Collaborative Allocation Method, Device and Equipment for Multiple Aircraft to Ground Group Targets

Abstract

The present disclosure provides a collaborative allocation method, device, and equipment for multiple aircraft to ground group targets. The method includes: obtaining the flight information of each aircraft at the current moment and the coordinates and types of each collision target in the group targets calculated by each aircraft; generating a current dynamic situation map of the group targets according to the coordinates and types of each collision target calculated by each aircraft, where the current dynamic situation map includes the current coordinates and threat levels of each collision target; based on the current dynamic situation map and in combination with the flight information of each aircraft, allocating corresponding aircraft to each collision target so as to perform collisions on each collision target through the corresponding aircraft. Through the method of the present disclosure, precise collaborative collisions on dynamic group targets can be achieved.

Description

Technical Field

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

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

[0003] In view of this, the present disclosure provides a method, device, and equipment for collaborative allocation of multi-aircraft to ground group targets, which can achieve precise collaborative collisions on dynamic group targets.

[0004] According to a first aspect of the present disclosure, there is provided a method for collaborative allocation of multi-aircraft to ground group targets, including:

[0005] 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 of the aircraft;

[0006] Generating a current dynamic situation map of the group target according to the coordinates and types of each collision target calculated by each of the aircraft, wherein the current dynamic situation map includes the current coordinates and threat levels of each collision target;

[0007] Based on the current dynamic situation map and in combination with the flight information of each aircraft, allocating corresponding aircraft to each collision target so as to conduct collisions on each collision target through the corresponding aircraft.

[0008] In a possible implementation manner, when generating the current dynamic situation map of the group target according to the coordinates and types of each collision target calculated by each of the aircraft, it includes:

[0009] Determining the threat level of each collision target according to the type of each collision target calculated by each of the aircraft;

[0010] Determining the current coordinates of each collision target according to the coordinates of each collision target calculated by each of the aircraft;

[0011] Generate a current dynamic situation map of the group target based on the current coordinates and threat levels of each of the collision targets.

[0012] In a possible implementation, when allocating corresponding aircraft to each of the collision targets based on the current dynamic situation map in combination with the flight information of each aircraft, it includes:

[0013] Extract the threat level of each of the collision targets from the current dynamic situation map;

[0014] Group and sort each of the collision targets according to their threat levels to obtain multiple groups sorted by threat level;

[0015] Traverse each of the groups in order. For the currently traversed group, allocate corresponding aircraft to each of the collision targets within the currently traversed group based on the current dynamic situation map in combination with the flight information of each aircraft;

[0016] When the traversal ends, the allocation of aircraft corresponding to each of the collision targets is completed.

[0017] In a possible implementation, when allocating corresponding aircraft to each of the collision targets within the currently traversed group based on the current dynamic situation map in combination with the flight information of each aircraft, it includes:

[0018] Extract the current coordinates of each of the collision targets within the currently traversed group from the current dynamic situation map;

[0019] Based on the current coordinates of each of the collision targets within the currently traversed group in combination with the flight information of the aircraft, calculate the distance information between each of the collision targets within the currently traversed group and each of the aircraft;

[0020] Based on the distance information between each of the collision targets within the currently traversed group and each of the aircraft, allocate corresponding aircraft to each of the collision targets within the currently traversed group.

[0021] In a possible implementation, the flight information includes: the centroid coordinates and velocity vector of the aircraft.

[0022] In a possible implementation, when calculating the distance information between each of the collision targets within the currently traversed group and each of the aircraft based on the current coordinates of each of the collision targets within the currently traversed group in combination with the flight information of each aircraft, it includes:

[0023] According to the current coordinates of each of the collision targets within the currently traversed group and the centroid coordinates of each of the aircraft, calculate the connection vector and target distance between each of the collision targets within the currently traversed group and each of the aircraft;

[0024] Calculate the cosine distance between the line vectors connecting each collision target in the current formation and each of the aircraft and the velocity vectors of each of the aircraft;

[0025] Based on the target distances between each collision target in the current formation and each of the aircraft and the cosine distance between the line vectors connecting each collision target in the current formation and each of the aircraft and the velocity vectors of each of the aircraft, calculate the distance information between each collision target in the current formation and each of the aircraft.

