Cooperative allocation method, device and equipment for multiple aircrafts to ground group targets

Abstract

The invention provides a cooperative allocation method, device and equipment for multiple aircrafts to ground group targets. The method comprises the following steps: acquiring flight information of each aircraft at the current moment and coordinates and types of each collision target in the group targets calculated by each aircraft; according to the coordinates and types of the collision targets calculated by the aircrafts, a current dynamic situation map of the group target is generated, and the current dynamic situation map comprises the current coordinates and threat degrees of the collision targets; and based on the current dynamic situation map and in combination with the flight information of each aircraft, allocating a corresponding aircraft to each collision target so as to collide each collision target through the corresponding aircraft. Through the method disclosed by the invention, accurate cooperative collision of the dynamic group targets can be realized.

Description

Technical Field

[0001] The present disclosure relates to the technical field of multi-aircraft design and manufacturing, and in particular to a method, device and equipment for collaborative allocation of multiple aircraft to ground group targets. Background Art

[0002] With the rapid development of guidance technology and target image intelligent recognition technology, the coordinated collision of ground group targets by multiple aircraft has gradually become a new operation mode in the future. At present, when performing coordinated collision on ground group targets, each aircraft is usually assigned a designated collision target for collision before the aircraft is launched. However, this method can only be applied to the coordinated collision of static group targets. Once the group targets move, the aircraft will not be able to accurately collide with the pre-assigned collision target. Therefore, how to achieve the coordinated collision of dynamic group targets is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0003] In view of this, the present disclosure proposes a method, device and equipment for collaborative allocation of multiple aircraft to ground group targets, which can achieve accurate collaborative collision of dynamic group targets.

[0004] According to a first aspect of the present disclosure, a method for collaboratively allocating multiple aircraft to ground group targets is provided, comprising: Obtaining the flight information of each aircraft at the current moment and the coordinates and types of each collision target in the group of targets calculated by each of the aircraft; Generating a current dynamic situation diagram of the group of targets according to the coordinates and types of each of the collision targets calculated by each of the aircraft, wherein the current dynamic situation diagram includes the current coordinates and threat level of each of the collision targets; Based on the current dynamic situation diagram and in combination with the flight information of each of the aircraft, a corresponding aircraft is allocated to each of the collision targets so that each of the collision targets is collided with by the corresponding aircraft.

[0005] In a possible implementation, when generating the current dynamic situation diagram of the group of targets according to the coordinates and types of each of the collision targets calculated by each of the aircraft, it includes: Determining the threat level of each of the collision targets according to the types of each of the collision targets calculated by each of the aircraft; Determining the current coordinates of each of the collision targets according to the coordinates of each of the collision targets calculated by each of the aircraft; Based on the current coordinates and threat levels of each of the collision targets, a current dynamic situation map of the group of targets is generated.

[0006] In a possible implementation, when assigning a corresponding aircraft to each of the collision targets based on the current dynamic situation map and in combination with the flight information of each of the aircraft, it includes: Extracting the threat level of each collision target from the current dynamic situation map; Grouping and sorting the collision targets according to the threat level of each collision target to obtain a plurality of groups sorted by threat level; Traversing each of the formations in order, for the traversed current formation, assigning a corresponding aircraft to each collision target in the current formation based on the current dynamic situation diagram and the flight information of each of the aircraft; The traversal is completed and the allocation of the aircraft corresponding to each collision target is completed.

[0007] In a possible implementation, when assigning a corresponding aircraft to each collision target in the current formation based on the current dynamic situation diagram in combination with the flight information of each aircraft, the method includes: Extracting the current coordinates of each collision target in the current formation from the current dynamic situation map; Calculate the distance information between each collision target in the current group and each of the aircraft based on the current coordinates of each collision target in the current group and the flight information of the aircraft; Based on the distance information between each collision target in the current group and each of the aircraft, a corresponding aircraft is allocated to each collision target in the current group.

[0008] In a possible implementation, the flight information includes: the center of mass coordinates and velocity vector of the aircraft.

