A navigation jamming resource scheduling method based on area coverage

Abstract

The application discloses a navigation interference resource scheduling method based on regional coverage, which comprises the following steps: first, a cooperative interference scene of regional full coverage is built; then, key indexes influencing interference coverage effect are quantitatively processed; next, a mathematical optimization function and constraint conditions of a multi-target scheduling problem to be solved under the condition of limited interference resources are given; finally, a resource scheduling model of navigation interference is constructed, and a global coverage navigation interference resource scheduling problem is solved by using a boundary enhanced virtual force algorithm with an adaptive distance threshold. The navigation interference resource scheduling method based on regional coverage is complete and reliable, and the regional coverage effect of navigation interference is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of anti-jamming communication technology, in particular to a navigation jamming resource scheduling method based on area coverage. BACKGROUND

[0002] In recent years, the continuous development of navigation application field, especially the continuous expansion of unmanned aerial vehicle application technology, reduces the concealment of important information such as personal privacy, core technology of enterprises and administrative secrets. How to effectively prevent information leakage caused by satellite communication and crack down on illegal spying activities using unmanned aerial vehicles is the main target of navigation electromagnetic jamming. Since it is difficult to destroy space constellations and ground monitoring systems, the main means of navigation jamming is to allocate jamming resources, send suppression or deception signals, and interfere with navigation receivers on user equipment in a certain area. In a highly informationized complex electromagnetic environment, the coordinated jamming of multiple jamming sources can better achieve the effect of jamming coverage and form a comprehensive, three-dimensional and adjustable jamming scheduling system. Especially with the development of anti-jamming technology, in the case of system resource coordinated jamming, the difficulty of predicting the actual effect of jamming increases, how to reasonably use our jamming resources to implement communication jamming on the target area and effectively destroy the communication capability of the navigation receiver, so that the jamming capability of the coordinated jamming system can be maximized, has become a problem to be solved in the field of navigation jamming.

[0003] The existing navigation jamming effectiveness evaluation method mainly realizes the evaluation through the construction of evaluation index and simulation experiment, which has certain reference significance for the evaluation of navigation jamming effectiveness based on area coverage. At present, there are researches on building a coordinated jamming model of multiple sensing nodes, evaluating the navigation jamming of different sensing models with different numbers of jamming sources; researches on establishing a multi-level evaluation model of satellite navigation system to evaluate the operational effectiveness of satellite navigation system by combining qualitative and quantitative methods; researches on using the global satellite navigation system simulation software platform (BDSim) to set simulation scene conditions to evaluate the navigation effectiveness before high dynamic carrier task; researches on evaluating the navigation jamming of different sensing models with different numbers of jamming sources.

[0004] After establishing the resource scheduling mathematical model for navigation jamming, various optimization methods need to be used to solve the problem. In the available literature, the navigation jamming resource scheduling method based on area coverage is in the exploratory stage. When solving the navigation jamming resource scheduling model based on area coverage, the research on wireless sensor network (WSNs) and cellular network coverage is mainly referred to. Researchers put forward various mathematical optimization methods based on the characteristics of the area coverage problem, such as virtual force optimization method, grid method, Voronoi diagram method, Delaunay triangulation method and swarm intelligence optimization method.

[0005] However, the current methods have some shortcomings:

[0006] (1)From the perspective of navigation interference effectiveness evaluation, the current research is mainly based on positioning accuracy evaluation through simulation of real-time operational situation, lacking of evaluation of spatial coverage effect based on navigation coordination interference.

[0007] (2)From the perspective of evaluation coverage effect index, the current coverage effect index design mainly through the set of each node coverage area superposition, not suitable for power coverage network of navigation interference.

[0008] (3)From the perspective of solving the area coverage algorithm of navigation interference, the designed coverage algorithm for navigation interference is insufficient, and the correlation of the coverage algorithm with the actual confrontation scene is insufficient. SUMMARY

[0009] In view of the above technical problems, the present application provides a navigation interference resource scheduling method based on area coverage, which is used to solve the navigation interference scheduling problem of the characteristic area that the existing method cannot solve.