[0026] In a possible implementation, when calculating the coordinates of each of the collision targets, the aircraft includes:

[0027] Obtain the current centroid coordinates, attitude angles, seeker frame angles of the aircraft, and the target misalignment angles of each of the collision targets;

[0028] Based on the current centroid coordinates, attitude angles, seeker frame angles of the aircraft, and the target misalignment angles of each of the collision targets, use a pre-constructed target measurement model to calculate the coordinates of each of the current collision targets.

[0029] According to a second aspect of the present disclosure, there is provided a collaborative allocation device for multiple aircraft against ground group targets, including:

[0030] A data acquisition module, configured to acquire 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 of the aircraft;

[0031] A situation map generation module, configured to generate a current dynamic situation map of the group target 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 levels of each of the collision targets;

[0032] A collaborative allocation module, configured to allocate 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, so as to collide with each of the collision targets through the corresponding aircraft.

[0033] According to a third aspect of the present disclosure, there is provided a collaborative allocation device for multiple aircraft against ground group targets, including: 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.

[0034] According to a fourth aspect of the present disclosure, there is provided a non-volatile computer-readable storage medium, on which computer program instructions are stored, wherein, when the computer program instructions are executed by a processor, the method described in the first aspect of the present disclosure is implemented.

[0035] The present disclosure provides a collaborative allocation method, device, and equipment for multiple aircraft to ground group targets. The method includes: 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, where the current dynamic situation map includes the current coordinates and threat levels of each collision target; based on the current dynamic situation map and combining the flight information of each aircraft, allocating corresponding aircraft to each collision target to perform collisions on each collision target through the corresponding aircraft. In the present disclosure, the motion states of each collision target are tracked in real time through the dynamic situation map of the group target, and the aircraft are collaboratively allocated according to the motion states of each collision target and combining the current flight information of each aircraft, so that the collaborative allocation result of the aircraft matches the current motion states of each collision target, thereby achieving precise collaborative collision of dynamic group targets.

[0036] Other features and aspects of the present disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings included in and constituting a part of this specification, together with the specification, illustrate exemplary embodiments, features, and aspects of the present disclosure and are used to explain the principles of the present disclosure.

[0038] Figure 1 A flowchart showing a collaborative allocation method for multiple aircraft to ground group targets according to an embodiment of the present disclosure;

[0039] 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;

[0040] Figure 3 A schematic diagram showing the relative relationship between the aircraft coordinate system and the earth coordinate system according to an embodiment of the present disclosure;

[0041] Figure 4 A schematic diagram showing the current dynamic situation map of the group target according to an embodiment of the present disclosure;

[0042] Figure 5 A schematic block diagram showing a collaborative allocation device for multiple aircraft to ground group targets according to an embodiment of the present disclosure;

[0043] Figure 6 A schematic block diagram showing a collaborative allocation equipment for multiple aircraft to ground group targets according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] 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 drawings denote elements having the same or similar functions. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0045] As used herein, the term "exemplary" means "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as superior or better than other embodiments.

[0046] In addition, for a better description of the present disclosure, numerous specific details are given in the following detailed description. Those skilled in the art should understand that the present disclosure can be implemented without some of these specific details. In some instances, methods, means, elements, and circuits well known to those skilled in the art are not described in detail so as to highlight the gist of the present disclosure.

[0047] <Method Embodiment>

[0048] Figure 1 The flowchart showing a method for collaborative allocation of multiple aircraft to ground group targets according to an embodiment of the present disclosure is shown. As Figure 1 shown, the method includes steps S1100 - S1300.

[0049] S1100, 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.

[0050] First of all, it should be noted here that the multiple aircraft in the present disclosure are master - slave aircraft, including one 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 through the unified time scale. After each aircraft flies to the area where the group target can be recognized, a seeker installed on the aircraft performs multi - target tracking on each collision target in the group target. During the multi - target tracking process, each aircraft synchronously collects its own flight information and calculates the coordinates and types of each collision target in real time, and uploads the flight information and the coordinates and types of each collision target collected in real - time synchronization to the master aircraft. In this way, the master aircraft can obtain in real time the flight information reported by each aircraft and the coordinates and types of each collision target. 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.

