A capability space modeling method based on decay function

Abstract

The present invention is applicable to the technical field of command information system simulation modeling, and provides a capability space modeling method based on an attenuation function, comprising: discretizing the capability space; obtaining characteristic data of the capability body; judging whether the capability type of the capability body is omnidirectional or directional based on whether the capability influence range of the capability body has an angle constraint; modeling the capability space; and calculating the influence value E of each capability body at the grid point. i , and then add the values ​​to calculate the total influence value E of all ability bodies at the spatial grid p , so that the influence value distribution of the entire capability space can be obtained, the influence value can be matched with the chromaticity value, and the influence value can be displayed in the form of a heat map; the modeling method adopts a quantitative abstract method, takes the characteristic data of the capability body as the modeling object, and constructs a capability space model based on the attenuation function to achieve an intuitive display of the capability value and capability range of the capability body.

Description

Technical Field

[0001] The present invention belongs to the technical field of command information system simulation modeling, and in particular relates to a capability space modeling method based on an attenuation function. Background Art

[0002] Spatial modeling is used to describe, analyze, and predict various spatial characteristics and phenomena, enabling a better understanding and utilization of spatial information. It primarily involves data collection, data processing and integration, spatial representation, spatial relationship modeling, model creation and analysis, visualization, and application. Spatial modeling is widely used in many fields, such as urban planning, environmental management, natural resource surveys, and transportation planning. It helps people better understand and utilize spatial resources, supporting scientific and precise decision-making and management.

[0003] In the increasingly complex field of spatial modeling and computing, it is often necessary to calculate the impact of certain objects within a certain spatial range, such as radar detection. How to effectively perform spatial modeling has become the key to supporting spatial computing. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a capability space modeling method based on a decay function, aiming to solve the problems existing in the background technology.

[0005] The embodiment of the present invention is implemented as follows: a capability space modeling method based on a decay function, the method comprising the following steps:

[0006] Step S100: regional discretization of the capability space is performed. According to the given capability space segmentation granularity num, average points are taken in the horizontal and vertical directions to divide the capability space into uniform square grids. The coordinates of the center point of each grid represent the corresponding capability space grid.

[0007] Step S200: Acquire characteristic data of the capability body, including the capability value η of the capability body itself, the critical distance ω1 at which the capability value begins to decay, and the characteristic data of the capability body including but not limited to the capability influence range ω2, the capability influence range angle constraint θ, the influence value decay exponent δ, and the azimuth angle ε;

[0008] Step S300: Determine whether the capability type of the capability body is omnidirectional or directional, based on whether the capability influence range of the capability body has an angle constraint;

[0009] The judgment criteria are: when the ability body's range of influence has no angle or direction constraints, that is, the ability body's coverage angle reaches 360 degrees, the ability type is omnidirectional; conversely, when the ability body's range of influence has angle or direction constraints, that is, the ability body's coverage angle is between 0 and 360 degrees, the ability type is directional.

[0010] Step S400: Capability space modeling is performed. If the capability type of the capability body is omnidirectional, omnidirectional capability quantitative modeling is performed based on an omnidirectional attenuation function, so that the capability body's influence value decays based on distance, and the influence value E of the capability body at a certain spatial point is calculated. If the capability type of the capability body is directed, directed capability quantitative modeling is performed based on a directed attenuation function, combined with the capability influence range angle constraint, so that the capability body's influence value decays based on distance within the capability coverage angle, and the influence value E of the capability body at a certain spatial point is calculated.

[0011] Step S500: Repeat steps S300 and S400 at each spatial grid to calculate the influence value E of each capability body at that grid. i , and then add the values ​​to calculate the total influence value E of all ability bodies at the spatial grid p ;

[0012]

[0013] Among them, E i is the influence value of a certain ability body at the spatial grid, E p The sum of the influence values ​​of all ability bodies at that spatial point;

[0014] Step S600: Repeat step S500 to calculate the influence value at each spatial point, so as to obtain the influence value distribution of the entire capability space, match the influence value with the chromaticity value, and display the influence value in the form of a heat map, which can intuitively display the capability value and capability influence range of the capability body.

