Submarine task simulation method based on multiple agents

Abstract

The invention discloses a submarine task simulation method based on multiple agents, belongs to the technical field of military simulation, and aims at solving the problem that a traditional submarine task analysis method has limitation in the aspect of simulating a complex battlefield environment and a dynamic scene. The method comprises the following steps: modeling each component unit of the submarine into an intelligent agent; constructing an interaction relationship among the intelligent agents, and simulating interaction and information transmission among internal composition units of the submarine; therefore, sea-to-land task simulation and underwater task simulation of the submarine are realized.

Description

Technical Field

[0001] The invention relates to a submarine task simulation method based on multi-agents, belonging to the technical field of military simulation. Background Art

[0002] As an important part of modern naval forces, submarines play a key role in performing a variety of underwater missions. These missions include but are not limited to intelligence gathering, maritime blockade, anti-submarine, sea and land strikes, etc. With the evolution of modern warfare, the complexity of submarine missions has increased, and the requirements for submarine capabilities have also become higher and higher. In order to effectively respond to these challenges, it is particularly important to simulate submarine missions.

[0003] Traditional submarine mission analysis methods mainly rely on theoretical calculations and actual exercises. These methods can provide effectiveness assessments to a certain extent, but they have limitations in simulating complex battlefield environments and dynamic scenarios. Summary of the invention

[0004] Aiming at the problem that traditional submarine mission analysis methods have limitations in simulating complex battlefield environments and dynamic scenes, the present invention provides a submarine mission simulation method based on multi-agent.

[0005] The submarine mission simulation method based on multi-agent of the present invention is as follows:

[0006] Model the various components of the submarine as intelligent agents;

[0007] Construct interactive relationships between intelligent agents and simulate the interaction and information transmission between the internal components of the submarine;

[0008] To realize the simulation of submarine's sea, land and underwater missions.

[0009] Preferably, the components of the submarine include sensor equipment, weapon equipment, basic support equipment and command and control systems;

[0010] The sensor equipment is used to monitor the comprehensive situation information of the sea and land and the comprehensive situation information of the underwater. The sensor equipment includes active and passive towed linear array sonar, hull sonar and torpedo warning sonar; the sensor equipment processes the monitored sonar characteristics to generate echo signal strength, signal-to-noise ratio, target distance and target speed; the sonar characteristics are SL, TL, EI, NL, SI, DT, among which SL is the sound source level, TL is the transmission loss, EI is the echo intensity, NL is the noise level, SI is the sonar's own noise, and DT is the detection threshold;

[0011] Weapons and equipment are used to carry out strikes on targets; weapons and equipment include torpedoes, acoustic decoys, ballistic missiles, cruise missiles, anti-ship missiles and anti-submarine missiles;

[0012] The basic support equipment is used to provide data processing, communication, display and navigation services for the system; the basic support equipment includes computing storage cabinets, communication equipment, public display and control equipment and navigation equipment; the basic support equipment triggers its own random failure according to the respective failure occurrence time, and the failure occurrence time of the basic support equipment is obtained as follows:

[0013]

[0014] In the formula, λ is the probability of occurrence of a certain type of failure, r is the random variable of the basic security equipment in the interval (0,1);

[0015] The command and control system is used to receive sensor signals and issue sensor task scheduling commands, issue combat missions, make combat plans, and issue weapon control commands to weapons and equipment. The command and control system includes an integrated command and management system, a situation generation system, an integrated control system for sea and land, and an integrated control system for underwater.

[0016] Preferably, the sonar characteristics monitored by the sensor device are used to obtain echo signal strength, signal-to-noise ratio, target distance and target speed;

[0017] The echo signal strength received_signal is obtained according to the formula received_signal=SL-TL+EI;

[0018] The signal-to-noise ratio SNR is obtained according to the formula SNR = received_signal - (NL + SI); when SNR > DT is satisfied, it is considered that the target is successfully detected;

[0019] The target distance D is obtained by the formula D = time_delay*sound_speed / 2, where time_delay represents the time interval between sending and receiving the sound wave, and sound_speed represents the speed of sound;

[0020] The target speed V is calculated as V=(distance2-distance1) / time_interval, where distance2 represents the target distance after a certain time interval, distance1 represents the target distance before a certain time interval, and time_interval is the time interval.

[0021] Preferably, the submarine's sea and land mission simulation process is:

[0022] Sensor equipment: used to monitor the comprehensive situation information of sea and land, and send it to the integrated command and management system and the integrated control system of sea and land;

[0023] Integrated command and management system: formulate sea and land combat tasks based on the comprehensive sea and land situation information, and send them to the sea and land integrated control system;

[0024] Integrated control system for sea and land: Firepower planning is carried out based on the integrated situation information for sea and land and the combat missions for sea and land, and a variety of sea and land combat plans are formulated. The integrated control system for sea and land sends target information assurance to the situation generation system according to the sea and land combat plans, and requests weapon strike information assurance requirements. After receiving the assurance request, the situation generation system reports sea and land information feedback. The integrated control system for sea and land, according to the weapon strike information assurance requirements, commands the sensor equipment to focus on tracking the targets to be struck through sensor task scheduling commands and control commands, prompts personnel to focus on the targets to be struck, and maintains continuous and stable delivery of the target comprehensive track; and adjusts and updates the sea and land combat plans according to the real-time changes in the target situation and the weapon execution status fed back by the situation generation system;

[0025] The weapons and equipment involved in the sea and land combat plan include sea and land missile weapons and ballistic missiles. The sea and land missile weapons are one or both of cruise missiles or anti-ship missiles.

