Method for calculating probability of finding moving target by ship marshalling
By calculating the search area ratio of ship marshalling and moving targets, the problem of mobile target evasion in ship search is solved, and the probability and search efficiency of ship marshalling and discovering targets is improved.
Patent Information
- Application Number
- CN202311873345.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-29
- Publication Date
- 2025-03-14
Smart Images
Figure CN119622179A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of ship search technology, for example, to a method for calculating the probability of a ship formation discovering a moving target. Background Art
[0002] As human beings continue to expand the scale of ocean development, finding moving targets on the sea surface has become a vital need. The search technology for moving targets on the sea surface has been widely used in civil and military fields, such as tracking fleeing ships, maritime search and rescue, and monitoring plankton. However, during the search process, the moving targets are also evading, so it is very important to obtain the probability that the ship formation can find the moving target, which is conducive to improving the search efficiency. Summary of the invention
[0003] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.
[0004] The disclosed embodiment provides a method for calculating the probability that a ship formation can find a moving target, which solves the problem of how to calculate the probability that a ship formation can find a moving target.
[0005] In some embodiments, the method for calculating the probability of a ship formation discovering a moving target includes:
[0006] The ship formation includes multiple ships, which are arranged in a single row and search forward, and the two ends of the queue form search boundaries along the search direction; the moving target is located between the two search boundaries and avoids the ship formation;
[0007] The method comprises:
[0008] Establish a search coordinate system based on the position of the ship formation;
[0009] The search area S1 of the ship formation is calculated using the search coordinate system, and the area S2 of the unavoidable area of the moving target is calculated using the search coordinate system;
[0010] Calculate the ratio of S2 to S1, and use this ratio as the probability of the ship formation discovering the moving target.
[0011] The method for calculating the probability of a ship formation discovering a moving target provided by the embodiment of the present disclosure can achieve the following technical effects:
[0012] Multiple ships in a single row can be regarded as a "one"-shaped queue. When the search direction is straight ahead, the search area is a rectangular area. The two long sides of the rectangular area extending forward are the search boundaries. The area of the rectangular area is the search area and is recorded as S1. For mobile targets, the search area includes an avoidable area and an unavoidable area. The area of the unavoidable area is recorded as S2. If the mobile target is located in the avoidable area, it can escape the search of the ship formation; if the mobile target is located in the unavoidable area, it cannot escape the search of the ship formation by maneuvering in any direction. Therefore, the ratio of S2 to S1 can be used as the probability of the ship formation finding the mobile target. Therefore, after obtaining this probability, the search efficiency of the ship formation can be effectively improved.
[0013] The above general description and the following description are exemplary and explanatory only and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] One or more embodiments are exemplarily described by corresponding drawings, which do not limit the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements, and the drawings do not constitute a scale limitation, and wherein:
[0015] Figure 1 is a schematic diagram of a search coordinate system provided by an embodiment of the present disclosure;
[0016] Figure 2 is a schematic diagram of a method for calculating the probability of a ship formation discovering a moving target provided by an embodiment of the present disclosure;
[0017] Figure 3 is a schematic diagram of another method for calculating the probability of a ship formation discovering a moving target provided by an embodiment of the present disclosure;
[0018] Figure 4 is a schematic diagram of another method for calculating the probability of a ship formation discovering a moving target provided by an embodiment of the present disclosure;
[0019] Figure 5 is a schematic diagram of another method for calculating the probability of a ship formation discovering a moving target provided by an embodiment of the present disclosure;
[0020] Figure 6 It is a schematic diagram of another method for calculating the probability of a ship formation discovering a moving target provided by an embodiment of the present disclosure.
[0021] Reference numerals:
[0022] 100: Ship;
[0023] 200: Moving target. DETAILED DESCRIPTION
[0024] In order to be able to understand the features and technical contents of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.
[0025] The terms "first", "second", etc. in the specification and claims of the disclosed embodiments and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate to describe the disclosed embodiments here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.
[0026] Unless otherwise stated, the term "plurality" means two or more.
[0027] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B indicates: A or B.
