A control method and device of an artificial rain enhancement array transmitter and a storage medium

Abstract

The application provides a control method and device of an artificial rain enhancement array transmitter and a storage medium. The control method comprises the following steps: acquiring parameter information and transmission rule information of the array transmitter; determining a transmission position of a current shell in the array transmitter; calculating heuristic values of all the shells according to the transmission position of the current shell, the parameter information and the transmission rule information; and determining a shell position corresponding to a maximum heuristic value as a transmission position of a next shell according to the heuristic values of all the shells. According to the transmission position of the current shell, the application determines a shell position in which a spatial distance between adjacent artificial rain enhancement shells and a distance between the shells are maximized, and the shell position is used as the transmission position of the next shell, so that the feasibility of the transmission task is effectively improved, mutual interference between the two adjacent artificial rain enhancement shells is avoided, and good stability is achieved.

Description

Technical Field

[0001] This invention belongs to the field of artificial rain enhancement technology, and specifically relates to a control method, device and storage medium for an artificial rain enhancement array transmitter. Background Technology

[0002] As the global greenhouse effect intensifies, the climate becomes increasingly complex, and artificial cloud seeding and rain enhancement have become important means to alleviate severe weather in some areas.

[0003] Artificial rain enhancement typically uses aircraft, artillery, and rockets to deliver rain-enhancing catalysts into clouds, dispersing the clouds and achieving rainfall. Generally, artificial rain enhancement requires launching dozens of rain-enhancing rockets, necessitating the preparation of multiple launch vehicles. Continuous launches from multiple vehicles require precise adjustments to the angles of each launcher, increasing the complexity and cost of the operation. Using a single launch vehicle necessitates multiple reloading operations, consuming significant manpower, resources, and funds, severely impacting operational efficiency. Furthermore, the launch sequence, usually determined by human experience, often results in small intervals between consecutively launched rain-enhancing rockets, leading to intersecting or colliding trajectories and reducing the feasibility of the mission.

[0004] Therefore, in order to improve operational efficiency and the feasibility of launch missions, proposing a control method for launch mission decision-making based on array launchers has become an urgent technical problem to be solved. Summary of the Invention

[0005] This invention provides a control method that can ensure the feasibility and effectiveness of array transmitter launch missions.

[0006] Specifically, the present invention is achieved through the following technical solution:

[0007] According to a first aspect of the present invention, a control method for an artificial rainmaking array launcher is provided. The array launcher includes multiple fixed frames, each of which includes multiple projectiles. The control method includes acquiring parameter information and launch rule information of the array launcher; determining the launch position of the current projectile in the array launcher; calculating the heuristic value of all projectiles based on the launch position, parameter information, and launch rule information of the current projectile; and determining the position of the projectile corresponding to the maximum heuristic value based on the heuristic values ​​of all projectiles, as the launch position of the next projectile.

[0008] In some embodiments, the array launcher includes multiple horizontally arranged fixed frames and multiple vertically arranged fixed frames. The parameter information includes the horizontal number of fixed frames, the vertical number of fixed frames, the horizontal number of projectiles on the fixed frames, the vertical number of projectiles on the fixed frames, the horizontal spacing between adjacent fixed frames, the vertical spacing, the payload of the artificial rain-inducing launcher when fully loaded, and the maximum number of rain-inducing projectiles that a single projectile can carry. The launch rule information includes the initial quantity distribution information of rain-inducing projectiles, the launch mission quantity information, the preset value of the first time interval between two consecutively launched rain-inducing projectiles from different fixed frames, the preset value of the second time interval between two consecutively launched rain-inducing projectiles from the same fixed frame, and the critical radius threshold between two adjacent projectiles launching rain-inducing projectiles.

[0009] In some embodiments, before the step of determining the position of the cartridge corresponding to the maximum heuristic value based on the heuristic values ​​of all cartridges, the method further includes determining a critical region based on the current launch position of the cartridge and a critical radius threshold; and setting all cartridges within the critical region to be disabled from activation.

[0010] In some embodiments, the heuristic value of the munition, the current firing position of the munition, parameter information, and firing rule information satisfy the following relationship:

[0011] k1 = 1 / G × H;

[0012] k2 = exp(-(Mt) / (the payload of the artificial rainmaking launcher when fully loaded));

[0013]

[0014] Where t represents the number of launches, k represents the heuristic value of the launcher during the (t-1)th firing. 11 The first parameter is M, which represents the maximum number of rain-inducing projectiles that a single canister can hold. This indicates the launch position of the t-th rain-inducing missile. express The number of rain-inducing shells already fired by the missile launcher, X (i，j) N(X) represents the launch position of the (t-1)th rain-inducing projectile. (i,j) ) represents X (i，j) The number of rain-inducing projectiles already fired by the launcher, k2 represents the second parameter, X (p，q) express The position of the munitions within the outer circle, N(X) (p，q) ) represents X (p，q) The number of rain-inducing projectiles launched at this location, where G represents the number of horizontally mounted units in the array launcher, and H represents the number of vertically mounted units in the array launcher. and X (i，j) They do not belong to the same mounting bracket.

