Cluster collaborative electromagnetic spectrum reconnaissance formation control method based on structure emergence

Abstract

The invention discloses a cluster collaborative electromagnetic spectrum reconnaissance formation control method based on structure emergence, and the method comprises the steps: determining the track radius R of each node according to the baseline length L between platforms specified by collaborative tactics and the number n of nodes executing tasks; determining a track period T of each node according to a platform self extreme motion attribute vmax of the node; calculating an unmanned angular velocity omega, and establishing a single-node motion equation; calculating the time difference delta T of node entry, the departure position (xi0, yi0) of each node, the departure time ti of each node, the coordinates (xi, yi) of each node at the t moment, the speed vi of each node at the t moment and the included angle theta i between each node and the master station at the t moment; and calculating a cluster platform task sequence track file. According to the method, the single-platform track complexity can be effectively reduced, the flight control difficulty is reduced, the applicable type of the platform is not limited, and the system robustness is high.

Description

Technical Field

[0001] The present invention relates to the field of cluster collaboration technology, and in particular to a cluster collaboration electromagnetic spectrum reconnaissance formation control method based on structure emergence. Background Art

[0002] In the system combat scenario, cluster collaborative combat is the general trend. In the process of collaborative electromagnetic spectrum reconnaissance, cluster multi-station cross-positioning of radiation source targets is carried out. The sufficient but not necessary condition for the iterative convergence of positioning results is that a closed area is formed between multiple platforms during the mission and the angle is the same; at the same time, due to the quality requirements of the wireless data link, the baseline length between platforms also forms a strict constraint. The traditional formation control method is to directly calculate the overall formation track according to the configuration constraints. The overall formation track effect is generally consistent with the single platform track. The idea is simple, but the calculated platform track is more complex, it is not easy to complete flight control, there are platform type restrictions, and the system robustness is poor. Summary of the invention

[0003] Purpose of the invention: The purpose of the present invention is to provide a cluster collaborative electromagnetic spectrum reconnaissance formation control method based on structure emergence.

[0004] Technical solution: The present invention comprises the following steps:

[0005] (1) According to the baseline length L between platforms specified by the coordinated tactics and the number of nodes performing the mission n, the track radius R of each node is determined;

[0006] (2) According to step (1) and the node's platform's own extreme motion attribute v max , determine the track period T of each node;

[0007] (3) Calculate the unmanned angular velocity ω and establish the single-node motion equation;

[0008] (4) Calculate the time difference ΔT of node entry;

[0009] (5) According to the task center coordinates (x0, y0), calculate the starting position of each node (x i0 ,y i0 );

[0010] (6) Calculate the departure time t of each node i ;

[0011] (7) Calculate the coordinates (x i ,y i );

[0012] (8) Calculate the velocity v of each node at time t i ;

[0013] (9) Calculate the angle θ between each node and the master station at time t i ;

[0014] (10) Compute the cluster platform task sequence trajectory file.

[0015] Furthermore, the track radius R in step (1) is expressed as:

[0016]

[0017] Among them, L is the baseline length between platforms, and n is the number of nodes executing the task.

[0018] Furthermore, the step (2) comprises:

[0019] The maximum speed in the preset track is less than or equal to the maximum speed of a single node, which is expressed by the speed formula of a single node:

[0020] v i =ω*R*sin(ω*(t-(π*(i-1) / n*ω)))

[0021] in:

[0022] ω max =v max / R

[0023] From the above formula we can get:

[0024]

[0025] Therefore, the motion trajectory period of a single node is greater than T min , v max It is the extreme motion property of the node platform itself.

[0026] Furthermore, the unmanned angular velocity ω in step (3) is expressed as:

[0027]

[0028] Where T is the track period of each node.

[0029] Furthermore, the step (4) comprises:

[0030] According to the minimum time seconds used, the input unmanned node motion trajectory cycle is restricted:

[0031] ΔT=π / (n*ω)

[0032]

[0033] Since ΔT is an integer,

[0034]

[0035] ΔT is an integer, that is, the motion trajectory period T of the unmanned node is an integer multiple of twice the number of unmanned nodes.

[0036] Furthermore, the step (5) comprises:

[0037] According to the task center coordinates (x0, y0), calculate the starting position of each node (x i0 ,y i0 ),

[0038] According to θ1=((i-1)*π / n)+π, we can get:

[0039] x i0 =x0+R*cos(θ1)

[0040] y i0 =y0+R*sin(θ1)

[0041] Among them, θ i represents the angle between the master station and the i-th slave station, and θ1 represents the angle between the master station and the 1st slave station.

[0042] Furthermore, in step (6), the departure time of each node is t i It is expressed as:

[0043] t i =t0+ΔT*i

[0044] Among them, t0 represents the task start time.