[0028] The term "and / or" is a description of the association relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B.
[0029] The term "correspondence" may refer to an association relationship or a binding relationship. The correspondence between A and B means that there is an association relationship or a binding relationship between A and B.
[0030] Combination Figure 1 As shown, the ship formation includes multiple ships 100, which are in a single row and search forward, and search boundaries are formed at both ends of the queue along the search direction; the moving target 200 is located between the two search boundaries and avoids the ship formation.
[0031] like Figure 2 As shown, the embodiment of the present disclosure provides a method for calculating the probability of a ship formation discovering a moving target, the method comprising:
[0032] S10: The processor establishes a search coordinate system based on the position of the ship formation;
[0033] S20: The processor calculates the search area S1 of the ship formation with the search coordinate system, and calculates the area S2 of the unavoidable area of the moving target with the search coordinate system;
[0034] S30: The processor calculates the ratio of S2 to S1, and uses the ratio as the probability that the ship formation finds the moving target.
[0035] In this embodiment, multiple ships in a single row can be regarded as a "one"-shaped queue. When the search direction is straight ahead, the search area is a rectangular area, and the two long sides of the rectangular area extending forward are the search boundaries. The area of the rectangular area is the search area and is recorded as S1. For a moving target, the search area includes an avoidable area and an unavoidable area, where the area of the unavoidable area is recorded as S2. If the moving target is located in the avoidable area, it can escape the search of the ship formation; if the moving target is located in the unavoidable area, it cannot escape the search of the ship formation by maneuvering in any direction. Therefore, the ratio of S2 to S1 can be used as the probability that the ship formation finds the moving target.
[0036] Optionally, step S10, establishing a search coordinate system based on the position of the ship formation, includes:
[0037] A search coordinate system is established with the center of the search width of the ship formation as the origin, the formation direction as the x-axis, and the search direction as the y-axis;
[0038] Among them, the search width of the ship formation is d n , d n =(n-1)d+2R1; wherein n is the number of ships, d is the distance between adjacent ships, R1 is the search radius of each ship, and R1≤d≤2R1.
[0039] In this embodiment, the search coverage of each ship is a circular area with a radius of R1. In order to ensure that the search devices of adjacent ships do not interfere with each other and that the moving target cannot escape from the search blind area between two adjacent ships, the distance d between adjacent ships needs to satisfy R1≤d≤2R1. The search coordinate system here is a rectangular coordinate system.
[0040] Alternatively, if Figure 3 As shown, step S20, calculating the area S2 of the area that the moving target cannot avoid by searching the coordinate system, includes:
[0041] S21: The processor calculates a displacement equation when the moving target reaches the search boundary and encounters the ship formation;
[0042] S22: The processor calculates the optimal avoidance angle of the moving target according to the displacement equation;
[0043] S23: The processor calculates S2 according to the optimal avoidance angle.
[0044] In this embodiment, when the mobile target finds a threat, it immediately evades it. If it falls into the search coverage of the ship formation before escaping the search boundary, it will be found by it, and then the mobile target and the ship formation meet, so that the displacement equation when the two meet can be listed. In addition, the angle between the evasion direction of the mobile target and the x-axis is called the evasion angle. Among the many evasion directions, the mobile target has the optimal evasion direction, and the optimal evasion direction corresponds to the optimal evasion angle.
[0045] Optionally, the initial coordinates of the moving target in the search coordinate system are marked as (x0, y0); the displacement equation is:
[0046]
[0047] Where, v1 is the search speed of the ship formation, v2 is the evasion speed of the moving target, and v1>v2; α is the evasion angle of the moving target, and t is the capture time. Here, v1 and v2 are constant speeds.
[0048] In this embodiment, the moving target escapes at an evasion angle of α, and the ship formation meets the moving target at the search boundary after t time. At the meeting point, half of the search width minus the lateral moving distance of the moving target is equal to x0, and the ordinate of the ship formation minus the longitudinal moving distance of the moving target is equal to y0, and the displacement equation of the above formula (1) can be listed.
