Aircraft interception method and system

Abstract

The application provides an aircraft interception method and system. M groups of interception matching groups are obtained at a current time to obtain dynamic interception target points. Game calculation is performed based on the dynamic interception target points and pre-constructed aircraft optimization conditions to determine a decision instruction of a defense aircraft at the current time, wherein the decision instruction includes target position information of the defense aircraft at a next time. Within a preset time period, the corresponding defense aircraft is driven based on the decision instruction. When the preset time period ends, the dynamic interception target points of the M groups of interception matching groups at the current time are repeatedly obtained until the defense aircraft successfully intercepts an invading aircraft at a corresponding interception point. When the target position information of the defense aircraft at the next time is determined, game calculation is performed, the change of a navigation track of the invading aircraft is fully considered, and therefore the target position information of the defense aircraft at the next time is accurately calculated, and the shortest interception distance is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft, in particular to an aircraft interception method and system. BACKGROUND

[0002] The intrusion-defense game is composed of an intruder group, a defender group and a protected area, and is often used to represent a problem scenario in which the intruder moves towards the protected area while avoiding the defender, and the defender aims to intercept the intruder to prevent it from entering the protected area. The intruder wins if it enters the protected area, otherwise the defender wins. This game scenario has a very broad application prospect, such as network security, wildlife protection, etc.

[0003] Traditional intrusion-defense game solving adopts classical navigation and guidance methods such as proportional navigation, augmented proportional navigation, and line-of-sight method, etc. If the intruder has decision-making intelligence and the defender only adopts a fixed strategy, then the defender cannot effectively intercept the intruder. With the development of artificial intelligence science, game theory has become one of the traditional theoretical frameworks for modeling important decision-making processes in many aspects of our lives, and has been applied in economics, social science, finance, project management, computer science, citizenship, and epidemiology. Giving game intelligence to unmanned aerial vehicles can effectively improve the motion decision-making ability of unmanned aerial vehicles.

[0004] Therefore, how to complete the aircraft interception combined with game theory has become a difficult problem for those skilled in the art. SUMMARY

[0005] The purpose of the present application is to provide an aircraft interception method and system to at least partially improve the above problems.

[0006] In order to achieve the above purpose, the technical solutions adopted by the embodiments of the present application are as follows:

[0007] In a first aspect, the embodiments of the present application provide an aircraft interception method, which comprises:

[0008] obtaining M dynamic interception target points of M interception matching groups at a current time, wherein each interception matching group comprises one intruder aircraft and one defender aircraft, the dynamic interception target point is a place expected to be reached after trajectory planning of the defender aircraft, M is an integer greater than or equal to 1;

[0009] performing game calculation based on the dynamic interception target point and a pre-constructed aircraft optimization condition to determine a decision instruction of the defender aircraft at the current time, wherein the decision instruction comprises target position information of the defender aircraft at a next time;

[0010] driving the corresponding defense aircraft based on the decision instruction within a preset time period, and repeating the acquisition of the dynamic interception target point of the M groups of interception matching groups at the current time until the defense aircraft successfully intercepts the invading aircraft at the corresponding interception point.

[0011] Optionally, the pre-constructed aircraft optimization condition includes a defense end optimization condition and an invading end optimization condition, and the step of performing game calculation based on the dynamic interception target point and the pre-constructed aircraft optimization condition to determine the decision instruction of the defense aircraft at the current time includes:

[0012] determining the current time as a target time;

[0013] acquiring a first type of iterative decision instruction corresponding to the target time based on the dynamic interception target point and the defense end optimization condition, wherein the first type of iterative decision instruction includes a first type of estimated position of the defense aircraft at each time within H times after the target time;

[0014] acquiring a second type of iterative decision instruction corresponding to the target time based on the first type of estimated position and the invading end optimization condition, wherein the second type of iterative decision instruction includes a second type of estimated position of the invading aircraft at each time within H times after the target time;

[0015] determining whether the defense aircraft can intercept the invading aircraft after the execution of the first type of iterative decision instruction and the second type of iterative decision instruction obtained in this iteration;

[0016] if not, determining a next time of the target time as a new target time, and acquiring a dynamic interception target point of the M groups of interception matching groups at the new target time based on estimated position information of the invading aircraft at the new target time;

[0017] performing the next iteration, and repeating the acquisition of the first type of iterative decision instruction corresponding to the target time based on the dynamic interception target point and the defense end optimization condition, until the number of iterations exceeds a preset iteration threshold or interception is possible, and acquiring a third type of estimated position and a fourth type of estimated position;

[0018] wherein the third type of estimated position is an estimated position of the defense aircraft at a next time after the target time obtained in the last iteration, and the fourth type of estimated position is an estimated position of the invading aircraft at the next time after the target time obtained in the last iteration;

[0019] The decision instruction of the defense aircraft at the current time is obtained based on the third type of estimated position, the fourth type of estimated position, and a current position of the defense aircraft.