[0045] Furthermore, the coordinates (x i ,y i ) is expressed as:

[0046] θ2=((i-1)*π / n)

[0047] s=R*cos(ω*t-π)

[0048] x i =x0+s*cos(θ2)

[0049] y i =y0+s*sin(θ2)

[0050] Where n is the number of unmanned nodes, R is the track radius of each node, and (x0, y0) is the coordinate of the mission center.

[0051] Furthermore, the speed at time t in step (8) is expressed as:

[0052] v i=ω*R*sin(ω*(t-(π*(i-1) / n*ω)))

[0053] Among them, i is the number of slaves and n is the number of nodes executing the task.

[0054] Furthermore, in step (9), the angle θ between each node and the master station at time t is i It is expressed as:

[0055]

[0056]

[0057] Where ω represents the unmanned angular velocity, θ A Indicates angle and has no practical meaning.

[0058] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: Aiming at the needs of coordinated formation of complex cluster tactical tasks, the present invention adopts the idea of ​​"emergence". Each single platform adopts simple track control, and the cluster as a whole can "emerge" a complex formation track tactical effect. This tactical effect is not possessed by a single platform itself, and can effectively reduce the complexity of a single platform's track and reduce the difficulty of flight control. There is no restriction on the platform's applicable types, and the system has high robustness. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 is a flow chart of the present invention;

[0060] Figure 2 The overall cluster tactical effect diagram formed by the "emergence" of the present invention;

[0061] Figure 3 It is the actual navigation track diagram of each single platform in the present invention. DETAILED DESCRIPTION

[0062] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0063] like Figure 1 As shown, the present invention provides a cluster collaborative electromagnetic spectrum reconnaissance formation control method based on structure emergence, which can achieve Figure 2 The relatively complex overall cluster tactical effect formed by the "emergence" shown in the figure includes the following steps:

[0064] (1) According to the baseline length L between platforms specified by the coordinated tactics and the number of nodes performing the task n, the track radius R of each node is determined, as follows: Figure 3 Shown is the actual navigation trajectory diagram of each single platform in the present invention;

[0065] The track radius R is expressed as:

[0066]

[0067] Among them, L is the baseline length between platforms, and n is the number of nodes executing the task.

[0068] (2) According to step (1) and the node's platform's own extreme motion attribute v max , determine the track period T of each node;

[0069] The maximum speed in the preset track is less than or equal to the maximum speed of a single node, which is expressed by the speed formula of a single node:

[0070] v i =ω*R*sin(ω*(t-(π*(i-1) / n*ω)))

[0071] in:

[0072] ω max =v max / R

[0073] From the above formula we can get:

[0074]

[0075] Therefore, the motion trajectory period of a single node is greater than T min , v max It is the extreme motion property of the node platform itself.

[0076] (3) Calculate the unmanned angular velocity ω and establish the single-node motion equation;

[0077] The unmanned angular velocity ω is expressed as:

[0078]

[0079] Where T is the track period of each node.

[0080] (4) Calculate the time difference ΔT of node entry;

[0081] According to the minimum time seconds used, the input unmanned node motion trajectory cycle is restricted:

[0082] ΔT=π / (n*ω)

[0083]

[0084] Since ΔT is an integer,

[0085]

[0086] ΔT is an integer, that is, the motion trajectory period T of the unmanned node is an integer multiple of twice the number of unmanned nodes.

[0087] (5) According to the task center coordinates (x0, y0), calculate the starting position of each node (x i0 ,y i0 );

[0088] According to the task center coordinates (x0, y0), calculate the starting position of each node (x i0 ,y i0 ),

[0089] According to θ1=((i-1)*π / n)+π, we can get:

[0090] x i0 =x0+R*cos(θ1)

[0091] y i0 =y0+R*sin(θ1)

[0092] Among them, θ i represents the angle between the master station and the i-th slave station, and θ1 represents the angle between the master station and the 1st slave station.

[0093] (6) Calculate the departure time t of each node i ;

[0094] The departure time of each node is t i It is expressed as:

[0095] t i =t0+ΔT*i

[0096] Among them, t0 represents the task start time.

[0097] (7) Calculate the coordinates (x i ,y i );

[0098] The coordinates of each unmanned node at time t (x i , yi) is expressed as:

[0099] θ2=((i-1)*π / n)

[0100] s=R*cos(ω*t-π)

[0101] x i =x0+s*cos(θ2)

[0102] y i =y0+s*sin(θ2)

[0103] Where n is the number of unmanned nodes, R is the track radius of each node, and (x0, y0) is the coordinate of the mission center.