[0051] In a possible implementation, the flight information of the aircraft may include at least one of the centroid coordinates of the aircraft, the seeker frame angle, the attitude angle, the target misalignment angles of each collision target, and the velocity vector. The centroid position coordinates are the position coordinates of the centroid of the aircraft during flight. As Figure 2 shown, the seeker frame angle ( ) is the angle between the seeker frame coordinate system of the aircraft o-x s y s z s and the aircraft coordinate system o-x 1 y 1 z 1 during flight. As Figure 3 shown, the attitude angle ( ) is the angle between the aircraft coordinate system o-x 1 y 1 z 1 and the earth coordinate system o-xyz during flight. The target misalignment angles of each collision target ( , ) refer to the angle between the tracking axis and the seeker optical axis during image tracking, which can be obtained by real-time conversion according to the pixel value from the tracking point to the center of the field of view. Among them, is the pitch misalignment angle, and is the yaw misalignment angle.

[0052] It should be noted here that the origin o of the aircraft coordinate system o-x 1 y 1 z 1 is taken at the centroid of the aircraft. Its ox 1 axis is taken on the longitudinal axis of the aircraft, with the forward direction being positive. The oy 1 axis is taken in the longitudinal symmetry plane of the aircraft and is perpendicular to the ox 1 axis, with the upward direction being positive. The oz 1 axis is perpendicular to the x 1 -oy 1 plane, and the direction is determined according to the right-hand coordinate system. The seeker frame coordinate system o-x s ys z s The origin O of the s is taken at the center of rotation of the seeker frame, and its ox s axis coincides with the center line in the front-back direction of the pitch frame and is positive forward, oy s axis coincides with the yaw axis and is positive upward, oz s axis coincides with the pitch axis, and the positive direction is determined according to the right-hand coordinate system, is the pitch frame angle and is positive upward, is the yaw frame angle, and the positive direction is a left rotation. The pitch frame angle and the yaw frame angle constitute the seeker frame angle ( ).

[0053] The process of each aircraft collecting flight information and calculating the coordinates and types of each collision target is the same. Taking the following aircraft as an example, the process of collecting flight information and calculating the coordinates and types of each collision target will be described in detail.

[0054] In a possible implementation, a seeker is provided on the aircraft. Through the seeker, the seeker frame angle and the misalignment angles 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 this communication interface, the seeker can also obtain the centroid coordinates, attitude angles, and velocity vectors of the aircraft collected by the navigation device in real time. In this way, the seeker can obtain flight information such as the seeker frame angle, the misalignment angles of each collision target, the centroid coordinates, the attitude angles, and the velocity vectors in real time.

[0055] In a 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 angles of each collision target, the centroid coordinates, and the attitude angles, based on the obtained seeker frame angle, the misalignment angles of each collision target, the centroid coordinates, and the attitude angles of the current aircraft, a pre-constructed target measurement model is used to calculate the coordinates of each current collision target.

[0056] In this implementable manner, a target measurement model needs to be pre-constructed and the constructed target measurement model is stored in the aircraft. In this way, the aircraft can use this target measurement model to calculate the coordinates of each collision target. Among them, the construction steps of the target measurement model can be as follows:

[0057] First, construct the seeker frame coordinate system. The specific seeker frame coordinate system o-x s y s zs The construction standard is as described above and will not be elaborated here.

[0058] Second, based on the target misalignment angle of the collision target and the length of the line connecting the collision target and the aircraft, determine the coordinates of the collision target in the seeker frame coordinate system. Specifically, the coordinates of the collision target in the seeker frame coordinate system are as follows:

[0059] (1)

[0060] 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 connecting 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 constitute the target misalignment angle corresponding to the collision target ( , ).

[0061] Third, based on 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:

[0062] (2)

[0063] Among them, L s2b ( ) is the first transformation matrix, and ( ) is the seeker frame angle.

[0064] Fourth, based on 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:

[0065] (3)

[0066] Among them, L b2g is the second transformation matrix, and ( ) is the attitude angle of the aircraft.

