Unmanned ship group system collaboration grade evaluation method

Abstract

The invention discloses an unmanned ship group system collaboration grade evaluation method. The method comprises the following steps: establishing an unmanned ship group collaboration grade evaluation quantitative index system; analyzing and determining a combat mission of the evaluated unmanned ship group, and simulating and constructing a real combat confrontation scene through a simulation tool according to the combat mission of the unmanned ship group; carrying out the cooperative secondary index measurement work of the unmanned ship group in the constructed simulated confrontation scene; constructing an unmanned ship group collaboration grade evaluation mathematical model, and calculating a collaboration grade score; and constructing an unmanned ship group collaboration grade table, and determining an unmanned ship group collaboration grade according to the unmanned ship group collaboration grade table and the collaboration grade score. According to the method, quantitative evaluation indexes and grades are formulated, and a real combat confrontation scene is simulated and constructed to carry out index measurement work, so that the problem that the current unmanned ship group collaboration grade evaluation work lacks a unified evaluation index and a test method is effectively solved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent unmanned system evaluation, and in particular to a method for evaluating the coordination level of an unmanned boat swarm system. Background Art

[0002] With the accelerated application of artificial intelligence technology in the military field, intelligent unmanned equipment clusters have gradually become an important part of modern warfare. Unmanned equipment clusters are typically represented by unmanned boat swarms. By carrying a large number of intelligent algorithm models and systems such as perception, control, and decision-making, they can achieve intelligent target detection and tracking, autonomous navigation, and unmanned collaboration.

[0003] The unmanned combat system of the future battlefield is to comprehensively utilize various types of homogeneous and heterogeneous unmanned combat platforms to form a combat system of "interconnected sharing, distributed autonomy, and intelligent collaboration", thereby improving the overall combat effectiveness of the battlefield. At present, the complexity of information combat collaboration is increasing. Before military intelligent equipment is applied to actual combat, it is necessary to evaluate its level of collaboration, which can provide support for its application research and development and optimization and improvement, and play a leading and guiding role in the research of unmanned boat groups. It is necessary to lead the research on the intelligent level evaluation of maritime unmanned equipment. The current means and methods of unmanned boat group collaboration evaluation still have certain limitations and capacity shortcomings, which are specifically manifested in: 1) There is no objective and scientific collaboration level evaluation standard specification, and there is no authoritative and unified evaluation index and test method, which makes it difficult for the industry to reach a consensus on the collaboration level evaluation results of unmanned boat groups, affecting the commander's judgment and selection of equipment. 2) The system-level test and evaluation means of unmanned boat groups are not perfect. The current research mainly focuses on the test technology for intelligent algorithm models, which is difficult to meet the evaluation needs of the system-level collaboration level of unmanned boat groups. Summary of the invention

[0004] In order to solve the above technical problems, the present invention proposes a method for evaluating the coordination level of an unmanned boat swarm system. By formulating quantitative evaluation indicators and classifications, and simulating the construction of real combat confrontation scenarios to carry out indicator measurement work, the problem of the current lack of unified evaluation indicators and testing methods in the evaluation of the coordination level of unmanned boat swarms is effectively solved.

[0005] The objective of the present invention is achieved through the following technical solution: a method for evaluating the coordination level of an unmanned boat group system, comprising the following steps:

[0006] Step 1: Establish a quantitative indicator system for evaluating the coordination level of unmanned boat groups;

[0007] Step 2: Analyze and determine the combat mission of the unmanned boat group to be evaluated, and simulate and construct a real combat confrontation scenario through simulation tools based on the combat mission of the unmanned boat group;

[0008] Step 3: Carry out the secondary indicator measurement of the coordination of the unmanned boat group in the simulated confrontation scenario constructed in step 2;

[0009] Step 4: construct a mathematical model for evaluating the coordination level of the unmanned boat group and calculate the coordination level score;

[0010] Step 5: construct an unmanned boat swarm coordination grade table, and determine the unmanned boat swarm coordination grade according to the unmanned boat swarm coordination grade table and the coordination grade score obtained in step 4.