[0009] In a possible implementation, based on the current coordinates of each collision target in the current formation and the flight information of each aircraft, calculating the distance information between each collision target in the current formation and each aircraft includes: Calculating the line vector and target distance between each collision target in the current grouping and each of the aircraft according to the current coordinates of each collision target in the current grouping and the center of mass coordinates of each of the aircraft; Calculating the cosine distance between the line vector between each collision target and each of the aircraft in the current formation and the velocity vector of each of the aircraft; Based on the target distance between each collision target in the current group and each aircraft and the cosine distance between the line vector between each collision target in the current group and each aircraft and the velocity vector of each aircraft, the distance information between each collision target in the current group and each aircraft is calculated.

[0010] In a possible implementation, when the aircraft calculates the coordinates of each of the collision targets, the following steps are included: Obtaining the current center of mass coordinates, attitude angle, seeker frame angle of the aircraft and target misalignment angle of each collision target; Based on the current center of mass coordinates, attitude angle, seeker frame angle of the aircraft and the target misalignment angle of each collision target, a pre-constructed target measurement model is used to calculate the current coordinates of each collision target.

[0011] According to a second aspect of the present disclosure, there is provided a device for cooperatively allocating multiple aircraft to ground group targets, comprising: A data acquisition module, used to acquire the flight information of each aircraft at the current moment and the coordinates and types of each collision target in the group of targets calculated by each aircraft; A situation map generation module, used to generate a current dynamic situation map of the group of targets according to the coordinates and types of each of the collision targets calculated by each of the aircraft, wherein the current dynamic situation map includes the current coordinates and threat level of each of the collision targets; The collaborative allocation module is used to allocate a corresponding aircraft to each collision target based on the current dynamic situation diagram and in combination with the flight information of each aircraft, so as to collide with each collision target through the corresponding aircraft.

[0012] According to a third aspect of the present disclosure, a device for collaboratively allocating multiple aircraft to ground group targets is provided, comprising: a processor; a memory for storing processor executable instructions; wherein the processor is configured to execute the method described in the first aspect of the present disclosure.

[0013] According to a fourth aspect of the present disclosure, a non-volatile computer-readable storage medium is provided, on which computer program instructions are stored, wherein the computer program instructions, when executed by a processor, implement the method described in the first aspect of the present disclosure.

[0014] The present disclosure provides a method, device and equipment for collaborative allocation of multiple aircraft to ground group targets, the method comprising: obtaining the flight information of each aircraft at the current moment and the coordinates and types of each collision target in the group target calculated by each aircraft; generating a current dynamic situation map of the group target according to the coordinates and types of each collision target calculated by each aircraft, wherein the current coordinates and threat level of each collision target are included in the current dynamic situation map; based on the current dynamic situation map, in combination with the flight information of each aircraft, assigning a corresponding aircraft to each collision target, so that each collision target is collided with by the corresponding aircraft. In the present disclosure, the motion state of each collision target is tracked in real time through the dynamic situation map of the group target, and the aircraft are collaboratively allocated according to the motion state of each collision target combined with the current flight information of each aircraft, so that the collaborative allocation result of the aircraft matches the current motion state of each collision target, thereby realizing accurate collaborative collision of the dynamic group target.

[0015] Further features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.

[0017] Figure 1 A flow chart showing a method for collaboratively allocating multiple aircraft to ground group targets according to an embodiment of the present disclosure; Figure 2 A schematic diagram showing the relative relationship between the seeker frame coordinate system and the aircraft coordinate system according to an embodiment of the present disclosure; Figure 3 A schematic diagram showing the relative relationship between an aircraft coordinate system and a geodetic coordinate system according to an embodiment of the present disclosure; Figure 4 A schematic diagram showing a current dynamic situation diagram of a group target according to an embodiment of the present disclosure; Figure 5 A schematic block diagram showing a device for cooperatively allocating multiple aircraft to ground group targets according to an embodiment of the present disclosure; Figure 6 A schematic block diagram of a device for cooperatively allocating multiple aircraft to a group of ground targets according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0018] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0019] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0020] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.

[0021] <Method Example> Figure 1 A flowchart of a method for cooperatively allocating multiple aircraft to ground group targets according to an embodiment of the present disclosure is shown. Figure 1 As shown, the method includes steps S1100-S1300.

[0022] S1100, obtaining the flight information of each aircraft at the current moment and the coordinates and types of each collision target in the group of targets calculated by each aircraft.

