A collaborative reconnaissance method, device and electronic equipment for a specific area

Abstract

The present application belongs to the field of target detection technology, and specifically discloses a method, device and electronic equipment for collaborative reconnaissance of a specific area, the method comprising: obtaining a circumscribed regular rectangle of a specific area to be reconnaissanced, and dividing the circumscribed regular rectangle into grids to obtain a sub-area set of the circumscribed regular rectangle; traversing the path accessibility between each sub-area in the sub-area set to obtain an accessibility matrix, and traversing the detectability of each sub-area for all platform types participating in the collaborative reconnaissance of the specific area to obtain a detectability matrix; obtaining a reconnaissance task matrix of the collaborative reconnaissance platform according to target accessibility and target detectability; determining the target reconnaissance platform corresponding to each grid in the reconnaissance task area, generating a collaborative reconnaissance plan according to the reconnaissance task matrix and the reconnaissance resources of each target reconnaissance platform, and performing collaborative reconnaissance on the reconnaissance task area based on the collaborative reconnaissance plan. Through the present application, the efficiency of reconnaissance of specific areas of different terrains can be improved.

Description

Technical Field

[0001] The present application belongs to the field of target detection technology, and more specifically, relates to a collaborative reconnaissance method, device and electronic equipment for a specific area. Background Art

[0002] With the advancement of informatization, the transformation from platform-centered independent reconnaissance to network-centered collaborative reconnaissance has made it increasingly difficult for traditional planned collaboration to meet the requirements of complex collaborative operations. Therefore, in the face of reconnaissance platforms equipped with a variety of sensors such as radar, infrared, optoelectronics, and electronic reconnaissance, how to optimize the combination and collaborative control of these diverse sensors to obtain the best performance of reconnaissance detection and improve the probability and accuracy of target capture, and how to comprehensively use the reconnaissance platform to form a collaborative reconnaissance solution with the best performance, improved target capture probability and accuracy, and improved target tracking quality are issues that need to be considered.

[0003] Moreover, the scenarios of collaborative reconnaissance operations are often different terrains such as mountains, plains, rivers, and cities. Reconnaissance and detection in certain areas are difficult due to the undulating terrain and vegetation / building obstructions. In order to adapt to reconnaissance tasks in different terrains, the difficulty of formulating collaborative reconnaissance plans will also increase, so the efficiency of collaborative reconnaissance is not high.

[0004] Therefore, how to solve the problem of low reconnaissance efficiency caused by the difficulty of reconnaissance due to terrain reasons during reconnaissance missions is a technical problem that urgently needs to be solved. Summary of the invention

[0005] In view of the defects of the prior art, the purpose of this application is to provide a collaborative reconnaissance method, device and electronic equipment for a specific area, aiming to solve the problem of low reconnaissance efficiency caused by difficulties in reconnaissance due to terrain reasons during the detection process.

[0006] To achieve the above objectives, the present application provides a collaborative reconnaissance method for a specific area, including:

[0007] Obtaining a circumscribed regular rectangle of a specific area to be scouted, and performing grid division on the circumscribed regular rectangle to obtain a sub-area set of the circumscribed regular rectangle;

[0008] Traversing the path reachability between each sub-region in the sub-region set to obtain a reachability matrix, and traversing the detectability of each sub-region by all platform types participating in the collaborative reconnaissance of the specific region to obtain a detectability matrix;

[0009] Mapping the reconnaissance mission area and the collaborative reconnaissance platform to the grid of the circumscribed regular rectangle, selecting the target reachability of the reconnaissance mission area in the reachability matrix, and selecting the target detectability of the collaborative reconnaissance platform from the detectability matrix, and obtaining the reconnaissance mission matrix of the collaborative reconnaissance platform according to the target reachability and target detectability;

[0010] The target reconnaissance platform corresponding to each grid of the reconnaissance mission area is determined, a collaborative reconnaissance plan is generated according to the reconnaissance mission matrix and the reconnaissance resources of each target reconnaissance platform, and a collaborative reconnaissance of the reconnaissance mission area is performed based on the collaborative reconnaissance plan.

[0011] In some embodiments, the step of obtaining a circumscribed rectangle of a specific area to be scouted and performing grid division on the circumscribed rectangle to obtain a set of sub-areas of the circumscribed rectangle includes:

[0012] Acquire the position coordinates of the boundary points of the specific area to obtain a set of boundary points, wherein the position coordinates are determined according to the longitude, latitude and altitude of the boundary points;

[0013] Determine the maximum longitude, the minimum longitude, the maximum latitude, the minimum latitude and the average altitude based on the boundary point set;

[0014] The vertex coordinates of the circumscribed rectangle are determined based on the maximum longitude, the minimum longitude, the maximum latitude, the minimum latitude and the average altitude, and the circumscribed rectangle is constructed based on the vertex coordinates.

[0015] In some embodiments, the gridding of the circumscribed regular rectangle to obtain a set of sub-regions of the circumscribed regular rectangle includes:

[0016] Take the vertex coordinates corresponding to the minimum longitude, the minimum latitude and the average altitude as the coordinate origin;

[0017] On the plane where the mean altitude is located, the circumscribed regular rectangle is gridded in combination with the coordinate origin and according to a given grid spacing and a corresponding number of intervals to obtain a sub-region set of the circumscribed regular rectangle, and a grid matrix is ​​constructed based on the sub-region set.

[0018] In some embodiments, mapping the reconnaissance mission area and the collaborative reconnaissance platform to the circumscribed regular rectangular grid includes:

[0019] Determine the platform position point of the collaborative reconnaissance platform, map the platform position point to a grid matrix, and obtain the position coordinates of the collaborative reconnaissance platform;

[0020] Determine the grid coordinates of the collaborative reconnaissance platform based on the coordinate origin, the preset grid spacing, and the position coordinates of the collaborative reconnaissance platform, and construct a reconnaissance area boundary point set of the reconnaissance mission area based on the grid coordinates;

[0021] The circumscribed rectangle of the reconnaissance area boundary point set is obtained from the circumscribed rectangle of the specific area to obtain a reconnaissance task grid.