[0010] To solve the above technical problems, the technical scheme provided by the present application is:

[0011] In order to achieve the above purpose, the technical scheme of the present application is as follows:

[0012] A navigation interference resource scheduling method based on area coverage, the navigation interference resource scheduling method first builds a regionally fully covered cooperative interference scene, then quantitatively processes the key indicators affecting the interference coverage effect, then gives the mathematical optimization function and constraint conditions of the multi-objective scheduling problem to be solved under the condition of limited interference resources, and finally constructs a resource scheduling model of navigation interference, and solves the global coverage navigation interference resource scheduling problem by using the boundary enhanced virtual force algorithm of adaptive distance threshold.

[0013] As a further improvement of the above technical scheme:

[0014] In the above technical scheme, preferably, the navigation interference resource scheduling method comprises the following steps:

[0015] Step S1, based on single-connected interference area, deploy a plurality of directional interference sources with different positions, main lobe direction angles and powers, build a regionally fully covered cooperative interference scene;

[0016] Step S2, based on the power radiation of the navigation interference source and the anti-interference ability of the target receiver, determine the evaluation index for evaluating the area coverage effect;

[0017] Step S3, based on the evaluation index of step S2, obtain the scene constraint condition of interference resource scheduling, and construct a navigation interference multi-objective optimization model;

[0018] Step S4, the boundary enhancement virtual force algorithm using adaptive distance threshold is used to solve the optimization problem, the performance of the multi-objective optimal solution set is evaluated, and the deployment scheme of the navigation jamming is obtained.

[0019] In the technical solution, preferably, in the step S1, the building process of the cooperative jamming scene includes the following steps:

[0020] S1-1, according to the characteristics of the navigation jamming target having concealment and mobility, the involved area is divided into a to-be-jammed area and a to-be-jammed surrounding area;

[0021] S1-2, based on the demand of the navigation jamming, an area division binary image of the countermeasure scene is obtained through image processing;

[0022] S1-3, based on the to-be-jammed area division result, the coverage area boundary data is obtained.

[0023] In the technical solution, preferably, in the step S2, the evaluation index at least includes the jamming coverage rate, the jamming external radiation rate, the jamming overlap rate, and the power balance degree.

[0024] In the technical solution, preferably, the jamming coverage rate η in According to the following formula:

[0025]

[0026]

[0027] Wherein, S in represents the area of the to-be-jammed area, S in eff represents the area of the to-be-jammed area covered by the jamming signal, Area in represents the point set of the to-be-jammed area;

[0028] The jamming external radiation rate η out According to the following formula:

[0029]

[0030]

[0031] Wherein, S out represents the area of the to-be-jammed surrounding area, S out radi represents the area outside the to-be-jammed area that can be effectively jammed by the jamming signal, Area out represents the point set of the to-be-jammed area;

[0032] The jamming overlap rate η overCalculate using the following formula:

[0033]

[0034]

[0035]

[0036] Among them, S jam S represents the area of ​​the region where interference may radiate. over J(x,y) represents the area of ​​the overlapping region of interference from various interference sources within the area to be interfered with, and J(x,y) indicates whether a certain location is repeatedly interfered with by multiple interference sources. This indicates whether a certain interference source i can effectively interfere with a certain location (x,y) on its own, and N represents the number of interference sources used for deployment;

[0037] The power equalization degree m balance Calculate using the following formula:

[0038]

[0039] In the above technical solution, preferably, in step S3, the parameters of the interference source satisfy the constraints of the confrontation scenario, which are limited by the interference confrontation area and the scale of interference confrontation.

[0040] In the above technical solution, preferably, the scenario constraints for interfering with resource scheduling are as follows:

[0041]

[0042] Among them, D t (i) represents the deployment location of interference source i, θ t (i) represents the main lobe alignment angle of the deployment of interference source i, P t (i) represents the deployment power of interference source i, the maximum power that the deployed jammer can transmit is P_max, the minimum power that the deployed jammer needs to transmit is P_min, len_x represents the width of the area to be interfered with, and len_y represents the height of the area to be interfered with.

[0043] In the above technical solution, preferably, the navigation interference multi-target optimization model is as follows:

[0044] The multi-objective optimization function is:

[0045] min F(Φ):=[1-η in ,η out ,η over ,m balance ]

[0046] The constraints on the objective function are:

[0047]

[0048] where, and are the minimum interference coverage, maximum external interference emission and maximum interference overlap required for cooperative jamming respectively.F(Φ) is a multi-objective function consisting of evaluation metrics.

[0049] In the technical solution, preferably, in the step S4, the boundary enhanced virtual force algorithm of the adaptive distance threshold is constructed from three aspects of the jammer deployment position, the main lobe alignment angle and the power.

