Multi-target projectile group resource optimization scheduling method based on information entropy auction mechanism

Abstract

The invention discloses a multi-target missile group resource optimization scheduling method based on an information entropy auction mechanism, and belongs to the field of multi-agents, and the method comprises the following steps: building a relative kinematics model of a missile and the center position of a target group; estimating the terminal time range of each missile under speed constraint; a network topology structure of the missile group is constructed, and autonomous clustering of missile group resources is completed through terminal time range estimation of all missiles; determining a projectile group resource scheduling result matrix through a projectile group resource scheduling algorithm based on an information entropy auction mechanism; based on the missile group resource scheduling result matrix, correcting the target position of each missile, and constructing a relative kinematics model between the missile and the corresponding target; constructing an internal communication network of each missile group, and constructing a guide law of simultaneous target hitting of missiles through cooperation by using a proportional guide method; and judging whether the missiles in each group arrive at the target position at the same time.

Description

Technical Field

[0001] The present invention belongs to the field of multi-agent control, and in particular relates to a multi-target missile group resource optimization scheduling method based on an information entropy auction mechanism. Background Art

[0002] With the development of swarm intelligence technology, the optimal scheduling of group resources has become a hot research direction, especially in the field of military applications, where the optimal scheduling of missile group resources is a core issue that has received much attention. In order to make full use of missile group resources and maximize the efficiency of task execution, missile time constraints and attack benefits are often needed to be considered in the task of coordinated control of missile groups. Taking the attack of multiple missiles on an enemy base as an example, when the missiles in the group cannot reach the target base at the same time and there are multiple key attack targets in the base, the missile group resources need to be autonomously clustered and each missile group needs to attack different key targets. In this context, applying coordinated motion control to the missile group and coordinating the terminal time of each missile arriving at the target position so that they can hit the target at the same time can effectively increase the probability of successfully hitting the target. In addition, for different missile groups, the attack on different key targets can be achieved through the target allocation algorithm, which can maximize the efficiency of task completion. Therefore, it is necessary to carry out research on the optimal scheduling method of multi-target missile group resources based on the information entropy auction mechanism, so that each missile group can attack different key targets and the missiles in the missile group can hit the target at the same time.

[0003] Currently, there are relatively few studies on group terminal time coordination control and swarm target allocation. The group terminal time control problem mainly focuses on the saturation attack problem of missile groups in the military field. Consider using proportional guidance method to estimate the remaining time for the missile to hit the target, and use the estimated time as output to achieve consistency. The existing technology is as follows [1] (see Jialing Zhou and Jianying Yang. Distributed Guidance Law Design for Cooperative Simultaneous Attacks with Multiple Missiles [J]. Journal of Guidance, Control, and Dynamics, 2016, 39 (10): 2439-2447.); The target allocation problem mainly focuses on the weapon allocation problem in the military field. The auction algorithm is used to obtain the optimal target allocation scheme. The existing technology is as follows [2] (see Li, X., Yu, J., Dong, X., Li, Q., Hua, Y., Ren, Z. (2023). Weapon Target Assignment Based on Compensation Auction Algorithm [J]. Advances in Guidance, Navigation and Control, 2023, 845: 4622–4631). Existing technologies mainly focus on the problem of multiple agents reaching the target location simultaneously and the target allocation problem of a single weapon, but the problem of grouping through group division in the time domain and allocating targets in groups has not yet been solved.

[0004] The present invention proposes a multi-target missile group resource optimization scheduling method based on the information entropy auction mechanism, which can self-organize and coordinate missile movements to achieve multi-missile groups attacking different key targets, and has the characteristics of strong robustness, effectively avoiding the problem of mission failure caused by external interference. The multi-target missile group resource optimization scheduling method based on the information entropy auction mechanism can be applied to tasks such as unmanned system group attacking multi-target groups, and has a wide range of practical application value. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-target swarm resource optimization scheduling method based on an information entropy auction mechanism, so as to solve the problem of realizing multiple swarms attacking different key targets through group division in the time domain and individuals in the group arriving at the target position at the same time.