[0020] Optionally, the defense-side optimization condition comprises a defense-side cost function and a defense-side optimization problem.

[0021] The defense-side cost function is:

[0022]

[0023] The defense-side optimization problem is expressed as:

[0024]

[0025] wherein s l = [x l , y l , z l ], j = 1, 2,..., N d , represents a position vector set of other defense aircrafts except the lth defense aircraft; represents a distance vector between the lth defense aircraft and all defense aircrafts; d jl = ||v jl -s l || represents a distance between the lth defense aircraft and the corresponding dynamic interception target point; is a penalty gain parameter, is an incentive parameter; R1 is a positive definite parameter matrix; v jl and v jl (k) represent a dynamic interception target point of the lth defense aircraft for the jth invading aircraft, u l and u l (k) represent a first type of iterative decision instruction of the lth defense aircraft at the kth time; the superscript n represents an iteration step number in the game algorithm, when n = 1: p l (s l (H)) = s l (H)R2s l (H) T represents a terminal cost; R2 is a positive definite parameter matrix; f represents a kinematic constraint of the aircraft system, s l (1) = s l,0 is an initial state constraint, s l,0 represents a current position of the lth defense aircraft in the game iteration calculation, represents a control input constraint set of the lth defense aircraft, represents a space constraint set of the lth defense aircraft.

[0026] Optionally, the invasion end optimization condition comprises an invasion end cost function and an invasion end optimization problem.

[0027] The invasion end cost function is:

[0028]

[0029] The invasion end optimization problem is expressed as:

[0030]

[0031] wherein s j = [x j , y j , z j ], j = 1, 2,..., N i represents a position vector of the invasion aircraft, represents a set of all defense aircraft position vectors, represents a distance vector between the invasion aircraft and all defense aircraft, d p = ||O-s j || represents a distance between the current position of the invasion aircraft and the center point O of the protected area, is a gain parameter for encouraging the invasion aircraft to keep a distance from the defense aircraft, is a parameter for encouraging the invasion aircraft to reach the destination; the superscript n represents the iteration step number in the game algorithm, when n = 1: p j (s j (H)) = s j (H)R2s j (H) T is the terminal cost, s j (1) = s j,0 is the initial state constraint, s j,0 represents the current position of the jth invasion aircraft calculated in the game iteration, and are the control input and state constraint sets of the system, respectively.

[0032] Optionally, the expression of the dynamic interception target point is:

[0033]

[0034] wherein ξ ∈ (0, 1] is a constant coefficient, v jl (k) represents the dynamic interception target point of the jth invasion aircraft by the lth defense aircraft, s jl (k) represents the current position information of the jth invasion aircraft matched with the lth defense aircraft. a unit vector representing a target direction of the jth invading aircraft.

[0035] Optionally, the method further comprises:

[0036] When two invading aircrafts enter the defense area at the same time, each invading aircraft is assigned an idle defense aircraft based on a shortest total flight distance principle to determine an interception matching group.

[0037] Optionally, the expression of the shortest total flight distance principle is:

[0038]

[0039]

[0040]

[0041] wherein, d jl =||s j (0)-s l (0)||; s j (0) represents initial position information of the jth invading aircraft; s l (0) represents initial position information of the lth defense aircraft.

[0042] In a second aspect, an embodiment of the present application provides an aircraft interception system, comprising: a central control unit and a preset number of defense aircrafts, the central control unit being in communication connection with each of the defense aircrafts;

[0043] The central control unit is configured to obtain dynamic interception target points of M interception matching groups at a current time, wherein each interception matching group comprises an invading aircraft and a defense aircraft, the dynamic interception target point is a place expected to be reached after trajectory planning of the defense aircraft, and M is an integer greater than or equal to 1.

[0044] The central control unit is further configured to perform game calculation based on the dynamic interception target points and pre-constructed aircraft optimization conditions to determine a decision instruction of the defense aircraft at the current time, wherein the decision instruction comprises target position information of the defense aircraft at a next time.

[0045] Within a preset time period, the defense aircraft is configured to drive the corresponding defense aircraft based on the decision instruction, and when the preset time period ends, the central control unit is configured to repeatedly obtain dynamic interception target points of M interception matching groups at a current time until the defense aircraft successfully intercepts the invading aircraft at a corresponding interception point.

[0046] Optionally, the pre-constructed aircraft optimization condition comprises a defense end optimization condition and an invasion end optimization condition, and the game calculation based on the dynamic interception target point and the pre-constructed aircraft optimization condition to determine the decision instruction of the defense aircraft at the current time comprises:

[0047] determining the current time as a target time;

[0048] obtaining a first type of iterative decision instruction corresponding to the target time based on the dynamic interception target point and the defense end optimization condition, wherein the first type of iterative decision instruction comprises a first type of estimated position corresponding to each time within H times after the target time of the defense aircraft;

[0049] obtaining a second type of iterative decision instruction corresponding to the target time based on the first type of estimated position and the invasion end optimization condition, wherein the second type of iterative decision instruction comprises a second type of estimated position corresponding to each time within H times after the target time of the invasion aircraft;

[0050] determining whether the defense aircraft can intercept the invasion aircraft after executing the first type of iterative decision instruction and the second type of iterative decision instruction obtained in this iteration;

[0051] if not, determining a next time of the target time as a new target time, and obtaining a dynamic interception target point of M groups of interception matching groups at the new target time based on estimated position information of the invasion aircraft at the new target time;

[0052] performing the next iteration, and repeating the obtaining of the first type of iterative decision instruction corresponding to the target time based on the dynamic interception target point and the defense end optimization condition until the number of iterations exceeds a preset iteration threshold or the interception is possible, and obtaining a third type of estimated position and a fourth type of estimated position;

[0053] wherein the third type of estimated position is an estimated position of the defense aircraft corresponding to a next time after the target time obtained in the last iteration, and the fourth type of estimated position is an estimated position of the invasion aircraft corresponding to the next time after the target time obtained in the last iteration;

[0054] obtaining the decision instruction of the defense aircraft at the current time based on the third type of estimated position, the fourth type of estimated position and the current position of the defense aircraft.

[0055] Optionally, the central control unit is further configured to, when two intruding aircrafts enter the defense area at the same time, assign each intruding aircraft with a defense aircraft in idle state based on a principle of shortest total flight mileage to determine an interception matching group.

[0056] With respect to the prior art, the aircraft interception method and system provided by the embodiments of the present application comprises: acquiring dynamic interception target points of M interception matching groups at a current time, wherein each interception matching group comprises one intruding aircraft and one defense aircraft, the dynamic interception target point is a place expected to be reached after trajectory planning of the defense aircraft, and M is an integer greater than or equal to 1; performing game calculation based on the dynamic interception target points and pre-constructed aircraft optimization conditions to determine a decision instruction of the defense aircraft at the current time, wherein the decision instruction comprises target position information of the defense aircraft at a next time; within a preset time period, driving the corresponding defense aircraft based on the decision instruction, and when the preset time period ends, repeatedly acquiring the dynamic interception target points of the M interception matching groups at the current time until the defense aircraft successfully intercepts the intruding aircraft at the corresponding interception point. When determining the target position information of the defense aircraft at the next time, the game calculation is performed, and the change of the navigation trajectory of the intruding aircraft is fully considered, so that the target position information of the defense aircraft at the next time is accurately calculated, and the shortest interception distance is ensured.

[0057] In order to make the above objectives, features and advantages of the present application more apparent, the following will describe a preferred embodiment in detail, and the accompanying drawings will be described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0058] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0059] Figure 1 A flowchart of the aircraft interception method provided by the embodiments of the present application;

[0060] Figure 2 One of the game interception trajectories of the defender cluster provided by the embodiments of the present application;

[0061] Figure 3 One of the distances between each defense aircraft and its interception object provided by the embodiments of the present application;

[0062] Figure 4 The second game interception trajectory of the defender cluster provided by the embodiments of the present application;

[0063] Figure 5 The ratio of the distance between each defender and its intercepted object is provided for the embodiments of the present application. DETAILED DESCRIPTION

[0064] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0065] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0066] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms “first”, “second” and the like are only used to distinguish description, and cannot be understood as indicating or implying relative importance.

[0067] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms “first”, “second” and the like are only used to distinguish description, and cannot be understood as indicating or implying relative importance.

[0068] In the description of the present application, it should be noted that the terms “up”, “down”, “inner”, “outer” and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly placed when the product of the present application is used, only for the convenience of describing the present application and simplifying the description, and cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore, cannot be understood as a limitation on the present application.

[0069] In the description of the present application, it is also necessary to explain that, unless otherwise explicitly specified and limited, the terms "set", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0070] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The following examples and features in the examples can be combined with each other without conflict.

[0071] The scheme of the present application provides an aircraft interception system, which includes a central control unit and a preset number of defense aircrafts, which can be but are not limited to unmanned aerial vehicles. The central control unit is in communication connection with each defense aircraft, and the preset number of defense aircrafts can also be in communication connection with each other. The aircraft interception system can execute the aircraft interception method described below to complete the interception of the invading aircraft, thereby protecting the target area.