[0050] Compared with the prior art, the navigation jamming resource scheduling method based on area coverage has the following advantages:

[0051] The navigation jamming resource scheduling method based on area coverage builds a navigation jamming resource scheduling model based on area coverage, designs a scheduling algorithm to optimize the deployment strategy, realizes the expected jamming coverage effect, and gives a relatively complete and reliable navigation jamming resource scheduling method based on area coverage, and improves the area coverage effect of navigation jamming. BRIEF DESCRIPTION OF DRAWINGS

[0052] Figure 1 It is a scene model schematic diagram of navigation jamming when the application is implemented.

[0053] Figure 2 It is an ideal directional diagram of the directional jammer when the application is implemented.

[0054] Figure 3 It is a polygonal schematic diagram of the area to be jammed when the application is implemented.

[0055] Figure 4 It is an adjacent boundary schematic diagram of the jammer when the application is implemented.

[0056] Figure 5(a) is a schematic diagram of the main lobe of the jammer on the same side, and the main lobe is completely aligned when the application is implemented.

[0057] Figure 5(b) is a schematic diagram of the main lobe of the jammer on different sides, and the main lobe is completely aligned when the application is implemented.

[0058] Figure 5(c) is a schematic diagram of the main lobe of the jammer on the same side, and the main lobe is partially aligned when the application is implemented.

[0059] Figure 5(d) is a schematic diagram of the main lobe of the jammer on the same side, and the main lobe is partially aligned when the application is implemented.

[0060] Figure 5(e) is a schematic diagram of the main lobe of the interference source on the same side without alignment when the application is implemented.

[0061] Figure 5(f) is a schematic diagram of the main lobe of the interference source on the partial side without alignment when the application is implemented.

[0062] Figure 6 Figure 6 is a schematic diagram of the adjacency relationship between the interference sources when the application is implemented.

[0063] Figure 7(a) is a schematic diagram of the main lobe of the interference source on the same side with complete alignment when the application is implemented.

[0064] Figure 7(b) is a schematic diagram of the main lobe of the interference source on different sides with complete alignment when the application is implemented.

[0065] Figure 7(c) is a schematic diagram of the main lobe of the interference source on the same side with partial alignment when the application is implemented.

[0066] Figure 7(d) is a schematic diagram of the main lobe of the interference source on the partial side with partial alignment when the application is implemented.

[0067] Figure 7(e) is a schematic diagram of the main lobe of the interference source on the same side without alignment when the application is implemented.

[0068] Figure 7(f) is a schematic diagram of the main lobe of the interference source on the partial side without alignment when the application is implemented.

[0069] Figure 8 Figure 8 is a schematic diagram of the interference power setting when the application is implemented.

[0070] Figure 9 Figure 9 is a schematic diagram of the reliability verification when the application is implemented. DETAILED DESCRIPTION

[0071] The specific embodiments of the application are described in detail below. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the application, and are not intended to limit the application.

[0072] Figure 1 An embodiment of the navigation interference resource scheduling method based on area coverage of the application is shown, which can specifically include the following steps:

[0073] Step S1, based on the actual problem faced by the navigation interference, a multi-parameter heterogeneous global coverage collaborative interference scene of the interference source is built.

[0074] Step S2, based on the power radiation of the navigation jamming source and the anti-jamming capability of the target receiver, four evaluation indexes for evaluating the regional coverage effect are determined, including interference coverage rate, interference external radiation rate, interference overlap rate, and power balance degree;

[0075] Step S3, based on the cooperative jamming scene and the regional coverage effect evaluation index, the scene constraint condition of interference resource scheduling is obtained, and a navigation jamming multi-objective optimization model is constructed.

[0076] Step S4, the performance of the multi-objective optimal solution set is evaluated by using the boundary enhanced virtual force algorithm with adaptive distance threshold to solve the optimization problem, and the deployment scheme of the navigation jamming is obtained.

[0077] Embodiment

[0078] In the navigation jamming resource scheduling method of the embodiment, from building the jamming scene to designing the resource scheduling model, and then to designing the regional coverage algorithm. Aiming at the concealment and high mobility of the navigation jamming target, a navigation jamming resource scheduling model based on regional coverage is built, a scheduling algorithm is designed to optimize the deployment strategy, and the expected interference coverage effect is realized. Specifically, the following steps are included:

[0079] Step S1, based on the actual problem faced by the navigation jamming, a global coverage cooperative jamming scene of multi-parameter heterogeneous interference sources is built.

