An Offensive Missile Target Allocation Method and Its Game Object Matching Method for an Offensive and Defensive Scenario

Abstract

The present invention proposes a method for target allocation of offensive missiles and matching of game objects in an offensive and defensive scenario, belonging to the field of countermeasure strategy design for multi-aircraft offensive and defensive confrontation scenarios. This method first constructs an accessibility matrix of offensive missiles to ground targets, and by summing the rows of the accessibility matrix, it searches for offensive missiles that have not yet been allocated; by summing the columns of the accessibility matrix, the accessibility matrix is updated based on the average value of the unallocated offensive missiles assigned to each ground target until the allocation of all offensive missiles is completed; then, based on the allocation results, by updating the matching parameter matrix and the probability matrix of intercepting missiles tracking offensive missiles, the matching result of game objects is obtained. The target allocation result of the present invention can strike ground targets as evenly as possible while satisfying the accessibility constraints of offensive missiles to targets, and realize the real-time acquisition of the matching relationship between offensive missiles and intercepting missiles, providing task decision-making reference information for the attacking side in the offensive and defensive confrontation scenario.

Description

Technical Field

[0001] The present invention belongs to the field of countermeasure strategy design for multi-aircraft attack and defense confrontation scenarios, and particularly proposes an offensive missile target allocation and its game object matching method for offensive and defensive scenarios. Background Art

[0002] With the continuous development of the technical level in the aerospace field, aircraft are gradually developing towards the direction of intelligence, clustering, and systemization. The mission scenarios of aircraft are gradually changing from traditional single flight missions to offensive and defensive confrontation scenarios among multiple aircraft. In the scenario, the attacking side needs to complete the target allocation of multiple offensive missiles, and the offensive missiles need to accurately match the corresponding game objects during the game confrontation with multiple interceptor missiles. To sum up, the target allocation of multiple offensive missiles and its game object matching are of great significance to the execution effect and mission decision-making of the entire penetration flight mission of the attacking side.

[0003] Current research on target allocation methods mainly designs an evaluation function of the current battlefield situation as the objective function during target allocation, abstracts the problem into a task planning problem under certain constraints, and then uses optimization algorithms (such as ant colony algorithms, genetic algorithms, etc.) for solution. Related methods need to obtain the state parameters of more aircraft. When facing the offensive and defensive confrontation scenarios of a large number of aircraft, the time required for algorithm solution is relatively long, which is not conducive to the real-time requirements for aircraft in multi-aircraft offensive and defensive confrontation scenarios. Current research on game object matching methods is relatively less. A small amount of research on aircraft game object methods uses the LSTM network (Long Short-Term Memory) to predict the matching relationship of game objects, but this method requires a large number of parameters and a large amount of calculation when facing a large number of aircraft, and has certain requirements for the data storage and calculation capabilities of aircraft. In addition, related research mainly focuses on the field of intention recognition of enemy interceptor missiles. However, predicting the tactical intentions of enemy interceptor missiles cannot directly obtain the game object matching relationship between offensive missiles and interceptor missiles. Considering the above problems, it is necessary to design an offensive missile target allocation and its game object matching method with few parameter requirements and simple and fast calculation methods to provide a technical reference for the real-time mission decision-making of the attacking side in multi-aircraft offensive and defensive confrontation scenarios. Summary of the Invention

[0004] The object of the present invention is to overcome the deficiencies of large algorithm parameter requirements and slow calculation speed in the target allocation of offensive projectiles and the matching of their game objects in the current multi-aircraft attack and defense confrontation scenario, and to propose a method for target allocation of offensive projectiles and matching of their game objects in an attack and defense scenario. The present invention has the advantages of few parameter requirements, simple calculation form and fast calculation speed, and can reduce the requirements for the hardware storage and calculation capabilities of the aircraft; the result of target allocation can strike ground targets as evenly as possible while satisfying the reachability constraint of the offensive projectile to the target, and can realize the real-time acquisition of the matching relationship between the offensive projectile and the interceptor missile, providing task decision-making reference information for the attacking party in the attack and defense confrontation scenario.

[0005] An embodiment of the present invention proposes a method for target allocation of offensive projectiles in an attack and defense scenario, including:

[0006] 1) Establish a corresponding reachability matrix according to the reachability of the offensive projectile to the ground target;

[0007] Among them, the size of the reachability matrix A is N×G, N is the number of offensive projectiles, and G is the number of ground targets; if the i-th offensive projectile can reach the j-th ground target, the element a at the i-th row and j-th column in the matrix A ij =1, otherwise a ij =0, i = 1, 2, …, N, j = 1, 2, …, G;

[0008] 2) Perform target allocation on the offensive projectiles according to the reachability matrix A established in step 1); the specific steps are as follows:

[0009] 2-1) Construct a column vector s with N rows, and the determination method of each element in s is:

[0010] If the sum of the elements in the i-th row of the current reachability matrix A Then the element s at the i-th row in s i =1, indicating that the i-th offensive projectile has not been allocated yet; if Then the element s at the i-th row in s i =0, indicating that the i-th offensive projectile has a corresponding ground target or cannot strike any target;

[0011] 2-2) Judge s:

[0012] If any element in s is equal to 1, go to step 2-3); otherwise, the target allocation of all offensive projectiles is completed, and the current reachability matrix A is used as the target allocation result;

[0013] Among them, if the element a in the matrix A ij =1, it means that the i-th offensive projectile strikes the j-th ground target; if a ij =0, it means that the i-th offensive projectile does not strike the j-th ground target;

[0014] 2 - 3) Sum the current reachability matrix \(A\) column - by - column to obtain the corresponding row vector \(w\). The element in the \(j\) - th column of \(w\) represents the number of offensive projectiles that the \(j\) - th ground target may be subjected to;

[0015] Calculate which represents the average value of the unallocated offensive projectiles distributed to each ground target, where represents rounding up;

[0016] 2 - 4) By allocating offensive projectiles to the ground targets corresponding to each element in the row vector \(w\), obtain the updated reachability matrix \(A\). The specific steps are as follows:

[0017] 2 - 4 - 1) Arrange each element in the row vector \(w\) in ascending order, and take the first element after sorting as the current element;

[0018] 2 - 4 - 2) Denote the current element as \(w\) j ;

[0019] 2 - 4 - 3) Allocate offensive projectiles to the \(j\) - th ground target corresponding to \(w\) j , and calculate the column vector \(t\) corresponding to the \(j\) - th ground target j \(= sign(s)\odot a\) j , and this column vector has \(N\) rows;

[0020] where \(\odot\) represents the Hadamard product, \(sign(\cdot)\) represents the sign function, and \(a\) j represents the \(j\) - th column of the matrix \(A\); the element value in \(t\) j is 0 or 1, where the element equal to 1 indicates that the offensive projectile corresponding to this row has not been allocated and can reach the \(j\) - th ground target, and the element equal to 0 indicates that the offensive projectile corresponding to this row has been allocated or cannot reach the \(j\) - th ground target;

[0021] 2 - 4 - 4) By making a determination on \(w\) j , update the reachability matrix \(A\), specifically as follows:

[0022] If it means that the number of offensive projectiles that the \(j\) - th ground target may be subjected to is less than the average value of the unallocated offensive projectiles. Update the matrix \(A\) in the following way: for the \(k\) value that satisfies \(t\) jk \( = 1\), update the element in the \(k\) - th row and \(l\) - th column of the matrix \(A\) to \(a\) kl \( = 0\), \(l\neq j\), where \(t\) jk represents the \(k\) - th element in the column vector \(t\) j ;

[0023] If , indicating that the number of offensive missiles that the j-th ground target may be subjected to is greater than or equal to the average value of the unallocated offensive missiles, update the matrix A in the following way: for the k value that satisfies t jk = 1 and , update the element in the k-th row and l-th column of the matrix A to a kl = 0, l ≠ j;

[0024] 2-4-5) Take the next element of the current element in the sorted row vector w as the new current element, and then return to step 2-4-2); after traversing all elements in the sorted row vector w, return to step 2-1).

[0025] The embodiment of the present invention also proposes an offensive missile game object matching method, including:

[0026] S1: Execute the above-mentioned offensive missile target allocation method for an offensive and defensive scenario to obtain a target allocation result;

[0027] S2: According to the target allocation result of S1, set the moment when the terminal guidance starts as the 0 moment, initialize the matching parameter matrix Q(t) at the t moment and record it as Q(0) = 0, the size of Q(t) is N×M, and M is the number of interceptor missiles; the element q ij (t) in the i-th row and j-th column of the matrix Q(t) represents the matching parameter between the j-th interceptor missile and the i-th offensive missile at the t moment;

[0028] Initialize the probability matrix P(t) of the interceptor missile tracking the offensive missile at the t moment and record it as 1 is a matrix of all 1s; the size of P(t) is N×M, and the element p ij (t) in the i-th row and j-th column of the matrix P(t) represents the estimated probability that the j-th interceptor missile tracks the i-th offensive missile at the t moment;

[0029] S3: Record the current moment as the t moment; where the interval between two adjacent moments is Δt, and Δt represents the interval duration of the offensive side's measurement of the interceptor missile speed;

[0030] S4: Calculate the proportional navigation theoretical acceleration of the interceptor missile to the offensive missile at the t moment;

[0031] Among them, the proportional navigation theoretical acceleration a(t) of the j-th interceptor missile to the i-th offensive missile at the t moment n,ij The calculation expression is as follows:

[0032]

