A method for evaluating the effectiveness of low-altitude UAV swarm search and capture

Abstract

This invention provides a method for evaluating the effectiveness of low-altitude unmanned aerial vehicle (UAV) swarm search and capture, comprising: Step 1, establishing a swarm UAV search and capture evaluation system based on a command and control link; Step 2, formulating swarm UAV search and capture effectiveness evaluation standards; Step 3, calculating the effectiveness of the low-altitude UAV swarm search and capture system and analyzing the impact of each evaluation standard on the swarm UAV search and capture effectiveness. This method establishes a search and capture command and control link network model, dividing the UAV system into four parts and assigning them task categories: detection, command, capture, and communication. The UAVs in the four parts form a capture network to carry out search and capture tasks. The actual capture effectiveness, detection capability, capture capability, and comprehensive capture capability of the system are judged sequentially based on the performance of the UAVs, thereby obtaining its comprehensive effectiveness. This invention provides a criterion for evaluating UAV swarm search and capture work, which helps to assess the work efficiency and contribution of UAVs.

Description

Technical Field

[0001] This invention belongs to the field of invention performance evaluation methods, and particularly relates to a method for evaluating the performance of low-altitude unmanned aerial vehicle (UAV) swarm search and capture. Background Technology

[0002] With the development of technology, drones are increasingly being applied to many aspects of human life, including civilian filming and entertainment, and commercial interactive performances. Drones should also be used more extensively to benefit humanity, such as terrain observation in remote areas, biological detection, forestry, power, and waterway patrols in social work, and assisting in rescue, reconnaissance, strike, and destruction missions. They can even be used as independent attack units. Multi-drone collaborative search and capture requires more technological support. Search terrain includes complex areas such as cities and suburbs, and targets include people, animals, and small machinery units. All of these need to be considered in the development of drone search and capture applications. Therefore, exploring multi-drone collaborative work and achieving autonomous search and capture technology for drone systems has become a highly valuable area. Summary of the Invention

[0003] Objective of the Invention: The technical problem to be solved by the present invention is to address the shortcomings of existing technologies by providing a method for evaluating the effectiveness of low-altitude unmanned aerial vehicle (UAV) swarm search and capture, comprising the following steps:

[0004] Step 1: Establish a clustered drone search and assessment system based on the command and control link;

[0005] Step 2: Develop evaluation standards for the search and capture effectiveness of swarm drones;

[0006] Step 3: Calculate the effectiveness of the low-altitude drone swarm search and capture system, and analyze the impact of various evaluation criteria on the effectiveness of the drone swarm search and capture system.

[0007] Step 1 includes:

[0008] The search and control chain includes target roles, perception roles, command roles, capture roles, and communication roles;

[0009] The target is a ground or air target that the drone swarm wants to capture, and the target has mobility.

[0010] The perception role is a sensor in the drone swarm used to detect information related to the target role. The sensor can transmit the target information to the drones in the communication role and command role.

[0011] The command role refers to the drone in the drone swarm that analyzes target information and sends instructions to the capture role.

[0012] The captured role refers to the drone in the drone swarm that captures the target role according to instructions;

[0013] The communication role serves as a signal relay station between the target role, the sensing role, the command role, and the capture role;

[0014] The communication role is used to transmit perception information and decision information. Two or more communication roles form a communication group to share information and coordinate the release of target information.

[0015] The target role, perception role, command role, and capture role also include the following relationships: information sharing relationship between individual perception roles in the perception group, autonomous coordination and mutual cooperation search and capture relationship between individual capture roles in the capture group, and task target coordination and configuration relationship between individual command roles in the command group.

[0016] In step 2, the evaluation criteria for the search and capture effectiveness of the swarm drones include search capability, detection capability, capture capability, and comprehensive capture system capability.

[0017] In step 2, the search capability is evaluated based on the performance of the perception role. The perception role's detection methods include three types: SAR radar detection, electronic detection, and optical image detection. All three detection methods can quickly obtain detection information and feed it back to the command role, thereby maximizing the efficiency of the search and capture system.

[0018] In step 2, the detection capability R is evaluated by sensing the character's battery life μ, alarm accuracy φ, false alarm rate τ, and false alarm rate β:

[0019] R=0.25×μ+0.6×φ+0.15×∑(τ+β).

[0020] In step 2, the capture capability C is determined by the flight speed V of the capture group and the launch accuracy. Projectile radius R RC The target's distance D and the number of characters N captured in the capture group are evaluated to construct the following capture model:

[0021]

[0022] Where e is a natural constant. In this capture model, the launch range during the capture group's movement is considered to be proportional to the change in flight speed. After incorporating the target's distance, a model can be obtained in which the closer the target is, the higher the capture success rate.

[0023] In step 2, the overall capture capability C is calculated by combining the performance of other components in the capture system. s The following is a comprehensive model of the drone group's capture capability, taking into account the time T consumed in transmitting information between the perception group, command group, and capture group, the performance P of the equipped drones, and the number N of capture roles:

[0024] The influencing factor f(T) related to the time T consumed in communication is:

[0025] f(T)=λ*e -λT

[0026] Where λ is the rate parameter for information transmission time;

[0027] The influencing factor f(P) related to the performance P of a single UAV is:

[0028]

[0029] Where μ and σ represent the mean and standard deviation of the UAV performance, respectively;

[0030] The influencing factor f(C|T,P,N) related to the number of captured characters will be discussed separately for N=1 and N>1:

[0031] When N=1:

[0032]

[0033] C s =∫∫∫f(T)f(P)f(C|T,P)dTdPdC

[0034] Where f(T|C) and f(P|C) are the influencing factors related to T and P respectively under the UAV's capture capability C;

[0035] When N>1:

[0036]

[0037] C s =∫∫∫f(T)f(P)f(C|T,P,N)dTdPdC

[0038] Where f(T|C,N) and f(P|C,N) are the influence factors related to T and P respectively under the capture capability C of N drones, and f(N) is the influence factor related to the number of capture characters N;

[0039] The overall acquisition performance of the UAV was obtained (C). s The quality of this parameter is directly proportional to the number of drones N.

[0040] In step 3, the efficiency G of the low-altitude drone swarm search and capture system T The calculation formula is as follows:

[0041] G T =0.7R + 0.4C + 0.2C s .

[0042] The present invention also provides a storage medium storing a computer program or instructions, which, when the computer program or instructions are run, implement the aforementioned method for evaluating the effectiveness of low-altitude unmanned aerial vehicle (UAV) swarm search and capture.

[0043] Beneficial Effects: This invention designs a method for evaluating the search and capture effectiveness of low-altitude unmanned aerial vehicles (UAVs). This method introduces a search and capture command and control link model, divides the UAV swarm into different functional modules, analyzes the communication and coordination capabilities among the UAVs, and establishes evaluation criteria for UAV swarm search and capture operations. This helps to assess the work efficiency and contribution of UAVs in UAV swarm search and capture effectiveness evaluation. This method can also be applied to the evaluation of other swarm search and capture effectiveness. Attached Figure Description

[0044] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, and the advantages of the present invention in the above and / or other aspects will become clearer.

[0045] Figure 1 This is a diagram illustrating the relationships between the various roles in the search and prosecution chain.

[0046] Figure 2 It is the ability to perceive the character.

[0047] Figure 3 It refers to the ability to command.

[0048] Figure 4 It is the ability to capture characters.

[0049] Figure 5 It refers to the communication role's capabilities. Detailed Implementation

[0050] This invention provides a method for evaluating the effectiveness of low-altitude unmanned aerial vehicle (UAV) swarm search and capture. It includes:

[0051] Step 1: Based on the given task type and technical conditions, establish a low-altitude swarm UAV search and capture evaluation system based on the command and control link;

[0052] Step 2: Develop evaluation standards for the search and capture effectiveness of swarm drones;

[0053] Step 3: Based on the established search and arrest command and control link model, and referring to the various judgment conditions of the established search and arrest effectiveness evaluation standards, conduct relevant situation analysis.

[0054] Step 1-1, as follows Figure 1 As shown, the search and control chain includes target roles, perception roles, command roles, capture roles, and communication roles.

[0055] Steps 1-2: The target role is the ground or air target to be captured by the UAV swarm, and the target has maneuverability; the perception role is the sensor in the UAV swarm used to detect relevant information of the target role, and the sensor can transmit target information to the UAVs in the communication and command roles; the command role is the UAV in the UAV swarm that analyzes target information and sends instructions to the capture role; the capture role is the UAV in the UAV swarm that captures the target role according to the instructions; the communication role acts as a signal relay station between the various roles, mainly used to transmit perception information and decision information. In actual operation, the roles are all groups composed of multiple roles, which are named as communication group, perception group, command group, and capture group in this invention.

[0056] Multiple communication roles form a communication group, enabling information sharing and coordinated dissemination of target information. The relationships between these roles also include: information sharing relationships between individual perception roles within the perception group; autonomous coordination and cooperative search relationships between individual capture roles within the capture group; and task objective coordination and configuration relationships between individual command roles within the command group.

[0057] Steps 1-3, as follows Figure 2 As shown, the perception capabilities include: recognition accuracy, recognition precision, recognition range, false alarm rate, and false alarm rate.

[0058] Steps 1-4, as follows Figure 3 As shown, the commander role's abilities include: command decision time, capture effect, and capture energy consumption.

[0059] Steps 1-5, as follows Figure 4 As shown, the capture character's abilities include: flight speed, launch accuracy, launch radius, continuous launch time / number of launches, and cooperative abilities.

[0060] Steps 1-6, as follows Figure 5 As shown, the communication role capabilities include: maximum number of paths, maximum transmission speed, maximum transmission capacity, packet loss rate, maximum number of relay nodes, and communication range.

[0061] Step 2 includes:

[0062] Step 2-1: Evaluate the search capabilities of the technical units carried by the detection units in the UAV search system. This primarily involves determining whether SAR radar detection, electronic detection, and optical image detection technical units are included. The absence of these units reduces search effectiveness by one-third.

[0063] Step 2-2: Detection capability assessment. The following formula is used for judgment. Assuming a given battery life (μ) of 1.5 hours, alarm accuracy (φ) of 0.8, false alarm rate (τ) of 0.2, and false alarm rate (β) of 0.35, the detection capability R can be calculated as follows:

[0064] R=0.25×μ+0.6×φ+0.15×∑(τ+β)=0.9375

[0065] Steps 2-3: Acquisition capability assessment, judged using the following formula, assuming the flight speed V of the acquisition group is 3m / s and the launch accuracy... 0.8, projectile radius R RC Given a target distance D of 5m and a capture group containing 3 characters N:

[0066]

[0067] Steps 2-4: Comprehensive Capture Capability Assessment. The assessment is performed using the following formula, assuming the time T consumed in transmitting information between the perception group, command group, and capture group is 2 seconds, and the performance P of the equipped UAV is 0.9:

[0068] (1) Consider the model for the time T consumed in communication, where λ is 0.7:

[0069] f(T)=λ*e -λT =0.55

[0070] (2) Considering the model of UAV performance P, the mean and standard deviation μ and σ of UAV performance are 0.8 and 0.7, respectively:

[0071]

[0072] Based on the established models of communication time T and drone performance P, when capturing roles N=3:

[0073]

[0074] C s =∫∫∫f(T)f(P)f(C|T,P,N)dTdPdC=0.82

[0075] Step 3 includes:

[0076] Calculations yielded a detection capability (R) of 0.9375, a search capability (C) of 22, and a comprehensive search capability (Cs) of 0.82. Ultimately, the overall effectiveness (G) of this low-altitude UAV search system can be calculated. T )for:

[0077] G T =0.7R + 0.4C + 0.2Cs = 9.496

[0078] In its specific implementation, this application provides a computer storage medium and a corresponding data processing unit. The computer storage medium is capable of storing a computer program, which, when executed by the data processing unit, can run the invention's content regarding the evaluation of low-altitude UAV swarm search effectiveness, as well as some or all of the steps in various embodiments. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0079] Those skilled in the art will clearly understand that the technical solutions in the embodiments of the present invention can be implemented using computer programs and their corresponding general-purpose hardware platforms. Based on this understanding, the technical solutions in the embodiments of the present invention, or the parts that contribute to the prior art, can be embodied in the form of computer programs, i.e., software products. These computer program software products can be stored in a storage medium and include several instructions to cause a device containing a data processing unit (which may be a personal computer, server, microcontroller, MUU, or network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments of the present invention.

[0080] This invention provides a method for evaluating the search and capture effectiveness of low-altitude unmanned aerial vehicle (UAV) swarms. Many methods and approaches exist for implementing this technical solution; the above description is merely a preferred embodiment. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications should also be considered within the scope of protection of this invention. All components not explicitly stated in this embodiment can be implemented using existing technologies.

Claims

1. A method for evaluating the search and capture efficiency of a low-altitude UAV cluster, characterized in that, The method comprises the following steps: Step 1, establishing a cluster unmanned aerial vehicle (UAV) hunting evaluation system based on a command link; Step 2, formulating a cluster UAV hunting efficiency evaluation standard; Step 3, calculating the hunting system efficiency of a low-altitude UAV cluster and analyzing the influence of each evaluation standard on the hunting efficiency of the cluster UAV; Step 1 comprises: The hunting command link comprises a target role, a sensing role, a command role, a capture role and a communication role; The target role is a ground or air target to be captured by the UAV cluster, and the target role has a mobility capability; The sensing role is a sensor in the UAV cluster for detecting information about the target role, and the sensor can transmit the target information to the UAVs of the communication role and the command role; The command role is a UAV in the UAV cluster for analyzing the target information and sending instructions to the capture role; The capture role is a UAV in the UAV cluster for capturing the target role according to the instructions; The communication role serves as a signal relay station among the target role, the sensing role, the command role and the capture role; The communication role is used for transmitting sensing information and decision information, and two or more communication roles form a communication group to share information and coordinate the release of target information; The target role, the sensing role, the command role and the capture role further comprise the following relationships: an information sharing relationship between single sensing roles in a sensing group, a self-coordination and mutual cooperation hunting relationship between single capture roles in a capture group, and a task target coordination and configuration relationship between single command roles in a command group; In step 2, the cluster UAV hunting efficiency evaluation standard comprises search capability, detection capability, capture capability and comprehensive capture system capability; In step 2, the search capability is evaluated by the performance of the sensing role, and the detection means of the sensing role comprises three modes of SAR radar detection, electronic detection and optical image detection; whether the detection means comprises SAR radar detection, electronic detection and optical image detection technology units is determined, and if any unit is missing, the hunting system efficiency is reduced by 1 / 3; In step 2, the detection capability R is evaluated by the endurance capability μ, the alarm accuracy φ, the false alarm rate τ and the false alarm rate β of the sensing role: R = 0.25 × μ + 0.6 × φ + 0.15 × ∑(τ + β).

2. The method of claim 1, wherein, In step 2, the capture ability C is evaluated by the flying speed V of the capture group, the accuracy of the projectile The radius of the projectile R RC , the distance D of the target and the number N of the capture characters in the capture group, and the capture model is constructed as follows: Where e is a natural constant.

3. The method of claim 2, wherein, In step 2, the capture comprehensive capability C is calculated by combining the performance of other members in the capture system s The time T consumed for conveying information among the perception group, the command group and the capture group, the performance P of the equipped UAVs and the number N of capture roles are comprehensively considered in the UAV group capture comprehensive capability model as follows: The influence factor f(T) related to the time T consumed is: f(T) = λ * e -λT Where λ is a rate parameter of information transmission time; The influence factor f(P) related to the performance P of a single UAV is: Where μ and σ represent the mean and standard deviation of the performance of the UAV, respectively; The influence factor f(C|T,P,N) related to the number of capture roles is discussed for N = 1 and N > 1: When N = 1: C s = ∫∫∫f(T)f(P)f(C|T,P)dTdPdC Where f(R|C) and f(P|C) are the influence factors related to T and P under the capture capability C of the UAV, respectively; When N > 1: C s = ∫∫∫f(T)f(P)f(C|T,P,N)dTdOdC Where f(T|C,N) and f(P|C,N) are the influence factors related to T and P under the capture capability C of N UAVs, respectively, and f(N) is the influence factor related to the number N of capture roles. The comprehensive capture performance C of the UAV is obtained s The parameter is proportional to the number N of UAVs.

4. The method of claim 3, wherein, The calculation formula of the low-altitude UAV cluster hunting system performance G in step 3 is as follows: T The calculation formula of the low-altitude UAV cluster hunting system performance G in step 3 is as follows: G T = 0.7R + 0.4C + 0.2C s .

5. A storage medium, characterized by a computer program or instructions stored in a storage medium, which, when executed, implement the method of any one of claims 1 to 4.

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