[0006] To achieve the above object, the present invention provides a terminal time cooperative control method for adaptively grouping multiple missile groups, comprising the following steps: Step 1: Construct a relative kinematic model between the missile and the center position of the target group; Step 2: Calculate the terminal time estimate of each missile based on the relative kinematic model constructed in step 1, and determine the terminal time range estimate of each missile by speed restriction; Step 3: Build a communication network between the missiles to enable multiple information exchanges between the missiles and obtain the terminal time range estimate of all missiles; Step 4: According to the estimated time range of each missile terminal, determine the reachable domain of the time range of each missile group and complete the autonomous clustering of missile group resources; Step 5: Allocate the target of the missile group through the missile group resource scheduling algorithm based on the information entropy auction mechanism to determine the missile group resource scheduling result matrix; Step 6: According to the missile group resource scheduling result matrix, the target positions of missiles in different missile groups are corrected to obtain the relative kinematic model between the missiles and their target positions; Step 7: Based on the communication network in step 3, an internal communication network of each missile group after the missile group is clustered is constructed; Step 8: Based on the relative kinematics model obtained in step 6, a proportional guidance method is used to construct a guidance law for the missiles to hit the target simultaneously; Step 9: Based on the internal communication network structure of each missile group after the missile group resources are autonomously clustered in step 7 and the relative kinematic model obtained in step 6, update the position and speed of the missile, and determine whether the missiles in each group arrive at the target position at the same time. If the missiles in each group arrive at the target position at the same time, stop sending information to the outside; if the missiles in each group do not arrive at the target position at the same time, re-group the lagging missiles in each group and return to step 7 to continue execution.

[0007] Preferably, the specific process of step 1 is as follows: In the inertial coordinate system, assuming that the positions of each target are known And the target group center position is , targeting missile groups , for missiles The following kinematic model is established: ; in, , for missiles The relative distance from the center of the target group, is the position coordinate of the missile's center of mass, For missiles The leading angle, For missiles The sight angle, For missiles The missile inclination angle, and For missiles The tangential acceleration and normal acceleration are is the missile speed.

[0008] Preferably, the specific expression for determining the terminal time range estimate of each missile by speed limitation in step 2 is as follows: ; in, and are the estimated shortest and longest time for the missile to reach the center of the target group from the initial position, The range of speeds achievable by the missile.

[0009] Preferably, the specific process of each missile obtaining the terminal time range estimate of all missiles in step 3 is as follows: S31. Build a communication network structure , which includes the set with each missile as the vertex , and the edge set representing the missile communication interaction relationship ; S32. In the communication network structure, missiles To the neighbors Sends its own terminal time range estimate and receives neighbor The terminal time range is estimated by After information exchange, each missile obtains the terminal time range estimate of all missiles, where For missiles The set of neighbors.

[0010] Preferably, in step 4, the terminal time range of each missile is estimated to obtain the time reachable domain of each group of missiles, and the missile group resources are autonomously clustered. The specific operations are as follows: S41, set the upper limit of each missile terminal time range Sort in ascending order, , and move the missile from 1 to n Renumber to meet ; S42, let s = 1, initialize the cluster number, the current is the first cluster, let , initialize the The number of missiles in the cluster is 1, let , initialize the The temporal reachable domain of the cluster is , initialize the missile number, where is a transition variable.

[0011] S43, Order ,like is an empty set, and the missile Return to s Cluster, the missile Return to s +1 cluster, let , jump to step S43; if is a non-empty set, and the missile and missiles Return to s in clusters, , , jump to step S43 until all missiles are traversed.

[0012] S44, Output Group Number s , the number of missiles contained in each missile group .

[0013] Preferably, in step 5, the target allocation of the missile group is performed by using the missile group resource scheduling algorithm based on the information entropy auction mechanism, and the specific operation of determining the missile group resource scheduling result matrix is ​​as follows: S51. Obtain the killing effectiveness of each missile group on each target, generate a killing effectiveness matrix of the missile group on the target, and set all elements in the missile group resource scheduling result matrix and the missile group target strike cost matrix to 0, indicating that no target allocation is performed on each missile group and the initial strike cost of each missile group on the target is 0.

[0014] S52. Determine whether there is a missile group without any assigned target according to the missile group resource scheduling result matrix.

[0015] S53. Generate unassigned missile groups based on the missile group target attack cost matrix and the killing effectiveness matrix u The attack benefit vector for the target.

[0016] S54. Calculate the above bullet group The specific formula for the income information entropy is as follows: ; in, is the income information entropy, For the bullet group To target j The attack effectiveness, is a constant related to the total number of shells.

[0017] S55. Calculate the profit vector of the unassigned target group based on the optimal benefit and the suboptimal benefit, calculate the strike cost of the unassigned target group on the optimal benefit target based on the benefit information entropy of the unassigned target group, and update the target strike cost matrix of the group.

