Unmanned system speed control method and system for air-ground coordinated attack missions

Abstract

The present application relates to a kind of unmanned system speed control method and system for air-ground cooperative attack task, by obtaining multiple parameters related to task, the striking ability and mobility of unmanned aerial vehicle and unmanned vehicle are calculated.Combining task progress, target distance, striking ability, mobility and other factors, the cooperative speed of unmanned aerial vehicle and unmanned vehicle is dynamically adjusted to ensure efficient cooperation in the process of task execution.The present application can improve the cooperative efficiency, task success rate and combat flexibility of unmanned system when performing air-ground cooperative attack task, has strong adaptability, and can adjust speed in real time according to task requirements and environmental changes.It is suitable for various types of unmanned system cooperative combat task, and has wide application prospect.

Description

Technical Field

[0001] The present 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 missions. Background Art

[0002] In recent years, with the continuous development of unmanned systems technology, the coordinated operations of drones and unmanned vehicles (UAVs) have become an essential component of military missions. This is especially true in complex air-to-ground coordinated attack missions, where collaboration between drones and UAVs is crucial. To improve mission success and execution efficiency, the challenge of properly coordinating the speeds of drones and UAVs, enabling them to dynamically adjust based on mission progress, target location, and operational requirements, has become a pressing issue.

[0003] Most existing collaborative control methods for unmanned systems focus on optimizing a single aspect, such as speed control or path planning. Few methods comprehensively consider multiple factors, including mission progress, target distance, combat capability, and maneuverability, for collaborative speed control. Consequently, existing technologies cannot meet the requirements for collaborative operation between drones and unmanned vehicles in air-to-ground coordinated attack missions, especially when their strike capabilities and maneuverability differ significantly. Summary of the Invention

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

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

[0006] In the air-ground collaborative scenario, this method controls the collaborative speed of the unmanned system based on 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 UAV and the target respectively; k1 and k2 are the task progress weight coefficients of the UAV and the UAV respectively, and 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 UAV 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, They are the x-axis 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, are the x-axis 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 are the target area and the maximum value of the target area in the direction of the line connecting 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. respectively, the maximum value of the weapon effective attack range, attack accuracy, and ammunition load of the unmanned vehicle, the target has different areas in different directions, A max respectively, the target area in the direction of the line connecting the current unmanned vehicle and the target, and the maximum value of the target area, and α1, α2, α3, and α4 are weight coefficients.

[0021] As a further optimization scheme of the present application, the maneuverability of the unmanned vehicle is expressed as:

[0022]

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

[0024] As a further optimization scheme of the present application, the maneuverability of the unmanned vehicle is expressed as:

[0025]

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

[0027] The present application also provides a speed control system of an unmanned system for air-ground cooperative attack tasks, which comprises:

[0028] an information acquisition module, configured to acquire basic parameters of the air-ground cooperative attack task, including target position and area, and the position, task progress, effective attack range, attack accuracy, ammunition load, maximum power output, aerodynamic characteristics, terrain adaptability, maximum speed, and maneuverability coefficient of the unmanned vehicle and the unmanned vehicle;

[0029] a distance calculation module, configured to calculate the distance of the unmanned vehicle and the unmanned vehicle to the target, respectively;

[0030] a striking power calculation module, configured to calculate the striking power of the unmanned vehicle and the unmanned vehicle, respectively;

[0031] a maneuverability calculation module, configured to calculate the maneuverability of the unmanned vehicle and the unmanned vehicle, respectively.

[0032] A cooperative speed calculation module is configured to calculate the cooperative speed of the UAV and the UGV respectively.

[0033] The application also provides a computer readable storage medium storing one or more programs, the one or more programs including instructions that, when executed by a computing device, cause the computing device to perform the method described above.

[0034] The application also provides an electronic device including 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 configured to be executed by the one or more processors, and the one or more programs include instructions for performing the method described above.

[0035] Advantages:

[0036] ① Improve cooperative efficiency: The application can dynamically adjust the speed of the UAV and the UGV by considering multiple factors such as task progress, target position, striking power, and maneuverability, so as to achieve efficient cooperative combat during task execution.

[0037] ② Ensure task success rate: By accurately calculating the striking power and maneuverability and dynamically adjusting the speed, the application can ensure the optimal combat state of the UAV and the UGV during the execution of the attack task, avoiding the failure of cooperation due to speed mismatch.

[0038] ③ Adapt to complex environment: The method is suitable for various complex air-ground cooperative attack tasks, not only can run in static environment, but also can adjust according to real-time environmental changes (such as target position change, task progress change, etc.), has strong adaptability.

[0039] ④ Strong scalability: The method can adjust parameters according to the needs of different tasks and the performance of unmanned systems, has good scalability, and can be applied to other types of unmanned system cooperative combat tasks. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 is a flowchart of the unmanned system speed cooperative control method for air-ground cooperative attack tasks. DETAILED DESCRIPTION

[0041] For the speed coordination and control problem of UAV (UAV) and UGV (UGV) in the execution of air-ground cooperative attack task, a cooperative control method and system are proposed, which comprehensively considers task progress, target distance, striking power, maneuverability and other factors, which can improve the efficiency of task execution and ensure the best effect of cooperative combat.

[0042] As Figure 1 shown, the unmanned system speed coordination control method of the present application includes 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 task planning system or the positioning system, usually obtained through GPS, vision or radar sensors.

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

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

[0047] • Task progress (R ∈ [0, 1]): Represents the progress of the task, unitless (0 means the task has not started, 1 means the task has been completed). This parameter is usually calculated by the task scheduling system according to the actual progress.

[0048] • Effective attack range of weapon system (R weapon ): in meters (m), representing the maximum distance that the platform weapon system can effectively attack. This parameter is provided according to the weapon technical specifications.

[0049] • Area or volume of target (A target ): in square meters (m 2 ) or cubic meters (m 3 ), representing the physical size of the target. This parameter can be obtained according to the target type or by sensors such as radar, laser scanning.

[0050] • Attack accuracy (E accuracy ): in meters (m), representing the accuracy of the platform attacking the target. This parameter is usually obtained from the design parameters of the weapon system or through testing.

[0051] • Ammunition load (M payload ): in kilograms (kg), representing the mass of the weapons or ammunition carried by the platform. This parameter is provided by the design specifications of the platform.

[0052] • Maximum power output (M power ): in kilowatts (kW), representing 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] This parameter is applicable to UAVs and can be obtained from 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 meter 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 platform's maneuverability (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. respectively are the current UAV's weapon effective attack range, attack accuracy, ammunition load, respectively are the maximum values of the UAV's weapon effective attack range, attack accuracy, ammunition load, A max respectively are the target area in the direction of the line connecting the current UAV, UGV and the target, and the maximum value of the target area, and α1, α2, α3, α4 are weight coefficients.

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

[0068] (4) Calculate the mobility of the UAV (UAV) and the UGV (UGV) and are calculated by the following formula:

[0069]

[0070] wherein, respectively are the current UAV's output power, aerodynamic characteristics, terrain adaptability, speed, respectively are the maximum output power, aerodynamic characteristics, terrain adaptability, speed of the UAV, respectively are the current UAV's output power, aerodynamic characteristics, terrain adaptability, speed, respectively are the maximum output power, aerodynamic characteristics, terrain adaptability, speed of the UAV, β1, β2, β3, β4, β5 are weight coefficients, respectively are the mobility coefficients of the UAV and the UGV.

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

[0072]

[0073]

[0074] wherein, v UAV , v UGV are the cooperative speeds of the UAV and the UGV, respectively are the initial speeds of the UAV and the UGV, D UAV , D UGV are the distances between the UAV and the UGV and the target; k1, k2 are the task progress weight coefficients of the UAV and the UGV, respectively, and R is the task progress, respectively are the striking capabilities of the UAV and the UGV, The mobility of the UAV and the UGV, respectively.

[0075] The target position, the current positions of the UAV and the UGV in the above task-related parameters are obtained by sensor data or communication system. The weight coefficients of the striking capability and the mobility, i.e., a1, a2, a3, a4 and b1, b2, b3, b4, b5, are adjusted by experimental data or task requirements. The calculation of the cooperative speed can be updated in real time during the execution of the task, and the speed is adjusted based on the task progress, the target position and the real-time state.

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

[0077] Embodiment:

[0078] (1) Assuming that a UAV (UAV) and a UGV (UGV) perform an air-ground cooperative attack task, the target is located at T = (1000, 500) position. The initial positions of the UAV and the UGV are as follows:

[0079] • UAV position: P UAV = (0, 0)

[0080] • UGV position: P UGV = (500, 200)

[0081] Target information:

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

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

[0084] • Effective attack range of weapon system: (No

[0085] UAV strike range is larger)

[0086] Step 1: Obtain task-related parameters

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

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

[0089] 3. UGV (UGV) position: P UGV = (500, 200) in meters (m), obtained by the positioning system of the UGV.

[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: Assuming the target is a building with an area A target = 500 m.

[0093] 7. Attack accuracy:

[0094] 8. Ammunition load: Assuming the UAV's load UAV's load

[0095] 9. Maximum power output: Maximum power of UAV Maximum power of UAV

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

[0097] 11. Terrain adaptability (UAV): Assuming (adaptability coefficient, applicable to complex terrain).

[0098] 12. Maximum speed: Maximum speed of UAV (approximately 27.8 m / s), maximum speed of UAV (approximately 16.7 m / s).

[0099] 13. Maneuverability coefficient: Assuming the maneuverability coefficients of the UAV and UAV are and Step 2: Calculate the distance to the target

[0100] According to the target location and the location of the unmanned system, calculate the distance between the UAV and the target and the distance between the UAV and the target.

[0101] 1. Distance D UAV between the UAV and the target:

[0102]

[0103] 2. Distance D UGV between the UAV and the target:

[0104]

[0105] Step 3: Calculate the strike capability

[0106] Assuming A max= 1000 m 2 ,

[0107] and set the weight coefficients α1=0.3, α2=0.2, α3=0.25, α4=0.25.

