A method for evaluating the environmental adaptability of unmanned systems

Abstract

The present invention relates to the field of unmanned system test evaluation, and specifically to an unmanned system environmental adaptability evaluation method based on "adaptation efficiency + adaptation effect + adaptation range". The unmanned system environmental adaptability evaluation method described in the present invention includes the following steps: step 1, determining the environmental influencing factors of the unmanned system; step 2, constructing a typical task environment; step 3, calculating the basic indicators of environmental adaptability; step 4: evaluating the environmental adaptation efficiency; step 5: evaluating the environmental adaptation effect; step 6: evaluating the environmental adaptation range; step 7: comprehensive calculation of environmental adaptability. The present invention establishes a three-dimensional evaluation model of "environmental adaptation efficiency + environmental adaptation effect + environmental adaptation range", and proposes a universal unmanned system environmental adaptability evaluation method based on "adaptation efficiency + adaptation effect + adaptation range" that can be quantitatively calculated, which can be applied to the environmental adaptability evaluation of all unmanned systems.

Description

Technical Field

[0001] The present invention relates to the field of unmanned system test evaluation, and in particular to an unmanned system environmental adaptability evaluation method. Background Art

[0002] Environmental adaptability, as an important and basic quality characteristic of equipment or products, refers to the ability of equipment or products to achieve their intended functions and performance without being destroyed under the influence of comprehensive environmental factors during their life cycle. It is a concrete manifestation of environmental adaptability. The environmental adaptability of unmanned systems reflects the ability of unmanned platforms to collect information and recognize the natural environment. The ability to accurately perceive, identify, and understand the natural environment in which they are located is the basis for unmanned platforms to achieve a high level of autonomy. If the unmanned platform can perceive and understand the current environmental conditions by itself, and can change its action strategy in real time according to different environmental conditions, it will have a very high level of autonomy. Therefore, the environmental adaptability assessment of unmanned systems is of great significance to measuring the autonomy of unmanned systems.

[0003] The measurement of environmental adaptability is very complex, and the evaluation methods for environmental adaptability are different for different evaluation objects. At present, most of the environmental adaptability evaluation methods for unmanned systems are qualitative descriptions, with a single evaluation object and a lack of quantifiable universal evaluation methods.

[0004] Therefore, it is necessary to provide an unmanned system environmental adaptability assessment method to overcome the above technical problems. Summary of the invention

[0005] The purpose of the present invention is to provide an evaluation method for the environmental adaptability of an unmanned system, so as to solve the problem of the lack of a universal method for environmental adaptability evaluation.

[0006] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0007] A method for evaluating the environmental adaptability of an unmanned system, the specific implementation process is as follows:

[0008] Step 1: Determine the environmental factors affecting the unmanned system

[0009] Construct a collection of environmental factors for unmanned systems, including geographic, meteorological, and electromagnetic environments;

[0010] The set of geographical environmental factors is D, D = [d1, d2, ..., d i ], d1~d i It is a single geographical environmental factor;

[0011] The set of meteorological environmental factors is Q: Q = [q1, q2, ..., q j ], q1~q jIt is a single meteorological environmental factor;

[0012] The electromagnetic environment factor collection is C: C = [c1, c2, ..., c k ],c1~c k It is a single electromagnetic environment factor;

[0013] For the selected unmanned system type, the environmental factor space Π of the selected unmanned system is constructed: Π=D'∪Q'∪C', where

[0014] Step 2: Build a typical task environment

[0015] Based on the environmental factor space Π, let each typical mission environment of the selected unmanned system be h i =[d1,d2,...,d Nd ;q1,q2,...,q Nq ; c1, c2, ..., c Nc ],in

[0016] Construct a series of typical task environments H = {h1,h2,...,h m};

[0017] Step 3: Calculate basic indicators of environmental adaptability

[0018] For each typical task environment h i , calculate or evaluate the environmental adaptation time T(h i )、Ability Effect P(h i )、Resource consumption X(h i ), and quantify it into a numerical value;

[0019] Set the environmental adaptation time, capability effect, and resource consumption of the selected unmanned system in the baseline environment as T0, P0, and X0 respectively;

