A method for allocating areas for collaborative reconnaissance of heterogeneous multi-platforms

Abstract

This invention provides a method for allocating areas for collaborative reconnaissance of heterogeneous multi-platforms, belonging to the field of aviation fire control technology. By establishing a detection performance function for heterogeneous platform sensors, the method allocates an area proportional to the sensor performance of each aircraft platform. Based on the principle of minimizing aircraft maneuvers and turns, the method divides the polygonal area parallel to the long side of the minimum-area circumscribed rectangle of the reconnaissance polygon, dividing the collaborative reconnaissance area into sub-areas equal to the number of aircraft platforms. This method implements collaborative reconnaissance area allocation and ensures comprehensive collaborative reconnaissance coverage of the target area.

Description

Technical Field

[0001] The present invention relates to the technical field of aviation fire control, and in particular provides a method for allocating areas for heterogeneous multi-platform collaborative reconnaissance. Background Art

[0002] Coordinated reconnaissance missions by multiple aircraft will become a crucial combat method on future battlefields. Dividing the coordinated reconnaissance area into sub-areas equal in number to the number of aircraft performing the mission effectively covers the entire reconnaissance area and reduces the complexity of coordinated reconnaissance planning. The rationality of the regional division directly impacts the implementation and efficiency of reconnaissance missions.

[0003] Current methods for region partitioning include centroid Voronoi diagram partitioning, fuzzy c-means clustering, polygon vertex-based area segmentation, and region rasterization allocation. However, these methods do not simultaneously consider factors such as sensor performance differences and the minimum number of aircraft maneuvers and turns during reconnaissance. This may lead to route conflicts during the execution of collaborative reconnaissance missions and is not conducive to improving reconnaissance efficiency. Summary of the Invention

[0004] The purpose of this application is to provide a method for allocating areas for collaborative reconnaissance of heterogeneous multi-platforms, which realizes the allocation of collaborative reconnaissance area polygons based on area, taking into account factors such as different performance parameters of sensors mounted on different aircraft and the minimum maneuvering turns of aircraft during reconnaissance.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a method for allocating areas for collaborative reconnaissance on heterogeneous multi-platforms, the method comprising:

[0006] S1: Obtain the polygon parameters of the collaborative reconnaissance area, the parameters of the aircraft performing the collaborative reconnaissance mission, the performance parameters of the optoelectronic sensor, and the reconnaissance altitude;

[0007] S2: Obtain the vertex coordinates and area of ​​the projection area of ​​the photoelectric sensor detection range of each aircraft on the ground plane;

[0008] S3: Based on the area obtained in S2, calculate the percentage of the area allocated to each aircraft to the area of ​​the collaborative reconnaissance area;

[0009] S4: Obtain the polygonal area of ​​the collaborative reconnaissance region and calculate the area of ​​the region to be allocated to each aircraft based on the percentage obtained in S3;

[0010] S5: Obtain the two long sides and two short sides of the minimum area circumscribed rectangle of the collaborative reconnaissance area polygon, use the two long sides as the starting left and right dividing boundary lines, and calculate the initial area dividing line parallel to the starting left and right dividing boundary lines based on the two short side vertices and the area percentage obtained in S3;

[0011] S6: Use the initial segmentation line calculated in S5 to segment the collaborative reconnaissance area polygon, calculate the area of ​​the segmented polygon, and iteratively calculate the segmentation line using the bisection method until the difference between the area of ​​the segmented polygon and the area of ​​the area to be allocated meets the regional segmentation accuracy requirement. Generate the allocated area and the remaining unallocated area, and record the segmentation line.

[0012] S7: Calculate the percentage of the area to be allocated to the next aircraft to the remaining unallocated area. Based on the segmentation line obtained in S6 and the initial right segmentation boundary line, calculate the initial segmentation line of the next aircraft. Repeat S6 to calculate the allocation area of ​​the next aircraft.

[0013] S8: Repeat S6-S7 until the allocation areas of all aircraft platforms are calculated, and obtain the final collaborative search area allocation result.

[0014] The heterogeneous multi-platform collaborative reconnaissance area allocation method provided by the present invention also has such a technical feature that the photoelectric sensor performance parameters in S1 include the sensor initial azimuth angle θ, the sensor initial pitch angle β, the sensor azimuth field of view angle α AZ and the sensor pitch field of view α EL .