[0067] Fifth, based on the target coordinates of the collision target in the seeker frame coordinate system and the first and second transformation matrices, construct a target measurement model.

[0068] 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 relation from the seeker frame coordinate system to the aircraft coordinate system is constructed. Assuming that the heights of the collision targets have small differences, that is, the collision targets are on the same plane, the first transformation relation is as follows:

[0069] (4)

[0070] Next, according to the first transformation relation and the second transformation matrix, a second transformation relation from the seeker frame coordinate system to the geodetic translation coordinate system is constructed, and this second transformation relation is the target measurement model. The target measurement model is as follows:

[0071] (5)

[0072] In the formula, ( x t0 , y t0 , z t0 ) represents the coordinates of the collision target in the geodetic translation coordinate system. Among them, the origin o of the geodetic translation coordinate system o-x t0 y t0 z t0 is taken at the center of mass of the aircraft, and its ox t0 axis is parallel to the AX axis of the geodetic coordinate system, oy t0 axis is parallel to the AY axis of the geodetic coordinate system, oz t0 axis is parallel to the AZ axis of the geodetic coordinate system.

[0073] After the construction of the target measurement model is completed, the target measurement model can be used to calculate the coordinates of the current collision targets. Specifically, substitute the target misalignment angles ( , ) of the current collision targets into formula (1) to obtain the coordinates of the current collision targets in the seeker frame coordinate system represented by the connection line lengths l between the collision targets and the aircraft. Substitute the coordinates of the current collision targets in the seeker frame coordinate system represented by the connection line lengths l between the collision targets and the aircraft, the center of mass coordinates, attitude angles, and seeker frame angles of the aircraft into the target measurement model shown in formula (5), and the connection line lengths l between the current collision targets and the aircraft can be inversely calculated. Among them, the center of mass coordinates of the aircraft are (x m , y m , z m ), in formula (5) y t0 is the centroid coordinate of the aircraft y m is the negative of

[0074] After calculating the length of the line connecting each current collision target and the aircraft l the length of the line connecting each collision target and the aircraft l and the target misalignment angle ( , ) are substituted into formula (1), and the coordinates of each current collision target in the seeker frame coordinate system can be calculated ( x s , y s , z s ); then the coordinates of each current 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 ( ) are substituted into the constructed target measurement model, and the coordinates of each current collision target in the earth translation coordinate system can be obtained ( x t0 , y t0 , z t0 ); finally, the coordinates of each current collision target in the earth translation coordinate system ( x t0 , y t0 , z t0 ) are substituted into the following formula (6) to obtain the coordinates of each current collision target in the earth coordinate system ( x t , y t , z t ).

[0075] (6)

[0076] Among them, the definition of the earth coordinate system: is fixed to the earth's surface, its origin "A" is the launch point, A XThe axis is consistent with the aircraft launch direction, and the positive direction points to the launch direction; AY The axis is perpendicular to the ground, and the positive direction is upward; AY The axis is perpendicular to the AXY plane, and its positive direction is determined according to the right-hand coordinate system.

[0077] 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. According to the coordinates and types of each collision target calculated by each aircraft, a current dynamic situation map of the group target is generated. Among them, the current dynamic situation map includes the current coordinates and threat levels of each collision target.

[0078] In a possible implementation manner, when generating the current dynamic situation map of the group target according to the coordinates and types of each collision target calculated by each current aircraft, the following steps may be included:

[0079] First, determine the threat level of each collision target according to the type of each collision target calculated by each aircraft. Specifically, a mapping relationship between various target types and threat levels is pre-configured in the system. By querying the pre-configured mapping relationship, the threat level corresponding to each collision target calculated by each aircraft can be determined. For each traversed collision target, for the currently traversed collision target, take the mode of the threat levels of the currently traversed collision target calculated by each aircraft, and the threat level corresponding to the current collision target can be obtained. After the traversal is completed, the threat levels of each collision target can be obtained.