[0022] In some embodiments, selecting the target reachability of the reconnaissance mission area from the reachability matrix, selecting the target detectability of the collaborative reconnaissance platform from the detectability matrix, and obtaining the reconnaissance mission matrix of the collaborative reconnaissance platform according to the target reachability and target detectability includes:

[0023] Selecting a reachability element from the reachability matrix according to the grid coordinates and the reconnaissance task grid, and generating a target reachability matrix of the collaborative reconnaissance platform for the reconnaissance task grid according to the reachability element;

[0024] Determining a platform type of the collaborative reconnaissance platform, selecting a detectability element from the detectability matrix based on the platform type and the reconnaissance task grid, and generating a target detectability matrix of the collaborative reconnaissance platform for the reconnaissance task grid according to the detectability element;

[0025] A reconnaissance mission matrix of the collaborative reconnaissance platform is obtained according to the target reachability matrix and the target detectability matrix.

[0026] In some embodiments, it also includes:

[0027] The reconnaissance detection efficiency of the collaborative reconnaissance platform is obtained, and the reconnaissance detection efficiency is substituted into the reconnaissance task matrix as a coefficient to obtain an efficiency parameter reconnaissance task matrix.

[0028] In some embodiments, the method for determining the target reconnaissance platform includes:

[0029] Traverse the collaborative reconnaissance platforms to obtain the reconnaissance mission matrix set of effectiveness parameters of all collaborative reconnaissance platforms participating in the collaborative reconnaissance mission for the reconnaissance area;

[0030] The collaborative reconnaissance platforms in the grid coordinate marked sub-area of ​​the reconnaissance task grid are screened, and the collaborative reconnaissance platform corresponding to the maximum element is selected from the effectiveness parameter reconnaissance task matrix set as the target reconnaissance platform in the grid coordinate marked sub-area.

[0031] In a second aspect, the present application also provides a collaborative reconnaissance device for a specific area, including:

[0032] A grid division module, used for obtaining a circumscribed regular rectangle of a specific area to be scouted, and performing grid division on the circumscribed regular rectangle to obtain a sub-area set of the circumscribed regular rectangle;

[0033] a reachability and detectability determination module, traversing the path reachability between each sub-region in the sub-region set to obtain a reachability matrix, and traversing the detectability of each sub-region by all platform types participating in the collaborative reconnaissance of the specific region to obtain a detectability matrix;

[0034] A reconnaissance mission matrix generation module, used for mapping the reconnaissance mission area and the collaborative reconnaissance platform to the grid of the circumscribed regular rectangle, selecting the target reachability of the reconnaissance mission area in the reachability matrix, and selecting the target detectability of the collaborative reconnaissance platform from the detectability matrix, and obtaining the reconnaissance mission matrix of the collaborative reconnaissance platform according to the target reachability and target detectability;

[0035] The collaborative reconnaissance module is used to determine the target reconnaissance platform corresponding to each grid in the reconnaissance mission area, generate a collaborative reconnaissance plan according to the reconnaissance mission matrix and the reconnaissance resources of each target reconnaissance platform, and perform collaborative reconnaissance on the reconnaissance mission area based on the collaborative reconnaissance plan.

[0036] In a third aspect, the present application provides an electronic device comprising: at least one memory for storing programs; and at least one processor for executing the programs stored in the memory. When the program stored in the memory is executed, the processor is used to execute the method described in the first aspect or any possible implementation of the first aspect.

[0037] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method described in the first aspect or any possible implementation of the first aspect.

[0038] In a fifth aspect, the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method described in the first aspect or any possible implementation of the first aspect.

[0039] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0040] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the prior art:

[0041] (1) Divide the reconnaissance area into multiple grid units, thereby converting the large-area reconnaissance problem into the effective coverage problem of grid units. This can better integrate with different terrains such as mountains, plains, rivers, and cities, and better adapt to the reconnaissance of different terrains and landforms, thereby improving the reconnaissance efficiency of specific areas in different terrains.

[0042] (2) Calculating the reachability and detectability of different platforms in advance for different complex terrains can greatly shorten the calculation time and improve the efficiency of real-time generation of multi-platform collaborative reconnaissance plans, thereby improving reconnaissance efficiency;

[0043] (3) The reconnaissance and detection efficiency of the reconnaissance platform is added to the allocation plan of the collaborative reconnaissance task. This takes into account both the coverage capability and the reconnaissance and detection efficiency, which can improve the scientificity and accuracy of the collaborative reconnaissance plan. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is one of the flowcharts of the collaborative reconnaissance method for a specific area provided in an embodiment of the present application;

[0045] Figure 2 It is a schematic diagram of a regular rectangle and grid circumscribing a specific area;

[0046] Figure 3 It is a schematic diagram of the construction of the reconnaissance mission grid;

[0047] Figure 4 This is the second flow chart of the collaborative reconnaissance method for a specific area provided in an embodiment of the present application;

[0048] Figure 5 It is a schematic diagram of the structure of a collaborative reconnaissance device for a specific area provided in an embodiment of the present application;

[0049] Figure 6 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0051] The term "and / or" in this article is a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The symbol " / " in this article indicates that the associated objects are in an or relationship, for example, A / B means A or B.

[0052] The terms "first" and "second" in the specification and claims herein are used to distinguish different objects rather than to describe a specific order of the objects. For example, a first response message and a second response message are used to distinguish different response messages rather than to describe a specific order of the response messages.

[0053] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0054] In the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more than two. For example, multiple processing units refer to two or more processing units, etc.; multiple elements refer to two or more elements, etc.

[0055] Next, the technical solutions provided in the embodiments of the present application are introduced.