[0015] In some embodiments, the step of determining the launch position of the current missile tube in the array launcher specifically includes: when the rain-inducing missile is the first rain-inducing missile to be launched, selecting any one of the four apex corners of the array launcher as the launch position of the current missile tube; when the rain-inducing missile is not the first rain-inducing missile to be launched, selecting the missile tube that was previously launched as the launch position of the current missile tube.

[0016] In some embodiments, the number of rain-inducing projectiles in each fixed frame is the same, and the number of rain-inducing projectiles in each projectile tube is the same.

[0017] In some embodiments, the control method for the artificial rainmaking array launcher further includes recording the launch position of each launch tube and the spatial distance between two consecutively launched rainmaking projectiles, determining the final launch sequence of the launch mission, and the maximum, minimum, and average values ​​of the spatial distance.

[0018] According to a second aspect of the present invention, a control device for an artificial rainmaking array launcher is provided. The device includes: an acquisition unit for acquiring parameter information and launch rule information of the array launcher; a determination unit for determining the launch position of the current projectile in the array launcher; a calculation unit for calculating the heuristic value of all projectiles based on the launch position of the current projectile, the parameter information, and the launch rule information; the determination unit is further configured to determine the position of the projectile corresponding to the maximum heuristic value based on the heuristic values ​​of all projectiles, as the launch position of the next projectile.

[0019] According to a third aspect of the present invention, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the control method for an artificial rainmaking array transmitter in the first aspect or any possible implementation thereof.

[0020] According to a fourth aspect of the present invention, a storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the control method for an artificial rainmaking array transmitter in the first aspect or any possible implementation thereof.

[0021] The beneficial effects of this invention are as follows:

[0022] As can be seen from the above scheme, the embodiments of the present invention provide a control method for an artificial rain enhancement array launcher. By setting up an array launcher, a certain number of rain enhancement projectiles can be configured in different fixed frames and different launch tubes according to actual mission requirements. The launcher can launch multiple rain enhancement projectiles continuously or in stages, thereby avoiding repeated reloading and consuming a large amount of manpower, material resources, and financial resources, and improving operational efficiency. At the same time, based on the current launch position of the launch tube, the launch position of the next launch tube can be determined to maximize the spatial distance and the distance between the launch tubes of two adjacent rain enhancement projectiles. Compared with human experience-based decision-making, this effectively improves the feasibility of the launch mission, avoids mutual interference between two adjacent rain enhancement projectiles, and has good stability. Attached Figure Description

[0023] Figure 1 A flowchart illustrating a control method for an artificial rain enhancement array transmitter according to an embodiment of the present invention;

[0024] Figure 2 A flowchart illustrating the optimal time-sequential decision conditions in an embodiment of the present invention;

[0025] Figure 3 A schematic diagram showing the critical region of the current cartridge launcher firing position in an embodiment of the present invention;

[0026] Figure 4 A schematic diagram showing the structure of the array transmitter according to an embodiment of the present invention;

[0027] Figure 5 A block diagram showing the control device of the artificial rain enhancement array transmitter provided in an embodiment of the present invention;

[0028] Figure 6 A block diagram illustrating the electronic device provided in an embodiment of the present invention.

[0029] in, Figure 5 and Figure 6 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0030] 1. Control device for artificial rain enhancement array transmitter; 12. Acquisition unit; 14. Determination unit; 16. Calculation unit; 2. Electronic equipment; 20. Memory; 22. Processor. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0032] See Figure 1 This invention provides a control method for an artificial rain enhancement array transmitter, which may include the following steps:

[0033] S102. Obtain parameter information and launch rule information of the array transmitter;

[0034] S104. Determine the firing position of the current cartridge in the array launcher;

[0035] S106. Based on the current firing position, parameter information, and firing rule information of the cartridge, calculate the heuristic value for all cartridges.

[0036] S108. Determine the position of the cartridge corresponding to the maximum heuristic value based on the heuristic values ​​of all cartridges, and use it as the firing position of the next cartridge.

[0037] According to the control method of the artificial rain enhancement array launcher provided by the present invention, the array launcher is a launch frame composed of multiple rocket launchers arranged in an array. Each rocket launcher can be understood as a fixed frame, i.e., a frame, with multiple launch tubes in each fixed frame. Based on actual mission requirements, a certain number of rain-enhancing projectiles are configured in different fixed frames and different launch tubes. This launcher can launch multiple rain-enhancing projectiles continuously or in stages, thereby avoiding repeated reloading, consuming significant manpower, material resources, and financial resources, and improving operational efficiency. In the decision-making process for selecting the launch position of the rain-enhancing projectiles, the choice of the previous stage decision scheme directly affects the choice of the subsequent stage decision scheme, and the choice of the subsequent stage decision scheme depends on the result of the previous stage decision scheme. It can be understood that the decision on the launch position of the next projectile tube is determined jointly based on the relevant information of the previous rain-enhancing projectile, the parameter information of the array launcher, and the launch rule information. Since the launch of rain-enhancing projectiles generates high temperatures and vibrations, the temperature affects thousands of components of the fixed frame, thus affecting the next launch. The influence of temperature and vibration on particles decreases as the spatial distance between continuously launched particles increases. To minimize mutual interference during the launch of rain-inducing projectiles, an optimal (farthest) spatial distance is selected as the launch condition. Simultaneously, to avoid overlapping or colliding trajectories caused by two consecutive launches from adjacent mounting stations, subsequent launches must maintain a certain distance from the corresponding launch tube of the previously launched projectile; ideally, this distance should be as large as possible. If the selected launch location is based solely on a single optimal spatial distance, the distance between the remaining particles on the mounting station will be less than the critical launch radius, preventing subsequent particles from being launched from the "farthest" mounting station. Therefore, the next launch location is chosen to be far from the previous launch location, ensuring a sparse distribution of the remaining particles on the mounting stations. The heuristic value reflects the influence of spatial spacing and the sparsity of the distribution of rain-inducing missiles in the neighborhood of the remaining particles between the next and currently launched rain-inducing missiles. A larger heuristic value indicates a greater distance between the next and currently launched rain-inducing missiles, and a sparser distribution of rain-inducing missiles in the neighborhood of the current launch position. This ensures that the launch position of the next missile is the location with the largest spatial distance and the largest distance between the launch tubes of two adjacent missiles. Compared to human experience-based decision-making, this effectively improves the feasibility of launch missions, avoids mutual interference between adjacent launches, and exhibits excellent stability.