[0023] It should be noted here that the multi-aircraft in the present disclosure is a master-slave aircraft, including a master aircraft and multiple slave aircraft. The master aircraft and the multiple slave aircraft are networked through a data link before launch, and a unified time scale is established to agree on a unified time zero point through a unified time scale. After each aircraft flies to an area where a group of targets can be identified, a multi-target tracking is performed on each collision target in the group of targets through a seeker set on the aircraft. In the multi-target tracking process, each aircraft collects its own flight information and calculates the coordinates and types of each collision target in real time and synchronously, and uploads the flight information collected in real time and the coordinates and types of each collision target to the master aircraft, so that the master aircraft can obtain the flight information reported by each aircraft and the coordinates and types of each collision target in real time. Each time the master aircraft performs collaborative allocation of multiple aircraft, it will perform collaborative allocation of multiple aircraft based on the flight information reported by each aircraft and the coordinates and types of each collision target obtained at the current moment.

[0024] In a possible implementation, the flight information of the aircraft may include at least one of the coordinates of the center of mass of the aircraft, the frame angle of the seeker, the attitude angle, the target misalignment angle of each collision target, and the velocity vector. The center of mass position coordinates are the position coordinates of the center of mass of the aircraft during flight. Figure 2 As shown, the seeker frame angle ( ) is the seeker frame coordinate system of the aircraft during flight ox sy s z s Relative to the aircraft coordinate system ox 1 y 1 z 1 The angle between Figure 3 As shown, the attitude angle ( ) is the aircraft coordinate system during flight ox 1 y 1 z 1 Relative to the Earth Coordinate System o-xyz The target misalignment angle of each collision target ( , ) refers to the angle between the tracking axis and the optical axis of the seeker during image tracking, which can be converted in real time based on the pixel value from the tracking point to the center of the field of view. is the pitch misalignment angle, is the yaw misalignment angle.

[0025] It should be noted here that the aircraft coordinate system ox 1 y 1 z 1 The origin o is taken at the center of mass of the aircraft. ox 1 The axis is on the longitudinal axis of the aircraft, with forward being positive. oy 1 The axis is in the longitudinal symmetry plane of the aircraft and is ox 1 The axis is vertical, with upward being positive. oz 1 Axis and x 1 -oy 1 The plane is vertical and the direction is determined according to the right-hand coordinate system. Seeker frame coordinate system ox s y s z s The origin o is taken at the rotation center of the seeker frame. ox s The axis coincides with the centerline of the pitch frame in the front-to-back direction and is positive in the forward direction. oy s The axis coincides with the yaw axis and is positive upwards. oz sThe axis coincides with the pitch axis, and the positive direction is determined according to the right-hand coordinate system. is the pitch frame angle, with upward being positive, is the yaw frame angle, which is positive when rotating to the left. and the yaw frame angle The seeker frame angle ( ).

[0026] The process of collecting flight information and calculating the coordinates and types of each collision target for each aircraft is the same. The following takes an aircraft as an example to explain in detail the process of collecting flight information and calculating the coordinates and types of each collision target.

[0027] In a possible implementation, a seeker is provided on the aircraft, through which the seeker frame angle and the misalignment angle of each collision target can be collected in real time. At the same time, the seeker is also provided with a communication interface with the navigation device, through which the seeker can also simultaneously obtain the center of mass coordinates, attitude angle and velocity vector of the aircraft collected in real time by the navigation device. In this way, the seeker can obtain flight information such as the seeker frame angle, the target misalignment angle of each collision target, the center of mass coordinates, attitude angle and velocity vector in real time.

[0028] In one possible implementation, when the aircraft calculates the coordinates of each of the collision targets, the following steps may be included: after obtaining the seeker frame angle, the misalignment angle of each collision target, the center of mass coordinates, and the attitude angle, based on the seeker frame angle of the current aircraft, the misalignment angle of each collision target, the center of mass coordinates, and the attitude angle, a pre-built target measurement model is used to calculate the coordinates of each current collision target.

[0029] In this implementation, it is necessary to pre-build a target measurement model and store the built target measurement model in the aircraft, so that the aircraft can use the target measurement model to calculate the coordinates of each collision target. The steps of building the target measurement model can be as follows: First, construct the seeker frame coordinate system. ox s y s z s The construction standards are as mentioned above and will not be repeated here.

