A drone system

Abstract

This invention proposes a drone system, belonging to the field of drone defense technology. The method, based on physical reality, establishes a radar detection model, a drone defense zone model, and an interception model to describe the actual process of air defense operations and provide basic conditions for position deployment.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle (UAV) defense, and in particular relates to an UAV system. Background Art

[0002] How to deploy UAV system positions before defending against incoming targets is an important technical issue in the research of UAV defense against incoming targets. Summary of the Invention

[0003] To address the above technical issues, the present invention proposes a drone system comprising a detection zone model building unit, a defense zone model building unit, an interception zone model building unit, and a plurality of interception drones.

[0004] In the detection area, the coordinates of the radar i of the UAV system are L i (x i ,y i ,z i ), the coordinate of the incoming target j is X j (x j ,y j ,z j ); When there is no terrain shielding, the detection area of ​​the radar is a partial sphere with an azimuth angle of α, an elevation angle of β, and a radius of D. When there is terrain shielding, the propagation of electromagnetic waves is blocked, the detection range of the radar is compressed, and the detection area is an irregular partial sphere; when the radar antenna altitude is 0, the position shielding angle is The altitude of the i-th shelter is H i , the straight-line distance from the i-th obstruction to the radar is D i , the equivalent radius of the earth is R, then the radar detection range is D, and the maximum detection range of the UAV system's radar to the incoming target is R max The height of the UAV system from the ground is H, and the clockwise angle of the normal direction of the radar antenna relative to the north direction is δ i , the fan width is α i , the lower limit of the sector pitch angle is β iL , the upper limit is β iH , then the detection area model of the radar for the incoming target j established by the detection area model establishment unit is:

[0005]

[0006] In the defense zone, the incoming target is at a vertical point X in the defense zone. t (x, y, z), the maximum height of the defense zone is H max , the minimum height is H min , the maximum elevation angle is εmax , the vertical defense zone meets the far boundary D max , low near boundary D min , high boundary H max , lower bound H min , high near bound constraint condition, the UAV system's S axis to the incoming target j is at a clockwise angle of η to the north direction ij , the maximum flight path angle of the defense area is q max , then the defense zone model established by the defense zone model establishment unit is:

[0007]

[0008] In the interception zone, the interception arc duration between the UAV system and the incoming target j is The earliest encounter point time of the interception arc is The latest encounter point time is The coordinate of the incoming target j when it enters the far boundary of the defense zone is X' j (x' j ,y' j ,z' j ), time is T′ j The time of leaving the defense zone near the boundary is T j ″, the time when the radar detects the incoming target j is The response time of the UAV system is T l (r) , the distance from the incoming target to the UAV system is The speed of the interceptor launched by the interceptor UAV is V, and the time required for the interceptor to enter the far boundary of the defense zone is The time it takes for the incoming target to fly to the far boundary of the defense zone is The coordinates of the incoming target when it meets the interceptor are The distance between the incoming target and the interceptor drone when they meet in the defense zone is The earliest encounter point time of the interception arc is specifically expressed as: Then the interception area model established by the interception area model establishment unit is:

[0009]

[0010] For the defense zone model, PCHIP third-order Hermite interpolation fitting is adopted, and the fitting polynomial is as follows:

[0011]

[0012] Among them, x0 and x1 are the two adjacent points of the point to be interpolated, y0 and y1 are the dependent variables corresponding to the independent variables x0 and x1 respectively, and y0′ and y1′ are the corresponding derivatives.

[0013] When the interception arc exists, the interception drone intercepts the incoming target within the airspace of the interception zone; when the interception arc does not exist, it is determined that the incoming target has flown out of the defense zone before the interceptor enters the defense zone and cannot be intercepted.

[0014] The position deployment principles of the detection area, the defense area and the interception area include the principle of nearby protection, the principle of resisting key nodes and the principle of protecting key targets; among which: the principle of nearby protection means that the position is close to the protected target, so as to detect and kill the incoming target during the pull-up phase; the principle of resisting key nodes means that the position is deployed at the node position of multiple attack routes; the principle of protecting key targets means that the position is used to protect targets with higher priority and value weight.

[0015] In summary, the technical solution proposed in this invention establishes a radar detection model, a UAV defense zone (kill zone) model, an interception model, etc. based on physical reality to describe the actual process of air defense operations and provide basic conditions for position deployment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific 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.

[0017] Figure 1 Schematic diagram of a drone system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0019] A first aspect of the present invention provides an unmanned aerial vehicle system comprising a detection zone model building unit, a defense zone model building unit, an interception zone model building unit, and a plurality of interception unmanned aerial vehicles.