[0026] Preferably, when the weapons in the sea and land combat plan are sea and land missile weapons, the information interaction process is as follows:

[0027] The integrated control system for sea and land aspects sends weapon control instructions to sea and land missile weapons in a timely manner according to the sea and land combat plan, and the sea and land missile weapons immediately feedback the engagement status after receiving the instructions; the integrated control system for sea and land aspects generates a fire strike plan according to the sea and land combat plan, sends missile mission solution parameters to the sea and land missile weapons, and manually sends missile launch orders. After receiving the launch order, the sea and land missile weapons immediately feedback the engagement status and report the missile weapon feedback data to the integrated control system for sea and land aspects. If the missile is ignited and launched normally, the engagement status will be fed back; if the missile is not ignited and launched normally, a missile failure will be fed back, and the backup missile will be automatically coordinated to continue to perform the missile launch mission.

[0028] Preferably, when the weapons in the sea and land combat plan are ballistic missiles, the information interaction process is as follows:

[0029] The integrated control system for sea and land sends weapon control commands to the ballistic missile in a timely manner according to the sea and land combat plan. After the ballistic missile is ready to fire, it will feedback the engagement status. The integrated control system for sea and land sends tracking radar guidance data to the ballistic missile weapon. After the ballistic missile tracks the target, it will feedback the radar tracking data to the integrated control system for sea and land. At the same time, it will send the support data for various element solution to the integrated control system for sea and land to assist in various element solution. When the tracking equipment of the sensor equipment feedbacks that the tracking is good and the ballistic missile feedbacks that the gun is ready, the integrated control system for sea and land sends weapon control commands to the ballistic missile according to manual control. After the ballistic missile is ready to fire according to various elements, it will feedback the engagement status, receive various element data sent by the integrated control system for sea and land, and control the gun adjustment.

[0030] The integrated control system for sea and land operations sends weapon control commands to ballistic missiles based on manual control, controlling the ballistic missiles to strike targets; the integrated control system for sea and land operations conducts target damage assessment based on radar, infrared or manual operations.

[0031] Preferably, the submarine underwater mission simulation process is:

[0032] Sensor equipment: used to monitor the underwater comprehensive situation information and send it to the integrated command and management system, the underwater comprehensive control system and the situation generation system;

[0033] Integrated command and management system: formulate underwater combat tasks based on the underwater comprehensive situation information and send them to the underwater comprehensive control system;

[0034] Underwater integrated control system: Based on the underwater integrated situation information, underwater combat missions and target data and target threat judgment ranking results distributed by the situation generation system, it formulates a variety of underwater combat plans and sends weapon control instructions to underwater mission execution weapons, which include torpedoes, acoustic decoys and anti-submarine missiles; and adjusts and updates the underwater combat plan according to the real-time changes in the target situation and the execution of weapons;

[0035] The underwater integrated control system sends the target of interest instruction command information to the situation generation system, and the situation generation system sends the target of interest instruction command information to the underwater integrated control system;

[0036] After the torpedo is launched, the underwater integrated control system sends position reference observation information to the situation generation system. After receiving the position reference observation information, the situation generation system returns the guarantee request information. The underwater integrated control system commands the sensor equipment to track our torpedoes based on the strike target guarantee request of the guarantee request information, and generates our weapon batch number through control commands, prompting personnel to pay special attention to the target to be struck, and keep the sensor equipment sending out the target comprehensive track continuously and stably. The situation generation system turns to the underwater integrated control system to conduct a post-fire effect evaluation.

[0037] Preferably, the information interaction process when the underwater mission execution weapon is a torpedo is as follows:

[0038] Launch preparation: After the underwater integrated control system generates an underwater combat plan, it solves the various parameters of the tube-mounted torpedo. At the same time, the underwater integrated control system sends a weapon control command message to the tube-mounted torpedo weapon. The torpedo weapon operator completes the operation according to the control command and reports the weapon control status message information to the underwater integrated control system;

[0039] Launch preparation: After the underwater integrated control system issues the launch preparation command, the launch device operator completes the launch preparation operation; at the same time, the torpedo receives the torpedo data message sent by the underwater integrated control system, and reports the launch preparation to the underwater integrated control system;

[0040] Torpedo launch: After the underwater integrated control system issues a torpedo launch command, the underwater integrated control system forwards the torpedo launch command to the interface coordination management device under the condition that all conditions are met at the same time; after the launch is completed, the underwater integrated control system reports the completion of the launch;

[0041] Torpedo ends attack: After the end-of-attack command is given to the underwater integrated control system, the operator restores the launch device to the default state or continues with the next torpedo launch process according to the command.

[0042] Preferably, the information interaction process of the underwater mission execution weapon being an acoustic decoy is as follows: the underwater integrated control system sends a towed body deployment signal to the acoustic decoy, the hydroacoustic team performs the towed body deployment operation, and the acoustic decoy feeds back the depth of the towed body of the acoustic decoy to the underwater integrated control system; the underwater integrated control system sends a working command, interference time and confrontation mode to the acoustic decoy, the acoustic decoy automatically performs interference, and the acoustic decoy feeds back the working mode to the underwater integrated control system; the underwater integrated control system sends a stop interference signal to the acoustic decoy as needed, the acoustic decoy performs the reconnaissance mode by default, and the acoustic decoy feeds back the reconnaissance mode and reconnaissance search signal to the underwater integrated control system; the underwater integrated control system sends a recovery towed body signal to the acoustic decoy, the hydroacoustic team performs the towed body deployment operation, and the acoustic decoy feeds back the depth of the towed body of the acoustic decoy to the underwater integrated control system.

