Control method, equipment and system for hang ammunition

Abstract

The invention discloses a hang ammunition control method, device and system. The hang ammunition control method comprises the steps that an axis risk binary table is determined according to an enemy radar beam coverage area and an interception ammunition reachable area; the axis risk binary table is sent to all the hang ammunition, so that the hang ammunition determines a target breakthrough axis from the multiple to-be-determined breakthrough axes based on the axis risk binary table and forms a penetrating queue corresponding to the target breakthrough axis; if information which is sent by any queue leader and represents increase of an enemy radar beam coverage area or increase of interception bullets is received, the risk level of a target breakthrough axis corresponding to a penetrating queue where the queue leader is located is adjusted according to the angle increment of the enemy radar beam coverage area and the interception tangential distance increment of the queue leader relative to the interception bullets; and sending the adjusted risk level to the queue leader, so that the queue leader controls other hang ammunitions in the penetrating queue to deflect according to the adjusted risk level. According to the scheme, calculation and link resource consumption can be reduced.

Description

Technical Field

[0001] This application belongs to the field of ammunition control technology, and in particular relates to a control method, equipment and system for airborne ammunition. Background Technology

[0002] Layered air defense systems typically form a multi-layered, overlapping detection-interception network around the target area using phased-array radars, terminal-phase interceptors, and mobile close-in weapon systems, with the situation changing rapidly. Loitering mobile munitions need to maintain penetration capability under various variables such as high-occupancy scanning, interception of residual waves, and temporary no-fly zones. However, due to limitations in loiter time and controlled bandwidth command links, traditional offline paths and single-missile opportunity trajectories are difficult to support rapid coordination.

[0003] In existing technologies, loitering munitions are mostly based on static threat overlay or offline path pre-databases, and advance along predetermined tracks or the nearest opportunity trajectories. Specifically, they first sum and score static or semi-static estimates of radar and interception threats, and then select several breakthrough directions. When the external situation changes, it usually triggers a full-domain or large-scale recalculation at the command end, which consumes computing and link resources in unaffected channels, resulting in a chain of delays such as slow calculation, slow dissemination, and late changes.

[0004] Therefore, how to limit the recalculation and dissemination at the command end to the minimum range of affected axes and reduce the consumption of computing and link resources is an urgent problem to be solved. Summary of the Invention

[0005] The embodiments of this application provide a control method, device and system for airborne munitions, which can at least to some extent limit the recalculation and dissemination at the command end to the minimum range of the affected axes, thereby reducing the consumption of computing and link resources.

[0006] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0007] According to a first aspect of the embodiments of this application, a control method for airborne munitions is provided, comprising: The axis risk binary table is determined based on the enemy's radar beam coverage area and the area reachable by the interceptor missile. The axis risk binary table includes multiple undetermined breakthrough axes and the risk level corresponding to each undetermined breakthrough axis. The axis risk binary table is sent to all airborne munitions so that the airborne munitions can determine the target breakthrough axis from multiple pending breakthrough axes based on the axis risk binary table and form a penetration queue corresponding to the target breakthrough axis; wherein, each penetration queue includes multiple airborne munitions; If any information sent by a captain indicating an increase in the enemy radar beam coverage area or an increase in interceptor missiles is received, the risk level of the target breakthrough axis corresponding to the penetration queue to which the captain belongs is adjusted according to the angular increment of the enemy radar beam coverage area and the increment of the captain's interception tangential distance relative to the interceptor missile; wherein, the captain is the loitering munition in each penetration queue that is closest to the center point of the target breakthrough axis. The adjusted risk level is sent to the team leader so that the team leader can control the deflection of other airborne munitions in the penetration queue based on the adjusted risk level.

[0008] In some embodiments, determining an axis risk binary table based on the enemy radar beam coverage area and the interceptor missile reach area includes: Obtain a 3D threat map containing the enemy's radar beam coverage area and the area reachable by interceptor missiles; the 3D threat map is generated based on real-time reconnaissance data and historical combat data; Based on the three-dimensional threat map, the azimuth angle of the loitering munition, the elevation angle of the loitering munition, and the entry time of the loitering munition, multiple undetermined breakthrough axes are determined; among them, the entry time is the moment when the loitering munition enters the enemy's radar beam coverage area or the area reachable by the interceptor missile. Based on the three-dimensional threat map, our remaining ammunition and the enemy's remaining interceptor missiles, the expected survival value for each pending breakthrough axis is determined. The risk level of each pending breakout axis is determined based on the range in which the expected survival value of each pending breakout axis falls.

[0009] In some embodiments, based on a three-dimensional threat map, remaining friendly ammunition, and remaining enemy interceptor missiles, the expected survival value for each potential breakthrough axis is determined, including: For each undetermined breakthrough axis, determine our delivery strategy set based on our remaining ammunition. Determine the enemy's interception strategy set based on the remaining number of enemy interceptor missiles; Based on our own deployment strategy set and the enemy's interception strategy set, construct the first adversarial matrix; By integrating the three-dimensional threat map along the target breakthrough axis, the coupled threat intensity between the radar and the interceptor missile is obtained. Based on the coupled threat intensity and the average damage effectiveness coefficient of a single interceptor missile, the survival benefit function is obtained; The survival payoff for each element in the first adversarial matrix is ​​determined using the survival payoff function. With the goal of maximizing our survival gain and minimizing the enemy's survival gain, we perform alternating optimal response iterations on the first adversarial matrix after filling the survival gain, until the mixed strategy of our side and the enemy converges to an approximate solution of Nash equilibrium round by round. The Nash value obtained after convergence is determined as the survival expectation value of the undetermined breakthrough axis.