[0018] S56. According to the missile group target attack cost matrix, obtain the attack cost of all missile groups against the optimal benefit target, generate the attack cost vector, and check the unassigned missile groups. u Whether the corresponding element is the maximum value in the strike cost vector, if not, cancel this allocation and update the bomb group resource scheduling result matrix.

[0019] S57. Update the unassigned missile groups based on the missile group target strike cost matrix u Cost of strikes against all targets; S58, loop steps S52-S57 until all bomb groups are queried and the current allocation is completed.

[0020] S59, determine whether the algorithm converges. If the algorithm does not converge, all missile groups are not queried and enter the next query. If the algorithm converges, output the missile group resource scheduling result matrix at this time.

[0021] Preferably, in step 6, according to the missile group resource scheduling result matrix, for the missiles in different missile groups s , assigned with target j, modify the relative kinematic model for , and obtain the relative kinematic model between each missile and the target position of its missile group.

[0022] Preferably, in step 7, based on the communication network between the missiles constructed in step 3, the specific steps of constructing the internal communication network of each missile group after the missile group resources are autonomously clustered are as follows: S71, based on the communication network in step 3 to meet the missile To the neighbor missile There are connected paths. S72, if the missile If the target has been reached or the two are not in the same group, stop sending messages. .

[0023] Preferably, in step 8, a guidance law for the missile is constructed using a proportional guidance method based on a communication network: The design of normal acceleration in the cooperative guidance law is based on the following proportional guidance strategy: ; in, For missiles The navigation ratio, combined with the relative kinematics equation in step 6, is obtained as follows: ; By designing navigation comparison for different missile groups , so that At the same time, they converge to 0, and the cooperative navigation ratio is set as follows: ; in, is a constant, satisfying , represents the time coordination error of missile i, ensuring that all missiles in the group where missile i belongs hit the target at the same time; ;

[0024] Get the missile The collaborative guidance law is as follows: ; in, is the first node in the communication network adjacency matrix Line The element corresponding to the column, Represents the estimate of the remaining time required for the missile v to hit the target from its current position.

[0025] Preferably, in step 9, according to the variable The value of determines whether all missiles in the same group have reached the target position. The specific expression is as follows: ; in, Representative s The number in the group is The distance between the missile's current position and the target position; when , then it means s All missiles in the group reach the target position; when , then it means s Not all missiles in the group reached their target locations.

[0026] Therefore, the present invention adopts the above-mentioned multi-target missile group resource optimization scheduling method based on the information entropy auction mechanism, which has the following beneficial effects: (1) The present invention realizes the task of autonomously clustering and striking different key targets by giving the center position of the target group and the positions of each target; (2) The method adopted by the present invention can meet the requirements of missile coordination and has good robustness. Through the communication network, it can self-organize and coordinate the movement of missiles in real time to ensure that the missiles in each group arrive at the target position at the same time while the missiles are autonomously grouped.

[0027] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1It is an overall flow chart of the multi-target missile group resource optimization scheduling method based on the information entropy auction mechanism of the present invention; Figure 2 is a schematic diagram of the angle relationship between the missile of the present invention and the center position of the target group; Figure 3 It is a missile group communication network structure diagram of the present invention; Figure 4 This is a communication network structure diagram after the bomb group resources are autonomously clustered in the present invention; Figure 5 It is a block diagram of the bomb group resource scheduling algorithm based on the information entropy auction mechanism of the present invention; Figure 6 It is a schematic diagram of the bomb group resource scheduling algorithm based on the information entropy auction mechanism of the present invention; Figure 7 It is a grouping result diagram of each missile changing with time in the simulation experiment of the present invention; Figure 8 It is a schematic diagram of the variation of the leading angle of each missile with time in the simulation experiment of the present invention; Fig. 9 It is a schematic diagram of the change of the normal acceleration of each missile with time in the simulation experiment of the present invention; Fig.10 It is a schematic diagram of the change of the magnitude of the tangential acceleration of each missile in the simulation experiment of the present invention over time. DETAILED DESCRIPTION