[0104] (8) Calculate the velocity v of each node at time t i ;

[0105] The speed at time t is expressed as:

[0106] v i =ω*R*sin(ω*(t-(π*(i-1) / n*ω)))

[0107] Among them, i is the number of slaves and n is the number of nodes executing the task.

[0108] (9) Calculate the angle θ between each node and the master station at time t i ;

[0109] The angle θ between each node and the master station at time t i It is expressed as:

[0110]

[0111]

[0112] Where ω represents the unmanned angular velocity, θ A Indicates angle and has no practical meaning.

[0113] (10) Compute the cluster platform task sequence trajectory file.

Claims

1. A cluster collaborative electromagnetic spectrum reconnaissance formation control method based on structure emergence, characterized in that: The steps include: (1) According to the baseline length L between platforms specified by the coordinated tactics and the number of nodes performing the mission n, the track radius R of each node is determined; (2) According to step (1) and the node's platform's own extreme motion attribute v max , determine the track period T of each node; (3) Calculate the unmanned angular velocity ω and establish the single-node motion equation; (4) Calculate the time difference ΔY of node entry; (5) According to the task center coordinates (x0, y0), calculate the starting position of each node (x i0 ,y i0 ); (6) Calculate the departure time t of each node i ; (7) Calculate the coordinates (x i ,y i ); (8) Calculate the velocity v of each node at time t i ; (9) Calculate the angle θ between each node and the master station at time t i ; (10) Compute the cluster platform task sequence trajectory file.

2. The cluster collaborative electromagnetic spectrum reconnaissance formation control method based on structure emergence according to claim 1 is characterized in that: The track radius R in step (1) is expressed as: Among them, L is the baseline length between platforms, and n is the number of nodes executing the task.

3. The cluster collaborative electromagnetic spectrum reconnaissance formation control method based on structure emergence according to claim 1 is characterized in that: The step (2) comprises: The maximum speed in the preset track is less than or equal to the maximum speed of a single node, which is expressed by the speed formula of a single node: v i =ω*R*sin(ω*(t-(π*(i-1) / n*ω))) in: ω max =v max / R From the above formula we can get: Therefore, the motion trajectory period of a single node is greater than T min , v max It is the extreme motion property of the node platform itself.

4. The cluster collaborative electromagnetic spectrum reconnaissance formation control method based on structure emergence according to claim 1 is characterized in that: The unmanned angular velocity ω in step (3) is expressed as: Where T is the track period of each node.

5. The cluster collaborative electromagnetic spectrum reconnaissance formation control method based on structure emergence according to claim 1 is characterized in that: The step (4) comprises: According to the minimum time seconds used, the input unmanned node motion trajectory cycle is restricted: ΔT=π / (n*ω) Since ΔT is an integer, ΔT is an integer, that is, the motion trajectory period T of the unmanned node is an integer multiple of twice the number of unmanned nodes.

6. The cluster collaborative electromagnetic spectrum reconnaissance formation control method based on structure emergence according to claim 1 is characterized in that: The step (5) comprises: According to the task center coordinates (x0, y0), calculate the starting position of each node (x i0 ,yi0), According to θ1=((i-1)*π / n)+π, we can get: x i0 =x0+R*cos(θ1) y i0 =y0+R*sin(θ1) Among them, θ i represents the angle between the master station and the i-th slave station, and θ1 represents the angle between the master station and the 1st slave station.

7. The cluster collaborative electromagnetic spectrum reconnaissance formation control method based on structure emergence according to claim 1 is characterized in that: The departure time t of each node in step (6) i It is expressed as: t i =t0+ΔT*i Among them, t0 represents the task start time.

8. The cluster collaborative electromagnetic spectrum reconnaissance formation control method based on structure emergence according to claim 1 is characterized in that: The coordinates (x i ,y i ) is expressed as: θ2=((i-1)*π / n) s=R*cos(ω*t-π) x i =x0+s*cos(θ2) y i =y0+s*sin(θ2) Where n is the number of unmanned nodes, R is the track radius of each node, and (x0, y0) is the coordinate of the mission center.

9. The cluster collaborative electromagnetic spectrum reconnaissance formation control method based on structure emergence according to claim 1 is characterized in that: The speed at time t in step (8) is expressed as: v i =ω*R*sin(ω*(t-(π*(i-1) / n*ω))) Among them, i is the number of slaves and n is the number of nodes executing the task.

10. The cluster collaborative electromagnetic spectrum reconnaissance formation control method based on structure emergence according to claim 1 is characterized in that: In step (9), the angle θ between each node and the master station at time t is i It is expressed as: Where ω represents the unmanned angular velocity, θ A Indicates angle and has no practical meaning.

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