Autonomous trajectory planning method for missile swarm based on radar suppression of jamming resources and trajectory coupling

Abstract

The application provides a missile group autonomous flight path planning method for interfering with radar suppression and flight path coupling, comprising: obtaining environment data, and performing environment modeling; determining a preliminary navigation route of a missile according to the environment modeling result, and determining a search space of flight path planning for each flight of the missile; obtaining serial numbers of other missiles capable of communicating with a current missile according to communication conditions of the missile group, and calculating a detection range radius of a radar after the radar is interfered with by a jammer based on positions of the current missile and the other missiles and distances from the radar center; performing missile group flight path planning by considering multiple factors according to the search space and the jamming resources, calculating a danger coefficient of a flight path point involved in next flight in the search space by a greedy thought, determining an optimal flight path planning path, and continuing until a terminal point is reached; and performing flight path smoothing to generate a final flight path planning result. The application solves the problem of inaccurate missile group flight path planning and difficulty in avoiding radar monitoring.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of flight path planning, in particular to a method for autonomous flight path planning of a missile group coupled with radar suppression and flight path of interference resources. BACKGROUND

[0002] Missiles have the characteristics of long range, high precision, flexibility, etc., and are widely used in the military field, and are also the strategic weapons of the countries. The mode of single missile attacking targets is relatively simple and easy to be broken by the enemy. With the development of weapon equipment technology, the multi-missile cooperative combat system composed of multiple missiles can cooperate in combat to the maximum extent and accurately and effectively attack targets.

[0003] However, the mode of the existing missile group can only adapt to relatively fixed and limited scenes. Future wars will inevitably face multiple and diverse challenges such as high intensity, high antagonism, high uncertainty, communication interruption, etc. The complexity and uncertainty of the environment will greatly increase, which puts higher requirements on the autonomous decision-making ability of the missile group in complex environments. Missiles are military weapons. If the missiles do not have certain autonomous decision-making ability, especially in complex and variable war scenarios, it may lead to incorrect target attack. If the city is attacked, it will cause great casualties and property losses. Therefore, it is necessary to improve the ability of the missile group to perceive the environment and make online autonomous decisions in complex dynamic environments, to realize independent combat, to reduce dependence on or even not to depend on system support, and to autonomously complete accurate attacks on targets.

[0004] In the existing missile attack implementation, flight path planning is a very important problem, and it is also a key embodiment of the autonomous decision-making ability of the missile. Only by realizing the correct flight path planning of the missile, the missile can accurately and accurately attack the target. Meanwhile, in a complex scene, how the missile group uses known non-global information to plan obstacle avoidance and coupling under communication interference is also close to the real war scenario and has important significance.

[0005] At present, in the problem of flight path planning of the missile group, a large number of classical path planning algorithms have been applied to this field, such as A* algorithm, Dijkstra algorithm, particle swarm algorithm, ant colony algorithm, etc. At the same time, with the development of artificial intelligence technology in recent years, deep learning and reinforcement learning have shown good results in many fields, so some researches have applied deep reinforcement learning algorithms to flight path planning. In addition, many researches are dedicated to realizing cooperative flight path planning and attack of the missile group. However, the existing research on missile group flight path planning algorithm mainly focuses on the research on flight path planning algorithm in the missile attack scene, formation combat, and cooperative flight path planning. However, the missile group is often subjected to real-time detection by the enemy's radar during flight, and due to communication interference, the missiles cannot effectively communicate with each other, greatly reducing the effective flight path planning of the missile group. This is a technical problem that needs to be solved by technical personnel in the field. Summary of the Invention

[0006] The present invention provides a missile swarm autonomous trajectory planning method that couples interference resource radar suppression with trajectory, so as to solve the problem that existing missile trajectory planning is inaccurate and difficult to avoid radar monitoring.

[0007] The present invention provides a method for autonomous trajectory planning of missile swarms by coupling interference resource radar suppression with trajectory, comprising:

[0008] Acquire environmental data and perform environmental modeling, including spatial range, enemy radar location, and detection radius;

[0009] Determine the missile's initial flight path based on the environmental modeling results, and determine the search space for trajectory planning for each segment of the missile's flight based on the missile's starting and ending points and the missile's flight maneuverability limitations.

[0010] According to the missile group communication situation, the serial numbers of other missiles that can communicate with the current missile are obtained. Based on the positions of the current missile and the missiles that can communicate, and their distance from the radar center, the detection range radius of the radar obtained by the current missile after being suppressed by the jammer signal is calculated;

[0011] According to the search space and interference resources, the trajectory planning of the missile group is carried out by taking into account multiple factors, and the risk coefficient of the next flight point involved in the search space is calculated by greedy thinking, and the point with the lowest risk coefficient is determined as the current optimal trajectory planning path until the destination is reached;

[0012] The Bezier curve is used to perform two trajectory smoothing operations to meet the missile's steering maneuverability constraints and generate the final trajectory planning result.

[0013] According to the present invention, a method for autonomous trajectory planning of a missile swarm with radar suppression and trajectory coupling of interference resources is provided, wherein the acquisition of environmental data and the environmental modeling, including the spatial range, the position of the enemy radar and the detection radius, specifically include:

[0014] In the environmental modeling process, the missile flight path is divided into a section from the total starting point to the starting point before entering the radar detection area, a radar detection section, and a section from passing through the radar detector to the total terminal;

[0015] Three-dimensional coordinate axes are defined in the space of the radar detection section to determine the interval distance of spatial points, and a detection range sphere is established according to the detection radius, so that the position relationship of the radar detection range sphere in space meets the actual situation and there is an intersection area.