[0029] The following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0030] See also Figure 1-10 , a multi-target missile group resource optimization scheduling method based on information entropy auction mechanism, including the following steps: Step 1: Construct a relative kinematic model between the missile and the center position of the target group. The specific process is as follows: In the inertial coordinate system, assuming that the positions of each target are known And the target group center position is , targeting missile groups , for missiles The following kinematic model is established: ; in, , for missiles The relative distance from the center of the target group, is the position coordinate of the missile's center of mass, For missiles The leading angle, For missiles The sight angle, For missiles The missile inclination angle, and For missiles The tangential acceleration and normal acceleration are is the missile speed; Step 2: Based on the relative kinematic model constructed in step 1, calculate the terminal time estimate of each missile, and determine the terminal time range estimate of each missile through speed restriction. The specific expression is as follows: ; in, and are the estimated minimum and maximum time for the missile to reach the target position from the initial position, is the range of speeds achievable by the missile; Step 3: Build a communication network structure between missiles to enable multiple information exchanges between missiles and obtain the terminal time range estimation of all missiles. The specific process is as follows: S31. Build a communication network structure , which includes the set with each missile as the vertex , and the edge set representing the missile communication interaction relationship ; S32. In the communication network structure, missiles To the neighbors Sends its own terminal time range estimate and receives neighbor The terminal time range is estimated by After information exchange, each missile obtains the terminal time range estimate of all missiles, where For missiles The set of neighbors.

[0031] Step 4: The time reachable domain of missiles in each group is obtained by estimating the terminal time range of each missile, and the missile group resources are autonomously clustered. The specific operations are as follows: S41, set the upper limit of each missile terminal time range Sort in ascending order, , and move the missile from 1 to Renumber to meet ; S42, let s = 1, initialize the cluster number, the current is the first cluster, let , initialize the The number of missiles in the cluster is 1, let , initialize the The time reachable domain of the cluster is , initialize the missile number, where is a transition variable.

[0032] S43, Order ,like is an empty set, and the missile Return to s Cluster, the missile Return to s +1 cluster, let , jump to step S43; if is a non-empty set, and the missile and missiles Return to s in clusters, , , jump to step S43 until all missiles are traversed.

[0033] S44, Output Group Number s , the number of missiles contained in each missile group .

[0034] Step 5: The missile group resource scheduling algorithm based on the information entropy auction mechanism is used to allocate missile group targets. The specific operations are as follows: S51. Obtain the killing efficiency of each missile group on each target and generate a missile group s Killing effectiveness matrix for the target ( ), set all elements in the missile group resource scheduling result matrix (Z) and the missile group target strike cost matrix (C) to 0. In this embodiment, it is assumed that there are M missile groups and N targets (M≥N), and each missile group can only be assigned one target at most.

[0035] ; in, Indicates the bullet group To target j The killing effect, is a binary variable, when =1, represents the bullet group Assign to target j , Indicates the bullet group To target j The cost of the attack.

[0036] S52, according to the group resource scheduling result matrix, determine whether there is a group of missiles that have not been assigned a target, and find the first If there is a non-zero value, it means that the bullet group A target has been assigned, jump to step S52, and continue searching; if there is no non-zero value, it means that the bullet group If no target is assigned, jump to step S53.

[0037] S53. Generate unassigned missile groups based on the missile group target attack cost matrix and the killing effectiveness matrix The attack benefit vector g for each target.

[0038] ; in, Indicates the bullet group To target j attack effectiveness.

[0039] S54. Calculate the missile group based on the attack benefit vector The income information entropy

[0040] ; in, is the income information entropy, which indicates the discrete degree of the sample space. The smaller the entropy value, the greater the discrete degree. For the bullet group To target j The attack effectiveness, is a constant related to the total number of shells.

[0041] S55. Calculate the profit vector of the unassigned target missile group based on the optimal benefit and the suboptimal benefit, calculate the strike cost of the unassigned target missile group to the above-mentioned optimal benefit target based on the benefit information entropy of the unassigned missile group, and update the missile group target strike cost matrix.

[0042] Assuming a group of The optimal and suboptimal return targets are: ; Missile Group Profit for: ; Missile Group The cost of attacking the optimal return target for: ; in, is the relaxation complementarity coefficient.

[0043] S56. According to the missile group target attack cost matrix, obtain the optimal benefit target for all missile groups The attack cost is generated by , check for unassigned shells Whether the corresponding element is a strike cost vector If not, cancel this allocation and update the bomb group resource scheduling result matrix.

[0044] Among them, the attack cost vector for: ; S57. Update the unassigned missile groups based on the missile group target strike cost matrix Cost of strikes against all targets; S58, loop steps S52-S57 until all bomb groups are queried and the current allocation is completed.

[0045] S59, determine whether the algorithm converges. If the algorithm does not converge, all missile groups are not queried and enter the next query. If the algorithm converges, output the missile group resource scheduling result matrix at this time.

[0046] Among them, after completing the query of all missile groups in this round, the updated strike cost matrix is ​​obtained and compared with the strike cost matrix of the previous round. If the two matrices are equal, the algorithm converges; if the two matrices are not equal, a new cycle begins.

[0047] Step 6: Target different bullet groups s Missiles in , assigned with a target j , modify the relative kinematics model for , and obtain the relative kinematic model between each missile and the target position of its missile group.

[0048] Step 7: Construct the communication network within each missile group after the missile group is clustered. The specific steps are as follows: S71, based on the communication network in step 3 to meet the missile To the neighbor missile There are connected paths. S72, if the missile v If the target has been reached or the two are not in the same group, stop sending messages. ; Step 8: Based on the relative kinematics model constructed in step 6, the guidance law of the missile is constructed using the proportional guidance method based on the communication network: The design of normal acceleration in the cooperative guidance law is based on the following proportional guidance strategy: ; in, is the navigation ratio of missile i, combined with the kinematic equation in step 6, we get: ; By designing navigation comparison for different missile groups , so that At the same time, they converge to 0, and the cooperative navigation ratio is set as follows: ; in, is a constant, satisfying , represents the time coordination error of missile i, ensuring that all missiles in the group where missile i belongs hit the target at the same time. ; ; Get the missile The collaborative guidance law is as follows: ; in, is the element corresponding to the i-th row and v-th column in the communication network adjacency matrix, Represents the estimate of the remaining time required for the missile v to hit the target from its current position.

[0049] Step 9: Based on the internal communication network structure of each missile group after the missile group resources are autonomously clustered in step 7 and the relative kinematic model obtained in step 6, the position and speed of the missile are updated to determine whether the missiles in each group arrive at the target position at the same time. If the missiles in each group arrive at the target position at the same time, stop sending information to the outside; if the missiles in each group do not arrive at the target position at the same time, the lagging missiles in each group are regrouped and the execution is continued in step 7, wherein the variable Determines whether all missiles in the same group have reached the target position. The specific expression is as follows: ; in, Representative s The number in the group is The distance between the current position of the missile and the target position; if , then it means s All missiles in the group arrive at the target position at the same time; when , then it means s Not all missiles in the group reached their target at the same time.

[0050] Example: The present invention first constructs a kinematic model of the relative position between the missile and the center of the target group, obtains the terminal time range estimate of each missile based on the derived missile terminal time estimate expression, and realizes information interaction within the swarm by constructing a communication network between missiles, so that each missile obtains the terminal time range estimate of all missiles. According to the terminal time range estimate of each missile, the swarm resources are autonomously clustered. Next, the swarm target is allocated through the swarm resource scheduling algorithm based on the information entropy auction mechanism, and the swarm resource scheduling result matrix is ​​generated. Based on this, the target positions of different swarms are corrected to obtain the relative kinematic model between each missile and the corresponding target position of the swarm. After clustering, the communication network within each swarm is used to construct the guidance law for collaborative and simultaneous target hitting using the proportional guidance method. Finally, it is judged whether the missiles in the same cluster have reached the target position. If the missiles in the same cluster reach the target position at the same time, the internal communication of the cluster is stopped. Among them, it is assumed that The missiles are divided into clusters to attack different targets and the missiles in the cluster reach the target position at the same time. Communication is established between the missiles in the cluster, and the time for the missiles in the sth group to reach the target position is set to .

[0051] The following is a simulation verification of the multi-target missile group resource optimization scheduling method designed by the present invention based on the information entropy auction mechanism; the simulation simulates the collaborative task of adaptive grouping of 8 missiles. Assume that the target group coordinates are (130, 130) meters. The initial parameters of the missile group are shown in Table 1: Table 1 ;

[0052] After scale adaptive grouping, the missile grouping is shown in Table 2: Table 2 ;

[0053] The communication network structures of the missile groups before and after grouping are as follows: Figure 3 and Figure 4 As shown, if there is a path between two vertices, the corresponding elements of the adjacency matrix are all 1, and the missile i There are paths between the remaining missiles. The simulation results of the multi-target missile group resource optimization scheduling method based on the information entropy auction mechanism are as follows: Figures 7 to 10 As shown. Figure 7 It can be seen that the original missile group was divided into two groups, and the missiles in each group reached the target position at the same time, which shows that the multi-target missile group resource optimization scheduling method based on the information entropy auction mechanism performed very well. Figure 8 It can be observed that the lead angle of each missile drops rapidly to zero. Fig. 9 and Fig.10It shows that the normal acceleration and tangential acceleration of each missile approach zero within a reasonable time range. By analyzing the simulation experiment results, it can be concluded that the multi-target missile group resource optimization scheduling method based on information entropy auction mechanism proposed in the present invention has a good control effect.