[0056] Reference Figure 1 The present application provides a collaborative reconnaissance method for a specific area, including:

[0057] S101. Obtain a circumscribed regular rectangle of a specific area to be detected, and perform grid division on the circumscribed regular rectangle to obtain a sub-area set of the circumscribed regular rectangle;

[0058] S102. Traverse the path reachability between each sub-region in the sub-region set to obtain a reachability matrix, and traverse the detectability of each sub-region by all platform types participating in the collaborative reconnaissance of the specific region to obtain a detectability matrix;

[0059] S103. Mapping the reconnaissance mission area and the collaborative reconnaissance platform to the circumscribed regular rectangular grid, selecting the target reachability of the reconnaissance mission area from the reachability matrix, and selecting the target detectability of the collaborative reconnaissance platform from the detectability matrix, and obtaining the reconnaissance mission matrix of the collaborative reconnaissance platform according to the target reachability and target detectability;

[0060] S104. Determine the target reconnaissance platform corresponding to each grid in the reconnaissance mission area, generate a collaborative reconnaissance plan according to the reconnaissance mission matrix and the reconnaissance resources of each target reconnaissance platform, and perform collaborative reconnaissance on the reconnaissance mission area based on the collaborative reconnaissance plan.

[0061] Specifically, the specific area in S101 includes but is not limited to areas of different terrains such as mountains, plains, rivers, cities, etc. The circumscribed rectangle of the specific area is the smallest rectangle that can completely contain the area.

[0062] Reference Figure 2 , Figure 2 It is a schematic diagram of the circumscribed rectangle and grid of a specific area. The process of determining the circumscribed rectangle and determining the sub-region set can be: determine the size of each grid according to the actual situation and needs. The selection of the grid size may depend on the requirements of the reconnaissance mission. For example, if more detailed data is required, a smaller grid can be selected. The number of horizontal and vertical grids is calculated by dividing the width and length of the circumscribed rectangle by the grid size respectively. Using the calculated number of grids, the circumscribed rectangle is evenly divided to form a grid. This can be achieved by drawing horizontal and vertical lines on the rectangle to form square grid cells. Each grid cell is a sub-region of the circumscribed rectangle. All the grid cells are combined to form a sub-region set of the circumscribed rectangle.

[0063] S102 is used to evaluate the path accessibility between sub-areas and the platform's detectability of the sub-areas in order to better arrange collaborative reconnaissance tasks.

[0064] Accessibility Assessment:

[0065] Traverse each sub-region in the sub-region set to determine the path reachability between them. For each pair of sub-regions, determine whether there is a path from one sub-region to the other. If such a path exists, mark the corresponding element in the reachability matrix as reachable; otherwise, mark it as unreachable.

[0066] Detectability Assessment:

[0067] Traverse all platform types involved in collaborative reconnaissance of a specific area. These platforms may include tracked vehicles, unmanned vehicles, drones, satellites, ground vehicles, etc. For each platform, assess its detectability for each sub-area, including factors such as detection range, detection technology, and altitude restrictions.

[0068] The corresponding element in the detectability matrix is ​​marked as the detectability of the sub-area corresponding to the platform, which is usually represented by a score, for example, 0 represents undetectable and 1 represents detectable.

[0069] The accessibility matrix and the detectability matrix are obtained through evaluation. The accessibility matrix indicates that the grid points of the sub-area where the detection platform is located can reach each other from the grid points of other areas, while the detectability matrix indicates the detection capabilities of various platforms for each sub-area.

[0070] Further, in S103, the reconnaissance mission area is divided into sub-areas corresponding to the circumscribed regular rectangular grid, so that each reconnaissance mission area can be mapped to one or more grid sub-areas. The collaborative reconnaissance platform is mapped to a sub-area on the circumscribed regular rectangular grid according to its position information.

[0071] Then, the target reachability of the reconnaissance mission area is selected in the reachability matrix, that is, whether the path between the grid point of the reconnaissance platform and other grid points is determined. By analyzing the reachability matrix, the target reachability of each reconnaissance mission area platform to other areas can be determined, that is, whether they can be effectively reached by the collaborative reconnaissance platform. The target detectability of the collaborative reconnaissance platform is selected from the detectability matrix, which means that for each collaborative reconnaissance platform, its detection capability in each sub-area needs to be determined. By analyzing the detectability matrix, the target detectability of each collaborative reconnaissance platform in each sub-area can be determined, that is, their detection capability level for different areas.

[0072] The reconnaissance mission area generates a reconnaissance mission matrix for the collaborative reconnaissance platform based on target reachability and target detectability. The tasks of the collaborative reconnaissance platform can be effectively allocated and managed to maximize the use of resources and capabilities, thereby achieving comprehensive coverage and reconnaissance of the area to be reconnaissanced.

[0073] Finally, through S104, the target reconnaissance platform corresponding to each grid in the reconnaissance mission area is determined, and the reconnaissance mission matrix is ​​used to select the reconnaissance platform most suitable for executing the mission.

[0074] In this embodiment, a collaborative reconnaissance task allocation scheme is generated according to the subordinate reconnaissance platform forces and the reconnaissance task matrix. The subordinate platform forces in this embodiment refer to the reconnaissance resources of each target reconnaissance platform under jurisdiction, and the reconnaissance resources include the number, type and performance indicators of the reconnaissance platforms.

[0075] A collaborative reconnaissance plan is generated based on the reconnaissance platform information and the reconnaissance resources of each target reconnaissance platform. After the collaborative reconnaissance plan is generated, the reconnaissance platform can perform these tasks in the reconnaissance mission area. Through the above steps, collaborative operations between multiple reconnaissance platforms can be achieved, and the reconnaissance efficiency and coverage can be improved, thereby better meeting the reconnaissance needs of the reconnaissance mission area.