[0043] Preferably, the information interaction process of the underwater mission execution weapon being an anti-submarine missile is as follows: the underwater integrated control system timely sends the outboard jammer device firing parameter message to the outboard jammer equipment, the outboard jammer equipment controls the tuning of the outboard launch device according to the parameter parameters, and is in a ready-to-fire state at this time; if it receives the outboard jammer device firing control command message sent from the underwater integrated control system, it immediately launches, and the outboard jammer device feeds back the outboard jammer device status information message to the underwater integrated control system; if it receives the outboard jammer device firing cancellation message sent from the underwater integrated control system, the launch is canceled, and the outboard jammer device feeds back the outboard jammer device status information message to the underwater integrated control system.

[0044] Beneficial effects of the invention: The invention proposes a submarine mission simulation method based on a multi-agent system. The method constructs the various subsystems and components of the submarine as agents and defines the interaction rules between these agents, thereby simulating the behavior of the submarine in various environments and more clearly reflecting its dynamic behavior and confrontation characteristics. The multi-agent-based simulation technology can simulate submarine missions under the influence of multiple factors and large samples, which has significant advantages over traditional methods.

[0045] Through multi-agent-based submarine mission simulation, each stage of the submarine mission can be analyzed and simulated in detail, so as to predict various situations that the submarine may encounter during the mission and formulate corresponding response strategies. The application of this method not only improves the execution efficiency of submarine missions, but also provides a scientific basis for the optimization of submarine tactics and the formulation of strategies. In addition, simulation technology can also be used for submarine personnel training. By simulating the real battlefield environment, the emergency response ability and decision-making level of personnel can be improved, and at the same time, a comprehensive analysis and evaluation can be provided for the planning and execution of submarine missions. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 is a flow chart of the submarine mission simulation method based on multi-agent according to the present invention;

[0047] Figure 2 It is a flowchart of submarine sea and land missions;

[0048] Figure 3 It is a flowchart of submarine underwater missions;

[0049] Figure 4 It is the sensor device workflow;

[0050] Figure 5 is the state diagram of the sensor device agent;

[0051] Figure 6 It is a state diagram of the computing storage cabinet agent;

[0052] Figure 7 is the state diagram of the communication device agent;

[0053] Figure 8 It is the state diagram of the public display and control device agent;

[0054] Fig. 9 is the state diagram of the navigation device agent;

[0055] Fig.10 It is the state diagram of the weapon equipment agent;

[0056] Fig.11 It is the state diagram of the intelligent agent of the integrated command and management system;

[0057] Fig.12 It is the state diagram of the agent of the situation generation system;

[0058] Fig.13 It is the status diagram of the integrated control system for sea and land. DETAILED DESCRIPTION

[0059] 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.

[0060] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0061] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0062] Specific implementation method 1: The following is combined Figures 1 to 13 This embodiment is described. The submarine mission simulation method based on multi-agents described in this embodiment is as follows:

[0063] Model the various components of the submarine as intelligent agents;

[0064] Construct interactive relationships between intelligent agents and simulate the interaction and information transmission between the internal components of the submarine;

[0065] To realize the simulation of submarine's sea, land and underwater missions.

[0066] This simulation method can simulate each stage of a submarine mission in detail, predict various situations that may be encountered, and provide a scientific basis for the optimization of submarine tactics and the formulation of strategies. Through this simulation technology, submarine personnel can be effectively trained to improve their emergency response capabilities and decision-making level, while providing comprehensive analysis and evaluation for the planning and execution of submarine missions.

[0067] First, the various components of the submarine are introduced. The components of the submarine include sensor equipment, weapon equipment, basic support equipment and command and control systems. See Table 1 for details. The 18 units of the submarine of the present invention construct 18 intelligent entities.

[0068] Table 1 Submarine components

[0069]

[0070]

[0071] Submarine missions can be mainly divided into sea and land missions and underwater missions. The sea and land missions and underwater missions of submarines are analyzed as follows:

[0072] 1. Sea and land missions:

[0073] The integrated control system for sea and land operations plans firepower based on the integrated sea and land situation information and the sea and land combat missions sent by the integrated command and management system. The integrated control system for sea and land operations formulates a variety of sea and land combat plans. The integrated control system for sea and land operations adjusts and updates the target allocation plan based on the real-time changes in the target situation and the execution of weapons.

[0074] 1) Anti-sea and anti-land missile weapons: cruise missiles, anti-ship missiles

[0075] If the sea / land attack plan generated by the integrated control system for sea and land attacks clearly uses sea and land attack missile weapons, it will send "target information assurance" to the situation generation system to request weapon strike information assurance requirements. After receiving the assurance request, the situation generation system will return "sea and land attack information feedback" information. According to the target strike assurance request, the sensor equipment will be directed to focus on tracking the target through sensor task scheduling commands and control commands, and personnel will be prompted to pay special attention to the target to be struck, and maintain continuous and stable delivery of "target integrated track".

[0076] The integrated control system for sea and land operations makes detailed weapon use plans based on the firepower application plan and generates a firepower strike plan.