[0080] S1-1, aiming at the characteristics of strong concealment and mobility of the navigation jamming target, the involved region is divided into a core protection region and a surrounding region which may cause information leakage.

[0081] In this embodiment, combined with the navigation jamming regional coverage problem in a limited range, the scene model of navigation jamming is given through image processing, as shown in Figure 1 The binary image of the cooperative jamming region is shown in Figure 1 The pixel value at a certain position (x, y) is represented by C(x, y), and the gray color corresponds to the pixel value of 1, and the white color corresponds to the pixel value of 0. i represents the i-th jamming source, wherein the rectangular Area jam represents the entire rectangular region that may be affected by the jamming source, Area in represents the region to be jammed, i.e. the region to be protected by the deployment of the jamming source, Area out represents the surrounding region to be jammed.

[0082] S1-2, based on the coverage demand of the navigation jamming, which is to reduce the impact on the surrounding region while realizing the navigation jamming regional coverage, the region division binary image of the confrontation scene is obtained through image processing in this embodiment.

[0083] For the interference area of image processing, the area of a certain area is equal to the number of image pixels, and the area of Area jam is denoted as S jam , and the calculation formula is as follows:

[0084] S jam = len_x * len_y

[0085] Figure 1 The gray area in the middle is the area to be interfered, denoted as Area in , and the area of the area is denoted as S in , and the calculation formula is as follows:

[0086]

[0087] Figure 1 The white area in the middle is the peripheral area to be interfered, denoted as Area out , and the area of the area is denoted as S out , and the calculation formula is as follows:

[0088] S out = S jam -S in

[0089] Where, Area jam = Area in + Area out .

[0090] S1-3, based on the interference area division result, obtain the coverage area boundary data.

[0091] In this embodiment, a cooperative interference model is constructed based on an interference scene model. In order to reduce the power cost of interference coverage and reduce the influence on the surrounding area, the main lobe alignment angle of the interference source is considered when optimizing the interference deployment strategy, which increases the heterogeneity between the interference sources and makes the scheduling scheme more flexible and controllable.

[0092] When considering the transmission of interference signals by an independent interference source i, the received interference signal power at the navigation receiver position (x, y) can be represented as:

[0093]

[0094] Where, P i (x, y) represents the interference power intensity of the transmitted interference signal of the interference source i at (x, y), (x, y) Area jam ; P t (i) is the transmission power of the i-th interference source, G t (θ t (i)) is the antenna gain of the jammer, and G r(a) is the receiver antenna gain, γ t L is the antenna polarization loss, t λ is the interference signal loss coefficient, λ represents the wavelength of the interference signal, the working frequency f of the navigation signal L1 L1 is 1575.4MHz, λ=c0 / (ω*f L1 ), c0 represents the propagation speed of electromagnetic waves in vacuum, c0=3×10 8 , the refractive index of air ω=1.008; D i (x,y) represents the Euclidean distance from the interference source i to the position (x,y) to be interfered.

[0095] Based on the single interference power intensity received by the above receiver, the judgment basis for successful cooperative interference is obtained. The cooperative interference judgment result is calculated according to the following formula:

[0096]

[0097] Wherein, E s (x,y) represents whether N interference sources can cooperatively interfere with the navigation receiver at a position (x,y), and the value is 1 when the interference source can successfully interfere with the navigation receiver, and 0 when the interference source cannot successfully interfere with the navigation receiver; P s represents the satellite signal power received by the receiver, K jam represents the suppression coefficient of the receiver, P jam (x,y) represents the interference power sum of N interference sources received by the position (x,y) to be interfered, P jam (x,y) is calculated as follows:

[0098]

[0099] For the influence of the antenna direction angle, the antenna of the interference source in the embodiment is a linear array antenna. The pattern function of the uniform linear array antenna is:

[0100]

[0101] Wherein w m represents the weight value of each array element, M represents the number of array elements, and the array element spacing d=λ / 2. The ideal pattern of the interference source is shown in Figure 2 .

[0102] Step S2, based on the power radiation of the navigation interference source and the anti-interference ability of the target receiver, four evaluation indexes for evaluating the regional coverage effect are determined, including interference coverage rate, interference external radiation rate, interference overlap rate and power balance degree.