[0010] In some embodiments, the risk level of the target penetration axis corresponding to the penetration queue to which the captain belongs is adjusted based on the angular increment of the enemy radar beam coverage area and the increment of the captain's interception tangential distance relative to the interceptor missile, including: The increment of coupled threat intensity is determined based on the angular increment of the enemy radar beam coverage area; The increment of the remaining enemy interceptor missiles is determined based on the captain's interception tangential distance increment relative to the interceptor missile; Based on the increase in coupled threat intensity and the increase in the remaining number of enemy interceptor missiles, determine the expected survival value of the target breakthrough axis corresponding to the captain; Adjust the risk level of the target breakthrough axis corresponding to the penetration queue where the team leader is located based on the survival expectation.

[0011] In some embodiments, the expected survival value of the target breach axis corresponding to the team leader is determined based on the increase in coupled threat intensity and the increase in the remaining amount of enemy interceptor missiles, including: A second adversarial matrix is ​​constructed based on the remaining ammunition of our side, the remaining interceptor missiles of the enemy, and the increase in the remaining interceptor missiles of the enemy. The survival gain of each element in the second adversarial matrix is ​​updated based on the coupling threat strength increment; The second adversarial matrix after filling the survival benefit is iterated by alternating optimal response until the mixed strategy of our side and the enemy converges to an approximate solution of Nash equilibrium round by round. The Nash value obtained after convergence is determined as the survival expectation value of the target breakthrough axis corresponding to the captain.

[0012] In some embodiments, the method for controlling airborne munitions further includes: If the distance between any penetrating queue and the target is less than a preset distance, then obtain the remaining ammunition in the penetrating queue; If the remaining ammunition quantity in the penetration queue is less than the target damage threshold, a backup queue is determined based on the remaining range of the other penetration queues, and the backup queue is controlled to enter the final section of the penetration queue along the same target breakthrough axis. If the remaining ammunition in the penetration queue is greater than the target damage threshold, then control the remaining penetration queue to transfer to the preset standby point.

[0013] According to a second aspect of the embodiments of this application, a control device for airborne munitions is provided, including a processor and a memory. The memory stores computer program instructions that can be executed by the processor. When the processor executes the computer program instructions, it implements the steps of the method as described in any of the first aspects above.

[0014] According to a third aspect of the embodiments of this application, a control system for a loitering munition is provided, comprising: a loitering munition and a control device for the loitering munition; wherein the loitering munition is used to determine a target breakthrough axis from multiple undetermined breakthrough axes based on an axis risk binary table and to form a penetration queue corresponding to the target breakthrough axis; wherein each penetration queue includes multiple loitering munitions.

[0015] In some embodiments, determining a target breakthrough axis from multiple pending breakthrough axes based on an axis risk binary table and forming a penetration queue corresponding to the target breakthrough axis includes: Select the axis with the lowest risk level from multiple potential breakout axes as the target breakout axis; The penetration queue formed by loitering munitions and adjacent loitering munitions with the same target penetration axis as the loitering munitions is defined as the penetration queue corresponding to the target penetration axis.

[0016] In some embodiments, if the airborne ammunition is the leader, the airborne ammunition is used to control the deflection of other airborne ammunition in the penetration queue according to the adjusted risk level.

[0017] In this application, an axis risk binary table is determined based on the enemy radar beam coverage area and the reachable area of ​​the interceptor missile. The axis risk binary table includes multiple undetermined breakthrough axes and a risk level corresponding to each undetermined breakthrough axis. The axis risk binary table is sent to all loitering munitions, enabling them to determine the target breakthrough axis from the multiple undetermined breakthrough axes based on the axis risk binary table and form a penetration queue corresponding to the target breakthrough axis. Each penetration queue includes multiple loitering munitions. If information indicating an increase in the enemy radar beam coverage area or an increase in the number of interceptor missiles is received from any team leader, the risk level of the target breakthrough axis corresponding to the penetration queue where the team leader is located is adjusted based on the angular increment of the enemy radar beam coverage area and the increment of the team leader's interception tangential distance relative to the interceptor missile. The team leader is the loitering munition in each penetration queue that is closest to the center point of the target breakthrough axis. The adjusted risk level is sent to the team leader, enabling the team leader to control the deflection of other loitering munitions in their penetration queue according to the adjusted risk level. The above scheme can prevent missile groups from being intercepted in batches in the same channel, and from losing terminal fire support due to excessive dispersion, under the operational constraints of constantly changing enemy and friendly resources and threats, controlled communication bandwidth, and the need to maintain the consistency of missile group rhythm. It also limits the recalculation and dissemination of the command end to the minimum range of the affected axis, reducing the consumption of computing and link resources.

[0018] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings: Figure 1 A flowchart illustrating a control method for airborne munitions according to some embodiments of this application is shown; Figure 2 A diagram illustrating the contrast between congestion in the passageways is shown; Figure 3 A block diagram of a control device for an airborne munition according to some embodiments of this application is shown; Figure 4 A schematic diagram of the structure of a control device for an airborne munition according to some embodiments of this application is shown; Figure 5 A schematic diagram of the control system of an airborne munition according to some embodiments of this application is shown. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0022] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0023] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0024] To enable those skilled in the art to better understand this application, the application scenarios of the control method for airborne munitions involved in this application will be briefly described first.