[0030] Second, the coordinates of the collision target in the seeker frame coordinate system are determined based on the target misalignment angle of the collision target and the length of the line between the collision target and the aircraft. Specifically, the coordinates of the collision target in the seeker frame coordinate system are as follows: (1) In the formula, (x s , y s , z s ) represents the coordinates of the collision target in the seeker frame coordinate system, l is the length of the line between the collision target and the aircraft, is the pitch misalignment angle of the collision target, is the yaw misalignment angle of the collision target, and Together they constitute the target misalignment angle corresponding to the collision target ( , ).

[0031] Third, according to the seeker frame angle of the aircraft, determine the first transformation matrix from the seeker frame coordinate system to the aircraft coordinate system. Specifically, the first transformation matrix is ​​as follows: (2) in, L s2b ( ) is the first transformation matrix, ( ) is the seeker frame angle.

[0032] Fourth, according to the attitude angle of the aircraft, determine the second transformation matrix from the aircraft coordinate system to the earth translation coordinate system. Specifically, the second transformation matrix is ​​as follows: (3) in, L b2g is the second transformation matrix, ( ) is the attitude angle of the aircraft.

[0033] Fifth, a target measurement model is constructed according to the target coordinates of the collision target in the seeker frame coordinate system and the first transformation matrix and the second transformation matrix.

[0034] Specifically, first, according to the target coordinates of the collision target in the seeker frame coordinate system and the first transformation matrix, a first transformation relationship from the seeker frame coordinate system to the aircraft coordinate system is constructed. Assuming that the heights of the collision targets have a small difference, that is, the collision targets are on the same plane, the first transformation relationship is as follows: (4) Next, based on the first conversion relation and the second conversion matrix, a second conversion relation from the seeker frame coordinate system to the earth translation coordinate system is constructed, and the second conversion relation is the target measurement model. The target measurement model is as follows: (5) In the formula, ( x t0 , y t0 , z t0 ) represents the coordinates of the collision target in the geodetic translation coordinate system. ox t0 y t0 z t0 The origin o is taken at the center of mass of the aircraft. ox t0 Axis and Geodetic Coordinate System AX Axis parallel, oy t0 Axis and Geodetic Coordinate System AY Axis parallel, oz t0 Axis and Geodetic Coordinate System AZ Axis parallel.

[0035] After the target measurement model is constructed, the target measurement model can be used to calculate the coordinates of each current collision target. Specifically, the target misalignment angle ( , ) into formula (1), the length of the line between each collision target and the aircraft is obtained l The coordinates of the current collision targets in the seeker frame coordinate system are represented by the length of the line between each collision target and the aircraft. l Substituting the coordinates of the current collision targets in the seeker frame coordinate system, the center of mass coordinates, attitude angle and seeker frame angle of the aircraft into the target measurement model shown in formula (5), the length of the connection between the current collision targets and the aircraft can be calculated in reverse l Among them, the coordinates of the center of mass of the aircraft are ( x m , y m , z m ), in formula (5) y t0 is the coordinate of the center of mass of the aircraft y m A negative number.

[0036] Inversely calculate the length of the connection between each current collision target and the aircraft l Then, the length of the line between each collision target and the aircraft is l and the target misalignment angle ( , ) into formula (1), the coordinates of each collision target in the seeker frame coordinate system can be calculated (x s , y s , z s ); then calculate the coordinates of each collision target in the seeker frame coordinate system ( x s , y s , z s ), the attitude angle of the aircraft ( ) and the seeker frame angle ( ) into the constructed target measurement model, the coordinates of each collision target in the geodetic translation coordinate system can be obtained ( x t0 , y t0 , z t0 ); Finally, the coordinates of each collision target in the earth translation coordinate system ( x t0 , y t0 , z t0 ) into the following formula (6) to obtain the coordinates of each collision target in the geodetic coordinate system ( x t , y t , z t ).

[0037] (6) The geodetic coordinate system is defined as follows: It is fixed to the surface of the earth, with its origin “A” as the launch point, and A X The axis is consistent with the launch direction of the aircraft, and the positive direction is the launch direction; AY The axis is perpendicular to the ground, with upward being positive; AY Axis and AXY The plane is vertical and its positive direction is determined by the right-hand coordinate system.

[0038] After obtaining the flight information of each current aircraft and the coordinates and types of each collision target in the group target calculated by each current aircraft, step S1200 can be executed to generate a current dynamic situation map of the group target based on the coordinates and types of each collision target calculated by each aircraft, wherein the current dynamic situation map includes the current coordinates and threat level of each collision target.