[0072] The embodiments of the present application also provide an aircraft interception method, which is applied to the aircraft interception system described above, and specifically, please refer to Figure 1 , the aircraft interception method includes S101, S102 and S103, which are specifically described as follows.

[0073] S101, acquiring dynamic interception target points of M interception matching groups at the current time.

[0074] Each interception matching group includes one invading aircraft and one defense aircraft, the dynamic interception target point is a place expected to be reached after the trajectory planning of the defense aircraft, and M is an integer greater than or equal to 1.

[0075] Step S101 can be executed by the central control unit or the defense aircraft in the interception matching group, which is not limited here.

[0076] S102, performing game calculation based on the dynamic interception target point and the pre-constructed aircraft optimization condition to determine the decision instruction of the defense aircraft at the current time.

[0077] The decision instruction includes target position information of the defense aircraft at the next time.

[0078] Step S102 can be executed by the central control unit or the defense aircraft in the interception matching group, which is not limited here.

[0079] S103, driving the corresponding defense aircraft based on the decision instruction within a preset time period, and when the preset time period ends, repeatedly acquiring the dynamic interception target point of the M interception matching groups at the current time until the defense aircraft successfully intercepts the intrusion aircraft at the corresponding interception point.

[0080] It should be understood that the defense aircraft can execute the corresponding decision instruction to fly to the place corresponding to the target position information in the decision instruction. After repeating multiple times, the defense aircraft successfully intercepts the intrusion aircraft at the corresponding interception point. In the scheme of the present application, when determining the target position information of the defense aircraft at the next time, the change of the sailing trajectory of the intrusion aircraft is fully considered by performing game calculation, so that the target position information of the defense aircraft at the next time is accurately calculated, and the shortest interception distance is ensured.

[0081] To sum up, the aircraft interception method provided by the embodiments of the present application comprises: acquiring the dynamic interception target point of M interception matching groups at the current time, wherein each interception matching group comprises one intrusion aircraft and one defense aircraft, the dynamic interception target point is a place expected to be reached after trajectory planning of the defense aircraft, and M is an integer greater than or equal to 1; performing game calculation based on the dynamic interception target point and the pre-constructed aircraft optimization condition to determine the decision instruction of the defense aircraft at the current time, wherein the decision instruction comprises target position information of the defense aircraft at the next time; driving the corresponding defense aircraft based on the decision instruction within a preset time period, and when the preset time period ends, repeatedly acquiring the dynamic interception target point of the M interception matching groups at the current time until the defense aircraft successfully intercepts the intrusion aircraft at the corresponding interception point. When determining the target position information of the defense aircraft at the next time, the change of the sailing trajectory of the intrusion aircraft is fully considered by performing game calculation, so that the target position information of the defense aircraft at the next time is accurately calculated, and the shortest interception distance is ensured.

[0082] In a possible implementation, the pre-constructed aircraft optimization condition comprises a defense end optimization condition and an intrusion end optimization condition. For the content in S102, the embodiments of the present application further provide a possible implementation, please refer to the following. S102 comprises: S102-1, S102-2, S102-3, S102-4, S102-5, S102-6, S102-7, which are specifically described as follows.

[0083] S102-1, determining the current time as the target time.

[0084] Suppose the current time is k1, which can be determined as the target time t0. It should be noted that multiple iterations are required in the game process, and the basis for each iteration may not be exactly the same, but the time still stays at the current time k1 and has not changed.

[0085] In the scheme of the present application, a rolling horizon game problem can be constructed according to the position information of the defense aircraft and the invading aircraft. Specifically, the following kinematic model is considered:

[0086] Let the sampling time be ΔT, and the Euler-discretized form of the unmanned aerial vehicle dynamics model x(k+1) = f(x(k), u(k)), where the state vector x(k) = [x(k), y(k), z(k), θ(k), β(k)], x, y, and z represent the coordinates of the aircraft in the global coordinate system, θ represents the horizontal orientation angle, and β is the flight trajectory angle of the defender. The control input vector u(k) = [v(k), ω(k), ξ(k)], where v represents the instantaneous speed of the aircraft, ω represents the instantaneous horizontal orientation angle speed, and ξ represents the instantaneous flight trajectory angle speed.