[0054] Therefore, the present invention adopts the above-mentioned multi-target missile group resource optimization scheduling method based on the information entropy auction mechanism. By giving the target position, it realizes the task of automatic grouping of missile groups and collaborative operation of missiles in each group, and has good robustness.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A multi-target missile group resource optimization scheduling method based on information entropy auction mechanism, characterized in that: The following steps are involved: Step 1: Construct a relative kinematic model between the missile and the center position of the target group; Step 2: Calculate the terminal time estimate of each missile based on the relative kinematic model constructed in step 1, and determine the terminal time range estimate of each missile by speed restriction; Step 3: Build a communication network between the missiles to enable multiple information exchanges between the missiles and obtain the terminal time range estimate of all missiles; Step 4: According to the estimated time range of each missile terminal, determine the reachable domain of the time range of each missile group and complete the autonomous clustering of missile group resources; Step 5: Allocate the target of the missile group through the missile group resource scheduling algorithm based on the information entropy auction mechanism to determine the missile group resource scheduling result matrix; Step 6: According to the missile group resource scheduling result matrix, the target positions of missiles in different missile groups are corrected to obtain the relative kinematic model between the missiles and their target positions; Step 7: Based on the communication network between the missiles constructed in step 3, an internal communication network of each missile group after the missile group is clustered is constructed; Step 8: Based on the relative kinematics model obtained in step 6, a proportional guidance method is used to construct a guidance law for the missiles to hit the target simultaneously; Step 9: Based on the internal communication network structure of each missile group after the missile group resources are autonomously clustered in step 7 and the relative kinematic model obtained in step 6, update the position and speed of the missile, and determine whether the missiles in each group arrive at the target position at the same time. If the missiles in each group arrive at the target position at the same time, stop sending information to the outside; if the missiles in each group do not arrive at the target position at the same time, re-group the lagging missiles in each group and return to step 7 to continue execution.

2. The multi-target missile group resource optimization scheduling method based on information entropy auction mechanism according to claim 1 is characterized in that: The specific process of step 1 is as follows: In the inertial coordinate system, assuming that the positions of each target are known And the target group center position is , targeting missile groups , for missiles The following relative kinematic model is established: ； in, , for missiles The relative distance from the center of the target group, is the position coordinate of the missile's center of mass, For missiles The leading angle, For missiles The sight angle, For missiles The missile inclination angle, and For missiles The tangential acceleration and normal acceleration are is the missile speed.

3. The multi-target missile group resource optimization scheduling method based on information entropy auction mechanism according to claim 2 is characterized in that: The specific expression for determining the terminal time range estimate of each missile by speed limitation in step 2 is as follows: ； in, and are the estimated shortest and longest time for the missile to reach the center of the target group from the initial position, The range of speeds that missiles can reach.

4. The multi-target missile group resource optimization scheduling method based on information entropy auction mechanism according to claim 3 is characterized in that: The specific process of each missile obtaining the terminal time range estimate of all missiles in step 3 is as follows: S31. Build a communication network structure , which includes the set with each missile as the vertex , and the edge set representing the missile communication interaction relationship ; S32. In the communication network structure, missiles Receiving Neighbor The terminal time range estimate is sent to it, and then the terminal time range estimate is sent to it. After information exchange, each individual obtains the terminal time range estimate of all missiles, where For missiles The set of neighbors.

5. The multi-target missile group resource optimization scheduling method based on information entropy auction mechanism according to claim 4 is characterized in that: In step 4, the reachable range of each group of missiles is determined based on the terminal time range estimate of each missile. ,The specific steps for autonomous clustering of swarm resources are as follows: S41, set the upper limit of each missile terminal time range Sort in ascending order, , and move the missile from 1 to Renumber to meet ; S42, Order s =1, initialize the cluster number, currently it is the first cluster, let , initialize the The number of missiles in the cluster is 1, let , initialize the The time reachable domain of the cluster is , initialize the missile number, where is a transition variable; S43, Order ,like is an empty set, and the missile Return to s Cluster, the missile Return to s In the +1 cluster, let , jump to step S43; if is a non-empty set, and the missile and missiles Return to s in clusters, , , jump to step S43 until all missiles are traversed; S44, Output Group Number s , the number of missiles contained in each missile group .