[0103] The purpose of navigation jamming is to shield satellite signals in a specific frequency band at the lowest possible cost without affecting the surrounding environment. To address this target, an interference coverage η was constructed. in Interference external emissivity η out Interference overlap rate η over Three metrics for evaluating coverage effectiveness, and power equalization μ balance This is a metric for assessing deployment costs.

[0104] The interference coverage rate η is calculated using the following formula. in :

[0105]

[0106]

[0107] Among them, S in S represents the area of ​​the region to be interfered with. in eff Area represents the area of ​​the region to be interfered with that can be covered by the interfering signal. in The set of points representing the region to be interfered with.

[0108] Interference external emissivity η out The impact of an interference source on the surrounding area is assessed by representing the ratio of the effective interference area outside the target area to the entire surrounding area. The external emissivity η of the interference is calculated using the following formula. out :

[0109]

[0110]

[0111] Among them, S out S represents the area of ​​the surrounding region to be interfered with. out radi Area represents the area outside the target area that the interfering signal can effectively interfere with. out The set of points representing the region to be interfered with.

[0112] Interference overlap rate η over To assess the distribution effect of interference sources, calculate the interference overlap rate η using the following formula. over :

[0113]

[0114]

[0115]

[0116] Among them, S jamArea of the region representing the possible interference radiation, S over Area of the region representing the possible interference radiation, S Area of the region representing the possible interference radiation, S

[0117] Power balance degree m balance The total power cost consumed by the cooperative interference is evaluated by the residual sum of squares between the received signal jamming ratio and the receiver suppression coefficient, and the power balance degree m is calculated according to the following formula balance :

[0118]

[0119] The total power cost consumed by the cooperative interference is evaluated by the residual sum of squares between the received signal jamming ratio and the receiver suppression coefficient, and the power balance degree m is calculated according to the following formula balance The overall unreasonable coverage cost brought by the deployment strategy is reflected by the interference outside radiation rate η out The unreasonable cost of the local area deployment strategy is considered.

[0120] Step S3, based on the cooperative interference scene and the area coverage effect evaluation index of step S2, the scene constraint condition of the interference resource scheduling is obtained, and a navigation interference multi-objective optimization model is constructed.

[0121] In the embodiment, the interference resource scheduling is limited by the interference countermeasure region and the interference countermeasure scale, and each parameter of the interference source needs to meet the countermeasure scene constraint condition, including:

[0122]

[0123] Wherein, D t (i) represents the deployment position of the interference source i, θ t (i) represents the deployment main lobe alignment angle of the interference source i, P t (i) represents the deployment power of the interference source i, the maximum power that the deployed jammer can emit is P_max, the minimum power that the deployed jammer needs to send is P_min, len_x represents the width of the region to be interfered, and len_y represents the height of the region to be interfered.

[0124] The navigation interference multi-objective optimization model is constructed:

[0125] The multi-objective function is calculated according to the following formula:

[0126] min F(Φ):=[1-η in ,η out ,η overm balance ]

[0127] The constraint of the objective function is:

[0128]

[0129] Wherein, And The minimum interference coverage rate required for cooperative interference, the maximum external interference transmission rate and the maximum interference overlap rate are respectively F(Φ) is a multi-objective function composed of four area coverage effect evaluation indexes.

[0130] Step S4, the boundary enhanced virtual force algorithm with adaptive distance threshold is used to solve the optimization problem, the performance of the multi-objective optimal solution set is evaluated, and the deployment scheme of navigation interference is obtained.

[0131] The adaptive distance threshold boundary enhanced virtual force algorithm is constructed to optimize the navigation interference deployment scheme.

[0132] In this embodiment, the adaptive distance threshold boundary enhanced virtual force algorithm is constructed from the aspects of interference source deployment position, main lobe alignment angle and power.

[0133] S4-1, the virtual force between the interference sources is constructed to adjust the interference deployment position.

[0134] The virtual force received by the interference source i is represented as:

[0135]

[0136] Wherein, The virtual force for adjusting the deployment position D t (i) of the interference source i, The virtual force for adjusting the main lobe alignment angle θ t (i) of the interference source i, The virtual force for adjusting the power P t (i) of the interference source i.

[0137] The to-be-interfered region is a random single-connected region, which is different from the general rectangular to-be-interfered region. The to-be-interfered region needs to be polygonized first, and the boundary is converted into an approximate polygon, and then the boundary force can be synthesized.