[0038] In the above embodiments, the array launcher includes multiple horizontally arranged fixed frames and multiple vertically arranged fixed frames. The parameter information includes the horizontal number of fixed frames in the array launcher, the vertical number of fixed frames, the horizontal number of projectiles on the fixed frames, the vertical number of projectiles on the fixed frames, the horizontal spacing between adjacent fixed frames, the vertical spacing, the payload of the artificial rainmaking launcher when fully loaded, and the maximum number of rainmaking projectiles that a single projectile can carry. The launch rule information includes the initial quantity distribution information of rainmaking projectiles, the launch mission quantity information, the preset value of the first time interval between two consecutively launched rainmaking projectiles from different fixed frames, the preset value of the second time interval between two consecutively launched rainmaking projectiles from the same fixed frame, and the critical radius threshold between two adjacent projectiles launching rainmaking projectiles.

[0039] In this embodiment, the present invention can provide a sequential decision-making method for artificial rainmaking launchers in scenarios such as different arrangements and numbers of launcher arrays, different payloads and distributions, and continuous launch missions of a certain number of particles, ensuring the feasibility and effectiveness of launch missions. That is, based on the current launch tube position of the rainmaking projectile, information related to that tube is determined, such as the number of rainmaking projectiles already launched by that tube, and the number of rainmaking projectiles already launched by a tube within the vicinity of that tube position.

[0040] In the above embodiment, before the step of determining the position of the cartridge corresponding to the maximum heuristic value based on the heuristic values ​​of all cartridges, the method further includes determining a critical region based on the current launch position of the cartridge and the critical radius threshold; and setting all cartridges within the critical region to be disabled from activation.

[0041] In this embodiment, to avoid overlapping or colliding trajectories of the rain-inducing projectiles caused by two consecutive launches from adjacent frames, the subsequent rain-inducing projectile needs to maintain a certain distance from the corresponding launch tube of the previously launched projectile. Ideally, this distance should be as large as possible. The shortest distance between two adjacent rain-inducing projectiles that does not interfere with each other is called the critical radius threshold. This value can be set according to the actual situation to filter out some launch tubes that are close to the current launch position, thereby avoiding collisions or overlaps between two consecutively launched rain-inducing projectiles.

[0042] In the above embodiments, the heuristic value of the cartridge, the firing position of the first cartridge, the parameter information, and the firing rule information satisfy the following relationship:

[0043] k1 = 1 / G × H;

[0044] k2 = exp(-(Mt) / (the payload of the artificial rainmaking launcher when fully loaded));

[0045]

[0046] Where t represents the number of launches, k represents the heuristic value of the launcher during the (t-1)th firing. 11 The first parameter is M, which represents the maximum number of rain-inducing projectiles that a single canister can hold. This indicates the launch position of the t-th rain-inducing missile. express The number of rain-inducing shells already fired by the missile launcher, X (i，j) N(X) represents the launch position of the (t-1)th rain-inducing projectile. (i,j) ) represents X (i，j) The number of rain-inducing projectiles already fired by the launcher, k2 represents the second parameter, X (p，q) express The position of the munitions within the outer circle, N(X) (p，q) ) represents X (p，q) The number of rain-inducing projectiles launched at this location, where G represents the number of horizontally mounted units in the array launcher, and H represents the number of vertically mounted units in the array launcher. and X (i，j) They do not belong to the same mounting bracket.

[0047] In this embodiment, when solving for the heuristic value of the launching tube, the first term of the above function ensures that the sum of the weighted spatial distances between any two adjacent rain-inducing projectiles is as large as possible, and the second term ensures that the particle distribution in the neighborhood of the remaining rain-inducing projectiles in the rack exhibits sparsity after each launch. This sparsity affects the launch sequence, i.e., it requires...

[0048]

[0049] The sparsity should be as small as possible. It is directly related to the structure of the artificial rainmaking array launcher, the initial number of projectiles, and the number of projectiles in each launcher. The distribution of rainmaking projectiles has a negative correlation with the effect of sparsity. As the number of rainmaking projectiles launched increases, the sparsity of the remaining projectiles in the fixed frame gradually increases. k2 is the control parameter for the sparsity of the remaining particles in the artificial rainmaking array launcher. The heuristic value for each launcher is calculated based on the above function, and the position of the launcher corresponding to the maximum heuristic value is selected as the launch position for the next launcher. This completes one iteration. The above process is repeated until the entire launch mission is completed, obtaining a complete sequential launch strategy.