[0033] Among them, K is the proportional navigation coefficient, V(t) r,ij is the relative speed magnitude of the i-th offensive missile relative to the j-th interceptor missile, ω(t) LOS,ijis the line-of-sight angular velocity of the $i$-th attacking missile relative to the $j$-th intercepting missile, $e(t)$ V,ij is the unit vector in the relative velocity direction of the $i$-th attacking missile relative to the $j$-th intercepting missile, $R(t)$ ij is the relative distance between the $i$-th attacking missile and the $j$-th intercepting missile, $e(t)$ L,ij is the unit vector in the relative position direction of the $i$-th attacking missile relative to the $j$-th intercepting missile;

[0034] S5: Calculate the measured acceleration of the intercepting missile at time $t$;

[0035] where the measured acceleration of the $j$-th intercepting missile at time $t$ The calculation expression is as follows:

[0036]

[0037] where $V(t - \Delta t)$ j , $V(t)$ j respectively represent the velocities of the $j$-th intercepting missile measured at the previous moment and the current moment, and $\Delta t$ represents the interval duration of the attacking side's measurement of the intercepting missile's velocity;

[0038] S6: Calculate the cosine value of the angle between the proportional navigation theoretical acceleration and the measured acceleration of the intercepting missile and the attacking missile at time $t$;

[0039] where the calculation expression of the cosine value of the angle between the proportional navigation theoretical acceleration and the measured acceleration of the $j$-th intercepting missile and the $i$-th attacking missile at time $t$ is as follows:

[0040]

[0041] S7: Update the matching parameter matrix $Q(t)$;

[0042] where the element $q$ in the matching parameter matrix $Q(t)$ ij (t) The update expression is as follows:

[0043]

[0044] where $T$ is the forgetting time constant;

[0045] S8: Update the probability matrix $P(t)$;

[0046] where the element $p$ in the probability matrix $P(t)$ ij (t) The update expression is as follows:

[0047]

[0048] All $p$ ijAfter the update of (t), compare the elements in the probability matrix P(t) column by column. Set the largest element in each column to 1 and the remaining elements to 0 to obtain the game object matching relationship matrix at the current moment. The element in the i-th row and j-th column of represents the determination result of whether the j-th interceptor missile tracks the i-th attacking missile at time t. 1 means tracking, and 0 means not tracking;

[0049] S9: When the next moment comes, return to step S3 again.

[0050] The features and beneficial effects of the present invention are as follows:

[0051] 1. The present invention only depends on the reachability information of the attacking missiles to the ground targets, directly performs iterative operations on the reachability matrix, and finally can obtain the target allocation matrix. The target allocation result obtained by the present invention satisfies the reachability constraint, has few parameter requirements, and has a simple calculation method, which is beneficial to improving the real-time performance of the target allocation task decision-making in the multi-aircraft attack and defense confrontation scenario.

[0052] 2. When the present invention performs the game object matching of the attacking missiles, it only depends on the measured position and speed information of the interceptor missiles, designs the matching parameters considering the timing information by using the exponential decay function, calculates the tracking probability through the Softmax function, has few parameter requirements and simple calculation, and provides a reference for the real-time task decision-making of the attacking side.

[0053] 3. The present invention can be applied to the attack and defense confrontation scenario with a large number of aircraft, quickly gives the target allocation scheme of the attacking missiles, and at the same time provides the game object matching relationship information between the attacking missiles and the interceptor missiles for the subsequent decision-making of the attacking side, which has reference significance for the design of the task decision-making system of the attacking side. Brief Description of the Drawings

[0054] Figure 1 It is a schematic diagram of a multi-aircraft attack and defense confrontation scenario in a specific embodiment of the present invention.

[0055] Figure 2 It is the overall flowchart of the target allocation of the attacking missiles and their game object matching method in an attack and defense scenario of an embodiment of the present invention.

[0056] Figure 3 It is a flight trajectory diagram of the ground target position, attacking missiles and interceptor missiles in a specific embodiment of the present invention.

[0057] Figure 4 It is a cosine value curve graph of the included angle between the theoretical and measured accelerations of the interceptor missile 3 in a specific embodiment of the present invention.

[0058] Figure 5 It is a curve graph of the matching parameters of the interceptor missile 3 for each attacking missile in a specific embodiment of the present invention.

[0059] Figure 6 This is the tracking probability curve graph of the interceptor missile 3 for each attacking missile in a specific embodiment of the present invention. Specific embodiments

[0060] The present invention proposes a method for target allocation of attacking missiles and matching of game objects in an attack and defense scenario. The following further details are provided in conjunction with the accompanying drawings and specific embodiments.

[0061] Figure 1 This is a schematic diagram of a multi-aircraft attack and defense confrontation scenario in a specific embodiment of the present invention. In the scenario, a cluster of multiple attacking missiles of the attacking side perform strike tasks on multiple fixed ground targets of the defending side, and the defending side launches multiple interceptor missiles to intercept the attacking missiles.