[0015] As a further solution of the present invention, step S400 includes the following steps:

[0016] Step S410: Determine whether the target grid is within the capability coverage angle range of the capability body;

[0017] Step S420: Determine whether the target point grid is within the capability coverage range of the capability body;

[0018] Step S430: Calculate the influence value of the capability body.

[0019] As a further solution of the present invention, the azimuth of the capability body and the calculation of whether a spatial point grid is within the angular coverage range of the capability body are in the form of polar coordinates, denoted as P(ρ, θ), where: ρ is the polar diameter, which represents the distance between the position coordinate and the origin O in the coordinate system; θ is the polar angle, which represents the angle between the position coordinate and the polar axis;

[0020] When the ability influence range angle constraint θ is 360 degrees, the target point grid is within the ability body's angle influence range; when the ability influence range angle constraint θ is between 0 and 360, the ability coverage angle range of the ability body is calculated based on the ability body's azimuth angle ε and the ability influence range angle constraint θ.

[0021] As a further solution of the present invention, the calculation method of the capability influence range angle constraint θ is as follows:

[0022] 1) The angular influence range of the capability body is half of the angle constraint θ on each side of the azimuth angle.

[0023] That is, the maximum influence angle of the ability body is max_angle = ε + 0.5θ,

[0024] The minimum influence angle of the ability body is min_angle = ε-0.5θ;

[0025] 2) Limit the angle to the range of 0 to 360 degrees. Therefore, when the maximum impact angle max_angle is greater than 360 degrees, adjust it to max_angle-360 degrees. When the minimum impact angle min_angle is less than 360 degrees, adjust it to min_angle+360 degrees. After adjustment, if the value of max_angle is less than min_angle, the values ​​of the two need to be swapped.

[0026] 3) When the azimuth angle of the capability body is greater than 0.5θ and the azimuth angle plus 0.5θ is less than 360 degrees, if the angle target_angle of the target grid is between min_angle and max_angle, the target grid is within the capability coverage angle range of the capability body; otherwise, it is not within the capability coverage angle range of the capability body; when the azimuth angle of the capability body is less than 0.5θ or the azimuth angle plus 0.5θ is greater than 360 degrees, if the angle target_angle of the target grid is less than min_angle or greater than max_angle, the target grid is within the capability coverage angle range of the capability body; otherwise, it is not within the capability coverage angle range of the capability body.

[0027] As a further solution of the present invention, step S420 uses the Euclidean distance formula to calculate the distance r between the target point grid and the ability body. If the distance r is less than or equal to the ability influence range of the ability body, the target point grid is within the ability coverage distance range of the ability body. Conversely, if the distance r is greater than the ability influence range of the ability body, the target point grid is not within the ability coverage distance range of the ability body.

[0028] As a further solution of the present invention, the omnidirectional attenuation function used in step S430 to calculate the ability body influence value can be expressed as:

[0029]

[0030] in,

[0031] η is the ability value of the ability entity itself;

[0032] δ is the influence value attenuation index;

[0033] Δ is the distance between the target location and the ability body;

[0034] ω2 is the ability's influence range. When the distance between the target location and the ability is less than or equal to this distance, the ability's influence on the target location is non-zero. When the distance between the target location and the ability is greater than this distance, the ability's influence on the target location is zero.

[0035] ω1 is the critical distance at which the influence value begins to decay. That is, when the distance between the target position and the ability body is less than or equal to this distance, the influence value of the ability body on the target position is its own ability value η. When the distance between the target position and the ability body is greater than this distance and less than the influence range ω2 of the ability body, the influence value of the ability body on the target position is

[0036] As a further solution of the present invention, the directed attenuation function used in step S430 to calculate the capability body influence value can be expressed as:

[0037]

[0038] in,

[0039] η is the ability value of the ability entity itself;

[0040] θ is the angle constraint of the ability body’s ability influence range;

[0041] ε is the azimuth angle (i.e. the angle of the ability body relative to the polar axis in the spatial coordinate system);

[0042] δ is the influence value attenuation index;

[0043] Δ is the distance between the target location and the ability body;

[0044] ω2 is the ability's influence range. When the distance between the target location and the ability is less than or equal to this distance, the ability's influence on the target location is non-zero. When the distance between the target location and the ability is greater than this distance, the ability's influence on the target location is zero.