[0050] The outer ring refers to the ring around a particular cartridge. Normally, when the cartridge is not a boundary cartridge, there are 8 surrounding cartridges; when the cartridge is on the four perimeters but not at a vertices, there are 5 surrounding cartridges; and when the cartridge is at one of the four vertices, there are 3 surrounding cartridges. M is an initially given fixed value.

[0051] In the above embodiments, the step of determining the launch position of the current missile tube in the array launcher specifically includes: when the rain-inducing missile is the first rain-inducing missile to be launched, selecting any one of the four apex corners of the array launcher as the launch position of the current missile tube; when the rain-inducing missile is not the first rain-inducing missile to be launched, selecting the missile tube of the previous rain-inducing missile launch as the launch position of the current missile tube.

[0052] In this embodiment, during the launch mission, any one of the four vertices of the array launcher is chosen as the launch position for the first rain-inducing missile. The initial launch begins from this vertices, ensuring that subsequent launch positions are as far apart as possible to avoid collisions between missiles. When determining the launch position for the next rain-inducing missile, the previous launch position is used as the current launch position for the missile launcher.

[0053] In the above embodiments, the number of rain-inducing projectiles in each fixed frame is the same, and the number of rain-inducing projectiles in each projectile tube is the same.

[0054] In the above embodiments, the control method of the artificial rain enhancement array launcher further includes recording the launch position of each launch tube and the spatial distance between two consecutively launched rain enhancement projectiles, confirming the final launch sequence of the launch mission, as well as the maximum, minimum and average values ​​of the spatial distance.

[0055] In this embodiment, the final launch sequence, as well as the maximum, minimum, and average spatial distances, are recorded to facilitate subsequent research and analysis of the launch mission by personnel. The spatial distance can also be understood as the Euclidean distance between the two rain-inducing projectiles, which can be calculated based on the center position of the projectile launcher.

[0056] This invention expands upon existing rain-enhancing projectile launcher architectures, proposing an artificial rain enhancement technology based on an array launcher. The array launcher is a launch pad composed of multiple rocket launchers arranged in an array, with each sub-launcher containing a certain number of rain-enhancing projectiles. This launcher can launch multiple rain-enhancing projectiles continuously or in stages, improving operational efficiency.

[0057] In sequential decision-making, the choice of decision options in the preceding stage directly affects the choice of decision options in the subsequent stage, and the choice of decision options in the subsequent stage depends on the results of the decision options in the preceding stage. The implementation of the decision involves comparing and predicting various feasible options to determine the optimal feasible option. Each stage faces its own uncertainties, requiring decisions for each stage. The decisions for the next stage are based on the decisions of the previous stage, and this process continues to form an optimal sequential decision-making scheme.

[0058] This invention deeply analyzes the decisive factors affecting the operational effectiveness of an array launcher, including the launcher array configuration, number of racks, payload and its distribution, number of launches, time interval between particle launches, and spatial spacing. Starting from the initial state, after making an optimal decision at each moment, the actual state at the next step is observed to ensure that the time intervals between two adjacent launches are optimal and the spatial distance between launched particles is as far as possible, making a new optimal decision. This process is repeated until the launch mission is completed. This invention comprehensively considers the dual optimization of the time interval and spatial spacing between any two adjacent launches, establishing an optimal time-based sequential decision-making model for launches.

[0059] The specific embodiments of the present invention are as follows:

[0060] (I) Analysis of Factors Affecting Sequential Decision Making

[0061] Artificial rainmaking involves launching a certain number of rain-inducing projectiles from a vehicle-mounted launcher to catalyze the formation of rain from clouds. An array launcher is a launching device arranged in an array, with each rack containing the same or different numbers of rain-inducing projectiles. Due to different missions, the specifications and arrangement of the launcher arrays vary, as do the number and distribution of projectiles in the tubes.

[0062] To quantitatively study the sequential decision-making strategy of the transmitter, various parameters of the array transmitter are first set, as shown in Table 1 below.

[0063] Table 1 Array transmitter parameters

[0064]

[0065] For racks of different specifications and arrangements, the design considers launching multiple particles consecutively in a single launch mission or launching multiple particles consecutively in multiple launches. Particle emission often generates high temperatures and vibrations, affecting and significantly reducing the accuracy of subsequent particle launches. This patent will comprehensively analyze various factors affecting particle emission, research a general sequential decision-making technique for array emitters, ensure the launch process is interference-resistant and has good stability, and provide an optimal launch sequence strategy.

[0066] This invention will explore the factors and constraints that affect the launch effect and achieve the optimal sequential decision-making for launching rain-inducing projectiles, based on the given basic parameters of the array launcher.

[0067] (1) Optimal (farthest) spatial interval

[0068] Particle emission generates high temperatures and vibrations. Temperature affects thousands of components on the frame, thus impacting subsequent emission. The influence of temperature and vibration on particles decreases as the spatial distance between continuously emitted particles increases. To minimize mutual interference during particle emission, an optimal (farthest) spatial distance is selected as the condition for particle emission. Let Xi represent the spatial position of the i-th emitted particle, ||Xi-X i-1 || represents the position X of the i-th particle emission. i and the position X of the (i-1)th emitted particle i-1 To determine the spatial distance between them, it is necessary to ensure that for any i, ||Xi-X i-1 ||It can reach its maximum.