[0016] The missile group autonomous flight path planning method coupled with radar suppression and flight path according to the application comprises the following steps of: determining a preliminary flight path of a missile according to an environment modeling result; determining a search space of flight path planning of the missile in each flight segment according to a starting point, an ending point of the missile flight and a maneuvering capability limit of the missile flight; and specifically comprising the following steps of:

[0017] traversing all points in the space, and calculating whether each space point meets a condition that a distance from the space point to a preset flight path of the missile is less than a distance limit of the maneuvering capability of the missile;

[0018] calculating whether each space point meets a condition that a distance from the space point to a certain bottom surface of a search space cylinder is within a distance range from the starting point to the ending point of the missile flight, the points meeting the condition being points in the search space, and determining the search space according to all the points meeting the condition.

[0019] The missile group autonomous flight path planning method coupled with radar suppression and flight path according to the application comprises the following steps of: acquiring serial numbers of other missiles capable of communicating with a current missile according to a communication condition of the missile group; and calculating a detection range radius of a radar after a signal of a jamming machine is suppressed based on a position of the current missile and the other missiles and a distance from the radar center, and specifically comprising the following steps of:

[0020] The influence of a single missile on the radar detection radius has a three-segment function relationship;

[0021] if the distance between the missile and the radar is greater than a suppression distance threshold, the radar detection radius remains unchanged;

[0022] if the distance between the missile and the radar is less than the suppression distance threshold, the radar radius and the distance between the missile and the radar center have a one-dimensional linear relationship, the closer the distance between the missile and the radar, the smaller the radar detection radius, the farther the distance between the missile and the radar, the larger the radar detection radius, and when the suppressed radar detection radius is reduced to a set threshold, the radar detection radius remains unchanged;

[0023] all the missiles are traversed to obtain a final radar detection radius after the multiple missiles suppress the radar.

[0024] The missile group autonomous flight path planning method coupled with radar suppression and flight path according to the application comprises the following steps of: performing flight path planning according to the search space and the interference resource by considering multiple factors; calculating a danger coefficient of a flight path point involved in a next flight in the search space by a greedy thought, determining a point with the lowest danger coefficient as a current optimal flight path planning path, and reaching the ending point until the ending point is reached, and specifically comprising the following steps of:

[0025] setting a search distance, intercepting a cylindrical space with a height of the search distance in a cylindrical search space obtained from a starting point and a target point, and setting a face containing a current position point as a bottom of the cylindrical space.

[0026] Traverse each space point in the current search space, judge the position relationship of each point with multiple radars;

[0027] According to the position relationship of the space point with multiple radars, the danger coefficient of the current point is calculated;

[0028] The space point with the minimum danger value in the search space of the current step is selected, and the path planning result of the current step is calculated by the greedy thought.

[0029] According to the present application, a kind of interference resource radar suppression and path coupling missile group autonomous path planning method is provided, the two times path smoothing is carried out using Bezier curve, the final path planning result is generated to meet the limitation of missile turning maneuverability, specifically including:

[0030] The path planning path is smoothed by Bezier curve operation;

[0031] According to the missile turning maneuverability, secondary smoothing is carried out to generate the final path planning result.

[0032] The present application also provides a kind of interference resource radar suppression and path coupling missile group autonomous path planning system, the system includes:

[0033] Modeling module is used to obtain environmental data, and environmental modeling is carried out, including space range, enemy radar position and detection radius;

[0034] Search space determination module is used to determine the preliminary navigation route of missile according to the environmental modeling result, and the search space of path planning for each flight of missile is determined according to the starting point and end point of missile flight and the maneuverability limit of missile flight;

[0035] Detection range calculation module is used to obtain the serial number of other missiles that can communicate with the current missile according to the communication condition of missile group, and based on the position of current missile and communicable missile and the distance from radar center, the detection range radius of radar after being suppressed by jammer signal is calculated by reasoning of current missile;

[0036] Path planning module is used to carry out path planning according to the search space and interference resource weighted consideration of multiple factors, calculate the danger coefficient of the next flight involved path point in search space by the greedy thought, determine the point with the lowest danger coefficient as the current optimal path planning path, until reaching the end point;

[0037] Path optimization module is used to carry out two times path smoothing using Bezier curve, to meet the limitation of missile turning maneuverability, to generate the final path planning result.

[0038] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the method for autonomous trajectory planning of a swarm of missiles with radar suppression of interference resources and trajectory coupling as described in any one of the above-mentioned methods is implemented.

[0039] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for autonomous trajectory planning of a swarm of missiles with radar suppression of interference resources and trajectory coupling as described in any one of the above is implemented.

[0040] The present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements any of the above-mentioned methods for autonomous trajectory planning of missile swarms with radar suppression of interference resources and trajectory coupling.