[0080] Second, determine the current coordinates of each collision target according to the coordinates of each collision target calculated by each current aircraft. Specifically, first perform coordinate alignment calculation on the coordinates of each collision target reported by each slave aircraft, that is, perform coordinate average calculation on the collision targets with similar coordinate values according to the quantity, so as to obtain the current coordinates of each collision target. When determining the similarity degree of the coordinate values, it is set according to the navigation error dispersion eigenvalue of the aircraft. Generally, it is required in system design that the dispersion error range should be significantly smaller than the collision target distance interval.

[0081] Third, generate the current dynamic situation map of the group target based on the current coordinates and threat levels of each collision target. Among them, the current dynamic situation map of the group target is as Figure 4 shown, including the current coordinates and threat levels of each collision target. Figure 4 Among them, ( x t , y h0 , z t , thr=n j ) in ( xt , y h0 , z t ) is the current coordinate of the t th collision target, thr=n j indicating that the threat level of the t th collision target is n j . It should be noted here that when the height difference between collision targets is small, the current dynamic situation map can be processed as a plane.

[0082] After generating the current dynamic situation map of the group targets, step S1300 can be executed. Based on the current dynamic situation map and combined with the flight information of each aircraft, corresponding aircraft are assigned to each collision target, so as to collide with each collision target through the corresponding aircraft.

[0083] In a possible implementation manner, when assigning corresponding aircraft to each collision target based on the current dynamic situation map and combined with the current flight information of each aircraft, the following steps may be included:

[0084] First, extract the threat level of each collision target from the current dynamic situation map.

[0085] Second, group and sort each collision target according to the threat level of each collision target to obtain multiple groups sorted according to the threat level. Specifically, the collision targets with the same threat level are grouped into one group, and each group is arranged in descending order of the threat level. In this way, in the subsequent aircraft assignment process, aircraft can be preferentially assigned to the groups with high threat levels to preferentially collide with the high-threat collision targets.

[0086] Third, traverse each group in order. For the currently traversed group, based on the current dynamic situation map and combined with the flight information of each aircraft, assign corresponding aircraft to each collision target within the current group. Specifically, the following steps may be included:

[0087] First, extract the current coordinates of each collision target within the current group from the current dynamic situation map.

[0088] Second, based on the current coordinates of each collision target within the current group and combined with the flight information of the aircraft, calculate the distance information between each collision target within the current group and each aircraft.

[0089] In a possible implementation manner, the calculation process of this distance information can be as follows:

[0090] Step 1: Calculate the connection vectors and target distances between each collision target and each aircraft within the current group based on the current coordinates of each collision target and the centroid coordinates of each aircraft in the current group. Among them, the calculation formula for the target distance is as follows:

[0091] (7)

[0092] 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, and ( x m , y m , z m ) is the centroid coordinate of the aircraft.

[0093] Step 2: Calculate the cosine distance between the connection vectors between each collision target and each aircraft and the velocity vectors of each aircraft within the current group. Among them, the calculation formula for the cosine distance is as follows:

[0094] (8)

[0095] In the formula, D ( , ) is the cosine distance between the velocity vector of the aircraft and the connection vector between the collision target and the aircraft, is the velocity vector of the aircraft, is the connection vector between the collision target and the aircraft.

[0096] Step 3: Calculate the distance information between each collision target and each aircraft within the current group based on the target distances between each collision target and each aircraft within the current group and the cosine distances between the connection vectors between each collision target and each aircraft and the velocity vectors of each aircraft within the current group. Among them, the calculation formula for this distance information is as follows:

[0097] (9)

[0098] In the formula, d m is the distance information between the collision target and the aircraft.

[0099] 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 angle between the flight direction of the aircraft and the line connecting the collision target and the aircraft is relatively small, which can accurately represent the distance that the aircraft actually needs to travel to reach the collision target. Based on this distance information, the allocation of the aircraft can minimize the maneuverability and energy consumption of the aircraft, improve the target hit rate, and largely avoid fire crossing.

[0100] Finally, based on the distance information between each collision target and each aircraft in the current formation, corresponding aircraft are allocated to each collision target in the current formation. Specifically, for each collision target in the same formation, sort the distances between each collision target and the front edge of the multi-aircraft from small to large, traverse each collision target in the formation in the order of increasing distance, and for the currently traversed collision target, select the aircraft with the smallest distance information from the currently traversed collision target and allocate it to the currently traversed collision target for collision. After the traversal is completed, the allocation of aircraft for each collision target in the formation can be completed.