[0045] ω1 is the critical distance at which the influence value begins to decay. That is, when the distance between the target position and the ability body is less than or equal to this distance, the influence value of the ability body on the target position is its own ability value η. When the distance between the target position and the ability body is greater than this distance and less than the influence range ω2 of the ability body, the influence value of the ability body on the target position is

[0046] f(ε,θ) is a function that determines whether the target point grid is within the angle range covered by the capability body.

[0047] Compared with the existing technology, the beneficial effects of the present invention are: the modeling method adopts a quantitative abstract method, takes the characteristic data of the capability body as the modeling object, and constructs a capability space model based on the attenuation function to achieve an intuitive display of the capability value and capability range of the capability body. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 Heatmap of the modeling results for quantitative radar detection based on the omnidirectional attenuation function;

[0049] Figure 2 Heatmap of modeling results for radar detection quantification based on directed attenuation functions;

[0050] Figure 3 A flowchart of a capability space modeling method based on decay function;

[0051] Figure 4 Schematic diagram of omnidirectional attenuation function based on distance attenuation;

[0052] Figure 5 Schematic diagram of the directed attenuation function based on distance attenuation. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0054] For the convenience of description, the present invention proposes the concepts of capability space and capability body; the capability space is the spatial carrier of different capability bodies, with two dimensions, horizontal and vertical, and its expression is S(P), where P is the coordinate of the capability space (X, Y, Z); the capability space expresses both the state scalar of the capability body in each space-time grid and the continuous vector in the entire space-time range; the capability body is an entity with a certain capability radiation range that exists in the capability space, and its expression is Q(p, η, ω, θ), where p represents the position coordinates (X, Y, Z) of the capability body; η represents the capability value of the capability body itself; ω represents the capability radiation range of the capability body; and θ is the angle constraint of the capability body's capability influence range.

[0055] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0056] like Figures 1 to 3 FIG. 1 is an embodiment of the present invention, a capability space modeling method based on a decay function, the method comprising the following steps:

[0057] Step S100: regional discretization of the capability space is performed. According to the given capability space segmentation granularity num, average points are taken in the horizontal and vertical directions to divide the capability space into uniform square grids. The coordinates of the center point of each grid represent the corresponding capability space grid.

[0058] Step S200: Acquire characteristic data of the capability body, including the capability value η of the capability body itself, the critical distance ω1 at which the capability value begins to decay, and the characteristic data of the capability body including but not limited to the capability influence range ω2, the capability influence range angle constraint θ, the influence value decay exponent δ, and the azimuth angle ε;

[0059] Step S300: Determine whether the capability type of the capability body is omnidirectional or directional, based on whether the capability influence range of the capability body has an angle constraint;

[0060] The judgment criteria are: when the ability body's range of influence has no angle or direction constraints, that is, the ability body's coverage angle reaches 360 degrees, the ability type is omnidirectional; conversely, when the ability body's range of influence has angle or direction constraints, that is, the ability body's coverage angle is between 0 and 360 degrees, the ability type is directional.

[0061] Step S400: Capability space modeling is performed. If the capability type of the capability body is omnidirectional, omnidirectional capability quantitative modeling is performed based on an omnidirectional attenuation function, so that the capability body's influence value decays based on distance, and the influence value E of the capability body at a certain spatial point is calculated. If the capability type of the capability body is directed, directed capability quantitative modeling is performed based on a directed attenuation function, combined with the capability influence range angle constraint, so that the capability body's influence value decays based on distance within the capability coverage angle, and the influence value E of the capability body at a certain spatial point is calculated.

