Aircraft collaborative task chain reconstruction method

Abstract

The invention belongs to the technical field of aircraft cooperative task chain reconstruction, and particularly relates to an aircraft cooperative task chain reconstruction method, which provides an efficiency calculation method for four types of cooperative tasks of detection, positioning, interference and release, defines a measurement index and reconstruction logic thereof, and can realize the reconstruction of an aircraft cooperative task chain according to the change of an environment situation in a task execution process. Dynamic adjustment and redistribution of the tasks are efficiently achieved, and dynamic reconstruction of the collaborative task chain is completed.

Description

Technical Field

[0001] The present application belongs to the technical field of aircraft collaborative task chain reconstruction, and specifically relates to an aircraft collaborative task chain reconstruction method. Background Art

[0002] Dynamic reconfiguration theory originated from dynamically reconfigurable computer systems. In the 1960s, Geraid Estrin, the founder of the Department of Computer Science at the University of California, Los Angeles, first proposed the concept of reconfigurable computing, which is to design a variable computer architecture that can be configured with a specific instruction set so that the computer structure can be transformed into a dedicated computer structure for a specific algorithm, thus laying the foundation for reconfigurable computing.

[0003] In the late 1970s, Suetlana P. Kartashev and Dr. Steven I. Kartashev of the Soviet Union proposed the concept of dynamically reconfigurable systems and conducted research on the software and hardware of integrated circuit dynamically reconfigurable systems, truly realizing that the system can have both hardware efficiency and software flexibility.

[0004] In the 1980s, Xilinx's first SRAM-based FPGA was launched, marking the beginning of modern reconfigurable computing technology. Reconfigurable computing theory has entered the stage of division by the granularity of reconfigurable components. Granularity refers to the data bit width of the basic execution unit of the reconfigurable component, which is divided into fine granularity and coarse granularity. The finer the granularity, the better the versatility of the reconfigurable component, but the configuration is complex, and the optimal processing structure cannot be obtained under certain specific algorithms. Coarse granularity is aimed at other specific application fields, such as cryptography, multimedia processing, etc., the structure is easy to optimize, and the configuration is relatively simple.

[0005] Reconfigurable computing theory is divided into static reconfiguration and dynamic reconfiguration. Static reconfiguration refers to pre-configuration before the reconfigurable component is run, and the function remains unchanged during the operation. Dynamic reconfiguration refers to real-time configuration during the operation of the reconfigurable component, that is, changing the circuit structure to achieve other different functions.

[0006] Reconfigurable systems are widely used in many areas, such as big data computing, sonar beam synthesis, genome matching, image texture filling, integrated circuit computer-aided design, etc. In recent years, the concept of reconfiguration has been gradually transplanted and generalized, and widely used in software radio, agile flexible networks, modular robots, reconfigurable manufacturing systems, and service-oriented architecture information systems.

[0007] Since the 21st century, the mission requirements under information conditions have made the aircraft collaborative mission system generally have strong adaptive and self-organizing characteristics, and also have effective coordination and collaboration capabilities in performance. The rapidly changing environmental situation requires it to respond quickly, use and allocate resources quickly and effectively, that is, to break the original resource combination and reorganize it for the task. Therefore, the research on dynamic reconstruction theory has gradually penetrated into the field of aircraft collaborative missions, and the reconfigurable function has also become one of the necessary functions of the new collaborative mission system.

[0008] However, currently, due to the lack of clear measurement indicators and reconstruction logic for effectiveness evaluation, the reconstruction of the aircraft collaborative task chain is inefficient and unreasonable, and limited resources cannot be effectively utilized.

[0009] This application is proposed in view of the above-mentioned technical defects. Summary of the invention

[0012] The purpose of the present application is to provide an aircraft collaborative task chain reconstruction method to overcome or alleviate at least one of the known technical deficiencies.

[0013] The technical solution of this application is:

[0014] An aircraft collaborative task chain reconstruction method includes reconstructing according to a reconstruction logic within a reconstruction time when a reconstruction condition is triggered;

[0015] Reconstruction conditions include:

[0016] The coordinated mission chain is stopped due to the malfunction, damage or failure of the aircraft, including the failure of the aircraft's sensors, which leads to the interruption of the detection mission;

[0017] Some aircraft resources are withdrawn from the current mission scenario;

[0018] The aircraft failed to achieve the target during the mission, including failure to detect the target after covering the detection range;

[0019] The exhaustion of essential aircraft resources, including fuel and time in the air;

[0020] The mission objectives are reduced, and some aircraft resources are released and can be reconfigured for other missions;

[0021] As the mission objectives increase, the current aircraft resource allocation needs to be optimized and adjusted overall;

[0022] The reconstruction time is calculated as:

[0023] t r =t rend -t rstart ;

[0024] Among them, tr is the reconstruction time, t rstart To start reconstruction time, t rend The time when the aircraft arrives at the mission execution range;

[0025] The reconstruction logic includes reconstruction logic in the detection phase, reconstruction logic in the positioning phase, reconstruction logic in the interference phase, and reconstruction logic in the delivery phase;

[0026] The reconstruction logic in the detection phase specifically includes:

[0027] If a plane that is performing a detection mission crashes, a replacement plane will be selected and the detection mission will be redistributed;

[0028] If the aircraft fails to detect the target, it will switch to other detection sensors / aircraft according to the current situation and distance, including photoelectric detection or radar coordinated range extension;

[0029] The detection aircraft allows reconfiguration into the jamming delivery, jamming, and positioning phases of other collaborative mission chains;

[0030] The reconstruction logic in the detection phase specifically includes:

[0031] If the aircraft performing the positioning task crashes, a replacement aircraft will be selected and the positioning task will be reassigned;

[0032] If an aircraft performing optoelectronic coordinated positioning crashes, optoelectronic coordinated positioning cannot be performed; if the target being positioned disappears, a new target will be selected for optoelectronic positioning;

[0033] If the target being located disappears, the corresponding aircraft will be replaced by a substitute aircraft;

[0034] If a new positioning target appears, the delivery task allocation is allowed after stable tracking;

[0035] The positioning aircraft allows reconfiguration to the delivery and jamming phases of other collaborative mission chains;

[0036] The reconstruction logic in the interference phase specifically includes:

[0037] If the aircraft performing the jamming mission crashes, a replacement aircraft will be selected and the jamming mission will be redistributed;

[0038] Aircraft currently performing jamming missions are allowed to reconfigure to the delivery phase of other coordinated mission chains;

[0039] If the target being interfered disappears, the corresponding aircraft becomes a substitute aircraft; four aircraft carrying ESMs perform interference missions, and after the target disappears, interference with other targets or ESM coordinated detection or positioning is allowed;

[0040] If a new interference target appears, an aircraft is assigned to interfere with the new target, while keeping the assigned interference result unchanged; traverse the four surviving aircraft carrying ESM, and give priority to the aircraft closest to the new target to interfere with the new target. If the nearest aircraft has not turned on ESM interference, the nearest aircraft is selected to interfere with the new target; if the nearest aircraft has turned on ESM interference, angle calculation is performed. If the angle θ between the line connecting the aircraft and the interference target and the line connecting the aircraft and the interfered target is <3°, it is considered that two targets can be interfered with at the same time, and the new target is interfered with by the aircraft at the same time. If not, the next closest aircraft and the third closest aircraft are judged in turn to see whether they can interfere with the new target. If there is no aircraft that meets the conditions for interfering with the new target, the new target is placed on hold for allocation until there is an interference aircraft that meets the conditions or the target disappears;

[0041] The reconstruction logic of the launch phase specifically includes:

[0042] When the target is tracked stably, the delivery pre-allocation is first performed, and the allocation plan is updated in real time;

[0043] If a target is stably tracked, the delivery advantage of available aircraft relative to the target is calculated, and the aircraft with the greatest delivery advantage is selected to issue a delivery instruction, and the delivery sequence matrix and the remaining delivery amount are updated;

[0044] If multiple targets are stably tracked, the average threat level of all aircraft is sorted according to the target, and the target with the largest average threat level is released first. The release advantage of the aircraft relative to the target is calculated, and the aircraft with the largest release advantage is selected to issue the release command, and the release sequence matrix and the remaining release amount are updated;

[0045] If a plane that is performing a delivery mission crashes, a replacement plane will be selected and the delivery mission will be reassigned;

[0046] If the aircraft has no remaining drops, select a replacement aircraft and redistribute the drops;

[0047] If the target of the delivery disappears, the corresponding aircraft will be turned into a substitute aircraft and the delivery task will be assigned first;

[0048] If a new delivery target appears, calculate the delivery advantage of available aircraft relative to the target, select the aircraft with the greatest delivery advantage to issue a delivery instruction, and update the remaining delivery quantity;

[0049] If the service reports that the delivery misses the target, an aircraft with the greatest delivery advantage under the current situation will be selected to deliver the target.

[0050] Optionally, the above aircraft collaborative task chain reconstruction method further includes calculating the overall collaborative task chain computing efficiency at the current moment:

[0051] c=w1*c1+w2*c2+w3*c3+…wi *c i ;

[0052] in,

[0053] c is the computing efficiency of the overall collaborative task chain at the current moment, where c i is the efficiency of the stage of the i-th collaborative task chain at the current moment, w i is the corresponding weight.

[0054] Optionally, in the above-mentioned aircraft collaborative task chain reconstruction method, each collaborative task chain includes complete detection, positioning, tracking, and delivery stages;

[0055] in,

[0056] Detection effectiveness includes ESM detection effectiveness, photoelectric detection effectiveness, radar detection effectiveness, and the total effectiveness of the detection scheme;

[0057] Positioning efficiency includes ESM positioning efficiency, optoelectronic positioning efficiency, radar positioning efficiency, and the overall efficiency of the positioning solution.

[0058] Optionally, in the above-mentioned aircraft collaborative task chain reconstruction method, the ESM detection effectiveness calculation model is:

[0059] S ESM =w 1ESM *t ESM +w 2ESM *cost dESM ;

[0060]

[0061]

[0062] in,

[0063] t ESM is the ESM detection time performance, T DESM is the ESM detection time, v is the aircraft speed, X distanceESM The distance between the aircraft formation and the mission area when the ESM detection sensor is turned on;

[0064] cost dESM is the cost-effectiveness of ESM detection, n uESM Number of aircraft used for ESM detection, n all is the number of all aircraft;

[0065] S ESM is the ESM detection performance, w 1ESM 、w 2ESM is the corresponding weight, w 1ESM +w 2ESM =1;

[0066] The photoelectric detection efficiency calculation model is:

[0067] S eo =w 1eo *t eo +w 2eo *cost deo ;

[0068]

[0069]

[0070] in,

[0071] t e0 is the photoelectric detection time efficiency, T Deo is the photoelectric detection time, v is the aircraft speed, X distanceeo The distance between the aircraft formation and the photoelectric detection mission area when the photoelectric detection sensor is turned on;

[0072] n ueo Number of aircraft used for photoelectric detection, n all is the number of all aircraft;

[0073] S eo is the photoelectric detection efficiency, w 1eo 、w 2eo is the corresponding weight, with w 1eo +w 2eo =1;

[0074] The radar detection effectiveness calculation model is:

[0075] S radar =w 1rada *w p *t rada +w 2rada *cost drada ;

[0076]

[0077]

[0078]

[0079] in,

[0080] t rada is the radar detection time efficiency, T Drada is the radar detection time, v is the aircraft speed, X distance The distance of the aircraft formation from the mission area when the sensors are turned on for radar detection;

[0081] cost drada is the radar detection cost effectiveness, n urada Number of aircraft used for radar detection, n all is the number of all aircraft;

[0082] S radar is the radar detection efficiency, w p is the penalty weight, w 1rada 、w 2rada is the corresponding weight, w 1rada +w 2rada =1;

[0083] X is the distance between the aircraft and the center of the radar detection mission area, and Distance is the radar detection distance.

[0084] Optionally, in the above-mentioned aircraft collaborative task chain reconstruction method, the total effectiveness of the detection scheme is:

[0085]

[0086] in,

[0087] S total is the total effectiveness of the detection scheme, and n is the number of detection sensor activation types.

[0088] Optionally, in the above-mentioned aircraft collaborative task chain reconstruction method, the ESM positioning effectiveness calculation model is:

[0089] s ESM =W 1ESM *T c +W 2ESM *T t +W 3ESM *COST dESM ;

[0090]

[0091]

[0092]

[0093]

[0094]

[0095] in,

[0096] C ESM is the ESM positioning accuracy performance, L errorAdd the error dθ on both sides to the target azimuth, call the locate2() function, and get the error line length between the positioning results containing the error. R is the distance from the host to the target.

[0097] T ESM Positioning time loss performance for ESM, D ESM is the lateral adjustment spacing length of the ESM positioning auxiliary machine, and v is the flight speed;

[0098] COST dESM Positioning cost-effectiveness for ESM, N uESM The number of aircraft used for positioning, n all is the number of all aircraft;

[0099] s ESM is the ESM positioning performance, W 1ESM , W 2ESM , W 3ESM is the corresponding weight, and W 1ESM +W 2ESM +W 3ESM =1,T cESM 、T tESM is an intermediate calculation variable;

[0100] The photoelectric positioning efficiency calculation model is:

[0101] s eo =W 1eo *C eo +W 2eo *T teo +W 3eo *COST deo ;

[0102]

[0103]

[0104]

[0105]

[0106] in,

[0107] C eo is the photoelectric positioning accuracy performance, X is the distance of the positioning target, and e is the photoelectric positioning error;

[0108] T eo Photoelectric positioning time loss efficiency, D eo is the lateral adjustment spacing length of the photoelectric positioning auxiliary machine, and v is the flight speed;

[0109] COST deois the cost-effectiveness of optoelectronic positioning, n ueo Number of aircraft used for optoelectronic positioning, n all is the number of all aircraft;

[0110] s eo is the photoelectric positioning efficiency, W 1eo , W 2eo , W 3eo is the corresponding weight, and W 1eo +W 2eo +W 3eo =1,T teo Intermediate calculation variables;

[0111] The radar positioning effectiveness calculation model is:

[0112] s radar = w 1radar *C radar +w 2radar *T tradar +w 3radar *COST dradar ;

[0113]

[0114]

[0115] T radar =t s ;

[0116]

[0117] in,

[0118] C radar is the radar positioning accuracy performance, RCS is the RCS value of the radar relative to the target, R is the distance between the radar and the target, and k is the adaptation constant;

[0119] T radar is the radar positioning time loss efficiency, t s is the radar sensor reaction time;

[0120] COST dradar is the radar positioning cost effectiveness, n uradar The number of aircraft used for radar positioning, n all is the number of all aircraft;

[0121] s radar is the radar positioning efficiency, w 1radar 、w 2radar 、w 3radar is the corresponding weight, with w 1radar +w 2radar+w 3radar =1,T tradar Intermediate calculation variables.

[0122] Optionally, in the above-mentioned aircraft collaborative task chain reconstruction method, the total efficiency of the positioning solution is:

[0123]

[0124] Among them, s total is the total effectiveness of the positioning solution, N is the number of detected targets, is the positioning performance of the positioning target N.

[0125] Optionally, in the above-mentioned aircraft collaborative task chain reconstruction method, the interference effectiveness calculation model is:

[0126]

[0127] in,

[0128] P j is the interference power, P max is the maximum interference power of the radar.

[0129] Optionally, in the above-mentioned aircraft collaborative task chain reconstruction method, the delivery effectiveness calculation model is:

[0130] T=w A T A +w V T V +w H T H +w R T R ;

[0131]

[0132]

[0133]

[0134] R rT >R rF , R mT >R mF hour:

[0135]

[0136] R rF >R rT , R mT >R mF hour:

[0137]

[0138] R rT >R rF , R mF >R mT hour:

[0139]

[0140] R rF >R rT , R mF >R mT hour:

[0141]

[0142] in,

[0143] T A is the angle threat index, is the aircraft azimuth, q T is the target entry angle;

[0144] T V is the speed threat index, V F is the velocity vector of the aircraft, V T is the velocity vector of the target;

[0145] T H is the altitude threat index, H is the relative altitude, the difference between the target altitude and the aircraft altitude;

[0146] T R is the distance threat index, R rF , R rT is the maximum detection distance of the aircraft and the target by the airborne radar, R mF , R mT is the maximum range of the aircraft and the target, and R is the relative distance;

[0147] T is the delivery efficiency, w A 、w V 、w H 、w R is the weight of the corresponding threat indicator.

[0148] Optionally, in the above aircraft collaborative task chain reconstruction method, w A 、w V 、w H 、w R Take 0.23, 0.2, 0.24, and 0.33.

[0149] This application has at least the following beneficial technical effects:

[0150] A method for reconstructing the aircraft collaborative task chain is provided, which provides an efficiency calculation method for four types of collaborative tasks: detection, positioning, interference, and delivery. The measurement indicators and their reconstruction logic are clarified. During the task execution, according to the changes in the environmental situation, the dynamic adjustment and reallocation of tasks can be efficiently realized, thus completing the dynamic reconstruction of the collaborative task chain. BRIEF DESCRIPTION OF THE DRAWINGS

[0151] Figure 1 is a schematic diagram of a single-machine photoelectric detection model provided in an embodiment of the present application;

[0152] Figure 2 is a schematic diagram of an optoelectronic dual-machine detection model provided in an embodiment of the present application;

[0153] Figure 3 is a schematic diagram of a radar stand-alone detection model provided in an embodiment of the present application;

[0154] Figure 4 It is a schematic diagram of a radar dual-machine detection model provided in an embodiment of the present application;

[0155] Figure 5 is a schematic diagram of a detection scheme generation method provided in an embodiment of the present application;

[0156] Figure 6 is a schematic diagram of adding a radar detection allocation scheme provided in an embodiment of the present application;

[0157] Figure 7 is a schematic diagram of a method for forming a detection scheme provided in an embodiment of the present application;

[0158] Figure 8 Schematic diagram of the ESM positioning accuracy performance calculation provided by the embodiment of the present application;

[0159] Fig. 9 is a schematic diagram of a method for generating a positioning solution provided in an embodiment of the present application;

[0160] Fig.10 It is a schematic diagram of adding a new target to update the positioning solution provided in an embodiment of the present application;

[0161] Fig.11 is a schematic diagram of a method for forming a positioning solution provided in an embodiment of the present application;

[0162] Fig.12 is a schematic diagram of radar interference provided by an embodiment of the present application;

[0163] Fig.13 It is a schematic diagram of a reconstruction logic diagram provided in an embodiment of the present application;

[0164] Fig.14 is a schematic diagram of the reconstruction logic of the detection phase provided in an embodiment of the present application;

[0165] Fig.15 It is a logical diagram of reconstruction in the positioning phase provided in an embodiment of the present application;

[0166] Fig.16 It is a schematic diagram of the interference phase reconstruction logic provided by an embodiment of the present application;

[0167] Fig.17 is a schematic diagram of angle calculation provided in an embodiment of the present application;

[0168] Fig.18 It is a schematic diagram of the reconstruction logic of the delivery phase provided in an embodiment of the present application.

[0169] In order to better illustrate the present embodiment, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product. In addition, the drawings are only used for illustrative purposes and should not be construed as limitations on the present application. DETAILED DESCRIPTION

[0170] In order to make the technical solution and advantages of the present application clearer, the technical solution of the present application will be described in further detail in detail and in detail with reference to the accompanying drawings. It can be understood that the specific embodiments described here are only partial embodiments of the present application, which are only used to explain the present application, not to limit the present application. It should be noted that, for the convenience of description, only the parts related to the present application are shown in the accompanying drawings, and other related parts can refer to the general design.

[0171] In addition, unless otherwise defined, the technical terms or scientific terms used in the description of this application shall have the usual meanings understood by those of ordinary skill in the art to which this application belongs. The words used in the description of this application to indicate orientation are only used to indicate relative directions or positional relationships. When the absolute position of the described object changes, its relative positional relationship may also change accordingly. The word "include" used in the description of this application indicates that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, but does not exclude other elements or objects.

[0172] In addition, it should be noted that, unless otherwise clearly specified and limited, the words "installation", "connection" and similar terms used in the description of this application should be understood in a broad sense. For example, the connection can be a fixed connection or a detachable 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. Technical personnel in the field can understand its specific meaning in this application according to the specific circumstances.

[0173] A method for reconstructing aircraft collaborative task chains was proposed. An efficiency calculation model was given for four types of collaborative tasks: detection, positioning, interference, and delivery. A reconstructed task allocation model was also provided.

[0174] Detection effectiveness includes ESM detection effectiveness, photoelectric detection effectiveness, radar detection effectiveness, and the overall effectiveness of the detection scheme.

[0175] Positioning efficiency includes ESM positioning efficiency, optoelectronic positioning efficiency, radar positioning efficiency, and the overall efficiency of the positioning solution.

[0176] The resources needed for detection include radar and photoelectric radar. The performance of radar and photoelectric radar includes detection distance and detection angle range.

[0177] ESM detection effectiveness includes ESM detection time effectiveness and ESM detection cost effectiveness.

[0178] Factors considered in the ESM detection time effectiveness include the length of the ESM detection mission area, the width of the ESM detection mission area, the longitudinal stable coverage length, the distance from the center of the aircraft formation to the center of the ESM detection mission area, the ESM detection radius, the lateral deviation distance between the center of the aircraft formation and the center of the target, the distance between the aircraft formation members, the aircraft speed, and the distance between the aircraft formation and the mission area when the ESM detection sensor is turned on.

[0179] The ESM detection time efficiency calculation model is shown in the following formula 1:

[0180]

[0181] in,

[0182] t ESM is the ESM detection time performance, T DESM is the ESM detection time, v is the aircraft speed, X distanceESM The distance between the aircraft formation and the mission area when the ESM detection sensor is turned on.

[0183] The ESM detection time calculation model is shown in Equation 2:

[0184]

[0185] in,

[0186] D l is the length of the ESM detection mission area, D w is the width of the ESM detection mission area, L is the longitudinal stable coverage length, S is the distance from the center of the aircraft formation to the center of the ESM detection mission area, v is the aircraft speed, R is the ESM detection radius, S w It is the lateral deviation distance between the center of the aircraft formation and the center of the target.

[0187] The factors considered in the cost-effectiveness of ESM detection include the number of aircraft used for ESM detection and the number of all aircraft. The ESM detection cost-effectiveness calculation model is shown in Formula 3 below:

[0188]

[0189] Among them, cost dESM is the cost-effectiveness of ESM detection, n uESM Number of aircraft used for ESM detection, n all For all aircraft numbers.

[0190] The ESM detection effectiveness calculation model is constructed as shown in Equation 4:

[0191] S ESM =w 1ESM *t ESM +w 2ESM *cost dESM …………4

[0192] Among them, S ESM is the ESM detection performance, w 1ESM 、w 2ESM is the corresponding weight, w 1ESM +w 2ESM =1.

[0193] Photoelectric detection efficiency includes photoelectric detection time efficiency and photoelectric detection cost efficiency.

[0194] Only two aircraft carry photoelectric sensors, and two aircraft need to be selected for positioning during the photoelectric positioning stage. Therefore, during photoelectric detection, the two aircraft cooperate in photoelectric detection. The maximum distance of photoelectric detection is 80km.

[0195] The factors considered in the photoelectric detection time efficiency include the length of the photoelectric detection task area, the width of the photoelectric detection task area, the longitudinal stable coverage length, the distance from the center of the aircraft formation to the center of the photoelectric detection task area, the photoelectric detection radius, the photoelectric detection angle, the lateral deviation distance between the center of the aircraft formation and the center of the target, the distance between the members of the aircraft formation, the aircraft speed, and the distance between the aircraft formation and the photoelectric detection task area when the photoelectric detection sensor is turned on. The photoelectric detection time efficiency calculation model is shown in Formula 5 below:

[0196]

[0197] Among them, t e0 is the photoelectric detection time efficiency, T Deo is the photoelectric detection time, v is the aircraft speed, X distanceeo The distance between the aircraft formation and the photoelectric detection mission area when the photoelectric detection sensor is turned on.

[0198] Photoelectric single-machine detection model Figure 1 As shown, the photoelectric single-machine detection time calculation model is shown in Formula 6:

[0199]

[0200] Among them, D l is the length of the photoelectric detection task area, D w is the width of the photoelectric detection mission area, L is the longitudinal stable coverage length, S is the distance from the center of the aircraft formation to the center of the photoelectric detection mission area, v is the aircraft speed, R is the photoelectric detection radius, T D is the photoelectric detection time, θ is the photoelectric detection angle, S w It is the lateral deviation distance between the aircraft formation and the target center.

[0201] Optoelectronic dual-machine detection model Figure 2 As shown, the photoelectric dual-machine detection time calculation model is shown in Formula 7:

[0202]

[0203] Among them, D l is the length of the photoelectric detection task area, D w is the width of the photoelectric detection mission area, L is the longitudinal stable coverage length, S is the distance from the center of the aircraft formation to the center of the photoelectric detection mission area, v is the aircraft speed, R is the photoelectric detection radius, T D is the photoelectric detection time, θ is the photoelectric detection angle, S w is the lateral deviation distance between the center of the aircraft formation and the center of the target, and W is the aircraft formation distance.

[0204] The factors considered in the cost-effectiveness of photoelectric detection include the number of aircraft used for photoelectric detection and the number of all aircraft. The cost-effectiveness calculation model of photoelectric detection is shown in the following formula 8:

[0205]

[0206] Among them, n ueo Number of aircraft used for photoelectric detection, n all For all aircraft numbers.

[0207] The photoelectric detection efficiency calculation model is constructed as shown in Formula 9:

[0208] S eo =w 1eo *t eo +w 2eo *cost deo …………9

[0209] in,

[0210] Seo is the photoelectric detection efficiency, w 1eo 、w 2eo is the corresponding weight, with w 1eo +w 2eo =1.

[0211] Radar detection effectiveness includes radar detection time effectiveness and radar detection cost effectiveness.

[0212] Radar detection range extension requires two aircraft to work together. The host aircraft selects the aircraft closest to the target, and the aircraft closest to the host aircraft is the slave aircraft. The maximum radar detection distance is 160km.

[0213] The factors considered in radar detection time effectiveness include the length of the radar detection mission area, the width of the radar detection mission area, the longitudinal stable coverage length, the distance from the center of the aircraft formation to the center of the radar detection mission area, the radar detection radius, the radar detection angle, the lateral deviation distance between the center of the aircraft formation and the center of the target, the distance between the members of the aircraft formation, the aircraft speed, and the distance between the aircraft formation and the radar detection mission area when the sensor is turned on. The radar detection time effectiveness calculation model is shown in Formula 10:

[0214]

[0215] Among them, t rada is the radar detection time efficiency, T Drada is the radar detection time, v is the aircraft speed, X distance The distance of the aircraft formation from the mission area when the sensors are turned on for radar detection.

[0216] The radar single-machine detection model is as follows Figure 3 As shown, the radar single-machine detection time calculation model is shown in the following formula 11:

[0217]

[0218] Among them, D l is the length of the radar detection mission area, D w is the width of the radar detection mission area, L is the longitudinal stable coverage length, S is the distance from the center of the aircraft formation to the center of the area, v is the aircraft speed, R is the radar detection radius, T D is the radar detection time, θ is the photoelectric radar detection angle, S w It is the lateral deviation distance between the aircraft and the target center.

[0219] The radar dual-aircraft detection model is as follows Figure 4 As shown, the radar dual-aircraft detection time calculation model is shown in the following formula 12:

[0220]

[0221] Among them, D l is the length of the radar detection mission area, D w is the width of the radar detection mission area, L is the longitudinal stable coverage length, S is the distance from the center of the aircraft formation to the center of the radar detection mission area, v is the aircraft speed, R is the radar detection radius, T D is the radar detection time, θ is the radar detection angle, S w is the lateral deviation distance between the center of the aircraft formation and the center of the target, and W is the aircraft formation distance.

[0222] The factors considered in radar detection cost effectiveness include: the number of aircraft used for radar detection and the number of all aircraft. The radar detection cost effectiveness calculation model is shown in the following formula 13:

[0223]

[0224] Among them, cost drada is the radar detection cost effectiveness, n urada Number of aircraft used for radar detection, n all For all aircraft numbers.

[0225] The radar detection effectiveness calculation model is constructed as shown in the following formula 14:

[0226] S radar =w 1rada *w p *t rada +w 2rada *cost drada …………14

[0227] Among them, S radar is the radar detection efficiency, w p is the penalty weight, w 1rada 、w 2rada is the corresponding weight, w 1rada +w 2rada =1.

[0228] The calculation model of penalty weight is shown in Formula 15:

[0229]

[0230] Where X is the distance between the aircraft and the center of the radar detection mission area, and Distance is the radar detection distance. When the radar is turned on at a long distance, its effectiveness is reduced and it is not considered to be turned on.

[0231] The overall effectiveness of the detection scheme, the effectiveness of which is calculated by considering factors including the ESM detection effectiveness S ESM , Photoelectric detection efficiency S eo , radar detection effectiveness S radar, calculated by weighted average:

[0232]

[0233] in,

[0234] S total is the total effectiveness of the detection scheme, and n is the number of detection sensor activation types.

[0235] In the entire detection process, ESM detection is first turned on. At this moment, a plan is generated, and an aircraft is selected to perform ESM detection according to the optimal plan. The detection time and detection cost are calculated by the formula, and Plan 2 and Plan 3 are generated by selecting the suboptimal allocation method. The plan generation method is as follows: Figure 5 As shown in the figure: When the radar opening condition is met, the radar detection time and radar detection cost are calculated to obtain the most efficient solution. The aircraft sensor is selected based on the efficiency optimization. At this time, the above solution will be as follows Figure 6 Add the radar detection allocation scheme, and the final solution is as follows Figure 7 .

[0236] ESM positioning selects the two aircraft that detect the target in the detection phase to switch to ESM dual-aircraft positioning. The positioning efficiency is a weighted combination of positioning accuracy and positioning cost. Radar positioning selects the aircraft that detects the target in the detection phase. Among the targets detected by optoelectronics, a target with the greatest threat is determined. The aircraft closest to this target is the master, and the aircraft closest to the master is the slave, and the targets are collaboratively positioned.

[0237] The ESM positioning performance calculation includes ESM positioning accuracy performance, time loss, and positioning cost performance.

[0238] The factors considered in ESM positioning accuracy performance include host position, auxiliary position, target position, target azimuth, target azimuth error, positioning result with error, error line length, and host-to-target distance. The ESM positioning accuracy performance calculation diagram is shown in the figure below. Figure 8 As shown in the figure, P0 represents the host, P1 represents the auxiliary machine, T represents the target, θ represents the target azimuth, the target azimuth adds the error dθ on both sides, calls the locate2() function, obtains the positioning results T1(x1,y1,z1) and T2(x2,y2,z2) containing errors, and calculates the error line length L error =||T1-T2||, and compared with the distance from the host to the target R=||P0T||, the ESM positioning accuracy performance calculation model is shown in the following formula 17:

[0239]

[0240] in,

[0241] C ESM is the ESM positioning accuracy performance, L error Add the error dθ on both sides to the target azimuth, call the locate2() function, and get the error line length between the positioning results containing the error. R is the distance from the host to the target.

[0242] The factors considered in the ESM positioning time loss include the auxiliary aircraft lateral adjustment spacing length and flight speed. The calculation model is shown in the following formula 18:

[0243]

[0244] in,

[0245] T ESM The time loss efficiency of ESM positioning. The host flies in a straight line toward the target according to the predetermined trajectory. ESM is the lateral adjustment spacing length of the ESM positioning auxiliary machine, and v is the flight speed.

[0246] The factors considered in the cost-effectiveness of ESM positioning include the number of aircraft used for positioning and the number of all aircraft. The calculation model is shown in Equation 19:

[0247]

[0248] in,

[0249] COST dESM Positioning cost-effectiveness for ESM, N uESM The number of aircraft used for positioning, n all For all aircraft numbers.

[0250] The ESM positioning efficiency calculation model is constructed as shown in equations 20, 21, and 22:

[0251] s ESM =W 1ESM *T c +W 2ESM *T t +W 3ESM *COST dESM …………20

[0252]

[0253]

[0254] Among them, s ESM is the ESM positioning performance, W 1ESM , W 2ESM , W 3ESM is the corresponding weight, and W 1ESM +W 2ESM +W3ESM =1,T cESM 、T tESM Intermediate calculation variables.

[0255] Photoelectric positioning performance is evaluated based on sensor performance indicators. The positioning error value uploaded by the simulation system and the distance to the target are selected. By judging the error value with each target, the target for photoelectric collaborative positioning is selected comprehensively to ensure that the positioning error is as small as possible.

[0256] The calculation of photoelectric positioning efficiency includes photoelectric positioning accuracy efficiency, time loss, and photoelectric positioning cost efficiency.

[0257] The positioning accuracy of photoelectricity is taken as the positioning error value e uploaded by the simulation system. Different error values ​​are obtained according to different selected targets, and the minimum error value is selected for allocation.

[0258] The factors considered in the photoelectric positioning accuracy performance include the photoelectric positioning error and the approximate distance of the positioning target. The calculation model is as follows:

[0259]

[0260] Among them, C eo is the photoelectric positioning accuracy performance, X is the distance of the positioning target, and e is the photoelectric positioning error.

[0261] The factors considered in the photoelectric positioning time loss include the auxiliary aircraft lateral adjustment spacing length and flight speed. The calculation model is as follows:

[0262]

[0263] in,

[0264] T eo Photoelectric positioning time loss efficiency, the host flies in a straight line towards the target according to the predetermined trajectory, D eo is the lateral adjustment spacing length of the optoelectronic positioning auxiliary machine, and v is the flight speed.

[0265] The factors considered in the cost-effectiveness of optoelectronic positioning include the number of aircraft used for positioning and the number of all aircraft. The calculation model is as follows:

[0266]

[0267] Among them, COST deo is the cost-effectiveness of optoelectronic positioning, n ueo Number of aircraft used for optoelectronic positioning, n all For all aircraft numbers.

[0268] The photoelectric positioning efficiency calculation model is constructed as follows:

[0269] s eo =W 1eo *C eo +W 2eo *T teo +W 3eo *COST deo …………26

[0270]

[0271] Among them, s eo is the photoelectric positioning efficiency, W 1eo , W 2eo , W 3eo is the corresponding weight, and W 1eo +W 2eo +W 3eo =1,T teo Intermediate calculation variables.

[0272] The radar positioning performance is evaluated based on the radar detection probability index. The detection probability is obtained by solving the relationship between the target's RCS value relative to the aircraft and the distance. By judging the detection probability with each target, the target for radar positioning is comprehensively considered to ensure that the detection probability is as large as possible. The positioning accuracy of the radar is taken as the RCS of the target relative to the aircraft. Different RCS values ​​are obtained according to different selected targets, and the largest value is selected for distribution.

[0273] Radar positioning efficiency calculation includes radar positioning accuracy efficiency, time loss, and photoelectric positioning cost efficiency.

[0274] The factors considered in radar positioning accuracy include the RCS value of the radar relative to the target, the distance between the radar and the target, and the adaptation constant. The calculation model is as follows:

[0275]

[0276] Among them, C radar is the radar positioning accuracy performance, RCS is the RCS value of the radar relative to the target, R is the distance between the radar and the target, and k is the adaptation constant.

[0277] When two aircraft locate the target at the same time, the radar positioning accuracy efficiency is calculated as follows:

[0278]

[0279] Among them, RCS1 is the RCS value of radar 1 relative to the target, RCS2 is the RCS value of radar 2 relative to the target, R1 is the distance between radar 1 and the target, and R2 is the distance between radar 2 and the target.

[0280] The factors considered in the radar positioning time loss performance include the radar sensor response time, and the calculation model is as follows:

[0281] T radar =t s …………30

[0282] in,

[0283] T radar is the radar positioning time loss efficiency, t s is the radar sensor response time.

[0284] The factors considered in the cost-effectiveness of radar positioning include the number of aircraft used for positioning and the number of all aircraft. The calculation model is as follows:

[0285]

[0286] in,

[0287] COST dradar is the radar positioning cost effectiveness, n uradar The number of aircraft used for radar positioning, n all For all aircraft numbers.

[0288] The radar positioning efficiency calculation model is constructed as follows:

[0289] s radar = w 1radar *C radar +w 2radar *T tradar +w 3radar *COST dradar …………32

[0290]

[0291] Among them, s radar is the radar positioning efficiency, w 1radar 、w 2radar 、w 3radar is the corresponding weight, w 1radar +w 2radar +w 3radar =1,T tradar Intermediate calculation variables.

[0292] The overall effectiveness of the positioning solution, its effectiveness calculation factors include ESM positioning effectiveness, optoelectronic positioning effectiveness, and radar positioning effectiveness.

[0293] In the entire positioning task process, ESM collaborative positioning is first turned on. At this moment, a plan is generated, and the aircraft is selected for ESM collaborative positioning according to the optimal plan. The positioning time and positioning accuracy are calculated by the formula, and the second and third plans are generated by selecting the suboptimal allocation method. The plan generation method is as follows: Fig. 9 When a new target is generated, the solution will be updated to include the solution and performance of the new target. The process is as follows Fig.10 When the radar sensor is turned on, if the radar sensor's accuracy is better than that of the ESM, it will be replaced. The target solution is as follows: Fig.11 shown.

[0294] The total effectiveness of the positioning solution is calculated by weighted average, and the total effectiveness calculation model of the positioning solution is constructed as shown in the following formula 34:

[0295]

[0296] Among them, s total is the total effectiveness of the positioning solution, N is the number of detected targets, is the positioning performance of the positioning target N.

[0297] Jamming effectiveness, based on factors such as aircraft performance, sensor performance, and target radar information, is achieved by selecting mission aircraft to form a jamming mission aircraft formation to achieve coordinated jamming of the target. In the process of aircraft formation coordinated jamming, due to the different jamming suppression distances, in order to meet the requirements of the jamming area, the size of the jamming power and the number of aircraft required will also be different. Therefore, it is necessary to select appropriate jamming mission aircraft through task allocation to achieve the optimal configuration under the constraints of jamming efficiency, energy loss, and the number of coordinated aircraft.

[0298] The factors to be considered in terms of jamming effectiveness include jamming distance, jamming power, and maximum jamming power of radar.

[0299] Radar jammer schematic diagram Fig.12 The triangle represents the aircraft, the rectangle represents the interference target, and the circle represents another target that the aircraft is interfering with. t is the distance between the aircraft and the interference target, R j is the distance between the aircraft and the jammed target.

[0300] The target echo signal equivalent power calculation model is as follows:

[0301]

[0302] in,

[0303] P rs is the target echo signal equivalent power, P t is the radar transmitting pulse power, G tis the transmitting antenna gain, λ is the signal wavelength, σ is the radar cross-section of the target, R t is the distance between the aircraft and the interference target.

[0304] The calculation model of interference signal equivalent power is as follows:

[0305]

[0306]

[0307] in,

[0308] P rj is the interference signal equivalent power, P j is the interference power, G j is the receiving antenna gain, λ is the signal wavelength, G t (θ) is the intermediate calculation variable, γ j is the polarization mismatch loss, generally taken as 0.5, R j is the distance between the aircraft and the jammed target, θ is the angle between the line connecting the aircraft and the jamming target and the line connecting the aircraft and the jammed target, G t is the transmitting antenna gain, θ 0.5 is the radar beam width, K is the calculation constant of the equivalent power of the interference signal, and is between 0.04 and 0.10.

[0309] When θ<θ is satisfied, the interference is considered successful, and θ is the maximum angle between two targets that can be interfered with simultaneously, which is 3.

[0310] Combining equations (35) and (36), we can get the interference power P j :

[0311]

[0312] The interference effectiveness can be obtained by calculating the ratio of the interference power to the maximum interference power of the radar, and the interference effectiveness calculation model can be constructed as shown in the following formula39:

[0313]

[0314] in,

[0315] P j is the interference power, P max is the maximum interference power of the radar.

[0316] In order to quantify the threat level of the target to the aircraft, the situation threat index is selected. The situation threat index includes angle threat index, speed threat index, height threat index and distance threat index.

[0317] The factors considered in calculating the angle threat index include the aircraft azimuth angle and the target entry angle. The calculation model is as follows:

[0318]

[0319] in,

[0320] T A is the angle threat index, is the aircraft azimuth, q T is the target entry angle.

[0321] The factors considered in calculating the speed threat index include the aircraft's speed vector and the target's speed vector. The calculation model is as follows:

[0322]

[0323] in,

[0324] T V is the speed threat index, V F is the velocity vector of the aircraft, V T is the velocity vector of the target.

[0325] The factors considered in calculating the altitude threat index include relative altitude, and the calculation model is as follows:

[0326]

[0327] in,

[0328] T H is the altitude threat index, H is the relative altitude, which is the difference between the target altitude and the aircraft altitude.

[0329] Factors considered in the calculation of the distance threat index include the maximum detection distance of the aircraft's airborne radar, the maximum detection distance of the target's airborne radar, the maximum range of the aircraft's launch, and the maximum range of the target's launch.

[0330] When calculating the distance threat index, it is necessary to consider the airborne radar detection distance and projection range between the aircraft and the target, and calculate it according to the following four situations, see equations 43 to 46:

[0331] Case 1: R rT >R rF , R mT >R mF :

[0332]

[0333] Case 2: R rF >R rT , R mT >RmF :

[0334]

[0335] Case 3: R rT >R rF , R mF >R mT :

[0336]

[0337] Case 4: R rF >R rT , R mF >R mT :

[0338]

[0339] in,

[0340] T R is the distance threat index, R rF , R rT is the maximum detection distance of the aircraft and the target by the airborne radar, R mF , R mT is the maximum range between the aircraft and the target, R is the relative distance, and H is the relative height, which is the difference between the target height and the aircraft height.

[0341] The threat level value can be expressed as the weighted sum of each threat index, and the delivery effectiveness calculation model is constructed as follows:

[0342] T=w A T A +w V T V +w H T H +w R T R …………47

[0343] in,

[0344] T is the delivery efficiency, w A 、w V 、w H 、w R To correspond to the weights of threat indicators, the fuzzy analytic hierarchy process can be used to analyze the weights as 0.23, 0.2, 0.24, and 0.33.

[0345] Calculate the delivery advantage of the aircraft to the target, that is, the threat index of the aircraft to the target. The calculation model is the same as formula 40 to 47. The delivery advantage is composed of the weighted angle advantage, speed advantage, height advantage, and distance advantage. Delivery advantage is an important indicator to measure the delivery effect.

[0346] Factors considered in refactoring task allocation include refactoring conditions, computing efficiency of the overall collaborative task chain at the current moment, refactoring time, and refactoring logic.

[0347] Reconstruction conditions include:

[0348] The coordinated task chain is stopped due to the failure, damage or malfunction of the aircraft. For example, the failure of a sensor of an aircraft leads to the interruption of the detection task.

[0349] Some aircraft resources are withdrawn from the current mission scenario;

[0350] The aircraft failed to achieve the target during the mission, such as failing to find the target after covering the detection range;

[0351] The exhaustion of necessary resources, such as fuel and time in the air;

[0352] With fewer targets, some aircraft resources are freed up and reconfigured for other missions;

[0353] As the goals increase, overall optimization and adjustment of current task resource allocation is required.

[0354] The calculation model of the overall collaborative task chain computing efficiency at the current moment is as follows:

[0355] c=w1*c1+w2*c2+w3*c3+…w i *c i …………48

[0356] in,

[0357] c is the computing efficiency of the overall collaborative task chain at the current moment, where c i is the efficiency of the stage of the i-th collaborative task chain at the current moment, w i is the corresponding weight.

[0358] The calculation model of reconstruction time is as follows:

[0359] t r =t rend -t rstart …………49

[0360] Among them, t r is the reconstruction time, t rstart To start reconstruction time, t rend It is the moment when the aircraft arrives at the mission execution range.

[0361] The reconstruction logic includes reconstruction in the detection phase, reconstruction in the positioning phase, reconstruction in the interference phase, and reconstruction in the delivery phase. Fig.13 shown.

[0362] The reconstruction logic in the detection phase is as follows Fig.14 As shown, specifically:

[0363] If a plane that is performing a detection mission crashes, a replacement plane will be selected and the detection mission will be redistributed;

[0364] If the aircraft fails to detect the target, it will switch to other detection sensors / detection aircraft according to the current situation and distance, such as photoelectric detection or radar coordinated range extension;

[0365] A collaborative task chain includes a complete process of detection, positioning, tracking, and delivery, that is, realizing the closed loop of OODA. The delivery effect on the target can most intuitively illustrate the advantages and disadvantages of the collaborative task chain. The delivery task has the highest priority, and the aircraft will be executed first, followed by interference and positioning. The detection aircraft may be reconstructed into the interference delivery, interference, and positioning stages of other collaborative task chains.

[0366] The reconstruction logic in the detection phase is as follows Fig.15 As shown, specifically:

[0367] If the aircraft performing the positioning task crashes, a replacement aircraft will be selected and the positioning task will be reassigned;

[0368] If one of the aircraft performing electro-optical co-location crashes, electro-optical co-location will not be possible;

[0369] If the target being located disappears, the corresponding aircraft will be replaced by a substitute aircraft;

[0370] Photoelectric collaborative positioning is that two aircraft carrying photoelectric devices locate a target. If the target being located disappears, a new target is selected for photoelectric positioning. ESM collaborative positioning requires the location target number reported by the service to be sent down.

[0371] If a new positioning target appears, the delivery task allocation can be executed after stable tracking, which may form a new collaborative task chain;

[0372] The priority of delivery and interference tasks is higher than positioning, and the positioning aircraft may be reconstructed into the delivery and interference stages of other collaborative task chains.

[0373] The reconstruction logic of the interference phase is as follows Fig.16 As shown, specifically:

[0374] If the aircraft performing the jamming mission crashes, a replacement aircraft will be selected and the jamming mission will be redistributed;

[0375] The priority of the delivery mission is higher than that of the interference mission. The aircraft that is performing the interference mission may be reconfigured to the delivery phase of other collaborative mission chains.

[0376] If the target being interfered disappears, the corresponding aircraft becomes a substitute aircraft; the four aircraft carrying ESMs perform interference missions, and after the target disappears, they may interfere with other targets or conduct ESM coordinated detection or positioning;

[0377] When a new interference target appears, an aircraft is assigned to interfere with the new target, while keeping the assigned interference result unchanged; traverse the four surviving aircraft carrying ESM, and give priority to the aircraft closest to the new target to interfere with the new target. If the nearest aircraft has not turned on ESM interference, the nearest aircraft is selected to interfere with the new target; if the nearest aircraft has turned on ESM interference, angle calculation is performed. The angle calculation diagram is shown in the figure. Fig.17 In the figure, the triangle represents the aircraft, the rectangle represents the interference target, and the circle represents another target that the aircraft is interfering with. t is the distance between the aircraft and the interference target, R j is the distance between the aircraft and the interfered target. The angle θ between the line connecting the aircraft and the interference target and the line connecting the aircraft and the interfered target is used to determine whether the aircraft can interfere with two enemy targets at the same time. If θ<3°, it is considered that it can interfere simultaneously. The aircraft will interfere with the new target at the same time. If the aircraft with the closest distance and ESM interference turned on cannot interfere with two targets at the same time, the aircraft with the second closest distance will be judged. If the aircraft with the second closest distance does not meet the conditions for interfering with the new target, the aircraft with the third closest target will continue to be judged. If there is no aircraft that meets the conditions for interfering with the new target, the new target will be placed on hold until there is an interfering aircraft that meets the conditions or the target disappears.

[0378] The reconstructed logic diagram in the deployment phase is as follows Fig.18 As shown, specifically:

[0379] When the target is tracked stably, the delivery pre-allocation is first performed, and the allocation plan is updated in real time;

[0380] If a target is stably tracked, the delivery advantage of available aircraft relative to the target is calculated, and the aircraft with the greatest delivery advantage is selected to issue a delivery instruction, and the delivery sequence matrix and the remaining delivery amount are updated;

[0381] If multiple targets are stably tracked, the average threat level of all aircraft is sorted according to the target, and the target with the largest average threat level is released first. The release advantage of the aircraft relative to the target is calculated, and the aircraft with the largest release advantage is selected to issue the release command, and the release sequence matrix and the remaining release amount are updated;

[0382] When the target enters the maximum delivery area or the inescapable distance and meets the delivery conditions, coordinated delivery is carried out;

[0383] If a plane that is performing a delivery mission crashes, a replacement plane will be selected and the delivery mission will be reassigned;

[0384] If the aircraft has no remaining drops, select a replacement aircraft and redistribute the drops;

[0385] If the target of the delivery disappears, the corresponding aircraft will be turned into a substitute aircraft and the delivery task will be assigned first;

[0386] If a new delivery target appears, calculate the delivery advantage of available aircraft relative to the target, select the aircraft with the greatest delivery advantage to issue a delivery instruction, and update the remaining delivery quantity;

[0387] If the service reports that the delivery misses the target, an aircraft with the greatest delivery advantage under the current situation will be selected to deliver the target.

[0388] The aircraft collaborative task chain reconstruction method disclosed in the above-mentioned embodiment provides an efficiency calculation method for four types of collaborative tasks: detection, positioning, interference, and delivery. It clarifies the measurement indicators and their reconstruction logic. It can efficiently realize the dynamic adjustment and reallocation of tasks according to changes in environmental conditions during the execution of the tasks, thereby completing the dynamic reconstruction of the collaborative task chain.

[0389] The aircraft collaborative task chain reconstruction method disclosed in the above embodiment sets performance functions for the four processes of collaborative task chain detection, positioning, interference, and delivery, and quantitatively evaluates task requirements during task execution. It can calculate in real time the changes in task performance of each link in the collaborative task chain. When a collaborative task chain is in a closed-loop process and the situation changes and the collaborative task chain needs to be reconstructed, the reallocated aircraft can be calculated.

[0390] So far, the technical solution of the present application has been described in conjunction with the preferred embodiments shown in the accompanying drawings. Those skilled in the art should understand that the scope of protection of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the scope of protection of the present application.

Claims

1. A method for reconstructing an aircraft collaborative task chain, characterized in that: This includes refactoring according to the refactoring logic within the refactoring time when the refactoring condition is triggered; Reconstruction conditions include: The coordinated task chain is stopped due to the failure, damage or malfunction of the aircraft, including the failure of the aircraft's sensors, which leads to the interruption of the detection mission; Some aircraft resources are withdrawn from the current mission scenario; The aircraft failed to achieve the target during the mission, including failure to detect the target after covering the detection range; The exhaustion of essential aircraft resources, including fuel and time in the air; The mission objectives are reduced, and some aircraft resources are released and can be reconfigured for other missions; As the mission objectives increase, the current aircraft resource allocation needs to be optimized and adjusted overall; The reconstruction time is calculated as: t r =t rend -t rstart ; Among them, t r is the reconstruction time, t rstart To start reconstruction time, t rend The time when the aircraft arrives at the mission execution range; The reconstruction logic includes reconstruction logic in the detection phase, reconstruction logic in the positioning phase, reconstruction logic in the interference phase, and reconstruction logic in the delivery phase; The reconstruction logic in the detection phase specifically includes: If a plane that is performing a detection mission crashes, a replacement plane will be selected and the detection mission will be redistributed; If the aircraft fails to detect the target, it will switch to other detection sensors / aircraft according to the current situation and distance, including photoelectric detection or radar coordinated range extension; The detection aircraft allows reconfiguration into the jamming delivery, jamming, and positioning phases of other collaborative mission chains; The reconstruction logic in the detection phase specifically includes: If the aircraft performing the positioning task crashes, a replacement aircraft will be selected and the positioning task will be reassigned; If an aircraft performing optoelectronic coordinated positioning crashes, optoelectronic coordinated positioning cannot be performed; if the target being positioned disappears, a new target will be selected for optoelectronic positioning; If the target being located disappears, the corresponding aircraft will be replaced by a substitute aircraft; If a new positioning target appears, the delivery task allocation is allowed after stable tracking; The positioning aircraft allows reconfiguration to the delivery and jamming phases of other collaborative mission chains; The reconstruction logic in the interference phase specifically includes: If the aircraft performing the jamming mission crashes, a replacement aircraft will be selected and the jamming mission will be redistributed; Aircraft currently performing jamming missions are allowed to reconfigure to the delivery phase of other coordinated mission chains; If the target being interfered disappears, the corresponding aircraft becomes a substitute aircraft; four aircraft carrying ESMs perform interference missions, and after the target disappears, interference with other targets or ESM coordinated detection or positioning is allowed; If a new interference target appears, an aircraft is assigned to interfere with the new target, while keeping the assigned interference result unchanged; traverse the four surviving aircraft carrying ESM, and give priority to the aircraft closest to the new target to interfere with the new target. If the nearest aircraft has not turned on ESM interference, the nearest aircraft is selected to interfere with the new target; if the nearest aircraft has turned on ESM interference, angle calculation is performed. If the angle θ between the line connecting the aircraft and the interference target and the line connecting the aircraft and the interfered target is <3°, it is considered that two targets can be interfered with at the same time, and the new target is interfered with by the aircraft at the same time. If not, the next closest aircraft and the third closest aircraft are judged in turn to see whether they can interfere with the new target. If there is no aircraft that meets the conditions for interfering with the new target, the new target is placed on hold for allocation until there is an interference aircraft that meets the conditions or the target disappears; The reconstruction logic of the launch phase specifically includes: When the target is tracked stably, the delivery pre-allocation is first performed, and the allocation plan is updated in real time; If a target is stably tracked, the delivery advantage of available aircraft relative to the target is calculated, and the aircraft with the greatest delivery advantage is selected to issue a delivery instruction, and the delivery sequence matrix and the remaining delivery amount are updated; If multiple targets are stably tracked, the average threat level of all aircraft is sorted according to the target, and the target with the largest average threat level is released first. The release advantage of the aircraft relative to the target is calculated, and the aircraft with the largest release advantage is selected to issue the release command, and the release sequence matrix and the remaining release amount are updated; If a plane that is performing a delivery mission crashes, a replacement plane will be selected and the delivery mission will be reassigned; If the aircraft has no remaining drops, select a replacement aircraft and redistribute the drops; If the target of the delivery disappears, the corresponding aircraft will be turned into a substitute aircraft and the delivery task will be assigned first; If a new delivery target appears, calculate the delivery advantage of available aircraft relative to the target, select the aircraft with the greatest delivery advantage to issue a delivery instruction, and update the remaining delivery quantity; If the service reports that the delivery misses the target, an aircraft with the greatest delivery advantage under the current situation will be selected to deliver the target.

2. The aircraft collaborative task chain reconstruction method according to claim 1, characterized in that: It also includes calculating the computing efficiency of the overall collaborative task chain at the current moment: c=w1*c1+w2*c2+w3*c3+…w i *c i ; in, c is the computing efficiency of the overall collaborative task chain at the current moment, where c i is the efficiency of the stage of the i-th collaborative task chain at the current moment, w i is the corresponding weight.

3. The aircraft collaborative task chain reconstruction method according to claim 2, characterized in that: Each collaborative mission chain includes complete detection, positioning, tracking, and delivery phases; in, Detection effectiveness includes ESM detection effectiveness, photoelectric detection effectiveness, radar detection effectiveness, and the total effectiveness of the detection scheme; Positioning efficiency includes ESM positioning efficiency, optoelectronic positioning efficiency, radar positioning efficiency, and the overall efficiency of the positioning solution.

4. The aircraft collaborative task chain reconstruction method according to claim 3, characterized in that: The ESM detection effectiveness calculation model is: S ESM =w 1ESM *t ESM +w 2ESM *cost dESM ; in, t ESM is the ESM detection time performance, T DESM is the ESM detection time, v is the aircraft speed, X distanceESM The distance between the aircraft formation and the mission area when the ESM detection sensor is turned on; cost dESM is the cost-effectiveness of ESM detection, n uESM Number of aircraft used for ESM detection, n all is the number of all aircraft; S ESM is the ESM detection performance, w 1ESM 、w 2ESM is the corresponding weight, with w 1ESM +w 2ESM =1; The photoelectric detection efficiency calculation model is: S eo =w 1eo *t eo +w 2eo *cost deo ; in, t e0 is the photoelectric detection time efficiency, T Deo is the photoelectric detection time, v is the aircraft speed, X distanceeo The distance between the aircraft formation and the photoelectric detection mission area when the photoelectric detection sensor is turned on; n ueo Number of aircraft used for photoelectric detection, n all is the number of all aircraft; S eo is the photoelectric detection efficiency, w 1eo 、w 2eo is the corresponding weight, with w 1eo +w 2eo =1; The radar detection effectiveness calculation model is: S radar =w 1rada *w p *t rada +w 2rada *cost drada ; in, t rada is the radar detection time efficiency, T Drada is the radar detection time, v is the aircraft speed, X distance The distance of the aircraft formation from the mission area when the sensors are turned on for radar detection; cost drada is the radar detection cost effectiveness, n urada Number of aircraft used for radar detection, n all is the number of all aircraft; S radar is the radar detection efficiency, w p is the penalty weight, w 1rada 、w 2rada is the corresponding weight, w 1rada +w 2rada =1; X is the distance between the aircraft and the center of the radar detection mission area, and Distance is the radar detection distance.

5. The aircraft collaborative task chain reconstruction method according to claim 4, characterized in that: The overall performance of the detection scheme is: in, S total is the total effectiveness of the detection scheme, and n is the number of detection sensor activation types.

6. The aircraft collaborative task chain reconstruction method according to claim 5, characterized in that: The ESM positioning effectiveness calculation model is: s ESM =W 1ESM *T c +W 2ESM *T t +W 3ESM *COST dESM ; in, C ESM is the ESM positioning accuracy performance, L error Add the error dθ on both sides to the target azimuth, call the locate2() function, and get the error line length between the positioning results containing the error. R is the distance from the host to the target. T ESM Positioning time loss performance for ESM, D ESM is the lateral adjustment spacing length of the ESM positioning auxiliary machine, and v is the flight speed; COST dESM Positioning cost-effectiveness for ESM, N uESM The number of aircraft used for positioning, n all is the number of all aircraft; s ESM is the ESM positioning performance, W 1ESM , W 2ESM , W 3ESM is the corresponding weight, and W 1ESM +W 2ESM +W 3ESM =1,T cESM , T tESM is an intermediate calculation variable; The photoelectric positioning efficiency calculation model is: s eo =W 1eo *C eo +W 2eo *T teo +W 3eo *COST deo ; in, C eo is the photoelectric positioning accuracy performance, X is the distance of the positioning target, and e is the photoelectric positioning error; T eo Photoelectric positioning time loss efficiency, D eo is the lateral adjustment spacing length of the photoelectric positioning auxiliary machine, and v is the flight speed; COST deo is the cost-effectiveness of optoelectronic positioning, n ueo Number of aircraft used for optoelectronic positioning, n all is the number of all aircraft; s eo is the photoelectric positioning efficiency, W 1eo , W 2eo , W 3eo is the corresponding weight, and W 1eo +W 2eo +W 3eo =1,T teo Intermediate calculation variables; The radar positioning effectiveness calculation model is: s radar =w 1radar *C radar +w 2radar *T tradar +w 3radar *COST dradar ; T radar =t s ; in, C radar is the radar positioning accuracy performance, RCS is the RCS value of the radar relative to the target, R is the distance between the radar and the target, and k is the adaptation constant; T radar is the radar positioning time loss efficiency, t s is the radar sensor reaction time; COST dradar is the radar positioning cost effectiveness, n uradar The number of aircraft used for radar positioning, n all is the number of all aircraft; s radar is the radar positioning efficiency, w 1radar 、w 2radar 、w 3radar is the corresponding weight, with w 1radar +w 2radar +w 3radar =1,T tradar Intermediate calculation variables.

7. The aircraft collaborative task chain reconstruction method according to claim 6, characterized in that: The overall performance of the positioning solution is: Among them, s total is the total effectiveness of the positioning solution, N is the number of detected targets, is the positioning performance of the positioning target N.

8. The aircraft collaborative task chain reconstruction method according to claim 7, characterized in that: The interference effectiveness calculation model is: in, P j is the interference power, P max is the maximum interference power of the radar.

9. The aircraft collaborative task chain reconstruction method according to claim 8, characterized in that: The delivery efficiency calculation model is: T=w A T A +w V T V +w H T H +w R T R ; R rT >R rF , R mT >R mF hour: R rF >R rT , R mT >R mF hour: R rT >R rF , R mF >R mT hour: R rF >R rT , R mF >R mT hour: in, T A is the angle threat index, is the aircraft azimuth, q T is the target entry angle; T V is the speed threat index, V F is the velocity vector of the aircraft, V T is the velocity vector of the target; T H is the altitude threat index, H is the relative altitude, the difference between the target altitude and the aircraft altitude; T R is the distance threat index, R rF , R rT is the maximum detection distance of the aircraft and the target by the airborne radar, R mF , R mT is the maximum range of the aircraft and the target, and R is the relative distance; T is the delivery efficiency, w A 、w V 、w H 、w R is the weight of the corresponding threat indicator.

10. The aircraft collaborative task chain reconstruction method according to claim 9, characterized in that: w A 、w V 、w H 、w R Take 0.23, 0.2, 0.24, 0.33.

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