[0020] In the detection area, the coordinates of the radar i of the UAV system are L i (x i ,y i ,z i ), the coordinate of the incoming target j is X j (x j ,y j ,z j ); When there is no terrain shielding, the detection area of ​​the radar is a partial sphere with an azimuth angle of α, an elevation angle of β, and a radius of D. When there is terrain shielding, the propagation of electromagnetic waves is blocked, the detection range of the radar is compressed, and the detection area is an irregular partial sphere; when the radar antenna altitude is 0, the position shielding angle is The altitude of the i-th shelter is H i , the straight-line distance from the i-th obstruction to the radar is D i , the equivalent radius of the earth is R, then the radar detection range is D, and the maximum detection range of the UAV system's radar to the incoming target is R max The height of the UAV system from the ground is H, and the clockwise angle of the normal direction of the radar antenna relative to the north direction is δ i , the fan width is α i , the lower limit of the sector pitch angle is β iL , the upper limit is β iH , then the detection area model of the radar for the incoming target j established by the detection area model establishment unit is:

[0021]

[0022] In the defense zone, the incoming target is at a vertical point X in the defense zone. t (x, y, z), the maximum height of the defense zone is H max , the minimum height is H min , the maximum elevation angle is ε max , the vertical defense zone meets the far boundary D max , low near boundary D min , high boundary H max , lower bound H min , high near bound constraint condition, the UAV system's S axis to the incoming target j is at a clockwise angle of η to the north direction ij , the maximum flight path angle of the defense area is q max , then the defense zone model established by the defense zone model establishment unit is:

[0023]

[0024] In the interception zone, the interception arc duration between the UAV system and the incoming target j is The earliest encounter point time of the interception arc is The latest encounter point time is The coordinate of the incoming target j when it enters the far boundary of the defense zone is X' j (x' j ,y' j ,z' j ), time is T′ j The time of leaving the defense zone near the boundary is T″ j The time when the radar detects the incoming target j is The response time of the UAV system is T l (r) , the distance from the incoming target to the UAV system is The speed of the interceptor launched by the interceptor UAV is V, and the time required for the interceptor to enter the far boundary of the defense zone is The time it takes for the incoming target to fly to the far boundary of the defense zone is The coordinates of the incoming target when it meets the interceptor are The distance between the incoming target and the interceptor drone when they meet in the defense zone is The earliest encounter point time of the interception arc is specifically expressed as: Then the interception area model established by the interception area model establishment unit is:

[0025]

[0026] For the defense zone model, PCHIP third-order Hermite interpolation fitting is adopted, and the fitting polynomial is as follows:

[0027]

[0028] Among them, x0 and x1 are the two adjacent points of the point to be interpolated, y0 and y1 are the dependent variables corresponding to the independent variables x0 and x1 respectively, and y0′ and y1′ are the corresponding derivatives.

[0029] When the interception arc exists, the interception drone intercepts the incoming target within the airspace of the interception zone; when the interception arc does not exist, it is determined that the incoming target has flown out of the defense zone before the interceptor enters the defense zone and cannot be intercepted.

[0030] The position deployment principles of the detection area, the defense area and the interception area include the principle of nearby protection, the principle of resisting key nodes and the principle of protecting key targets; among which: the principle of nearby protection means that the position is close to the protected target, so as to detect and kill the incoming target during the pull-up phase; the principle of resisting key nodes means that the position is deployed at the node position of multiple attack routes; the principle of protecting key targets means that the position is used to protect targets with higher priority and value weight.

[0031] Specifically, for the radar airspace detection area model (detection area model), let the coordinates of the UAV system radar i be L i (x i ,y i ,z i ), the coordinate of the incoming target j is X j (x j ,y j ,z j ), the radar's detection area is a partial sphere with azimuth angle α, elevation angle β, and radius D when there is no terrain shielding. When there is terrain shielding, the propagation of electromagnetic waves will be blocked, thereby compressing the radar's detection range and becoming an irregular partial sphere. Considering the position shielding angle and when the radar antenna altitude is 0, the position shielding angle is The altitude of the i-th shelter is H i , the straight-line distance from the i-th obstruction to the radar is D i The equivalent radius of the earth after considering the influence of the earth's curvature and atmospheric refraction is R, the radar detection range is farthest D, and the maximum detection range of the UAV system radar to the air target is R max , the height of the UAV system from the ground is H, and the clockwise angle of the normal direction of the radar antenna i relative to the north direction is δ i , the radar sector width is α i , the lower limit of the sector elevation angle of radar i is β iL , the upper limit is β iH Then the radar detection model of radar i to incoming target j is:

[0032]

[0033] Specifically, for the kill zone model (interception zone model) of the surface-to-air missile weapon system, let the point X in the vertical kill zone of the incoming target be t (x,y,z),H max The maximum height of the killing zone, generally refers to the absolute altitude; H min The minimum height of the kill zone generally refers to the height of the target relative to the ground; ε max The maximum height angle of the killing zone is considered to meet the constraints of far boundary, low near boundary, high boundary, low boundary, and high near boundary. min, D max , H min , H max They are the lower and near limits, far limits, lower limits, upper limits, and η of the killing zone respectively. ij represents the clockwise angle between the S axis of the UAV system i and the north direction of the incoming target j, q max is the maximum flight path angle of the kill zone. The kill zone model of the UAV system is established as:

[0034]

[0035] Given that the far boundary values ​​of the drone's kill zone are relatively small, PCHIP-third-order Hermite interpolation fitting is used, and the fitting polynomial is as follows:

[0036]

[0037] Among them, x0 and x1 are the two adjacent points to be interpolated, y0 and y1 correspond to the dependent variables of the independent variables x0 and x1, y0′ and y1′ are the corresponding derivatives, and specific iterative operations are performed in the program.

[0038] Specifically, for the UAV system interception model (interception zone model), let the interception arc duration between UAV system i and incoming target j be The earliest encounter point of the interception arc is The latest encounter point time of the interception arc is The coordinate of the incoming target j when it enters the far boundary of the kill zone is X' j (x' j ,y' j ,z' j ), the time when the incoming target reaches the far boundary of the killing zone is T′ j The time of leaving the killing zone is T″ j , is the time it takes for radar i to detect incoming target j, T l (r) is the reaction time of the UAV system, and the distance from the incoming target to the UAV system is expressed as The speed of the interceptor is V, and the time required for the interceptor to enter the far boundary of the kill zone can be expressed as The time it takes for the incoming target to reach the far edge of the kill zone The coordinates of the incoming target when it encounters the interceptor missile are The distance between the incoming target and the interceptor missile and the UAV when they encounter each other within the kill zone can be expressed as The earliest encounter point of the interception arc is expressed as The UAV system interception model is established as follows:

[0039]

[0040] When there is an interception arc, it can be considered that interception can be carried out within the kill airspace. When there is no interception arc, it can be considered that the incoming target has flown out of the kill zone before the interceptor missile enters the kill zone, and interception cannot be achieved.

[0041] Specifically, regarding the principles of position selection, when the attacking target is unclear about the enemy's defensive deployment, it is generally necessary to choose a low-lying river valley as the attack route and perform multiple terrain matching based on the distance of the attack. When there are situations such as high-density saturation attacks, in addition to considering the above-mentioned interception situations, the following position selection principles must also be determined.

[0042] The principle of proximity protection. This principle states that positions should be selected as close as possible to the protected target. For example, during a typical river valley attack route, the altitude of the route along the low-altitude river valley generally shortens the detection and kill zones of each position along the route. Positions located near the perimeter of the position maximize detection and kill capabilities against cruise missiles during their pull-up phase, resulting in superior overall protection compared to positions further away from the target.

[0043] The principle of resisting key nodes. This principle states that positions should be located at nodes that can control multiple attack routes. Planned routes for low-altitude penetration often include attack route hubs or key nodes. Placing positions at locations that can control key nodes can increase the number of effective intercepts per unit time and achieve efficient resistance. As shown in the figure, different planned routes have intersecting key nodes, as well as key node positions that can control multiple valley entrances.

[0044] The principle of key target protection. The principle of key target protection means that the position should protect the target with higher value weight. When there are multiple protected targets at the same time, there are many incoming targets and the overall protection force is insufficient, the high-value weight target should be protected first, such as Figure 1 As shown in the figure, the black dots are the protected targets. The larger the area of ​​the black dots, the higher their value weight. When there are multiple routes and multiple batches of incoming targets at the same time and the UAV system is insufficient, it should be used to protect high-value targets.

[0045] Specifically, regarding the conditions for using external information collaborative guidance, under the condition of line of sight, various types of UAVs may have external collaborative relationships. The following three cases are discussed: Let D1 be the maximum detection distance of type I UAV, D3 be the maximum detection distance of type III UAV, R Bi is the detection radius of the i-th ground-based radar.