[0020] Step 4: Evaluate environmental adaptation efficiency

[0021] For each typical task environment hi, calculate the environmental adaptation efficiency α(hi) of the object to be evaluated; since the shorter the environmental adaptation time, the higher the environmental adaptation efficiency, α(hi) is calculated by the following formula:

[0022]

[0023] The total environmental adaptation efficiency α of m typical tasks is:

[0024]

[0025] Step 5: Evaluate the effect of environmental adaptation

[0026] 501.Evaluation of task effect: Calculate the typical task environment h according to the environmental adaptation time, ability effect, and resource consumption of the object to be evaluated. i The task effect Γ(hi) is:

[0027]

[0028] Comprehensively calculate the task effect Γ of the object to be evaluated,

[0029]

[0030] 502. Evaluate task effect retention: Compare with the task effect in the baseline environment and calculate the typical task environment h i Under the environment adaptation time retention σ1, ability effect retention σ2, resource consumption retention σ3, we can get the task effect retention Ψ(h i ), Ψ(h i )∈[0,1];

[0031]

[0032] in,

[0033]

[0034]

[0035]

[0036] Comprehensively calculate the task effect retention degree Ψ of the object to be evaluated:

[0037]

[0038] 503. Comprehensive calculation of environmental adaptation effect

[0039] According to the task effect and task effect retention of the object to be evaluated, its environmental adaptation effect β is calculated comprehensively:

[0040] β=b1Γ+b2Ψ

[0041] Where b1, b2 ≥ 0, b1 + b2 = 1

[0042] Step 6: Evaluate the scope of environmental adaptation

[0043] 601. Evaluating environmental adaptation types

[0044] According to the task effect in the typical environment in step 501, the number m' of typical environments in which the task effect of the object to be evaluated is non-zero is calculated, and the environmental adaptation type ratio γ1 is comprehensively calculated;

[0045] γ1=m' / m

[0046] 602. Evaluating the degree of environmental adaptation

[0047] Typical task environment i The kth (1≤k≤N d +N q +N c ) factors are x ik , whose value is recorded as Δ(x ik );

[0048] For a series of typical task environments H, remember any two typical environments h i and h j The degree of change is ρ(h i ,h j ),

[0049]

[0050] Among them, δ(x k ) is the length of the value interval of the kth influencing factor, which is a constant for the single influencing factor;

[0051] Based on the series of typical environments H, let the environmental adaptability of the equipment to be evaluated be γ2, then

[0052] γ2=min{p( h ,h , )}

[0053] Among them, h i ,h j ∈H;

[0054] 603. Comprehensive Assessment of Environmental Adaptability

[0055] According to the environmental adaptation type ratio and environmental adaptation change degree of the object to be evaluated, the environmental adaptation range γ is calculated and evaluated.

[0056] γ=c1γ1+c2γ2

[0057] Where c1, c2 ≥ 0, c1 + c2 = 1

[0058] Step 7: Comprehensive calculation of environmental adaptability

[0059] According to the calculation results of steps 4, 5 and 6, the environmental adaptability EA of the unmanned system is calculated using the environmental adaptability efficiency, environmental adaptability effect and environmental adaptability range of the object to be evaluated:

[0060] EA=(ω1α+ω2β+ω3γ)*100%

[0061] Among them, ω1, ω2, ω3≥0, and ω1+ω2+ω3=1.

[0062] Preferably, the selected unmanned system is in a reference environment where there are no adverse factors for the unmanned system to perform tasks.

[0063] Preferably, the capability effect is a score of the task performed by the unmanned system, with the task completion score under the baseline environment being a full score of 100, and the score of the task performed by the unmanned system ranging from [0, 100].

[0064] Furthermore, the score of the task performed by the unmanned system is determined according to the degree of task completion.

[0065] Furthermore, the score of the task performed by the unmanned system is determined by expert scoring.

[0066] Preferably, the resource consumption degree takes the resource consumption under the reference environment as a unit value of 1, and the resource consumption degree of the task performed by the unmanned system takes a value of [1, +∞).

[0067] Preferably, b1, b2 and c1, c2 and ω1, ω2, ω3 are weight coefficients, which are determined according to the type of unmanned system through expert scoring.