[0011] Preferably, in step 1, the quantitative index system for evaluating the coordination level of the unmanned boat group includes coordinated perception and cognitive ability, coordinated communication ability, coordinated decision-making ability, coordinated strike ability, coordinated teaming ability and coordinated system architecture.

[0012] Preferably, step 2 at least includes the following steps:

[0013] Step 2.1, analyze the combat missions of the unmanned boat group, including but not limited to surface reconnaissance and surveillance, warning patrol, anti-mine warfare and anti-submarine warfare;

[0014] Step 2.2: Use simulation tools such as Simulink to simulate the real battlefield environment and construct the various mission scenarios in step 2.1.

[0015] Preferably, in step 3, the value range of each secondary index is {1, 2, 3, 4, 5}.

[0016] Preferably, step 4 at least includes the following steps:

[0017] Step 4.1, calculate the evaluation score of the first-level synergy index;

[0018] Step 4.2, calculating the basic synergy grade score;

[0019] Step 4.3: Calculate the final synergy grade score based on the results obtained in steps 4.1 and 4.2.

[0020] Preferably, in step 4.1, the first-level synergy index is calculated by the following formula:

[0021]

[0022] In the formula, E i represents the evaluation score of the i-th first-level synergy indicator, whose value is calculated by the corresponding second-level indicator items; m represents the number of second-level indicator items, and w ij represents the weight of the jth secondary indicator under the ith synergy primary indicator, V ij It represents the value of the jth secondary indicator under the i-th synergy first-level indicator.

[0023] Preferably, in step 4.2, the basic synergy grade score is calculated by the following formula:

[0024] f(E1,E2,E3,E4,E5)=N(w1E1+w2E2+w3E3+w4E4+w5E5)

[0025]

[0026] In the formula, f(E1, E2, E3, E4, E5) represents the basic coordination level of the unmanned boat group determined by the five first-level indicators of coordinated perception and cognition ability, coordinated communication ability, coordinated decision-making ability, coordinated strike ability, and coordinated teaming ability. i represents the evaluation score of each first-level indicator of the synergy level evaluation, w i Represents the weight of the i-th first-level synergy indicator.

[0027] Preferably, in step 4.3, the final synergy grade score is calculated by the following formula:

[0028] L(U m )=f(E1,E2,E3,E4,E5)+h(N(E6)-f(E1,E2,E3,E4,E5))

[0029] Where E6 represents the evaluation score of the collaborative system architecture index, h(N(E6)-f(E1,E2,E3,E4,E5)) represents the lower limit of the degree to which the collaborative system architecture index affects the collaborative level of the unmanned boat group, and the calculation formula of h(x) is as follows:

[0030]

[0031] Preferably, step 5 at least includes the following steps:

[0032] Step 5.1, constructing a coordination level table for the unmanned boat group;

[0033] Step 5.2: Look up the table to obtain the coordination level of the unmanned boat group.

[0034] Compared with the prior art, the present invention has the following advantages:

[0035] The present invention provides a method for evaluating the coordination level of an unmanned boat swarm system. Aiming at the shortcomings of the current unmanned boat swarm coordination evaluation work, the coordination level of an unmanned boat swarm is evaluated by constructing an unmanned boat swarm coordination evaluation index system and coordination level classification, and simulating and constructing a real combat confrontation scenario.

[0036] Based on the connotation of synergy and the OODA decision-making chain of unmanned boat swarm combat, the present invention proposes a set of unmanned boat swarm synergy level evaluation index system, which solves the problem that the synergy of unmanned boat swarm is difficult to evaluate and lays the foundation for the subsequent unmanned boat swarm intelligence level evaluation.

[0037] The present invention proposes a grading method for the coordination level of unmanned boat swarms, which divides the coordination level of unmanned boat swarms into five levels from low to high. This helps to understand the boundaries of our unmanned boat swarm coordination capabilities in advance before actual application, provides a clear direction for the research and improvement of unmanned boat swarms, and promotes the development of unmanned boat swarms to a higher level of coordination.