[0077] The integrated control system for sea and land will send "weapon control instructions" to sea and land missile weapons in a timely manner according to the sea and land plans, and the sea and land missile weapons will immediately feedback the "engagement status" after receiving them. After generating the fire strike plan, the integrated control system for sea and land will send "missile mission solution parameters" to sea and land missile weapons, and manually send "missile launch". After receiving the launch order, the sea and land missile weapons will immediately feedback the "engagement status" and report the "missile weapon feedback data" to the integrated control system for sea and land. If the missile is ignited and launched normally, the "engagement status" will be fed back; if the missile is not ignited and launched normally, the "missile failure" will be fed back, and the prepared missiles will be automatically coordinated to continue to perform the missile launch mission, and the above engagement status information will be fed back according to the actual situation.

[0078] 2) Ballistic Missiles

[0079] The integrated control system for sea and land will send "weapon control commands" to the ballistic missiles in a timely manner according to the sea and land plans. After the ballistic missiles are ready to fire, they will feedback "engagement status". The integrated control system for sea and land will issue "tracking radar guidance data" to the ballistic missile weapons. After the ballistic missiles track the target, they will feedback "radar tracking data" and other information to the integrated control system for sea and land. At the same time, "various element solution support data" and other information will be sent to the integrated control system for sea and land to assist in the calculation of various elements. When the integrated radar / electronic countermeasure integrated equipment feedbacks "tracking is good" and the ballistic missile feedbacks "gun is ready", the integrated control system for sea and land will send "weapon control commands" to the ballistic missiles according to manual control. After the ballistic missiles are ready to fire according to the various elements, they will feedback "engagement status", receive the "various element data" sent by the integrated control system for sea and land, and control the gun adjustment.

[0080] The integrated control system for sea and land uses manual control to send "weapon control commands" to ballistic missiles to control the ballistic missiles to strike targets. The integrated control system for sea and land uses radar, infrared or manual control to assess target damage.

[0081] In summary, the submarine's sea and land missions can be found in Figure 2 shown.

[0082] 2. Underwater

[0083] The situation generation system obtains target data and target threat judgment ranking results based on the underwater comprehensive situation information. The underwater comprehensive control system formulates a variety of underwater attack and defense plans based on the underwater comprehensive situation information, underwater combat tasks and target data and target threat judgment ranking results distributed by the situation generation system. The underwater comprehensive control system adjusts and updates the underwater attack and defense plans based on the real-time changes in the target situation and the execution of weapons. After receiving the target batch number issued by the situation, the underwater comprehensive control system formulates an underwater combat plan based on the target batch number. The underwater comprehensive control system sends "attention target indication command information" to the situation subsystem, and the situation generation system sends the target of the attention target indication command to the underwater comprehensive control system.

[0084] The underwater integrated control system sends "position reference observation information" to the situation generation system as needed (after the torpedo is launched). The situation generation system receives the guarantee request "position reference observation information and then reports back" and, based on the target guarantee request, directs the sensor equipment to track our torpedoes through control commands, generates our weapon batch number, and prompts personnel to pay special attention to the target to be attacked, maintains a continuous and stable "target integrated track", and then switches to the underwater integrated control system to conduct a post-fire effect evaluation.

[0085] 1) Torpedo

[0086] Launch preparation: After the underwater integrated control system generates a plan, it solves the various parameters of the tube-mounted torpedo. At the same time, the underwater integrated control system sends a "weapon control command message" to the tube-mounted torpedo weapon. The torpedo weapon operator completes the operation according to the control command and reports the "weapon control status feedback message" information to the underwater integrated control system.

[0087] Launch preparation: After the underwater integrated control system issues the "launch preparation" command, the launch device operator completes the launch preparation operation. At the same time, it receives the "torpedo data message" sent by the underwater integrated control system and reports the launch "ready" to the underwater integrated control system.

[0088] Torpedo launch: After the "torpedo launch" command is issued to the underwater integrated control system, the underwater integrated control system will forward the "torpedo launch" command to the interface coordination management device under the condition that all conditions are met at the same time; after the launch is completed, it will report "launch completed" to the underwater integrated control system.

[0089] Torpedo ends attack: After the "end attack" command is issued to the underwater integrated control system, the operator will restore the launch device to the default state according to the instruction, or continue to the next torpedo launch process.

[0090] 2) Sound bait

[0091] The underwater integrated control system sends a "deploy towed body" message to the acoustic decoy, the hydroacoustic team performs the towed body deployment operation, and the acoustic decoy feeds back the "depth of the towed body of the acoustic decoy" to the underwater integrated control system; the underwater integrated control system sends a "work command, interference time and countermeasure method" message to the acoustic decoy, the acoustic decoy automatically performs interference, and the acoustic decoy feeds back the "work method" to the underwater integrated control system; as needed, the underwater integrated control system sends a "stop interference" message to the acoustic decoy, the acoustic decoy performs the reconnaissance mode by default, and the acoustic decoy feeds back the "reconnaissance mode, reconnaissance and homing signal" to the underwater integrated control system; the underwater integrated control system sends a "recover towed body" message to the acoustic decoy, the hydroacoustic team performs the towed body deployment operation, and the acoustic decoy feeds back the "depth of the towed body of the acoustic decoy" to the underwater integrated control system.

[0092] 3) Anti-submarine missiles

[0093] The integrated control system for the underwater aspect sends the "outboard jamming device shooting parameter message" to the outboard jamming equipment in a timely manner. The outboard jamming device controls the tuning of the outboard launching device according to the parameter parameters. At this time, it is in the ready state. If it receives the "outboard jamming device launch control command message" sent from the integrated control system for the underwater aspect, it will launch immediately, and the outboard jamming device will feedback the "outboard jamming device status information message" to the integrated control system for the underwater aspect; if it receives the "outboard jamming device cancel shooting message" sent from the integrated control system for the underwater aspect, the launch will be canceled, and the outboard jamming device will feedback the "outboard jamming device status information message" to the integrated control system for the underwater aspect.