[0015] The heterogeneous multi-platform collaborative reconnaissance area allocation method provided by the present invention also has the following technical features: in S2, the detection range of each aircraft's photoelectric sensor includes four vertices A, B, C, and D in the projection area of ​​the ground plane, and the coordinates of the four vertices are:

[0016]

[0017] Among them, H is the reconnaissance altitude of the aircraft, β is the initial pitch angle of the sensor, α EL is the sensor's pitch angle, θ is the sensor's initial azimuth angle, α AZ is the sensor azimuth field of view.

[0018] The heterogeneous multi-platform collaborative reconnaissance area allocation method provided by the present invention also has the following technical features: in S2, the projection area S of the detection range of each aircraft's photoelectric sensor on the ground plane is i for:

[0019]

[0020] The heterogeneous multi-platform collaborative reconnaissance area allocation method provided by the present invention also has the following technical features: S4 includes:

[0021] S4.1: Calculate the coordinates of the center point of the collaborative reconnaissance area polygon;

[0022] S4.2: Calculate the azimuth angles of the vertices of the collaborative reconnaissance area polygon relative to the center;

[0023] S4.3: Sort the azimuth angles of the polygon vertices relative to the center from smallest to largest, and find the counterclockwise order of the polygon vertices;

[0024] S4.4: Calculate the polygonal area of ​​the collaborative reconnaissance region;

[0025] S4.5: Calculate the area of ​​the region assigned to each aircraft based on the percentage of the area of ​​the coordinated reconnaissance region that the region assigned to each aircraft represents.

[0026] The heterogeneous multi-platform collaborative reconnaissance area allocation method provided by the present invention also has the following technical features: S5 includes:

[0027] S5.1: Calculate the minimum area bounding rectangle of the collaborative reconnaissance area polygon;

[0028] S5.2: Use the two long sides of the minimum area circumscribed rectangle as the starting left dividing boundary line LINE min and the starting right dividing boundary line LINE max ;

[0029] S5.3: Calculate the length of each short side based on the vertices and area percentage of the two short sides. The line segment formed by these two points is used as the initial dividing line LINE0 for the first aircraft area allocation. The initial dividing line LINE0 is parallel to the long side of the rectangle and perpendicular to the short side of the rectangle.

[0030] The heterogeneous multi-platform collaborative reconnaissance area allocation method provided by the present invention also has the following technical features: the dichotomy iterative calculation of the dividing line in S6 includes:

[0031] Calculate the area S(P1) of the segmented polygon P1 and compare it with the area S1 of the area to be allocated;

[0032] If the difference between S(P1) and S1 meets the area segmentation accuracy requirement, then polygon P1 is output as the area allocated to aircraft 1;

[0033] If S(P1) is less than S1 and the difference does not meet the area segmentation accuracy requirements, the initial segmentation line LINE0 is used as the left segmentation boundary LINE min , right split boundary LINE max Unchanged, calculate the left segmentation boundary LINE min , right split boundary LINE max The line at the 50% center position between the two polygons is used as the new dividing line LINE1 to re-divide the polygon P;

[0034] If S(P1) is greater than S1 and the difference does not meet the area segmentation accuracy requirements, the initial segmentation line LINE0 is used as the right segmentation boundary LINE max , left dividing boundary LINE min Unchanged, calculate the left segmentation boundary LINE min , right split boundary LINE max The line at the 50% center position between the two polygons is used as the new dividing line LINE1 to re-divide the polygon P;

[0035] Calculate the vertices of the polygon P1 and the remaining polygon P2, as well as the area S(P1) of the polygon P1, and compare them with the area S1 of the area to be allocated.

[0036] Beneficial effects

[0037] The heterogeneous multi-platform collaborative reconnaissance area allocation method provided by the present invention fully considers the differences in sensor performance of different aircraft platforms in the process of realizing area-based collaborative reconnaissance area segmentation. The area of ​​the polygonal area is segmented by selecting the long side direction parallel to the minimum area circumscribed rectangle of the reconnaissance area polygon, so as to minimize the maneuvering turns of the reconnaissance aircraft, improve the reconnaissance efficiency, reduce the possibility of conflict when multiple aircraft perform collaborative reconnaissance tasks, and has fast calculation speed and is easy to apply in engineering. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments. 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 any creative work.

[0039] Figure 1 This is a schematic diagram of the detection field of view of the photoelectric sensor mentioned in an embodiment of the present invention;

[0040] Figure 2 Select a schematic diagram for the initial segmentation line;

[0041] Figure 3 Schematic diagram of the area divided by dichotomy according to area;

[0042] Figure 4 Schematic diagram of the remaining proportion division. DETAILED DESCRIPTION

[0043] The present application is further described in detail below with reference to the accompanying drawings and examples. However, it should be noted that these embodiments are not limitations of the present application, and any equivalent transformations or substitutions in functions, methods, or structures made by ordinary technicians in this field based on these embodiments are within the scope of protection of the present application.