[0038] The present invention proposes a method for evaluating the coordination of unmanned boat swarms, forms a complete unmanned boat swarm evaluation process, solves the problem of lack of unified and standardized testing method guidance for the coordination of unmanned boat swarms, and provides a reference for subsequent intelligent level evaluation methods of other unmanned equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a flow chart of the evaluation of the coordination of the unmanned boat group in the present invention;

[0040] Figure 2 It is a framework diagram of the unmanned boat swarm coordination evaluation index system in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0042] like Figure 1 As shown, the technical solution of the present invention provides a method for evaluating the coordination level of an unmanned boat group system, comprising the following steps:

[0043] Step 1: Establish a quantitative indicator system for evaluating the coordination level of unmanned boat groups;

[0044] Step 2: Analyze and determine the combat mission of the unmanned boat group to be evaluated, and simulate and construct a real combat confrontation scenario through simulation tools based on the combat mission of the unmanned boat group;

[0045] Step 3: Carry out the secondary indicator measurement of the coordination of the unmanned boat group in the simulated confrontation scenario constructed in step 2;

[0046] Step 4: construct a mathematical model for evaluating the coordination level of the unmanned boat group and calculate the coordination level score;

[0047] Step 5: construct an unmanned boat swarm coordination grade table, and determine the unmanned boat swarm coordination grade according to the unmanned boat swarm coordination grade table and the coordination grade score obtained in step 4.

[0048] In one embodiment of the present invention, in step 1, based on the OODA decision chain of the unmanned boat group combat, an unmanned boat group coordination evaluation index system is established from six dimensions: coordinated perception and cognitive ability, coordinated communication ability, coordinated decision-making ability, coordinated strike ability, coordinated teaming ability, and coordinated system architecture, such as Figure 2 shown.

[0049] In this embodiment, each indicator is described as follows:

[0050] 1) Collaborative perception and cognitive capabilities include information reconnaissance and detection capabilities, information processing and fusion capabilities, and situation analysis and understanding capabilities. Information reconnaissance and detection capabilities mainly examine the comprehensiveness and effectiveness of information reconnaissance and detection, including the detection capabilities of various reconnaissance equipment such as radar, optoelectronics or sonar;

[0051] 2) Collaborative communication capability mainly refers to the data link capability between unmanned boats, and the data link capability mainly includes communication timeliness and communication reliability.

[0052] 3) Collaborative decision-making capability takes collaborative task planning capability, collaborative path planning capability and dynamic real-time decision-making capability as indicators, reflecting the decision-making efficiency, decision-making quality and situational adaptability of the unmanned boat group in combat.

[0053] 4) The coordinated strike capability mainly reflects the ability of the unmanned boat group to perform tasks. Considering the mission objectives of the unmanned boat coordinated operations, the coordinated attack capability and coordinated avoidance capability are used as evaluation indicators.

[0054] 5) Collaborative team capability Taking into account that the unmanned boat group needs to have good maneuverability, formation performance and high survivability when performing tasks, dynamic expansion capability, formation reorganization capability, navigation performance, and survivability are used as indicators to evaluate the collaborative team capability.

[0055] 6) The quality of the collaborative system architecture determines the flexibility of the unmanned boat swarm command and communication, the degree of adaptability of the network topology, etc. The overall system architecture design of the unmanned boat swarm determines the lower limit of the cluster's collaborative capabilities. When designing the overall system architecture of an unmanned boat swarm, it is necessary to consider three important elements: the swarm topology, the control information architecture, and the communication network topology. The swarm topology is mainly used to describe the node boat-related clustering structure within the swarm, the command and communication relationship between nodes, the relative position relationship between nodes, the node change control structure, the relationship between tasks and structures, etc.; the control information architecture mainly solves the information sharing mechanism and the connection between swarm control and single boat control; the communication network topology mainly describes the unmanned boat swarm networking communication architecture. A well-designed communication network topology should have adaptive networking communication capabilities.

[0056] In one embodiment of the present invention, step 2 at least includes the following steps:

[0057] Step 2.1, analyze the combat missions of the unmanned boat group, including but not limited to surface reconnaissance and surveillance, warning patrol, anti-mine warfare and anti-submarine warfare;

[0058] Step 2.2: Use simulation tools such as Simulink to simulate the real battlefield environment and construct the various mission scenarios in step 2.1.