[0025] In existing technologies, loitering munitions are mostly based on static threat overlay or offline path pre-databases, advancing along predetermined tracks or the nearest opportunity trajectory. Specifically, they are first scored by summing static or semi-static estimates of radar and interception threats, and then several breakthrough directions are selected. When the external situation changes, it usually triggers a full-domain or large-scale recalculation at the command end, consuming computational and link resources in unaffected channels, resulting in a chain of delays such as slow calculation, slow dissemination, and late changes. In addition, this approach has the following problems: it is difficult to depict the dynamic confrontation between the remaining amount of our munitions and the remaining amount of enemy interceptor missiles, leading to a lag in the assessment of the breakthrough axis, and the breakthrough direction quickly becomes invalid after interception replenishment or radar beam opening and closing; maintaining the consistency of the missile group with large-field situational messages or multiple rounds of broadcasts conflicts with the controlled bandwidth, and common results are misalignment, missed reception of some nodes, and channel congestion; coordination relies mostly on independent selection and temporary collision avoidance, lacking joint organization of the breakthrough axis and the moment of munition entry, making it easy to gather in low-threat directions and be intercepted in batches, or to be overly dispersed and weaken the terminal fire connection.

[0026] Based on this, this application proposes a control method for airborne munitions. Figure 1 A flowchart illustrating a control method for airborne munitions according to some embodiments of this application is shown, such as... Figure 1 As shown, the control method for airborne munitions may include the following steps: Step 101: Determine the axis risk binary table based on the enemy radar beam coverage area and the interceptor missile reachable area. The axis risk binary table includes multiple undetermined breakthrough axes and the risk level corresponding to each undetermined breakthrough axis. Step 102: Send the axis risk binary table to all airborne munitions so that the airborne munitions can determine the target breakthrough axis from multiple pending breakthrough axes based on the axis risk binary table and form a penetration queue corresponding to the target breakthrough axis; wherein, each penetration queue includes multiple airborne munitions; Step 103: If information indicating an increase in the enemy radar beam coverage area or an increase in interceptor missiles is received from any captain, then the risk level of the target breakthrough axis corresponding to the penetration queue to which the captain is located is adjusted according to the angular increment of the enemy radar beam coverage area and the increment of the interception tangential distance of the captain relative to the interceptor missile; wherein, the captain is the loitering munition closest to the center point of the target breakthrough axis in each penetration queue. Step 104: Send the adjusted risk level to the team leader so that the team leader can control the deflection of other airborne munitions in the penetration queue according to the adjusted risk level.

[0027] It should be noted that the control system of the loitering munition may include a command terminal, a mission terminal, and the loitering munition itself. The command terminal is equivalent to a command platform, and the mission terminal is equivalent to the cloud. The control method of the loitering munition in this application can be applied to the command terminal, and can also be referred to as the control equipment of the loitering munition.

[0028] In step 101, the command end can determine the axis risk binary table based on the enemy radar beam coverage area and the area reachable by the interceptor missile. The axis risk binary table includes multiple undetermined breakthrough axes and the risk level corresponding to each undetermined breakthrough axis.

[0029] Specifically, the command end can regard the breakthrough angle (azimuth and elevation angle) and entry time of the loitering munitions as game actions. Based on the adversarial relationship between the remaining amount of our munitions and the remaining amount of enemy interceptor missiles, multiple undetermined breakthrough axes and the risk level corresponding to each undetermined breakthrough axis are obtained, and sent to all loitering munitions in the form of axis risk binary table to ensure that the amount of information is adapted to the munition link bandwidth.

[0030] In some embodiments, step 101 may include the following sub-steps: Step 1011: Obtain a three-dimensional threat map containing the enemy's radar beam coverage area and the area reachable by interceptor missiles; wherein, the three-dimensional threat map is generated based on real-time reconnaissance data and historical combat data; Step 1012: Based on the three-dimensional threat map, the azimuth angle of the loitering munition, the elevation angle of the loitering munition, and the entry time of the loitering munition, determine multiple undetermined breakthrough axes; where the entry time is the moment when the loitering munition enters the enemy's radar beam coverage area or the area reachable by the interceptor missile. Step 1013: Based on the three-dimensional threat map, the remaining amount of our ammunition and the remaining amount of enemy interceptor missiles, determine the expected survival value of each pending breakthrough axis; Step 1014: Determine the risk level of the corresponding pending breakthrough axis based on the range in which the expected survival value of each pending breakthrough axis is located.

[0031] In step 1011, the command end can obtain a three-dimensional threat map from the mission end. The mission end can combine real-time reconnaissance data and historical combat data into a three-dimensional threat map, retaining only two elements: the enemy radar beam coverage area and the interceptor missile reach area. Using the three-dimensional threat map as the environmental input for decision-making can avoid interference from irrelevant information.

[0032] Specifically, the task end can use real-time reconnaissance datasets. (Including current enemy radar beam and interceptor missile information) and historical engagement datasets (Verified radar beam trajectories and interceptor missile consumption status) are uniformly projected onto a common three-dimensional coordinate system. ; Use resolution The task spatial domain in the 3D coordinate system is discretized according to rules to generate a voxel mesh. Each voxel element is labeled with an index. Real-time calculation of the radar beam coverage strength of the unit With the interceptor missile's reach of Then, using the mapping function Transform the two into a single threat scalar and the triplet Write threat unit set .

[0033] Each cell is assigned a unique identifier using row-major encoding. This ensures consistency in subsequent searches; the task's spatial bounding box is directly inherited under a unified coordinate system to avoid gaps or remapping cracks. Ultimately, a set of threat units covering the entire domain is obtained. The collection retains only two attributes: radar beam coverage strength and interceptor missile reachability altitude, discarding irrelevant reconnaissance fields, providing a minimal and business-focused data structure for rapid aggregation.