[0076] This application converts the large-area reconnaissance problem into an effective coverage problem of grid units by dividing a specific area into an outer rectangular grid. It can better combine with different terrains such as mountains, plains, rivers, and cities, and is more adaptable to the reconnaissance of different terrains. Combined with the accessibility matrix and the detectability matrix, the reconnaissance needs and detectability of each sub-area can be more accurately determined, and the allocation of reconnaissance tasks can be optimized to ensure that each area has appropriate reconnaissance coverage, thereby improving the efficiency and accuracy of task execution. By mapping the collaborative reconnaissance platform to an outer rectangular grid and obtaining the reconnaissance task matrix based on target accessibility and target detectability, the reconnaissance resources of each reconnaissance platform can be better utilized, thereby maximizing resource utilization, avoiding resource waste, and improving the effectiveness and coverage of the reconnaissance task. By generating a collaborative reconnaissance plan and performing tasks in the reconnaissance mission area, collaborative operations between multiple reconnaissance platforms can be achieved, improving reconnaissance efficiency and coverage, thereby better meeting the reconnaissance needs of the reconnaissance mission area and improving the overall reconnaissance capability.

[0077] In some embodiments, the step of obtaining a circumscribed rectangle of a specific area to be scouted and performing grid division on the circumscribed rectangle to obtain a set of sub-areas of the circumscribed rectangle includes:

[0078] Acquire the position coordinates of the boundary points of the specific area to obtain a set of boundary points, wherein the position coordinates are determined according to the longitude, latitude and altitude of the boundary points;

[0079] Determine the maximum longitude, the minimum longitude, the maximum latitude, the minimum latitude and the average altitude based on the boundary point set;

[0080] The vertex coordinates of the circumscribed rectangle are determined based on the maximum longitude, the minimum longitude, the maximum latitude, the minimum latitude and the average altitude, and the circumscribed rectangle is constructed based on the vertex coordinates.

[0081] Specifically, the method for constructing the circumscribed regular rectangle includes:

[0082] Normalize the irregular specific area, make a circumscribed positive matrix of the specific area on a fixed height plane, divide the circumscribed positive rectangle into plane grids, and obtain several sub-areas.

[0083] The number of boundary points in a specific area can be recorded as: dot_num, and the set is DOT=}dot1,dot2,…,dot dot_num}, where any boundary point dot h The position coordinates can be expressed as: (lon h ,lat h ,alt h ),h=1,2,…,dot_num.

[0084] Find the maximum and minimum values ​​of longitude and latitude in the boundary point set and get:

[0085] lon min =min{lon1,lon2,…,lon dot_num}

[0086] lon max =max{lon1,lon2,…,lon dot_num}

[0087] lat min =min{lat1,lat2,…,lat dot_num}

[0088] lat max =max{lat1,lat2,…,lat dot_num}

[0089] Optionally, a fixed height plane takes the mean height:

[0090]

[0091] Then, the coordinates of the four vertices of the circumscribed regular rectangle are (lon min ,lat min ,alt avg ), (lon min ,lat max ,alt avg ), (lon max ,lat min ,alt avg ), (lon max ,lat max ,alt avg ), the circumscribed regular rectangle can be determined based on the vertex coordinates.

[0092] In some embodiments, the gridding of the circumscribed regular rectangle to obtain a set of sub-regions of the circumscribed regular rectangle includes:

[0093] Take the vertex coordinates corresponding to the minimum longitude, the minimum latitude and the average altitude as the coordinate origin;

[0094] On the plane where the mean altitude is located, the circumscribed regular rectangle is gridded in combination with the coordinate origin and according to a given grid spacing and a corresponding number of intervals to obtain a sub-region set of the circumscribed regular rectangle, and a grid matrix is ​​constructed based on the sub-region set.

[0095] Specifically, in this embodiment, take a vertex (lonmin ,lat min ,alt avg ) is the coordinate origin (x0, y0, z0). In alt avg For a plane, the grid spacing in the X and Y directions is Δx and Δy respectively, and the corresponding number of intervals is m and n respectively. The selection of Δx and Δy is based on the reconnaissance distance of the reconnaissance platform.

[0096] Optionally, Δx=5000m, Δy=5000m, m≤100, n≤100.

[0097] Use grid coordinates to mark each sub-area: area ij (i=1,2,…,m;j=1,2,…,n), represents the sub-area of ​​the i-th row and j-th column of the grid, and the grid matrix of a specific area is denoted as Area.

[0098]

[0099] Furthermore, the path reachability between each sub-area and all areas in the grid is traversed and calculated to obtain a reachability matrix.

[0100] Calculate the reachable paths between each sub-area and all areas in the grid, where reachable paths are marked as 1 and unreachable paths are marked as 0.

[0101] Sub-area ij The accessibility matrix of a specific area grid is denoted as A ij .

[0102]

[0103] Traverse all sub-areas and obtain the reachability matrix set A of all sub-areas = {A ij}.

[0104] Calculate the detectability of the platform to all sub-areas: Comprehensively consider the impact of terrain, shielding, etc. on reconnaissance, traverse and calculate the detectability of all platform types participating in collaborative reconnaissance in a specific area to all sub-areas in the grid, and obtain the detectability matrix.

[0105] Optionally, the platforms participating in the coordinated reconnaissance of a specific area are divided into tracked vehicles, wheeled vehicles and unmanned vehicles according to their wheel types and the performance of the sensors they carry. The platform type is denoted as t. The platform types include tracked vehicles, wheeled vehicles, unmanned vehicles, and unmanned aerial vehicles. The corresponding detectable matrices are denoted as B t .

[0106]

[0107] Among them, b tij Indicates the t type platform for the sub-area area ijThe detectability of the field, where detectable is 1 and undetectable is 0.

[0108] Traverse all reconnaissance platform types and obtain the detectability matrix set B of all reconnaissance platforms = {B t}.