[0068] Preferably, the geographical environment influencing factors include altitude and vegetation rate.

[0069] Preferably, the meteorological environment influencing factors include visibility, rainfall, wind force, wind speed, and cloud thickness.

[0070] Preferably, the electromagnetic environment influencing factors include electromagnetic intensity and electromagnetic frequency.

[0071] In a second aspect, the present invention provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect is implemented.

[0072] In a third aspect, the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the program.

[0073] Beneficial effects achieved by the present invention:

[0074] The present invention establishes a three-dimensional evaluation model of "environmental adaptation efficiency + environmental adaptation effect + environmental adaptation range", and proposes a universal unmanned system environmental adaptability evaluation method based on "adaptation efficiency + adaptation effect + adaptation range" that can be quantified and calculated, which can be applied to the environmental adaptability evaluation of all unmanned systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] Figure 1 The environmental adaptability assessment model described in the present invention;

[0076] Figure 2 It is the environmental adaptability evaluation index described in the present invention;

[0077] Figure 3 This is the environmental adaptability assessment process described in the present invention. DETAILED DESCRIPTION

[0078] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0079] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be noted that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0080] Example 1

[0081] A method for evaluating the environmental adaptability of an unmanned system based on adaptation efficiency, adaptation range and adaptation effect is proposed. The specific implementation process is as follows:

[0082] Step 1: Determine the environmental factors affecting the unmanned system

[0083] Construct a collection of environmental factors for unmanned systems, including geographic, meteorological, and electromagnetic environments;

[0084] The set of geographical environmental factors is D, D = [d1, d2, ..., d i ], d1~d i It is a single geographical environmental factor;

[0085] The set of meteorological environmental factors is Q: Q = [q1, q2, ..., q j ], q1~q j It is a single meteorological environmental factor;

[0086] The electromagnetic environment factor collection is C: C = [c1, c2, ..., c k ],c1~c k It is a single electromagnetic environment factor;

[0087] For the selected unmanned system type, the environmental factor space Π of the selected unmanned system is constructed: Π=D'∪Q'∪C', where

[0088] Step 2: Build a typical task environment

[0089] Based on the environmental factor space Π, let each typical mission environment of the selected unmanned system be h i =[d1,d2,...,d Nd ;q1,q2,...,q Nq ; c1, c2, ..., c Nc ],in

[0090] Construct a series of typical task environments H = {h1,h2,...,h m};

[0091] Step 3: Calculate basic indicators of environmental adaptability

[0092] For each typical task environment h i , calculate or evaluate the environmental adaptation time T(h i )、Ability Effect P(h i )、Resource consumption X(h i ) and quantify it into a numerical value; the scoring expert of the task performed by the unmanned system is determined according to the task completion score. The resource consumption degree takes the resource consumption under the baseline environment as 1, and the resource consumption degree of the task performed by the unmanned system is [1, +∞).

[0093] The environmental adaptation time, capability effect, and resource consumption of the selected unmanned system in the baseline environment are set as T0, P0, and X0, respectively; the baseline environment of the selected unmanned system is an environmental condition in which there are no adverse factors for the unmanned system to perform tasks.

[0094] Step 4: Evaluate environmental adaptation efficiency

[0095] For each typical task environment hi, calculate the environmental adaptation efficiency α(hi) of the object to be evaluated; since the shorter the environmental adaptation time, the higher the environmental adaptation efficiency, α(hi) is calculated by the following formula:

[0096]

[0097] The total environmental adaptation efficiency α of m typical tasks is:

[0098]

[0099] Step 5: Evaluate the effect of environmental adaptation

[0100] 501.Evaluation of task effect: Calculate the typical task environment h according to the environmental adaptation time, ability effect, and resource consumption of the object to be evaluated. i The task effect Γ(hi) is:

[0101]

[0102] Comprehensively calculate the task effect Γ of the object to be evaluated,

[0103]

[0104] 502. Evaluate task effect retention: Compare with the task effect in the baseline environment and calculate the typical task environment h i Under the environment adaptation time retention σ1, ability effect retention σ2, resource consumption retention σ3, we can get the task effect retention Ψ(h i ), Ψ(h i )∈[0,1];

[0105]