6. The multi-target missile group resource optimization scheduling method based on information entropy auction mechanism according to claim 5 is characterized in that: In step 5, the target allocation of the missile group is carried out through the missile group resource scheduling algorithm based on the information entropy auction mechanism, and the specific operation of determining the missile group resource scheduling result matrix is ​​as follows: S51, obtaining the killing effectiveness of each missile group on different targets, generating a killing effectiveness matrix of the missile group on the target, and setting all elements in the missile group resource scheduling result matrix and the missile group target strike cost matrix to 0, indicating that no target allocation is performed on each missile group and the initial strike cost of each missile group on the target is 0; S52: According to the group resource scheduling result matrix, determine whether there is a group of missiles that have not been assigned a target. ; S53. Generate a group of unassigned targets based on the group target strike cost matrix and the kill effectiveness matrix The attack benefit vector to the target; S54. Calculate the unassigned target group The specific formula for the income information entropy is as follows: ； in, is the income information entropy, For the bullet group To target j The attack effectiveness, is a constant related to the total number of shells; S55, calculating the profit vector of the unassigned target missile group according to the optimal benefit and the suboptimal benefit, calculating the strike cost of the unassigned target missile group against the optimal benefit target based on the benefit information entropy of the unassigned missile group, and updating the missile group target strike cost matrix; S56. According to the missile group target attack cost matrix, obtain the attack cost of all missile groups against the above-mentioned optimal benefit target, generate the attack cost vector, and check the missile groups without assigned targets. Whether the corresponding element is the maximum value in the strike cost vector, if not, cancel this allocation and update the bomb group resource scheduling result matrix; S57. Update the unassigned target group based on the group target strike cost matrix The cost of strikes against all targets; S58, looping steps S52-S57 until all the bomb groups are queried and the current allocation is completed; S59, determine whether the algorithm converges. If the algorithm does not converge, all missile groups are not queried and enter the next query. If the algorithm converges, output the missile group resource scheduling result matrix at this time.

7. The method for optimizing and scheduling multi-target missile group resources based on information entropy auction mechanism according to claim 6 is characterized in that: In step 6, according to the group resource scheduling result matrix, for different groups of missiles s Missiles in , assigned with a target j , modify the relative kinematics model for , and obtain the relative kinematic model between each missile and the target position of its missile group.

8. The multi-target missile group resource optimization scheduling method based on information entropy auction mechanism according to claim 7 is characterized by: In step 7, based on the communication network between the missiles constructed in step 3, the specific steps of constructing the internal communication network of each missile group after the missile group resources are autonomously clustered are as follows: S71, based on the communication network in step 3 to meet the missile To the neighbor missile There are connected paths. S72, if the missile If the target has been reached or the two are not in the same group, stop sending messages. .

9. The multi-target missile group resource optimization scheduling method based on information entropy auction mechanism according to claim 8 is characterized in that: In step 8, the guidance law for collaboratively hitting the target simultaneously is constructed based on the communication network using the proportional guidance method as follows: The design of normal acceleration in the cooperative guidance law is based on the following proportional guidance strategy: ； in, For missiles The navigation ratio, combined with the relative kinematics equation in step 6, is obtained as follows: ； By designing navigation comparison for different missile groups , so that At the same time, they converge to 0, and the cooperative navigation ratio is set as follows: ； in, is a constant, satisfying , represents the time coordination error of missile i, ； ； Get the missile The collaborative guidance law is as follows: ； in, is the adjacency matrix of the communication network. The element corresponding to the vth column of the row, Indicates missile An estimate of the time remaining to hit the target from the current position.

10. The multi-target missile group resource optimization scheduling method based on information entropy auction mechanism according to claim 9 is characterized in that: In step 9, according to the variable The specific expression for judging whether all missiles in the same group have reached the target position is as follows: ； in, Representative s The number in the group is The distance between the missile's current position and the target position; when , then it means s All missiles in the group arrive at the target position at the same time; when , then it means s Not all missiles in the group reached their target at the same time.

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