A multi-wave missile group coordinated attack planning method based on target damage image

Abstract

The present invention discloses a method for planning a coordinated strike of a multi-wave missile group based on a target damage image, which relates to the field of missile-borne reconnaissance and guidance. The method analyzes the target damage and the target parts that need subsequent strikes based on the real-time target damage image collected by the missile-borne sensor, generates strike position planning for each missile in the cluster, and uses the missile-borne guidance law to appropriately adjust the landing points of each missile in the cluster, thereby realizing autonomous real-time damage assessment and strike planning of a multi-wave missile cluster, and effectively improving the strike damage effect of the missile group. The present invention designs the overall workflow of the coordinated strike planning of a multi-wave missile group and the key links for coordinated planning, and limits the content and form of information transmission between each coordinated link, thereby realizing the improvement of the coordinated strike damage effect of the missile group.

Description

Technical Field

[0001] The invention relates to the field of missile-borne reconnaissance and guidance, and in particular to a multi-wave missile group coordinated attack method based on target damage images. Background Art

[0002] In modern warfare, the use of missiles and other precision-guided munitions to carry out precise strikes on high-value targets on the battlefield has become one of the common tactical means. High-value targets on the battlefield have high protection capabilities or high anti-destruction capabilities. Specifically, the existing protection capability assessment methods or anti-destruction capability assessment methods can be used to assess the protection capabilities or anti-destruction capabilities of targets. Through actual conditions, the protection capability values ​​and anti-destruction capability values ​​of various battlefield targets are compared and analyzed to determine high-value targets. In general, since high-value targets on the battlefield have high protection capabilities or high anti-destruction capabilities, it is difficult for a single missile to cause effective damage to high-value targets in one strike. Therefore, multiple missiles are usually used to carry out saturation coordinated strikes on high-value targets to ensure the damage effect on high-value targets.

[0003] When conducting coordinated strikes on high-value targets, reasonable strike planning for the target can effectively improve the damage effect of coordinated strikes. However, it is worth noting that the process is currently between two strikes and requires the deep involvement of rear-line commanders. The missile group has not yet achieved autonomous real-time damage assessment and strike planning. There is huge room for improvement in both the damage effect of a single strike and the coordinated strike effect of the missile group.

[0004] With the continuous development of missile-borne data link technology and missile-borne computer performance, the communication and computing capabilities between missile clusters have been greatly improved, and the technical foundation for autonomous real-time damage assessment and strike planning of missile clusters has already existed. Summary of the invention

[0005] In view of this, the present invention proposes a multi-wave missile group coordinated strike planning method based on target damage images. The method analyzes the target damage situation and the target parts that need subsequent strikes according to the real-time target damage images collected by the missile-borne sensors, generates strike position plans for each missile in the cluster, and uses the missile-borne guidance law to appropriately adjust the landing points of each missile in the cluster, thereby realizing autonomous real-time damage assessment and strike planning of multi-wave missile clusters, and effectively improving the strike damage effect of the missile group.

[0006] To achieve the above object, the technical solution of the present invention comprises the following steps:

[0007] Step 1: The missile group conducts pre-launch coordinated planning. According to the determined target position and scheduled strike time, the launch position and launch time of each missile are obtained. The planned number of missile group strike waves is not less than 3.

[0008] Step 2: Each missile is launched in waves according to the results of the coordinated planning. The missile group completes the networking during flight. After networking, the target position, node position and posture are shared within the missile group.

[0009] Step 3: The first wave of missile seekers are turned on to detect the target position and transmit it to the second wave of central node missiles through the inter-missile communication link. The second wave of central node missiles fuse the target position data and transmit it to all the second wave missiles.

[0010] Step 4: The first wave of missiles gradually approaches and hits the target under the action of the terminal guidance law; at the same time, the second wave of missiles enters the terminal guidance stage, turns on the onboard infrared sensor to detect the target position after data fusion, and obtains the infrared image of the damage effect of the first wave of missiles, which is recorded as the target damage image.

[0011] Step 5: The second wave of missiles that obtain the target damage image determine the impact point positions of the first wave of missiles based on the target damage image, and express them as relative distances and relative angles with the target position after data fusion.

[0012] Step 6: The missiles of the second wave transmit all the impact point locations obtained through the analysis to the missiles at the central node of the third wave through the inter-missile communication link.

[0013] Step 7: The third wave of central node missiles fuses the data of all received impact point locations to form a definite impact point location.

[0014] Step 8: The third wave of central node missiles assesses the damage to various parts of the target, realizes autonomous real-time damage assessment of the missile group, and plans the required missile types and corresponding quantities, aiming parts and aiming points for the third wave of attacks.

[0015] Step 9: The third wave central node missiles perform target allocation according to the status information of the third wave missile group and determine the aiming point of the third wave missiles. The status information includes missile type, position and posture information.

[0016] Step 10: The third wave of central node missiles sends the target allocation information to the third wave of missile group through the inter-missile communication link.

[0017] Step 11: Each missile that receives the target allocation information updates its aiming point and uses its own terminal guidance law for guidance until each missile hits the target in turn.

[0018] Step 12: The subsequent waves of the missile group repeat the above steps 1 to 11 one by one according to the three wave combinations to continuously update the aiming points of each missile in the subsequent waves.

[0019] Preferably, the method is directed to a missile swarm network composed of multiple missile-to-swarm communications, and the missile-to-swarm communication links meet the following conditions:

[0020] 1. In a missile swarm network composed of multiple inter-missile communications, missiles of the same wave form a communication subnet, and its internal communication link is called the intra-subnet communication link; central node missiles of different waves form the main communication network, and its communication link is called the inter-subnet communication link.

[0021] 2. There is an inter-missile communication link between all missiles in the first wave and the central node missiles in the second wave, or the central node missiles in the first wave are set up for communication relay.

[0022] 3. There is an inter-missile communication link between all missiles of the second wave and the central node missiles of the third wave, or the central node missiles of the second wave are set up for communication relay.

[0023] 4. The central node missiles of any wave have the function of broadcasting to the entire network, that is, the central node missiles of any wave have the communication link within the subnet with all the missiles of that wave.

[0024] Furthermore, in step 1, the missile group performs pre-fire collaborative planning, specifically:

[0025] Before collaborative planning, we first divide the missile waves according to combat requirements. We assume that the missile cluster arrives in N waves, that is, the number of missile waves is N, N ≥ 3 and N ∈ Z. The proportion sequence P = (p 1 , p 2 ,…,p N ), where p i is the proportional coefficient of the kth wave, which is in the range of [0, 1]. The number of missiles in each wave is expressed as the product of the number of missiles and the proportion sequence P, and the rounded value is obtained.

[0026] Before the missile cluster conducts pre-launch coordinated planning, the target position S is set. T (x T ,y T , z T ) and the scheduled time of attack on the target T des ,(x T ,y T , z T ) is the coordinate value based on the Earth-centered Earth-fixed coordinate system; at the same time, the missile's launch position is calculated using the missile's existing fire control system.