[0062] A method for target allocation of attacking missiles and matching of game objects in an attack and defense scenario proposed in an embodiment of the present invention has an overall process as Figure 2 shown, including the following steps:

[0063] 1) Denote that there are N attacking missiles and G ground targets in the attack and defense scenario. According to the reachability of the attacking missiles to the ground targets in the actual attack task, establish a reachability matrix A.

[0064] Among them, the size of the reachability matrix A is N×G; if the i-th attacking missile can reach the j-th ground target, then denote the element a at the i-th row and j-th column in the matrix A ij = 1, otherwise denote a ij = 0, i = 1, 2, …, N, j = 1, 2, …, G.

[0065] 2) According to the reachability matrix A established in step 1), perform target allocation for the attacking missiles; the specific steps are as follows:

[0066] 2-1) Construct a column vector s with N rows. The determination method for each element in s is:

[0067] If the sum of the elements in the i-th row of the current reachability matrix A then the element s at the i-th row in s i = 1, indicating that the i-th attacking missile has not completed allocation; if then the element s at the i-th row in s i = 0, indicating that the i-th attacking missile has a corresponding ground target or cannot strike any target, and there is no need to perform target allocation for this attacking missile.

[0068] 2-2) Judge s:

[0069] If any element in s is equal to 1, it means that there are still offensive projectiles whose target assignments are not completed, and then go to step 2-3); otherwise, the target assignments of all offensive projectiles are completed. Take the current reachability matrix A as the target assignment result and go to step 3).

[0070] Among them, if the element a ij in matrix A is equal to 1, it means that the i-th offensive projectile is used to strike the j-th ground target; if a ij is equal to 0, it means that the i-th offensive projectile does not strike the j-th ground target.

[0071] 2-3) Sum matrix A by column to obtain the corresponding row vector w. The element in the j-th column of w represents the number of offensive projectiles that the j-th ground target may be subjected to.

[0072] Calculate which represents the average value of the unassigned offensive projectiles assigned to each ground target, where represents rounding up.

[0073] 2-4) Through the offensive projectile assignment to the ground target corresponding to each element in the row vector w, obtain the updated reachability matrix A. The specific steps are as follows:

[0074] 2-4-1) Arrange each element in the row vector w in ascending order (i.e., arrange each ground target in ascending order according to the number of offensive projectiles it may be subjected to), and take the first element after sorting as the current element;

[0075] 2-4-2) Denote the current element as w j .

[0076] 2-4-3) Assign offensive projectiles to the j-th ground target corresponding to w j . Calculate the column vector t j = sign(s)⊙a j of the j-th ground target. This column vector has N rows.

[0077] Among them, ⊙ represents the Hadamard product, sign(·) represents the sign function, and a j represents the j-th column of matrix A (i.e., the corresponding column of the j-th ground target); the element value in t j is 0 or 1. Among them, the element equal to 1 means that the offensive projectile corresponding to this row has not been assigned and this offensive projectile can reach the j-th ground target, and the element equal to 0 means that the offensive projectile corresponding to this row has been assigned to a target or cannot reach the j-th ground target.

[0078] 2-4-4) Through the determination of w j , update the reachability matrix A, specifically as follows:

[0079] If it means that the number of offensive missiles that the j-th ground target may be attacked by is less than the average value of the unallocated offensive missiles. Therefore, all the unallocated offensive missiles that can hit this target are allocated to this target, that is, update the matrix A in the following way: for the k value that satisfies t jk = 1, update the element in the k-th row and l-th column of the matrix A to a kl = 0, l ≠ j, where t jk represents the k-th element in the column vector t j ;

[0080] If it means that the number of offensive missiles that the j-th ground target may be attacked by is greater than or equal to the average value of the unallocated offensive missiles. Therefore, only an average number of offensive missiles need to be allocated to this target, that is, update the matrix A in the following way: for the k value that satisfies t jk = 1 and , update the element in the k-th row and l-th column of the matrix A to a kl = 0, l ≠ j.

[0081] After the current ground target updates the matrix A according to the above operations, the subsequent ground targets use the updated matrix A for operations.

[0082] 2 - 4 - 5) Take the next element of the current element in the sorted row vector w as the new current element, and then return to step 2 - 4 - 2) again; after traversing all the elements in the sorted row vector w, return to step 2 - 1) again.

[0083] 3) The offensive missiles perform the strike mission on the ground targets according to the target allocation result obtained in step 2). It is recorded that during the flight, they are intercepted by M interceptor missiles. Number the M interceptor missiles, and perform the game object matching algorithm of this embodiment during the flight to obtain the game object matching relationship between the offensive missiles and the interceptor missiles. The specific steps are as follows:

[0084] 3 - 1) Define the moment when the terminal guidance starts as the 0 moment, initialize the matching parameter matrix at the t moment as Q(t), denoted as Q(0) = 0. The size of Q(t) is N × M. The element q ij (t) in the i-th row and j-th column of the matrix Q(t) represents the matching parameter between the j-th interceptor missile and the i-th offensive missile at the t moment.

[0085] Initialize the probability matrix of the interceptor missile tracking the offensive missile at the t moment as P(t), denoted as 1 as the all - 1 matrix. The size of P(t) is N × M. The element p ij (t) in the i-th row and j-th column of the matrix P(t) represents the tracking probability of the j-th interceptor missile tracking the i-th offensive missile at the t moment.

[0086] 3 - 2) Denote the current moment as moment \(t\); where the interval between two adjacent moments is \(\Delta t\), and \(\Delta t\) represents the interval duration for the attacking side to measure the velocity of the interceptor missile (the value is the measurement interval period of the actual measurement device, and in this example, \(\Delta t = 0.5s\)).

[0087] 3 - 3) Calculate the proportional navigation theoretical acceleration of the interceptor missile against the attacking missile at moment \(t\).

[0088] Among them, the proportional navigation theoretical acceleration \(a(t)\) of the \(j\) - th interceptor missile against the \(i\) - th attacking missile at moment \(t\) n,ij The calculation expression is as follows:

[0089]

[0090] Among them, \(K\) is the proportional navigation coefficient (the coefficient value range is 3 - 6, and in this example, the value is 4), \(V(t)\) r,ij is the magnitude of the relative velocity of the \(i\) - th attacking missile with respect to the \(j\) - th interceptor missile, \(\omega(t)\) LOS,ij is the line - of - sight angular velocity of the \(i\) - th attacking missile with respect to the \(j\) - th interceptor missile, \(e(t)\) V,ij is the unit vector in the direction of the relative velocity of the \(i\) - th attacking missile with respect to the \(j\) - th interceptor missile, \(R(t)\) ij is the relative distance of the \(i\) - th attacking missile with respect to the \(j\) - th interceptor missile, \(e(t)\) L,ij is the unit vector in the direction of the relative position of the \(i\) - th attacking missile with respect to the \(j\) - th interceptor missile;

[0091] 3 - 4) Calculate the measured acceleration of the interceptor missile at moment \(t\).

[0092] Among them, the measured acceleration of the \(j\) - th interceptor missile at moment \(t\) The calculation expression is as follows:

[0093]

[0094] Among them, \(V(t-\Delta t)\) j , \(V(t)\) j respectively represent the velocities of the \(j\) - th interceptor missile measured at the previous moment and the current moment, and \(\Delta t\) represents the interval duration for the attacking side to measure the velocity of the interceptor missile (the value is the measurement interval period of the actual measurement device, and in this example, \(\Delta t = 0.5s\)).

[0095] To consider the possible acceleration measurement error of the actual measurement device, in this embodiment, a normal distribution random vector with a mean of \([0,0,0]\) T and a covariance matrix of \(diag([1,1,1])\) is added to the above - mentioned measured acceleration as the measurement error to consider the algorithm effect under the influence of the measurement error.

[0096] 3 - 5) Calculate the cosine value of the angle between the proportional navigation theoretical acceleration and the measured acceleration of the interceptor missile and the attacking missile at time t;

[0097] In this embodiment, for the attacking missile, when the direction of the measured acceleration of a certain interceptor missile is closer to the direction of the proportional navigation theoretical acceleration when the interceptor missile tracks itself, there is more reason to believe that the interceptor missile has locked itself. The deviation between the proportional navigation theoretical acceleration and the measured acceleration direction can be represented by the cosine value of their included angle. In a specific embodiment of the present invention, the cosine value of the angle between the proportional navigation theoretical acceleration and the measured acceleration of the j-th interceptor missile and the i-th attacking missile at time t is calculated by Equation (3):

[0098]

[0099] 3 - 6) Update the matching parameter matrix Q(t);

[0100] In this embodiment, the attacking side mainly discriminates the attacking missile tracked by the interceptor missile through the deviation between the proportional navigation theoretical acceleration and the measured acceleration direction of the interceptor missile in the recent period. Therefore, it is necessary to consider the time accumulation and forgetting effect and update the matching parameter matrix Q(t).

[0101] In a specific embodiment of the present invention, the element q ij (t) in the matching parameter matrix Q(t) is updated as shown in Equation (4):

[0102]

[0103] Among them, T is the forgetting time constant (the value range is 3 - 6 times Δt, and in this embodiment, T = 5Δt), which is used to adjust the time series information scale considered by the matching parameters.

[0104] 3 - 7) Update the probability matrix P(t);

[0105] In this embodiment, the probability matrix P(t) is updated through the Softmax function, where the tracking probability p ij (t) of the j-th interceptor missile tracking the i-th attacking missile is updated as shown in Equation (5):

[0106]

[0107] After all p ij (t) are updated, compare the elements in the probability matrix P(t) column by column, set the largest element in each column to 1, and the remaining elements to 0, to obtain the element in the i-th row and j-th column of the game object matching relationship matrix at the current moment It represents the judgment result of whether the j-th interceptor missile tracks the i-th attacking missile at time t. 1 indicates tracking, and 0 indicates non-tracking.

[0108] 3-8) When the next moment comes, return to step 3-2) again, and the real-time matching of the game object can be completed.

[0109] The following further details the attacking missile target allocation and its game object matching method for an attack and defense scenario of the present invention with a specific embodiment as follows:

[0110] In a specific embodiment of the present invention, there are 8 attacking missiles, that is, N = 8. Table 1 is the starting state parameter table of the attacking missiles. The positions and velocities of these 8 attacking missiles are represented in the inertial coordinate system. In Table 1, the position column and the velocity column respectively record the components of the positions and velocities of the corresponding attacking missiles on the X-axis, Y-axis, and Z-axis in sequence.

[0111] Table 1 Starting state parameter table of attacking missiles in a specific embodiment of the present invention

[0112]

[0113] Table 2 is the starting state parameter table of the interceptor missiles in this embodiment. There are 4 interceptor missiles in total, that is, M = 4. The positions and velocities of the interceptor missiles are represented in the inertial coordinate system. In Table 2, the position column and the velocity column respectively record the components of the positions and velocities of the corresponding interceptor missiles on the X-axis, Y-axis, and Z-axis in sequence.

[0114] Table 2 Starting state parameter table of interceptor missiles in a specific embodiment of the present invention

[0115]

[0116] Table 3 is the starting state parameter table of the ground targets in this specific embodiment. There are 4 targets in total, corresponding to G = 4. The positions of the targets are represented in the inertial coordinate system. In Table 3, the position column records the components of the positions of the corresponding ground targets on the X-axis, Y-axis, and Z-axis in sequence.

[0117] Table 3 Starting state parameter table of ground targets in a specific embodiment of the present invention

[0118]

[0119] Table 4 is the list of reachability of the attacking missiles to the ground targets in this specific embodiment. 1 indicates that the attacking missile can reach the target, and 0 indicates that the attacking missile cannot reach the target:

[0120] Table 4 List of reachability of attacking missiles to ground targets in a specific embodiment of the present invention

[0121]

[0122] In a specific embodiment of the present invention, using the target allocation method of the embodiment of the present invention, the allocation results of the attacking projectiles to the ground targets are shown in Table 5. It can be seen that each ground target is allocated an attacking projectile for strike, and the allocation results are uniform and meet the reachability constraints of the attacking projectiles to the ground targets given in Table 4.

[0123] Table 5 Target Allocation Results Table of a Specific Embodiment of the Present Invention

[0124]

[0125] In this embodiment, it is set that 4 interceptor projectiles use the proportional navigation guidance law to intercept the attacking projectiles, and the interceptor projectiles numbered 1, 2, 3, and 4 intercept the attacking projectiles numbered 1, 2, 3, and 4 respectively. The positions of the ground targets, the flight trajectories of the attacking projectiles and the interceptor projectiles in the scenario are as Figure 3 shown. The figure shows that when the attacking projectiles strike the corresponding ground targets according to the results of the target allocation method of the embodiment, they can uniformly strike the targets while meeting the reachability constraints of the attacking projectiles. It can be seen from the figure that each of the 4 ground targets is struck by 2 attacking projectiles corresponding to Table 5.

[0126] Figure 3 gives the corresponding situation between the interceptor projectiles and the attacking projectiles. In a specific embodiment of the present invention, during the flight process, the game object matching method of the embodiment of the present invention is used to determine the matching relationship between the interceptor projectiles and the attacking projectiles they track. Among them, the proportional navigation coefficient K = 4 is taken, and a normal distribution random vector with a mean of [0, 0, 0] T and a covariance matrix of diag([1, 1, 1]) is added to the measured acceleration shown in Equation (2) as the measurement error to consider the effect of the game object matching method under the influence of the measurement error. The interval time Δt = 0.5 s, and the forgetting time constant T = 5Δt = 2.5 s. The matching parameter matrix Q(t) is obtained through simulation calculation, and the tracking probability matrix is P(t).

[0127] Taking the No. 3 interceptor projectile as an example, the time variation of the cosine value cosδ of the theoretical and measured acceleration angles between the No. 3 interceptor projectile and each attacking projectile i3 (i = 1, …, 8) is plotted, as Figure 4 shown. It can be seen that the cosine value of the angle is greatly affected by the measurement error. If the cosine value of the angle at the current moment is directly used for determination, it is easy to cause misjudgment and result in an error in the determination of the matching relationship between the attacking projectile and the interceptor projectile. Therefore, the present invention designs the matching parameter as shown in Equation (4) using the cosine value of the angle, Figure 5 that is, the matching parameter curve graph of the No. 3 interceptor projectile for each attacking projectile in a specific embodiment of the present invention, that is, according to the data q in the third column of the matching parameter matrix Q(t) i3The time curves plotted for (i = 1, …, 5). Since the matching parameter is obtained by superimposing the time series information of the cosine value of the included angle, it can be seen that the change of the matching parameter is more stable than that of the cosine value of the included angle. However, the numerical values of the matching parameters of the interceptor missile for different attacking missiles are relatively close, which is not conducive to judging the matching result. Therefore, the present invention designs the tracking probability as shown in Equation (5) by using the Softmax function. Figure 6 That is, it is the tracking probability curve graph of the interceptor missile 3 for each attacking missile in a specific embodiment of the present invention, that is, according to the data p in the 3rd column of the probability matrix P(t). i3 (i = 1, …, 8) The time curve plotted. It can be seen that after updating for a period of time (in this embodiment, after time t > 30 s), p 33 is significantly greater than other values, indicating that the probability of the 3rd interceptor missile tracking the 3rd attacking missile is the largest. Therefore, the judgment result is that the 3rd interceptor missile tracks the 3rd attacking missile, which is consistent with the preset situation.

[0128] In this embodiment, after t > 30 s, the judgment results of the matching relationship between the attacking missile and the interceptor missile are shown in Table 6. The judgment results are that the 1st, 2nd, 3rd, and 4th interceptor missiles intercept the 1st, 2nd, 3rd, and 4th attacking missiles respectively, and the matching relationship is consistent with the preset situation, verifying the effectiveness of the method for judging the matching relationship between the attacking missile and the interceptor missile.

[0129] Table 6 Judgment result table of the matching relationship between the attacking missile and the interceptor missile in a specific embodiment of the present invention

[0130]

[0131] Regarding the storage requirements of the method described in the present invention. The target assignment method mainly iterates the reachability matrix A, and its space complexity is S(N × G). The game object matching method mainly updates the matching parameter matrices Q(t) and P(t), and their space complexities are both S(N × M). Since the order of magnitude of the number of aircraft in the actual attack and defense confrontation scenario is at most dozens to one hundred, the space complexity requirements are easily met.

[0132] For the computational requirements, when the number of ground targets is the same as the number of attacking missiles, if the enumeration method is used for the target assignment method, that is, directly traversing all possible assignment results, its time complexity is close to O(N!). The target assignment method proposed by the present invention includes a loop for all ground targets in one round of iteration. It is easy to know that at least one attacking missile is assigned to one target in each round of iteration. Therefore, at most N rounds of iteration are performed, and its time complexity is less than O(N 2 ). For the game object matching method, the probability matrix can be updated only by calculating according to Equations (1)-(5) in each sampling period. The computational amount in each sampling period is small and easily meets the real-time requirements of current aircraft.

[0133] In summary, the method for attacking missile target allocation and its game object matching in an attack and defense scenario proposed by the embodiments of the present invention can give a target allocation result that meets the reachability constraint and can accurately identify the matching relationship between the attacking missile and the interceptor missile. Moreover, the space and time complexity of the algorithm are both small, which can provide reference information for real-time task decision-making.

Claims

1. An offensive missile target allocation method for an offensive and defensive scenario, characterized in that Including: 1) Establish a corresponding reachability matrix according to the reachability of the attacking missile to the ground target; Among them, the size of the reachability matrix A is N×G, where N is the number of attacking projectiles and G is the number of ground targets; if the i-th attacking projectile can reach the j-th ground target, then the element a at the i-th row and j-th column in the matrix A ij = 1, otherwise a ij = 0, where i = 1, 2, …, N and j = 1, 2, …, G; 2) Perform target allocation for the attacking missile according to the reachability matrix A established in step 1). The specific steps are as follows: 2-1) Construct a column vector s with N rows. The determination method of each element in s is as follows: If the elements of the $i$-th row in the current reachability matrix $A$ then the elements $s$ of the $i$-th row in $s$ i = 1, indicating that the $i$-th attacking projectile has not completed allocation; if then the elements $s$ of the $i$-th row in $s$ i = 0, indicating that the $i$-th attacking projectile has a corresponding ground target or cannot strike any target; 2-2) Judge s: If any element in s is equal to 1, go to step 2-3); otherwise, the target allocation of all attacking missiles is completed, and the current reachability matrix A is used as the target allocation result; Among them, if the element a in matrix A ij = 1, it means that the i-th attacking missile strikes the j-th ground target; if a ij = 0, it means that the i-th attacking missile does not strike the j-th ground target; (2-3) Sum the current reachability matrix \(A\) by column to obtain the corresponding row vector \(w\). The element in the \(j\)-th column of \(w\) represents the number of offensive projectiles that the \(j\)-th ground target may be subjected to; Calculation represents the average value of the offensive bombs that have not been allocated and are allocated to each ground target, where represents rounding up; 2-4) Through the allocation of attacking missiles to the ground targets corresponding to each element in the row vector w, obtain the updated reachability matrix A. The specific steps are as follows: 2-4-1) Arrange each element in the row vector w in ascending order, and take the first element after sorting as the current element; 2-4-2) Denote the current element as w j ; 2-4-3) is w j Allocate offensive ammunition to the j-th corresponding ground target, and calculate the column vector t corresponding to the j-th ground target j = sign(s) ⊙ a j , and this column vector has N rows; where ⊙ represents the Hadamard product, sign(·) represents the sign function, and a j represents the j-th column of matrix A; t j has element values of 0 or 1, where the elements equal to 1 indicate that the attacking missile corresponding to the row has not been assigned and can reach the j-th ground target, and the elements equal to 0 indicate that the attacking missile corresponding to the row has been assigned or cannot reach the j-th ground target; 2-4-4) By making a determination on w j the reachability matrix A is updated as follows: If it means that the number of offensive missiles that the j-th ground target may be subjected to is less than the average value of the unallocated offensive missiles. Update the matrix A in the following way: for the k value that satisfies t jk = 1, update the element in the k-th row and l-th column of the matrix A to a kl = 0, l≠j, where t jk represents the k-th element in the column vector t j ; If it is indicated that the number of offensive projectiles that the j-th ground target may be subjected to is greater than or equal to the average value of the unallocated offensive projectiles, update the matrix A in the following manner: for the k value that satisfies t jk = 1 and , update the element in the k-th row and the l-th column of the matrix A to a kl = 0, where l ≠ j; 2-4-5) Take the next element of the current element in the sorted row vector w as the new current element, and then return to step 2-4-2) again; after traversing all elements in the sorted row vector w, return to step 2-1) again.