[0101] Fourth, after the traversal is completed, the allocation of the aircraft corresponding to each collision target is completed.

[0102] The present disclosure provides a collaborative allocation method for 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, where the current dynamic situation map includes the current coordinates and threat levels of each collision target; based on the current dynamic situation map, combining the flight information of each aircraft, allocating corresponding aircraft to each collision target to collide with each collision target through the corresponding aircraft. In the present disclosure, the motion states of each collision target are tracked in real time through the dynamic situation map of the group target, and the aircraft are collaboratively allocated according to the motion states of each collision target and the current flight information of each aircraft, so that the collaborative allocation result of the aircraft matches the current motion states of each collision target, thereby achieving precise collaborative collision of dynamic group targets.

[0103] <Device Embodiment>

[0104] Figure 5 A schematic block diagram of a collaborative allocation device for multiple aircraft to ground group targets according to an embodiment of the present disclosure is shown. As Figure 5 shown, the device 100 includes:

[0105] A data acquisition module 110, configured to obtain 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;

[0106] The situation map generation module 120 is configured to generate a current dynamic situation map of group targets according to the coordinates and types of each collision target calculated by each aircraft. The current dynamic situation map includes the current coordinates and threat levels of each collision target.

[0107] The collaborative allocation module 130 is configured 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 as to perform collisions on each collision target through the corresponding aircraft.

[0108] <Device Embodiment>

[0109] Figure 6 FIG. shows a schematic block diagram of a collaborative allocation device for multiple aircraft to ground group targets according to an embodiment of the present disclosure. As Figure 6 shown, the collaborative allocation device 200 for multiple aircraft to ground group targets includes: a processor 210 and a memory 220 for storing executable instructions executable by the processor 210. The processor 210 is configured to implement the collaborative allocation method for multiple aircraft to ground group targets described in any one of the foregoing when executing the executable instructions.

[0110] Here, it should be noted that the number of processors 210 can be one or more. At the same time, in the collaborative allocation device 200 for multiple aircraft to ground group targets in the embodiment of the present disclosure, an input device 230 and an output device 240 may further be included. The processor 210, the memory 220, the input device 230, and the output device 240 may be connected through a bus or in other ways, which is not specifically limited herein.

[0111] The memory 220, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and various modules, such as: the programs or modules corresponding to the collaborative allocation method for 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 collaborative allocation device 200 for multiple aircraft to ground group targets by running the software programs or modules stored in the memory 220.

[0112] The input device 230 can be used to receive input numbers or signals. The signal can be a key signal related to user settings and function control of the device / terminal / server. The output device 240 may include a display device such as a display screen.

[0113] <Storage Medium Embodiment>

[0114] According to a fourth aspect of the present disclosure, a non-volatile computer-readable storage medium is further provided, on which computer program instructions are stored, and when the computer program instructions are executed by the processor 210, the collaborative allocation method for multiple aircraft to ground group targets described in any one of the foregoing is implemented.

[0115] The embodiments of the present disclosure have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, the practical application, or the technical improvements to the technologies in the market, or to enable other ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A collaborative allocation method for multiple aircraft to ground group targets, characterized in that, 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 of the aircraft, where the flight information includes the centroid coordinates and velocity vector of the aircraft; Generating a current dynamic situation map of the group target according to the coordinates and types of each of the collision targets calculated by each of the aircraft, where the current dynamic situation map includes the current coordinates and threat levels 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, assigning corresponding aircraft to each of the collision targets so as to perform collisions on each of the collision targets through the corresponding aircraft; When assigning 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 levels of each of the collision targets from the current dynamic situation map; Grouping and sorting each of the collision targets according to the threat levels of each of the collision targets to obtain multiple groups sorted according to the threat levels. Specifically, the collision targets with the same threat level are grouped into one group, and each group is arranged in descending order of the threat level; Traversing each of the groups in sequence. For the currently traversed group, based on the current dynamic situation map and in combination with the flight information of each of the aircraft, assigning corresponding aircraft to each of the collision targets within the current group; After the traversal ends, the assignment of the corresponding aircraft for each of the collision targets is completed; When assigning corresponding aircraft to each of the collision targets within the current group based on the current dynamic situation map and in combination with the flight information of each of the aircraft, it includes: Extracting the current coordinates of each of the collision targets within the current group from the current dynamic situation map; Based on the current coordinates of each of the collision targets within the current group and in combination with the flight information of the aircraft, calculating the distance information between each of the collision targets within the current group and each of the aircraft; Based on the distance information between each of the collision targets within the current group and each of the aircraft, assigning corresponding aircraft to each of the collision targets within the current group.