[0046] (1) If the i-th ground-based radar is deployed on L jThe Type I UAV system can form external information collaborative guidance, then the distance between the ground-based radar and the position must be less than the sum of the maximum detection range D1 of the Type I UAV and the detection radius of the ground-based radar i || B i L j ||<D1+R Bi .

[0047] (2) The synergistic relationship between type I and type I is ||L i L j ||<D1+D1.

[0048] (3) The synergistic relationship between type I and type III is || L i L j ||<D1+D3.

[0049] Specifically, the drone system also includes a combat effectiveness modeling unit. This model uses a variety of evaluation metrics, such as firepower density and the number of targets that can be simultaneously fired upon. A combat effectiveness function is constructed based on indicators such as firepower coverage area, number of effective interceptions per unit time, and weapon system kill probability, to evaluate the combat effectiveness of deployment plans.

[0050] Regarding the area function of the fire coverage area, let S ij is the fire coverage area of ​​the jth UAV system at the i-th position. According to the interception model, when there is an interception arc, the ground-to-air fire coverage area is simplified to be the intersection of the radar airspace detection area and the kill area. The total area of ​​the fire coverage area of ​​the deployment plan can be expressed as:

[0051]

[0052]

[0053] Regarding the number of effective interceptions per unit time, the number of interceptions per unit time is defined as:

[0054]

[0055] Where T 起 T is the moment when each UAV system detects the incoming target for the first time after deployment. 末 is the end time of all incoming targets, and N is the number of incoming targets that are effectively intercepted.

[0056] Regarding the kill probability of the weapon system, the kill probability of the jth UAV system is set to P j .

[0057] Regarding the anti-fighting effectiveness model, the anti-fighting effectiveness only considers the influence of the above three factors, and defines the anti-fighting effectiveness function as: η=P j ·n·S.

[0058] In order to obtain the deployment plan of the UAV system with the maximum anti-combat effectiveness, the x obtained when the anti-combat effectiveness function is the largest is ij Is the deployment plan, x ij It means that there is j-th UAV system on the i-th position, and the anti-aircraft effectiveness model is established as: maxη=P j n S, and:

[0059]

[0060] Specifically, regarding the UAV system deployment algorithm, the algorithm steps are:

[0061] Step 1: Calculate the radar airspace detection zone based on the model and determine whether the incoming target falls into the detection zone;

[0062] Step 2: When the incoming target is within the detection airspace, the kill zone interpolation model is used to calculate the kill zone. Interpolation operations are performed based on the target altitude segmentation to obtain the kill zone range and determine whether the incoming route enters the kill zone range. Based on this, it can be determined whether it can be effectively intercepted.

[0063] Step 3: Use the UAV system interception model to calculate the interception arc duration. If the interception arc duration is known, it is considered that the interception zone exists.

[0064] Step 4: Preliminarily determine the deployment strategy based on the position deployment principles and the conditions for using external information collaborative guidance;

[0065] Step 5: Calculate the anti-attack effectiveness of the UAV system and use the genetic algorithm to solve the deployment plan when the anti-attack effectiveness is maximized.

[0066] (1) Population initialization. A chromosome is encoded as a genotype using the form of probability plus weapon number (e.g., if the probability is 0.7 and the number is 3, it is written as 0.703). This generates a 100-dimensional ordered group P1…P100, where Pi = 0 or probability plus weapon number. The maximum number of iterations G = 1000.

[0067] (2) Fitness calculation. Take the objective function value η=P j n S is the fitness of an individual;

[0068] (3) Selection operation. According to the fitness of individuals in the population, individuals with high fitness are selected from the current population through methods such as roulette;

[0069] (4) Crossover operation. This step is the main operation process of generating new individuals in the genetic algorithm. It uses a certain crossover rate threshold to control the generation of new crossover individuals by single-point crossover, Pc = 1;

[0070] (5) Mutation operation. First, randomly generate mutation points, and then invert the original genes of the mutation points according to the mutation probability threshold, Pm = 0.1;

[0071] (6) Termination judgment: If the condition is met, the algorithm is terminated, otherwise return to (2).

[0072] The results obtained from the optimization of the anti-fighting effectiveness model are shown in Table 1.