[0138] As shown in Figure 3 , it is a process diagram of polygonization. The boundary after twice smoothing is segmented according to a fixed length, and the node coordinates are recorded. The coordinates of each vertex are recorded in a counterclockwise direction, wherein the first vertex is the boundary point of the upper left corner of the to-be-interfered region. For a closed polygon region, the number of vertices is equal to the number of edges nb, and the polygon vertices are pb u In the pixel space-based two-dimensional coordinate representation, denoted as The midpoint of each edge is pbc t The corresponding relationship between each edge vertex is as follows:

[0139]

[0140] wherein the center point of each edge is a two-dimensional coordinate, denoted as

[0141] The virtual force expression for adjusting the positions between the interference sources is as follows:

[0142]

[0143] wherein, The adjacent boundary of the interference source i is determined by the relative size of the distance D from the interference source to the boundary center iu , the maximum adjacent distance , as shown in Figure 4 . The expression of D is as follows:

[0144]

[0145] The adjacent relationship between the interference source and the boundary is represented by a two-dimensional adjacency matrix J_B of N×nb, and the formula is as follows:

[0146]

[0147] wherein, J_B(i,u) = 1 indicates that the interference source i is adjacent to the boundary pbc u , and J_B(i,u) = 0 indicates that the interference source i is not adjacent to the boundary pbc u .

[0148] S4-2, by constructing the virtual force of the main lobe alignment angle between the interference sources, the interference deployment direction angle is adjusted.

[0149] In order to make the virtual force more suitable for directional interference sources, the distance threshold between the interference sources i and j should have adaptive ability. Wherein, Affected by the direction angle, in order to solve the change of the ideal distance threshold generated by the main lobe alignment angle, according to the analysis, the distance threshold function formula is as follows:

[0150]

[0151] wherein, Aij = θ t (i) - θ ij , A ji = θ t (j) - θ ji Since the cooperative interference coverage has a certain redundancy, the design is adjusted to its ideal distance, and the expression is as follows:

[0152]

[0153] Wherein represents the coverage redundancy, S singal represents the sum of the coverage areas of each interference source alone, that is, the maximum coverage area of the cooperative interference of the interference sources, S jam represents the area of the to-be-interfered region, and m is a positive integer. When the cooperative interference of the interference sources cannot cover the to-be-interfered region, the weight is set to be larger; when there is a certain power redundancy in the cooperative interference of the interference sources covering the to-be-interfered region, the weight can be appropriately reduced.

[0154] As shown in FIG. 5, according to the distribution of the positions of the interference sources, a distance threshold function f d (a, b) between two interference sources is constructed, and the expression is as follows:

[0155]

[0156] Wherein, θ m represents the main lobe width of the antenna pattern of the interference source, represents the interference distance of the interference source i in the main lobe direction, represents the interference distance of the interference source i in the side lobe direction.

[0157] a and b are the basis for the division of the six cases, and a*b is used to distinguish whether the relative positions of the two interference sources and the antenna direction angles thereof are on the same side. When they are on the same side, the overlap rate of the power radiation pattern is higher, and the distance threshold needs to be appropriately adjusted. When a*b<0, it indicates that the antenna direction angles of the two interference sources are on the same side of the relative position angle, and vice versa.

[0158] |a| and |b| are used to distinguish whether the antenna direction angles of the two interference sources are aligned with each other. |a|<θ m / 2 indicates that the main lobe of the antenna direction angle of the interference source i is aligned with the interference source j; otherwise, the main lobe of the antenna direction angle of the interference source i is not aligned with the interference source j.

[0159] The expression for adjusting the direction angles between the interference sources is as follows:

[0160]

[0161] where A ij = θ t (i)- θ ij denotes the absolute value of the angle between the alignment direction of the i-th interferer and the direction of the relative position vector, and its value range is -π < A ij ≤ π, when a force that reduces the size of the direction angle is generated, the direction is negative, u a denotes the weight of the negative direction force; when a force that increases the size of the direction angle is generated, the direction is positive, u b denotes the weight of the positive direction force. By setting the direction angle threshold value in different cases, the adjustment strategy is more reasonable and reliable. The force for adjusting the direction angle proposed in this paper is also affected by the boundary, and the final expression of the resultant force for adjusting the most accurate angle of the interferer antenna is as follows:

[0162]

