Importance degree real-time evaluation method for unmanned carrying tool in air-ground collaborative environment

Abstract

The invention discloses a method for evaluating the importance degree of an unmanned carrying tool in an air-ground cooperative environment in real time, and aims to evaluate the importance of the unmanned carrying tool in a cooperative combat task in real time by comprehensively considering a plurality of factors such as combat capability, tactical cooperation, survivability, economic and functional values and the like. According to the method, various real-time data are acquired, each evaluation index is calculated by adopting a nonlinear function model, and a comprehensive score is calculated in combination with a weighted summation method, so that a scientific basis is provided for task allocation, resource scheduling and combat decision making. By calculating the weight and score of each index, the method can accurately reflect the performance of different unmanned loading tools in the task, optimize the cooperative combat efficiency and improve the task success rate. The method has good real-time performance, comprehensiveness and flexibility, and is suitable for real-time monitoring and decision support of the unmanned loading tool in air-ground cooperative operation.

Description

Technical Field

[0001] The invention relates to a real-time evaluation method for the importance of an unmanned vehicle in an air-ground collaborative environment. Background Art

[0002] With the rapid development of unmanned vehicle technology, unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) play an increasingly important role in coordinated operations in the military and civilian fields. In a complex and dynamic tactical environment, how to evaluate the importance of different unmanned vehicles in a mission in real time, especially in air-ground coordinated operations, is the key to ensuring mission success. However, most of the existing evaluation methods lack scientificity and real-time performance, and it is difficult to comprehensively consider multiple factors such as combat capability, survivability, tactical coordination, and economic and functional value. Summary of the invention

[0003] The purpose of the invention is to provide a real-time evaluation method for the importance of unmanned carriers in an air-ground collaborative environment, which can dynamically calculate multiple indicators such as combat capability, tactical coordination, survivability, and economic and functional value by acquiring various basic data in real time, and comprehensively derive the importance score of the unmanned loading tool based on these indicators, so as to help decision makers optimize the allocation of combat tasks and the resource allocation of unmanned loading tools in real time.

[0004] Technical solution: To solve the above technical problems, the technical solution adopted by the present invention is:

[0005] A real-time evaluation method for the importance of unmanned vehicles in an air-ground collaborative environment is proposed, which includes the following steps:

[0006] (1) Obtain basic data on unmanned vehicles in an air-ground collaborative environment;

[0007] (2) Design evaluation indicators and complete real-time evaluation based on the four aspects of comprehensive combat capability, tactical coordination, survivability, and economic and functional value.

[0008] Preferably, the basic data include target location, location of unmanned vehicles, mission progress, ammunition loading ratio, strike capability, effective attack range of weapon system, target area, attack accuracy, load capacity, maximum speed, maneuverability coefficient, communication bandwidth, communication delay, and mission adaptability.

[0009] Preferably, the calculation method of the evaluation index is:

[0010] Score = α4·C combat +β4·C coordination +γ4·C survival +δ4·C ecomomic

[0011] Among them, C combat is a combat capability indicator, C coordination is a tactical coordination indicator, C survival is a survivability indicator, C ecomomic are economic and functional value indicators, α4, β4, γ4, and δ4 are weight coefficients of combat capability indicators, tactical coordination indicators, survivability indicators, and economic and functional value indicators, respectively.

[0012] Preferably, the calculation method of the combat capability index is:

[0013] C combat =α1·M ammo +α2·D damage +α3·S mobility

[0014] Among them, M ammo , D damage , S mobility are respectively the ammunition loading ratio, strike capability, speed and mobility; α1, α2, α3 are the weight coefficients of ammunition loading ratio, strike capability, speed and mobility; M ammo =M current / M max , M current is the amount of ammunition currently loaded, M max is the maximum amount of ammunition loaded; A target is the target area, E accuracy is the attack accuracy, R weapon is the effective attack range of the weapon, D target is the target damage degree, is the maximum target area, a1 is the weight coefficient adjusted by task requirements; V max is the maximum speed of the unmanned vehicle in the air-ground collaborative environment, M maneuver is the mobility coefficient, The maximum speed designed for unmanned vehicles. is the maximum maneuverability coefficient of the unmanned vehicle, and n is the maneuverability index.