[0062] Step S500: Repeat steps S300 and S400 at each spatial grid to calculate the influence value E of each capability body at that grid. i , and then add the values ​​to calculate the total influence value E of all ability bodies at the spatial grid p ;

[0063]

[0064] Among them, E i is the influence value of a certain ability body at the spatial grid, E p The sum of the influence values ​​of all ability bodies at that spatial point;

[0065] Step S600: Repeat step S500 to calculate the influence value at each spatial point, so as to obtain the influence value distribution of the entire capability space, match the influence value with the chromaticity value, and display the influence value in the form of a heat map, which can intuitively display the capability value and capability influence range of the capability body.

[0066] Furthermore, the step S400 includes the following steps:

[0067] Step S410: Determine whether the target grid is within the capability coverage angle range of the capability body.

[0068] The present invention uses polar coordinates to represent the azimuth of the capability body and to calculate whether a spatial point grid is within the angular coverage range of the capability body, denoted as P(ρ, θ), where: ρ is the polar diameter, which represents the distance between the position coordinate and the origin O in the coordinate system; θ is the polar angle, which represents the angle between the position coordinate and the polar axis;

[0069] When the ability influence range angle constraint θ is 360 degrees, the target point grid is within the ability body's angle influence range; when the ability influence range angle constraint θ is between 0 and 360, the ability coverage angle range of the ability body is calculated based on the ability body's azimuth angle ε and the ability influence range angle constraint θ;

[0070] Furthermore, the calculation method of the capability influence range angle constraint θ is as follows:

[0071] 1) The angular influence range of the capability body is half of the angle constraint θ on each side of the azimuth angle.

[0072] That is, the maximum influence angle of the ability body is max_angle = ε + 0.5θ,

[0073] The minimum influence angle of the ability body is min_angle = ε-0.5θ;

[0074] 2) Limit the angle to the range of 0 to 360 degrees. Therefore, when the maximum impact angle max_angle is greater than 360 degrees, adjust it to max_angle-360 degrees. When the minimum impact angle min_angle is less than 360 degrees, adjust it to min_angle+360 degrees. After adjustment, if the value of max_angle is less than min_angle, the values ​​of the two need to be swapped.

[0075] 3) When the azimuth angle of the capability body is greater than 0.5θ and the azimuth angle plus 0.5θ is less than 360 degrees, if the target grid angle target_angle is between min_angle and max_angle, the target grid is within the capability coverage angle range of the capability body; otherwise, it is not within the capability coverage angle range of the capability body; when the azimuth angle of the capability body is less than 0.5θ or the azimuth angle plus 0.5θ is greater than 360 degrees, if the target grid angle target_angle is less than min_angle or greater than max_angle, the target grid is within the capability coverage angle range of the capability body; otherwise, it is not within the capability coverage angle range of the capability body;

[0076] Step S420: Determine whether the target point is within the range of the ability body's ability coverage.

[0077] Step S420 calculates the distance r between the target point and the capability body using the Euclidean distance formula. If the distance r is less than or equal to the capability body's ability influence range, the target point is within the capability body's ability coverage distance range. Conversely, if the distance r is greater than the capability body's ability influence range, the target point is not within the capability body's ability coverage distance range.

[0078] Step S430: Calculate the influence value of the capability body.

[0079] The omnidirectional attenuation function used in step S430 to calculate the ability body influence value can be expressed as:

[0080]

[0081] in,

[0082] η is the ability value of the ability entity itself;

[0083] δ is the influence value attenuation index;

[0084] Δ is the distance between the target location and the ability body;

[0085] ω2 is the ability's influence range. When the distance between the target location and the ability is less than or equal to this distance, the ability's influence on the target location is non-zero. When the distance between the target location and the ability is greater than this distance, the ability's influence on the target location is zero.