[0034] A collection of threat units covering the entire domain. Load to working cache By index Spatial sequence layer-by-layer scanning; constructing a neighborhood for each cell. (Radius is set to one grid spacing) to capture overlapping or adjacent threats. All threat scalars Perform a maximum value comparison and use the maximum value. Replace the original single threat scalar This allows for threat value coverage at the local level, thereby preventing multiple assessments of the same spatial location.

[0035] After the scan is complete, the updated single threat scalar will be generated. Reorganized into a 3D threat map And write it to the command end shared cache. Simultaneously generate a hash index table. The original cell location is traced back. Through a single maximum coverage operation, duplicate and adjacent cells are compressed into a single threat representation, maintaining the peak characteristics of both the radar beam and the interceptor missile.

[0036] In step 1012, the command end can determine multiple undetermined breakthrough axes based on the three-dimensional threat map, the azimuth angle of the loitering munition, the elevation angle of the loitering munition, and the entry time of the loitering munition.

[0037] Specifically, the command end can project the three-dimensional threat map onto a local spherical coordinate system with the current centroid of the loitering munitions as the origin; the azimuth angle θ and elevation angle φ of the loitering munitions are discretized at equal intervals with resolutions Δθ and Δφ, respectively, and the entry time t is discretized with a communication period Δt, and these are combined sequentially to obtain a serialized undetermined breakthrough axis. .

[0038] After obtaining the potential breakthrough axes, the command center can then target each potential breakthrough axis. Calculate the cumulative threat value along the route It also includes a window of remaining airtime for the missile swarm. and the most recent radar beam sweep cycle Forming an action triple Write all triples into the set to be evaluated in the order they were created. This ensures that breakthrough actions are synchronized with airspace dynamics.

[0039] In step 1013, the command end can determine the survival expectation value of each pending breakthrough axis based on the three-dimensional threat map, the remaining amount of our ammunition and the remaining amount of enemy interceptor missiles.

[0040] In some embodiments, step 1013 may include the following steps: for each undetermined breakthrough axis, determine the friendly deployment strategy set based on the remaining friendly ammunition quantity; determine the enemy interception strategy set based on the remaining enemy interceptor missile quantity; construct a first adversarial matrix based on the friendly deployment strategy set and the enemy interception strategy set; use the three-dimensional threat map to integrate the undetermined breakthrough axis to obtain the coupled threat intensity of radar and interceptor missiles; obtain a survival benefit function based on the coupled threat intensity and the average damage effectiveness coefficient of a single interceptor missile; use the survival benefit function to determine the survival benefit of each element in the first adversarial matrix; perform alternating optimal response iteration on the first adversarial matrix after filling the survival benefit with the objective of maximizing the friendly survival benefit and minimizing the enemy survival benefit, until the mixed strategies of the friendly and enemy converge to an approximate solution of Nash equilibrium round by round, and determine the Nash value obtained after convergence as the survival expectation value of the undetermined breakthrough axis.

[0041] Specifically, a zero-sum dynamic game can be used to determine each undetermined breakthrough axis. The model is a resource-based game between opposing forces. First, consider the remaining ammunition of our side... Divided into A discrete delivery strategy is used to obtain our delivery strategy set; then the remaining enemy interceptor missiles are... By dividing the enemy's interception strategies into discrete strategies of the same dimension, a set of enemy interception strategies is obtained, which in turn forms... The first adversarial matrix The integral results of the three-dimensional threat map for the determined breakthrough axis are used. This characterizes the coupled threat intensity between the radar and the interceptor missile corresponding to the proposed breakthrough axis, and introduces the average damage effectiveness coefficient of a single interceptor missile. Mapping the enemy interceptor missile attrition effect to the damage probability yields the survival benefit function; for the first adversarial matrix... For each element, calculate the survival benefit according to the survival benefit function; then, for the first adversarial matrix filled with survival benefits... The strategy proceeds through alternating optimal response iterations, with the objective of maximizing our survival gain and minimizing the enemy's survival gain, until the hybrid strategy of both sides converges round by round to an approximate Nash equilibrium solution. When the convergence criterion | When satisfied, take the final Nash value. The expected survival value of this pending breakthrough axis is written into the evaluation cache, where, A preset threshold is used. The breakthrough angle-entry moment action is directly transformed into a resilient resource game, avoiding the distortion caused by the addition of static threats, and compressing the calculation result into a single scalar, ensuring that downlink information can still be broadcast in real time under bandwidth-controlled conditions. Nash value. This can be expressed using the following formula: ; in, Deploy a hybrid strategy vector to our side. This is the enemy's interception hybrid strategy vector. The dimension is The probability simplex, This refers to the actual number of airborne munitions deployed by our side. This represents the actual number of enemy interceptor missiles. For the strength of the coupled threat, The average damage effectiveness coefficient of a single interceptor missile. For positive part operators, take , This is the Nash value.

[0042] In step 1014, the command center can determine the risk level of the corresponding pending breakthrough axis based on the range in which the expected survival value of each pending breakthrough axis is located.

[0043] Specifically, it can be done on all Based on the set threshold , Classify into tiers: If Then the risk level of the corresponding pending breakout axis is determined to be low risk; if If the risk level of the corresponding undetermined breakout axis is determined to be medium risk, then the risk level of the corresponding undetermined breakout axis is determined to be high risk.

[0044] After determining the risk level of the potential breakout line, the line index can be used. Corresponding risk level Composition axis risk binary table Fixed-length fields are compressed and written to the broadcast buffer. The binary table can be synchronized to all airborne munitions in a single downlink, ensuring minimal link occupancy and that coordination information is distributed within a single communication cycle.