[0109] In some embodiments, mapping the reconnaissance mission area and the collaborative reconnaissance platform to the circumscribed regular rectangular grid includes:

[0110] Determine the platform position point of the collaborative reconnaissance platform, map the platform position point to a grid matrix, and obtain the position coordinates of the collaborative reconnaissance platform;

[0111] Determine the grid coordinates of the collaborative reconnaissance platform based on the coordinate origin, the preset grid spacing, and the position coordinates of the collaborative reconnaissance platform, and construct a reconnaissance area boundary point set of the reconnaissance mission area based on the grid coordinates;

[0112] The circumscribed rectangle of the reconnaissance area boundary point set is obtained from the circumscribed rectangle of the specific area to obtain a reconnaissance task grid.

[0113] Specifically, refer to Figure 3 , Figure 3 This is a schematic diagram of the construction of the reconnaissance mission grid.

[0114] In a certain reconnaissance mission, the number of reconnaissance platforms participating in the collaborative reconnaissance mission is det_num, and the reconnaissance area is det_area.

[0115] Establish the mapping relationship between platform location points and grids in reconnaissance missions.

[0116] The location of the reconnaissance platform in the reconnaissance mission (lon plat ,lat plat ,alt plat ), which projects to alt avg The position coordinates of the plane are (x plat ,y plat ), then its grid coordinate 310 is area kl (k,l), then

[0117]

[0118] in, The symbol for rounding upwards represents the smallest integer greater than or equal to the value in the symbol, k = 1, 2, ..., m, l = 1, 2, ..., n.

[0119] In the specific area grid constructed above, a reconnaissance area circumscribed regular rectangle 320 is made, that is, a circumscribed regular rectangle of the reconnaissance area boundary point set, and the reconnaissance task grid is obtained, which is recorded as Rec pq .

[0120]

[0121] Among them, area pq (1≤p≤r≤m; 1≤q≤s≤n) is the grid coordinate marking sub-region, indicating the sub-region of the pth row and qth column of the grid. The starting row and column numbers of the reconnaissance mission grid are p and q, and the maximum row and column numbers are r and s.

[0122] Further, selecting the target reachability of the reconnaissance mission area from the reachability matrix, and selecting the target detectability of the collaborative reconnaissance platform from the detectability matrix, and obtaining the reconnaissance mission matrix of the collaborative reconnaissance platform according to the target reachability and target detectability, includes:

[0123] Selecting a reachability element from the reachability matrix according to the grid coordinates and the reconnaissance task grid, and generating a target reachability matrix of the collaborative reconnaissance platform for the reconnaissance task grid according to the reachability element;

[0124] Determining a platform type of the collaborative reconnaissance platform, selecting a detectability element from the detectability matrix based on the platform type and the reconnaissance task grid, and generating a target detectability matrix of the collaborative reconnaissance platform for the reconnaissance task grid according to the detectability element;

[0125] A reconnaissance mission matrix of the collaborative reconnaissance platform is obtained according to the target reachability matrix and the target detectability matrix.

[0126] Specifically, in the network coordinate area of ​​the above-mentioned reconnaissance platform point kl (k,l) and the reconnaissance mission grid Rec pq , in the reachability matrix set A = {A ij} to find the corresponding reachability elements to form the reachability matrix of the reconnaissance platform to the reconnaissance mission grid:

[0127]

[0128] Then determine the type t corresponding to the reconnaissance platform and the above reconnaissance mission grid Rec pq , according to the detectability matrix B of the reconnaissance platform type t t , find the corresponding detectability elements and form the detectability matrix of the reconnaissance platform to the reconnaissance mission grid:

[0129]

[0130] Furthermore, according to the above-mentioned reconnaissance platform reachability matrix A′ kl and the detectability matrix B′ t, perform Hadamard product operation, and obtain the reconnaissance mission matrix of the reconnaissance platform, denoted as C kl .

[0131]

[0132] It should be noted that the Hadamard product operation is also called element-wise multiplication, which means multiplying the elements in corresponding positions of two matrices of the same size to obtain a new matrix, in which each element of the new matrix is ​​the product of the elements in corresponding positions of the original two matrices.

[0133] In some embodiments, it also includes:

[0134] The reconnaissance detection efficiency of the collaborative reconnaissance platform is obtained, and the reconnaissance detection efficiency is substituted into the reconnaissance task matrix as a coefficient to obtain an efficiency parameter reconnaissance task matrix.

[0135] Substitute the reconnaissance detection effectiveness of the reconnaissance platform as a coefficient into the reconnaissance task matrix constructed above to obtain the effectiveness parameter reconnaissance task matrix, denoted as C kl ′.

[0136]

[0137] Among them, d t is the detection effectiveness value of type t reconnaissance platform, 0≤d t ≤1.

[0138] Accordingly, the method for determining the target reconnaissance platform includes:

[0139] Traverse the collaborative reconnaissance platforms to obtain the reconnaissance mission matrix set of effectiveness parameters of all collaborative reconnaissance platforms participating in the collaborative reconnaissance mission for the reconnaissance area;

[0140] The collaborative reconnaissance platforms in the grid coordinate marked sub-area of ​​the reconnaissance task grid are screened, and the collaborative reconnaissance platform corresponding to the maximum element is selected from the effectiveness parameter reconnaissance task matrix set as the target reconnaissance platform in the grid coordinate marked sub-area.

[0141] Specifically, traverse det_num reconnaissance platforms, repeat the above process of constructing the reconnaissance task matrix and the process of constructing the effectiveness parameter reconnaissance task matrix, and obtain the effectiveness parameter reconnaissance task matrix set of all reconnaissance platforms participating in the collaborative reconnaissance task for the reconnaissance area, recorded as

[0142] For each grid coordinate mark the sub-area pq(1≤p≤r≤m; 1≤q≤s≤n), select the reconnaissance platform for each grid, and take the platform corresponding to the maximum element in the corresponding effectiveness parameter reconnaissance task matrix as the reconnaissance platform of the corresponding grid area, that is, for grids u, v, its maximum effectiveness is recorded as:

[0143] max f u,v =max{{d t a kluv b tuv} q},g=1,2,...,det_num

[0144] Among them, {d t a kluv b tuv} g is the value corresponding to the grid u,v in the reconnaissance mission matrix of the g-th platform effectiveness parameter;

[0145] Since p≤u≤r,q≤v≤s, by traversing all grids, we can find the reconnaissance platforms corresponding to all grids.