[0027] After the target position, missile launch position and target strike time are determined, pre-launch planning for multi-wave swarm coordinated strikes is carried out. This process takes into account the relative position constraints of missiles, the communication status constraints of swarms and the timing constraints of swarm launches, and is divided into missile relative position coordinated planning, swarm communication status coordinated planning and swarm launch timing coordinated planning.

[0028] Preferably, the relative positions of missiles are collaboratively planned. Specifically, there are relative position constraints of missiles between each wave of missiles, including the following relative position constraint conditions of missiles:

[0029] Missile relative position constraints 1) The pre-planned path points of missiles launched in the same wave do not overlap, and there is a certain safety distance d between the trajectories of different missiles safe , the safety distance is set according to the missile model and its own ballistic characteristics, and the known quantity is

[0030]

[0031] Among them, M ik (x, y, z) refers to the position of the i-th missile at a certain moment, i represents the missile number, k represents the launch wave of the missile, (x, y, z) represents the coordinates of the missile position in the X, Y, and Z directions in the Earth-centered Earth-fixed coordinate system ECEF, t represents the real time, t A Indicates any moment.

[0032] The distance between the positions of different missiles is Δd. The larger Δd is, the better. The maximum value of Δd is taken.

[0033] max(Δd=|M ik (x, y, z)-M (i+m)k (x, y, z)| t ), i=1, 2, 3,…, k=1, 2, 3,…, m

[0034] =1,2,3,…

[0035] Missile relative position constraint 2) For missiles launched in different waves from the same launch platform, their routes may overlap, but there is no situation where the routes intersect each other.

[0036]

[0037] Among them, ∑M ijk (x, y, z) refers to the position sequence of the i-th missile, that is, the trajectory of the missile; j represents the platform number from which the missile is launched; i represents the number of the missile; and k represents the launch wave from which the missile is launched.

[0038] Missile relative position constraint 3) For missile routes launched from different launch platforms in different waves, neither overlap nor intersection of route segments is allowed;

[0039] ∑M ijk (x, y, z)≠∑M (i+m)(j+n)(k+p) (x, y, z), i=1, 2, 3,…, j=1, 2, 3,…, k

[0040] =1,2,3,…,m=1,2,3,…,n=1,2,3,…,p=0,1,2,3,…

[0041]

[0042] Missile relative position constraint 4) According to the mission scenario setting, for missiles launched in different waves, the missiles of the first wave must be within the detection range of the infrared sensors onboard some missiles of the second wave when they hit the target.

[0043] The detection range of missile A in the second wave is expressed as the maximum detection distance d of the missile's onboard infrared sensor. D and the detection field angle θ D The cone expressed by the missile tip is:

[0044]

[0045] Where V AD is the detection range of missile A; x A is the x coordinate of missile A; d D The maximum detection distance of the missile-borne infrared sensor; is the square of the y coordinate of missile A; is the square of the z coordinate of missile A; x A is the x coordinate of missile A; θ D It is the detection field of view of the missile-borne infrared sensor.

[0046] After the missile position is determined, the coordinate value within the detection range is obtained. The position of the surface ship target hit by the first wave of missiles B is within the detection range coordinate value, that is,

[0047]

[0048] Among them, the attack target position S T (x T ,y T , z T ), M B1 (x, y, z) refers to the position of missile B, B is the number of the missile, 1 means that the launch wave of the missile is the first wave, and (x, y, z) respectively represent the coordinates of the missile position in the X, Y, and Z directions in the Earth-centered Earth-fixed coordinate system.

[0049] Preferably, the missile group communication state collaborative planning, specifically, the missile group communication state constraint conditions include:

[0050] 1) Missiles in the same wave belong to the same missile communication subnet. Each missile in the swarm communicates directly or through the missile of the swarm center node. That is, the relative distance between missiles in the same wave is no more than twice the maximum communication distance in the subnet:

[0051] ΔD cd =Δ(M ck (x, y, z)-M dk (x, y, z))≤2R com_in , k = 1, 2, 3, ...

[0052] Where, ΔD cd represents the relative distance between missile c and missile d, M ck (x, y, z) represents the position coordinates of the missile c launched in the kth wave in the Earth-centered Earth-fixed coordinate system, R com_in Indicates the maximum communication distance within the subnet.

[0053] 2) Adjacent waves of missiles communicate through the communication network formed by the missiles at the center node of the group, that is, the relative distance between adjacent waves of missiles is no greater than the sum of the maximum communication distance between subnets and twice the maximum communication distance within a subnet;

[0054] ΔD cd =Δ(M ck (x, y, z)-M a(k+1) (x,y,z))≤R com_out +2R com_in

[0055] Among them, R com_out Indicates the maximum communication distance between subnets.

[0056] Preferably, the firing sequence of the missile group is planned in a coordinated manner. Specifically, the missile group is designed to strike in three launching waves in a coordinated manner.

[0057] All missiles in the swarm carry out a saturation attack on the target, that is, all missiles in the swarm attack at the scheduled attack time T des All targets are hit within a short period of time after that, which is the expected strike time window t d ; The time window t d The lower limit of is the missile launch time interval, and the upper limit of this time period is the time difference between the first and last missiles that hit the target when the first and third waves of missiles are at the maximum communication distance.

[0058]

[0059] Where R com_out is the maximum communication distance between subnets, R com_in is the maximum communication distance within the subnet; Indicates the average flight speed of the missile after entering the terminal guidance phase.

[0060] Estimated hit time window t d The value range of The specific value is set within this range based on the number of launch platforms, the platform launch time interval and mission requirements.

[0061] Assume the ideal flight time of the missile is T F , the launch time of the first missile (numbered 1) in the first wave is t 1 , then the estimated hit time of the missile is Hit_time 1 for

[0062] Hit_time 1 =t 1 +T F

[0063] Let the estimated hit time of the first missile of the first wave be Hit_time 1 Equivalent to the set scheduled strike time T des ,Right now

[0064] T des =Hit_time 1 =t 1 +T F

[0065] The estimated launch time of the first missile in the first wave can be obtained by reversing the time sequence:

[0066] t 1 =T des -T F

[0067] The estimated hit time window of all missiles in all waves of the swarm is t d , so the estimated hit time of the last missile of the third wave is Hit_time end

[0068] Hit_time end =T des +t d =t 1 +T F +t d

[0069] The estimated launch time of the last missile in the third wave is obtained by reversing the time sequence:

[0070] t end =t 1 +t d =T des -T F+t d

[0071] The launch time window launch_time and hit time window Hit_time of the multi-wave shell group are as follows:

[0072] launch_time=(t 1 , t end )=(T des -T F , T des -T F +t d )

[0073] Hit_time=(Hit_time 1 , Hit_time end )=(T des , T des +t d )

[0074] Then, the launch time window and hit time window of each wave in the missile group are calculated. According to the requirements of the missile group to detect the damage image of the target, the estimated hit time point of the first missile in the first wave is Hit_time 1 At this time, the second wave of missiles detects the destructive effect of the first wave of missiles on the target; at this time, since the first missile of the first wave has hit the target, the relative distance between the second wave of missiles and the first wave of missiles is regarded as the missile-target distance.

