]

[0102]

[0103] In the formula, r TR =||P TR ||For the current target TR j The distance to the ship platform, t0 is the current time; select D′ and T Lch To determine the key decision variables in the optimization process, obtain D′ and T. Lch The data can then be updated to obtain D and There are nm′ integer variables and m′ non-integer variables in the decision variables.

[0104] Preferably, the module M3 includes: the constructed irradiator task planning model is a constrained mixed integer programming model, including constraints, optimization objectives, and optimization variables;

[0105] Among them, the constraints include two categories: irradiation space constraints and irradiation time constraints;

[0106] (1) Irradiation space constraints:

[0107] 1) During the irradiation period Within this range, the target is within the operating azimuth angle range of the illuminator, and this constraint is expressed as:

[0108]

[0109]

[0110] where the operator * represents the multiplication of elements in the same position of two matrices or vectors of the same dimension, 0 1m′ is an m'-dimensional zero vector;

[0111] 2) During the irradiation period , the targets are within the working elevation angle range of the illuminators, which is represented as:

[0112]

[0113]

[0114] where the operator * represents the multiplication of elements in the same position of two matrices or vectors of the same dimension, 0 1m′ is an m'-dimensional zero vector;

[0115] 3) During the irradiation period , the targets are within the action distance range of the illuminators, which is represented as:

[0116]

[0117]

[0118] where the operator * represents the multiplication of elements in the same position of two matrices or vectors of the same dimension, I 1n is a row vector with all elements being 1, 0 1m′ is an m'-dimensional zero vector;

[0119] (2) Irradiation time constraints:

[0120] 1) Each target can only be assigned one illuminator for irradiation at a time, which is represented as:

[0121] I 1n ·D′-I 1m′ ≤0 1m′

[0122] where I 1n , I 1m′ is a row vector with all elements being 1, 0 1m′ is an m'-dimensional zero vector;

[0123] 2) A single illuminator can only irradiate one target at a time, which is represented as:

[0124]

[0125] In the formula, the operator * represents the multiplication of elements at the same position of two matrices or vectors of the same dimension;

[0126] function Used to calculate and The set of illumination task time periods formed by the corresponding elements of any row is C. i C i Each non-zero time period element With C i The number of times q of elements intersect across all time periods ij The maximum number of crosses between elements in this row. Iterate through each row and output the calculated vector. I 1n A vector whose elements are all 1s, 0 1n It is an n-dimensional zero vector;

[0127] 3) The selected weapon firing time is within the firing window; this constraint is expressed as:

[0128]

[0129]

[0130] 4) A preparation time is allowed between the irradiation tasks before and after the irradiation, and this constraint is expressed as:

[0131]

[0132] In the formula, the function Used to calculate and The set of illumination task time periods formed by the elements at corresponding positions in any row is C. i C i The elements are sorted in ascending order of their initial irradiation time. For C... i The number of non-zero time interval elements is l i For any non-zero time period element C i Among all elements, the start time With C ij End time The number of elements q′ in the time period where the difference is greater than Δt ij Δt is the irradiation preparation time, and the function output is:

[0133]

[0134] I' nm′ Given an n×m′ dimensional matrix, with rows [0 … 0 l] i -1 l i -2 … 0]m′ ;

[0135] The optimization objective of the task planning model is represented as:

[0136]

[0137] In the formula, the operator * represents the multiplication of the elements in the same position of two matrices or vectors, and the operator / / represents the division of the non-zero elements in the same position of two matrices or vectors, and the optimization objective is that as many targets as possible are arranged to be irradiated, and the irradiation time is as early as possible to ensure that the weapon system intercepts the targets as early as possible;

[0138] The optimization variable of the illuminator task planning model is represented as:

[0139] The global optimization variable is: In which, the single-target-illuminator-illumination period pair is represented as:

[0140] The illuminator task planning model under multiple constraints is represented as follows:

[0141]

[0142] Preferably, the module M4 comprises: solving the mixed integer programming model by using a genetic algorithm to obtain the allocation decision matrix D', D, T Lch and the optimization variable and updating and to obtain the irradiation task planning result of this calculation, that is, the task sequence of each illuminator, and input into the next round of task planning.