[0146] In an embodiment of the present application, by substituting the reconnaissance detection efficiency as a coefficient into the reconnaissance task matrix to obtain the efficiency parameter reconnaissance task matrix, the importance and priority of each reconnaissance task can be better evaluated, and those tasks that are most helpful in improving the overall reconnaissance efficiency can be given priority in collaborative reconnaissance tasks, thereby maximizing the use of the resources of the reconnaissance platform.

[0147] By screening the collaborative reconnaissance platforms in the sub-areas and selecting the platform corresponding to the largest element in the efficiency parameter reconnaissance task matrix as the target reconnaissance platform, it can be ensured that the most suitable platform is selected for reconnaissance tasks in each area, thereby improving the accuracy and timeliness of reconnaissance and ensuring that the target is monitored and reconnaissanced in a timely and effective manner.

[0148] Reference Figure 4 , Figure 4 It is a complete flow chart of the collaborative reconnaissance method for a specific area provided in an embodiment of the present application, including:

[0149] S401. Construct a specific area grid;

[0150] S411. Find the coordinates of the four vertices of the circumscribed regular rectangle;

[0151] S412. Gridding a circumscribed regular rectangle to obtain a grid matrix for a specific area;

[0152] S402. Calculate the accessibility between sub-areas;

[0153] S403. Calculate the platform's detectability of all sub-areas;

[0154] S404. Mapping reconnaissance tasks and constructing a reconnaissance task matrix;

[0155] S441. Establishing the mapping relationship between the platform position points and the boundary points of the reconnaissance area and the grid in the reconnaissance mission;

[0156] S442. Construct a reconnaissance mission grid;

[0157] S443. Generate a reachable matrix of the reconnaissance platform to the reconnaissance mission grid;

[0158] S444. Generate a detectable matrix of the reconnaissance platform for the reconnaissance mission grid;

[0159] S445. Construct reconnaissance mission matrix;

[0160] S405. Construct a reconnaissance mission matrix with effective parameters;

[0161] S406. Generate regional reconnaissance plan.

[0162] Reference Figure 5 The present application also provides a collaborative reconnaissance device for a specific area, including:

[0163] A grid division module 510 is used to obtain a circumscribed regular rectangle of a specific area to be investigated, and to perform grid division on the circumscribed regular rectangle to obtain a sub-area set of the circumscribed regular rectangle;

[0164] The reachability and detectability determination module 520 traverses the path reachability between each sub-region in the sub-region set to obtain a reachability matrix, and traverses the detectability of each sub-region by all platform types participating in the collaborative reconnaissance of the specific region to obtain a detectability matrix;

[0165] A reconnaissance mission matrix generation module 530 is used to map the reconnaissance mission area and the collaborative reconnaissance platform to the circumscribed regular rectangular grid, select the target reachability of the reconnaissance mission area in the reachability matrix, and select the target detectability of the collaborative reconnaissance platform from the detectability matrix, and obtain the reconnaissance mission matrix of the collaborative reconnaissance platform according to the target reachability and target detectability;

[0166] The collaborative reconnaissance module 540 is used to determine the target reconnaissance platform corresponding to each grid in the reconnaissance mission area, generate a collaborative reconnaissance plan according to the reconnaissance mission matrix and the reconnaissance resources of each target reconnaissance platform, and perform collaborative reconnaissance on the reconnaissance mission area based on the collaborative reconnaissance plan.

[0167] In some embodiments, the step of obtaining a circumscribed rectangle of a specific area to be scouted and performing grid division on the circumscribed rectangle to obtain a set of sub-areas of the circumscribed rectangle includes:

[0168] Acquire the position coordinates of the boundary points of the specific area to obtain a set of boundary points, wherein the position coordinates are determined according to the longitude, latitude and altitude of the boundary points;

[0169] Determine the maximum longitude, the minimum longitude, the maximum latitude, the minimum latitude and the average altitude based on the boundary point set;

[0170] The vertex coordinates of the circumscribed rectangle are determined based on the maximum longitude, the minimum longitude, the maximum latitude, the minimum latitude and the average altitude, and the circumscribed rectangle is constructed based on the vertex coordinates.

[0171] In some embodiments, the gridding of the circumscribed regular rectangle to obtain a set of sub-regions of the circumscribed regular rectangle includes:

[0172] Take the vertex coordinates corresponding to the minimum longitude, the minimum latitude and the average altitude as the coordinate origin;

[0173] On the plane where the mean altitude is located, the circumscribed regular rectangle is gridded in combination with the coordinate origin and according to a given grid spacing and a corresponding number of intervals to obtain a sub-region set of the circumscribed regular rectangle, and a grid matrix is ​​constructed based on the sub-region set.

[0174] In some embodiments, mapping the reconnaissance mission area and the collaborative reconnaissance platform to the circumscribed regular rectangular grid includes:

[0175] Determine the platform position point of the collaborative reconnaissance platform, map the platform position point to a grid matrix, and obtain the position coordinates of the collaborative reconnaissance platform;

[0176] Determine the grid coordinates of the collaborative reconnaissance platform based on the coordinate origin, the preset grid spacing, and the position coordinates of the collaborative reconnaissance platform, and construct a reconnaissance area boundary point set of the reconnaissance mission area based on the grid coordinates;

[0177] The circumscribed rectangle of the reconnaissance area boundary point set is obtained from the circumscribed rectangle of the specific area to obtain a reconnaissance task grid.