[0087] The model is represented as:

[0088]

[0089] Therefore, at discrete time k, the state vectors of the defense aircraft and the attacking aircraft can be represented as:

[0090] x l (k)=[x l (k),y l (k),z l (k),θ l (k),β l (k)]for l=1,2,…,N d , corresponding to the defense aircraft;

[0091] x j (k)=[x j (k),y j (k),z j (k),θ j (k),β j (k)]for j=1,2,…,N i , corresponding to the invading aircraft;

[0092] The corresponding control inputs are respectively

[0093] S102-2, obtaining the first type of iterative decision instruction corresponding to the target time based on the dynamic interception target point and the defense end optimization condition, wherein the first type of iterative decision instruction includes the first type of estimated position of the defense aircraft at each time after the target time.

[0094] The defense end optimization condition includes a defense end cost function and a defense end optimization problem;

[0095] The defense-side cost function is:

[0096]

[0097] The defense-side optimization problem is expressed as:

[0098]

[0099] where s l = [x l , y l , z l ], j = 1, 2,..., N d , represents the position vector set of other defense vehicles in the defense cluster except the lth defense vehicle; represents the distance vector between the lth defense vehicle and all defense vehicles; d jl = ||v jl - s l || represents the distance between the lth defense vehicle and its corresponding dynamic interception target point; is a penalty gain parameter for preventing defense vehicles from being too close to each other, is an incentive parameter, one encouraging the defender to approach its target position point; R1 is a positive definite parameter matrix; v jl and v jl (k) represent the dynamic interception target point of the lth defense vehicle to the jth invading vehicle, u l and u l (k) represent the first type of iterative decision instruction corresponding to the lth defense vehicle at time k; the superscript n represents the iteration step number in the game algorithm, when n = 1: p l (s l (H)) = s l (H)R2s l (H) T represents the terminal cost; R2 is a positive definite parameter matrix; f represents the kinematics constraint of the vehicle system, s l (1) = s l,0 is the initial state constraint, s l,0 represents the current position of the lth defense vehicle when the game iteration is calculated, represents the control input constraint set of the lth defense vehicle, represents the spatial constraint set of the lth defense vehicle.

[0100] S102-3, obtaining the second type of iterative decision instruction corresponding to the target time based on the first type of estimated position and the invasion end optimization condition, wherein the second type of iterative decision instruction comprises a second type of estimated position corresponding to each time within H times after the target time of the invading aircraft.

[0101] Optionally, the invasion end optimization condition comprises an invasion end cost function and an invasion end optimization problem.

[0102] The invasion end cost function is:

[0103]

[0104] The invasion end optimization problem is expressed as:

[0105]

[0106] wherein s j = [x j , y j , z j ], j = 1, 2, …, N i represents the position vector of the invading aircraft, represents the set of all defense aircraft position vectors, represents the distance vector between the invading aircraft and all defense aircraft, d p = ||O-s j || represents the distance between the current position of the invading aircraft and the center point O of the protected area, is a gain parameter that encourages the invading aircraft to maintain a distance from the defense aircraft, is a parameter that encourages the invading aircraft to reach the destination; the superscript n represents the iteration step number in the game algorithm, when n = 1: p j (s j (H)) = s j (H)R2s j (H) T is the terminal cost, s j (1) = s j,0 is the initial state constraint, s j,0 represents the current position of the jth invading aircraft calculated by the game iteration, and are the control input and state constraint sets of the system, respectively.

[0107] S102-4, determining whether the defense aircraft can intercept the invading aircraft after executing the first type of iterative decision instruction and the second type of iterative decision instruction obtained in this iteration.

[0108] S102-5, if interception is not possible, the next time of the target time is determined as a new target time, and based on the estimated position information of the invading aircraft at the new target time, the dynamic interception target point of the M groups of interception matching groups at the new target time is obtained.

[0109] Wherein, based on the estimated position information of the invading aircraft at the new target time, that is, the second type of estimated position of the invading aircraft at the next time of the target time obtained by this iteration.

[0110] S102-6, the next iteration is performed, and the first type of iterative decision instruction corresponding to the target time is repeatedly obtained based on the dynamic interception target point and the defense end optimization condition, until the iteration number exceeds the preset iteration threshold or the interception is possible, the third type of estimated position and the fourth type of estimated position are obtained.

[0111] Wherein, the third type of estimated position is the estimated position of the defense aircraft corresponding to the next time after the target time obtained by the last iteration, and the fourth type of estimated position is the estimated position of the invading aircraft corresponding to the next time after the target time obtained by the last iteration.

[0112] S102-7, based on the third type of estimated position, the fourth type of estimated position and the current position of the defense aircraft, the decision instruction of the defense aircraft at the current time is obtained.

[0113] Optionally, based on the third type of estimated position, the fourth type of estimated position and the current position of the defense aircraft, the decision instruction of the defense aircraft at the current time is obtained by solving the constructed optimization problem again.

[0114] It should be understood that the defense cluster obtains the game interception path by calculating the constructed game model by using the game theory algorithm. Let the lth defense be represented by Responsible for intercepting the invader A parallel iterative best response algorithm is proposed to calculate the interception path of each defense, the process is as follows:

[0115] Game iteration calculation is performed at each decision time k, and each defense receives the position information s l (k) of all invaders and defenses sent by the protection area j (k). In the nth step of game iteration, each defense first calculates its own optimization problem to obtain its own best strategy Accordingly, the best strategy of the invader is predicted and calculated Then the defense cluster exchanges information internally, enters the next iteration step n+1, and repeats the above calculation process until the maximum iteration step number N ibr, the defender cluster utilizes the third type of estimated position The fourth type of estimated position The strategy is updated again, and finally the target position in the decision instruction is obtained The above process is repeated, and finally the optimal decision at each time is obtained The game interception path is formed.

[0116] Optionally, the expression of the dynamic interception target point is:

[0117]

[0118] Wherein, ξ∈(0, 1] is a constant coefficient, v jl (k) represents the dynamic interception target point of the lth defense aircraft to the jth invading aircraft, s jl (k) represents the current position information of the jth invading aircraft matched with the lth defense aircraft, The unit vector representing the target direction of the jth invading aircraft.

[0119] On the basis of Figure 1 The application embodiments further provide a possible implementation manner for how to determine the interception matching group. Please refer to the following text. When the invading aircraft enters the defense area, the aircraft interception method further includes: S201, which is specifically described as follows.

[0120] S201, when two invading aircrafts enter the defense area at the same time, based on the shortest total flight distance principle, each invading aircraft is allocated an idle state defense aircraft to determine the interception matching group.

[0121] Wherein, the expression of the shortest total flight distance principle is:

[0122]

[0123]

[0124]

[0125] Wherein, d jl =||s j (0)-s l (0)||; s j (0) represents the initial position information of the jth invading aircraft; s l (0) represents the initial position information of the lth defense aircraft.

[0126] Optionally, step S201 can be executed by a central control unit.

[0127] It should be understood that when the intruder UAV flies into the radar detection range of the protection zone, the protection zone judges the intruder UAV as an intruder, and obtains the position coordinates of the intruder at time k in the Cartesian coordinate system with the protection zone as the origin j(k) = [x j(k) ,y j(k) ,z j(k) ], j = 1, 2, …, Ni, where Ni represents the number of intruders, and the position coordinates of the defense UAV are s l(k) = [x l(k) ,y l(k) ,z l(k) ], l = 1, 2, …, Nd, where Nl represents the number of intruders.

[0128] The embodiments of the present application also propose a multi-UAV intrusion defense game problem when the number of defender clusters and the number of attacker clusters are not equal (3v5). The initial state of the three defenders is set as [-10, 9, -3, 0, 0], [0, 6, -6, 0, 0], [3, -6, -4, 0, 0], and the initial state of the intruders is [34, 17, -3, 0, 0], [-30, 20, -4, 0, 0], [25, -20, -6, 0, 0], [-21, -26, -3, 0, 0], [0, 30, -2, 0, 0], the instantaneous speed v of the UAV is in the range of ±4, the instantaneous horizontal angular velocity ω is in the range of ±π / 3, and the instantaneous flight trajectory angular velocity ξ is in the range of ±π / 6. The defender cluster and the intruder cluster adopt the iterative best response strategy for path planning.

[0129] Please refer to Figure 2 and Figure 3 , Figure 2 one of the game interception trajectories of the defender cluster provided by the embodiments of the present application, Figure 3 one of the distances between each defender and its interception object provided by the embodiments of the present application. As shown in Figure 2 and Figure 3 ,

[0130] At k = 32, the defender 1 intercepts the intruder 2;

[0131] At k = 43, the defender 3 intercepts the intruder 3;

[0132] At k = 56, the defender 2 intercepts the intruder 5;

[0133] At k = 88, the defender 1 intercepts the intruder 4;

[0134] At k = 91, the defender 3 intercepts the intruder 1.

[0135] Finally, all defense UAVs intercept all intruder UAVs, and the defense party wins the game.

[0136] In a possible implementation, the initial and optimized conditions of the UAVs are consistent with the above example, except that the defenders use model prediction (MPC) method to plan the rules, and the intruders use game strategy to invade.

[0137] Please refer to Figure 4 and Figure 5 , Figure 4 the second game interception trajectory of the defender cluster provided by the embodiments of the present application, Figure 5 the second distance between each defender and its interception object provided by the embodiments of the present application. As shown in Figure 4 and Figure 5 :

[0138] At k = 32, defender 1 intercepts intruder 2;

[0139] At k = 42, defender 3 intercepts intruder 3;

[0140] At k = 56, defender 2 intercepts intruder 5;

[0141] At k = 82, defender 1 intercepts intruder 4;

[0142] Intruder 3 is not intercepted and successfully invades the protected area, so the intruder cluster wins the game.

[0143] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

[0144] It is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims.

Claims

1. A method for intercepting an aircraft, characterized in that: The method comprises: Obtain the dynamic interception target points of M interception matching groups at the current moment, where each interception matching group includes one intruder aircraft and one defender aircraft. The dynamic interception target point is the location that the defender aircraft is expected to reach after trajectory planning. M is an integer greater than or equal to 1. Performing a game calculation based on the dynamic interception target point and pre-established aircraft optimization conditions to determine a decision instruction for the defending aircraft at the current moment, wherein the decision instruction includes target position information of the defending aircraft at the next moment; Within a preset time period, the corresponding defensive aircraft is driven based on the decision instruction. When the preset time period ends, the dynamic interception target points of the M groups of interception matching groups at the current moment are repeatedly obtained until the defensive aircraft successfully intercepts the invading aircraft at the corresponding interception point.

2. The aircraft interception method according to claim 1, characterized in that: The pre-built aircraft optimization conditions include a defending end optimization condition and an intruder end optimization condition. The step of performing a game calculation based on the dynamic interception target point and the pre-built aircraft optimization conditions to determine the decision instruction of the defending aircraft at the current moment includes: Determine the current moment as the target moment; Obtaining a first type of iterative decision instruction corresponding to the target moment based on the dynamic intercept target point and the defender optimization condition, wherein the first type of iterative decision instruction includes a first type of estimated position of the defender aircraft corresponding to each of H moments after the target moment; Obtaining a second type of iterative decision instruction corresponding to the target time based on the first type of estimated position and the intruder optimization condition, wherein the second type of iterative decision instruction includes the second type of estimated position of the intruder aircraft corresponding to each time within H time periods after the target time; determining whether the defending aircraft is capable of intercepting the intruder aircraft after executing the first type of iterative decision instructions and the second type of iterative decision instructions obtained in this iteration; If interception is not possible, the next moment after the target moment is determined as a new target moment, and based on the estimated position information of the intruding aircraft at the new target moment, the dynamic interception target points of the M groups of interception matching groups at the new target moment are obtained; Performing the next iteration, repeatedly obtaining the first type of iterative decision instruction corresponding to the target moment based on the dynamic interception target point and the defense end optimization condition, until the number of iterations exceeds a preset iteration threshold or interception is possible, obtaining the third type of estimated position and the fourth type of estimated position; The third type of estimated position is the estimated position of the defending aircraft at the next moment after the target moment obtained in the last iteration, and the fourth type of estimated position is the estimated position of the intruder aircraft at the next moment after the target moment obtained in the last iteration; A decision instruction of the defensive aircraft at a current moment is obtained based on the third type of estimated position, the fourth type of estimated position, and the current position of the defensive aircraft.

3. The aircraft interception method according to claim 2, characterized in that: The defense end optimization condition includes a defense end cost function and a defense end optimization problem; The cost function of the defense side is: The optimization problem on the defense side is expressed as: where s l =[x l ,y l ,z l ],j=1,2,...,N d , represents the position vector set of all defense aircraft except the lth defense aircraft; It represents the distance vector between the lth defense aircraft and all defense aircraft; d jl =||v jl -s l || represents the distance between the lth defense aircraft and its corresponding dynamic interception target point; is the penalty gain parameter, is the excitation parameter; R1 is the positive definite parameter matrix; v jl and v jl (k) represents the dynamic interception target point where the lth defense aircraft intercepts the jth intruder aircraft, u l and u l (k) represents the first type of iterative decision instruction corresponding to the lth defensive aircraft at time k; the superscript n represents the number of iterations in the game algorithm, when n = 1: p l (s l (H))=s l (H)R2s l (H) T represents the terminal cost; R2 is the positive definite parameter matrix; f represents the kinematic constraints of the aircraft system, s l (1) = s l,0 is the initial state constraint, s l,0 represents the current position of the lth defensive aircraft during the iterative calculation of the game, represents the control input constraint set of the lth defense aircraft, represents the spatial constraint set of the lth defensive aircraft.