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

3. The method according to claim 1, wherein When calculating the distance information between each of the collision targets within the current group and each of the aircraft based on the current coordinates of each of the collision targets within the current group and in combination with the flight information of each of the aircraft, it includes: According to the current coordinates of each of the collision targets within the current group and the centroid coordinates of each of the aircraft, calculating the connection vector and target distance between each of the collision targets within the current group and each of the aircraft; Calculate the cosine distance between the connection vectors between each collision target in the current group and each of the aircraft and the velocity vectors of each of the aircraft; Based on the target distances between each collision target in the current group and each of the aircraft and the cosine distance between the connection vectors between each collision target in the current group and each of the aircraft and the velocity vectors of each of the aircraft, calculate the distance information between each collision target in the current group and each of the aircraft.

4. The method according to claim 1, wherein When the aircraft calculates the coordinates of each of the collision targets, it includes: Obtain the current centroid coordinates, attitude angles, seeker frame angles of the aircraft, and the target misalignment angles of each of the collision targets; Based on the current centroid coordinates, attitude angles, seeker frame angles of the aircraft, and the target misalignment angles of each of the collision targets, use a pre-constructed target measurement model to calculate the coordinates of each of the current collision targets.

5. A collaborative allocation device for multiple aircraft to ground group targets, characterized in that, It includes: A data acquisition module, configured to acquire the flight information of each aircraft at the current moment and the coordinates and types of each collision target in the group targets calculated by each of the aircraft, where the flight information includes the centroid coordinates and velocity vectors of the aircraft; A situation map generation module, configured to generate a current dynamic situation map of the group targets according to the coordinates and types of each of the collision targets calculated by each of the aircraft, where the current dynamic situation map includes the current coordinates and threat levels of each of the collision targets; A cooperative allocation module, configured to, based on the current dynamic situation map and in combination with the flight information of each of the aircraft, allocate corresponding aircraft to each of the collision targets, so as to collide with each of the collision targets through the corresponding aircraft; When, based on the current dynamic situation map and in combination with the flight information of each of the aircraft, allocating corresponding aircraft to each of the collision targets in the current group, it includes: Extract the threat levels of each of the collision targets from the current dynamic situation map; Group and sort each of the collision targets according to the threat levels of each of the collision targets to obtain multiple groups sorted according to the threat levels. Specifically, the collision targets with the same threat level are grouped into one group, and each group is arranged in descending order of the threat level; Traverse each of the groups in sequence. For the currently traversed group, based on the current dynamic situation map and in combination with the flight information of each of the aircraft, allocate corresponding aircraft to each of the collision targets in the current group; After the traversal ends, complete the allocation of the aircraft corresponding to each of the collision targets; When, based on the current dynamic situation map and in combination with the flight information of each of the aircraft, allocating corresponding aircraft to each of the collision targets in the current group, it includes: Extract the current coordinates of each of the collision targets in the current group from the current dynamic situation map; Based on the current coordinates of each of the collision targets in the current group and in combination with the flight information of the aircraft, calculate the distance information between each of the collision targets in the current group and each of the aircraft; Based on the distance information between each of the collision targets in the current group and each of the aircraft, allocate corresponding aircraft to each of the collision targets in the current group.

6. A collaborative allocation device for multiple aircraft to ground group targets, characterized in that, It includes: A processor; A memory for storing processor-executable instructions; Wherein, when the processor is configured to execute the executable instructions, the method described in any one of claims 1 to 4 is implemented.

7. A non-volatile computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the computer program instructions are executed by the processor, the method described in any one of claims 1 to 4 is implemented.

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