Route planning method for simultaneous arrival of multiple helicopters

Abstract

The invention provides a route planning method for simultaneous arrival of multiple helicopters, relates to the technical field of route planning, and achieves the purposes of simultaneous arrival of multiple helicopters to a specified bomb dropping area and simultaneous launching of weapons by setting artificial virtual threats and adding redundant routes. According to the method, the application field of route planning is expanded, the flexibility and adaptability of helicopter task execution are improved, the target striking effect is improved, and a technical basis can be provided for development of a cooperative attack fire control task system.

Description

Technical Field

[0001] The invention relates to the technical field of route planning, and in particular provides a route planning method for simultaneous arrival of multiple helicopters. Background Art

[0002] As the complexity and ruggedness of ground targets increase, the ability of a single helicopter to perform missions can no longer meet the needs of the mission, and multi-aircraft coordinated operations have gradually developed into a main mode on the future battlefield. Considering the characteristics of the target and the impact of smoke on aiming and weapon guidance in the case of sequential attacks, attacking the target from multiple angles at the same time helps to improve the damage effect of the target. Allowing multiple helicopters to attack the same target from different directions at the same time can effectively increase the probability of hitting and damaging the target. Summary of the invention

[0003] The purpose of the present application is to provide a route planning method for multiple helicopters to arrive at a specified area at the same time, so as to achieve the purpose of simultaneously launching weapons to strike the same target.

[0004] In order to achieve the above object, the present invention adopts the following technical solution:

[0005] A method for simultaneously arriving multiple helicopters on a route planning basis, the method comprising:

[0006] S1: Get the target position, attack time and attack direction. The target position is in X 目标 ,Y 目标 express;

[0007] S2: Get the initial position, initial heading, and average flight speed of multiple aircraft. The aircraft position is expressed in X. 载机 ,Alt 载机 ,Y 载机 express;

[0008] S3: Obtain battlefield threat data;

[0009] S4: Calculate the flight path length of each carrier aircraft based on the attack time and average flight speed;

[0010] S5: Calculate the straight-line flight distance according to the target position and the initial position of the carrier aircraft, and set the position and size of the first virtual threat on the flight path according to the straight-line flight distance and the length of the flight path to be flown;

[0011] S6: setting the position and size of the second virtual threat at the target location according to the attack course and the average flight speed;

[0012] S7: setting the position and size of the third virtual threat located at the initial position of each carrier aircraft according to the initial heading and the average flight speed;

[0013] S8: Calculate the planning range according to the position of each carrier and the target position;

[0014] S9: Set the grid width and generate the planning grid according to the planning range of S8;

[0015] S10: setting attributes of the planning grid according to the battlefield threat data obtained in S3, the position and size of the first virtual threat, the position and size of the second virtual threat, and the position and size of the third virtual threat;

[0016] S11: Use the sparse A* algorithm to plan the flight path of each helicopter within the planning grid.

[0017] The route planning method for simultaneous arrival of multiple helicopters provided by the present invention also has the following characteristics: the length of the flight path of each helicopter in S4 is L 应飞路径 :

[0018] L 应飞路径 =(T 攻击时间 -T 开始时间 )×V 飞行速度 .

[0019] The route planning method for simultaneous arrival of multiple helicopters provided by the present invention also has the following feature: S5 includes setting the first virtual threat to a circle with the midpoint of the line formed by the initial position and the target position as the center, and the radius R of the circle is:

[0020]

[0021] Among them, L 载机-目标 Represents the shortest distance from the aircraft to the target, L 载机-目标 The solution is obtained using the great circle route calculation method.

[0022] The route planning method for simultaneous arrival of multiple helicopters provided by the present invention also has the following characteristics: three virtual threat circles V1, V2, and V3 are set as the second virtual threat with the target position as the center, and the centers of the three virtual threat circles are as follows:

[0023]

[0024] Among them, OV1 is the center of the virtual threat circle V1, OV2 is the center of the virtual threat circle V2, OV3 is the center of the virtual threat circle V3, a is the attack heading, R0 is the radius of the virtual threat circle, then

[0025] R0=V 飞行速度 ×V 飞行速度 / g.

[0026] The route planning method for simultaneous arrival of multiple helicopters provided by the present invention also has the following characteristics: three virtual threat circles V4, V5, and V6 are set as the third virtual threat with the position of the carrier as the center, and the centers of the three virtual threat circles are as follows:

[0027]

[0028] Among them, OV4 is the center of the virtual threat circle V4, OV5 is the center of the virtual threat circle V5, OV6 is the center of the virtual threat circle V6, β is the attack heading, R0 is the radius of the virtual threat circle, then

[0029] R0=V 飞行速度 ×V 飞行速度 / g.

[0030] The route planning method for simultaneous arrival of multiple helicopters provided by the present invention also has the following feature: the models of the lower left corner and the lower right corner of the planning range are as follows:

[0031]

[0032] Where n is the aircraft number.

[0033] The route planning method for simultaneous arrival of multiple helicopters provided by the present invention also has the following characteristics: the horizontal and vertical quantity calculation models of the planning grid are as follows:

[0034]

[0035] Among them, W 网格 The grid width ranges from 30 to 100.

[0036] The route planning method for simultaneous arrival of multiple helicopters provided by the present invention also has the following feature: S10 comprises:

[0037] The coordinate translation method is used to calculate the positions of battlefield threats and virtual threats corresponding to the planning grids, and the corresponding grid attributes are set to be impassable, otherwise they are set to be passable.

[0038] The route planning method for simultaneous arrival of multiple helicopters provided by the present invention also has the following feature: S11 comprises:

[0039] Use sparse A* algorithm to expand nodes. When the number of expanded nodes is not greater than Y num , X num When the planning grid through which the range and extension line segment passes does not exist and the attribute is inaccessible, the extension node is retained. When the distance between the extension node and the target position is less than 200, the planning is completed.

[0040] The route planning method for simultaneous arrival of multiple helicopters provided by the present invention also has the following feature: the dynamic expansion step length of the node is as follows:

[0041] Speed=pow(3,min_dis / R0)×200

[0042] Wherein, min_dis=min(a1,b1), a1 is the distance between the current extended node and the initial position of the carrier, and b1 is the distance between the current extended node and the target position.

[0043] Beneficial Effects

[0044] The route planning method for simultaneous arrival of multiple helicopters provided by the present invention achieves the purpose of simultaneously arriving at the specified bombing area and launching weapons by setting artificial virtual threats and adding redundant routes. The method expands the application field of route planning, increases the flexibility and adaptability of helicopter mission execution, improves the effect of target strike, and can provide a technical basis for the development of a coordinated attack fire control mission system. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 A flowchart of a method provided by an embodiment of the present invention;

[0047] Figure 2 is a schematic diagram of the position of a first virtual threat on a flight path in an embodiment of the present invention;

[0048] Figure 3 A schematic diagram of the position and size of a second virtual threat on a flight path in an embodiment of the present invention;

[0049] Figure 4 Schematic diagram of the position and size of the third virtual threat on the flight path in an embodiment of the present invention. DETAILED DESCRIPTION

[0050] The present application is further described in detail below in conjunction with the accompanying drawings and examples, but it should be noted that these implementation methods are not limitations of the present application, and equivalent changes or substitutions in functions, methods, or structures made by ordinary technicians in the field based on these implementation methods are all within the scope of protection of the present application.

[0051] In the description of the embodiments of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the creation of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the creation of the present application.

[0052] In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0053] The terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention of this application can be understood by specific circumstances.

[0054] like Figure 1-4 As shown, an embodiment of the present application provides a route planning method for simultaneous arrival of multiple helicopters, the method comprising:

[0055] S1: Get the target position, attack time and attack direction. The target position is in X 目标 ,Y 目标 express;

[0056] S2: Get the initial position, initial heading, and average flight speed of multiple aircraft. The aircraft position is expressed in X. 载机 ,Alt 载机 ,Y 载机 express;

[0057] S3: Obtain battlefield threat data; battlefield threat refers to an impassable area, and battlefield threat data refers to the location and range of the impassable area;

[0058] S4: Calculate the flight path length of each carrier aircraft based on the attack time and average flight speed;

[0059] S5: Calculate the straight-line flight distance according to the target position and the initial position of the carrier aircraft, and set the position and size of the first virtual threat on the flight path according to the straight-line flight distance and the length of the flight path to be flown;

[0060] S6: setting the position and size of the second virtual threat at the target location according to the attack course and the average flight speed;

[0061] S7: setting the position and size of the third virtual threat located at the initial position of each carrier aircraft according to the initial heading and the average flight speed;

[0062] S8: Calculate the planning range according to the position of each carrier and the target position;

[0063] S9: Set the grid width and generate the planning grid according to the planning range of S8;

[0064] S10: setting attributes of the planning grid according to the battlefield threat data obtained in S3, the position and size of the first virtual threat, the position and size of the second virtual threat, and the position and size of the third virtual threat;

[0065] S11: Plan the flight path of each helicopter in the planning grid using the sparse A* algorithm. In some embodiments, the length of the flight path of each helicopter in S4 is L 应飞路径 :

[0066] L 应飞路径 =(T 攻击时间 -T 开始时间 )×V 飞行速度 .

[0067] In some embodiments, S5 includes setting the first virtual threat to be a circle with a midpoint of a line formed by an initial position and a target position as a center, and a radius R of the circle is:

[0068]

[0069] Among them, L 载机-目标 Represents the shortest distance from the aircraft to the target, L 载机-目标 The solution is obtained using the great circle route calculation method.

[0070] In some embodiments, Figure 3 As shown, point o is the target position, the x-axis points to the north, the y-axis points to the east, a is the target attack heading, left deviation is positive, right deviation is negative, and three virtual threat circles V1, V2, and V3 are set with the target position as the center as the second virtual threat. The virtual threat circle V2 is on the reverse extension line of the target attack heading and the target position point o. The center line of the two virtual threat circles V1 and V3 is perpendicular to the target attack heading and passes through the target position point o.

[0071] The centers of the three virtual threat circles are as follows:

[0072]

[0073] Among them, OV1 is the center of the virtual threat circle V1, OV2 is the center of the virtual threat circle V2, OV3 is the center of the virtual threat circle V3, a is the attack heading, R0 is the radius of the virtual threat circle, then

[0074] R0=V 飞行速度 ×V 飞行速度 / g.

[0075] In some embodiments, Figure 4 As shown, point o is the initial position of the aircraft, the x-axis points to the north, and the y-axis points to the east, which is the initial heading. Left deviation is positive, and right deviation is negative. Three virtual threat circles V4, V5, and V6 are set with the aircraft position as the center as the third virtual threat. The virtual threat circle V5 is on the reverse extension line of the initial heading and the initial position o of the aircraft. The center line of the two virtual threat circles V4 and V6 is perpendicular to the initial heading and passes through the initial position o of the aircraft. The centers of the three virtual threat circles are as follows:

[0076]

[0077] Among them, OV4 is the center of the virtual threat circle V4, OV5 is the center of the virtual threat circle V5, OV6 is the center of the virtual threat circle V6, β is the attack heading, and R0 is the radius of the virtual threat circle.

[0078] R0=V 飞行速度 ×V 飞行速度 / g.

[0079] In some embodiments, the models of the lower left corner and the lower right corner of the planning range are as follows:

[0080]

[0081] Where n is the aircraft number.

[0082] In some embodiments, the horizontal and vertical quantity calculation models of the planning grid are as follows:

[0083]

[0084] Among them, W 网格 The grid width ranges from 30 to 100.

[0085] In some embodiments, the S10 includes:

[0086] The coordinate translation method is used to calculate the positions of battlefield threats and virtual threats corresponding to the planning grids, and the corresponding grid attributes are set to be impassable, otherwise they are set to be passable.

[0087] In some embodiments, the S11 includes:

[0088] Use sparse A* algorithm to expand nodes. When the number of expanded nodes is not greater than Y num , X num When the planning grid through which the range and extension line segment passes does not exist and the attribute is inaccessible, the extension node is retained. When the distance between the extension node and the target position is less than 200, the planning is completed.

[0089] In some embodiments, the dynamic expansion step of the node is as follows:

[0090] Speed=pow(3,min_dis / R0)×200

[0091] Wherein, min_dis=min(a1,b1), a1 is the distance between the current extended node and the initial position of the carrier, and b1 is the distance between the current extended node and the target position.

[0092] The above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application. The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present application, and these improvements and variations should also be regarded as the protection scope of the present application.

Claims

1. A route planning method for simultaneous arrival of multiple helicopters, characterized in that: The method comprises: S1: Get the target position, attack time and attack direction. The target position is in X 目标 ,Y 目标 express; S2: Get the initial position, initial heading, and average flight speed of multiple aircraft. The aircraft position is expressed in X. 载机 ,Alt 载机 ,Y 载机 express; S3: Obtain battlefield threat data; S4: Calculate the flight path length of each carrier aircraft based on the attack time and average flight speed; S5: Calculate the straight-line flight distance according to the target position and the initial position of the carrier aircraft, and set the position and size of the first virtual threat on the flight path according to the straight-line flight distance and the length of the flight path to be flown; S6: setting the position and size of the second virtual threat at the target location according to the attack course and the average flight speed; S7: setting the position and size of the third virtual threat located at the initial position of each carrier aircraft according to the initial heading and the average flight speed; S8: Calculate the planning range according to the position of each carrier and the target position; S9: Set the grid width and generate the planning grid according to the planning range of S8; S10: setting attributes of the planning grid according to the battlefield threat data obtained in S3, the position and size of the first virtual threat, the position and size of the second virtual threat, and the position and size of the third virtual threat; S11: Use the sparse A* algorithm to plan the flight path of each helicopter within the planning grid.

2. The method for simultaneous arrival of multiple helicopters according to claim 1, characterized in that: The length of the flight path of each helicopter in S4 is L 应飞路径 : L 应飞路径 =(T 攻击时间 -T 开始时间 )×V 飞行速度 。 3. The method for simultaneous arrival of multiple helicopters according to claim 1, characterized in that: The step S5 includes setting the first virtual threat to be a circle with the midpoint of the line formed by the initial position and the target position as the center, and the radius R of the circle is: Among them, L 载机-目标 Represents the shortest distance from the aircraft to the target, L 载机-目标 The solution is obtained using the great circle route calculation method.

4. The method for simultaneous arrival of multiple helicopters according to claim 1, characterized in that: Three virtual threat circles V1, V2, and V3 are set with the target position as the center as the second virtual threat, and the centers of the three virtual threat circles are as follows: OV1: OV2: OV3: Among them, OV1 is the center of the virtual threat circle V1, OV2 is the center of the virtual threat circle V2, OV3 is the center of the virtual threat circle V3, a is the attack heading, R0 is the radius of the virtual threat circle, then R0=V 飞行速度 ×V 飞行速度 / g。 5. The method for simultaneous arrival of multiple helicopters according to claim 1, characterized in that: With the position of the carrier as the center, three virtual threat circles V4, V5, and V6 are set as the third virtual threat. The centers of the three virtual threat circles are as follows: OV4: OV5: OV6: Among them, OV4 is the center of the virtual threat circle V4, OV5 is the center of the virtual threat circle V5, OV6 is the center of the virtual threat circle V6, β is the attack heading, R0 is the radius of the virtual threat circle, then R0=V 飞行速度 ×V 飞行速度 / g。 6. The method for simultaneous arrival of multiple helicopters according to claim 1, characterized in that: The models of the lower left and lower right corners of the planning range are as follows: Where n is the aircraft number.

7. The method for simultaneous arrival of multiple helicopters according to claim 1, characterized in that: The horizontal and vertical quantity calculation models of the planning grid are as follows: Among them, W 网格 The grid width ranges from 30 to 100.

8. The method for simultaneous arrival of multiple helicopters according to claim 1, characterized in that: The S10 includes: The coordinate translation method is used to calculate the positions of battlefield threats and virtual threats corresponding to the planning grids, and the corresponding grid attributes are set to be impassable, otherwise they are set to be passable.

9. The method for simultaneous arrival of multiple helicopters according to claim 1, characterized in that: The S11 includes: Use sparse A* algorithm to expand nodes. When the number of expanded nodes is not greater than Y num , X num When the planning grid through which the range and extension line segment passes does not exist and the attribute is inaccessible, the extension node is retained. When the distance between the extension node and the target position is less than 200, the planning is completed.

10. The route planning method for simultaneous arrival of multiple helicopters according to claim 9, characterized in that: The dynamic expansion step of the node is as follows: Speed=pow(3,min_dis / R0)×200 Wherein, min_dis=min(a1,b1), a1 is the distance between the current extended node and the initial position of the carrier, and b1 is the distance between the current extended node and the target position.

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