[0163] The virtual force of each interferer angle is generated by the joint action of each interferer and the boundary. Among them, denotes the angle adjustment force between the alignment angles of each interferer; denotes the adjustment of the boundary to the angle of the interferer. It is worth noting that the angle force received by a certain interferer i is not affected by all the interferers, but by its adjacent interferers , where The formula is as follows:

[0164]

[0165] where, denotes the adjacent interferers of the i-th interferer, which is determined by the relative size of the distance D ij between the two interferers and the maximum adjacent distance , as shown in the following formula. Figure 6

[0166] The adjacent relationship between the interferers is represented by a two-dimensional adjacent matrix J_J of N x N, and the formula is as follows:

[0167]

[0168] where J_J(i,j) = 1 indicates that the i-th interferer is adjacent to the j-th interferer, and J_J(i,j) = 0 indicates that the i-th interferer is not adjacent to the j-th interferer.

[0169] The degree of influence between the interferers is mainly determined by the direction angle threshold value . The direction angle threshold value is determined by the relative distance between the two interferers and the maximum adjacent distance​​ They exhibit strong correlation, and their mutual influence enhances the diversity of solutions. Their functional expression is as follows:

[0170]

[0171] Among them, f a (c1,c2,d) is a function that adjusts the angle threshold between interference sources. The output of this function is the absolute value of the direction angle threshold, ranging from (0,π). sgn(A ij ) is A ij The sign function, representing the direction of the angular force threshold, leads to the final result... The range of values ​​for is [-π, π]. Compared to the interval [0, 2π], It has stronger directionality in the [-π,π] interval and is more convenient to adjust the direction angle.

[0172] As shown in Figure 7, based on the distribution of the positions between the interference sources, a direction angle threshold function f between the two interference sources is constructed. a (c1,c2,d), the expression is as follows:

[0173]

[0174] Among them, c1, c2, and d are the criteria for dividing the six cases, and the specific details of the division are the same as those for adjusting the position. From the above formula, it can be seen that the influence of adjacent interference sources on the angular force threshold is mainly through the relative distance D. ij To be confirmed.

[0175] S4-3. Adjust the power of interference deployment by constructing a virtual force of power between interference sources.

[0176] like Figure 8 As shown, when the overlap area is greater than the hole area, the power of the interference source is considered too high, and the power of interference source i is reduced; when the overlap area is less than the hole area, the power of the interference source is considered too low, and the power of interference source i is increased. Based on this analysis, the expression for adjusting the power between interference sources is as follows:

[0177]

[0178]

[0179]

[0180] in, This indicates the area that interference source i can effectively interfere with when used alone. This represents the area that can be effectively interfered with by interference source i alone. an overlapping or a hollow area representing the power coverage of the interference source i, whether the interference power of the interference source i at a certain position (x, y) is too high or too low, a threshold value for judging whether the power is too high, a threshold value for judging whether the power is too low.

[0181] Reliability verification of the scheduling method of the application:

[0182] Based on the reliability verification of the boundary enhanced virtual force algorithm, the performance of the three different algorithms for the model is analyzed.

[0183] As Figure 9 shown, the iteration curves of the hypervolume (HV) average values of different algorithms are compared, and the hypervolume is a comprehensive index for evaluating the advantages and disadvantages of the Pareto solution set output by the multi-objective algorithm. The results show that the HV convergence speed and convergence value of the boundary enhanced virtual force algorithm of the application are better than those of NSGA-II and MOPSO. In solving the multi-objective optimization problem of navigation interference area coverage, compared with common multi-objective optimization algorithms, the boundary enhanced virtual force algorithm with adaptive distance threshold of the application has higher reliability.

[0184] The application relates to a navigation interference resource scheduling method based on area coverage. In view of the concealment and high maneuverability of a navigation interference target, a navigation interference resource scheduling model based on area coverage is built, a scheduling algorithm is designed to optimize a deployment strategy, and an expected interference coverage effect is realized. First, a scheduling scene of global coverage navigation interference is introduced, and a global coverage navigation interference resource scheduling problem is described. Secondly, starting from the principle of navigation interference, key indexes influencing the interference coverage effect are analyzed and quantitatively processed, and a mathematical optimization function and constraint condition of a multi-objective scheduling problem to be solved under the condition of limited interference resources are given. Finally, according to the navigation interference resource scheduling model, a boundary enhanced virtual force algorithm with an adaptive distance threshold is proposed to solve the global coverage navigation interference resource scheduling problem in view of the deployment problem of a directional interference source in area coverage and an optimal deployment theorem.