[0094] In summary, the submarine's underwater mission process is as follows Figure 3 shown.

[0095] The construction of the submarine agent model is introduced in detail below.

[0096] The simulation development of the submarine model was realized based on the AnyLogic platform. The "parameters" in the agent component can define the parameters involved in the internal behavior of the agent, support external operators to input parameter values, and can be used for internal calls of functions; "events" can be used to define the behavior of the agent that occurs continuously or at intervals; "variables" can also define the variables involved in the behavior of the agent, support internal calls of functions, but do not support external operators to input values; "collections" can be used to store data of the same type inside the agent, facilitating the subsequent calling and storage of data; "functions" can be used to implement various behaviors of the agent, and the function body behavior is programmed using the Java language.

[0097] The state diagram implements conditional switching between states within the agent and supports the sequential implementation of the behavior of each function body. "State entry point" means the beginning of the agent's behavior; "state" represents the different states of the agent, and the agent's actions can be defined within the "state", which can be implemented with pre-defined functions or directly with Java code; "transition" represents the change between different states within the agent, where the triggering conditions of the change include time trigger, rate trigger, condition trigger, message trigger, and agent arrival trigger; "final state" represents the end of the agent's behavior.

[0098] (1) Sensor equipment

[0099] The main function of the sensor equipment is to search for targets in a battlefield environment, send out sound wave signals and receive echo signals reflected from the target and attenuated by the environment. The main characteristics of the sonar sensor equipment include SL, TL, EI, NL, SI, and DT. The flow chart of the sensor equipment is as follows Figure 4 As shown, the acoustic wave signal is monitored and processed to generate the echo signal strength, signal-to-noise ratio, target distance and target speed.

[0100] Among them, SL is the sound source level, which indicates the intensity of the sound waves emitted by the sonar. It is the initial sound pressure level emitted by the sound source and is usually expressed in decibels (dB); TL is the transmission loss. When sound waves propagate in water, energy loss will be caused due to absorption, diffusion and other reasons. The transmission loss describes the degree of energy attenuation and is also measured in decibels (dB); EI is the echo intensity. When sound waves encounter a target, an echo will be generated. The echo intensity indicates the target's ability to reflect sound waves and is also expressed in decibels (dB); NL is the noise level, which describes the background noise in the underwater environment, such as the sound caused by ship movement, waves, and marine life activities, which affects the sonar's ability to detect targets because the noise may drown out weak echo signals; SI is the sonar's own noise. The noise generated by the sonar equipment itself will also affect the detection effect; DT is the detection threshold, which is the minimum signal strength at which the sonar equipment can detect the target from the background noise.

[0101] The state diagram of the sensor device agent is as follows Figure 5 As shown. Use the calculateReceivedSignal function to calculate the echo signal strength received_signal according to the formula received_signal = SL-TL + EI; use the calculateSNR function to calculate the signal-to-noise ratio SNR = received_signal-(NL + SI); when SNR>DT is satisfied, the target is considered to be successfully detected; use the calculateDistance function to calculate the distance D of the target according to the formula D = time_delay*sound_speed / 2, where time_delay represents the time interval between sending and receiving the sound wave, and sound_speed represents the speed of sound; use the calculateV function to calculate the speed V of the target according to V = (distance2-distance1) / time_interval, where distance2 represents the target distance after a certain time interval, distance1 represents the target distance before a certain time interval, and time_interval is the time interval.

[0102] (2) Basic support equipment

[0103] 1) Computing storage cabinets

[0104] The computing storage cabinet in the submarine refers to the equipment that provides computing, storage and processing capabilities. Its attributes are mainly used to describe the working state, as shown in Table 2. Different working states mainly affect its computing power, thereby affecting the information processing time of the software deployed on it. The computing power of the computing storage cabinet can be represented by FLOPS (Floating Point Operations Per Second), which refers to the number of floating point operations that the computer hardware can perform per second. It is understood as the computing speed and is an indicator of the hardware computing power. The state diagram of the computing storage cabinet agent is shown in Figure 6 As shown. The state diagram is mainly used to represent the behavior of the computing storage cabinet. After the computing storage cabinet enters the working state, it will start to receive and process information when the computing storage cabinet is in a normal working state. After the information processing is completed, it will send the information to the corresponding software.

[0105] Table 2 Calculation of the main attributes of the storage cabinet

[0106] property unit Failure Mode / Failure mode probability / Minimum FLOPS under normal circumstances Execution times / s Maximum FLOPS under normal circumstances Execution times / s Minimum FLOPS under fault conditions Execution times / s Maximum FLOPS under failure conditions Execution times / s

[0107] The probability density of equipment failure in submarines generally follows an exponential distribution, that is, the probability of failure is independent of time and remains a constant.

[0108] Assuming that the probability of a certain failure is λ, then

[0109] The failure probability density expression is:

[0110] f(t)=λe -λt (1)

[0111] The failure probability distribution function is

[0112] F(t)=1-e -λt (2)

[0113] The fault occurrence time of the equipment entering the fault state from the normal working state is obtained by inverse transformation of the fault probability distribution function:

[0114]

[0115] Among them, r is a random number uniformly distributed in the interval (0, 1). In order to make the simulation closer to the real situation, when calculating the normal working time, the value of the fault probability distribution function corresponding to each agent (i.e., r) is assigned a random variable between 0 and 1, so that the random fault of itself is triggered according to the obtained fault occurrence time.