[0069] (2) Critical radius of launch process

[0070] To avoid two consecutive launches from adjacent launchers, which could cause the particle trajectories to intersect or collide, the subsequent particle launch must maintain a certain distance from the corresponding launch tube of the previously launched particle. Ideally, this distance should be as large as possible. The shortest distance between two adjacent particles that do not interfere with each other is called the critical radius of the launch process, denoted as R0.

[0071] (3) The particles in the current shelf are sparsely distributed.

[0072] If the particles to be launched are selected based solely on a single optimal spatial distance, the spatial distance between the remaining particles in the rack will be less than the critical launch radius. This would prevent subsequent particles from being launched from the "farthest" rack, thus preventing the rain-inducing projectiles from being launched in the optimal (farthest) distance order. To avoid this phenomenon, the launch position is chosen far from the previous launch, ensuring that the racks containing the remaining particles are sparsely distributed.

[0073] Let M be the maximum number of particles in a single magazine, and N(Xi) represent the number of particles fired from the magazine at position Xi in the i-th firing iteration. Clearly, for each magazine i, N(Xi) ≤ M. Xi For Xi's neighboring munitions, then This represents the ratio of the number of particles emitted at the i-th emission position to the initial number of particles in the tube. (Measurement) Describe the current particle distribution in the frame Xi. This represents the ratio of the number of remaining particles in the neighborhood of position Xi to the maximum number of particles. The smaller the value, the sparser the particles in that neighborhood, which can effectively prevent the remaining particles from gathering in a small area, thus avoiding the situation where the distance between the particles to be launched is less than the critical launch radius and the launch mission fails.

[0074] (4) Optimal time interval

[0075] The spatial distance between two particles in the same rack is small. If two particles are continuously emitted in the same block, it often fails to meet the emission conditions due to the small spatial distance, resulting in the failure of the overall emission task. Moreover, if two continuously emitted particles are emitted from the same rack, they will affect each other due to adverse factors such as vibration and high temperature, and even deviate, affecting the accuracy and overall effect of the task. Therefore, the time intervals for continuously emitting two particles in the same rack and different racks should be different, set as T1 and T0 respectively. To make the optimal sequential decision and ensure that the particles are emitted in the optimal way, it is necessary to set T0 < T1. Let T0:T1 = 1:p, then p > 1. In the present invention, m - 1 is taken as the minimum interval number for continuously emitting two particles from a single rack, that is, p = m - 1.

[0076] If the final emission order is such that the time interval between any two adjacent emitted particles is T0, then this emission is called the optimal time emission strategy. If the number of bombs n to be emitted in a single mission is less than or equal to m, two consecutive rain enhancement bombs can be emitted from different launch racks and simultaneously meet the optimal space and optimal time emission conditions. If the number of bombs n to be emitted in a single mission is greater than m, the optimal time emission order is studied as follows:

[0077] Assume that the total number of particles in each honeycomb block is a i (a i ≥0, i = 1, 2,..., m), arrange a i in ascending order in a row, denoted as vector b, then the components in b satisfy: b(i - 1) ≤ b(i), i = 2, 3,..., m.

[0078] (1) If That is, there is only one honeycomb block in the array honeycomb launcher, which contains the most particles, and the total number of particles in other honeycomb blocks is either zero or equal and one less than the maximum number of particles. At this time, start emitting from a honeycomb cylinder containing the most particles in the honeycomb block with the largest number of particles. For the next emission, select a honeycomb block according to the optimal space principle and the optimal time principle and choose a honeycomb cylinder containing the most particles to emit from.

[0079] (2) If Suppose j is the smallest labeled honeycomb block such that b(j) > b(1), that is, there are j - 1 honeycomb blocks with the same number of particles, and the number of particles in the other m - j + 1 honeycomb blocks is more than b(1). Under the condition of p = m - 1, according to the optimal space distance criterion and the optimal time interval strategy, the honeycomb blocks with b(1) particles are sequentially selected. After m rounds, the emission task of mb(1) particles can be completed. Since the remaining number of honeycomb blocks m - j + 1 is less than m, the number of particles that can be emitted according to the optimal time interval criterion does not exceed m - j + 1. Therefore, the number of particles that can be emitted according to the optimal space distance criterion and the optimal time interval strategy does not exceed mb(1)+(m - j + 1).

[0080] Based on the above analysis, as Figure 2 shown, the flow schematic diagram of the optimal time emission sequential decision condition is as follows:

[0081] S202. Obtain the number of projectiles n to be launched, the number of racks m, and the minimum interval number p;

[0082] S204. Determine whether n is greater than m. If so, execute S206; otherwise, execute S210;

[0083] S206. Determine whether it is less than or equal to 1. If so, execute S210; otherwise, execute S208;

[0084] S208. When n satisfies n < mb(1)+(m - j + 1), execute S210;

[0085] S210. Meet the optimal time emission condition.

[0086] Among them, p is the ceiling value of (the time interval between two consecutive particle emissions from the same rack / the time interval between two consecutive particle emissions from different racks).

[0087] In the present invention, the number of particles in the rack is set to a full - load distribution, that is, n = m×heng×zong×M. At this time condition (1) is satisfied, and it can be emitted at the optimal time.

[0088] (2) Optimal time emission sequential decision optimization model

[0089] If the particle distribution in the array emitter satisfies the optimal time interval emission condition, in order to ensure obtaining the optimal emission effect, ensuring that the spatial distance ||Xi - Xi - 1|| between two adjacent particles Xi - 1 and Xi is as large as possible, and the remaining particles in the launch rack present a better sparse distribution, the following optimization problem is established:

[0090]

[0091]

[0092] To achieve optimal decision-making for artificial rainmaking transmitters.

[0093] The first term of the objective function for the above optimization problem ensures that the sum of the weighted spatial distances between any two adjacent particles Xi-1 and Xi is as large as possible; the second term ensures that the particle distribution in the neighborhood of the remaining particles in the rack after each launch exhibits sparsity, and the sparsity affects the launch order, i.e., requires... Minimize as much as possible. The first constraint in the optimization problem restricts the emission of two particles from different shelf blocks; the second constraint ensures that the spatial distance between particles emitted from different shelves is greater than the critical radius threshold R0; condition N(X) i The constraint M ≤ M ensures that the number of emitted particles does not exceed the maximum number of particles. This relates to the optimization problem where D... j This represents the j-th shelf block in the array of shelves; parameter k1 is generally set to 1 / (heng×zong); sparsity is directly related to the structure of the artificial rainmaking launcher, the initial number of projectiles, and the number of projectiles in the projectile tube. The influence of particle distribution is negatively correlated with the influence of sparsity. As the number of launched particles increases, the sparsity of the remaining particles in the shelf gradually increases. Let k2 = exp(-(M-number of launches) / (M×chang×heng×kuan×zong)), then k2 is the control parameter for the sparsity of the remaining particles in the artificial rainmaking launcher.

[0094] If a launch fails, increase the sparsity ratio, replace k2 in the objective function with k2^(1 / (2t+1)), where t is the number of launches, and re-execute the launch task. If launch still fails after multiple changes, reduce the critical radius R0. Re-execute the launch task.

[0095] (III) Model Solving

[0096] The aforementioned optimal time-sequential decision-making model is a discrete optimization problem, and its solution is NP-hard (Non-deterministic Polynomial), resulting in high complexity. To achieve fast decision-making, this patent employs a greedy algorithm to obtain the optimal solution to the optimization problem. The specific solution process is as follows:

[0097] (1) Initialize the scene and parameters

[0098] Set up the mission scenario, determine the launcher configuration parameters (heng, zong, chang, kuan, d, and dd), initial bullet quantity (particle) distribution, time intervals T0 and T1, critical radius R0, and the number of launches per mission n.

[0099] (2) First-round settings

[0100] Let t represent the number of launches. t = 1 indicates that the first rain-inducing projectile is launched. Since the number of rain-inducing projectiles in each launcher is equal, the number of projectiles in each launch tube (cylinder) is also the same. The upper left launch tube is selected as the first launch position from the array launcher. The spatial position of any launch tube is denoted as X. t For convenience, X will be... t Let it be X (ii,jt) , indicating that the t-th rain-inducing missile is launched from the i-th missile in the array. t Okay, j t It was issued by the column.

[0101] (3) Heuristic value for solving optimization problems

[0102] Let C = (c ij Let X be an s×q matrix, where s = heng×kuan, q = zong×chang, and X is the position of the rain-inducing projectile launched in the t-th launch. t The coordinates are denoted as (i t ,j t ), element c in C ij It is any position X of the rain-inducing projectile in the array launcher. (i，j) Relative to the position of the rain-inducing missile launched for the tth time The heuristic value for the (t+1)th emission. This value is calculated from the objective function of the model according to the optimal time interval and optimal spatiotemporal interval criteria.

[0103] like Figure 3 As shown, let the critical radius be R0, then L(t)={X (i,j) |||X (it,jt) -X (i,j) ||2≤R0} represents the rain-inducing projectiles in the critical region. Rain-inducing projectiles in L(t) cannot be candidates for the (t+1)th launch mission. Assuming the launch position for the tth launch is at the dot, then rain-inducing projectiles within the circle cannot be launched in the (t+1)th launch. Let their corresponding heuristic values ​​be... Let it be negative infinity.

[0104] In summary, if the position of the rain-inducing missile launched for the tth time is... The remaining rain-inducing projectiles, as candidate rain-inducing projectiles for the (t+1)th launch, have the following heuristic value:

[0105]

[0106] (4) Iterative launch sequence

[0107] After obtaining the heuristic information matrix, the maximum value in C is selected as the launch location for the next rain-inducing missile, thus completing one iteration. This process is repeated until the entire launch mission is completed, yielding a complete sequential launch strategy.

[0108] (5) Record the results

[0109] Let A be an M-layer matrix recording the launch positions. The size of A is s × q × M, where s = heng × kuan and q = zong × chang. During the iteration process, the launch position a is recorded for each launch. ijk This corresponds to the (i, j) position in the k-th layer. Simultaneously, the spatial interval between two consecutive emission events is recorded as x. t-1 The spatial spacing is continuously updated with the maximum, minimum, and average values ​​over iterations. This ultimately yields the launch sequence, maximum spacing, minimum spacing, and average spacing for the launch missions.