[0059] In one embodiment of the present invention, in step 3, the secondary indicator measurement of the unmanned boat group's coordination is carried out in the simulated combat environment constructed in step 2. For example, the expert scoring method can be used to measure each secondary indicator, and the value range is {1, 2, 3, 4, 5}.

[0060] In one embodiment of the present invention, step 4 at least includes the following steps:

[0061] Step 4.1: Calculate the evaluation score of the first-level synergy index:

[0062] Among them, the first-level synergy index is calculated by the following formula:

[0063]

[0064] In the formula, E i represents the evaluation score of the i-th first-level synergy indicator, whose value is calculated by the corresponding second-level indicator items; m represents the number of second-level indicator items, and w ij represents the weight of the jth secondary indicator under the ith synergy primary indicator, V ij It represents the value of the jth secondary indicator under the i-th synergy primary indicator, and its value has been calculated in step 3.

[0065] Step 4.2: Calculate the basic synergy score:

[0066] The basic synergy level score is calculated by the following formula:

[0067] f(E1,E2,E3,E4,E5)=N(w1E1+w2E2+w3E3+w4E4+w5E5)

[0068]

[0069] In the formula, f(E1, E2, E3, E4, E5) represents the basic coordination level of the unmanned boat group determined by the five first-level indicators of coordinated perception and cognition ability, coordinated communication ability, coordinated decision-making ability, coordinated strike ability, and coordinated teaming ability. i represents the evaluation score of each first-level indicator of the synergy level evaluation, w i Represents the weight of the i-th first-level synergy indicator.

[0070] Step 4.3: Calculate the final synergy grade score based on the results obtained in steps 4.1 and 4.2.

[0071] The final synergy grade score is calculated by the following formula:

[0072] L(U m )=f(E1,E2,E3,E4,E5)+h(N(E6)-f(E1,E2,E3,E4,E5))

[0073] Where E6 represents the evaluation score of the collaborative system architecture index, h(N(E6)-f(E1,E2,E3,E4,E5)) represents the lower limit of the degree to which the collaborative system architecture index affects the collaborative level of the unmanned boat group, and the calculation formula of h(x) is as follows:

[0074]

[0075] In one embodiment of the present invention, step 5 at least includes the following steps:

[0076] Step 5.1: Construct the coordination level table of unmanned boat swarms:

[0077] In this embodiment, the coordination level of the unmanned boat group is divided into five levels, and the description of each level is shown in Table 1:

[0078] Table 1 Unmanned boat group coordination level table

[0079]

[0080] 1) Level 1: No coordination:

[0081] In the unmanned swarm system, only one platform can complete the combat function, and a single platform cannot coordinate.

[0082] 2) Level 2: Primary perception and coordination

[0083] The cluster system can collaboratively complete perception and analysis tasks, and has the capabilities of collaborative information reconnaissance and detection, collaborative information processing fusion, and collaborative situation analysis and understanding.

[0084] 3) Level 3: Intermediate Action Coordination

[0085] The cluster system can collaboratively complete perception, analysis and action tasks. Based on the ability of collaborative perception and cognition, it can collaboratively complete tasks such as attack and avoidance.

[0086] 4) Level 4: Advanced Decision-making Collaboration

[0087] The cluster system has a high collaborative decision-making capability, which is reflected in the ability to collaboratively carry out complex planning, such as collaborative task planning, collaborative path planning, etc. The system can make real-time decisions based on the battlefield situation and carry out tactically flexible team formation.

[0088] 5) Level 5: Fully coordinated

[0089] The cluster system has all the capabilities of collaborative perception, collaborative cognition, collaborative decision-making and collaborative action. All systems within the cluster are fully coordinated and have consistent combat objectives. It has the ability to complete various combat tasks under highly complex confrontation conditions.

[0090] Step 5.2: Look up the table to get the coordination level of the unmanned boat group:

[0091] The coordination level of the unmanned boat group is obtained by looking up Table 1. The coordination level score range calculated in step 4 is {1, 2, 3, 4, 5}, corresponding to L1, L2, L3, L4, L5 of the unmanned boat group coordination level table. The coordination level of the unmanned boat group under test can be known by looking up the table.