[0041] This invention provides a method for autonomous trajectory planning for missile swarms, combining radar suppression with jamming resources. This method optimizes the trajectory of missile swarms when encountering radar detection in real-world scenarios. Furthermore, this method enables autonomous decision-making and independent planning for missile swarms in scenarios with fluctuating communications, resolving the challenge of coordinated operations in unstable or even interrupted communications. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1 This is one of the flow charts of a method for autonomous trajectory planning of a missile swarm with radar suppression of interference resources and trajectory coupling provided by the present invention;

[0044] Figure 2 This is the second flow chart of a method for autonomous trajectory planning of a missile swarm with radar suppression of interference resources and trajectory coupling provided by the present invention;

[0045] Figure 3 This is the third flow chart of a method for autonomous trajectory planning of a missile swarm with radar suppression of interference resources and trajectory coupling provided by the present invention;

[0046] Figure 4 This is the fourth flow chart of a method for autonomous trajectory planning of a missile swarm with radar suppression of interference resources and trajectory coupling provided by the present invention;

[0047] Figure 5Figure 5 is a flowchart of a fifth process of a method for planning a missile group autonomous flight path by coupling radar suppression and flight path according to the present application;

[0048] Figure 6 Figure 6 is a flowchart of a sixth process of a method for planning a missile group autonomous flight path by coupling radar suppression and flight path according to the present application;

[0049] Figure 7 Figure 7 is a connection diagram of a module for planning a missile group autonomous flight path by coupling radar suppression and flight path according to the present application;

[0050] Figure 8 Figure 8 is a diagram for dividing a missile flight path into three segments according to the present application;

[0051] Figure 9 Figure 9 is a diagram of a whole search space and a current step search space in a process of planning a missile group flight path in a two-dimensional case according to the present application;

[0052] Figure 10 Figure 10 is a diagram of a whole search space in a process of planning a missile group flight path in a three-dimensional case according to the present application;

[0053] Figure 11 Figure 11 is a diagram of radar distribution according to the present application;

[0054] Figure 12 Figure 12 is a diagram of a Bezier curve according to the present application;

[0055] Figure 13 Figure 13 is a diagram of a structure of an electronic device according to the present application.

[0056] Reference Signs:

[0057] 110: modeling module; 120: search space determination module; 130: detection range calculation module; 140: flight path planning module; 150: flight path optimization module;

[0058] 1310: processor; 1320: communication interface; 1330: memory; 1340: communication bus. DETAILED DESCRIPTION

[0059] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are some embodiments of the present application, but not all embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0060] The present application will be described below with reference to the drawings. Figures 1-6The present invention describes a method for autonomous trajectory planning of a missile swarm with radar suppression of interference resources and trajectory coupling, comprising:

[0061] S100, acquiring environmental data and performing environmental modeling, including spatial range, enemy radar position, and detection radius;

[0062] S200, determining a preliminary missile flight path based on the environmental modeling results, and determining a search space for trajectory planning for each segment of the missile's flight based on the missile's starting and ending points and the missile's flight maneuverability limitations;

[0063] S300, obtaining the serial numbers of other missiles that can communicate with the current missile based on the missile group communication situation, and calculating the detection range radius of the radar of the current missile after being suppressed by the jammer signal based on the positions of the current missile and the missiles that can communicate and their distances from the radar center;

[0064] S400, performing trajectory planning based on the search space and interference resource weights and considering multiple factors, calculating the risk coefficient of the track points involved in the next flight in the search space through a greedy approach, and determining the point with the lowest risk coefficient as the current optimal trajectory planning path until reaching the destination;

[0065] S500: Use Bezier curve to perform two track smoothing operations to meet the missile's steering maneuverability constraints and generate the final track planning result.

[0066] This method calculates the search space using the missile swarm's starting and ending locations and the missile's maneuverability limit. Based on the missile swarm's position and distance information obtained under current communication conditions, the radar's detection range radius after jammer signal suppression is inferred. Based on this, greedy, step-by-step trajectory planning is performed, taking into account multiple factors, based on the relationship between the swarm and the radar's detection range, until the endpoint is reached. Bezier curves are used to smooth the trajectory, meeting the missile's steering capability limit, and obtaining the final trajectory planning result.

[0067] Obtain environmental data and perform environmental modeling, including spatial range, enemy radar location, and detection radius, specifically including:

[0068] S101, in the environment modeling process, dividing the missile flight path into a segment from a total starting point to a starting point before entering a radar detection area, a radar detection segment, and a segment from passing through the radar detector to a total terminal segment;

[0069] S102: Delineate three-dimensional coordinate axes in the space of the radar detection section to determine the spacing between spatial points, and establish a detection range sphere based on the detection radius, so that the positional relationship of the radar detection range sphere in space satisfies actual conditions and has an intersecting area.

[0070] In environmental modeling, the missile goes through two processes: from the total starting point to the starting point before entering the radar detection area, and reaching the total end point after passing through the radar detection area. Since it is far away from the radar, there is no need to consider the radar suppression of interference resources, and it is only necessary to carry out trajectory planning with the goal of reducing the distance to the end point of the stage; when passing through the radar detection range, the trajectory planning of the missile group needs to consider the radar suppression problem, and the situation is more complicated.

[0071] For a missile group, its trajectory can be divided into three parts: from the total starting point to the starting point before entering the radar detection area, passing through the radar detection range, and reaching the total end point after passing through the radar area. Each section of the missile's predetermined trajectory can be set as a straight line. Figure 8 As shown in the figure, each stage is represented by a different color. Since the missile's passage through the radar detection area (the solid line portion) is the most complex and requires the most considerations, and only here is interference resource allocation involved, the subsequent discussion will focus on the autonomous decision-making method for coupling interference resource allocation with trajectory planning. The missile's flight from a distance to the vicinity of the radar detection range and from near the radar to the target point (the dashed line portion) are not considered. Therefore, only the trajectory with the minimum distance to the destination is required, and any existing path planning method can be used here.

[0072] During the environmental modeling process, the x, y, and z coordinate axes are defined within a certain range, as well as the distances between spatial points. By controlling the entire three-dimensional spatial range and the distances between spatial points, the algorithm's accuracy, code computation load, and runtime can be controlled. Furthermore, the radar detection range is set as a sphere of a certain radius, and the center point is positioned so that the spatial position of the radar detection range sphere meets the actual requirements and the detection spheres have a certain intersection area. Furthermore, the starting and ending points for the missile to pass through the radar detection layer are set. In the missile's navigation route division, a grid method is used for environmental modeling, dividing the planning space into several regular three-dimensional grids. Each grid cell is divided into nodes within the radar detection range and nodes outside the radar detection range. The grid size can be set to achieve a balance between the accuracy and efficiency of the trajectory planning algorithm.

[0073] The missile's initial flight path is determined based on the environmental modeling results. Based on the missile's starting and ending points and the missile's maneuverability limitations, the search space for trajectory planning during each flight segment is determined. Specifically, the search space includes:

[0074] S201, traverse all points in space and calculate whether the distance from each point to the missile's preset trajectory is less than the missile's maneuverability limit;

[0075] S202. Calculate whether each spatial point satisfies the requirement that its distance to a bottom surface of the search space cylinder is within the range of the missile starting point to the end point. Points that meet the requirement are points in the search space. The search space is determined based on all points that meet the requirement.

[0076] For missiles, due to their limited maneuverability, they can only move within a certain range around the preset track. maneuver Therefore, once the starting point and the end point of the flight are determined, the preset track is known, which is a line segment connecting the starting point and the end point in space. Therefore, in the three-dimensional plane, the search space of the missile is the line connecting the starting point and the end point as the axis and the radius as the radius. The cylinder formed.

[0077] The specific steps to obtain the search space in three dimensions are as follows:

[0078] Traverse all points in space and calculate whether the distance from each point to the missile's preset trajectory is less than the missile's maneuverability limit distance d maneuver ;

[0079] For the obtained spatial points, calculate whether each point satisfies the distance from the bottom surface of the search space cylinder to the bottom surface of the search space cylinder in [0,d start_final ] range, d start_final is the distance from the starting point to the end point of the missile, and the point that meets the requirements is the point in the search space.

[0080] The optimal trajectory planning path is found based on the demarcation of the safe area and the consideration of interference resources. The greedy approach is used here to solve the problem, and only the optimal solution for the current coordinate is considered at each time.

[0081] Figure 9 The following figure shows the oblique search method of the missile during flight in two dimensions. L1 is the line segment formed by the starting point and the end point, and the slope of the corresponding line is k, which can be calculated from the coordinates of the starting point and the end point. L2 is a line perpendicular to L1 and passing through the starting point, so its slope is According to the straight line formula, the expression of L2 can be obtained. L3 is a straight line parallel to L2. In this search method, for each current point, find which point in the search space has better overall performance in the direction parallel to L2. If the optimal point is found, continue to search for the optimal point in the direction parallel to L2, that is, path planning. Figure 10 In the 3D case, a cylindrical space with a height equal to the search distance is intercepted from the cylindrical search space formed by the starting and target points. The base of this space is the surface containing the current position. This intercepted cylinder is the search space for the current step. The specific implementation process is to traverse the points in the entire search space and calculate whether each spatial point meets the requirements of belonging to the search space point of the current step to find the search space for the current step.

[0082] According to the missile group communication situation, the serial numbers of other missiles that can communicate with the current missile are obtained. Based on the positions of the current missile and the missiles that can communicate, and their distance from the radar center, the new detection range radius of the radar obtained by the current missile after being suppressed by the jammer signal is calculated. Specifically, it includes:

[0083] S301. The effect of a single missile on the radar detection radius has a three-segment piecewise function relationship.

[0084] S302: If the distance between the missile and the radar is greater than the suppression distance threshold, the radar detection radius remains unchanged.

[0085] S303. If the missile-radar distance is less than the suppression distance threshold, the radar radius and the distance between the missile and the radar center form a one-dimensional linear relationship. The closer the missile and radar are, the smaller the radar detection radius is; the farther the missile and radar are, the larger the radar detection radius is. Once the suppression radar detection radius decreases to the set threshold, it remains unchanged.

[0086] S304. Traverse all missiles to obtain the final radar detection radius after multiple missiles suppress the radar.

[0087] The radar suppression problem of jamming resources during flight is that the missiles in the swarm carry jammers, which are turned on before crossing the radar to suppress the radar, which greatly reduces the radar detection range. Therefore, the influence of a single missile on the radar detection radius is set to have a three-segment piecewise function relationship. If the distance between the missile and the radar is greater than the suppression distance threshold d threshold , the radar detection radius remains unchanged; if it is less than the suppression distance threshold d threshold , then the radar radius and the distance between the missile and the radar center have a one-dimensional linear relationship. The closer the distance between the missile and the radar, the smaller the radar detection radius, and the farther the distance between the missile and the radar, the larger the radar detection radius. However, the missile's ability to suppress radar is limited. When the suppression radar detection radius is reduced to a certain extent, it will remain unchanged, as follows:

[0088]

[0089] The meanings of the parameters are as follows:

[0090] radius new : The new detection radius of the radar after being suppressed by a single missile;

[0091] radius ori : The original detection radius of the radar without missile suppression;

[0092] radius min : The minimum detection radius of the radar after being suppressed by missiles, which is the lower limit of the radar detection radius;

[0093] d threshold: The missile's suppression distance threshold for the radar detection radius, that is, the critical distance at which the missile begins to suppress the radar;

[0094] d: distance from missile to radar center;

[0095] Due to the coupled suppression of multiple missiles on the radar, that is, the suppression has a superposition effect, the influence of the i-th (i>1) missile on the radar detection radius is based on the suppression of the i-1th missile on the radar, and is still a three-segment piecewise function relationship, as follows:

[0096]

[0097] The meanings of the parameters are as follows:

[0098] radius i : The detection radius of the radar after being suppressed by the i-th missile among the multiple missiles;

[0099] radius i-1 : The detection radius of the radar after being suppressed by the i-1 missile among the multiple missiles;

[0100] radius min : The minimum detection radius of the radar after being suppressed by missiles, which is the lower limit of the radar detection radius;

[0101] d threshold : The missile's suppression distance threshold for the radar detection radius, that is, the critical distance at which the missile begins to suppress the radar;

[0102] d: distance from missile to radar center;

[0103] By traversing all missiles, we can get the final radar detection radius after multiple missiles suppress the radar.

[0104] The trajectory planning is performed based on the search space and the weighted consideration of multiple factors based on the interference resources. The risk coefficient of the next flight point in the search space is calculated through greedy thinking. The point with the lowest risk coefficient is determined as the current optimal trajectory planning path until the destination is reached. Specifically, the following steps are performed:

[0105] S401, setting a search distance, intercepting a cylindrical space with a height equal to the search distance in the cylindrical search space obtained by the starting point and the target point, wherein the bottom of the cylindrical space is a surface containing the current position point;

[0106] S402, traversing each spatial point in the current search space, and determining the positional relationship between each point and multiple radars;

[0107] S403, calculating the risk factor of the current point based on the positional relationship between the spatial point and the multiple radars;

[0108] S404, select the space point with the minimum risk value in the search space of the current step as the path planning result of the current step by greedy thought.

[0109] After obtaining the radar detection situation, greedy path planning is performed.

[0110] The factors include: the distance between the missile and multiple radar centers:

[0111]

[0112] The distance between the missile and the intersection surface of the intersecting radars: d cross ;

[0113] The distance between the missile and the target point

[0114] where (x, y, z) is the current missile position coordinates, (x center , y center , z center ) is the radar center position coordinates, and (x target , y target , z target ) is the missile target point position. During the missile navigation process, the distance d center between the missile and multiple radar centers needs to be as large as possible, the distance d cross between the missile and the intersection surface of the intersecting radars needs to be as large as possible when the missile enters the multiple radar intersection area, and the distance d target between the missile and the target point needs to be as small as possible, so the space point risk coefficient risk is as follows:

[0115]

[0116] where c is a constant, and w represents the weight of each distance. However, the actual calculated weight changes when the missile group is in different areas. Each space point only has one weight reserved, that is, when the missile is only in a certain radar, the corresponding weight w = 1, and the other weight values are 0; when the missile is in the radar intersection area, the corresponding weight w = 1, and the other weight values are 0; when the missile is outside the radar, w k = 1, and the other weight values are 0. Select the space point with the minimum risk value in the search space of the current step as the path planning result of the current step by greedy thought, repeat the above steps until the termination point is reached.

[0117] Specifically, as Figure 11In the two-dimensional, dual-radar scenario shown, the entire spatial region is divided into four parts: the swarm only within circle 1, the swarm only within circle 2, the swarm at the intersection of the two circles, and the swarm outside the two circles. If the swarm is only within circle 1, only the distance from the center of the circle, 1, is considered; if the swarm is within circle 2, only the distance from the center of the circle, 2, is considered; if the swarm is in the intersection of the two circles, only the distance from the swarm to the intersection of the two circles is considered; if the swarm is outside the two circles, only the distance from the swarm to the endpoint is considered. The same applies to the three-dimensional case.

[0118] For all points in the current search space of the swarm, the radar's new detection radius is calculated. Based on this new detection radius, the relationship between the spatial point and the radar position is determined, and the weights to be retained when calculating the risk factor are determined. The risk factor of all spatial points is then calculated. The point with the lowest risk factor is found as the next navigation point until the destination is reached.

[0119] The Bezier curve is used to perform two trajectory smoothing operations to meet the missile's steering maneuverability constraints and generate the final trajectory planning results, including:

[0120] S501, smoothing the planned trajectory path using a Bezier curve;

[0121] S502: Perform secondary smoothing based on the missile's steering maneuverability to generate a final trajectory planning result.

[0122] The track obtained by the above steps alone is a zigzag line. The missile cannot meet such maneuverability. Bezier curve is used to smooth the track points. Figure 12 As shown in the figure, due to the limited steering capability of the missile swarm during flight, two Bezier curves are used for smoothing. After smoothing the planned trajectory, the smoothed trajectory is then smoothed again. This results in a trajectory curve with a large curvature, preventing a trajectory curve that exceeds the missile's steering capability. The number of smoothing times here can be adjusted according to actual conditions.