[0015] Preferably, the calculation method of the tactical coordination index is:

[0016] C coordination =β1·A task +β2·C comms +β3·E coordination

[0017] Among them, A task , C comms 、Ecoordination are task adaptability, communication and information sharing capability, and collaborative efficiency, respectively; β1, β2, and β3 are weight coefficients of task adaptability, communication and information sharing capability, and collaborative efficiency, respectively; is the number of tasks that unmanned vehicles can perform, is the total number of tasks; B c represents the signal bandwidth, Q c Represents signal quality, D c represents signal delay, T represents the topological complexity of the communication network; T coordination is the time required for coordination, is the maximum coordination time, and k is the power exponent for adjusting the time effect in collaborative operations.

[0018] Preferably, the calculation method of the survivability index is:

[0019] C survival =γ1·P defense +γ2·M avoidance +γ3·R recovery

[0020] Among them, P defense 、M avoidance , R recovery are protection capability, mobility and risk avoidance capability, and self-recovery capability, respectively; γ1, γ2, and γ3 are weight coefficients of protection capability, mobility and risk avoidance capability, and self-recovery capability, respectively; R defense It is the effective protection area of ​​the air-ground collaborative environment. is the maximum effective protection area designed for unmanned vehicles, S stealth It's invisibility. is the maximum stealth of the unmanned vehicle design, and a2 is the weighting coefficient; M maneuver For mobility, Designed for maximum mobility of unmanned vehicles, P detection is the enemy detection probability, is the maximum detection probability, n1 is the power exponent; R selfheal The self-repair capability of unmanned vehicles in air-ground collaborative environments. The maximum self-repair capability designed for unmanned vehicles, D damage and n2 is the adjustment coefficient representing the nonlinear relationship between recovery efficiency and damage, and is the maximum damage that the unmanned vehicle can withstand.

[0021] Preferably, the calculation method of the economic and functional value indicators is:

[0022] C economic =δ1·V econ +δ2·V func +δ3·E task

[0023] Among them, V econ 、V func 、E task are economic value, functional value and mission benefit, respectively; δ1, δ2 and δ3 are weight coefficients of economic value, functional value and mission benefit, respectively; n3 is the adjustment coefficient according to the mission requirements and system scale, C purchase and C operation They represent the transport value and the self-value of the unmanned vehicle in the air-ground collaborative environment respectively. and They represent the highest historical value of transported goods and the highest historical value of unmanned vehicles respectively; is the task completion degree at time t, is the total number of tasks at time t; T remaining is the remaining time of the task, T total is the total task time.

[0024] As a preference, k is the initial coefficient of the task completion rate, m is the attenuation factor of the task rate, and ω is the periodic change frequency of the control task completion; a is the initial coefficient of the task generation rate, and v is the periodic change frequency of the control task generation.

[0025] Beneficial effects:

[0026] (1) Comprehensiveness: The present invention comprehensively considers multiple dimensions such as combat capability, survivability, tactical coordination, and economic and functional value, and can comprehensively and accurately evaluate the importance of unmanned vehicles in air-ground coordinated operations.

[0027] (2) Real-time: By acquiring various data on unmanned vehicles and tasks in real time, the evaluation method can dynamically adjust task allocation and resource scheduling to ensure rapid response and optimized decision-making in a battlefield environment.

[0028] (3) Nonlinear modeling: During the evaluation process, nonlinear functions (such as power functions, exponential functions, etc.) are used to describe the influence of various indicators, so that the evaluation results are closer to the complexity and nonlinear characteristics of the actual task.

[0029] (4) Flexibility: The weight coefficients in the method can be flexibly adjusted according to task requirements and actual combat environment, thereby adapting to different tactical requirements and combat strategies.

[0030] (5) Optimizing decisions: Through comprehensive scoring results, decision makers can more scientifically allocate combat tasks and optimize resource allocation, thereby improving the combat efficiency and mission success rate of unmanned vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a flow chart of a method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to more clearly demonstrate the practical application of the method of the present invention, the method of the present invention is further explained in conjunction with the following case.

[0033] The real-time evaluation method of the importance of unmanned vehicles in an air-ground collaborative environment of the present invention evaluates the importance of unmanned vehicles in collaborative combat tasks in real time by comprehensively considering multiple factors such as combat capability, tactical coordination, survivability, and economic and functional value. The method obtains various types of real-time data, uses a nonlinear function model to calculate each evaluation index, and combines the weighted summation method to calculate the comprehensive score, thereby providing a scientific basis for task allocation, resource scheduling, and combat decision-making. By calculating the weights and scores of various indicators, the method can accurately reflect the performance of different unmanned loading tools in the task, optimize the efficiency of collaborative combat, and improve the success rate of the task. The method has good real-time, comprehensive and flexible performance, and is suitable for real-time monitoring and decision support of unmanned loading tools in air-ground collaborative combat.

[0034] Example: Assume that in a certain air-ground coordinated combat mission, two unmanned vehicles, an unmanned aerial vehicle (UAV) and an unmanned ground vehicle (UGV), are performing a joint strike mission. Now it is necessary to evaluate the importance of these two unmanned vehicles based on the mission requirements and environmental conditions, so as to reasonably allocate tasks and resources.

[0035] like Figure 1 As shown, the real-time evaluation method of the importance of unmanned vehicles in an air-ground collaborative environment according to an embodiment of the present invention comprises the following specific steps:

[0036] 1. Obtain basic data

[0037] The basic data is obtained through the sensors, task scheduling system and design specifications of the unmanned loading vehicle, including but not limited to the target location, the location of the unmanned loading vehicle, the task progress, the ammunition loading ratio, the effective attack range of the weapon system, the target area, the attack accuracy, the load capacity, the maximum speed, the maneuverability coefficient, the communication bandwidth, the communication delay, the task adaptability, etc.

[0038] The basic data in this embodiment includes:

[0039] ●UAV

[0040] Current ammunition load M current = 300 rounds, maximum ammunition load M max =500 rounds.

[0041] Target area A target =100m 2 , maximum target area

[0042] Attack Accuracy E accuracy =5m, weapon effective attack range R weapon =20m.

[0043] Target damage D target =90%.

[0044] Maximum speed V max =80km / h, designed maximum speed

[0045] Mobility coefficient M maneuver =1.5, maximum mobility coefficient

[0046] ●Unmanned Ground Vehicle (UGV)

[0047] Current ammunition load M current = 150 rounds, maximum ammunition load M max =500 rounds.

[0048] Target area A target =100m 2 , maximum target area A target =150m 2 .

[0049] Attack Accuracy E accuracy =10m, weapon effective attack range R weapon =25m.

[0050] Target damage D target =80%.

[0051] Maximum speed V max =50km / h, designed maximum speed

[0052] Mobility coefficient M maneuver =1.0, maximum maneuverability coefficient

[0053] Other parameters

[0054] Combat mission progress R = 0.4.

[0055] Communication bandwidth B c =5Mbps, maximum communication bandwidth

[0056] Communication delay D c =50ms, maximum delay

[0057] Task coordination time T coordination =30min, maximum coordination time Network complexity Signal Quality Q c =10.

[0058] 2. Calculation of combat capability indicators

[0059] (1) Calculate the ammunition loading ratio M ammo

[0060] ●Definition: It represents the ratio of the ammunition currently loaded by the unmanned loading tool to the maximum loaded ammunition, and the unit is dimensionless.

[0061] Calculation method:

[0062] M ammo =M current / M max

[0063] Among them, M current is the amount of ammunition currently loaded, M max Maximum ammunition load.

[0064] ●UAV:

[0065]

[0066] ●Unmanned Ground Vehicle (UGV)

[0067]

[0068] (2) Calculation of strike capability D damage

[0069] ●Definition: The ability of an unmanned vehicle to damage a target, based on attack accuracy and target characteristics.

[0070] ●Unit: Percentage (%).

[0071] Calculation method:

[0072]

[0073] Among them, A target is the target area, E accuracy is the attack accuracy, R weapon is the effective attack range of the weapon, D target is the target damage degree, is the maximum target area, and a1 is the weight coefficient adjusted by task requirements.

[0074] ●UAV:

[0075]

[0076] Assuming a1=1 (i.e. no additional weight), then:

[0077]

[0078] ●Unmanned Ground Vehicle (UGV):

[0079]

[0080] Assuming a1=1 (i.e. no additional weight), then:

[0081]

[0082] (3) Calculate speed and maneuverability S mobility

[0083] ●Definition: Speed ​​and maneuverability of unmanned loading tools, including maximum speed and maneuverability.

[0084] ●Unit: meter per second (m / s).

[0085] Calculation method:

[0086]

[0087] Among them, V max is the maximum speed of the unmanned vehicle in the air-ground collaborative environment, M maneuver is the mobility coefficient, The maximum speed designed for unmanned vehicles. is the maximum maneuverability coefficient of the unmanned vehicle, and n is the maneuverability index.

[0088] ●UAV:

[0089]

[0090] Assuming n = 1 (i.e. linear influence), then:

[0091]

[0092] ●Unmanned Ground Vehicle (UGV):

[0093]

[0094] Assume n = 1, then:

[0095]

[0096] (4) Calculation of combat capability score C combat

[0097] The calculation formula for combat capability score is as follows:

[0098] C combat =α1·M ammo +α2·D damage +α3·S mobility

[0099] Assume α1 = 0.4, α2 = 0.4, α3 = 0.2;

[0100] ●UAV combat capability rating:

[0101]

[0102] ●Unmanned Ground Vehicle (UGV) Combat Capability Rating:

[0103]

[0104] 3. Calculate tactical coordination indicators

[0105] (1) Computational task adaptability A task

[0106] ●Definition: The adaptability of unmanned loading tools in performing different tasks.

[0107] ●Unit: dimensionless (0 to 1).

[0108] Calculation method:

[0109]

[0110] in, is the number of tasks that the system can perform, is the total number of tasks.

[0111] Assuming both unmanned loading tools can accommodate the same number of tasks:

[0112] ●UAV:

[0113]

[0114] ●Unmanned Ground Vehicle (UGV):

[0115]

[0116] (2) Computing, communication and information sharing capabilities comms

[0117] ●UAV:

[0118]

[0119] ●Unmanned Ground Vehicle (UGV):

[0120]

[0121] (3) Calculation of Ecoordination

[0122] ●Definition: The collaborative combat efficiency of unmanned loading tools and other platforms.

[0123] ●Unit: dimensionless (0 to 1).

[0124] Calculation method:

[0125]

[0126] Among them, T coordination is the time required for coordination, is the maximum coordination time, and k is the power exponent for adjusting the time effect in collaborative operations.

[0127] ●UAV:

[0128]

[0129] Assume k = 1, then:

[0130]

[0131] ●Unmanned Ground Vehicle (UGV):

[0132]

[0133] Assume k = 1, then:

[0134]

[0135] (4) Calculate the tactical coordination score C coordination

[0136] The calculation formula for the tactical coordination score is as follows:

[0137] C coordination =β1·Atask +β2·C comms +β3·E coordination

[0138] Assume β1=0.4, β2=0.3, β3=0.3;

[0139] ●UAV Tactical Coordination Rating:

[0140]

[0141] ●Unmanned Ground Vehicle (UGV) Tactical Collaboration Rating:

[0142]

[0143] 4. Calculate survivability indicators

[0144] (1) Calculation of protection capability P defense

[0145] ●Definition: The ability of an unmanned vehicle to protect and resist enemy attack.

[0146] ●Unit: Percentage (%).

[0147] Calculation method:

[0148]

[0149] Among them, R defense It is the effective protection area of ​​the air-ground collaborative environment. is the maximum effective protection area designed for unmanned vehicles, S stealth It's invisibility. It is the maximum stealth designed for unmanned vehicles, and a2 is the weighting coefficient.

[0150] ●UAV:

[0151] Assume R defense =0.8, S stealth =0.7, a2=1, then:

[0152]

[0153] Unmanned Ground Vehicle (UGV):

[0154] Assume R defense =0.6, S stealth =0.5, a2=1, then:

[0155]

[0156] (2) Calculation of the automatic risk avoidance capability M avoidance

[0157] ●Definition: The system’s ability to evade enemy attacks or complex environments.

[0158] ●Unit: dimensionless (0 to 1).

[0159] Calculation method:

[0160]

[0161] Among them, M maneuver For mobility, Designed for maximum mobility of unmanned vehicles, P detection is the enemy detection probability, is the maximum detection probability, and n1 is the power exponent.

[0162] ●UAV:

[0163] Assume M maneuver =1.5, P detection =0.2,

[0164] n1=1, then:

[0165]

[0166] ●Unmanned Ground Vehicle (UGV):

[0167] Assume M maneuver =1.2, P detection =0.4,

[0168] n1=1, then:

[0169]

[0170] (3) Calculation of fault tolerance and self-recovery capability R recovery

[0171] ●Definition: The ability of an unmanned loading tool to recover after partial damage.

[0172] ●Unit: dimensionless (0 to 1).

[0173] Calculation method:

[0174]

[0175] Among them, R selfhealThe self-repair capability of unmanned vehicles in air-ground collaborative environments. The maximum self-repair capability designed for unmanned vehicles, D damage and n2 is the adjustment coefficient representing the nonlinear relationship between recovery efficiency and damage, and is the maximum damage that the unmanned vehicle can withstand.

[0176] Unmanned Aerial Vehicles (UAV):

[0177] Assume R selfheal =0.8, D damage =0.3, n2=1,

[0178] but:

[0179]

[0180] Unmanned Ground Vehicle (UGV):

[0181] Assume R selfheal =0.6, D damage =0.4, n2=1,

[0182] but:

[0183]

[0184] (4) Calculate the survivability score C survival

[0185] The calculation formula for the survivability score is as follows:

[0186] C survival =γ1·P defense +γ2·M avoidance +γ3·R recovery

[0187] Assume γ1=0.4、γ2=0.3、γ3=0.3:

[0188] UAV Survivability Rating:

[0189]

[0190] ●Unmanned Ground Vehicle (UGV) Survivability Rating:

[0191]

[0192] 5. Calculate economic and functional value indicators

[0193] (1) Calculate the economic value V econ

[0194] ●Definition: The economic benefits of unmanned loading tools usually include procurement costs and operating costs.

[0195] ●Unit: currency (e.g. USD).

[0196] Calculation method:

[0197]

[0198] Among them, C purchase and C operation They represent the transport value and the self-value of the unmanned vehicle in the air-ground collaborative environment respectively. and They represent the highest historical value of transported goods and the highest historical value of the unmanned vehicle respectively, and n3 is the adjustment coefficient based on mission requirements and system scale.

[0199] ●UAV:

[0200]

[0201] ●Unmanned Ground Vehicle (UGV):

[0202]

[0203] (2) Calculate the functional value V func

[0204] ●Definition: The functional value of an unmanned loading tool when performing a task, measuring its ability to complete the task.

[0205] ●Unit: dimensionless (0 to 1).

[0206] Calculation method:

[0207]

[0208] in, is the task completion degree at time t, k is the initial coefficient of the task completion rate, m is the attenuation factor of the task rate, and ω is the periodic change frequency of the control task completion; is the total number of tasks at time t, a is the initial coefficient of the task generation rate, and v is the periodic change frequency of the control task generation.

[0209] Unmanned Aerial Vehicles (UAV):

[0210]

[0211] ●Unmanned Ground Vehicle (UGV):

[0212]

[0213] (3) Calculate the task benefit E task

[0214] Definition: The contribution of the unmanned loading tool to the overall mission goal, dimensionless (0 to 1).

[0215] Calculation method:

[0216]

[0217] Among them, T remaining is the remaining time of the task, T total is the total task time.

[0218] ●UAV:

[0219]

[0220] ●Unmanned Ground Vehicle (UGV):

[0221]

[0222] (4) Calculate the economic and functional value score C economic

[0223] The calculation formula for the economic and functional value scores is as follows:

[0224] C economic =δ1·V econ +δ2·V func +δ3·E task

[0225] Among them, V econ 、V func 、E task are economic value, functional value and task benefit respectively; δ1, δ2 and δ3 are weight coefficients of economic value, functional value and task benefit respectively.

[0226] Assume δ1=0.4、δ2=0.3、δ3=0.3:

[0227] ●UAV economic and functional value rating:

[0228]

[0229] ●Unmanned Ground Vehicle (UGV) Economic and Functional Value Rating:

[0230]

[0231] 6. Calculate the comprehensive score S core

[0232] Score = α4·C combat +β4·C coordination +γ4·C survival +δ4·C ecomomic

[0233] Among them, α4, β4, γ4, and δ4 are weight coefficients of various indicators, and the weight coefficients are adjusted according to task requirements and actual conditions to ensure the rationality and accuracy of the evaluation results.

[0234] Assume that the weight coefficients α4 = 0.4, β4 = 0.3, γ4 = 0.2, δ4 = 0.1:

[0235] UAV comprehensive rating:

[0236] Score UAV =0.4·0.67+0.3·0.38+0.2·0.892+0.1·0.59=0.6194

[0237] Unmanned Ground Vehicle (UGV) Overall Rating:

[0238] Score UGV =0.4·0.568+0.3·0.38+0.2·0.612+0.1·0.505=0.5141

[0239] 7. Analysis of evaluation results

[0240] According to the calculation results, the comprehensive score of unmanned aerial vehicles (UAV) is 0.6194, while the comprehensive score of unmanned ground vehicles (UGV) is 0.5141. Based on these scores, decision makers can draw the following conclusions:

[0241] ● Unmanned aerial vehicles (UAVs) performed better in this air-ground coordinated combat mission, with a higher overall score, especially in terms of combat capability and survivability. Therefore, UAVs performed better than unmanned ground vehicles in performing high-intensity strike missions and facing enemy threats;

[0242] ●The overall score of unmanned ground vehicles (UGVs) is slightly lower. Although they have good survivability and mission coordination capabilities, they are relatively weak in combat capability and economic benefits. They are suitable for taking on more logistical support and low-risk tasks.

[0243] The real-time evaluation method of the present invention can scientifically evaluate the importance of different unmanned vehicles in the air-ground collaborative environment, providing strong support for task allocation and resource scheduling. The calculation method of the comprehensive score is simple and effective, and can dynamically adjust the task strategy and optimize the collaborative combat performance of unmanned vehicles.

[0244] 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.

[0245] Based on the same technical solution, the present invention also discloses a computer-readable storage medium storing one or more programs, wherein the one or more programs include instructions, which, when executed by a computing device, enable the computing device to execute the above-mentioned real-time assessment method of the importance of unmanned vehicles in an air-ground collaborative environment.

[0246] Based on the same technical solution, the present invention also discloses a computing 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 are configured to be executed by the one or more processors, and the one or more programs include instructions for executing the above-mentioned real-time assessment method of the importance of unmanned vehicles in an air-ground collaborative environment.

[0247] 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.

[0248] 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.

[0249] 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.

[0250] 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. A real-time evaluation method for the importance of unmanned vehicles in an air-ground collaborative environment, characterized in that: The steps include: (1) Obtain basic data on unmanned vehicles in air-ground collaborative environments; (2) Design evaluation indicators and complete real-time evaluation based on the four aspects of comprehensive combat capability, tactical coordination, survivability, and economic and functional value.

2. The method according to claim 1, characterized in that The basic data include target location, location of unmanned vehicles, mission progress, ammunition loading ratio, strike capability, effective attack range of weapon system, target area, attack accuracy, load capacity, maximum speed, maneuverability coefficient, communication bandwidth, communication delay, and mission adaptability.