[0045] By using the breakthrough angle and entry time as adversarial actions based on a three-dimensional threat map, a zero-sum dynamic game is introduced between the remaining amount of our ammunition and the remaining amount of enemy interceptor missiles. The expected survival of the axis is output and compressed into an axis risk binary table to adapt to the controlled link bandwidth. This realizes the transformation of static superimposed scoring into adversarial resource allocation. The command end can issue executable axis tags within a limited number of bits, unify missile group judgment criteria, and reduce the transmission of irrelevant information.

[0046] In step 102, the command end can send the axis risk binary table to all airborne munitions, so that the airborne munitions can determine the target breakthrough axis from multiple pending breakthrough axes based on the axis risk binary table and form a penetration queue corresponding to the target breakthrough axis.

[0047] During implementation, the command terminal can send the axis risk binary table to all airborne munitions in one go via unicast. After receiving the munitions, the angle correspondence is immediately completed in the local coordinate system.

[0048] Specifically, the command end can import the axis risk binary table into the frame construction module, and sequentially attach a general frame header identifier to each record in the table. Deadline stamp With the total length field The byte order is rearranged according to the axis index and risk level with a fixed width, and a continuous offset is assigned to each row to ensure field alignment; then all records are serially concatenated and null values ​​are compressed to generate a single transmission frame. A single transmission frame Write to high-priority send buffer At the same time, register the sequence number of each individual transmission frame. Cyclic Redundancy Check Code and the number of receiving ports at the command end This is for verification during subsequent link scheduling. Reserved bits are appended to the end of the frame. To ensure compatibility with subsequent versions and avoid protocol conflicts, the above strategy maximizes the total number of bytes without splitting the content, and locks the parsing starting point through structured fields, ensuring that a single downlink can cover all the hangar ammunition and avoid parsing misalignment or content truncation.

[0049] For the send buffer A single transmission frame Execute target sequence number increment: First, read the number of receiving ports at the command end. And construct a loop pointer based on the pre-stored ammunition sequence list. Subsequently, a high-gain narrow-beam antenna array was deployed. The system unicasts a single transmission frame to the corresponding munition based on the pointer index, the directional redundancy from the narrow-beam antenna to the receiving port, and the transmission confirmation sequence, automatically updating after each firing. With frame number The entire polling process is limited to the length of a single communication slot. The system completes the process within the time slot, only marking missed sequence numbers as retransmittable at the end of the time slot without immediate retransmission, thus avoiding consuming current bandwidth. The in-order unicast strategy utilizes the narrow beamwidth of the antenna to reduce the probability of passive detection, while simultaneously completing the distribution of all missile groups through a single polling, enabling real-time coordinated information downlink in rapidly changing air defense environments.

[0050] Each airborne munition receives a single transmission frame. Then immediately invoke the local parser to first check the frame sequence number. Cyclic Redundancy Check Code First, confirm the integrity of a single transmission frame; then, based on its own velocity vector... Establish a local spherical coordinate system, perform coordinate transformation on all axis orientation fields in the axis index, and obtain the self-view angle table. Then, according to risk level. Self-view angle table in ascending order Sort each undetermined breakout axis in the data, and write the sorting results into an on-chip fast lookup table. And set the intention trigger flag. The formation self-organization process is initiated. During the parsing process, external storage is read only once and data transfer is completed in on-chip SRAM. For medium- and high-risk records, an inertial elimination count can be set to ensure that the lookup table remains concise and that the latency of subsequent autonomous actions is within a controllable range.

[0051] In some embodiments, the airborne munition can select the axis with the lowest risk level from multiple undetermined breakthrough axes as the target breakthrough axis; the penetration queue formed by the airborne munition and adjacent airborne munitions with the same target breakthrough axis is determined as the penetration queue corresponding to the target breakthrough axis.

[0052] The logic of the formation self-organization of loitering munitions based on risk level is as follows: Each loitering munition first independently selects a low-risk axis as the target breakthrough axis; adjacent munitions exchange target breakthrough axes through a short-range broadcast, and if the target breakthrough axes are found to be the same, they are automatically merged to form a penetration queue.

[0053] Within the penetration queue, the airborne munition closest to the center point of the target's breakthrough axis is selected as the captain. The captain maintains the minimum communication link with the command end, thus solving two major pain points: avoiding complete concentration and preventing excessive dispersion. The risk level reduces the impulse to concentrate, and the squad mechanism brings back disorderly dispersion.

[0054] According to the local risk lookup table For each low-risk axis, first calculate the angle difference between its current course and the axis's azimuth. Then read the remaining power margin. ;like and Then write the axis index to the temporary intention register. ,in, To preset the included angle difference threshold, Set the preset remaining power margin threshold. Immediately after writing, set the write protection flag. And start the protection timer. This ensures that the intention field cannot be overwritten during adjacent negotiations, avoiding directional jitter and energy waste caused by frequent switching.

[0055] For write-protected temporary deposit areas Perform a short-range broadcast: broadcast its own number 3D coordinates Index of Intentional Axis Encapsulated as a fixed-length byte string A low-power omnidirectional antenna is used to cover the radius. Send. The radius only covers adjacent munitions that can be gathered within a single machine's maneuver time, preventing munitions that are too far away from entering the same queue and causing congestion in the passage.

[0056] The automatic merging of adjacent ammunition into a penetration queue can be achieved by following these steps: All received neighborhood broadcasts are parsed and written to a temporary table. For each record, first compare it with the intended axis index and then check the spatial distance. Then, determine whether it can be merged into the same queue based on the following formula:

[0057] in: For adjacent munitions serial number; This is the current set of indexes for the temporary table; It is the Kronecker delta function; , Adjacent ammunition With local coordinates; The threshold for merging distances; For positive part operators; This is a constant much larger than the maximum number, used to mask items that do not meet the conditions. The minimum value output by the formula is the number selected as the penetrating queue. .

[0058] For the set of candidate members with assigned numbers Append cycle numbers according to the order of addition. And based on the distance to the center point of the axis Reorder the members in ascending order; after reordering, temporarily designate the first member as the captain candidate and write the complete member list into the local state vector. Each member then broadcasts an acknowledgment frame. This machine is in the time window Internal continuous monitoring: If all expected acknowledgments arrive, the queue is officially locked; if any acknowledgment is missing, the system reverts to single-machine state and clears the local state vector. During the locking process, if the number of members exceeds the squad limit... If excess adjacent munitions are marked with a delay flag and their renegotiation in the next cycle is postponed, it will prevent instantaneous congestion.

[0059] The entire process involves two rounds of short-range communication—receiving once and confirming once—to complete the intention deduplication and penetration queue numbering. It has zero dependence on the central node and can maintain the self-balancing of missile group coordination and channel separation even in a high-density air defense environment.

[0060] For the complete member list that has been formed Sort members in ascending order based on their distance from the center point of the axis, and mark the first member as the captain. The captain then broadcast the announcement. To the whole team, and the captain Add to uplink whitelist Only the team leader maintains the communication link with the command center, while the remaining members automatically shut down their high-power uplink modules. This significantly reduces cross-layer communication pressure and electromagnetic exposure area while maintaining necessary command and control.

[0061] The team leader can use the intended axis index. and complete member list Generate shaping / amplitude commands by calling preset convergence echelon parameters. And encapsulate it into an internal instruction package. Broadcast to the entire team. Shaping / Amplitude Command Provide the amplitude parameters and termination criteria for the convergence echelon. It is used to specify the unified conditions for team gathering and ending.

[0062] Each member receives the internal instruction packet Then, based on its own offset from the center point of the axis and the previously determined order of addition, it autonomously solves the problem on the machine and adjusts the speed accordingly. With heading The pre-set formation moves towards the center point of the axis; when all members are at a distance from the center point... Automatically clear The formation has been regrouped and the write protection has been removed. At this point, the self-organized regrouping of the formation is complete, and the missile swarm has formed multiple isolated penetrating columns in space, leaving sufficient maneuver margin for subsequent threat differential perception and fine-tuning.

[0063] The above embodiments propose a novel self-organizing and cooperative method for missile swarms. A single neighborhood broadcast completes intention deduplication and queue numbering. A leader is selected based on the distance between the airborne missile and the center point of the axis. Only the leader retains the uplink, while the other members in the penetration queue disable high-power uplink. This method achieves channel separation and rhythm consistency with zero center node dependence, significantly reducing cross-layer communication pressure and electromagnetic exposure, suppressing the tendency of individuals to concentrate on the same low-risk channel, alleviating congestion caused by serpentine maneuvers and lane-grabbing, and enabling multiple queues to form stable penetration channels in space.

[0064] In step 103, if the command terminal receives information from any captain indicating an increase in the enemy radar beam coverage area or an increase in interceptor missiles, it adjusts the risk level of the target breakthrough axis corresponding to the penetration queue to which the captain belongs based on the angular increment of the enemy radar beam coverage area and the increment of the interception tangential distance of the captain relative to the interceptor missiles.

[0065] Understandably, each team leader only needs to collect information on changes in threats directly in front of their team during flight. Once an increase in the coverage area of ​​enemy radar beams or an increase in interceptor missiles is detected, the information will be pushed back to the command end. The command end will then re-interpret the target breach axis and generate a new risk level.

[0066] In some embodiments, the command terminal can determine the coupled threat intensity increment based on the angle increment of the enemy radar beam coverage area; determine the remaining enemy interceptor missile increment based on the interception tangential distance increment of the captain relative to the interceptor missile; determine the survival expectation value of the target breakthrough axis corresponding to the captain based on the coupled threat intensity increment and the remaining enemy interceptor missile increment; and adjust the risk level of the target breakthrough axis corresponding to the penetration queue to which the captain is located based on the survival expectation value.

[0067] Specifically, the survival expectation value of the target breakthrough axis corresponding to the team leader is determined based on the increase in coupled threat intensity and the increase in the remaining amount of enemy interceptor missiles. This includes: constructing a second adversarial matrix based on the remaining amount of our ammunition, the remaining amount of enemy interceptor missiles, and the increase in the remaining amount of enemy interceptor missiles; updating the survival benefit of each element in the second adversarial matrix based on the increase in coupled threat intensity; performing alternating optimal response iterations on the second adversarial matrix after filling in the survival benefits until the mixed strategy of our side and the enemy converges to an approximate solution of Nash equilibrium round by round, and determining the Nash value obtained after convergence as the survival expectation value of the target breakthrough axis corresponding to the team leader.

[0068] Specifically, the squadron leader's onboard sensing module is kept facing the forward sector of the squadron's flight path, and the angle of the enemy radar beam coverage area within that sector is compared with the maneuvering trajectory of newly appearing interceptor missiles at fixed intervals. Perform a quantitative comparison; during the comparison, first calculate the increment of the change in the angle (e.g., radar cone angle) of the enemy radar beam coverage area. Then calculate the increment of the interception tangential distance of the captain relative to the interceptor missile. ,like or Threat differential records are then immediately generated, where, The first preset incremental threshold, The second preset incremental threshold. Threat differential records only include... , Current heading With timestamp Four fields, and were written to the local cache. Simultaneously set the reporting flag. This ensures that the threat change can be pushed back to the command end within one command cycle, without being delayed into the next scan cycle.

[0069] By focusing on threat differential rather than the full sector image, the report field is compressed to a minimum size to meet real-time requirements under controlled bandwidth.

[0070] Position reporting flag Perform a read; if the flag is valid, immediately access the local cache. The records are encapsulated into a report frame according to a fixed-length format. The encapsulation steps include: first, appending a fixed frame header. and Intentional Axis Index Add a cyclic redundancy check code. With frame end identifier To ensure frame integrity, a one-way push is then performed to the command end via a dedicated uplink reserved by the team leader. This link does not carry other services to avoid time slot contention. The reporting flag is cleared immediately after the frame is sent. And release the local cache. This allows the cache to be freed up before the next scan cycle, preventing report blocking.

[0071] The command terminal received a report frame. After verification, the intended axis index is used as the unique key to locate the old data from the risk mapping table, and the dynamic game module is called to reconstruct the enemy and friendly resource matrix for that axis. The reconstruction process only uses the angle increment and interception tangential distance increment of the enemy radar beam coverage area, and does not rescan the entire area.

[0072] After receiving the threat differential records (angle increments and interception tangential range increments of the enemy radar beam coverage area) from the team leader, the command terminal updates the game parameters only for the target's breach axis. The angle increments and interception tangential range increments of the enemy radar beam coverage area are then converted into coupled threat intensity increments using a predetermined mapping. Increase in the remaining quantity of enemy interceptor missiles And perform parameter correction: ,

[0073] Based on this, the adversarial matrix is ​​reconstructed, resulting in the second adversarial matrix, the dimension of which is... The matrix elements are updated to The hybrid strategy that converged in the previous round. Using this as an initial value, we perform alternating optimal response iterations to obtain a new survival expectation: ; When satisfied When the iteration terminates, a new expected survival value is obtained. Based on the new expected survival value, a new risk level is determined and written to the cache to be distributed. For other axes not involved in the threatened differential records, the previous calculation results are kept unchanged, thereby avoiding frequent large-scale recalculations, while ensuring that the risk information of the affected axes can be kept in sync with changes in external threats.

[0074] In step 104, the command terminal can send the adjusted risk level to the team leader so that the team leader can control the deflection of other airborne munitions in the penetration queue according to the adjusted risk level.

[0075] Specifically, the team leader receives the cache to be distributed in the listening channel. After the target crosses the new risk level corresponding to the axis, immediately check the machine's yaw preset table. This will raise the risk to the corresponding angle deflection threshold. Encapsulate the issued timestamp into an internal instruction packet. The message is then broadcast to all members. Before broadcasting, a unique sequence number is inserted to facilitate rapid deduplication among members. The message is then sent using the queue's dedicated frequency to minimize crosstalk between adjacent queues. After the internal instruction packet is successfully sent, the queue leader adjusts the local state vector flag to reflect the middleware. The process continues until the data is collected and then reset to zero, ensuring that the command and execution processes are synchronized.

[0076] Each member receives the internal instruction packet First, check the sequence number to prevent duplicate execution, then set the current heading. With deflection The summation is written into the flight control loop to form a new heading command. Then, the team's spacing was adjusted towards the preset value. Perform a linear approximation, limiting the required velocity correction to... Within the specified range, prevent energy waste due to excessive acceleration. After completing the corrections, members record the establishment lock flag on their unit. Once the entire team has raised the symbol, the captain can clear it. This strategy achieves a unified deflection through a single broadcast within the penetration queue, avoiding serpentine maneuvers or individual aircraft leaving the queue, and ensuring channel isolation and overall airspace order between multiple penetration queues.

[0077] In some embodiments, if the distance between any penetrating queue and the target is less than a preset distance, the remaining ammunition quantity of the penetrating queue is obtained; if the remaining ammunition quantity of the penetrating queue is less than the target damage threshold, a backup queue is determined based on the remaining range of the other penetrating queues, and the backup queue is controlled to enter the end of the penetrating queue along the same target breakthrough axis; if the remaining ammunition quantity of the penetrating queue is greater than the target damage threshold, the other penetrating queues are controlled to transfer to a preset standby point.

[0078] Understandably, when the distance between any penetrating queue and the target is less than the preset distance, the command can lock the current target's breakthrough axis and assign other penetrating queues to fill the gap according to the principle of hitting the gap. If the remaining ammunition of the penetrating queue has met the mission's minimum requirement, other penetrating queues can move to the preset standby point to reserve ammunition for the next wave of joint penetration.

[0079] Specifically, the coordinate sequence of the penetration queue in the shared cache at the command end can be used. Dequeue records sequentially, compare timestamps for each record, and filter out old values ​​that have exceeded the refresh cycle; calculate the vector difference for the remaining records. ,in, To determine the coordinates of the target, the module length is then... Compared to a preset distance (e.g., an interception radius threshold) The comparison is performed. If the judgment result satisfies... Then immediately lock the intended axis index of the penetration queue. At the same time, read its remaining ammunition. And write both items into the final baseline table. The locking action simultaneously freezes the risk level and survival expectation of the penetration queue, preventing it from participating in subsequent dynamic game calculations. This cuts off estimation noise caused by rapid maneuvering and ensures that subsequent fire support only revolves around the verified axis.

[0080] Target damage threshold With the final baseline table Remaining ammunition quantity recorded in the middle By doing the difference, we can obtain the hit gap. ;like Then extract the remaining range of the remaining penetration queue that is still under guidance. According to the remaining flight distance Ascending order to form candidate sequences The fill command is then issued via broadcast frame: the frame contains only the locked intention axis index. Specify entry time and priority flags It uses a preemptive channel to ensure that high-priority instructions are not queued under controlled bandwidth conditions. Once the selected penetration queue receives the instruction, it is immediately written into the local task queue and enters the end segment along the coaxial line in sequence, thereby filling the hit gap in the shortest possible time and avoiding channel chaos caused by multiple queues switching axes at the same time.