[0178] In some embodiments, selecting the target reachability of the reconnaissance mission area from the reachability matrix, selecting the target detectability of the collaborative reconnaissance platform from the detectability matrix, and obtaining the reconnaissance mission matrix of the collaborative reconnaissance platform according to the target reachability and target detectability includes:

[0179] Selecting a reachability element from the reachability matrix according to the grid coordinates and the reconnaissance task grid, and generating a target reachability matrix of the collaborative reconnaissance platform for the reconnaissance task grid according to the reachability element;

[0180] Determining a platform type of the collaborative reconnaissance platform, selecting a detectability element from the detectability matrix based on the platform type and the reconnaissance task grid, and generating a target detectability matrix of the collaborative reconnaissance platform for the reconnaissance task grid according to the detectability element;

[0181] A reconnaissance mission matrix of the collaborative reconnaissance platform is obtained according to the target reachability matrix and the target detectability matrix.

[0182] In some embodiments, it also includes:

[0183] The reconnaissance detection efficiency of the collaborative reconnaissance platform is obtained, and the reconnaissance detection efficiency is substituted into the reconnaissance task matrix as a coefficient to obtain an efficiency parameter reconnaissance task matrix.

[0184] In some embodiments, the method for determining the target reconnaissance platform includes:

[0185] Traverse the collaborative reconnaissance platforms to obtain the reconnaissance mission matrix set of effectiveness parameters of all collaborative reconnaissance platforms participating in the collaborative reconnaissance mission for the reconnaissance area;

[0186] The collaborative reconnaissance platforms in the grid coordinate marked sub-area of ​​the reconnaissance task grid are screened, and the collaborative reconnaissance platform corresponding to the maximum element is selected from the effectiveness parameter reconnaissance task matrix set as the target reconnaissance platform in the grid coordinate marked sub-area.

[0187] It can be understood that the detailed functional implementation of each of the above-mentioned units / modules can be found in the introduction of the aforementioned method embodiment, and will not be repeated here.

[0188] It should be understood that the above-mentioned device is used to execute the method in the above-mentioned embodiment. The implementation principle and technical effect of the corresponding program module in the device are similar to those described in the above-mentioned method. The working process of the device can refer to the corresponding process in the above-mentioned method, which will not be repeated here.

[0189] Reference Figure 6 Based on the method in the above embodiment, the embodiment of the present application provides an electronic device, which may include: a processor (processor) 610, a communication interface (Communications Interface) 620, a memory (memory) 630 and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other through the communication bus 640. The processor 610 can call the logic instructions in the memory 630 to execute the method in the above embodiment.

[0190] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application.

[0191] Based on the method in the above embodiment, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method in the above embodiment.

[0192] Based on the method in the above embodiment, an embodiment of the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method in the above embodiment.

[0193] It is understandable that the processor in the embodiment of the present application can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The general-purpose processor can be a microprocessor or any conventional processor.

[0194] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC.

[0195] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions may be transmitted from a website site, a computer, a server or a data center to another website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)), etc.

[0196] It should be understood that the various numerical numbers involved in the embodiments of the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application.

[0197] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A collaborative reconnaissance method for a specific area, characterized in that: include: Obtaining a circumscribed regular rectangle of a specific area to be scouted, and performing grid division on the circumscribed regular rectangle to obtain a sub-area set of the circumscribed regular rectangle; Traversing the path reachability between each sub-region in the sub-region set to obtain a reachability matrix, and traversing the detectability of each sub-region by all platform types participating in the collaborative reconnaissance of the specific region to obtain a detectability matrix; Mapping the reconnaissance mission area and the collaborative reconnaissance platform to the grid of the circumscribed regular rectangle, selecting the target reachability of the reconnaissance mission area in the reachability matrix, and selecting the target detectability of the collaborative reconnaissance platform from the detectability matrix, and obtaining the reconnaissance mission matrix of the collaborative reconnaissance platform according to the target reachability and target detectability; Determine the target reconnaissance platform corresponding to each grid of the reconnaissance mission area, generate a collaborative reconnaissance plan according to the reconnaissance mission matrix and the reconnaissance resources of each target reconnaissance platform, and perform collaborative reconnaissance on the reconnaissance mission area based on the collaborative reconnaissance plan; The mapping of the reconnaissance mission area and the collaborative reconnaissance platform to the circumscribed regular rectangular grid includes: Determine the platform position point of the collaborative reconnaissance platform, map the platform position point to a grid matrix, and obtain the position coordinates of the collaborative reconnaissance platform; Determine the grid coordinates of the collaborative reconnaissance platform based on the coordinate origin, the preset grid spacing, and the position coordinates of the collaborative reconnaissance platform, and construct a reconnaissance area boundary point set of the reconnaissance mission area based on the grid coordinates; Obtaining the circumscribed rectangle of the set of boundary points of the reconnaissance area from the circumscribed rectangle of the specific area to obtain a reconnaissance task grid; The step of selecting the target reachability of the reconnaissance mission area from the reachability matrix and the target detectability of the collaborative reconnaissance platform from the detectability matrix, and obtaining the reconnaissance mission matrix of the collaborative reconnaissance platform according to the target reachability and the target detectability, comprises: Selecting a reachability element from the reachability matrix according to the grid coordinates and the reconnaissance task grid, and generating a target reachability matrix of the collaborative reconnaissance platform for the reconnaissance task grid according to the reachability element; Determining a platform type of the collaborative reconnaissance platform, selecting a detectability element from the detectability matrix based on the platform type and the reconnaissance task grid, and generating a target detectability matrix of the collaborative reconnaissance platform for the reconnaissance task grid according to the detectability element; Acquire a reconnaissance mission matrix of the collaborative reconnaissance platform according to the target reachability matrix and the target detectability matrix; The method for determining the target reconnaissance platform includes: Traverse the collaborative reconnaissance platforms to obtain the reconnaissance mission matrix set of effectiveness parameters of all collaborative reconnaissance platforms participating in the collaborative reconnaissance mission for the reconnaissance area; The collaborative reconnaissance platforms in the grid coordinate marked sub-area of ​​the reconnaissance task grid are screened, and the collaborative reconnaissance platform corresponding to the maximum element is selected from the effectiveness parameter reconnaissance task matrix set as the target reconnaissance platform in the grid coordinate marked sub-area.