[0049] Alternatively, if Figure 4 As shown, step S22, calculating the optimal avoidance angle of the moving target according to the displacement equation, includes:
[0050] S221: The processor transforms the displacement equation to obtain y0;
[0051] S222: The processor calculates the extreme value of y0, and uses α obtained when y0 takes the minimum value as the optimal avoidance angle.
[0052] In this embodiment, eliminating the parameter "t" from the displacement equation yields
[0053]
[0054] In this embodiment, when the initial coordinates of the moving target are (x0, y0), the optimal evasion direction of the moving target is the direction when y0 takes the minimum value. If the value of y0 is less than the minimum value, the moving target can no longer evade the search of the ship formation. The extreme value of formula (2) is obtained. When y0 takes the minimum value, the value of α is:
[0055]
[0056] The α obtained by formula (3) is taken as the optimal avoidance angle.
[0057] Alternatively, if Figure 5 As shown, step S23, calculating S2 according to the optimal avoidance angle, includes:
[0058] S231: The processor substitutes the optimal avoidance angle into the displacement equation to obtain a boundary line of the unavoidable area;
[0059] S232: The processor calculates S2 based on the boundary line and the detection radius of the moving target.
[0060] In this embodiment, by substituting formula (3) into formula (1), we can obtain:
[0061]
[0062] Then the straight line represented by formula (4) is the boundary line, such as Figure 1 The straight line AC in the middle. The coordinates of point A are The coordinates of point C are Since the coordinate origin O is established at the center of the search width of the ship formation, considering the symmetry, Figure 1 The triangle ABC in the figure is the unavoidable area. That is, if the initial position of the moving target falls into this area, no matter how it maneuvers to avoid, the moving target cannot escape the search coverage of the ship formation in time.
[0063] However, in actual situations, since the mobile target has a long-range detection capability for the formation, and its detection radius is R2, the initial position of the mobile target is almost impossible to be infinitely close to the straight line BC. Instead, the threat is detected when the ship formation enters the detection radius R2, and evasive action is initiated. Figure 1 As shown, a line parallel to the x-axis is drawn with the coordinates (0, R2), and the intersection of the line with the y-axis is recorded as F, and the intersections with the side lines of triangle ABC are recorded as points D and E respectively. It can be seen that ∠AED = ∠ACB = α. Therefore, trapezoid BCDE is the exposed area of the ship formation to the moving target, and the initial position of the moving target will not be located in the exposed area. Therefore, triangle ADE is the area that the moving target cannot avoid in actual circumstances, so the area of triangle ADE is S2.
[0064] At this time, the height of triangle ADE is AF, so AF is:
[0065]
[0066] At this time, the base of triangle ADE is DE, so DE is:
[0067] DE=d n -2R2tanα (6)
[0068] Therefore, the area of triangle ADE can be obtained using formulas (5) and (6), so S2 is:
[0069]
[0070] Alternatively, if Figure 6 As shown, step S20, the search area S1 of the ship formation is calculated using the search coordinate system, including
[0071] S24: The processor determines the maximum search time of the ship formation;
[0072] S25: The processor determines S1 according to the longest search time.
[0073] In this embodiment, when the initial coordinates of the moving target are (x0, y0), when x0=0, the time required for the moving target to achieve avoidance is the longest, and the search time required by the ship formation is also the longest, and the two are equal. The ship formation searches for a rectangular area with the longest search time. The width of the rectangular area is the search width of the ship formation, and the length is the moving distance in the search direction. Therefore, the area of the rectangular area is S1.
[0074] At this time, the longest search time is recorded as T, so T is:
[0075]
[0076] Therefore, using (8), we can find the area of the rectangle, so S1 is:
[0077]
[0078] Alternatively, the initial positions of the moving targets are evenly distributed in the search area S1, and the probability of the ship formation finding the moving target can be taken as the ratio of S2 to S1. Here, the ratio of S2 to S1 is denoted as P, and P can be obtained by using formulas (7) and (9):
[0079]
[0080] Among them, v1>v2, and Therefore, by combining the above formulas (1)-(10), the probability of a ship formation discovering a moving target can be calculated, thereby effectively improving the search efficiency.