[0075] When the first missile of the first wave hits the target, the missile-target distance of the first missile of the second wave is set to the optimal detection distance. This value needs to be set according to the actual parameters of the missile-borne infrared sensor. Here, the optimal detection distance of the missile-borne infrared sensor is That is, when the first missile of the first wave hits the target, the distance between the first missile of the second wave and the target is Therefore, the remaining flight time of the first missile in the second wave is t f The missile's target distance and the average flight speed of the missile during the terminal guidance phase express:

[0076] Get the estimated hit time of the first missile in the second wave Hit_time 2 :

[0077]

[0078] The estimated launch time of the first missile in the second wave is obtained by reversing the time sequence:

[0079]

[0080] The relative distance between the subsequent wave of missiles and the previous wave of missiles is the optimal detection distance, thus obtaining the estimated hit time point of the first missile of the third wave, Hit_time 3 :

[0081]

[0082] At this point, the estimated time points for all missile waves to begin hitting targets have been determined;

[0083] In each wave, the missile group’s hit time can be set in multiple ways, such as synchronous strike or saturation strike, according to the mission requirements. That is, the mission requires that all missiles in the wave hit at a time t hit Hitting the target, after the missile flight trajectory calculation is completed, the flight time of each missile is Δt i It has been determined that the launch time t can be obtained by reverse calculation based on the missile flight time i :t i =t hit -Δt i , then the firing sequence T of the entire missile group is expressed as: T = {t 1 , t 2 ,…,t i}.

[0084] At this point, the missile launch sequence is completely determined and the coordinated planning before the missile group launch is completed.

[0085] Beneficial effects:

[0086] 1: The present invention decomposes the missile cluster coordinated strike planning task into two processes in sequence: coordinated planning before launch and real-time online planning after launch. The factors that need to be considered and quantified during missile launch and flight are sorted out from the two links, and the basic requirements of the subsequent online planning process for the initial launch position, launch time and sequence of the missile are analyzed.

[0087] 2: The present invention provides the physical constraints that need to be considered in the pre-launch coordinated planning link of the multi-wave swarm coordinated strike process, and explains the theoretical principles and detailed methods for solving the launch parameters of each missile in the swarm, so as to effectively optimize the subsequent real-time online planning results and improve the damage effect of the swarm coordinated strike.

[0088] 3: The present invention designs the overall workflow of multi-wave missile group coordinated strike planning and the key links for coordinated planning (pre-fire planning link, impact point location calculation link, aiming point allocation link), and limits the content and form of information transmission between each coordinated link, thereby achieving an improvement in the destructive effect of missile group coordinated strike. BRIEF DESCRIPTION OF THE DRAWINGS

[0089] Figure 1 It is a schematic diagram of the application mode of the bullet group of the planning method of the present invention; Figure 1 (a) is a schematic diagram of the coordinated planning of missile clusters before launch; Figure 1 (b) is a schematic diagram of the real-time online planning of the missile cluster after launch;

[0090] Figure 2 The inter-bomb communication network required by the planning method of the present invention;

[0091] Figure 3 The overall workflow diagram of the planning method of the present invention;

[0092] Figure 4 This is a schematic diagram of the horizontal detection range of the missile-borne sensor used in the present invention. DETAILED DESCRIPTION

[0093] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0094] The problem of missile cluster coordinated combat planning is a multi-dimensional, multi-constrained combinatorial optimization problem with strong practical physical significance. The missile cluster coordinated strike planning should fully consider the various constraints in the entire combat process and try to be close to the actual combat scenario in order to effectively guide the project implementation. Therefore, theoretical research and method design on the missile cluster coordinated strike planning under specific tasks and scenarios can clarify specific research issues and future technology development directions.

[0095] Starting from the purpose of improving the damage effect of missile groups, the present invention takes into account the basic fact that missile-borne reconnaissance can effectively obtain target damage images, studies the problem of missile cluster coordinated combat planning under specific mission scenarios, clarifies the specific links that can be involved in the planning process, and proposes a multi-wave missile group coordinated strike planning method based on target damage images according to various constraints in actual engineering applications. Specifically, the missile group uses the target damage image detected by the missile-borne infrared sensor to obtain the impact point information of the previous missile strike, and compares the mapping relationship between the target parts installed on the missile and the combat function, plans the required missile type and corresponding number, aiming part and aiming point of the subsequent wave attack, and allocates targets according to the status information of the subsequent wave missile group, thereby realizing the specific implementation method of autonomous real-time damage assessment and strike planning of multi-wave missile clusters. It is worth noting that the present invention does not make clear restrictions on the missile type of the missile cluster, and the user can adjust the missile type and related constraints according to the actual mission requirements; the present invention can be applied to the combat scenario where the missile cluster strikes a single high-value target.

[0096] The present invention is aimed at the specific combat scenario of anti-ship missile clusters coordinating to attack ships at sea, requiring the missile clusters to realize autonomous real-time attack planning for the ships at sea. Figure 1 As shown, the application mode of the present invention specifically includes two parts: a method for coordinated planning of missile clusters before launch and real-time online planning of missile clusters after launch. Figure 1 (a) is a schematic diagram of the coordinated planning of missile clusters before launch; Figure 1 (b) is a schematic diagram of real-time online planning of the missile cluster after launch; the specific functions are realized by performing certain pre-launch collaborative planning, target damage image processing, and task allocation and planning on the missile cluster, and finally the target parts and aiming point coordinates that each missile in the missile cluster needs to hit are output.

[0097] The multi-wave missile group coordinated strike planning method based on target damage image proposed by the present invention is mainly aimed at the missile group network composed of multiple missile-to-missile communications. The missile-to-missile communication link can ensure the successful transmission of necessary information and planning instructions in the planning process. Specifically, the following requirements are put forward for the missile-to-missile communication link:

[0098] 1. In a missile swarm network composed of multiple inter-missile communications, missiles of the same wave form a communication subnet, and their internal communication links are called intra-subnet communication links; central node missiles of different waves form a communication main network, and their communication links are called inter-subnet communication links;

[0099] 2. There is an inter-missile communication link between all missiles in the first wave and the central node missiles in the second wave, or the central node missiles in the first wave are set to perform communication relay;

[0100] 3. There is an inter-missile communication link between all missiles in the second wave and the central node missiles in the third wave, or the central node missiles in the second wave are set up for communication relay;

[0101] 4. The central node missiles of any wave shall have the function of broadcasting to the entire network and can send necessary information to all missiles of the wave. That is, the central node missiles of any wave shall have a communication link within the subnet with all missiles of the wave.

[0102] In addition, there is a missile-satellite data link within the missile group, and all nodes within the missile group have the ability to communicate with satellites in real time, thereby ensuring that the missiles can communicate with the rear command and control center. In addition, when the missiles are subject to electronic interference and the missile-to-missile data link is in a communication barrier state, the existence of the missile-to-satellite data link can also use the space-based satellite as a communication relay point to transmit key information and instructions within the missile group. The schematic diagram of the missile-to-missile communication network finally formed by the missile group is shown below. Figure 2 shown.

[0103] The overall workflow of the multi-wave missile group coordinated attack planning method based on target damage image proposed by the present invention is as follows: Figure 3 As shown in the figure, the part circled by the dotted box is the multi-wave bomb group coordinated attack planning method, which includes the following steps:

[0104] Step 1: The missile group conducts pre-launch coordinated planning. According to the determined target position and scheduled strike time, the launch position and launch time of each missile are obtained. The planned number of missile group strike waves is not less than 3.

[0105] Before the missile cluster conducts pre-launch coordinated planning, the target location S is set according to strategic and tactical requirements and the deployment of combat forces. T (x T ,y T , z T ), (x T ,y T , z T ) is the Earth-fixed coordinate system based on the center of the Earth, and the scheduled attack time T des At the same time, the missile's existing fire control system is used to calculate the missile's launch position. After the target position, missile launch position and target strike time are determined, multi-wave missile group coordinated strike pre-launch planning is carried out. This process mainly considers the relative position constraints of the missile group, the communication status constraints of the missile group and the launch timing constraints of the missile group.

[0106] Before conducting collaborative planning, we first divide the missile waves according to the combat requirements. Assume that the missile cluster arrives in N waves, that is, the number of missile waves is N, N ≥ 3 and N ∈ Z. The proportion sequence P = (p 1 , p 2 ,…,p N ), where p i is the proportional coefficient of the kth wave, which is in the range of [0, 1]. The number of missiles in each wave can be expressed as the product of the number of missiles and the proportion sequence P and the rounded value.

[0107] Secondly, the relative positions of missiles are planned before the missile group is fired. The constraints considered in the planning are all from the physical space constraints in the actual combat scenario. When missiles are launched densely and fly in clusters, it is necessary to ensure a certain safety distance between missiles to ensure the safety of missile flight. In addition, according to different mission requirements, there must be relative position constraints between missiles in each wave. Specifically at the engineering implementation level, missiles plan their flight trajectories by setting path points to achieve collaborative planning of the trajectory before firing. Therefore, constraints are proposed for this process. The constraints are as follows:

[0108] 1) The pre-planned path points of missiles launched in the same wave do not overlap, and there is a certain safety distance d between the trajectories of different missiles safe , the safety distance is set according to the missile model and its own ballistic characteristics, and is a known quantity, that is,

[0109]

[0110] Where M ik (x, y, z) refers to the position of the i-th missile at a certain moment, where i is the missile number, k is the launch wave of the missile, (x, y, z) are the coordinates of the missile position in the X, Y, and Z directions in the Earth-centered Earth-fixed coordinate system ECEF, t is the real time, and t A Indicates any moment.

[0111] Furthermore, the larger the distance Δd between the positions of different missiles, the better.

[0112] max(Δd=|M ik (x, y, z)-M (i+m)k (x, y, z)| t ), i=1, 2, 3,…, k=1, 2, 3,…, m

[0113] =1,2,3,…

[0114] 2) For missiles launched in different waves from the same launch platform, their routes can overlap, but it is not allowed for the routes to intersect with each other.

[0115]

[0116] Among them, ∑M ijk (x, y, z) refers to the position sequence of the i-th missile, that is, the trajectory of the missile; j represents the platform number from which the missile is launched; i represents the number of the missile, and k represents the launch wave from which the missile is launched.

[0117] 3) For missile routes launched in different waves from different launch platforms, neither overlap nor intersection of route segments is allowed.

[0118] ∑M ijk (x, y, z)≠∑M (i+m)(j+n)(k+p) (x, y, z), i=1, 2, 3,…, j=1, 2, 3,…, k

[0119] =1,2,3,…,m=1,2,3,…,n=1,2,3,…,p=0,1,2,3,…

[0120]

[0121] 4) According to the mission scenario settings, for missiles launched in different waves, the missiles of the first wave must be within the detection range of the infrared sensors onboard some missiles of the second wave when they hit the target.

[0122] For the second wave of missiles A, the detection range of missile A can be simply expressed as the maximum detection distance d of the missile's onboard infrared sensor. D and the detection field angle θ D The cone expressed by the missile tip can be expressed as:

[0123]

[0124] Where V AD is the detection range of missile A; x A is the x coordinate of missile A; d D The maximum detection distance of the missile-borne infrared sensor; is the square of the y coordinate of missile A; is the square of the z coordinate of missile A; x A is the x coordinate of missile A; θ D It is the detection field of view of the missile-borne infrared sensor.

[0125] After the missile position is determined, the coordinate value within the detection range can be obtained. The position of the surface ship target hit by the first wave of missiles B should be within the coordinate value of the detection range, that is,

[0126]

[0127] Among them, the target position S T (x T ,y T , z T ), M B1 (x, y, z) refers to the position of missile B, where B is the number of the missile, 1 means that the launch wave of the missile is the first wave, and (x, y, z) respectively represent the coordinates of the missile position in the X, Y, and Z directions in the Earth-centered Earth-fixed coordinate system.

[0128] Then, the constraints of the missile group communication state are analyzed. The missile group communication state meets the requirements of key technical indicators such as maximum communication distance, communication rate, communication delay and communication bit error rate when the missile group sends and receives mission information; during pre-launch planning, it is usually only necessary to consider the impact of the communication distance on the relative position of each missile in the missile group, and the constraints are as follows:

[0129] 1) Missiles in the same wave belong to the same missile communication subnet. Each missile in the swarm can communicate directly or through the swarm center node missile. That is, the relative distance between missiles in the same wave is no more than twice the maximum communication distance in the subnet.

[0130] ΔD cd =Δ(M ck (x, y, z)-M dk (x, y, z))≤2Rcom_in , k = 1, 2, 3, ...

[0131] Where, ΔD cd represents the relative distance between missile c and missile d, M ck (x, y, z) represents the position coordinates of the missile c launched in the kth wave in the Earth-centered Earth-fixed coordinate system, R com_in Indicates the maximum communication distance within the subnet.

[0132] 2) Adjacent waves of missiles can communicate through the communication network (main network) composed of missiles at the center node of the swarm, that is, the relative distance between adjacent waves of missiles is no greater than the sum of the maximum communication distance between subnets and twice the maximum communication distance within a subnet.

[0133] ΔD cd =Δ(M ck (x, y, z)-M d(k+1) (x,y,z))≤R com_out +2R com_in

[0134] In the formula, R com_out Indicates the maximum communication distance between subnets.

[0135] Finally, the launch sequence of the missile group is planned. The constraints considered in the planning mainly come from the launch wave design. Here, the launch sequence planning process is explained by taking the coordinated strike of three waves of missile groups as an example.