[0143] Compared with the prior art, the present application has the following beneficial effects:

[0144] (1) Compared with the existing traditional method, the method of the present application is especially used for the irradiation task planning of the terminal flight stage of a ship-to-air missile, can realize the time-sharing irradiation control of a mechanical illuminator, improves the irradiation resource utilization rate, and improves the multi-target combat effectiveness of the ship-to-air missile weapon system;

[0145] (2) The irradiation task planning model established in the present application reasonably configures the "target-illuminator-illumination period" according to the irradiation resource state and the target estimation information, designs the optimization objective as "as many targets as possible are arranged to be irradiated, and the interception time is as early as possible", realizes the optimization selection of the irradiation time and the optimization of the multi-target simultaneous service capability, and can provide auxiliary reference for the selection of the interception missile launch time and the launch decision;

[0146] (3) The illumination task planning model established by the present application can ensure that the method can implement online task planning under certain dynamic conditions, by taking the arranged task sequence of the illuminator as an input;

[0147] (4) Compared with other methods, the method of the present application is established on the basis of considering actual constraint conditions, and has universality, expansibility and engineering feasibility, and can be used in single-ship, formation illuminator multi-target full-range illumination or time-sharing illumination allocation scenarios. BRIEF DESCRIPTION OF DRAWINGS

[0148] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings:

[0149] Figure 1 is a task planning flowchart of the illuminator of the present application;

[0150] Figure 2 is a spatial relationship diagram of the illumination guidance process;

[0151] Figure 3 is an illuminator working range schematic diagram;

[0152] Figure 4 is an illumination task sequence schematic diagram of the present application. DETAILED DESCRIPTION

[0153] The present application will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be pointed out that, for those skilled in the art, without departing from the concept of the present application, a number of changes and improvements can be made. These all belong to the protection scope of the present application.

[0154] Embodiment:

[0155] A water surface ship illuminator task planning method of the present application, under the consideration of multiple constraints, combines target parameters, weapon interception calculation parameters, illuminator parameters and state information, etc., to perform illumination allocation on threat targets, and plans the illumination task timing to form an illuminator task sequence, which can realize time-sharing illumination of the illuminator and improve the multi-target capability of the weapon system; in the process of illumination planning, the interception launch time can be optimized to realize early interception of the target and provide auxiliary reference for weapon launch decision; the planning process takes the illuminator planned task sequence as an input, has the ability of dynamic task planning, has universality, expansibility and engineering feasibility, and can be used in single-ship and formation illuminator multi-target allocation scenarios.

[0156] In combination Figure 1 , under multiple constraints, a water surface ship illuminator task planning method includes the following specific steps:

[0157] Step one: input the basic parameters required for task planning solution, including threat target parameter list, target interception parameters of the interceptor weapon, space working range of each illuminator, and arranged task sequence, etc.

[0158] Step two: build calculation matrix and vector, prediction vector, and decision matrix and vector according to the input information, the calculation matrix and vector include weapon-to-be-allocated-illuminated-target interception launch time vector and illuminator space working matrix and vector; the prediction vector includes the prediction space vector of the to-be-allocated-illuminated target relative to the interceptor weapon; the decision matrix and vector include allocation decision matrix of the to-be-illuminated-allocated target, illumination time matrix, and weapon interception launch time vector.

[0159] Step three: build the mathematical model of the illuminator illumination task planning, for the threat target to be illuminated and allocated, the matrix and vector information built in step two are used to convert the multi-illuminator illumination task planning problem into a constrained mixed integer programming problem, the optimization objective and constraint condition of the illumination task allocation are established, and the mathematical model of the illumination task planning problem is built.

[0160] Step four: solve the mixed integer programming problem to obtain the target illumination task planning scheme, the mixed integer programming problem converted in step three is solved to obtain the illumination task planning result under the optimization objective, that is, the illumination task sequence of each illuminator, and the illuminator task sequence information is updated to step one.

[0161] This embodiment is applicable to the application scenario of allocating 9 targets by 3 illuminators of the same surface ship 3, assuming that a surface ship has 3 illuminators IR1, IR2, and IR3, and 9 targets TR1, TR2, TR3, TR4, TR5, TR6, TR7, TR8, and TR9. In combination with Figure 1 , the specific description of the embodiment of the present application is as follows:

[0162] Step one: input the basic parameters required for task planning solution, n=3, m=m'=9, RCS σ TR =2m 2 of the target is 300 m / s. The targets are uniformly distributed and attack from multiple directions at the same time, and the current distance from the surface ship is 250 km;

[0163] The average flight speed of the interceptor weapon is v D =900 m / s; the interception window of the target TR1-TR9 is [30, 600].

[0164] The maximum action distance of each illuminator is 200 km, the typical detection RCS σ IR =2m 2 , and the installation height h IR= 20 m, high limit angle and low limit angle The scheduled task is empty. Assume the illuminator IR1 starts and ends at the working azimuth angle and The illuminator IR2 starts and ends at the working azimuth angle and The illuminator IR3 starts and ends at the working azimuth angle and

[0165] Step two, according to the input information, construct the calculation matrix and vector, prediction vector and decision matrix and vector,

[0166]

[0167]

[0168]

[0169]

[0170]

[0171] The prediction vector are all 9-dimensional row vectors;

[0172] The decision matrix D', D, are all 3x9-dimensional, and the decision vector T Lch is a 9-dimensional row vector.

[0173] Step three, according to the matrix and vector constructed in step two, construct a mixed integer programming model with constraints, and the integer variables in the decision variable are 27, and the non-integer variables are 9;

[0174] Step four, take

[0175] Solve the mixed integer programming model in step three by using genetic algorithm, and X is a 36-dimensional row vector, and the result is:

[0176]

[0177] T Lch = [30.0 52.8 73.7 30.0 52.8 73.7 30.0 52.8 73.7]

[0178] Further,

[0179]

[0180]

[0181] The sequence of the illumination task scheme formed by each illuminator is:

[0182] {(IR1, TR1, [210.0, 230.8]), (IR1, TR2, [232.0, 253.6]), (IR1, TR3, [255.6, 276.4])}

[0183] {(IR2, TR4, [210.0, 230.8]), (IR2, TR5, [232.0, 253.6]), (IR2, TR6, [255.6, 276.4])}

[0184] {(IR3, TR7, [210.0, 230.8]), (IR3, TR8, [232.0, 253.6]), (IR3, TR9, [255.6, 276.4])}

[0185] And this is taken as an input into the next round of planning.

[0186] The water surface ship illuminator task planning system provided by the application comprises: module M1: inputting basic parameters required for task planning calculation, including a threat target parameter list, an interception parameter of an interception weapon to a target, a space working range of each illuminator, and a task sequence arranged; module M2: constructing a calculation matrix and a vector, a prediction vector, and a decision matrix and a vector according to the input basic parameters, the calculation matrix and the vector comprising an interception launch time vector of a weapon to a to-be-allocated illumination target, an illuminator working space matrix and a vector, the prediction vector comprising a prediction space vector of the to-be-allocated illumination target relative to a ship platform, and the decision matrix and the vector comprising an allocation decision matrix of a to-be-illuminated allocated target, an illumination time matrix, and a weapon interception launch time vector; module M3: constructing an illuminator illumination task planning mathematical model, converting a multi-illuminator illumination task planning problem into a mixed integer programming problem under multiple constraints based on the constructed matrix and vector information, establishing an optimization objective and a constraint condition of illumination task allocation, and constructing a mathematical model of the illumination task planning problem; and module M4: solving the mixed integer programming problem to obtain an illuminator illumination task planning scheme, solving the converted mixed integer programming problem to obtain an illumination task planning result under the optimization objective, that is, an illumination task sequence of each illuminator, updating illumination task sequence information of each illuminator, and judging whether the task planning is ended, and if not, returning to module M1 for continuous execution.

[0187] The module M1 comprises: inputted threat targets are TR={TR1, TR2, …, TR m}, and m is the number of threat targets, wherein the number of to-be-illuminated allocated targets is m'; and inputted illuminators are IR={IR1, IR2, …, IR n}, n is the number of illuminators; the input threat target parameter list information contains the current geographic position P TR , speed v TR , radar cross section value σ TR of each threat target; the threat target parameter list is arranged in descending order of threat value; the intercept weapon-to-target intercept solution parameter information includes the average flight speed v D of the intercept weapon, the start and end of the launch time window of the intercept weapon to the target The spatial working range information of each illuminator includes the start and end working azimuth angle of each illuminator and high and low limit angle and maximum action distance and typical RCS value σ IR , installation height h IR , seeker on distance r sk ; the scheduled task sequence information of each illuminator includes the start time end time

[0188] The module M2 includes: the calculation matrix and vector are determined by the assignment of the input information of module M1, including the intercept start and end launch time vector of the weapon pair to the allocated illumination target and illumination illuminator working start and end azimuth angle vector and illumination illuminator working high limit angle vector and low limit angle vector and the maximum working distance matrix of the illuminator to the target The calculation matrix and vector are constructed as follows:

[0189]

[0190]

[0191]

[0192] is n x m' dimension, where, is the maximum illumination distance of the illuminator IR i to the target TR j , is the flight height of the target TR j , is the installation height of the illuminator IR i ;

[0193] The prediction vector is calculated and constructed from the input information of module M1, representing the estimated information of the target, including the predicted starting azimuth vector of the target to be assigned illumination relative to the ship platform. With the predicted end of illumination azimuth vector Predict the initial illumination pitch angle vector With the predicted end-of-illumination pitch angle vector Predict the starting illumination distance vector With the predicted end-of-irradiation distance vector The prediction vector is constructed as follows:

[0194] in The target TR is respectively j Start of irradiation and the end time of irradiation The distance x between the ship and the target is determined by the decision matrix D. Calculate using the following formula:

[0195]

[0196]

[0197]

[0198] in The target TR is respectively j Start of irradiation and the end time of irradiation The target's bearing relative to the ship. Calculate according to the following formula:

[0199]

[0200] in The target TR is respectively j Start of irradiation and the end time of irradiation The target's pitch angle relative to the ship. Calculate according to the following formula:

[0201]

[0202] The decision matrix and vector are constructed from the input information and serve as the output of mission planning. They include the allocation decision matrix D′ of the targets to be illuminated and the interception launch time vector T. Lch The decision matrix D for all threat targets, and the matrix of irradiation start and end times. and The decision matrix and vectors are constructed as follows:

[0203] is the decision matrix to be assigned, n x m' dimension;

[0204] is the decision matrix to all targets, n x m dimension;

[0205] where d ij = 0 or 1, d ij = 1 represents that the illuminator IR i is assigned to illuminate the target TR j , otherwise the illuminator IR i is not assigned to illuminate the target TR j ;

[0206] is the target TR j scheduled to intercept the launch time;

[0207] are all n x m dimension, each row is sorted in ascending order, where 1 ~ m' is the target assigned to illuminate, m' + 1 ~ m column is the unassigned target; where, are respectively the start illumination time and the end illumination time of the target TR j illuminated by the illuminator IR i , and indicate that the illuminator IR j is assigned to illuminate the target TR i , otherwise IR j is not assigned to illuminate the target TR TR ; is calculated from the intercept launch time, and the value is as follows:

[0208]

[0209]

[0210] where r TR = ||P j || is the distance between the current target TR Lch and the ship platform, t0 is the current time; D' and T Lch are selected as the main decision variables in the optimization process, and D' and T 1m′ are obtained after updating the data to get D and The integer variable in the decision variable is nm', and the non-integer variable is m'.

[0211] ​The module M3 comprises: a configured illuminator task planning model is a constrained mixed integer programming model, comprising constraint conditions, optimization objectives, and optimization variables;

[0212] The constraint conditions comprise two types of illumination space constraints and illumination time constraints.

[0213] (1) Illumination space constraints:

[0214] 1) In the illumination period , the target is within the working azimuth angle range of the illuminator, and the constraint is expressed as:

[0215]

[0216]

[0217] In the formula, the operator * represents the multiplication of elements at the same position of two matrices or vectors of the same dimension, 0 1m′ is an m'-dimensional zero vector;

[0218] 2) In the illumination period , the target is within the working elevation angle range of the illuminator, and the constraint is expressed as:

[0219]

[0220]

[0221] In the formula, the operator * represents the multiplication of elements at the same position of two matrices or vectors of the same dimension, 0 1m′ is an m'-dimensional zero vector;

[0222] 3) In the illumination period , the target is within the action distance range of the illuminator, and the constraint is expressed as:

[0223]

[0224]

[0225] In the formula, the operator * represents the multiplication of elements at the same position of two matrices or vectors of the same dimension, I 1n is a row vector with all elements being 1, 0 1m′ is an m'-dimensional zero vector;

[0226] (2) Illumination time constraints:

[0227] 1) Each target can be assigned only one illuminator for illumination at a time, and the constraint is expressed as:

[0228] I 1n ·D′-I 1m′ ≤0 1m′

[0229] In the formula, I 1n I 1m′ A row vector containing only 1s and 0s. 1m′ It is an m′-dimensional zero vector;

[0230] 2) A single illuminator can only illuminate one target at a time. This constraint is expressed as:

[0231]

[0232] In the formula, the operator * represents the multiplication of elements at the same position of two matrices or vectors of the same dimension;

[0233] function Used to calculate and The set of illumination task time periods formed by the corresponding elements of any row is C. i C i Each non-zero time period element With C i The number of times q of elements intersect across all time periods ij The maximum number of crosses between elements in this row. Iterate through each row and output the calculated vector. I 1n A vector whose elements are all 1s, 0 1n It is an n-dimensional zero vector;

[0234] 3) The selected weapon firing time is within the firing window; this constraint is expressed as:

[0235]

[0236]

[0237] 4) A preparation time is allowed between the irradiation tasks before and after the irradiation, and this constraint is expressed as:

[0238]

[0239] In the formula, the function Used to calculate and The set of illumination task time periods formed by the elements at corresponding positions in any row is C. i C i The elements are sorted in ascending order of their initial irradiation time. For C... i The number of non-zero time interval elements is l i For any non-zero time period element C i Among all elements, the start time With C ijEnd time The number of elements q′ in the time period where the difference is greater than Δt ij Δt is the irradiation preparation time, and the function output is:

[0240]

[0241] I' nm′ Given an n×m′ dimensional matrix, with rows [0 … 0 l] i -1 l i -2 … 0] m′ ;

[0242] The optimization objective of the task planning model is expressed as:

[0243]

[0244] In the formula, the operator * represents the multiplication of elements at the same position of two matrices or vectors of the same dimension, and the operator / / represents the division of non-zero elements at the same position of two matrices or vectors of the same dimension. The optimization objective is to arrange as many targets as possible to be illuminated, and the illumination time should be as early as possible, so as to ensure that the weapon system can effectively intercept targets as early as possible.

[0245] The optimization variables of the irradiator task planning model are represented as follows:

[0246] The global optimization variable is: The single-target-illuminator-illumination-time pairing is represented as follows:

[0247] The irradiator task planning model under multiple constraints is represented as follows:

[0248]

[0249] The module M4 includes: solving a mixed-integer programming model using a genetic algorithm to obtain the allocation decision matrices D′, D, and T. Lch and optimization variables And based on this, calculate and update and The results of this irradiation task planning, namely the task sequence of each irradiator, are obtained and used as input for the next round of task planning.

[0250] Those skilled in the art know that, in addition to implementing the system, device and each module thereof provided by the present application in the form of pure computer readable program code, the same program can also be implemented in the form of logic gate, switch, special integrated circuit, programmable logic controller and embedded microcontroller, etc. by logically programming the method steps. Therefore, the system, device and each module thereof provided by the present application can be considered as a hardware component, and the modules included therein for implementing various programs can also be considered as structures in the hardware component; the modules for implementing various functions can also be considered as both software programs for implementing methods and structures in the hardware component.

[0251] The specific embodiments of the present application are described above. It needs to be understood that the present application is not limited to the specific embodiments described above, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily without conflict.

Claims

1. A surface vessel illuminator mission planning method, characterized by, Comprise: Step 1: input the basic parameters required for task planning solution, including threat target parameter list, interception weapon target interception parameter, each illuminator space working range and arranged task sequence; Step 2: according to the input basic parameters, construct calculation matrix and vector, prediction vector and decision matrix and vector, the calculation matrix and vector contain weapon target interception launch time vector to be allocated, illuminator working space matrix and vector, the prediction vector includes the prediction space vector of the target to be allocated relative to the ship platform, the decision matrix and vector contain the allocation decision matrix of the target to be illuminated, the illumination time matrix, the weapon interception launch time vector; Step 3: construct the mathematical model of illuminator illumination task planning, for the threat target to be illuminated task allocation, based on the constructed matrix and vector information, convert the multi-illuminator illumination task planning problem into a mixed integer programming problem under multiple constraints, establish the optimization objective and constraint condition of illumination task allocation, and construct the mathematical model of illumination task planning problem; Step 4: solve the mixed integer programming problem to obtain the illumination task planning scheme of the illuminator, solve the converted mixed integer programming problem to obtain the illumination task planning result under the optimization objective, that is, the illumination task sequence of each illuminator, update the task sequence information of each illuminator, and judge whether the task planning is finished, if not, return to step 1 and continue to execute; Step 1 includes: the input threat target is TR = {TR1, TR2, ..., TR} m }, where m is the number of threat targets, and m′ is the number of targets to be irradiated; the input irradiators are IR={IR1,IR2,…,IR n }, where n is the number of illuminators; the input threat target parameter list includes the current location P of each threat target in the ship's geographic system. TR Speed ​​v TR Radar Cross Section (RCS) σ TR The list of threat target parameters is arranged from highest to lowest threat value; the interception weapon's interception calculation parameters include the interceptor weapon's average flight speed v. D The start and end of the launch window for the target. The spatial operating range information for each irradiator includes the starting and ending azimuth angles of each irradiator. and High and low limit angles and Maximum effective range and typical RCS value σ IR Installation height h IR , guide head start distance r sk The scheduled task sequence information for each irradiator includes the start time of the scheduled irradiation tasks for each irradiator. End time The step 2 includes: calculating the matrix and vector determined by the input information of step 1, containing the interception start and end launch time vector of the weapon to the to-be-allocated irradiation target With The irradiation device working start and end azimuth angle vector With The irradiation device working high limit angle vector With the low limit angle vector And the maximum working distance matrix of the irradiation device to the target The calculation matrix and vector are constructed as follows: For n×m′ dimensions, in the formula, For the irradiator IR i For target TR j Maximum irradiation distance, For target TR j Flight altitude For the irradiator IR i Installation height; The prediction vector is built by the input information of step 1, representing the estimated information of the target, including the predicted start irradiation azimuth angle vector of the target to be allocated relative to the ship platform and the predicted end irradiation azimuth angle vector The predicted start irradiation elevation angle vector and the predicted end irradiation elevation angle vector The predicted start irradiation distance vector and the predicted end irradiation distance vector The prediction vector is built as follows: where are the target TRs j the start illumination time and the end illumination time the distance of the ship from the target, x is determined from the decision matrix D, is calculated by the equation: where Target TR j Start of irradiation time and end of irradiation time Target relative bearing from the ship, is calculated according to the following formula: wherein are target TR j start irradiation time and end irradiation time target relative to the ship's pitch angle, are calculated according to the following formula: The decision matrix and vector are constructed by input information, as the output of the task planning, including the allocation decision matrix D' of the irradiation allocation target, the interception launch time vector T Lch , the allocation decision matrix D of all threat targets, the irradiation start and end time matrix and The decision matrix and vector are constructed as follows: n x m' dimensional for the decision matrix to be assigned; Assign a decision matrix, n x m dimension, to all objectives; wherein d ij = 0 or 1, d ij = 1 means that the illuminator IR i is assigned to illuminate the target TR j , otherwise the illuminator IR i is not assigned to illuminate the target TR j ; Target TR j Scheduled intercept launch time; are n x m dimensional, each row is sorted in ascending order, where 1 ~ m' is the target of allocated illumination, m' + 1 ~ m column is the target of unallocated; Wherein, are illuminators IR i to the target TR j The start and end illumination times of the illumination, and indicate that the illuminator IR i is allocated to illuminate the target TR j , otherwise IR i is not allocated to illuminate the target TR j ; calculated from the interception emission time, the value is as follows:​ where r TR =||P TR || is the distance between the current target TR j and the ship platform, t0is the current time; select D' and T Lch as the main decision variables in the optimization process, obtain D' and T Lch After that, the data can be updated to obtain D and The integer variable in the decision variable is nm', and the non-integer variable is m'.