3. The method according to claim 1, characterized in that: The calculation method of the evaluation index is: Score=α4·C combat +β4·C coordination +γ4·C survival +δ4·C ecomomic Among them, C combat is a combat capability indicator, C coordination is a tactical coordination indicator, C survival is a survivability indicator, C ecomomic are economic and functional value indicators, α4, β4, γ4, and δ4 are weight coefficients of combat capability indicators, tactical coordination indicators, survivability indicators, and economic and functional value indicators, respectively.

4. The method according to claim 3, characterized in that: The calculation method of the combat capability index is as follows: C combat =α1·M ammo +α2·D damage +α3·S mobility Among them, M ammo , D damage , S mobility are respectively the ammunition loading ratio, strike capability, speed and mobility; α1, α2, α3 are the weight coefficients of ammunition loading ratio, strike capability, speed and mobility; M ammo =M current / M max , M current is the amount of ammunition currently loaded, M max is the maximum amount of ammunition loaded; A target is the target area, E accuracy is the attack accuracy, R weapon is the effective attack range of the weapon, D target is the target damage degree, is the maximum target area, a1 is the weight coefficient adjusted by task requirements; V max is the maximum speed of the unmanned vehicle in the air-ground collaborative environment, M maneuver is the mobility coefficient, The maximum speed designed for unmanned vehicles. is the maximum maneuverability coefficient of the unmanned vehicle, and n is the maneuverability index.

5. The method according to claim 3, characterized in that: The calculation method of the tactical coordination index is: C coordination =β1·A task +β2·C comms +β3·E coordination Among them, A task , C comms 、E coordination are task adaptability, communication and information sharing capability, and collaborative efficiency, respectively; β1, β2, and β3 are weight coefficients of task adaptability, communication and information sharing capability, and collaborative efficiency, respectively; is the number of tasks that unmanned vehicles can perform, is the total number of tasks; B c represents the signal bandwidth, Q c Represents signal quality, D c represents signal delay, T represents the topological complexity of the communication network; T coordination is the time required for coordination, is the maximum coordination time, and k is the power exponent for adjusting the time effect in collaborative operations.

6. The method according to claim 3, characterized in that The calculation method of the survivability index is: C survival =γ1·P defense +γ2·M avoidance +γ3·R recovery Among them, P defense 、M avoidance , R recovery are protection capability, mobility and risk avoidance capability, and self-recovery capability, respectively; γ1, γ2, and γ3 are weight coefficients of protection capability, mobility and risk avoidance capability, and self-recovery capability, respectively; R defense It is the effective protection area of ​​the air-ground collaborative environment. is the maximum effective protection area designed for unmanned vehicles, S stealth It's invisibility. is the maximum stealth of the unmanned vehicle design, and a2 is the weighting coefficient; M maneuver For mobility, Designed for maximum mobility of unmanned vehicles, P detection is the enemy detection probability, is the maximum detection probability, n1 is the power exponent; R selfheal The self-repair capability of unmanned vehicles in air-ground collaborative environments. The maximum self-repair capability designed for unmanned vehicles, D damage and n2 is the adjustment coefficient representing the nonlinear relationship between recovery efficiency and damage, and is the maximum damage that the unmanned vehicle can withstand.

7. The method according to claim 3, characterized in that The calculation method of the economic and functional value indicators is as follows: C economic =δ1·V econ +δ2·V func +δ3·E task Among them, V econ 、V func 、E task are economic value, functional value and mission benefit, respectively; δ1, δ2 and δ3 are weight coefficients of economic value, functional value and mission benefit, respectively; n3 is the adjustment coefficient according to the mission requirements and system scale, C purchase and C operation They represent the transport value and the self-value of the unmanned vehicle in the air-ground collaborative environment respectively. and They represent the highest historical value of transported goods and the highest historical value of unmanned vehicles respectively; is the task completion degree at time t, is the total number of tasks at time t; T remaining is the remaining time of the task, T total is the total task time.

8. The method according to claim 7, characterized in that k is the initial coefficient of the task completion rate, m is the attenuation factor of the task rate, and ω is the periodic change frequency of the control task completion; a is the initial coefficient of the task generation rate, and v is the periodic change frequency of the control task generation.

9. 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 8.

10. 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 8.

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