[0108] 1. The strike capability of the UAV

[0109]

[0110] 2. The strike capability of the unmanned vehicle

[0111]

[0112] Step 4: Calculate the maneuverability

[0113] Assume and set the weight coefficients β1=0.3, β2=0.25, β3=0.2, β4=0.15, β5=0.1.

[0114] 1. The maneuverability of the UAV

[0115]

[0116] 2. The maneuverability of the unmanned vehicle

[0117]

[0118] Step 5: Calculate the coordination speed

[0119] Finally, based on the task progress R=0.4 and the calculated parameters, the coordination speed of the UAV and the unmanned vehicle is calculated.

[0120] 1. The coordination speed of the UAV:

[0121] Substitute the numerical values and assume and k1=0.1:

[0122]

[0123] 2. The coordination speed of the unmanned vehicle:

[0124] Similarly, assume and k2=0.1:

[0125]

[0126] Through the above calculation, the cooperative speed of the unmanned aerial vehicle and the unmanned vehicle can be obtained. By considering factors such as task progress, target distance, attack capability and maneuverability, the cooperative control method provided by the application can adjust the speed according to real-time parameters, so as to ensure efficient cooperative combat of the unmanned aerial vehicle and the unmanned vehicle when performing the air-ground cooperative attack task.

[0127] Obviously, the above embodiments are only examples for clearly illustrating, but not limitation on the using modes. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the using modes do not need to be exhausted, and the obvious changes or variations derived therefrom are still within the protection scope of the application.

[0128] The application further provides an unmanned system speed control system for an air-ground cooperative attack task, the system comprising:

[0129] an information acquisition module, configured to acquire basic parameters of the air-ground cooperative attack task, including target position, positions of the unmanned aerial vehicle and the unmanned vehicle, task progress, effective attack range of a weapon system, target area, attack accuracy, platform load, aerodynamic characteristics and the like;

[0130] a distance calculation module, configured to calculate distances of the unmanned aerial vehicle and the unmanned vehicle to the target, respectively;

[0131] an attack capability calculation module, configured to calculate attack capabilities of the unmanned aerial vehicle and the unmanned vehicle, respectively;

[0132] a maneuverability calculation module, configured to calculate maneuverabilities of the unmanned aerial vehicle and the unmanned vehicle, respectively;

[0133] a cooperative speed calculation module, configured to calculate cooperative speeds of the unmanned aerial vehicle and the unmanned vehicle, respectively.

[0134] The technical solution of the unmanned system speed control system is similar to the technical solution of the unmanned system speed control method, and will not be repeated here.

[0135] Based on the same technical solution, the application further provides a computer readable storage medium storing one or more programs, the one or more programs comprising instructions that, when executed by a computing device, cause the computing device to perform the unmanned system speed control method as described above.

[0136] Based on the same technical solution, the application further 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 configured to be executed by the one or more processors, and the one or more programs comprise instructions for performing the unmanned system speed control method as described above.

[0137] Those skilled in the art will appreciate that embodiments of the present application can be readily used as a method, a system or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer-readable program code.

[0138] The present application is described in reference to the flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 means for carrying out each of the one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0139] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 means for carrying out each of the one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0140] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 means for carrying out each of the one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

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 based on the mission progress, target distance, and real-time status of the unmanned system: ， ， in, are the coordinated speeds of drones and unmanned vehicles, are the initial speeds of the UAV and the unmanned vehicle, are the distances between the UAV, UAV and the target respectively; are the task progress weight coefficients of UAV and 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-ground coordinated attack mission according to claim 1 is characterized in that: The expression of the distance between the drone and the target is: ， in, are the x- and y-axis coordinates of the target, They are the x-axis and y-axis coordinates of the current drone respectively.

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

4. The unmanned system speed control method for air-ground coordinated attack mission according to claim 1 is characterized in that: The strike capability of a drone can be expressed as: ， 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. are the target area and the maximum value of the target area in the direction of the line connecting the current UAV and the target, respectively. is the weight coefficient.

5. The unmanned system speed control method for air-ground coordinated attack mission according to claim 1 is characterized in that: The strike capability of the unmanned vehicle is expressed as: ， 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 weapon. The same target has different areas in different directions. 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. is the weight coefficient.

6. The unmanned system speed control method for air-ground coordinated attack mission according to claim 1 is characterized in that: The expression of the UAV's maneuverability 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, is the weight coefficient, is the maneuverability coefficient of the UAV.

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

8. A system using the unmanned system speed control method for air-to-ground coordinated attack missions as described in any one of claims 1 to 7, characterized in that: The system comprises: The information acquisition module is used to obtain basic parameters of the air-ground coordinated attack mission, including target location and area, as well as 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 UAVs and unmanned vehicles respectively; The collaborative speed calculation module is used to calculate the collaborative speed of drones and unmanned vehicles 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 according to any one of claims 1 to 7.

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