2. The surface vessel illuminator mission planning method of claim 1, wherein, The step 3 comprises: the constructed illuminator task planning model is a mixed integer programming model with constraints, including constraint conditions, optimization objectives and optimization variables; Wherein, the constraint conditions include two kinds of illumination space constraints and illumination time constraints; (1) illumination space constraint: 1) During the illumination period the target is within the working azimuth range of the illuminator, this constraint is expressed as: where the operator * represents the multiplication of the elements in the same position of two matrices or vectors of the same dimension, 0 1m′ is an m' -dimensional zero vector; 2) during the illumination period The target is within the working elevation angle range of the illuminator, which constraint is expressed as: where the operator * represents the multiplication of the elements in the same position of two matrices or vectors of the same dimension, 0 1m′ is an m' -dimensional zero vector; 3) during the irradiation period The target is within the action distance of the irradiator, this constraint is expressed as: where the operator * represents the multiplication of elements in the same position of two matrices or vectors of the same dimension, I 1n is a row vector with elements equal to 1, 0 1m′ is an m' -dimensional zero vector; (2) illumination time constraint: 1) each target can only be allocated one illuminator for illumination at a time, which is represented as: I 1n • D' - I 1m′ ≤ 0 1m′ where I 1n , I 1m′ is a row vector with elements equal to 1, 0 1m′ is an m' -dimensional zero vector; 2) a single illuminator can only illuminate one target at a time, which is represented as: In the formula, the operator * represents the multiplication of the same position elements of two same dimension matrices or vectors; Function for calculating the set of illumination task periods C from the set of illumination task periods C consisting of the corresponding elements of any row i , C i each non-zero period element q i the number of intersections with all period elements in C ij the maximum number of intersections between the elements of the row traversing each row, output the result vector I 1n is a vector of all elements 1, 0 1n is an n-dimensional zero vector; 3) the weapon launch time is within the launch window, which is represented as: 4) the illuminator has a preparation time between the front and rear illumination tasks, which is represented as: In the formula, the function for calculating the irradiation task period set C with The elements of the corresponding position in any row constitute the irradiation task period set C i , C i The elements in C are sorted by the start irradiation time in ascending order, and the number of non-zero period elements in C i is l i For any non-zero period element C i Among all the elements in C, the start time The number of period elements q' whose end time in C ij differs from the start time by more than Δt ij , Δt is the irradiation preparation time, and the function calculates the output result as: I′ nm′ is an n x m' matrix, each row being [0... 0 1... 1]T i -1 l i -2... 0] m′ ; The optimization objective of the task planning model is represented as: In the formula, the operator * represents the multiplication of the same position elements of two same dimension matrices or vectors, and the operator / / represents the division of the same position non-zero elements of two same dimension matrices or vectors, the optimization objective is to arrange as many targets as possible to be illuminated, and the illumination time is as early as possible, so as to ensure that the weapon system intercepts the target as early as possible; The optimization variable of the illuminator task planning model is represented as: The global optimization variable is: wherein the single-target-illuminator-illumination period pair is denoted as: The illuminator task planning model under multiple constraints is represented as:

3. The surface vessel illuminator mission planning method of claim 2, wherein, Step 4 includes: solving the mixed-integer programming model using a genetic algorithm to obtain the allocation decision matrices D′, D, and T. Lch and optimization variables And based on this, calculate and update and The results of this irradiation task planning, i.e. the task sequence of each irradiator, are obtained and used as input for the next round of task planning.

4. A surface vessel illuminator mission planning system characterized by, Comprise: Module M1: input the basic parameters required for task planning solution, including threat target parameter list, interception weapon target interception parameter, each illuminator space working range and arranged task sequence; Module M2: constructing calculation matrix and vector, prediction vector and decision matrix and vector according to inputted basic parameters, the calculation matrix and vector include weapon intercept launch time vector for to-be-allocated irradiation target, irradiator workspace matrix and vector, the prediction vector includes prediction space vector of to-be-allocated irradiation target relative to the ship platform, the decision matrix and vector include allocation decision matrix of to-be-irradiated allocation target, irradiation time matrix, weapon intercept launch time vector; Module M3: constructing an irradiation task planning mathematical model of the irradiator, converting the multi-irradiator irradiation task planning problem into a mixed integer programming problem under multiple constraints based on the constructed matrix and vector information, establishing an optimization objective and constraint condition of the irradiation task allocation, and constructing a mathematical model of the irradiation task planning problem; Module M4: solving the mixed integer programming problem to obtain an irradiation task planning scheme of the irradiator, solving the converted mixed integer programming problem to obtain an irradiation task planning result under the optimization objective, i.e., an irradiation task sequence of each irradiator, updating the task sequence information of each irradiator, and judging whether the task planning is completed, and if not, returning to module M1 for continuous execution; The module M1 includes: the input threat target is TR = {TR1, TR2, ..., TR} m }, where m is the number of threat targets, and m′ is the number of targets to be irradiated; the input irradiators are IR={IR1,IR2,…,IR n }, where n is the number of illuminators; the input threat target parameter list includes the current location P of each threat target in the ship's geographic system. TR Speed ​​v TR Radar Cross Section (RCS) σ TR The list of threat target parameters is arranged from highest to lowest threat value; the interception weapon's interception calculation parameters include the interceptor weapon's average flight speed v. D The start and end of the launch window for the target. The spatial operating range information for each irradiator includes the starting and ending azimuth angles of each irradiator. and High and low limit angles and Maximum effective range and typical RCS value σ IR Installation height h IR , guide head start distance r sk The scheduled task sequence information for each irradiator includes the start time of the scheduled irradiation tasks for each irradiator. End time The module M2 comprises: a matrix of calculation of the vectors of the beginning and end of the launch of the interceptor for the assigned irradiation target by the input information of the module M1 and a vector of the beginning and end of the launch of the irradiator and a vector of the high and low limit of the launch of the irradiator and a matrix of the maximum launch distance of the irradiator for the target The matrix of calculation of the vectors is constructed as follows: For n×m′ dimensions, in the formula, For the irradiator IR i For target TR j Maximum irradiation distance, For target TR j Flight altitude For the irradiator IR i Installation height; The prediction vector is constructed by the input information of the module M1, representing the estimated information of the target, including the predicted start irradiation azimuth angle vector of the target to be allocated relative to the ship platform and the predicted end irradiation azimuth angle vector The predicted start irradiation elevation angle vector and the predicted end irradiation elevation angle vector The predicted start irradiation distance vector and the predicted end irradiation distance vector The prediction vector is constructed as follows: where are the target TRs j the start illumination time and the end illumination time the distance of the ship from the target, x is determined from the decision matrix D, is calculated as where Target TR j Start of irradiation time and end of irradiation time Target azimuth angle relative to the ship, is calculated according to the following formula: wherein target TR j start irradiation time and end irradiation time target relative to the pitch of the ship, is calculated according to the following formula: The decision matrix and vector are constructed by input information, as the output of the task planning, including the allocation decision matrix D' of the irradiation allocation target, the interception launch time vector T Lch , the allocation decision matrix D of all threat targets, the irradiation start and end time matrix and The decision matrix and vector are constructed as follows: n x m' dimensional for the decision matrix to be assigned; Assign a decision matrix, n x m dimension, to all objectives; wherein d ij = 0 or 1, d ij = 1 means that the illuminator IR i is assigned to illuminate the target TR j , otherwise the illuminator IR i is not assigned to illuminate the target TR j ; Target TR j Scheduled intercept launch time; are n x m dimensional, each row is sorted in ascending order, where 1 ~ m' is the target of allocated illumination, m' + 1 ~ m column is the target of unallocated; Wherein, are illuminators IR i to the target TR j The start and end illumination times of the illumination, and indicate that the illuminator IR i is allocated to illuminate the target TR j , otherwise IR i is not allocated to illuminate the target TR j ; calculated by intercepting the emission time, the value is as follows:​ where r TR = ||P TR is the distance between the current target TR j and the ship platform, t0is the current time; D′ and T Lch are the main decision variables in the optimization process, and D′ and T Lch After that, the data can be updated to obtain D and The integer variable in the decision variable is nm′, and the non-integer variable is m′.