[0185] The above implementation cases are only preferred embodiments of the application and do not limit the application in any form. Although the application has been disclosed as above with the preferred embodiments, it is not intended to limit the application. Therefore, any simple modification, equivalent change and modification made to the above embodiments without departing from the technical solution of the application and according to the technical essence of the application shall fall within the protection scope of the technical solution of the application.

Claims

1. A method for navigation jamming resource scheduling based on area coverage, characterized in that, The navigation interference resource scheduling method first builds a cooperative interference scene with full regional coverage, then quantitatively processes key indicators affecting interference coverage effect, further gives a mathematical optimization function and constraint conditions of a multi-objective scheduling problem to be solved under the condition of limited interference resources, finally constructs a navigation interference resource scheduling model, and solves the global coverage navigation interference resource scheduling problem by using a boundary enhanced virtual force algorithm with adaptive distance threshold; The navigation interference resource scheduling method comprises the following steps: Step S1, based on a single-connected interference region, deploying a plurality of directional interference sources with different positions, main lobe direction angles and powers, building a cooperative interference scene with full regional coverage; Step S2, based on the power radiation of the navigation interference source and the anti-interference ability of the target receiver, determining an evaluation index for evaluating the regional coverage effect; Step S3, based on the evaluation index of step S2, obtaining the scene constraint conditions of the interference resource scheduling, and constructing a navigation interference multi-objective optimization model; Step S4, using a boundary enhanced virtual force algorithm with adaptive distance threshold to solve the optimization problem, evaluating the performance of the multi-objective optimal solution set, and obtaining the deployment scheme of the navigation interference.

2. The method of claim 1, wherein, In step S1, the building process of the cooperative interference scene comprises the following steps: S1-1, in view of the characteristics of the navigation interference target having concealment and mobility, dividing the involved region into a to-be-interfered region and a surrounding region to be interfered; S1-2, based on the demand of navigation interference, obtaining a region division binary image of the countermeasure scene through image processing; S1-3, based on the division result of the to-be-interfered region, obtaining the coverage region boundary data.

3. The method of claim 2, wherein, In step S2, the evaluation index at least includes interference coverage rate, interference external radiation rate, interference overlap rate and power balance degree.

4. The method of claim 3, wherein, The interference coverage η in According to the following formula: where S in represents the area of the region to be jammed, S in eff represents the area of the region to be jammed, S in represents the set of points of the region to be jammed, E s (x, y) represents whether N jammers can cooperatively jam a navigation receiver at a location (x, y). The interference external radiance η out is calculated according to the following formula: wherein S out represents the area of the surrounding region to be interfered with, S out radi represents the area outside the region to be interfered with in which the interfering signal can effectively interfere, Area out represents the point set of the region to be interfered with; The interference overlap rate η over According to the following formula: where S jam represents the area of the region where the interference is likely to be radiated, S over represents the area of the region where the interference is likely to be radiated, S represents the area of the region where the interference is likely to be radiated, S the power balance degree μ balance is calculated according to the following formula: where P jam (x, y) represents the N interference power and K jam represents the receiver suppression coefficient, P s represents the receiver received satellite signal power.

5. The method of claim 4, wherein, In step S3, limited by the interference countermeasure region and the interference countermeasure scale, the parameters of the interference source meet the constraint conditions of the countermeasure scene.

6. The method of claim 5, wherein, The scene constraint conditions of the interference resource scheduling are: where D t (i) represents the deployment position of the interference source i, θ t (i) represents the deployment main lobe alignment angle of the interference source i, P t (i) represents the deployment power of the interference source i, the maximum power that the deployed jammer can emit is P_max, the minimum power that the deployed jammer needs to send is P_min, len_x represents the width of the area to be jammed, and len_y represents the height of the area to be jammed.

7. The method of claim 6, wherein, The navigation interference multi-objective optimization model is: The multi-objective optimization function is: min F(Φ):=[1-η in ,η out ,η over ,μ balance ] The constraint on the objective function is: wherein, and are the minimum interference coverage, the maximum external interference emission and the maximum interference overlap required for the cooperative jamming, respectively, and F(Φ) is a multi-objective function composed of the evaluation indices.

8. The method of claim 1, wherein, In step S4, the boundary enhanced virtual force algorithm with adaptive distance threshold is constructed from three aspects of the deployment position of the interference source, the main lobe alignment angle and the power.

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