[0116] Substituting the failure probability of the computing storage cabinet into formula (3), the failure time of the computing service network equipment can be obtained.

[0117] 2) Communication equipment

[0118] Communication equipment plays an important role in connection, communication and data exchange in submarines. Its attributes are mainly used to describe its working state, including normal state and fault state, as shown in Table 3. The different working states of communication equipment mainly affect its data transmission delay, thereby affecting the information processing delay of the software. The state diagram of the communication equipment agent is shown in Figure 7 When the communication device enters the working state, it will start to receive messages when it meets the requirements of the normal working state. The main function of the communication device is to forward the information. When the information is received, it will be forwarded to the corresponding device or software.

[0119] Table 3 Main attributes of communication equipment

[0120] property unit Failure Mode / Failure mode probability / Minimum data transmission delay under normal circumstances ms Maximum data transmission delay under normal circumstances ms Minimum data transmission delay in case of failure ms Maximum data transmission delay in case of failure ms

[0121] Similarly, according to the occurrence probability values ​​of different faults in the communication equipment, by substituting them into formula (3), the occurrence time of different faults in the communication equipment can be obtained.

[0122] 3) Public display and control equipment

[0123] The main function of the public display and control equipment is to display the battlefield situation around the submarine in a graphical manner, including the target's location, heading, speed, identification information, etc. The public display and control equipment does not process any data, and its function is equivalent to displaying a large screen. The state diagram of the public display and control equipment intelligent body is as follows: Figure 8 After the public display and control device enters the working state, when the public display and control device meets the normal working state, the corresponding information will be displayed.

[0124] 4) Navigation equipment

[0125] The navigation equipment in a submarine is mainly responsible for providing key navigation data such as the submarine's underwater position, heading, speed, etc., to ensure that the submarine can perform its mission safely and accurately. These devices include inertial navigation systems, sonar systems, GPS trackers, etc., which work together to improve the navigation accuracy and safety of the submarine. The state diagram of the navigation equipment agent is shown in the figure below. Fig. 9 shown.

[0126] (3) Weapons and Equipment

[0127] Weapons and equipment are key components for submarines to perform strike missions. The main attributes of weapons and equipment include whether the weapon is enabled and the probability of successful weapon launch, as shown in Table 4. The state diagram of the intelligent agent is as follows: Fig.10 As shown. Use the calculateError function to first determine the number of weapons to be launched based on the threat level of the target, then multiply and sum the success probabilities of each weapon, and finally calculate the success probability of the weapon equipment. Determine the number of weapon trajectories based on the threat level of the target and calculate the final success probability.

[0128] Table 4 Main attributes of weapons and equipment

[0129] property type Is it enabled? bool Probability of successful launch double

[0130] (4) Accusation system

[0131] 1) Integrated command and management system

[0132] The submarine's integrated command and management system is responsible for integrating various sensors, weapon systems, and communication equipment on the submarine to achieve efficient command and control of submarine actions and ensure the accuracy and rapidity of decision-making. The target information calculated by the integrated command and management system is shown in Table 5, and the state diagram of the intelligent agent is shown in Fig.11 shown.

[0133] Table 5 Target information

[0134] Target Information type unit Target straight line distance double km Target X-axis position information double km Target Y position information double km Target Z position information double km Target heading information double deg Target X-axis acceleration information double <![CDATA[km / s 2 ]]> Target Y acceleration information double <![CDATA[km / s 2 ]]> Target Z acceleration information double <![CDATA[km / s 2 ]]> Target X-axis angular velocity information double rad / s Target Y-axis angular velocity information double rad / s Target Z-axis angular velocity information double rad / s Target X-speed information double km / s Target Y speed information double km / s Target Z-axis velocity information double km / s Target model information int /

[0135] The integrated command and management system supports the realization of point generation, target identification, track generation and situation identification functions.

[0136] 2) Situation Generation System

[0137] The situation generation system is mainly responsible for collecting and integrating data from submarine sensor equipment, communication equipment and other sources to build a comprehensive battlefield situation. The situation generation system can integrate and analyze the collected intelligence and generate battlefield situation information. The battlefield situation information that the situation generation system can process is shown in Table 6. The state diagram of the situation generation system agent is shown in Fig.12 shown.

[0138] Table 6 Situation generation system information

[0139] information type unit Target threat level int / X position of the waypoint double km Y position of the waypoint double km Z position of the path point double km Waypoint heading double deg Equipment Target Number int / Number of weapons equipped int / Equipment X position double km Equipment Y position double km Equipment Z position double km

[0140] 3) Integrated control system for sea and land

[0141] The integrated control system for sea and land is a key system in submarines for integrating and coordinating various sensors, weapon systems and communication equipment. It generates real-time battlefield situations by collecting, processing and analyzing battlefield information, assisting commanders in making rapid decisions and tactical planning, so as to achieve effective attack and defense against sea and land targets. The information that can be processed by the integrated control system for sea and land is shown in Table 7. The state diagram of the intelligent agent of the integrated control system for sea and land is shown in Table 7. Fig.13 As shown in the figure, the dealMessage function is used to calculate the target distance, target azimuth, and target pitch angle using the Euclidean space rectangular coordinate system, and to process the information about the target to be hit. The function body is as follows Fig.13 shown.