[0106] in,

[0107]

[0108]

[0109]

[0110] Comprehensively calculate the task effect retention degree Ψ of the object to be evaluated:

[0111]

[0112] 503. Comprehensive calculation of environmental adaptation effect

[0113] According to the task effect and task effect retention of the object to be evaluated, its environmental adaptation effect β is calculated comprehensively:

[0114] β=b1Γ+b2Ψ

[0115] Where b1, b2 ≥ 0, b1 + b2 = 1

[0116] Step 6: Evaluate the scope of environmental adaptation

[0117] 601. Evaluating Environmental Adaptability

[0118] According to the task effect in the typical environment in step 501, the number m' of typical environments in which the task effect of the object to be evaluated is non-zero is calculated, and the environmental adaptation type ratio γ1 is comprehensively calculated;

[0119] γ1=m' / m

[0120] 602. Evaluating the degree of environmental adaptation

[0121] Typical task environment i The kth (1≤k≤N d +N q +N c ) factors are x ik , whose value is recorded as Δ(x ik );

[0122] For a series of typical task environments H, remember any two typical environments h i and h j The degree of change is ρ(h i ,h j ),

[0123]

[0124] Among them, δ(x k ) is the length of the value interval of the kth influencing factor, which is a constant for the single influencing factor;

[0125] Based on the series of typical environments H, let the environmental adaptability of the equipment to be evaluated be γ2, then

[0126] γ2=min{ρ(h i ,h j )}

[0127] Among them, h i ,h j ∈H;

[0128] 603. Comprehensive Assessment of Environmental Adaptability

[0129] According to the environmental adaptation type ratio and environmental adaptation change degree of the object to be evaluated, the environmental adaptation range γ is calculated and evaluated.

[0130] γ=c1γ1+c2γ2

[0131] Where c1, c2 ≥ 0, c1 + c2 = 1

[0132] Step 7: Comprehensive calculation of environmental adaptability

[0133] According to the calculation results of steps 4, 5 and 6, the environmental adaptability EA of the unmanned system is calculated using the environmental adaptability efficiency, environmental adaptability effect and environmental adaptability range of the object to be evaluated:

[0134] EA=(ω1α+ω2β+ω3γ)*100%

[0135] Among them, ω1, ω2, ω3≥0, and ω1+ω2+ω3=1.

[0136] The b1, b2 and c1, c2 and ω1, ω2, ω3 are weight coefficients, which are determined according to the type of unmanned system through expert scoring.

[0137] The capability effect is the score of the task performed by the unmanned system, with the task completion score under the baseline environment being the full score of 100, and the score of the task performed by the unmanned system ranging from [0,100].

Claims

1. A method for evaluating environmental adaptability of an unmanned system, characterized in that: The specific implementation process is as follows: Step 1: Determine the environmental factors affecting the unmanned system Construct a collection of environmental factors for unmanned systems, including geographic, meteorological, and electromagnetic environments; The set of geographical environmental factors is D, D = [d1, d2, ..., d i ], d1~d i It is a single geographical environmental factor; The set of meteorological environmental factors is Q: Q = [q1, q2, ..., q j ], q1~q j It is a single meteorological environmental factor; The electromagnetic environment factor collection is C: C = [c1, c2, ..., c k ],c1~c k It is a single electromagnetic environment factor; For the selected unmanned system type, the environmental factor space Π of the selected unmanned system is constructed: Π=D'∪Q'∪C', where Step 2: Build a typical task environment Based on the environmental factor space Π, let each typical mission environment of the selected unmanned system be h i =[d1,d2,...,d Nd ;q1,q2,...,q Nq ; c1, c2, ..., c Nc ]; Construct a series of typical task environments H = {h1,h2,...,h m }; Step 3: Calculate basic indicators of environmental adaptability For each typical task environment h i , calculate or evaluate the environmental adaptation time T(h i )、Ability Effect P(h i )、Resource consumption X(h i ), and quantify it into a numerical value; Set the environmental adaptation time, capability effect, and resource consumption of the selected unmanned system in the baseline environment as T0, P0, and X0 respectively; Step 4: Evaluate environmental adaptation efficiency For each typical task environment hi, calculate the environmental adaptation efficiency α(hi) of the object to be evaluated; α(hi) is calculated by the following formula: The total environmental adaptation efficiency α of m typical tasks is: Step 5: Evaluate the effect of environmental adaptation 501.Evaluation of task effect: Calculate the typical task environment h according to the environmental adaptation time, ability effect, and resource consumption of the object to be evaluated. i The task effect Γ(hi) is: Comprehensively calculate the task effect Γ of the object to be evaluated, 502. Evaluate task effect retention: Compare with the task effect in the baseline environment and calculate the typical task environment h i Under the environment adaptation time retention σ1, ability effect retention σ2, resource consumption retention σ3, we can get the task effect retention Ψ(h i ), Ψ(h i )∈[0,1]; in, Comprehensively calculate the task effect retention degree Ψ of the object to be evaluated:

503. Comprehensive calculation of environmental adaptation effect According to the task effect and task effect retention of the object to be evaluated, its environmental adaptation effect β is calculated comprehensively: β=b1Γ+b2Ψ Where b1, b2 ≥ 0, b1 + b2 = 1 Step 6: Evaluate the scope of environmental adaptation 601. Evaluating environmental adaptation types According to the task effect in the typical environment in step 501, the number m' of typical environments in which the task effect of the object to be evaluated is non-zero is calculated, and the environmental adaptation type ratio γ1 is comprehensively calculated; γ1=m' / m 602. Evaluating the degree of environmental adaptation Typical task environment i The kth influencing factor is x ik , whose value is recorded as Δ(x ik ), the value range of k is 1≤k≤N d +N q +N c ; For a series of typical task environments H, remember any two typical environments h i and h j The degree of change is ρ(h i ,h j ), Among them, δ(x k ) is the length of the value interval of the kth influencing factor, which is a constant for a single influencing factor; Based on the series of typical environments H, let the environmental adaptability of the equipment to be evaluated be γ2, then γ2=min{ρ(h j ,h j )} Among them, h i ,h j ∈H; 603. Comprehensive assessment of environmental adaptability According to the environmental adaptation type ratio and environmental adaptation change degree of the object to be evaluated, the environmental adaptation range γ is comprehensively calculated and evaluated, then γ=c1γ1+c2γ2 Where c1, c2 ≥ 0, c1 + c2 = 1 Step 7: Comprehensive calculation of environmental adaptability According to the calculation results of steps 4, 5 and 6, the environmental adaptability EA of the unmanned system is calculated using the environmental adaptability efficiency, environmental adaptability effect and environmental adaptability range of the object to be evaluated: EA=(ω1α+ω2β+ω3γ)*100% Among them, ω1, ω2, ω3≥0, ω1+ω2+ω3=1; The b1, b2 and c1, c2 and ω1, ω2, ω3 are weight coefficients, which are determined according to the type of unmanned system through expert scoring; The geographical environment influencing factors include altitude and vegetation rate; the meteorological environment influencing factors include visibility, rainfall, wind force, wind speed, and cloud thickness; the electromagnetic environment influencing factors include electromagnetic intensity and electromagnetic frequency.

2. The method for evaluating environmental adaptability of an unmanned system according to claim 1, characterized in that: The baseline environment for the selected unmanned system is an environmental condition where there are no adverse factors for the unmanned system to perform its mission.

3. The method for evaluating environmental adaptability of an unmanned system according to claim 1, characterized in that: The capability effect is the score of the task performed by the unmanned system, with the task completion score under the baseline environment being the full score of 100, and the score of the task performed by the unmanned system ranging from [0,100].

4. The method for evaluating environmental adaptability of an unmanned system according to claim 3, characterized in that: The score of the task performed by the unmanned system is determined according to the degree of task completion.

5. The method for evaluating environmental adaptability of an unmanned system according to claim 4, characterized in that: The score of the task performed by the unmanned system is determined by expert scoring.

6. The method for evaluating environmental adaptability of an unmanned system according to claim 1, characterized in that: The resource consumption degree takes the resource consumption under the reference environment as a unit value of 1, and the resource consumption degree of the task performed by the unmanned system is in the range of [1, +∞).

7. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

8. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method according to any one of claims 1 to 6 is implemented.

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