2. An offensive missile game object matching method, characterized in that, Including: S1: Execute the target allocation method described in claim 1 to obtain the target allocation result; S2: According to the target allocation result of S1, set the start time of the terminal guidance as the 0 moment, initialize the matching parameter matrix Q(t) at the t moment as Q(0)=0, and the size of Q(t) is N×M, where M is the number of intercepting missiles; The element \(q_{ij}\) in the \(i\)-th row and \(j\)-th column of the matrix \(Q(t)\) ij (t) represents the matching parameter between the \(j\)-th interceptor and the \(i\)-th attacking missile at time \(t\); The probability matrix \(P(t)\) for the interceptor to track the attacking missile at time \(t\) is initialized as 1 is a matrix of all 1s; the size of \(P(t)\) is \(N\times M\), and the element \(p\) in the \(i\)-th row and \(j\)-th column of the matrix \(P(t)\) ij (t) represents the estimated probability that the \(j\)-th interceptor tracks the \(i\)-th attacking missile at time \(t\); S3: Denote the current moment as the t moment; where the interval between two adjacent moments is Δt, and Δt represents the interval duration of the attacking side's measurement of the intercepting missile speed; S4: Calculate the proportional guidance theoretical acceleration of the intercepting missile to the attacking missile at the t moment; wherein, the proportional navigation theoretical acceleration a(t) of the j-th interceptor missile to the i-th attacking missile at time t n,ij is calculated by the following expression: where K is the proportional navigation coefficient, V(t) r,ij is the magnitude of the relative velocity of the i-th attacking missile with respect to the j-th interceptor missile, ω(t) LOS,ij is the line-of-sight angular velocity of the i-th attacking missile with respect to the j-th interceptor missile, e(t) V,ij is the unit vector in the direction of the relative velocity of the i-th attacking missile with respect to the j-th interceptor missile, R(t) ij is the relative distance between the i-th attacking missile and the j-th interceptor missile, e(t) L,ij is the unit vector in the direction of the relative position of the i-th attacking missile with respect to the j-th interceptor missile; S5: Calculate the measured acceleration of the intercepting missile at the t moment; Among them, the measured acceleration of the j-th interceptor at time t The calculation expression is as follows: where V(t-Δt) j , V(t) j represent the velocities of the j-th interceptor measured at the previous moment and the current moment respectively, and Δt represents the time interval for the attacking side to measure the velocity of the interceptor; S6: Calculate the cosine value of the angle between the proportional guidance theoretical acceleration and the measured acceleration of the intercepting missile and the attacking missile at the t moment; Among them, the calculation expression of the cosine value of the angle between the proportional guidance theoretical acceleration and the measured acceleration of the jth intercepting missile and the ith attacking missile at the t moment is as follows: S7: Update the matching parameter matrix Q(t); Among them, the update expression of the element q ij (t) in the matching parameter matrix Q(t) is as follows: Among them, T is the forgetting time constant; S8: Update the probability matrix P(t); Among them, the update expression of the element p ij (t) in the probability matrix P(t) is as follows: All p ij After (t) is updated, compare the elements in the probability matrix P(t) column by column. Set the largest element in each column to 1 and the remaining elements to 0 to obtain the game object matching relationship matrix at the current moment The element in the i-th row and j-th column of Indicates the determination result of whether the j-th interceptor missile tracks the i-th attacking missile at time t. 1 indicates tracking, and 0 indicates not tracking; S9: When the next moment comes, return to step S3 again.

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