[0039] In a possible implementation, when generating a current dynamic situation diagram of group targets according to the coordinates and types of each collision target currently calculated by each aircraft, the following steps may be included: First, determine the threat level of each collision target based on the type of each collision target calculated by each aircraft. Specifically, the system is pre-configured with mapping relationships between various target types and threat levels. By querying the pre-configured mapping relationship, the threat level corresponding to each collision target calculated by each aircraft can be determined. For each collision target traversed, for the current collision target traversed, take the mode of the threat levels of the current collision targets calculated by each aircraft, and you can get the threat level corresponding to the current collision target. After the traversal is completed, you can get the threat level of each collision target.

[0040] Second, the current coordinates of each collision target are determined based on the coordinates of each collision target calculated by each current aircraft. Specifically, the coordinates of each collision target reported by each slave aircraft are first aligned, that is, the coordinates of collision targets with similar coordinate values ​​are averaged according to the number, so as to obtain the current coordinates of each collision target. When determining the similarity of the coordinate values, it is set according to the dispersion characteristic value of the navigation error of the aircraft. When designing the system, it is generally required that the dispersion error range should be significantly smaller than the distance interval of the collision target.

[0041] Third, based on the current coordinates and threat level of each collision target, a current dynamic situation map of the group target is generated. Figure 4 As shown, the current coordinates and threat level of each collision target are included. Figure 4 middle,( x t , y h0 , z t , thr=n j ) in ( x t , y h0 , z t ) is the t The current coordinates of the collision target, thr=n j Indicates t The threat level of a collision target is n j It should be noted here that when the height difference between the collision targets is small, the current dynamic situation diagram can be processed as a plane.

[0042] After the current dynamic situation map of the group targets is generated, step S1300 can be executed to allocate corresponding aircraft to each collision target based on the current dynamic situation map and in combination with the flight information of each aircraft, so that each collision target is collided with by the corresponding aircraft.

[0043] In a possible implementation, when assigning a corresponding aircraft to each collision target based on the current dynamic situation map and in combination with the current flight information of each aircraft, the following steps may be included: First, the threat level of each collision target is extracted from the current dynamic situation map.

[0044] Second, the collision targets are grouped and sorted according to their threat levels to obtain multiple groups sorted by threat level. Specifically, collision targets with the same threat level are grouped into one group, and each group is sorted in descending order of threat level, so that in the subsequent aircraft allocation process, the aircraft can be preferentially assigned to the group with a high threat level to collide with its high threat collision target.

[0045] Third, traverse each group in order, and for the current group traversed, assign corresponding aircraft to each collision target in the current group based on the current dynamic situation diagram and the flight information of each aircraft. Specifically, the following steps may be included: First, the current coordinates of each collision target in the current formation are extracted from the current dynamic situation map.

[0046] Secondly, based on the current coordinates of each collision target in the current formation and the flight information of the aircraft, the distance information between each collision target in the current formation and each aircraft is calculated.

[0047] In a possible implementation, the distance information calculation process may be as follows: Step 1: According to the current coordinates of each collision target in the current group and the center of mass coordinates of each aircraft, calculate the line vector and target distance between each collision target and each aircraft in the current group. The calculation formula of the target distance is as follows: (7) In the formula, is the distance between the aircraft and the collision target, ( x t , y t , z t ) is the current coordinate of the collision target in the geodetic coordinate system, ( x m , y m , z m ) are the coordinates of the center of mass of the aircraft.

[0048] Step 2: Calculate the cosine distance between the line vectors between each collision target and each aircraft in the current formation and the velocity vector of each aircraft. The calculation formula of the cosine distance is as follows: (8) In the formula, D( , ) is the cosine distance between the velocity vector of the aircraft and the line vector between the collision target and the aircraft, is the velocity vector of the aircraft, is the line vector between the collision target and the aircraft.

[0049] Step 3: Based on the target distance between each collision target and each aircraft in the current formation and the cosine distance between the line vector between each collision target and each aircraft in the current formation and the velocity vector of each aircraft, calculate the distance information between each collision target and each aircraft in the current formation. The calculation formula of the distance information is as follows: (9) Where, d m It is the distance information between the collision target and the aircraft.