[0110] In one specific embodiment, such as Figure 4 As shown, the parameters are set as follows: chang = 6, kuan = 2, heng = 2, zong = 2, d = dd = 0.5, R0 = 1.5, T1 = 6, T0 = 2. The results of sequential firing decisions with a full-scale honeycomb distribution are investigated. Two missile quantity distribution models (M = 1 and M = 5) for array launchers are considered.

[0111] Assume that the initial payload of rain-inducing projectiles in the array launcher is one projectile per barrel, i.e., when M=1. Based on the above parameters and following the model solution steps, the following results are obtained, as shown in Table 2.

[0112] Table 2 Decision results when M=1

[0113]

[0114] Table 2 shows the firing sequence of the rain-inducing projectiles, with the numbers indicating the order of firing. For example, the first rain-inducing projectile is fired from the fixed rack in the upper left corner, the second from the rack in the second row from the right, and so on. Simulation calculations show that the maximum spatial interval is 11.77, equivalent to the distance between 11.77 adjacent projectiles. This interval corresponds to the time between the second and third rain-inducing projectile firings, and the time between the sixth and seventh rain-inducing projectile firings. It also represents the optimal time and spatial interval for the firing process. The minimum interval is 1.803, which corresponds to the intervals between the 41st and 42nd rain-inducing missile launches, the 43rd and 44th launches, the 44th and 45th launches, the 45th and 46th launches, and the 47th and 48th launches. Although the spatial intervals are small, the fact that consecutive rain-inducing missiles are not launched from the same rack ensures optimal time intervals. The average interval is 6.86, which is greater than the longest interval of 5.10 for a single rack, thus satisfying the model's rationality.

[0115] To further verify the effectiveness of this technology, a launch mission with the following initial ammunition load distribution is presented below. Assume that the initial ammunition load distribution in the array launcher is five ammunition per barrel. In this mission, M=5, and other parameter settings are the same as in the example above. Based on the model solution steps, the experimental results are shown in Table 3.

[0116] Table 3 Decision results when M=5

[0117] Table 3-1 First Layer

[0118]

[0119] Table 3-2 Second Layer

[0120]

[0121] Table 3-3 Third Layer

[0122]

[0123] Table 3-4 Fourth Layer

[0124]

[0125]

[0126] Table 3-5 Fifth Layer

[0127]

[0128] Table 3 shows the launch sequence of the rain-inducing projectiles, with the numbers indicating the order of launch. For example, the first rain-inducing projectile is launched from the top left rack on the first layer, the second from the second rack on the far right of the first layer, the 136th from the fourth rack on the far right of the fourth layer, and so on. Table 3 shows that edge-based launches are prioritized, achieving optimization in both time and spatial distance. The maximum interval is 11.77, the same as when M=1. Due to the large number of rain-inducing projectiles launched, the maximum interval does not correspond to a unique number of launches. The minimum interval is 2.693, greater than the minimum interval when M=1, indicating that the more rain-inducing projectiles are distributed, the more important the sparsity becomes. The average interval is 6.824, greater than the longest interval of 5.10 for a single rack, verifying the scientific validity of the model.

[0129] Compared with conventional decision-making methods based on human experience, this invention has the following advantages:

[0130] 1. This invention provides a sequential decision-making method for artificial rainmaking launchers for scenarios such as different arrangements and quantities of launcher arrays, different payloads and distributions, and continuous launch missions of a certain number of particles, ensuring the feasibility and effectiveness of routine missions.

[0131] 2. This invention explores the sequential decision conditions for launching with the shortest interval time and optimal space when the time interval, spatial interval, and number of launches of two adjacent launches are different, which has a good scientific basis and theoretical foundation.

[0132] Based on the same inventive concept, such as Figure 5 As shown, this embodiment of the invention also provides a control device 1 for an artificial rainmaking array launcher. The device includes: an acquisition unit 12, used to acquire parameter information and launch rule information of the array launcher; a determination unit 14, used to determine the launch position of the current projectile in the array launcher; a calculation unit 16, used to calculate the heuristic value of all projectiles based on the launch position, parameter information and launch rule information of the current projectile; the determination unit 14 is further used to determine the position of the projectile corresponding to the maximum heuristic value based on the heuristic values ​​of all projectiles, as the launch position of the next projectile.

[0133] The specific implementation process of the functions and roles of each module in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0134] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of the present invention according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0135] Based on the same inventive concept, see [link to inventive concept] Figure 6 This invention also provides an electronic device 2, including a memory 20 (e.g., non-volatile memory), a processor 22, and a computer program stored in the memory 20 and executable on the processor 22. When the processor 22 executes the program, it implements the steps of the control method for the artificial rain enhancement array transmitter in any of the above possible implementations, and can be equivalent to the control device for the aforementioned artificial rain enhancement array transmitter. Of course, the processor can also be used to process other data or perform calculations. This electronic device 2 can be a PC, server, terminal, or other similar device.

[0136] The electronic device 2 may also include: memory, network interface, and internal bus. In addition to these components, it may include other hardware, which will not be described in detail here.