2. The collaborative reconnaissance method for a specific area according to claim 1, characterized in that: The step of obtaining a circumscribed regular rectangle of a specific area to be scouted and performing grid division on the circumscribed regular rectangle to obtain a sub-area set of the circumscribed regular rectangle includes: Acquire the position coordinates of the boundary points of the specific area to obtain a set of boundary points, wherein the position coordinates are determined according to the longitude, latitude and altitude of the boundary points; Determine the maximum longitude, the minimum longitude, the maximum latitude, the minimum latitude and the average altitude based on the boundary point set; The vertex coordinates of the circumscribed rectangle are determined based on the maximum longitude, the minimum longitude, the maximum latitude, the minimum latitude and the average altitude, and the circumscribed rectangle is constructed based on the vertex coordinates.

3. The method for collaborative reconnaissance of a specific area according to claim 2, characterized in that: The grid division of the circumscribed regular rectangle to obtain a sub-region set of the circumscribed regular rectangle includes: Take the vertex coordinates corresponding to the minimum longitude, the minimum latitude and the average altitude as the coordinate origin; On the plane where the mean altitude is located, the circumscribed regular rectangle is gridded in combination with the coordinate origin and according to a given grid spacing and a corresponding number of intervals to obtain a sub-region set of the circumscribed regular rectangle, and a grid matrix is ​​constructed based on the sub-region set.

4. The method for collaborative reconnaissance of a specific area according to claim 1, characterized in that: Also includes: The reconnaissance detection efficiency of the collaborative reconnaissance platform is obtained, and the reconnaissance detection efficiency is substituted into the reconnaissance task matrix as a coefficient to obtain an efficiency parameter reconnaissance task matrix.

5. A collaborative reconnaissance device for a specific area, characterized in that: include: A grid division module, used for obtaining a circumscribed regular rectangle of a specific area to be scouted, and performing grid division on the circumscribed regular rectangle to obtain a sub-area set of the circumscribed regular rectangle; a reachability and detectability determination module, traversing the path reachability between each sub-region in the sub-region set to obtain a reachability matrix, and traversing the detectability of each sub-region by all platform types participating in the collaborative reconnaissance of the specific region to obtain a detectability matrix; A reconnaissance mission matrix generation module, used for mapping the reconnaissance mission area and the collaborative reconnaissance platform to the grid of the circumscribed regular rectangle, selecting the target reachability of the reconnaissance mission area in the reachability matrix, and selecting the target detectability of the collaborative reconnaissance platform from the detectability matrix, and obtaining the reconnaissance mission matrix of the collaborative reconnaissance platform according to the target reachability and target detectability; A collaborative reconnaissance module is used to determine the target reconnaissance platform corresponding to each grid in the reconnaissance mission area, generate a collaborative reconnaissance plan according to the reconnaissance mission matrix and the reconnaissance resources of each target reconnaissance platform, and perform collaborative reconnaissance on the reconnaissance mission area based on the collaborative reconnaissance plan; The mapping of the reconnaissance mission area and the collaborative reconnaissance platform to the circumscribed regular rectangular grid includes: Determine the platform position point of the collaborative reconnaissance platform, map the platform position point to a grid matrix, and obtain the position coordinates of the collaborative reconnaissance platform; Determine the grid coordinates of the collaborative reconnaissance platform based on the coordinate origin, the preset grid spacing, and the position coordinates of the collaborative reconnaissance platform, and construct a reconnaissance area boundary point set of the reconnaissance mission area based on the grid coordinates; Obtaining the circumscribed rectangle of the set of boundary points of the reconnaissance area from the circumscribed rectangle of the specific area to obtain a reconnaissance task grid; The step of selecting the target reachability of the reconnaissance mission area from the reachability matrix and the target detectability of the collaborative reconnaissance platform from the detectability matrix, and obtaining the reconnaissance mission matrix of the collaborative reconnaissance platform according to the target reachability and the target detectability, comprises: Selecting a reachability element from the reachability matrix according to the grid coordinates and the reconnaissance task grid, and generating a target reachability matrix of the collaborative reconnaissance platform for the reconnaissance task grid according to the reachability element; Determining a platform type of the collaborative reconnaissance platform, selecting a detectability element from the detectability matrix based on the platform type and the reconnaissance task grid, and generating a target detectability matrix of the collaborative reconnaissance platform for the reconnaissance task grid according to the detectability element; Acquire a reconnaissance mission matrix of the collaborative reconnaissance platform according to the target reachability matrix and the target detectability matrix; The method for determining the target reconnaissance platform includes: Traverse the collaborative reconnaissance platforms to obtain the reconnaissance mission matrix set of effectiveness parameters of all collaborative reconnaissance platforms participating in the collaborative reconnaissance mission for the reconnaissance area; The collaborative reconnaissance platforms in the grid coordinate marked sub-area of ​​the reconnaissance task grid are screened, and the collaborative reconnaissance platform corresponding to the maximum element is selected from the effectiveness parameter reconnaissance task matrix set as the target reconnaissance platform in the grid coordinate marked sub-area.

6. An electronic device, characterized in that: include: at least one memory for storing a computer program; At least one processor is used to execute the program stored in the memory. When the program stored in the memory is executed, the processor is used to execute the method according to any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program runs on a processor, the processor is caused to execute the method according to any one of claims 1 to 4.

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