4. The aircraft interception method according to claim 2, wherein: The intrusion end optimization condition includes an intrusion end cost function and an intrusion end optimization problem; The intruder cost function is: The intruder optimization problem is expressed as: Among them, s j =[x j ,y j ,z j ],j=1,2,...,N i represents the position vector of the invading aircraft, represents the set of all defensive aircraft position vectors, Denotes the distance vector between the invading aircraft and all defending aircraft, d p =||Os j || shows the distance between the intruding aircraft's current position and the center point O of the protected area. is a gain parameter that encourages invading aircraft to keep distance from defending aircraft. is a parameter that encourages invading aircraft to reach their destination; the superscript n represents the number of iterations in the game algorithm. When n = 1: p j (s j (H))=s j (H)R2s j (H) T is the terminal cost, s j (1) = s j,0 is the initial state constraint, s j,0 represents the current position of the jth invading aircraft in the iterative calculation of the game, and are the control input and state constraint sets of the system respectively.

5. The aircraft interception method according to claim 1, wherein: The expression of the dynamic interception target point is: Among them, ξ∈(0,1] is a constant coefficient, v jl (k) represents the dynamic interception target point where the lth defense aircraft intercepts the jth intruder aircraft, s jl (k) represents the current position information of the jth intruder aircraft that matches the lth defense aircraft, The unit vector representing the target direction of the j-th intruder aircraft.

6. The aircraft interception method according to claim 1, wherein: The method further comprises: When two intruder aircraft enter the defense area at the same time, an idle defense aircraft is assigned to each intruder aircraft based on the principle of shortest total flight mileage to determine the interception matching group.

7. The aircraft interception method according to claim 6, characterized in that: The expression of the principle of shortest total flight mileage is: Among them, d jl =||s j (0)-s l (0)||;s j (0) represents the initial position information of the jth intruder aircraft; s l (0) represents the initial position information of the lth defensive aircraft.

8. An aircraft interception system, characterized in that: The system includes: a central control unit and a preset number of defense aircraft, wherein the central control unit maintains a communication connection with each of the defense aircraft; The central control unit is configured to obtain dynamic interception target points of M interception matching groups at the current moment, wherein each interception matching group includes one intruder aircraft and one defender aircraft, the dynamic interception target point being the location expected to be reached by the defender aircraft after trajectory planning, and M being an integer greater than or equal to 1; The central control unit is further configured to perform a game calculation based on the dynamic interception target point and pre-established aircraft optimization conditions to determine a decision instruction for the defending aircraft at the current moment, wherein the decision instruction includes target position information of the defending aircraft at the next moment; Within a preset time period, the defensive aircraft is used to drive the corresponding defensive aircraft based on the decision instruction. When the preset time period ends, the central control unit is used to repeatedly obtain the dynamic interception target points of the M groups of interception matching groups at the current moment until the defensive aircraft successfully intercepts the invading aircraft at the corresponding interception point.

9. The aircraft interception system according to claim 8, characterized in that: The pre-built aircraft optimization conditions include a defense-end optimization condition and an invasion-end optimization condition. The game calculation based on the dynamic interception target point and the pre-built aircraft optimization conditions to determine the decision instruction of the defense aircraft at the current moment includes: Determine the current moment as the target moment; Obtaining a first type of iterative decision instruction corresponding to the target moment based on the dynamic intercept target point and the defender optimization condition, wherein the first type of iterative decision instruction includes a first type of estimated position of the defender aircraft corresponding to each of H moments after the target moment; Obtaining a second type of iterative decision instruction corresponding to the target time based on the first type of estimated position and the intruder optimization condition, wherein the second type of iterative decision instruction includes the second type of estimated position of the intruder aircraft corresponding to each time within H time periods after the target time; determining whether the defending aircraft is capable of intercepting the intruder aircraft after executing the first type of iterative decision instructions and the second type of iterative decision instructions obtained in this iteration; If interception is not possible, the next moment after the target moment is determined as a new target moment, and based on the estimated position information of the intruding aircraft at the new target moment, the dynamic interception target points of the M groups of interception matching groups at the new target moment are obtained; Performing the next iteration, repeatedly obtaining the first type of iterative decision instruction corresponding to the target moment based on the dynamic interception target point and the defense end optimization condition, until the number of iterations exceeds a preset iteration threshold or interception is possible, obtaining the third type of estimated position and the fourth type of estimated position; The third type of estimated position is the estimated position of the defending aircraft at the next moment after the target moment obtained in the last iteration, and the fourth type of estimated position is the estimated position of the intruder aircraft at the next moment after the target moment obtained in the last iteration; A decision instruction of the defensive aircraft at a current moment is obtained based on the third type of estimated position, the fourth type of estimated position, and the current position of the defensive aircraft.

10. The aircraft interception system according to claim 8, characterized in that: The central control unit is also used to assign an idle defensive aircraft to each intruder aircraft based on the principle of shortest total flight mileage when two intruder aircraft enter the defense area at the same time, so as to determine an interception matching group.

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