[0044] 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.

[0045] Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified with "first," "second," etc., may explicitly or implicitly include one or more of the features. In the description of the inventions of this application, unless otherwise specified, "plurality" means two or more.

[0046] The terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. A person of ordinary skill in the art will understand the specific meanings of these terms in the context of this application based on specific circumstances.

[0047] like Figure 1-4 As shown, an embodiment of the present application provides a method for allocating areas for collaborative reconnaissance on heterogeneous multi-platforms, the method comprising:

[0048] S1: The number of vertices of the polygon P in the collaborative reconnaissance area is n, and the vertex coordinates in the rectangular coordinate system of the geodesic plane are (P 1x ,P 1y ),(P 2x ,P 2y ),…,(P nx ,P ny ), the number of aircraft performing collaborative reconnaissance missions m, the reconnaissance altitude H of each aircraft, and the performance of optoelectronic sensors;

[0049] S2: Obtain the vertex coordinates and area of ​​the projection area of ​​the photoelectric sensor detection range of each aircraft on the ground plane;

[0050] S3: Based on the area obtained in S2, calculate the percentage of the area allocated to each aircraft to the area of ​​the collaborative reconnaissance area;

[0051] S4: Obtain the polygonal area of ​​the collaborative reconnaissance region and calculate the area of ​​the region to be allocated to each aircraft based on the percentage obtained in S3;

[0052] S5: Obtain the two long sides and two short sides of the minimum area circumscribed rectangle of the collaborative reconnaissance area polygon, use the two long sides as the starting left and right dividing boundary lines, and calculate the initial area dividing line parallel to the starting left and right dividing boundary lines based on the two short side vertices and the area percentage obtained in S3. The initial dividing line is parallel to the long side of the rectangle and perpendicular to the short side of the rectangle, ensuring the minimum number of turns during the aircraft platform reconnaissance.

[0053] S6: Use the initial segmentation line calculated in S5 to segment the collaborative reconnaissance area polygon, calculate the area of ​​the segmented polygon, and iteratively calculate the segmentation line using the bisection method until the difference between the area of ​​the segmented polygon and the area of ​​the area to be allocated meets the regional segmentation accuracy requirement. Generate the allocated area and the remaining unallocated area, and record the segmentation line.

[0054] S7: Calculate the percentage of the area to be allocated to the next aircraft to the remaining unallocated area. Based on the segmentation line obtained in S6 and the initial right segmentation boundary line, calculate the initial segmentation line of the next aircraft. Repeat S6 to calculate the allocation area of ​​the next aircraft.

[0055] S8: Repeat S6-S7 until the allocation areas of all aircraft platforms are calculated, and obtain the final collaborative search area allocation result.

[0056] In some embodiments, the photoelectric sensor performance parameters in S1 include the sensor initial azimuth angle θ, the sensor initial pitch angle β, the sensor azimuth field of view angle α in the body coordinate system OXYZf AZ and the sensor pitch field of view α EL .

[0057] In some embodiments, in S2, it is assumed that the aircraft is flying level and facing north. The projection area of ​​the detection range of each aircraft's photoelectric sensor on the ground plane includes four vertices A, B, C, and D. The coordinates of the four vertices are:

[0058]

[0059] Among them, H is the reconnaissance altitude of the aircraft, β is the initial pitch angle of the sensor, α EL is the sensor's pitch angle, θ is the sensor's initial azimuth angle, α AZ is the sensor azimuth field of view.

[0060] In some embodiments, in S2, the projection area S of the detection range of each aircraft's photoelectric sensor on the ground plane is i for:

[0061]

[0062] In some embodiments, based on the detection area of ​​each aircraft's photoelectric sensor, the percentage of the area allocated to each aircraft in the collaborative reconnaissance area is calculated as follows:

[0063]

[0064] In some embodiments, the S4 includes:

[0065] S4.1: Calculate the coordinates of the center point of the collaborative reconnaissance area polygon:

[0066]

[0067] S4.2: Calculate the azimuth angles of the vertices of the collaborative reconnaissance area polygon relative to the center:

[0068]

[0069] S4.3: Sort the azimuth angles of the polygon vertices relative to the center from smallest to largest, and find the counterclockwise order of the polygon vertices;