[0136] In order to increase the probability of missile penetration, all missiles in the swarm conduct a saturation attack on the target, that is, all missiles in the swarm attack at the scheduled attack time T des All targets are hit within a short period of time after the attack, which is called the expected attack time window t d The time window t d The lower limit of is the missile launch time interval, which can be regarded as 0s when there are sufficient launch platforms and the launch position is arbitrary. The upper limit of this time period is the time difference between the first and last missiles that hit the target when the first and third waves of missiles are at the maximum communication distance.

[0137]

[0138] Where R com_out is the maximum communication distance between subnets, R com_in is the maximum communication distance within the subnet, represents the average flight speed of the missile after entering the terminal guidance phase. So we can get,

[0139]

[0140] Therefore, the estimated hit time window td The specific value can be set within this range according to the number of launch platforms, the platform launch time interval and mission requirements.

[0141] Assume the ideal flight time of the missile is T F , the launch time of the first missile (numbered 1) in the first wave is t 1 , then the estimated hit time of the missile is Hit_time 1 for

[0142] Hit_time 1 =t 1 +T F

[0143] Let the estimated hit time of the first missile of the first wave be Hit_time 1 Equivalent to the set scheduled strike time T des ,Right now

[0144] T des =Hit_time 1 =t 1 +T F

[0145] By reversing the time sequence, we can get the estimated launch time of the first missile in the first wave:

[0146] t 1 =T des -T F

[0147] The estimated hit time window of all missiles in all waves of the swarm is t d , so the estimated hit time of the last missile of the third wave is Hit_time end

[0148] Hit_time end =T des +t d =t 1 +T F +t d

[0149] By reversing the time sequence, we can get the estimated launch time of the last missile in the third wave:

[0150] t end =t 1 +t d =T des -T F +t d

[0151] At this point, the launch time window launch_time and the hit time window Hit_time of multiple waves of missile groups are as follows:

[0152] launch_time=(t 1 , t end )=(T des -T F , T des -T F +t d )

[0153] Hit_time=(Hit_time 1 , Hit_time end )=(Td es , T des +t d )

[0154] Next, we calculate the launch time window and hit time window of each wave in the missile group. According to the requirement of the missile group to detect the target damage image, the estimated hit time point of the first missile in the first wave is Hit_time 1 At this time, the second wave of missiles can detect the damage effect of the first wave of missiles on the target. At this time, since the first missile of the first wave has hit the target, the relative distance between the second wave of missiles and the first wave of missiles can be regarded as the missile-target distance.

[0155] When the first missile of the first wave hits the target, the missile-target distance of the first missile of the second wave is set to the optimal detection distance. This value needs to be set according to the actual parameters of the missile-borne infrared sensor. Here, the optimal detection distance of the missile-borne infrared sensor is That is, when the first missile of the first wave hits the target, the distance between the first missile of the second wave and the target is Therefore, the remaining flight time of the first missile in the second wave is t f The missile's target distance and the average flight speed of the missile during the terminal guidance phase express:

[0156]

[0157] The estimated hit time of the first missile in the second wave is obtained as Hit_time 2 :

[0158]

[0159] By reversing the time sequence, we can get the estimated launch time of the first missile in the second wave:

[0160]

[0161] To ensure that multiple waves can repeat the detection process, the relative distance between the subsequent wave missiles and the previous wave missiles takes the optimal detection distance, from which the estimated hit time point of the first missile of the third wave can be obtained: Hit_time 3 :

[0162]

[0163] At this point, the estimated time point for all missile waves to start hitting the target has been determined. In each wave, the missile group hit time can be set in a variety of ways such as synchronous strike and saturation strike according to mission requirements. Take a simple missile group synchronous strike mission as an example. This mission requires all missiles in the wave to start hitting the target at a time t hit Hit the target. After the missile flight trajectory is calculated, the flight time of each missile is Δt i It has been determined that the launch time t can be obtained by reverse calculation based on the missile flight time i :t i =t hit -Δt i , then the firing sequence T of the entire missile group can be expressed as: T = {t 1 , t 2 ,…,t i}.

[0164] At this point, the missile launch sequence can be completely determined and coordinated planning before the missile group launch is completed.

[0165] Step 2: Each missile is launched in waves according to the results of the coordinated planning. The missile group completes the networking during flight. After networking, the target position, node position and posture are shared within the missile group.

[0166] The missile group networking function is the basic condition for missile group coordinated combat. In general missile group networks, the missile group networking function is a relatively basic technology. Specifically, each node in the group uses the missile-borne antenna and data link system to achieve two-way communication among the nodes in the group, and share key situational information such as target location information and node status information on the basis of communication, thereby providing a decision-making basis for the missile group to carry out coordinated planning.

[0167] Step 3: The first wave of missile seekers are turned on to detect the target position and transmit it to the second wave of central node missiles through the inter-missile communication link. The second wave of central node missiles fuse the target position data and transmit it to all the second wave missiles.

[0168] After the first wave of missiles are turned on, the missile seeker uses the target's RCS characteristic information, infrared characteristic information, etc. to obtain the relative position information between the missile and the target, and guides to the target. At this time, the first wave of missiles transmits the target position information to the second wave of missiles, which enables the second wave of missiles to obtain the target position in advance and start guiding to the target in advance, thereby improving the terminal guidance accuracy. At the same time, since the target position information has been obtained in advance, the second wave of missiles can control the missile-borne sensors to detect the target location in advance, obtain the target characteristic information in advance, and improve the overall detection efficiency of the missile group.

[0169] In addition, the data fusion of the second wave of central node missiles on the target position can effectively improve the credibility of the target position data. At the same time, using the second wave of central node missiles as communication relay nodes and key computing nodes can effectively reduce the communication and computing volume of the entire missile group network and reduce the load of the missile group network.

[0170] Step 4: The first wave of missiles gradually approaches and hits the target under the action of the terminal guidance law; at the same time, the second wave of missiles enters the terminal guidance stage, turns on the onboard infrared sensors to detect the target position after data fusion, and obtains the infrared image of the damage effect of the first wave of missiles, that is, the target damage image.

[0171] From the relative position constraint 4) between missiles in step 1, it can be seen that after the position of missile A is determined, the coordinate value within the detection range can be obtained. The position of the surface ship target hit by the first wave of missiles B should be within the coordinate value of the detection range, that is,

[0172]

[0173] It is worth noting that this process does not require all missiles in the second wave to participate. All missiles still have the priority of hitting the target, and the process can be performed by missiles that can detect the target. Therefore, it is necessary for each missile to calculate the detection range of the missile-borne sensor to determine whether it can detect the target and whether it needs to perform the detection mission. The following is a brief description of the process of calculating the detection range of the missile-borne sensor.

[0174] The missile mass center O is expressed as (x, y, z) in the geodetic coordinate system. Ignoring the distance from the missile mass center to the missile top, the location of the sensor on the missile top can be directly regarded as the mass center position (x, y, z). When the missile-target distance is less than the detection distance d of the visible light sensor, D When considering the missile's pitch angle during flight and yaw angle ψ and roll angle γ, so at a certain missile flight altitude y, the ground plane that the missile can detect is close to a trapezoidal area. The coordinates of the intersection of the extended line of the missile axis and the ground can be expressed in the missile body coordinate system as (d Ax , 0, 0), according to the geometric projection relationship, we can know

[0175]

[0176] According to the coordinate system conversion relationship, the coordinate value of the intersection of the extended line of the elastic axis and the ground in the geodetic coordinate system is

[0177]

[0178] Among them A NA is the transformation matrix from the missile body coordinate system to the geodetic coordinate system; according to the projection relationship of the missile body coordinate system in the y direction to the geodetic coordinate system, the length of the missile's detection range in the x direction in the geodetic coordinate system can be obtained as

[0179]

[0180] where q DV It is the longitudinal detection field of view of the missile-borne infrared sensor;

[0181] The direction is the yaw angle ψ in the x direction of the geodetic coordinate system, where the ratio of the positive direction to the negative direction is

[0182]

[0183] Where D x + D x The distribution in the positive direction, D x - D x Distribution in the negative direction.

[0184] Similarly, the lateral detection range in the geodetic coordinate system is

[0185]

[0186] where q DH It is the lateral detection field of view of the missile-borne infrared sensor.

[0187] The direction is the rotation yaw ψ in the z direction of the geodetic coordinate system, where the ratio of the distribution in the positive direction to the negative direction is

[0188]

[0189] Where D z + D z The distribution in the positive direction, D z - D z Distribution in the negative direction.

[0190] Therefore, if the attached Figure 4 As shown, the detection coverage area S on the horizontal plane DH is a trapezoid, and its area is

[0191]

[0192] Similarly, the length of the detection range in the y direction in the geodetic coordinate system is

[0193]

[0194] The direction is the y-direction rotation ψ of the geodetic coordinate system, where the ratio of the positive direction to the negative direction is

[0195]

[0196] Then the detection coverage area S on the vertical plane is DV is also a trapezoid, and its area is

[0197]

[0198] At this point, the detection range of the missile-borne sensors can be considered known, and each missile can determine whether it can detect the target and whether it needs to perform a detection mission.

[0199] Step 5: The second wave of missiles that obtain the target damage image determine the impact point positions of the first wave of missiles based on the target damage image, and express them as relative distances and relative angles to the target position after data fusion.

[0200] Image processing technology has matured. Traditional image processing technology and the image processing technologies such as deep learning and neural networks that have emerged in recent years can complete the above tasks. According to the technical process, it can be divided into image preprocessing, target feature extraction, feature analysis and other work. The specific methods can use traditional image processing methods such as histogram peak and valley method, maximum between-class variance method (OTSU) frame difference method, maximum entropy method, etc., or neural network methods can be used to process images.

[0201] It is worth noting that obtaining the missile impact point from the target damage image is not a single target feature extraction, but requires comprehensive consideration of multiple target features during the missile hit and damage process. The fire and smoke generated during the missile hit and explosion, the fire and smoke generated by the missile explosion igniting surrounding objects, the crater formed after the missile explosion, and other multiple features can be extracted as target features, thereby ensuring the credibility of the impact point to the greatest extent.

[0202] In addition, expressing the missile impact point position as the relative distance and relative angle to the target position after data fusion has two obvious advantages: first, the relative position relationship between the impact point and the target position can be directly compared with the ship model, which can quickly determine the part where the missile hits the target, thereby improving the accuracy of damage assessment; second, the relative angle can be compared with the incident angle of the remaining waves of missiles, which is convenient for subsequent target allocation.

[0203] Finally, based on the image processing of the target damage image, a small number of misjudgments will inevitably occur, resulting in suspected impact point locations. When obtaining the impact point location, it is best to be able to give the credibility of the impact point location data.

[0204] Step 6: The missiles of the second wave transmit all the impact point locations obtained through the analysis to the missiles at the central node of the third wave through the inter-missile communication link.

[0205] When the communication volume or computing volume of the swarm network exceeds the set threshold, the third wave of central node missiles can specify missile nodes to perform communication or computing tasks. The threshold setting for the communication volume or computing volume can be set according to the actual communication carrying capacity or computing resource carrying capacity of the swarm network.

[0206] Step 7: The third wave of central node missiles fuses the data of all received impact point locations to form a definite impact point location.

[0207] As more and more impact point information is obtained, the accuracy and credibility of each impact point location will continue to improve. When the credibility of a impact point location reaches a set threshold, the impact point can be considered to be real. The threshold corresponding to the credibility of the impact point location can be set based on actual experience.

[0208] Step 8: The third wave of central node missiles evaluates the damage to various parts of the target, realizes autonomous real-time damage assessment of the missile group, and plans the required missile types and corresponding quantities, aiming parts and aiming points for the third wave of attacks based on the mapping relationship between various parts of the target and combat functions.

[0209] The damage assessment method used in the present invention is a mature technology. For example, the damage assessment of weapons and equipment can include the main contents of weapon damage effectiveness assessment, weapon performance index assessment and target vulnerability analysis. According to the different stages of damage assessment, the damage assessment of weapons and equipment can be divided into pre-war damage effectiveness prediction, real-time update and planning of damage during war according to the actual situation. This part can adopt mature damage assessment methods and will not be described here. The method described in the present invention focuses on improving the real-time update and planning effect of damage during war.

[0210] In order to ensure the timeliness of the missile group's autonomous real-time damage assessment and mission re-planning, each missile is required to pre-install a target vulnerability model for specific strike equipment and targets before launch. Combined with the detected impact point location, the damage to each part of the target can be quickly and accurately assessed. According to the mapping relationship between each part of the target and the combat function, the type and number of missiles required for the damage to each part of the target are given. The target vulnerability model can be established using a variety of methods such as the damage tree method, hierarchical analysis method, and fuzzy comprehensive evaluation method, all of which are currently mature technologies.

[0211] For example, according to the target vulnerability model of the ship target, the deck of the ship target will be functionally damaged after being hit by two Type A missiles, and will be severely structurally damaged after being hit by four Type A missiles; it will be functionally damaged after being hit by three Type B missiles, and will be severely structurally damaged after being hit by five Type B missiles. The above information can be simply expressed as:

[0212]

[0213] By directly comparing the relative position relationship between the impact point and the target position with the ship model, the mapping relationship between the target parts and the combat functions can be determined. After determining the part of the target where the missile hits, the number of times each part is hit by different types of missiles can be counted, thereby obtaining the type and number of missiles required to achieve a certain degree of damage to a part of the ship target, as well as the aiming parts and aiming points of different types of missiles, thereby providing data support for subsequent missile target allocation.

[0214] Step 9: The third wave of central node missiles will allocate targets based on the third wave of missile group’s missile type, position, posture and other status information, and determine the aiming point of the third wave of missiles.

[0215] In order to avoid enemy electronic interference and anti-missile interceptors during flight, missiles usually perform various maneuvers such as snake maneuvers and spiral maneuvers in the mid-course and terminal stages, and then gradually approach the target under the action of the terminal guidance law. Therefore, there are certain differences in the final incidence angles of each missile. According to the relative position relationship between the missile and the target, combined with the type and number of missiles required to achieve a certain degree of damage to a part of the ship target, the position of a specific part is used as the aiming point for subsequent specific types of missiles to improve the overall damage efficiency of the missile group.

[0216] Step 10: The third wave of central node missiles sends the target allocation information to the third wave of missile group through the inter-missile communication link.

[0217] Step 11: Each missile that receives the target allocation information updates its aiming point and uses its own terminal guidance law for guidance until each missile hits the target in turn. This process mainly relies on the missile's own guidance capability.

[0218] Step 12: The subsequent waves of the missile group repeat the above steps one by one according to the three-wave combination to continuously update the aiming point of each missile in the subsequent waves.

[0219] It is worth noting that with the continuous increase in the number of swarm waves and the number of missiles, the communication volume and computing volume of the swarm network, especially the missiles at the central node of each wave, will gradually increase. Therefore, it is necessary to fully consider the communication and computing capabilities of the missiles to determine the number of swarm waves and the number of missiles, which can be determined through a limited number of tests.

[0220] In addition, too high an update frequency of each missile aiming point will inevitably lead to poor guidance effect. This problem can be solved through reasonable pre-launch planning, or it can be limited by manually setting an upper limit on the update frequency.

[0221] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-wave group coordinated attack planning method based on target damage image, characterized in that: The steps include: Step 1: The missile group conducts pre-launch coordinated planning. According to the determined strike target position and the scheduled strike time, the launch position and launch time of each missile are obtained. The planned strike wave number of the missile group is not less than 3; Step 2: Each missile is launched in waves according to the collaborative planning results. The missile group completes the networking during flight. After networking, the target position, the position and posture of each node are shared within the missile group. Step 3: The first wave of missiles’ seekers are turned on to detect the target position and transmit the target position to the second wave of central node missiles through the inter-missile communication link. The second wave of central node missiles fuse the target position data and transmit it to all the second wave of missiles. Step 4: The first wave of missiles hits the target under the action of the terminal guidance law; at the same time, the second wave of missiles enters the terminal guidance phase, turns on the missile-borne infrared sensor to detect the target position after data fusion, and obtains the infrared image of the damage effect of the first wave of missiles, which is recorded as the target damage image; Step 5: Obtain the second wave of missiles of the target damage image, determine the impact point positions of the first wave of missiles according to the target damage image, and express them as relative distances and relative angles with the target position after data fusion; Step 6: The missiles of the second wave transmit all the impact point locations obtained through the analysis to the missiles at the central node of the third wave through the inter-missile communication link; Step 7: The third wave of central node missiles fuses all received impact point locations to form a confirmed impact point location; Step 8: The third wave of central node missiles evaluates the damage to each part of the target, realizes autonomous real-time damage assessment of the missile group, and plans the required missile type and corresponding quantity, aiming position and aiming point for the third wave of attack; Step 9: The third wave central node missile performs target allocation according to the status information of the third wave missile group and determines the aiming point of the third wave missile. The status information includes missile type, position and posture information. Step 10: The third wave of central node missiles sends the target allocation information to the third wave of missile groups through the inter-missile communication link; Step 11: Each missile that receives the target allocation information updates its aiming point and uses its own terminal guidance law for guidance until each missile hits the target in sequence; Step 12: The subsequent waves of the missile group repeat the above steps 1 to 11 one by one according to the three wave combinations to continuously update the aiming points of each missile in the subsequent waves.

2. A method for planning a multi-wave group coordinated attack based on a target damage image as claimed in claim 1, characterized in that: This method is aimed at a missile swarm network composed of multiple missile-to-missile communications, and its missile-to-missile communication links meet the following conditions:

1. In a missile swarm network composed of multiple inter-missile communications, missiles of the same wave form a communication subnet, and their internal communication links are called intra-subnet communication links; central node missiles of different waves form a communication main network, and their communication links are called inter-subnet communication links; 2. There is an inter-missile communication link between all missiles in the first wave and the central node missiles in the second wave, or the central node missiles in the first wave are set to perform communication relay; 3. There is an inter-missile communication link between all missiles in the second wave and the central node missiles in the third wave, or the central node missiles in the second wave are set up for communication relay; 4. The central node missiles of any wave have the function of broadcasting to the entire network, that is, the central node missiles of any wave have the communication link within the subnet with all the missiles of that wave.

3. A multi-wave swarm coordinated attack planning method based on target damage image as described in claim 1 or 2, characterized in that: In step 1, the missile group performs pre-fire collaborative planning, specifically: Before conducting collaborative planning, we first divide the missile waves according to combat requirements. We assume that the missile cluster arrives in N waves, that is, the number of missile waves is N, N ≥ 3 and N ∈ Z. The proportion sequence P = (p1, p2, …, p N ), where p i is the proportional coefficient of the kth wave, ranging from [0,1]. The number of missiles in each wave is expressed as the product of the number of missiles and the proportion sequence P and the integer value; Before the missile cluster conducts pre-launch coordinated planning, the target position S is set. T (x T ,y T ,z T ) and the scheduled time of attack on the target T des ,(x T ,y T ,z T ) is the coordinate value based on the Earth-centered Earth-fixed coordinate system; at the same time, the missile's launch position is calculated using the missile's existing fire control system; After the target position, missile launch position and target strike time are determined, pre-launch planning for multi-wave swarm coordinated strikes is carried out. This process takes into account the relative position constraints of missiles, the communication status constraints of swarms and the timing constraints of swarm launches, and is divided into missile relative position coordinated planning, swarm communication status coordinated planning and swarm launch timing coordinated planning.