[0123] The present invention works well under multi-layer radar detection conditions, demonstrating its adaptability to complex battlefield environments. Furthermore, in two-dimensional and three-dimensional experiments, under varying communication conditions, this track planning method can reduce the number of track points within the detection range by up to 90% compared to the original path.

[0124] This invention provides a method for autonomous trajectory planning for missile swarms, combining radar suppression with jamming resources. This method optimizes the trajectory of missile swarms when encountering radar detection in real-world scenarios. Furthermore, this method enables autonomous decision-making and independent planning for missile swarms in scenarios with fluctuating communications, resolving the challenge of coordinated operations in unstable or even interrupted communications.

[0125] refer to Figure 7The present invention also discloses a missile swarm autonomous trajectory planning system with interference resource radar suppression and trajectory coupling, the system comprising:

[0126] Modeling module 110, for acquiring environmental data and performing environmental modeling, including spatial range, enemy radar position and detection radius;

[0127] A search space determination module 120 is used to determine a preliminary missile flight path based on the environment modeling results, and to determine a search space for trajectory planning for each segment of the missile's flight based on the missile's starting and ending points and the missile's flight maneuverability limitations;

[0128] The detection range calculation module 130 is used to obtain the serial numbers of other missiles that can communicate with the current missile based on the missile group communication situation, and calculate the detection range radius of the current missile's radar after the jammer signal is suppressed based on the position of the current missile and the communicable missiles and their distance from the radar center;

[0129] The trajectory planning module 140 is configured to perform trajectory planning based on the search space and interference resource weights by considering multiple factors. The module calculates the risk coefficient of the trajectory points involved in the next flight in the search space through a greedy approach and determines the point with the lowest risk coefficient as the current optimal trajectory planning path until the destination is reached.

[0130] The trajectory optimization module 150 is used to perform two trajectory smoothing operations using Bezier curves to meet the missile's steering maneuverability constraints and generate the final trajectory planning result.

[0131] The modeling module divides the missile flight path into a section from the total starting point to the starting point before entering the radar detection area, a radar detection section, and a section from passing through the radar detector to the total terminal during the environment modeling process;

[0132] Three-dimensional coordinate axes are defined in the space of the radar detection section to determine the interval distance of spatial points, and a detection range sphere is established according to the detection radius, so that the position relationship of the radar detection range sphere in space meets the actual situation and there is an intersection area.

[0133] The search space determination module traverses all points in the space and calculates whether the distance from each point to the missile's preset trajectory is less than the missile's maneuverability limit;

[0134] Calculate whether each spatial point satisfies the requirement that its distance to a bottom surface of the search space cylinder is within the distance range from the starting point to the end point of the missile. The satisfied points are points in the search space, and the search space is determined based on all satisfied points.

[0135] The detection range calculation module determines that the impact of a single missile on the radar detection radius has a three-segment piecewise function relationship;

[0136] If the distance between the missile and the radar is greater than the suppression distance threshold, the radar detection radius remains unchanged.

[0137] If the distance between the missile and the radar is less than the suppression distance threshold, the radar radius and the distance between the missile and the radar center form a one-dimensional linear relationship, the closer the distance between the missile and the radar, the smaller the radar detection radius, the farther the distance between the missile and the radar, the larger the radar detection radius, and when the suppression radar detection radius is reduced to a set threshold, it will remain unchanged.

[0138] Traverse all missiles to obtain the final radar detection radius after multiple missiles suppress the radar.

[0139] The path planning module sets a search distance, and intercepts a cylindrical space with a search distance in a cylindrical search space obtained from a starting point and a target point, and the bottom of the cylindrical space is a surface containing the current position point.

[0140] Traverse each space point in the current search space to determine the position relationship between each point and multiple radars.

[0141] According to the position relationship between the space point and the multiple radars, the danger coefficient of the current point is calculated.

[0142] Select the space point with the minimum danger value in the search space of the current step, and calculate the path planning result of the current step through the greedy idea.

[0143] The path optimization module smoothes the path planning path through the Bezier curve.

[0144] According to the missile turning maneuvering ability, secondary smoothing is carried out to generate the final path planning result.

[0145] The interference resource radar suppression and path coupling missile group autonomous path planning system provided by the application can realize path optimization of the missile group when encountering radar detection in a real scene. Meanwhile, the method realizes autonomous decision and independent planning of the missile group in a communication change scene, and solves the cooperative combat problem in the case of unstable or even interrupted communication.

[0146] Figure 13 An example of an entity structure diagram of an electronic device is shown in FIG. Figure 13As shown, the electronic device can include a processor 1310, a communications interface 1320, a memory 1330, and a communications bus 1340, wherein the processor 1310, the communications interface 1320, and the memory 1330 complete mutual communication through the communications bus 1340. The processor 1310 can call the logic instructions in the memory 1330 to execute a method for interference resource radar suppression and track coupling missile group autonomous track planning, which includes: acquiring environment data, performing environment modeling, including spatial range, enemy radar position and detection radius;

[0147] According to the environment modeling result, a preliminary missile flight route is determined, and according to the starting point and ending point of the missile flight and the maneuvering capability limit of the missile flight, a search space for track planning of each flight of the missile is determined;

[0148] According to the communication situation of the missile group, the serial numbers of other missiles that can communicate with the current missile are acquired, and based on the positions of the current missile and the communicable missiles and the distances from the radar center, the detection range radius of the radar after being suppressed by the signal of the interference machine reasoned by the current missile is calculated;

[0149] According to the search space and the interference resource, multiple factors are considered for track planning, the danger coefficient of the next flight involved track point in the search space is calculated through the greedy thought, the point with the lowest danger coefficient is determined as the current optimal track planning path, and the process is repeated until the ending point is reached;

[0150] Two times of track smoothing are performed by using the Bezier curve to meet the maneuvering capability limit of the missile turning, and a final track planning result is generated.