[0070] S4.4: Calculate the polygonal area of ​​the collaborative reconnaissance region as:

[0071]

[0072] Among them, P n+1x =P 1x ,P n+1y =P 1y ;

[0073] S4.5: Calculate the area assigned to each aircraft based on the percentage of the area of ​​the coordinated reconnaissance area to which it is assigned:

[0074]

[0075] In some embodiments, the S5 includes:

[0076] S5.1: Calculate the minimum area bounding rectangle of the collaborative reconnaissance area polygon;

[0077] S5.2: Use the two long sides of the minimum area circumscribed rectangle as the starting left dividing boundary line LINE min and the starting right dividing boundary line LINE max ;

[0078] S5.3: Calculate the length of each short side based on the vertices and area percentage of the two short sides. The line segment formed by these two points is used as the initial dividing line LINE0 for the first aircraft area allocation. The initial dividing line LINE0 is parallel to the long side of the rectangle and perpendicular to the short side of the rectangle.

[0079] In some embodiments, the S5.1 includes:

[0080] 1) Rotate the polygon around its center point, with an angle interval of 1°, within the range of [0°, 90°], and calculate the position of each vertex of the polygon after each rotation.

[0081] 2) Based on the positions of the vertices of the rotated polygon, find the maximum and minimum values ​​of the two-dimensional plane coordinates, and calculate the coordinates and area of ​​the four vertices of the circumscribed rectangle.

[0082] 3) Store the vertex coordinates, area and rotation angle of the polygon's circumscribed rectangle at each rotation angle.

[0083] 4) Compare each minimum enclosing rectangle and find the enclosing rectangle with the smallest area.

[0084] 5) Rotate the smallest enclosing rectangle in the opposite direction by the same amount to obtain the minimum enclosing rectangle of the polygon.

[0085] In some embodiments, the iterative calculation of the dividing line by the binary division method in S6 includes:

[0086] Calculate the area S(P1) of the segmented polygon P1 and compare it with the area S1 of the area to be allocated;

[0087] If the difference between S(P1) and S1 meets the area segmentation accuracy requirement, then polygon P1 is output as the area allocated to aircraft 1;

[0088] If S(P1) is less than S1 and the difference does not meet the area segmentation accuracy requirements, the initial segmentation line LINE0 is used as the left segmentation boundary LINE min , right split boundary LINE max Unchanged, calculate the left segmentation boundary LINE min , right split boundary LINE max The line at the 50% center position between the two polygons is used as the new dividing line LINE1 to re-divide the polygon P;

[0089] If S(P1) is greater than S1 and the difference does not meet the area segmentation accuracy requirements, the initial segmentation line LINE0 is used as the right segmentation boundary LINE max , left dividing boundary LINE min Unchanged, calculate the left segmentation boundary LINE min , right split boundary LINE maxThe line at the 50% center position between the two polygons is used as the new dividing line LINE1 to re-divide the polygon P;

[0090] Calculate the vertices of the polygon P1 and the remaining polygon P2, as well as the area S(P1) of the polygon P1, and compare them with the area S1 of the area to be allocated.

[0091] In some embodiments, the step S7 includes: calculating the percentage of the area of ​​the next aircraft to be allocated to the remaining unallocated area P2 Use the last final dividing line LINE as the starting left dividing boundary LINE min , the right long side of the minimum area circumscribed rectangle of the collaborative reconnaissance area is used as the starting right segmentation boundary LINE max , allocate the unallocated area P2. Use the same method as S6 to obtain the allocation area for the next aircraft.

[0092] The above description is merely 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 within the scope of protection of the present application. The above description is merely a preferred embodiment of the present application. It should be noted that those skilled in the art can make various improvements and variations without departing from the technical principles of the present application, and such improvements and variations shall also be considered within the scope of protection of the present application.

Claims

1. A method for allocating areas for collaborative reconnaissance of heterogeneous multi-platforms, characterized in that: The method comprises: S1: Obtain the polygonal parameters of the collaborative reconnaissance area, the number of aircraft performing the collaborative reconnaissance mission, the performance parameters of the optoelectronic sensor, and the reconnaissance altitude; S2: Obtain the vertex coordinates and area of ​​the projection area of ​​the photoelectric sensor detection range of each aircraft on the ground plane; S3: Based on the area obtained in S2, calculate the percentage of the area allocated to each aircraft to the area of ​​the collaborative reconnaissance area; S4: Obtain the polygonal area of ​​the collaborative reconnaissance region and calculate the area of ​​the region to be allocated to each aircraft based on the percentage obtained in S3; S5: Obtain the two long sides and two short sides of the minimum area circumscribed rectangle of the collaborative reconnaissance area polygon, use the two long sides as the starting left and right dividing boundary lines, and calculate the initial area dividing line parallel to the starting left and right dividing boundary lines based on the two short side vertices and the area percentage obtained in S3; S6: Use the initial segmentation line calculated in S5 to segment the collaborative reconnaissance area polygon, calculate the area of ​​the segmented polygon, and iteratively calculate the segmentation line using the bisection method until the difference between the area of ​​the segmented polygon and the area of ​​the area to be allocated meets the regional segmentation accuracy requirement. Generate the allocated area and the remaining unallocated area, and record the segmentation line. S7: Calculate the percentage of the area to be allocated to the next aircraft to the remaining unallocated area. Based on the segmentation line obtained in S6 and the initial right segmentation boundary line, calculate the initial segmentation line of the next aircraft. Repeat S6 to calculate the allocation area of ​​the next aircraft. S8: Repeat S6-S7 until the allocation areas of all aircraft platforms are calculated, and obtain the final collaborative reconnaissance area allocation result.

2. The method for allocating heterogeneous multi-platform collaborative reconnaissance areas according to claim 1, characterized in that: The performance parameters of the photoelectric sensor in S1 include the initial azimuth angle of the sensor , sensor initial pitch angle , sensor azimuth field of view and the sensor's pitch field of view .

3. The method for allocating heterogeneous multi-platform collaborative reconnaissance areas according to claim 1, characterized in that: In S2, the detection range of each aircraft's photoelectric sensor includes four vertices A, B, C, and D in the projection area of ​​the ground plane. The coordinates of the four vertices are: Among them, H is the reconnaissance altitude of the aircraft, is the initial pitch angle of the sensor, is the sensor's pitch field of view, is the initial azimuth of the sensor, is the sensor azimuth field of view.

4. The method for allocating heterogeneous multi-platform collaborative reconnaissance areas according to claim 3, characterized in that: In S2, the detection range of each aircraft's photoelectric sensor is the projected area on the ground plane. for: ， Where i=1,2,…,m, and m is the number of aircraft performing the coordinated reconnaissance mission.

5. The method for allocating heterogeneous multi-platform collaborative reconnaissance areas according to claim 1, characterized in that: The S4 includes: S4.1: Calculate the coordinates of the center point of the collaborative reconnaissance area polygon; S4.2: Calculate the azimuth angles of the vertices of the collaborative reconnaissance area polygon relative to the center; S4.3: Sort the azimuth angles of the polygon vertices relative to the center from smallest to largest, and find the counterclockwise order of the polygon vertices; S4.4: Calculate the polygonal area of ​​the collaborative reconnaissance region; S4.5: Calculate the area of ​​the region assigned to each aircraft based on the percentage of the area of ​​the coordinated reconnaissance region that the region assigned to each aircraft represents.

6. The method for allocating heterogeneous multi-platform collaborative reconnaissance areas according to claim 1, characterized in that: The S5 includes: S5.1: Calculate the minimum area bounding rectangle of the collaborative reconnaissance area polygon; S5.2: Use the two long sides of the minimum area circumscribed rectangle as the starting left dividing boundary lines. and the starting right dividing boundary line ; S5.3: Based on two short side vertices and area percentage , calculate the length of the two short sides respectively The line segment formed by these two points is used as the initial dividing line for the first aircraft area allocation , initial dividing line Parallel to the long side of the rectangle and perpendicular to the short side of the rectangle.

7. The method for allocating heterogeneous multi-platform collaborative reconnaissance areas according to claim 1, characterized in that: The iterative calculation of the dividing line by the binary division method in S6 includes: Calculate the segmented polygons Area , and the area to be allocated Compare; like and If the difference between the two meets the area segmentation accuracy requirement, the output polygon As the area allocated to aircraft 1; like Less than If the difference does not meet the area segmentation accuracy requirements, the initial segmentation line As the left dividing boundary , right split boundary No change, calculate the left segmentation boundary , right split boundary The line at the 50% center position between the two is used as the new dividing line , for polygons Re-dividing; like Greater than If the difference does not meet the area segmentation accuracy requirements, the initial segmentation line As the right dividing boundary , left splitting boundary No change, calculate the left segmentation boundary , right split boundary The line at the 50% center position between the two is used as the new dividing line , for polygons Re-dividing; Calculate the polygons segmented at this time and the remaining polygons The vertices of the polygon Area , and the area to be allocated Compare.

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