[0050] In this embodiment, the distance information not only includes the straight-line distance between the collision target and the aircraft, but also takes into account the principle that the flight direction of the aircraft and the angle between the collision target and the aircraft are small. It can accurately characterize the actual distance the aircraft needs to travel to reach the collision target. Allocating aircraft based on this distance information can minimize the maneuverability and energy consumption of the aircraft, improve the target hit rate, and avoid crossfire to a large extent.

[0051] Finally, based on the distance information between each collision target and each aircraft in the current group, a corresponding aircraft is assigned to each collision target in the current group. Specifically, for each collision target in the same group, the distance between each collision target and the front of the multi-aircraft is sorted from small to large, and each collision target in the group is traversed in order of distance from small to large. For the traversed current collision target, the aircraft with the smallest distance information to the current collision target is selected and assigned to the current collision target for collision. After the traversal is completed, the aircraft allocation to each collision target in the group can be completed.

[0052] Fourth, the traversal is completed and the allocation of aircraft corresponding to each collision target is completed.

[0053] The present disclosure provides a method for collaboratively allocating multiple aircraft to ground group targets, including: obtaining the flight information of each aircraft at the current moment and the coordinates and types of each collision target in the group target calculated by each aircraft; generating a current dynamic situation map of the group target according to the coordinates and types of each collision target calculated by each aircraft, wherein the current coordinates and threat level of each collision target are included in the current dynamic situation map; based on the current dynamic situation map, in combination with the flight information of each aircraft, allocating a corresponding aircraft to each collision target, so that each collision target is collided with by the corresponding aircraft. In the present disclosure, the motion state of each collision target is tracked in real time through the dynamic situation map of the group target, and the aircraft are collaboratively allocated according to the motion state of each collision target combined with the current flight information of each aircraft, so that the collaborative allocation result of the aircraft matches the current motion state of each collision target, thereby realizing accurate collaborative collision of the dynamic group target.

[0054] <Device Example> Figure 5 A schematic block diagram of a device for cooperatively allocating multiple aircraft to ground group targets according to an embodiment of the present disclosure is shown. Figure 5 As shown, the device 100 includes: The data acquisition module 110 is used to acquire the flight information of each aircraft at the current moment and the coordinates and types of each collision target in the group of targets calculated by each aircraft; The situation diagram generation module 120 is used to generate a current dynamic situation diagram of the group targets according to the coordinates and types of each collision target calculated by each aircraft, wherein the current dynamic situation diagram includes the current coordinates and threat level of each collision target; The collaborative allocation module 130 is used to allocate a corresponding aircraft to each collision target based on the current dynamic situation diagram and in combination with the flight information of each aircraft, so as to collide with each collision target through the corresponding aircraft.

[0055] <Equipment Embodiment> Figure 6 A schematic block diagram of a device for coordinating multiple aircraft to a group of ground targets according to an embodiment of the present disclosure is shown. Figure 6 As shown, the device 200 for collaboratively allocating multiple aircraft to ground group targets includes: a processor 210 and a memory 220 for storing executable instructions of the processor 210. The processor 210 is configured to implement any of the aforementioned methods for collaboratively allocating multiple aircraft to ground group targets when executing the executable instructions.

[0056] Here, it should be noted that the number of processors 210 may be one or more. Meanwhile, in the collaborative allocation device 200 of multiple aircraft to ground group targets in the embodiment of the present disclosure, an input device 230 and an output device 240 may also be included. The processor 210, the memory 220, the input device 230 and the output device 240 may be connected via a bus or in other ways, which are not specifically limited here.

[0057] The memory 220 is a computer-readable storage medium that can be used to store software programs, computer executable programs, and various modules, such as the program or module corresponding to the method for collaboratively allocating multiple aircraft to ground group targets in the embodiment of the present disclosure. The processor 210 executes various functional applications and data processing of the device 200 for collaboratively allocating multiple aircraft to ground group targets by running the software programs or modules stored in the memory 220.

[0058] The input device 230 may be used to receive input numbers or signals. The signals may be key signals related to user settings and function control of the device / terminal / server. The output device 240 may include display devices such as display screens.

[0059] <Storage Medium Embodiment> According to a fourth aspect of the present disclosure, a non-volatile computer-readable storage medium is also provided, on which computer program instructions are stored. When the computer program instructions are executed by the processor 210, any of the above-mentioned methods for collaborative allocation of multiple aircraft to ground group targets is implemented.

[0060] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for collaborative allocation of multiple aircraft to ground group targets, characterized in that: include: Obtaining the flight information of each aircraft at the current moment and the coordinates and types of each collision target in the group of targets calculated by each of the aircraft; Generating a current dynamic situation map of the group of targets according to the coordinates and types of each of the collision targets calculated by each of the aircraft, wherein the current dynamic situation map includes the current coordinates and threat level of each of the collision targets; Based on the current dynamic situation map and in combination with the flight information of each of the aircraft, a corresponding aircraft is allocated to each of the collision targets so that each of the collision targets is collided with by the corresponding aircraft.

2. The method according to claim 1, characterized in that When generating a current dynamic situation diagram of the group of targets according to the coordinates and types of each of the collision targets calculated by each of the aircraft, it includes: Determining the threat level of each of the collision targets according to the types of each of the collision targets calculated by each of the aircraft; Determining the current coordinates of each of the collision targets according to the coordinates of each of the collision targets calculated by each of the aircraft; Based on the current coordinates and threat levels of each of the collision targets, a current dynamic situation map of the group of targets is generated.

3. The method according to claim 1, characterized in that When allocating a corresponding aircraft to each of the collision targets based on the current dynamic situation diagram and in combination with the flight information of each of the aircraft, the method includes: Extracting the threat level of each collision target from the current dynamic situation map; Grouping and sorting the collision targets according to the threat level of each collision target to obtain a plurality of groups sorted by threat level; Traversing each of the formations in order, for the traversed current formation, assigning a corresponding aircraft to each collision target in the current formation based on the current dynamic situation diagram and the flight information of each of the aircraft; The traversal is completed and the allocation of the aircraft corresponding to each collision target is completed.

4. The method according to claim 3, characterized in that When allocating corresponding aircraft to each collision target in the current formation based on the current dynamic situation diagram and the flight information of each aircraft, the method includes: Extracting the current coordinates of each collision target in the current formation from the current dynamic situation map; Calculate the distance information between each collision target in the current group and each of the aircraft based on the current coordinates of each collision target in the current group and the flight information of the aircraft; Based on the distance information between each collision target in the current group and each of the aircraft, a corresponding aircraft is allocated to each collision target in the current group.

5. The method according to claim 4, characterized in that The flight information includes: the center of mass coordinates and velocity vector of the aircraft.

6. The method according to claim 5, characterized in that When calculating the distance information between each collision target in the current group and each of the aircraft based on the current coordinates of each collision target in the current group and the flight information of each of the aircraft, it includes: Calculating the line vector and target distance between each collision target in the current grouping and each of the aircraft according to the current coordinates of each collision target in the current grouping and the center of mass coordinates of each of the aircraft; Calculating the cosine distance between the line vector between each collision target and each of the aircraft in the current formation and the velocity vector of each of the aircraft; Based on the target distance between each collision target in the current group and each aircraft and the cosine distance between the line vector between each collision target in the current group and each aircraft and the velocity vector of each aircraft, the distance information between each collision target in the current group and each aircraft is calculated.

7. The method according to claim 1, characterized in that When the aircraft calculates the coordinates of each of the collision targets, the aircraft includes: Obtaining the current center of mass coordinates, attitude angle, seeker frame angle of the aircraft and target misalignment angle of each collision target; Based on the current center of mass coordinates, attitude angle, seeker frame angle of the aircraft and the target misalignment angle of each collision target, a pre-constructed target measurement model is used to calculate the current coordinates of each collision target.

8. A collaborative allocation device for multiple aircraft to ground group targets, characterized in that: include: A data acquisition module, used to acquire the flight information of each aircraft at the current moment and the coordinates and types of each collision target in the group of targets calculated by each aircraft; A situation map generation module, used to generate a current dynamic situation map of the group of targets according to the coordinates and types of each of the collision targets calculated by each of the aircraft, wherein the current dynamic situation map includes the current coordinates and threat level of each of the collision targets; The collaborative allocation module is used to allocate a corresponding aircraft to each collision target based on the current dynamic situation diagram and in combination with the flight information of each aircraft, so as to collide with each collision target through the corresponding aircraft.

9. A collaborative distribution device for multiple aircraft to ground group targets, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to implement the method described in any one of claims 1 to 7 when executing the executable instructions.

10. A non-volatile computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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