4. A multi-wave group coordinated attack planning method based on target damage image as claimed in claim 3, characterized in that: Specifically, the missile relative position collaborative planning includes missile relative position constraints between missiles in each wave, including the following missile relative position constraint conditions: Missile relative position constraints 1) The pre-planned path points of missiles launched in the same wave do not overlap, and there is a certain safety distance d between the trajectories of different missiles safe , the safety distance is set according to the missile model and its own ballistic characteristics, and the known quantity is Among them, M ik (x, y, z) refers to the position of the i-th missile at a certain moment, i represents the missile number, k represents the launch wave of the missile, (x, y, z) represents the coordinates of the missile position in the X, Y, and Z directions in the Earth-centered Earth-fixed coordinate system ECEF, t represents the real time, t A Indicates any moment; The distance between the positions of different missiles is Δd. The larger Δd is, the better. The maximum value of Δd is taken. max(Δd=|M ik (x,y,z)-M (i+m)k (x,y,z)| t ),i=1,2,3,…,k=1,2,3,…,m=1,2,3,… Missile relative position constraint 2) For missiles launched from the same launch platform in different waves, their routes may overlap, but there is no situation where the routes intersect each other; Among them, ∑M ijk (x, y, z) refers to the position sequence of the i-th missile, that is, the trajectory of the missile; j represents the platform number from which the missile is launched; i represents the number of the missile; k represents the launch wave from which the missile is launched; Missile relative position constraint 3) For missile routes launched from different launch platforms in different waves, neither overlap nor intersection of route segments is allowed; ∑M ijk (x,y,z)≠∑M (i+m)(j+n)(k+p) (x,y,z),i=1,2,3,…,j=1,2,3,…,k=1,2,3,…,m=1,2,3,…,n=1,2,3,…,p=0,1,2,3,… Missile relative position constraint 4) According to the mission scenario setting, for missiles launched in different waves, the missiles of the first wave must be within the detection range of the infrared sensors on board some missiles of the second wave when they hit the target; The detection range of missile A in the second wave is expressed as the maximum detection distance d of the missile's onboard infrared sensor. D and the detection field angle θ D The cone expressed by the missile tip is: Where V AD is the detection range of missile A; x A is the x coordinate of missile A; d D The maximum detection distance of the missile-borne infrared sensor; is the square of the y coordinate of missile A; is the square of the z coordinate of missile A; x A is the x coordinate of missile A; θ D It is the detection field of view of the missile-borne infrared sensor; After the missile position is determined, the coordinate value within the detection range is obtained. The position of the sea surface ship target hit by the first wave of missiles B is within the coordinate value of the detection range, that is, Among them, the attack target position S T (x T ,y T ,z T ), M B1 (x, y, z) refers to the position of the missile, that is, the position of missile B, B is the number of the missile, 1 means that the launch wave of the missile is the first wave, and (x, y, z) respectively represent the coordinates of the missile position in the X, Y, and Z directions in the Earth-centered Earth-fixed coordinate system.

5. A method for planning a multi-wave group coordinated attack based on a target damage image as claimed in claim 4, characterized in that: The collaborative planning of the missile group communication state, specifically, the missile group communication state constraint conditions include: 1) Missiles in the same wave belong to the same missile communication subnet. Each missile in the swarm communicates directly or through the missile of the swarm center node. That is, the relative distance between missiles in the same wave is no more than twice the maximum communication distance in the subnet: ΔD cd =Δ(M ck (x,y,z)-M dk (x,y,z))≤2R com_in ,k=1,2,3,… Where, ΔD cd represents the relative distance between missile c and missile d, M ck (x, y, z) represents the position coordinates of missile c launched in the kth wave in the Earth-centered Earth-fixed coordinate system, R com_in Indicates the maximum communication distance within the subnet; 2) Adjacent waves of missiles communicate through the communication network formed by the missiles at the center node of the group, that is, the relative distance between adjacent waves of missiles is no greater than the sum of the maximum communication distance between subnets and twice the maximum communication distance within a subnet; ΔD cd =Δ(M ck (x,y,z)-M d(k+1) (x,y,z))≤R com_out +2R com_in Among them, R com_out Indicates the maximum communication distance between subnets.

6. A method for planning a multi-wave group coordinated attack based on a target damage image as claimed in claim 3, characterized in that: The said missile group launch sequence coordinated planning, specifically, the missile group is designed to be a coordinated attack in three launch waves; All missiles in the swarm carry out a saturation attack on the target, that is, all missiles in the swarm attack at the scheduled attack time T des All targets are hit within a certain period of time after that, which is the expected attack time window t d ; The time window t d The lower limit of is the missile launch time interval, and the upper limit of this time period is the time difference between the first and last missiles that hit the target when the first and third waves of missiles are at the maximum communication distance. Where R com_out is the maximum communication distance between subnets, R com_in is the maximum communication distance within the subnet, It indicates the average flight speed of the missile after it enters the terminal guidance phase; Estimated hit time window t d The value range of The specific value is set within this range according to the number of launch platforms, the platform launch time interval and mission requirements; Assume the ideal flight time of the missile is T F , let the launch time of the first missile numbered 1 in the first wave be t1, then the estimated hit time point Hit_time1 of the missile is Hit_time1=t1+T F Let the estimated hit time point Hit_time1 of the first missile in the first wave be equal to the set scheduled strike time T des ,Right now T des =Hit_time1=t1+T F The estimated launch time of the first missile in the first wave can be obtained by reversing the time sequence: t1=T des -T F The estimated hit time window of all missiles in all waves of the swarm is t d , so the estimated hit time of the last missile of the third wave is Hit_time end Hit_time end =T des +t d =t1+T F +t d The estimated launch time of the last missile in the third wave is obtained by reversing the time sequence: t end =t1+t d =T des -T F +t d The launch time window launch_time and hit time window Hit_time of the multi-wave shell group are as follows: launch_time=(t1,t end )=(T des -T F ,T des -T F +t d ) Hit_time=(Hit_time1,Hit_time end )=(T des ,T des +t d ) Then, the launch time window and the hit time window of each wave in the missile group are calculated. According to the requirement of the missile group to detect the damage image of the target, when the estimated hit time point Hit_time1 of the first missile of the first wave is reached, the missile of the second wave detects the damage effect of the missile of the first wave on the target; at this time, since the first missile of the first wave has hit the target, the relative distance between the missile of the second wave and the first missile of the first wave is regarded as the missile-target distance of the missile; When the first missile of the first wave hits the target, the missile-target distance of the first missile of the second wave is set to the optimal detection distance. This value is set according to the actual parameters of the missile-borne infrared sensor. Here, the optimal detection distance of the missile-borne infrared sensor is That is, when the first missile of the first wave hits the target, the distance between the first missile of the second wave and the target is The remaining flight time of the first missile in the second wave t f The missile's target distance and the average flight speed of the missile during the terminal guidance phase express: Get the estimated hit time point Hit_time2 of the first missile in the second wave: The estimated launch time of the first missile in the second wave is obtained by reversing the time sequence: The relative distance between the subsequent wave of missiles and the previous wave of missiles is the optimal detection distance, thereby obtaining the estimated hit time point Hit_time3 of the first missile of the third wave: At this point, the estimated time points for all missile waves to begin hitting their targets have been determined; In each wave, the missile group’s hit time can be set in multiple ways, such as synchronous strike or saturation strike, according to the mission requirements. That is, the mission requires that all missiles in the wave hit at a time t hit Hitting the target, after the missile flight trajectory calculation is completed, the flight time of each missile is Δt i It has been determined that the launch time t can be obtained by reverse calculation based on the missile flight time i :t i =t hit -Δt i , then the firing sequence T of the entire missile group is expressed as: T = {t1, t2, ..., t i }; At this point, the missile launch sequence is completely determined and the coordinated planning before the missile group launch is completed.

Images