[0073]

[0074] Table 1 UAV system deployment plan

[0075] In summary, the technical solution proposed in the present invention first establishes a radar detection model, a UAV kill zone model, an interception model, etc. based on physical reality to describe the actual process of air defense combat, providing basic conditions for position deployment. Secondly, according to the specific conditions of each position such as elevation, shielding angle, geographic coordinates, etc., for the low-altitude attack method of the blue target, mainly considering the firepower depth and width of the weapon system in the incoming direction, the firepower density and kill probability of the weapon system in the incoming direction, etc., establish an anti-attack effectiveness model based on the area of ​​​​firepower coverage area, the number of effective interceptions per unit time and the kill probability of the weapon system, and evaluate the effectiveness of each position. Finally, based on the position selection principle, external information coordination, etc., a genetic algorithm is used to establish the UAV system deployment strategy.

[0076] Please note that the various technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the various technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification. The above-mentioned embodiments only express several implementation methods of the present application. The description is relatively specific and detailed, but it cannot be understood as a limitation on the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, without departing from the concept of this application, several variations and improvements can be made, which all fall within the scope of protection of this application. Therefore, the scope of protection of the patent in this application shall be based on the attached claims.

Claims

1. A drone system, characterized in that: The UAV system includes a detection zone model building unit, a defense zone model building unit, an interception zone model building unit and a plurality of interception UAVs; wherein: In the detection area, the coordinates of the radar i of the UAV system are L i (x i ,y i ,z i ), the coordinate of the incoming target j is X j (x j ,y j ,z j ); When there is no terrain shielding, the detection area of ​​the radar is a partial sphere with an azimuth angle of α, an elevation angle of β, and a radius of D. When there is terrain shielding, the propagation of electromagnetic waves is blocked, the detection range of the radar is compressed, and the detection area is an irregular partial sphere; when the radar antenna altitude is 0, the position shielding angle is The altitude of the i-th shelter is H i , the straight-line distance from the i-th obstruction to the radar is D i , the equivalent radius of the earth is R, then the radar detection range is D, and the maximum detection range of the UAV system's radar to the incoming target is R max The height of the UAV system from the ground is H, and the clockwise angle of the normal direction of the radar antenna relative to the north direction is δ i , the fan width is α i , the lower limit of the sector pitch angle is β iL , the upper limit is β iH , then the detection area model of the radar for the incoming target j established by the detection area model establishment unit is: In the defense zone, the incoming target is at a vertical point X in the defense zone. t (x, y, z), the maximum height of the defense zone is H max , the minimum height is H min , the maximum elevation angle is ε max , the vertical defense zone meets the far boundary D max , low near boundary D min , high boundary H max , lower bound H min , high near bound constraint condition, the UAV system's S axis to the incoming target j is at a clockwise angle of η to the north direction ij , the maximum flight path angle of the defense area is q max , then the defense zone model established by the defense zone model establishment unit is: In the interception zone, the interception arc duration between the UAV system and the incoming target j is The earliest encounter point time of the interception arc is The latest encounter point time is The coordinate of the incoming target j when it enters the far boundary of the defense zone is X' j (x' j ,y' j ,z' j ), time is T′ j The time of leaving the defense zone near the boundary is T j ″, the time when the radar detects the incoming target j is The reaction time of the UAV system is T l (r) , the distance from the incoming target to the UAV system is The speed of the interceptor launched by the interceptor UAV is V, and the time required for the interceptor to enter the far boundary of the defense zone is The time it takes for the incoming target to fly to the far boundary of the defense zone is The coordinates of the incoming target when it meets the interceptor are The distance between the incoming target and the interceptor drone when they meet in the defense zone is The earliest encounter point time of the interception arc is specifically expressed as: Then the interception area model established by the interception area model establishment unit is: The position deployment principles of the detection area, the defense area and the interception area include the principle of nearby protection, the principle of resisting key nodes and the principle of protecting key targets; among which: the principle of nearby protection means that the position is close to the protected target, so as to detect and kill the incoming target during the pull-up phase; the principle of resisting key nodes means that the position is deployed at the node position of multiple attack routes; the principle of protecting key targets means that the position is used to protect targets with higher priority and value weight.

2. The drone system according to claim 1, characterized in that: For the defense zone model, PCHIP third-order Hermite interpolation fitting is adopted, and the fitting polynomial is as follows: Among them, x0 and x1 are the two adjacent points of the point to be interpolated, y0 and y1 are the dependent variables corresponding to the independent variables x0 and x1 respectively, and y0′ and y1′ are the corresponding derivatives.

3. The drone system according to claim 2, characterized in that: When the interception arc exists, the interception drone intercepts the incoming target within the airspace of the interception zone; when the interception arc does not exist, it is determined that the incoming target has flown out of the defense zone before the interceptor enters the defense zone and cannot be intercepted.

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