[0092] The above are preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A method for evaluating the coordination level of an unmanned boat swarm system, characterized by: The evaluation method comprises the following steps: Step 1: Establish a quantitative indicator system for evaluating the coordination level of unmanned boat groups; Step 2: Analyze and determine the combat mission of the unmanned boat group to be evaluated, and simulate and construct a real combat confrontation scenario through simulation tools based on the combat mission of the unmanned boat group; Step 3: Carry out the secondary indicator measurement work of the unmanned boat group coordination in the simulated confrontation scenario constructed in step 2; Step 4: construct a mathematical model for evaluating the coordination level of the unmanned boat group and calculate the coordination level score; Step 5: construct an unmanned boat swarm coordination grade table, and determine the unmanned boat swarm coordination grade according to the unmanned boat swarm coordination grade table and the coordination grade score obtained in step 4.

2. The method for evaluating the coordination level of an unmanned boat swarm system according to claim 1, characterized in that: In step 1, the quantitative index system for evaluating the coordination level of the unmanned boat group includes coordinated perception and cognitive ability, coordinated communication ability, coordinated decision-making ability, coordinated strike ability, coordinated teaming ability and coordinated system architecture.

3. The method for evaluating the coordination level of an unmanned boat swarm system according to claim 2, characterized in that: The step 2 at least comprises the following steps: Step 2.1, analyze the combat missions of the unmanned boat group, including but not limited to surface reconnaissance and surveillance, warning patrol, anti-mine warfare and anti-submarine warfare; Step 2.2: Use simulation tools such as Simulink to simulate the real battlefield environment and construct the various mission scenarios in step 2.

1.

4. The method for evaluating the coordination level of an unmanned boat swarm system according to claim 3, characterized in that: In step 3, the value range of each secondary index is {1, 2, 3, 4, 5}.

5. The method for evaluating the coordination level of an unmanned boat swarm system according to claim 4, characterized in that: The step 4 at least comprises the following steps: Step 4.1, calculate the evaluation score of the first-level synergy index; Step 4.2, calculating the basic synergy grade score; Step 4.3: Calculate the final synergy grade score based on the results obtained in step 4.1 and step 4.

2.

6. The method for evaluating the coordination level of an unmanned boat swarm system according to claim 5, characterized in that: In step 4.1, the first-level synergy index is calculated by the following formula: In the formula, E i represents the evaluation score of the i-th first-level synergy indicator, whose value is calculated by the corresponding second-level indicator items; m represents the number of second-level indicator items, and w ij represents the weight of the jth secondary indicator under the ith synergy primary indicator, V ij It represents the value of the jth secondary indicator under the i-th synergy primary indicator.

7. The method for evaluating the coordination level of an unmanned boat swarm system according to claim 6, characterized in that: In step 4.2, the basic synergy grade score is calculated by the following formula: f(E1,E2,E3,E4,E5)=N(w1E1+w2E2+w3E3+w4E4+w5E5) In the formula, f(E1, E2, E3, E4, E5) represents the basic coordination level of the unmanned boat group determined by the five first-level indicators of coordinated perception and cognition ability, coordinated communication ability, coordinated decision-making ability, coordinated strike ability, and coordinated teaming ability. i represents the evaluation score of each first-level indicator of the synergy level evaluation, w i Represents the weight of the i-th first-level synergy indicator.

8. The method for evaluating the coordination level of an unmanned boat swarm system according to claim 7, characterized in that: In step 4.3, the final synergy grade score is calculated by the following formula: L(U m )=f(E1,E2,E3,E4,E5)+h(N(E6)-f(E1,E2,E3,E4,E5)) Where E6 represents the evaluation score of the collaborative system architecture index, h(N(E6)-f(E1, E2, E3, E4, E5)) represents the lower limit of the degree to which the collaborative system architecture index affects the collaborative level of the unmanned boat group, and the calculation formula of h(x) is as follows:

9. The method for evaluating the coordination level of an unmanned boat swarm system according to claim 8, characterized in that: The step 5 at least comprises the following steps: Step 5.1, constructing a coordination level table for the unmanned boat group; Step 5.2: Look up the table to obtain the coordination level of the unmanned boat group.

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