[0151] In addition, the logic instructions in the memory 1330 described above can be implemented in the form of a software function unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0152] On the other hand, the present invention also provides a computer program product, the computer program product including a computer program, the computer program being storable on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the computer is capable of executing a method for autonomous trajectory planning of a missile group with radar suppression of interference resources and trajectory coupling provided by the above methods, the method including: acquiring environmental data and performing environmental modeling, including spatial range, enemy radar position, and detection radius;

[0153] Determine the missile's initial flight path based on the environmental modeling results, and determine the search space for trajectory planning for each segment of the missile's flight based on the missile's starting and ending points and the missile's flight maneuverability limitations.

[0154] According to the missile group communication situation, the serial numbers of other missiles that can communicate with the current missile are obtained. Based on the positions of the current missile and the missiles that can communicate, and their distance from the radar center, the detection range radius of the radar obtained by the current missile after being suppressed by the jammer signal is calculated;

[0155] The trajectory planning is performed based on the search space and the weighted consideration of multiple factors of the interference resources. The risk coefficient of the next flight point involved in the search space is calculated by greedy thinking. The point with the lowest risk coefficient is determined as the current optimal trajectory planning path until the destination is reached.

[0156] The Bezier curve is used to perform two trajectory smoothing operations to meet the missile's steering maneuverability constraints and generate the final trajectory planning result.

[0157] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program is implemented by a processor to perform a method for autonomous trajectory planning of a missile group with radar suppression of interference resources and trajectory coupling provided by the above methods, the method comprising: acquiring environmental data and performing environmental modeling, including spatial range, enemy radar position and detection radius;

[0158] Determine the missile's initial flight path based on the environmental modeling results, and determine the search space for trajectory planning for each segment of the missile's flight based on the missile's starting and ending points and the missile's flight maneuverability limitations.

[0159] According to the missile group communication situation, the serial numbers of other missiles that can communicate with the current missile are obtained. Based on the positions of the current missile and the missiles that can communicate, and their distance from the radar center, the detection range radius of the radar obtained by the current missile after being suppressed by the jammer signal is calculated;

[0160] The trajectory planning is performed based on the search space and the weighted consideration of multiple factors of the interference resources. The risk coefficient of the next flight point involved in the search space is calculated by greedy thinking. The point with the lowest risk coefficient is determined as the current optimal trajectory planning path until the destination is reached.

[0161] The Bezier curve is used to perform two trajectory smoothing operations to meet the missile's steering maneuverability constraints and generate the final trajectory planning result.

[0162] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0163] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0164] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for autonomous trajectory planning of missile swarms with radar suppression of jamming resources and trajectory coupling, characterized in that: include: Acquire environmental data and perform environmental modeling, including spatial range, enemy radar location, and detection radius; Determine the missile's initial flight path based on the environmental modeling results, and determine the search space for trajectory planning for each segment of the missile's flight based on the missile's starting and ending points and the missile's flight maneuverability limitations. According to the missile group communication situation, the serial numbers of other missiles that can communicate with the current missile are obtained. Based on the positions of the current missile and the missiles that can communicate, and their distance from the radar center, the detection range radius of the radar obtained by the current missile after being suppressed by the jammer signal is calculated; The trajectory planning of the missile group is performed by considering multiple factors based on the search space and interference resources weights, and the risk coefficient of the track points involved in the next flight in the search space is calculated by greedy thinking, and the point with the lowest risk coefficient is determined as the current optimal trajectory planning path until the end point is reached; The Bezier curve is used to perform two trajectory smoothing operations to meet the missile's steering maneuverability constraints and generate the final trajectory planning result. The process of obtaining the serial numbers of other missiles that can communicate with the current missile based on the missile group communication situation, and calculating the detection range radius of the radar of the current missile after being suppressed by the jammer signal based on the positions of the current missile and the communicable missiles and their distance from the radar center, specifically includes: The effect of a single missile on the radar detection radius has a three-segment piecewise function relationship; If the distance between the missile and the radar is greater than the suppression distance threshold, the radar detection radius remains unchanged; If the distance between the missile and the radar is less than the suppression distance threshold, the radar radius and the distance between the missile and the radar center form a one-dimensional linear relationship. The closer the missile and the radar are, the smaller the radar detection radius is, and the farther the missile and the radar are, the larger the radar detection radius is. When the suppression radar detection radius is reduced to the set threshold, it will remain unchanged. Traverse all missiles and obtain the final radar detection radius after multiple missiles suppress the radar; According to the search space and interference resources, the trajectory planning of the missile group is carried out by considering multiple factors. The risk coefficient of the next flight point involved in the search space is calculated by greedy thinking, and the point with the lowest risk coefficient is determined as the current optimal trajectory planning path until the destination is reached. Specifically, it includes: Set the search distance, and intercept a cylindrical space with a height equal to the search distance in the cylindrical search space obtained by the starting point and the target point. The bottom of the cylindrical space is the surface containing the current position point. Traverse each spatial point in the current search space and determine the positional relationship between each point and multiple radars; Calculate the risk factor of the current point based on the positional relationship between the spatial point and multiple radars; Select the spatial point with the smallest risk value in the search space of the current step and calculate it as the trajectory planning result of the current step through greedy thinking.

2. The method for autonomous trajectory planning of missile swarms with radar suppression of interference resources and trajectory coupling according to claim 1 is characterized in that: The acquisition of environmental data and environmental modeling, including spatial range, enemy radar position and detection radius, specifically includes: In the environmental modeling process, the missile flight path is divided into a section from the total starting point to the starting point before entering the radar detection area, a radar detection section, and a section from passing through the radar detector to the total terminal; Three-dimensional coordinate axes are defined in the space of the radar detection section to determine the interval distance of spatial points, and a detection range sphere is established according to the detection radius, so that the position relationship of the radar detection range sphere in space meets the actual situation and there is an intersection area.

3. The method for autonomous trajectory planning of missile swarms with radar suppression of interference resources and trajectory coupling according to claim 1 is characterized in that: The method of determining the missile's preliminary navigation route based on the environmental modeling results and determining the search space for trajectory planning during each flight segment of the missile based on the missile's starting and ending points and the missile's flight maneuverability limitations specifically includes: Traverse all points in space and calculate whether the distance from each point to the missile's preset trajectory is less than the missile's maneuverability limit. Calculate whether each spatial point satisfies the requirement that its distance to a bottom surface of the search space cylinder is within the distance range from the starting point to the end point of the missile. The satisfied points are points in the search space, and the search space is determined based on all satisfied points.

4. The method for autonomous trajectory planning of missile swarms with radar suppression of interference resources and trajectory coupling according to claim 1 is characterized in that: The two-step trajectory smoothing using the Bezier curve satisfies the missile's steering maneuverability constraints and generates the final trajectory planning result, specifically including: Smooth the planned trajectory using Bezier curves; Secondary smoothing is performed based on the missile's turning maneuverability to generate the final trajectory planning result.

5. A missile swarm autonomous trajectory planning system with interference resource radar suppression and trajectory coupling, characterized in that: The system comprises: Modeling module, used to obtain environmental data and perform environmental modeling, including spatial range, enemy radar position and detection radius; The search space determination module is used to determine the missile's initial navigation route based on the results of the environmental modeling, and to determine the search space for trajectory planning during each flight segment of the missile based on the starting and ending points of the missile's flight and the missile's flight maneuverability limitations; The detection range calculation module is used to obtain the serial numbers of other missiles that can communicate with the current missile based on the missile group communication situation. Based on the position of the current missile and the communicable missiles and their distance from the radar center, it calculates the detection range radius of the radar obtained by the current missile after being suppressed by the jammer signal; A trajectory planning module is used to perform trajectory planning based on the search space and interference resource weights by considering multiple factors. The module calculates the risk coefficient of the trajectory points involved in the next flight in the search space through a greedy approach and determines the point with the lowest risk coefficient as the current optimal trajectory planning path until the destination is reached. The trajectory optimization module is used to perform two-step trajectory smoothing using Bezier curves to meet the missile's steering maneuverability constraints and generate the final trajectory planning result; The process of obtaining the serial numbers of other missiles that can communicate with the current missile based on the missile group communication situation, and calculating the detection range radius of the radar of the current missile after being suppressed by the jammer signal based on the positions of the current missile and the communicable missiles and their distance from the radar center, specifically includes: The effect of a single missile on the radar detection radius has a three-segment piecewise function relationship; If the distance between the missile and the radar is greater than the suppression distance threshold, the radar detection radius remains unchanged; If the distance between the missile and the radar is less than the suppression distance threshold, the radar radius and the distance between the missile and the radar center form a one-dimensional linear relationship. The closer the missile and the radar are, the smaller the radar detection radius is, and the farther the missile and the radar are, the larger the radar detection radius is. When the suppression radar detection radius is reduced to the set threshold, it will remain unchanged. Traverse all missiles and obtain the final radar detection radius after multiple missiles suppress the radar; According to the search space and interference resources, the trajectory planning of the missile group is carried out by considering multiple factors. The risk coefficient of the next flight point involved in the search space is calculated by greedy thinking, and the point with the lowest risk coefficient is determined as the current optimal trajectory planning path until the destination is reached. Specifically, it includes: Set the search distance, and intercept a cylindrical space with a height equal to the search distance in the cylindrical search space obtained by the starting point and the target point. The bottom of the cylindrical space is the surface containing the current position point. Traverse each spatial point in the current search space and determine the positional relationship between each point and multiple radars; Calculate the risk factor of the current point based on the positional relationship between the spatial point and multiple radars; Select the spatial point with the smallest risk value in the search space of the current step and calculate it as the trajectory planning result of the current step through greedy thinking.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method for autonomous trajectory planning of a swarm of missiles with radar suppression of interference resources and trajectory coupling as described in any one of claims 1 to 4 is implemented.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for autonomous trajectory planning of a swarm of missiles with radar suppression of interference resources and trajectory coupling as described in any one of claims 1 to 4 is implemented.

8. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method for autonomous trajectory planning of a swarm of missiles with radar suppression of interference resources and trajectory coupling as described in any one of claims 1 to 4 is implemented.

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