[0081] The above description and the accompanying drawings sufficiently illustrate the embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Unless explicitly required, individual components and functions are optional, and the order of operations may vary. Portions and features of some embodiments may be included in or replace portions and features of other embodiments. The embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
[0082] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiment of the present disclosure. The aforementioned storage medium may be a non-transient storage medium, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes.
[0083] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent only possible changes. Unless explicitly required, separate components and functions are optional, and the order of operation may vary. The parts and features of some embodiments may be included in or replace the parts and features of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and the claims, unless the context clearly indicates, the singular forms of "a", "an" and "the" are intended to include plural forms as well. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of listings containing one or more associated ones. In addition, when used in the present application, the term "comprise" and its variants "comprises" and / or comprising refer to the presence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the presence of other identical elements in the process, method or device comprising the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the various embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can refer to the description of the method part.
[0084] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. The technicians may use different methods for each specific application to implement the described functions, but such implementations should not be considered to exceed the scope of the embodiments of the present disclosure. The technicians may clearly understand that, for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above may refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.
[0085] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units can be only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to implement this embodiment. In addition, each functional unit in the embodiment of the present disclosure may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit.
[0086] The flowchart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to the embodiment of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. In the description corresponding to the flowchart and the block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.
Claims
1. A method for calculating the probability of a ship formation discovering a moving target, characterized in that: The ship formation includes multiple ships, which are arranged in a single row and search forward, and the two ends of the row form search boundaries along the search direction; The moving target is located between the two search boundaries and avoids the ship formation; The method comprises: Establish a search coordinate system based on the position of the ship formation; The search area S1 of the ship formation is calculated using the search coordinate system, and the area S2 of the unavoidable area of the moving target is calculated using the search coordinate system; Calculate the ratio of S2 to S1, and use this ratio as the probability of the ship formation discovering the moving target.
2. The method according to claim 1, characterized in that The step of establishing a search coordinate system based on the position of the ship formation includes: A search coordinate system is established with the center of the search width of the ship formation as the origin, the formation direction as the x-axis, and the search direction as the y-axis; Among them, the search width of the ship formation is d n , d n =(n-1)d+2R1; wherein n is the number of ships, d is the distance between adjacent ships, R1 is the search radius of each ship, and R1≤d≤2R1.
3. The method according to claim 2, characterized in that The step of calculating the area S2 of the unavoidable region of the moving target using the search coordinate system includes: Calculate the displacement equation when the moving target reaches the search boundary and encounters the ship formation; Calculate the optimal avoidance angle of the moving target based on the displacement equation; Calculate S2 based on the optimal avoidance angle.
4. The method according to claim 3, characterized in that The initial coordinates of the moving target in the search coordinate system are marked as (x0, y0); the displacement equation is: Among them, v1 is the search speed of the ship formation, v2 is the avoidance speed of the moving target, and v1>v2; α is the avoidance angle of the moving target, and t is the capture time.
5. The method according to claim 4, characterized in that The step of calculating the optimal avoidance angle of the moving target according to the displacement equation includes: Transform the displacement equation to obtain y0; Find the extreme value of y0, and the α obtained when y0 takes the minimum value is taken as the optimal avoidance angle; in, 6. The method according to claim 5, characterized in that The calculating S2 according to the optimal avoidance angle includes: Substituting the optimal avoidance angle into the displacement equation, we can obtain the boundary line of the unavoidable area. S2 is calculated based on the boundary line and the detection radius of the moving target.
7. The method according to claim 6, characterized in that The boundary lines are: The detection radius of the moving target is R2, so S2 is:
8. The method according to claim 7, characterized in that The calculation of the search area S1 of the ship formation using the search coordinate system includes: Determine the maximum search time for a fleet formation; S1 is determined based on the longest search time.
9. The method according to claim 8, characterized in that The longest search time T is: The area of the rectangle formed by the ship formation search in T time is S1, so S1 is:
10. The method according to claim 9, characterized in that The ratio of S2 to S1 is recorded as P, so P is: