Unmanned system speed control method and system facing air-ground cooperative attack task

Abstract

The invention relates to an unmanned system speed control method and system for an air-ground cooperative attack task, and the method comprises the steps: obtaining a plurality of parameters related to the task, and calculating the impact capability and maneuverability of an unmanned plane and an unmanned vehicle. The cooperative speed of the unmanned aerial vehicle and the unmanned aerial vehicle is dynamically adjusted by combining factors such as task progress, target distance, strike ability and maneuverability, and efficient cooperative combat of the unmanned aerial vehicle and the unmanned aerial vehicle in the task execution process is ensured. According to the method, the cooperation efficiency, task success rate and combat flexibility of the unmanned system during air-ground cooperation attack task execution can be improved, the adaptability is high, and the speed can be adjusted in real time according to task requirements and environment changes. The method is suitable for various types of unmanned system cooperative combat tasks, and has a wide application prospect.

Description

Technical Field

[0001] The invention relates to the field of unmanned systems, and in particular to an unmanned system speed control method and system method for air-to-ground coordinated attack tasks. Background Art

[0002] In recent years, with the continuous development of unmanned system technology, the coordinated operations of drones and unmanned vehicles have become an important part of military missions. Especially in complex air-to-ground coordinated attack missions, the coordinated work between drones and unmanned vehicles is crucial. In order to improve the success rate and execution efficiency of the mission, how to reasonably coordinate the movement speed of drones and unmanned vehicles so that they can dynamically adjust the speed according to the progress of the mission, the target location and the combat needs has become an urgent problem to be solved.

[0003] Most existing unmanned system collaborative control methods focus on optimizing one aspect, such as speed control, path planning, etc., while few methods can comprehensively consider multiple factors such as mission progress, target distance, combat capability, mobility, etc. for collaborative speed control. Therefore, existing technologies cannot meet the needs of collaborative work between drones and unmanned vehicles in air-to-ground collaborative attack missions, especially when there are large differences in strike capability and mobility. Summary of the invention

[0004] Purpose of the invention: The purpose of the present invention is to provide a speed collaborative control method and system for unmanned systems for air-to-ground coordinated attack missions, by obtaining mission-related parameters, calculating the strike capability and maneuverability of UAVs and unmanned vehicles, and dynamically adjusting the speed according to mission progress, target distance and real-time status, to ensure the collaborative efficiency and combat effectiveness of the two during the mission execution.

[0005] Technical solution: In order to achieve the above-mentioned purpose, the present invention provides an unmanned system speed control method for air-to-ground coordinated attack missions, wherein the unmanned system includes an unmanned aerial vehicle and an unmanned vehicle.

[0006] In the air-ground collaborative scenario, this method controls the collaborative speed of the unmanned system according to the mission progress, target distance and real-time status of the unmanned system:

[0007]

[0008] Among them, v UAV 、v UGV are the coordinated speeds of drones and unmanned vehicles, are the initial speeds of the UAV and the unmanned vehicle, D UAV , D UGV are the distances between the UAV and the unmanned vehicle and the target respectively; k1 and k2 are the task progress weight coefficients of the UAV and the unmanned vehicle respectively, R is the task progress, They are the strike capabilities of drones and unmanned vehicles. They are the mobility of drones and unmanned vehicles respectively.

[0009] As a further optimization solution of the present invention, the distance D between the drone and the target UAV The expression is:

[0010]

[0011] Among them, T x , T y are the x and y axis coordinates of the target, respectively. They are the x and y axis coordinates of the current drone respectively.

[0012] As a further optimization solution of the present invention, the distance D between the unmanned vehicle and the target UGV The expression is:

[0013]

[0014] Among them, T x , T y are the x and y axis coordinates of the target, respectively. They are the x and y axis coordinates of the current unmanned vehicle respectively.

[0015] As a further optimization solution of the present invention, the strike capability of the UAV The expression is:

[0016]

[0017] in, They are the effective attack range, attack accuracy, and ammunition load of the current drone’s weapons. They are the effective attack range, attack accuracy, and maximum ammunition load of the drone’s weapons. A max They are the target area and the maximum value of the target area in the direction of the line between the current UAV and the target, respectively. α1, α2, α3, and α4 are weight coefficients.

[0018] As a further optimization solution of the present invention, the strike capability of the unmanned vehicle The expression is:

[0019]

[0020] in, They are the effective attack range, attack accuracy, and ammunition load of the current unmanned vehicle’s weapons. They are the effective attack range, attack accuracy, and maximum ammunition load of the unmanned vehicle’s weapons. The same target has different areas in different directions. A max They are the target area and the maximum value of the target area in the direction of the line connecting the current unmanned vehicle and the target, respectively. α1, α2, α3, and α4 are weight coefficients.

[0021] As a further optimization scheme of the present invention, the maneuverability of the drone The expression is:

[0022]

[0023] in, They are the output power, aerodynamic characteristics, terrain adaptability, and speed of the current UAV. They are the maximum output power, aerodynamic characteristics, terrain adaptability and speed of the UAV, β1, β2, β3, β4 and β5 are weight coefficients, is the maneuverability coefficient of the UAV.

[0024] As a further optimization solution of the present invention, the mobility of the unmanned vehicle The expression is:

[0025]

[0026] in, They are the output power, aerodynamic characteristics, terrain adaptability, and speed of the current unmanned vehicle. are the maximum output power, aerodynamic characteristics, terrain adaptability, and speed of the unmanned vehicle, β1, β2, β3, β4, and β5 are weight coefficients, is the mobility coefficient of the unmanned vehicle.

[0027] The present invention also provides an unmanned system speed control system for air-to-ground coordinated attack missions, the system comprising:

[0028] The information collection module is used to obtain the basic parameters of the air-ground coordinated attack mission, including the target location, area, and the location of drones and unmanned vehicles, mission progress, effective attack range, attack accuracy, ammunition load, maximum power output, aerodynamic characteristics, terrain adaptability, maximum speed, and maneuverability coefficient;

[0029] The distance calculation module is used to calculate the distance between the UAV and the unmanned vehicle and the target respectively;

[0030] The strike capability calculation module is used to calculate the strike capabilities of drones and unmanned vehicles respectively;

[0031] The mobility calculation module is used to calculate the mobility of the UAV and the unmanned vehicle respectively;

[0032] The collaborative speed calculation module is used to calculate the collaborative speeds of the UAV and the unmanned vehicle respectively.

[0033] The present invention also provides a computer-readable storage medium storing one or more programs, wherein the one or more programs include instructions, characterized in that when the instructions are executed by a computing device, the computing device executes the method as described above.

[0034] The present invention also provides an electronic device, characterized in that it includes one or more processors, one or more memories and one or more programs, wherein the one or more programs are stored in the one or more memories and are configured to be executed by the one or more processors, and the one or more programs include instructions for executing the method as described above.

[0035] Beneficial effects:

[0036] ① Improve coordination efficiency: The present invention can dynamically adjust the speed of UAVs and unmanned vehicles by comprehensively considering multiple factors such as mission progress, target location, strike capability and maneuverability, so as to achieve efficient coordinated operations during mission execution.

[0037] ② Ensure mission success rate: By accurately calculating strike capability and maneuverability, and dynamically adjusting speed, the present invention can ensure the best combat status of UAVs and unmanned vehicles when performing attack missions, and avoid coordination failures caused by speed mismatch.

[0038] ③ Adapt to complex environments: The method of the present invention is applicable to various complex air-to-ground coordinated attack tasks. It can not only operate in a static environment, but also adjust according to real-time environmental changes (such as changes in target position, changes in task progress, etc.), and has strong adaptability.

[0039] ④ Strong scalability: This method can adjust parameters according to the requirements of different tasks and the performance of the unmanned system. It has good scalability and can be applied to other types of unmanned system collaborative combat tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a flow chart of the unmanned system speed coordination control method for air-to-ground coordinated attack missions. DETAILED DESCRIPTION

[0041] Aiming at the speed coordination and control problem of unmanned aerial vehicles (UAV) and unmanned ground vehicles (UGV) in air-to-ground coordinated attack missions, a coordinated control method and system was proposed which comprehensively considered multiple factors such as mission progress, target distance, strike capability, and maneuverability. It can improve the efficiency of mission execution and ensure the best effect of coordinated operations.

[0042] like Figure 1 As shown, the unmanned system speed cooperative control method of the present invention comprises the following steps:

[0043] (1) Obtain task-related parameters, including:

[0044] ●Target position (T=(T x ,T Y )): The coordinate position of the target in meters (m). This parameter is provided by the mission planning system or positioning system, usually obtained through GPS, vision or radar sensors.

[0045] UAV location The current position coordinates of the drone, in meters (m). This parameter is obtained through the drone's real-time positioning system or sensor data.

[0046] ●Unmanned Vehicle (UGV) Location The current position coordinates of the unmanned vehicle, in meters (m). This parameter is obtained through the ground positioning system or sensor data.

[0047] ●Task progress (R∈[0,1]): indicates the progress of task completion, and the unit is dimensionless (0 means the task has not started yet, 1 means the task has been completed). This parameter is usually calculated by the task scheduling system based on the actual progress.

[0048] ●The effective attack range of the weapon system (R weapon ): The unit is meter (m), which indicates the maximum distance at which the platform weapon system can effectively strike. This parameter is provided according to the weapon technical specifications.

[0049] ●The area or volume of the target (A target ): The unit is square meters (m 2 ) or cubic meters (m 3 ), which indicates the physical size of the target. This parameter can be measured based on the target type or through sensors (such as radar, laser scanning).

[0050] ●Attack Accuracy (E accuracy ): The unit is meter (m), which indicates the accuracy of the platform in striking the target. This parameter is usually derived from the design parameters of the weapon system or obtained through testing.

[0051] ●Ammunition load (M payload ): The unit is kilograms (kg), which indicates the mass of the weapon or ammunition carried by the platform. This parameter is provided by the design specifications of the platform.

[0052] ●Maximum power output (M power ): The unit is kilowatt (kW), which indicates the maximum power output of the platform. This parameter is provided by the power system of the platform.

[0053] ●Aerodynamic characteristics (A aero ): The unit is Newton meter (N·m), which represents the lift, drag, and aerodynamic efficiency of the platform.

[0054] Etc., applicable to UAVs. This parameter can be obtained through aerodynamic models or flight test data.

[0055] ●Terrain adaptability (G terrain ): The unit is dimensionless and represents the performance of the platform on different terrains.

[0056] Unmanned vehicle. This parameter can be obtained from the terrain type (e.g. flat, rugged) or sensor data.

[0057] ●Maximum speed (V max ): The unit is meters per second (m / s), which indicates the maximum movement speed of the platform.

[0058] The design specifications of the platform are provided.

[0059] ●Mobility coefficient (α maneuver ): dimensionless, representing the maneuverability of the platform (such as turning radius, acceleration

[0060] This parameter is provided by the kinematic performance of the platform.

[0061] (2) Calculate the distance D between the UAV and the target UAV and the distance D between the UGV and the target UGV .in:

[0062]

[0063] Among them, T x , T y is the target coordinate position, and The current position coordinates of the UAV and the unmanned vehicle.

[0064] (3) Calculating the strike capabilities of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) and Calculated by the following formula:

[0065]

[0066] in, They are the effective attack range, attack accuracy, and ammunition load of the current drone’s weapons. They are the effective attack range, attack accuracy, and maximum ammunition load of the drone’s weapons. They are the effective attack range, attack accuracy, and ammunition load of the current unmanned vehicle’s weapons. They are the effective attack range, attack accuracy, and maximum value of ammunition load of the unmanned vehicle’s weapons. A max are the target area and the maximum value of the target area in the direction of the line between the current UAV, unmanned vehicle and the target, respectively; α1, α2, α3, and α4 are weight coefficients.

[0067] The same target has different areas in different directions

[0068] (4) Calculating the mobility of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) and Calculated by the following formula:

[0069]

[0070] in, They are the output power, aerodynamic characteristics, terrain adaptability, and speed of the current UAV. They are the maximum output power, aerodynamic characteristics, terrain adaptability, and speed of the UAV. They are the output power, aerodynamic characteristics, terrain adaptability, and speed of the current unmanned vehicle. are the maximum output power, aerodynamic characteristics, terrain adaptability, and speed of the unmanned vehicle, β1, β2, β3, β4, and β5 are weight coefficients, are the maneuverability coefficients of UAV and unmanned vehicle respectively.

[0071] (5) According to the task progress R, calculate the coordinated speed v of the UAV and UGV UAV and v UGV , calculated by the following formula:

[0072]

[0073]

[0074] Among them, v UAV 、v UGV are the coordinated speeds of drones and unmanned vehicles, are the initial speeds of the UAV and the unmanned vehicle, D UAV , D UGV are the distances between the UAV and the unmanned vehicle and the target respectively; k1 and k2 are the task progress weight coefficients of the UAV and the unmanned vehicle respectively, R is the task progress, They are the strike capabilities of drones and unmanned vehicles. They are the mobility of drones and unmanned vehicles respectively.

[0075] The target position, current position of the UAV and the unmanned vehicle in the above mission-related parameters are obtained by sensor data or communication systems. The weight coefficients α1, α2, α3, α4 and β1, β2, β3, β4, β5 of strike capability and mobility are adjusted through experimental data or mission requirements. The calculation of the coordinated speed can be updated in real time during the mission execution, and the speed can be adjusted based on the mission progress, target position and real-time status.

[0076] In order to better understand the present invention, the present invention is described in detail below in conjunction with embodiments.

[0077] Example:

[0078] (1) Assume that an unmanned aerial vehicle (UAV) and an unmanned vehicle (UGV) are performing an air-to-ground coordinated attack mission, and the target is located at T = (1000, 500). The initial positions of the UAV and the UGV are as follows:

[0079] ●Drone location:P UAV =(0,0)

[0080] ●Unmanned vehicle position: P UGV =(500,200)

[0081] Target Information:

[0082] Target position: T = (1000,500)

[0083] ●Task progress: R = 0.4 (task completion progress is 40%)

[0084] ●Effective attack range of weapon system: (none

[0085] The attack range of man-machine is larger)

[0086] Step 1: Get task-related parameters

[0087] 1. Target position: T = (1000,500), in meters (m).

[0088] 2. UAV location: P UAV =(0,0), in meters (m), obtained through the positioning system of the drone.

[0089] 3. Unmanned Vehicle (UGV) Position: P UGV =(500,200), in meters (m), obtained through the positioning system of the unmanned vehicle.

[0090] 4. Task progress: R = 0.4, indicating that the task has progressed to 40%. This value is calculated by the task scheduling system based on the actual progress.

[0091] 5. Effective attack range of weapon system:

[0092] 6. Target area or volume: Assume the target is a building with an area of ​​A. target =500m.

[0093] 7. Attack accuracy:

[0094] 8. Ammunition load: Assume the load of the drone Unmanned vehicle load

[0095] 9. Maximum power output: maximum power of the drone Maximum power of driverless car

[0096] 10. Aerodynamic characteristics (UAV): Assumptions

[0097] 11. Terrain adaptability (unmanned vehicle): Assumption (Adaptability coefficient, suitable for complex terrain).

[0098] 12. Maximum speed: The maximum speed of the drone (about 27.8m / s), the maximum speed of the unmanned vehicle (about 16.7m / s).

[0099] 13. Mobility coefficient: Assume that the mobility coefficients of the UAV and the unmanned vehicle are and Step 2: Calculate the distance to the target

[0100] Based on the target position and the position of the unmanned system, the distance between the drone and the unmanned vehicle and the target is calculated.

[0101] 1. The distance D between the drone and the target UAV :

[0102]

[0103] 2. The distance D between the unmanned vehicle and the target UGV :

[0104]

[0105] Step 3: Calculate striking power

[0106] Assumptions A max=1000m 2 ,

[0107]

[0108] And set the weight coefficients α1=0.3, α2=0.2, α3=0.25, α4=0.25.

[0110] 1. Drone strike capability

[0111]

[0112] 2. Unmanned vehicle strike capability

[0113]

[0114] Step 4: Calculate Mobility

[0115] Assumptions And set the weight coefficients β1=0.3, β2=0.25, β3=0.2, β4=0.15, β5=0.1.

[0116] 1. The mobility of drones

[0117]

[0118] 2. Mobility of driverless cars

[0119]

[0120] Step 5: Calculate the collaborative speed

[0121] Finally, based on the task progress R = 0.4 and the calculated parameters, the coordinated speed of the UAV and the unmanned vehicle is calculated.

[0122] 1. UAV coordination speed:

[0123] Substitute the values ​​and assume and k1=0.1:

[0124]

[0125] 2. Unmanned vehicle coordination speed:

[0126] Similarly, assuming and k2 = 0.1:

[0127]

[0128] Through the above calculation, the coordinated speed of the UAV and the unmanned vehicle can be obtained. By considering factors such as mission progress, target distance, strike capability, and maneuverability, the coordinated control method provided by the present invention can adjust the speed according to real-time parameters, thereby ensuring efficient coordinated combat of the UAV and the unmanned vehicle when performing air-to-ground coordinated attack missions.

[0129] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the use. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the use methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

[0130] The present invention also provides an unmanned system speed control system for air-to-ground coordinated attack missions, the system comprising:

[0131] The information collection module is used to obtain the basic parameters of the air-ground coordinated attack mission, including the target location, the location of the UAV and the unmanned vehicle, the mission progress, the effective attack range of the weapon system, the target area, the attack accuracy, the platform load, the aerodynamic characteristics, etc.

[0132] The distance calculation module is used to calculate the distance between the UAV and the unmanned vehicle and the target respectively;

[0133] The strike capability calculation module is used to calculate the strike capabilities of drones and unmanned vehicles respectively;

[0134] The mobility calculation module is used to calculate the mobility of the UAV and the unmanned vehicle respectively;

[0135] The collaborative speed calculation module is used to calculate the collaborative speeds of the UAV and the unmanned vehicle respectively.

[0136] The technical solution of the above-mentioned unmanned system speed control system is similar to the technical solution of the above-mentioned unmanned system speed control method, which will not be repeated here.

[0137] Based on the same technical solution, the present invention also provides a computer-readable storage medium storing one or more programs, wherein the one or more programs include instructions, characterized in that when the instructions are executed by a computing device, the computing device executes the unmanned system speed control method as described above.

[0138] Based on the same technical solution, the present invention also provides an electronic system, comprising one or more processors, one or more memories and one or more programs, wherein the one or more programs are stored in the one or more memories and are configured to be executed by the one or more processors, and the one or more programs include instructions for executing the unmanned system speed control method as described above.

[0139] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0140] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0141] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0142] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

Claims

1. An unmanned system speed control method for air-ground coordinated attack missions, characterized in that: The unmanned system includes unmanned aerial vehicles and unmanned vehicles; In the air-ground collaborative scenario, this method controls the collaborative speed of the unmanned system according to the mission progress, target distance and real-time status of the unmanned system: Among them, v uAV 、v uGV are the coordinated speeds of drones and unmanned vehicles, are the initial speeds of the UAV and the unmanned vehicle, D uAV , D uGV are the distances between the UAV and the unmanned vehicle and the target respectively; k1 and k2 are the task progress weight coefficients of the UAV and the unmanned vehicle respectively, R is the task progress, They are the strike capabilities of drones and unmanned vehicles. They are the mobility of drones and unmanned vehicles respectively.

2. The unmanned system speed control method for air-to-ground coordinated attack mission according to claim 1 is characterized in that: The distance D between the drone and the target uAV The expression is: Among them, T x , T y are the x and y axis coordinates of the target, respectively. They are the x and y axis coordinates of the current drone respectively.

3. The unmanned system speed control method for air-to-ground coordinated attack mission according to claim 1 is characterized in that: The distance D between the unmanned vehicle and the target UGV The expression is: Among them, T x , T y are the x and y axis coordinates of the target, respectively. They are the x and y axis coordinates of the current unmanned vehicle respectively.

4. The unmanned system speed control method for air-to-ground coordinated attack mission according to claim 1 is characterized in that: Drone strike capabilities The expression is: in, They are the effective attack range, attack accuracy, and ammunition load of the current drone’s weapons. They are the effective attack range, attack accuracy, and maximum ammunition load of the drone’s weapons. They are the target area and the maximum value of the target area in the direction of the line between the current UAV and the target, respectively. α1, α2, α3, and α4 are weight coefficients.

5. The unmanned system speed control method for air-to-ground coordinated attack mission according to claim 1 is characterized in that: Unmanned vehicle strike capability The expression is: in, They are the effective attack range, attack accuracy, and ammunition load of the current unmanned vehicle’s weapons. They are the effective attack range, attack accuracy, and maximum ammunition load of the unmanned vehicle’s weapons. The same target has different areas in different directions. They are the target area and the maximum value of the target area in the direction of the current connection between the unmanned vehicle and the target, respectively. α1, α2, α3, and α4 are weight coefficients.

6. The unmanned system speed control method for air-to-ground coordinated attack mission according to claim 1 is characterized in that: Drone mobility The expression is: in, They are the output power, aerodynamic characteristics, terrain adaptability, and speed of the current UAV. They are the maximum output power, aerodynamic characteristics, terrain adaptability and speed of the UAV, β1, β2, β3, β4 and β5 are weight coefficients, is the maneuverability coefficient of the UAV.

7. The unmanned system speed control method for air-to-ground coordinated attack mission according to claim 1 is characterized in that: Autonomous vehicle mobility The expression is: in, They are the output power, aerodynamic characteristics, terrain adaptability, and speed of the current unmanned vehicle. are the maximum output power, aerodynamic characteristics, terrain adaptability, and speed of the unmanned vehicle, β1, β2, β3, β4, and β5 are weight coefficients, is the mobility coefficient of the unmanned vehicle.

8. Unmanned system speed control system for air-ground coordinated attack missions, characterized in that: The system comprises: The information collection module is used to obtain the basic parameters of the air-ground coordinated attack mission, including the target location, area, and the location of drones and unmanned vehicles, mission progress, effective attack range, attack accuracy, ammunition load, maximum power output, aerodynamic characteristics, terrain adaptability, maximum speed, and maneuverability coefficient; The distance calculation module is used to calculate the distance between the UAV and the unmanned vehicle and the target respectively; The strike capability calculation module is used to calculate the strike capabilities of drones and unmanned vehicles respectively; The mobility calculation module is used to calculate the mobility of the UAV and the unmanned vehicle respectively; The collaborative speed calculation module is used to calculate the collaborative speeds of the UAV and the unmanned vehicle respectively.

9. A computer-readable storage medium storing one or more programs, wherein the one or more programs include instructions, characterized in that: When the instructions are executed by a computing device, the computing device is caused to perform the method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: The method comprises one or more processors, one or more memories and one or more programs, wherein the one or more programs are stored in the one or more memories and are configured to be executed by the one or more processors, and the one or more programs include instructions for executing the method as claimed in any one of claims 1 to 7.

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