5. The surface vessel illuminator mission planning system of claim 4, wherein, The module M3 includes: the constructed irradiation task planning model is a mixed integer programming model with constraints, including constraint conditions, an optimization objective, and optimization variables; The constraint conditions include two types of irradiation space constraints and irradiation time constraints. (1) Irradiation space constraint: 1) During the illumination period the target is within the working azimuth range of the illuminator, this constraint is expressed as: where the operator * represents the multiplication of the elements in the same position of two matrices or vectors of the same dimension, 0 1m′ is an m' -dimensional zero vector; 2) during the illumination period within the working elevation angle range of the illuminator, this constraint is expressed as: where the operator * represents the multiplication of the elements in the same position of two matrices or vectors of the same dimension, 0 1m′ is an m' -dimensional zero vector; 3) during the irradiation period The target is within the action distance of the irradiator, this constraint is expressed as: where the operator * represents the multiplication of elements in the same position of two matrices or vectors of the same dimension, I 1n is a row vector with elements equal to 1, 0 1m′ is an m' -dimensional zero vector; (2) Irradiation time constraint: 1) Each target can be allocated only one irradiator for irradiation each time, and the constraint is represented as: I 1n • D' - I 1m′ ≤ 0 1m′ where I 1n , I 1m′ is a row vector with elements equal to 1, 0 1m′ is an m' -dimensional zero vector; 2) A single irradiator can irradiate only one target at the same time, and the constraint is represented as: In the formula, the operator * represents multiplication of elements at the same position of two matrices or vectors of the same dimension; Function for calculating the set of irradiation task periods C corresponding to any row The set of irradiation task periods C i , C i Each non-zero period element in C The number q of times that all period elements in C i cross each other ij The maximum number of times that the elements in a row cross each other Traverse each row and output the calculation result vector I 1n is a vector with all elements being 1, 0 1n is an n-dimensional zero vector; 3) The launch time of the selected weapon is within the launch window, and the constraint is represented as: 4) The irradiator has a preparation time between the front and rear irradiation tasks, and the constraint is represented as: In the formula, the function for calculating the irradiation task period set C with The elements of the corresponding position in any row constitute the irradiation task period set C i , C i The elements in C i are sorted by the start irradiation time in ascending order, and the number of non-zero period elements in C i is l For any non-zero period element In all elements in C ij , the start time The number of period elements q' whose difference from the end time of C ij is greater than Δt , Δt is the irradiation preparation time, and the function calculates the output result as: I′ nm′ is an n x m' matrix, each row being [0... 0 1... 1]T i -1 l i -2... 0] m′ ; The optimization objective of the task planning model is represented as: In the formula, the operator * represents multiplication of elements at the same position of two matrices or vectors of the same dimension, and the operator / / represents division of non-zero elements at the same position of two matrices or vectors of the same dimension, and the optimization objective is to arrange as many targets as possible to be irradiated as early as possible, so as to ensure that the weapon system intercepts the target as early as possible; The optimization variables of the irradiator task planning model are represented as: The global optimization variable is: wherein the single-target-illuminator-illumination period pair is denoted as: The irradiator task planning model under multiple constraints is represented as:

6. The surface vessel illuminator mission planning system of claim 4, wherein, The module M4 includes: solving the mixed integer programming model by using a genetic algorithm to obtain a distribution decision matrix D', D, T Lch and an optimization variable and calculating and updating and obtaining the irradiation task planning result of this calculation, i.e., the task sequence of each irradiator, and inputting the same into the next round of task planning.

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