[0142] Table 7 Information on integrated control systems for sea and land

[0143] Control Information type unit Target Number int / Target distance double km Target azimuth double deg Target pitch angle double deg Attack Command bool /

[0144] 4) Comprehensive underwater control system

[0145] The integrated control system for underwater control is similar to that for sea and land control. The information processed is shown in Table 7. The internal structure of the intelligent agent is also the same as that for sea and land control. Unlike the controlled weapons and equipment, it is mainly used to achieve effective attack and defense against underwater targets.

[0146] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that the features described in conjunction with a single embodiment may be used in other described embodiments.

Claims

1. A submarine mission simulation method based on multi-agent, characterized in that: The method is: Model the various components of the submarine as intelligent agents; Construct interactive relationships between intelligent agents and simulate the interaction and information transmission between the internal components of the submarine; To realize the simulation of submarine's sea, land and underwater missions.

2. The multi-agent-based submarine mission simulation method according to claim 1, characterized in that: The components of a submarine include sensor equipment, weapon equipment, basic support equipment, and command and control systems; The sensor equipment is used to monitor the comprehensive situation information of the sea and land and the comprehensive situation information of the underwater. The sensor equipment includes active and passive towed linear array sonar, hull sonar and torpedo warning sonar; the sensor equipment processes the monitored sonar characteristics to generate echo signal strength, signal-to-noise ratio, target distance and target speed; the sonar characteristics are SL, TL, EI, NL, SI, DT, among which SL is the sound source level, TL is the transmission loss, EI is the echo intensity, NL is the noise level, SI is the sonar's own noise, and DT is the detection threshold; Weapons and equipment are used to carry out strikes on targets; weapons and equipment include torpedoes, acoustic decoys, ballistic missiles, cruise missiles, anti-ship missiles and anti-submarine missiles; The basic support equipment is used to provide data processing, communication, display and navigation services for the system; the basic support equipment includes computing storage cabinets, communication equipment, public display and control equipment and navigation equipment; the basic support equipment triggers its own random failure according to the respective failure occurrence time, and the failure occurrence time of the basic support equipment is obtained as follows: In the formula, λ is the probability of occurrence of a certain type of failure, r is the random variable of the basic security equipment in the interval (0,1); The command and control system is used to receive sensor signals and issue sensor task scheduling commands, issue combat missions, make combat plans, and issue weapon control commands to weapons and equipment. The command and control system includes an integrated command and management system, a situation generation system, an integrated control system for sea and land, and an integrated control system for underwater.

3. The multi-agent-based submarine mission simulation method according to claim 2 is characterized in that: The sonar characteristics monitored by the sensor equipment are used to obtain the echo signal strength, signal-to-noise ratio, target distance and target speed; The echo signal strength received_signal is obtained according to the formula received_signal=SL-TL+EI; The signal-to-noise ratio SNR is obtained according to the formula SNR = received_signal - (NL + SI); when SNR > DT is satisfied, it is considered that the target is successfully detected; The target distance D is obtained by the formula D = time_delay*sound_speed / 2, where time_delay represents the time interval between sending and receiving the sound wave, and sound_speed represents the speed of sound; The target speed V is calculated as V=(distance2-distance1) / time_interval, where distance2 represents the target distance after a certain time interval, distance1 represents the target distance before a certain time interval, and time_interval is the time interval.

4. The multi-agent-based submarine mission simulation method according to claim 3 is characterized in that: The simulation process of submarine's sea and land missions is as follows: Sensor equipment: used to monitor the comprehensive situation information of sea and land, and send it to the integrated command and management system and the integrated control system of sea and land; Integrated command and management system: formulate sea and land combat tasks based on the comprehensive sea and land situation information, and send them to the sea and land integrated control system; Integrated control system for sea and land: Firepower planning is carried out based on the integrated situation information for sea and land and the combat missions for sea and land, and a variety of sea and land combat plans are formulated. The integrated control system for sea and land sends target information assurance to the situation generation system according to the sea and land combat plans, and requests weapon strike information assurance requirements. After receiving the assurance request, the situation generation system reports sea and land information feedback. The integrated control system for sea and land, according to the weapon strike information assurance requirements, commands the sensor equipment to focus on tracking the targets to be struck through sensor task scheduling commands and control commands, prompts personnel to focus on the targets to be struck, and maintains continuous and stable delivery of the target comprehensive track; and adjusts and updates the sea and land combat plans according to the real-time changes in the target situation and the weapon execution status fed back by the situation generation system; The weapons and equipment involved in the sea and land combat plan include sea and land missile weapons and ballistic missiles. The sea and land missile weapons are one or both of cruise missiles or anti-ship missiles.

5. The multi-agent-based submarine mission simulation method according to claim 4 is characterized in that: When the weapons in the sea and land combat plan are sea and land missile weapons, the information interaction process is as follows: The integrated control system for sea and land aspects sends weapon control instructions to sea and land missile weapons in a timely manner according to the sea and land combat plan, and the sea and land missile weapons immediately feedback the engagement status after receiving the instructions; the integrated control system for sea and land aspects generates a fire strike plan according to the sea and land combat plan, sends missile mission solution parameters to the sea and land missile weapons, and manually sends missile launch orders. After receiving the launch order, the sea and land missile weapons immediately feedback the engagement status and report the missile weapon feedback data to the integrated control system for sea and land aspects. If the missile is ignited and launched normally, the engagement status will be fed back; if the missile is not ignited and launched normally, a missile failure will be fed back, and the backup missile will be automatically coordinated to continue to perform the missile launch mission.