[0086] ω1 is the critical distance at which the influence value begins to decay. That is, when the distance between the target position and the ability body is less than or equal to this distance, the influence value of the ability body on the target position is its own ability value η. When the distance between the target position and the ability body is greater than this distance and less than the influence range ω2 of the ability body, the influence value of the ability body on the target position is

[0087] The directed attenuation function used to calculate the influence value of the capability body can be expressed as:

[0088]

[0089] in,

[0090] η is the ability value of the ability entity itself;

[0091] θ is the angle constraint of the ability body’s ability influence range;

[0092] ε is the azimuth angle (i.e. the angle of the ability body relative to the polar axis in the spatial coordinate system);

[0093] δ is the influence value attenuation index;

[0094] Δ is the distance between the target location and the ability body;

[0095] ω2 is the ability's influence range. When the distance between the target location and the ability is less than or equal to this distance, the ability's influence on the target location is non-zero. When the distance between the target location and the ability is greater than this distance, the ability's influence on the target location is zero.

[0096] ω1 is the critical distance at which the influence value begins to decay. That is, when the distance between the target position and the ability body is less than or equal to this distance, the influence value of the ability body on the target position is its own ability value η. When the distance between the target position and the ability body is greater than this distance and less than the influence range ω2 of the ability body, the influence value of the ability body on the target position is

[0097] f(ε, θ) is a function that determines whether the target point grid is within the angle range covered by the capability body.

[0098] Taking radar detection as an example, the entire area to be calculated is discretely divided, the radar is abstracted into a capability body, the radar's detection accuracy and other factors are mapped to the capability value η of the capability body, the radar's detection range is mapped to the capability influence range ω2 of the capability body, and the radar's detection angle is mapped to the angle constraint θ of the capability influence range of the capability body. Omnidirectional capability quantification modeling based on the omnidirectional attenuation function and directed capability quantification modeling based on the directed attenuation function are performed respectively.

[0099] Step 1: Discretize the capability space into regions.

[0100] (1) According to the given capability space segmentation granularity num, average points are taken in the horizontal and vertical directions respectively;

[0101] (2) Divide the capability space into a uniform square grid;

[0102] (3) The coordinates of the center point of each grid are used to represent the corresponding ability space grid.

[0103] Step 2: Obtain the characteristic data of the capability body.

[0104] In this embodiment, the radar's detection accuracy is mapped to the capability value η of the capability body, the radar's detection range is mapped to the capability influence range ω2 of the capability body, the radar's detection angle is mapped to the capability influence range angle constraint θ of the capability body, the critical distance ω1 at which the radar's influence value begins to decay is 0.5ω2, the radar's influence value decay exponent δ is 2, and the radar's azimuth angle ε is determined based on the specific parameters input.

[0105] Table 1 shows the quantitative modeling calculation request parameters based on the attenuation function, including the radar's detection range, detection angle, azimuth, detection accuracy, and calculation area.

[0106] Table 1 Quantitative modeling calculation request parameters based on attenuation function

[0107]

[0108] Step 3: According to the radar detection angle value in the request parameter, determine whether the radar capability type is omnidirectional or directional.

[0109] When the radar detection angle value is 360.00, it means that the radar detection has no angle constraint and the radar capability type is omnidirectional; when the radar detection angle value is between 0.00 and 360.00, it means that the radar detection has angle constraint and the radar capability type is directional.

[0110] Step 4: Model the capability space.

[0111] If the ability body's range of influence is not constrained by angle or direction, omnidirectional ability quantification modeling based on the omnidirectional attenuation function is used, causing the ability body's influence value to decay based on distance, and the ability body's influence value E at a specific spatial point is calculated. If the ability body's range of influence is constrained by angle or direction, directed ability quantification modeling based on the directed attenuation function is used in conjunction with the ability body's range of influence angle constraint parameters, causing the ability body's influence value to decay based on distance and angle constraints, and the ability body's influence value E at a specific spatial point is calculated.

[0112] (1) Determine whether the target point grid is within the ability coverage angle range of the ability body.

[0113] a) When the radar detection angle is 360 degrees, the target grid is within the range of the ability body's angle;

[0114] b) When the radar detection angle is between 0 and 360 degrees, the capability coverage angle range of the capability body is calculated based on the radar azimuth ε and the capability influence range angle constraint θ. The specific method is as follows:

[0115] 1) The angular influence range of the capability body is half of the angle constraint θ on both sides of the azimuth angle, that is, the maximum influence angle max_angle = ε + 0.5θ, and the minimum influence angle of the capability body is min_angle = ε - 0.5θ.

[0116] 2) To facilitate calculation, the angle is limited to the range of 0 to 360 degrees. Therefore, when the maximum impact angle max_angle is greater than 360 degrees, it is adjusted to max_angle-360. When the minimum impact angle min_angle is less than 360 degrees, it is adjusted to min_angle+360. After adjustment, if the value of max_angle is less than min_angle, the values ​​of the two need to be swapped.

[0117] 3) When the azimuth angle of the capability body is greater than 0.5θ and the azimuth angle plus 0.5θ is less than 360 degrees, if the angle target_angle of the target grid is between min_angle and max_angle, the target grid is within the capability coverage angle range of the capability body; otherwise, it is not within the capability coverage angle range of the capability body; when the azimuth angle of the capability body is less than 0.5θ or the azimuth angle plus 0.5θ is greater than 360 degrees, if the angle target_angle of the target grid is less than min_angle or greater than max_angle, the target grid is within the capability coverage angle range of the capability body; otherwise, it is not within the capability coverage angle range of the capability body.

[0118] (2) Determine whether the target point is within the range of the ability body's ability coverage.

[0119] Use the Euclidean distance formula to calculate the distance r between the target point and the ability body. If the distance r is less than or equal to the ability body's ability influence range ω2, then the target point is within the ability body's ability coverage distance range. Conversely, if the distance r is greater than the ability body's ability influence range ω2, then the target point is not within the ability body's ability coverage distance range.

[0120] (3) Calculate the influence value of the ability body.

[0121] a) Quantitative modeling of omnidirectional capability based on the omnidirectional attenuation function when the radar detection angle is 360 degrees.

[0122] The omnidirectional attenuation function used to calculate the influence value of the ability body can be expressed as:

[0123]

[0124] in,

[0125] η is the ability value of the ability entity itself;

[0126] δ is the influence value attenuation index;

[0127] Δ is the distance between the target location and the ability body;

[0128] ω2 is the ability's influence range. When the distance between the target location and the ability is less than or equal to this distance, the ability's influence on the target location is non-zero. When the distance between the target location and the ability is greater than this distance, the ability's influence on the target location is zero.

[0129] ω1 is the critical distance at which the influence value begins to decay. That is, when the distance between the target position and the ability body is less than or equal to this distance, the influence value of the ability body on the target position is its own ability value η. When the distance between the target position and the ability body is greater than this distance and less than the influence range ω2 of the ability body, the influence value of the ability body on the target position is

[0130] b) When the radar detection angle is between 0 and 360 degrees, the directional capability quantification modeling based on the directional attenuation function is carried out.

[0131] The directed attenuation function used to calculate the influence value of the capability body can be expressed as:

[0132]

[0133] in,

[0134] η is the ability value of the ability entity itself;

[0135] θ is the angle constraint of the ability body’s ability influence range;

[0136] ε is the azimuth angle (i.e. the angle of the ability body relative to the polar axis in the spatial coordinate system);

[0137] δ is the influence value attenuation index;

[0138] Δ is the distance between the target location and the ability body;

[0139] ω2 is the ability's influence range. When the distance between the target location and the ability is less than or equal to this distance, the ability's influence on the target location is non-zero. When the distance between the target location and the ability is greater than this distance, the ability's influence on the target location is zero.

[0140] ω1 is the critical distance at which the influence value begins to decay. That is, when the distance between the target position and the ability body is less than or equal to this distance, the influence value of the ability body on the target position is its own ability value η. When the distance between the target position and the ability body is greater than this distance and less than the influence range ω2 of the ability body, the influence value of the ability body on the target position is

[0141] f(ε,θ) is a function to determine whether the target point grid is within the range of the ability body’s coverage angle;

[0142] For an ability body with omnidirectional capabilities, the influence value is calculated using formula (3); for an ability body with directional capabilities, the influence value is calculated using formula (4).

[0143] Step 5: Repeat steps 3 to 4 at each spatial grid to calculate the influence value E of each ability body at that grid. i , and then add the values ​​to calculate the total influence value E of all ability bodies at the spatial grid p .

[0144]

[0145] Among them, E i is the influence value of a certain ability body at the spatial grid, E p It is the sum of the influence values ​​of all ability bodies at this spatial point.

[0146] Step 6: Repeat step 5 to calculate the influence value at each spatial grid, so as to obtain the influence value distribution of the entire capability space. Match the influence value with the chromaticity value and display the influence value in the form of a heat map, which can intuitively display the capability value and capability influence range of the capability body. The above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A capability space modeling method based on attenuation function, characterized in that: The method comprises the following steps: Step S100: regional discretization of the capability space is performed. According to the given capability space segmentation granularity num, average points are taken in the horizontal and vertical directions to divide the capability space into uniform square grids. The coordinates of the center point of each grid represent the corresponding capability space grid. Step S200: Acquire characteristic data of the capability body, including the capability value η of the capability body itself, the critical distance ω1 at which the capability value begins to decay, and the characteristic data of the capability body including but not limited to the capability influence range ω2, the capability influence range angle constraint θ, the influence value decay exponent δ, and the azimuth angle ε; Step S300: Determine whether the capability type of the capability body is omnidirectional or directional, based on whether the capability influence range of the capability body has an angle constraint; The judgment criteria are: when the ability body's range of influence has no angle or direction constraints, that is, the ability body's coverage angle reaches 360 degrees, the ability type is omnidirectional; conversely, when the ability body's range of influence has angle or direction constraints, that is, the ability body's coverage angle is between 0 and 360 degrees, the ability type is directional. Step S400: Capability space modeling is performed. If the capability type of the capability body is omnidirectional, omnidirectional capability quantitative modeling is performed based on an omnidirectional attenuation function, so that the capability body's influence value decays based on distance, and the influence value E of the capability body at a certain spatial point is calculated. If the capability type of the capability body is directed, directed capability quantitative modeling is performed based on a directed attenuation function, combined with the capability influence range angle constraint, so that the capability body's influence value decays based on distance within the capability coverage angle, and the influence value E of the capability body at a certain spatial point is calculated. Step S500: Repeat steps S300 and S400 at each spatial grid to calculate the influence value E of each capability body at that grid. i , and then add the values ​​to calculate the total influence value E of all ability bodies at the spatial grid p ; E p =∑E i (or i Oh, oh 1i Oh, oh 2i ) Among them, E i is the influence value of a certain ability body at the spatial grid, E p The sum of the influence values ​​of all ability bodies at that spatial point; Step S600: Repeat step S500 to calculate the influence value at each spatial point, so as to obtain the influence value distribution of the entire capability space, match the influence value with the chromaticity value, and display the influence value in the form of a heat map, which can intuitively display the capability value and capability influence range of the capability body.

2. The capability space modeling method based on the attenuation function according to claim 1 is characterized in that: The step S400 includes the following steps: Step S410: Determine whether the target grid is within the capability coverage angle range of the capability body; Step S420: Determine whether the target point grid is within the capability coverage range of the capability body; Step S430: Calculate the influence value of the capability body.

3. The capability space modeling method based on the attenuation function according to claim 2 is characterized in that: The azimuth of the capability body and the calculation of whether a spatial point is within the angular coverage range of the capability body are in polar coordinates, denoted as P(ρ, θ), where: ρ is the polar diameter, which represents the distance from the position coordinate to the origin O in the coordinate system; θ is the polar angle, which represents the angle between the position coordinate and the polar axis; When the ability influence range angle constraint θ is 360 degrees, the target point grid is within the ability body's angle influence range; when the ability influence range angle constraint θ is between 0 and 360, the ability coverage angle range of the ability body is calculated based on the ability body's azimuth angle ε and the ability influence range angle constraint θ.

4. The capability space modeling method based on attenuation function according to claim 3 is characterized in that: The calculation method of the angle constraint θ of the capability influence range is as follows: 1) The angular influence range of the capability body is half of the angle constraint θ on each side of the azimuth angle. That is, the maximum influence angle of the ability body is max_angle = ε + 0.5θ, The minimum influence angle of the ability body is min_angle = ε-0.5θ; 2) Limit the angle to the range of 0 to 360 degrees. Therefore, when the maximum impact angle max_angle is greater than 360 degrees, adjust it to max_angle-360 degrees. When the minimum impact angle min_angle is less than 360 degrees, adjust it to min_angle+360 degrees. After adjustment, if the value of max_angle is less than min_angle, the values ​​of the two need to be swapped. 3) When the azimuth angle of the capability body is greater than 0.5θ and the azimuth angle plus 0.5θ is less than 360 degrees, if the angle target_angle of the target grid is between min_angle and max_angle, the target grid is within the capability coverage angle range of the capability body; otherwise, it is not within the capability coverage angle range of the capability body; when the azimuth angle of the capability body is less than 0.5θ or the azimuth angle plus 0.5θ is greater than 360 degrees, if the angle target_angle of the target grid is less than min_angle or greater than max_angle, the target grid is within the capability coverage angle range of the capability body; otherwise, it is not within the capability coverage angle range of the capability body.

5. The capability space modeling method based on attenuation function according to claim 2, characterized in that: Step S420 calculates the distance r between the target point and the capability body using the Euclidean distance formula. If the distance r is less than or equal to the capability influence range of the capability body, the target point is within the capability coverage distance range of the capability body. Conversely, if the distance r is greater than the capability influence range of the capability body, the target point is not within the capability coverage distance range of the capability body.

6. The capability space modeling method based on attenuation function according to claim 2, characterized in that: The omnidirectional attenuation function used in step S430 to calculate the ability body influence value can be expressed as: in, η is the ability value of the ability entity itself; δ is the influence value attenuation index; Δ is the distance between the target location and the ability body; ω2 is the ability's influence range. When the distance between the target location and the ability is less than or equal to this distance, the ability's influence on the target location is non-zero. When the distance between the target location and the ability is greater than this distance, the ability's influence on the target location is zero. ω1 is the critical distance at which the influence value begins to decay. That is, when the distance between the target position and the ability body is less than or equal to this distance, the influence value of the ability body on the target position is its own ability value η. When the distance between the target position and the ability body is greater than this distance and less than the influence range ω2 of the ability body, the influence value of the ability body on the target position is 7. The capability space modeling method based on attenuation function according to claim 2 is characterized in that: The directed attenuation function used in step S430 to calculate the capability body influence value can be expressed as: in, η is the ability value of the ability entity itself; θ is the angle constraint of the ability body’s ability influence range; ε is the azimuth angle (i.e. the angle of the ability body relative to the polar axis in the spatial coordinate system); δ is the influence value attenuation index; Δ is the distance between the target location and the ability body; ω2 is the ability's influence range. When the distance between the target location and the ability is less than or equal to this distance, the ability's influence on the target location is non-zero. When the distance between the target location and the ability is greater than this distance, the ability's influence on the target location is zero. ω1 is the critical distance at which the influence value begins to decay. That is, when the distance between the target position and the ability body is less than or equal to this distance, the influence value of the ability body on the target position is its own ability value η. When the distance between the target position and the ability body is greater than this distance and less than the influence range ω2 of the ability body, the influence value of the ability body on the target position is f(ε,θ) is a function that determines whether the target point grid is within the angle range covered by the capability body.

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