[0137] It should be noted that the aforementioned electronic devices can be implemented through software. As a logical device, it is formed by the processor of the electronic device reading the computer program instructions stored in the non-volatile memory into memory and running them.

[0138] Based on the same inventive concept, embodiments of the present invention also provide a storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the control method for the artificial rain enhancement array transmitter in any of the above possible implementations.

[0139] Alternatively, the storage medium may be a non-transitory computer-readable storage medium, such as a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device.

[0140] Based on the same inventive concept, embodiments of the present invention also provide a computer program product, including a computer program that, when executed by a processor, implements the steps of the control method for the artificial rain enhancement array transmitter in any of the above possible implementations.

[0141] The above are preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A control method for an artificial rainmaking array launcher, the array launcher comprising multiple fixed frames, each fixed frame comprising multiple projectile cartridges, characterized in that, include: Obtain the parameter information and transmission rule information of the array transmitter; Determine the firing position of the current cartridge in the array launcher; Based on the current launch position of the cartridge, the parameter information, and the launch rule information, the heuristic values ​​for all cartridges are calculated. The position of the cartridge corresponding to the maximum heuristic value is determined based on the heuristic values ​​of all the cartridges, and is used as the firing position of the next cartridge. The array launcher includes multiple horizontally arranged fixed frames and multiple vertically arranged fixed frames. The parameter information includes the horizontal number of fixed frames in the array launcher, the vertical number of fixed frames, the horizontal number of projectiles on the fixed frames, the vertical number of projectiles on the fixed frames, the horizontal spacing between adjacent fixed frames, the vertical spacing between adjacent fixed frames, the ammunition load of the array launcher when fully loaded, and the maximum number of rain-inducing projectiles that a single projectile can carry. The launch rule information includes the initial quantity distribution information of rain-inducing projectiles, the launch mission quantity information, the preset first time interval between two consecutively launched rain-inducing projectiles from different fixed frames, the preset second time interval between two consecutively launched rain-inducing projectiles from the same fixed frame, and the critical radius threshold between two adjacent projectiles launching rain-inducing projectiles. Before the step of determining the position of the cartridge corresponding to the maximum heuristic value based on the heuristic values ​​of all the cartridges, the method further includes: Based on the current launch position of the cartridge and the critical radius threshold, the critical region is determined; Set all the cartridges within the critical area to be disabled from activation; The heuristic value of the cartridge, the firing position of the first cartridge, the parameter information, and the firing rule information satisfy the following relationship: k1 = 1 / G × H; k2 = exp(-(Mt) / (the payload of the artificial rainmaking launcher when fully loaded)); Where t represents the number of launches, Let represent the heuristic value of the launcher for the (t-1)th launch, k1 represent the first parameter, and M represent the maximum number of rain-inducing projectiles that a single launcher can hold. This indicates the launch position of the t-th rain-inducing missile. express The number of rain-inducing shells already fired by the missile launcher, X (i，j) N(X) represents the launch position of the (t-1)th rain-inducing projectile. (i,j) ) represents X (i，j) The number of rain-inducing projectiles already fired by the launcher, k2 represents the second parameter, X (p，q) express The position of the munitions within the outer circle, N(X) (p，q) ) represents X (p，q) The number of rain-inducing projectiles launched at this location, where G represents the number of horizontally mounted units in the array launcher, and H represents the number of vertically mounted units in the array launcher. and X (i，j) They do not belong to the same mounting bracket.

2. The control method for the artificial rain enhancement array transmitter according to claim 1, characterized in that, The step of determining the firing position of the current cartridge in the array launcher specifically includes: When the rain-inducing projectile is the first rain-inducing projectile to be launched, the projectile tube at any one of the four apex corners of the array launcher is determined as the launch position of the current projectile tube; When the rain-inducing projectile is not the first rain-inducing projectile to be launched, the projectile tube from the previous launch of the rain-inducing projectile is selected as the launch position of the current projectile tube.

3. The control method for the artificial rain enhancement array transmitter according to claim 1, characterized in that, The number of rain-inducing projectiles is the same in each of the fixed frames, and the number of rain-inducing projectiles is the same in each of the projectile tubes.

4. The control method for the artificial rain enhancement array transmitter according to any one of claims 1 to 3, characterized in that, Also includes: Record the launch position of the cannon and the spatial distance between two consecutively launched rain-inducing projectiles each time to determine the final launch sequence of the launch mission, as well as the maximum, minimum, and average values ​​of the spatial distance.

5. A control device for an artificial rainmaking array transmitter, wherein the device employs the method described in any one of claims 1-4, characterized in that, The device includes: The acquisition unit is used to acquire parameter information and launch rule information of the array transmitter; A determining unit is used to determine the firing position of the current cartridge in the array launcher; The calculation unit calculates the heuristic values ​​for all the cartridges based on the current launch position of the cartridge, the parameter information, and the launch rule information. The determining unit is further configured to determine the position of the cartridge corresponding to the maximum heuristic value based on the heuristic values ​​of all the cartridges, and use it as the firing position of the next cartridge.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the control method for the artificial rain enhancement array transmitter as described in any one of claims 1 to 4.

7. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the control method for the artificial rainmaking array transmitter as described in any one of claims 1-4.

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