6. The multi-agent based submarine mission simulation method according to claim 4, characterized in that: When the weapons in the sea and land combat plan are ballistic missiles, the information interaction process is as follows: The integrated control system for sea and land sends weapon control commands to the ballistic missile in a timely manner according to the sea and land combat plan. After the ballistic missile is ready to fire, it will feedback the engagement status. The integrated control system for sea and land sends tracking radar guidance data to the ballistic missile weapon. After the ballistic missile tracks the target, it will feedback the radar tracking data to the integrated control system for sea and land. At the same time, it will send the support data for various element solution to the integrated control system for sea and land to assist in various element solution. When the tracking equipment of the sensor equipment feedbacks that the tracking is good and the ballistic missile feedbacks that the gun is ready, the integrated control system for sea and land sends weapon control commands to the ballistic missile according to manual control. After the ballistic missile is ready to fire according to various elements, it will feedback the engagement status, receive various element data sent by the integrated control system for sea and land, and control the gun adjustment. The integrated control system for sea and land operations sends weapon control commands to ballistic missiles based on manual control, controlling the ballistic missiles to strike targets; the integrated control system for sea and land operations conducts target damage assessment based on radar, infrared or manual operations.

7. The multi-agent based submarine mission simulation method according to claim 3 is characterized in that: The submarine underwater mission simulation process is as follows: Sensor equipment: used to monitor the underwater comprehensive situation information and send it to the integrated command and management system, the underwater comprehensive control system and the situation generation system; Integrated command and management system: formulate underwater combat tasks based on the underwater comprehensive situation information and send them to the underwater comprehensive control system; Underwater integrated control system: Based on the underwater integrated situation information, underwater combat missions and target data and target threat judgment ranking results distributed by the situation generation system, it formulates a variety of underwater combat plans and sends weapon control instructions to underwater mission execution weapons, which include torpedoes, acoustic decoys and anti-submarine missiles; and adjusts and updates the underwater combat plan according to the real-time changes in the target situation and the execution of weapons; The underwater integrated control system sends the target of interest instruction command information to the situation generation system, and the situation generation system sends the target of interest instruction command information to the underwater integrated control system; After the torpedo is launched, the underwater integrated control system sends position reference observation information to the situation generation system. After receiving the position reference observation information, the situation generation system returns the guarantee request information. The underwater integrated control system commands the sensor equipment to track our torpedoes based on the strike target guarantee request of the guarantee request information, and generates our weapon batch number through control commands, prompting personnel to pay special attention to the target to be struck, and keep the sensor equipment sending out the target comprehensive track continuously and stably. The situation generation system turns to the underwater integrated control system to conduct a post-fire effect evaluation.

8. The multi-agent based submarine mission simulation method according to claim 7, characterized in that: The information interaction process when the underwater mission weapon is a torpedo is as follows: Launch preparation: After the underwater integrated control system generates an underwater combat plan, it solves the various parameters of the tube-mounted torpedo. At the same time, the underwater integrated control system sends a weapon control command message to the tube-mounted torpedo weapon. The torpedo weapon operator completes the operation according to the control command and reports the weapon control status message information to the underwater integrated control system; Launch preparation: After the underwater integrated control system issues the launch preparation command, the launch device operator completes the launch preparation operation; at the same time, the torpedo receives the torpedo data message sent by the underwater integrated control system, and reports the launch preparation to the underwater integrated control system; Torpedo launch: After issuing a torpedo launch command to the underwater integrated control system, the underwater integrated control system forwards the torpedo launch command to the interface coordination management device under the condition that all conditions are met at the same time; After the launch is completed, the underwater integrated control system is informed of the completion of the launch; Torpedo ends attack: After the end-of-attack command is given to the underwater integrated control system, the operator restores the launch device to the default state or continues with the next torpedo launch process according to the command.

9. The multi-agent based submarine mission simulation method according to claim 7, characterized in that: The information interaction process of the acoustic decoy as the underwater mission execution weapon is as follows: the underwater integrated control system sends a towed body deployment signal to the acoustic decoy, the hydroacoustic team performs the towed body deployment operation, and the acoustic decoy feeds back the depth of the towed body to the underwater integrated control system; the underwater integrated control system sends a working command, interference time and confrontation method to the acoustic decoy, the acoustic decoy automatically performs interference, and the acoustic decoy feeds back the working method to the underwater integrated control system; the underwater integrated control system sends a stop interference signal to the acoustic decoy as needed, the acoustic decoy performs the reconnaissance method by default, and the acoustic decoy feeds back the reconnaissance method and reconnaissance seeking signal to the underwater integrated control system; the underwater integrated control system sends a recovery towed body signal to the acoustic decoy, the hydroacoustic team performs the towed body deployment operation, and the acoustic decoy feeds back the depth of the towed body to the underwater integrated control system.

10. The multi-agent based submarine mission simulation method according to claim 7, characterized in that: The information interaction process when the underwater mission execution weapon is an anti-submarine missile is as follows: the underwater integrated control system sends the outboard jammer firing parameter message to the outboard jammer in a timely manner, and the outboard jammer controls the tuning of the outboard launch device according to the parameter parameters, and is in a ready-to-fire state at this time. If it receives the outboard jammer firing control command message sent from the underwater integrated control system, it will immediately launch, and the outboard jammer will feedback the outboard jammer status information message to the underwater integrated control system; if it receives the outboard jammer firing cancellation message sent from the underwater integrated control system, the launch will be canceled, and the outboard jammer will feedback the outboard jammer status information message to the underwater integrated control system.

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