[0081] against In this situation, the command end can determine that the mission baseline has been met, and then immediately construct a transfer instruction packet: the packet contains the coordinates of a preset standby point (e.g., Coordinates of a single penetrating queue / airborne munition without a mission Low-power cruise parameters With reactivation threshold The command is broadcast in batches according to the penetration queue number. Each penetration queue not yet included in the replacement queue switches its flight control mode upon receiving the command and sends it to the coordinates. Slow-speed relocation and activate energy-saving cruise. The command center simultaneously records the ammunition quantity in the backup table. ,coordinate and the risk level at that time This preserves complete mobility and communication space for the next wave of joint penetration, thus completing the final stage of the fire coordination process in this round.

[0082] The above embodiment proposes a collaborative control method of differential backtracking, local recalculation, and intra-team broadcast execution. The team leader only detects the angle increment and interception tangential distance increment of the enemy radar beam coverage area in the forward sector and backtracks the threat differential to the command end. The command end only re-interprets the affected axis and issues a limited angle deflection, which is completed by a single intra-team broadcast. In the final stage, the axis is locked according to the principle of hitting the gap and the subsequent queue is assigned to fill the gap. The rest are put into standby. The consistency maintenance is concentrated on a small number of key threat differentials, minimizing the computation and link overhead. At the same time, the channel isolation between multiple penetration queues and the terminal fire connection are maintained to avoid the same channel being intercepted in batches and disorderly dispersed.

[0083] Figure 2 A diagram illustrating the contrast between congestion in the passageway is shown. (For example...) Figure 2 As shown, the vertical axis 0–100 represents the progress, and the horizontal axis 0–200 represents the lateral position. The dashed line divides the image into left and right sections, and the rectangular outline represents the boundary of the passable passage. The arrow points to the target area above. The left side of the dashed line corresponds to the passage congestion situation using existing technology: multiple wavy tracks intersect within narrow passages, exhibiting serpentine maneuvers and concentrated congestion; the top 85% indicates the concentration percentage, meaning that most individuals converge in the same passage. The right side of the dashed line corresponds to the passage congestion situation using the technology of this application: multiple nearly vertical penetration tracks remain isolated within parallel passages, with no intersections between passages; the top 20% indicates the concentration percentage, showing a significant reduction in aggregation on the same passage.

[0084] Through the above-mentioned scheme, this application can ensure that, under the operational constraints of continuously changing enemy and friendly resources and threats, controlled communication bandwidth, and the need to maintain the consistency of missile group rhythm, missile groups are neither intercepted in batches within the same channel nor lose terminal fire support due to excessive dispersion. Furthermore, the recalculation and dissemination at the command end are limited to the minimum range of the affected axis, reducing the consumption of computing and link resources.

[0085] The following describes an embodiment of the apparatus described in this application, which can be used to execute the control method for airborne munitions in the above embodiments of this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the control method for airborne munitions described above in this application.

[0086] Based on the same inventive concept, this application also provides a control device for airborne munitions. Figure 3 A block diagram of the control device for an airborne munition according to an embodiment of this application is shown. Figure 3As shown, the control device for loitering munitions in this application embodiment includes: an axis risk determination module 301, an axis risk distribution module 302, an axis risk adjustment module 303, and a loitering munition offset module 304. The axis risk determination module 301 determines an axis risk binary table based on the enemy radar beam coverage area and the interceptor missile's reachable area. The axis risk binary table includes multiple pending breakthrough axes and a risk level corresponding to each pending breakthrough axis. The axis risk distribution module 302 sends the axis risk binary table to all loitering munitions, enabling the loitering munitions to determine the target breakthrough axis from the multiple pending breakthrough axes based on the axis risk binary table and form a target breakthrough axis corresponding to the target breakthrough axis. The system comprises a penetration queue, each containing multiple loitering munitions. An axis risk adjustment module 303, upon receiving information from any team leader indicating an increase in the enemy radar beam coverage area or an increase in interceptor missiles, adjusts the risk level of the target breakthrough axis corresponding to the penetration queue where the team leader is located, based on the angular increment of the enemy radar beam coverage area and the increment of the team leader's interception tangential distance relative to the interceptor missiles. The team leader is the loitering munition in each penetration queue closest to the center point of the target breakthrough axis. A loitering munition deflection module 304 sends the adjusted risk level to the team leader, enabling the team leader to control the deflection of other loitering munitions in the penetration queue based on the adjusted risk level.

[0087] Based on the same inventive concept, embodiments of this application also provide a control device for airborne munitions, see reference. Figure 4 The diagram shows a schematic of the control device for a loitering munition in an embodiment of this application. The control device for the loitering munition includes one or more memories 404, one or more processors 402, and at least one computer program (computer program instruction) stored in the memory 404 and executable on the processor 402. When the processor 402 executes the computer program, it implements the method as described above.

[0088] Among them, Figure 4In this document, a bus architecture (represented by bus 400) is used. Bus 400 may include any number of interconnected buses and bridges, linking various circuits including one or more processors represented by processor 402 and memory represented by memory 404. Bus 400 may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 405 provides an interface between bus 400 and receiver 401 and transmitter 403. Receiver 401 and transmitter 403 may be the same element, i.e., a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 402 is responsible for managing bus 400 and general processing, while memory 404 can be used to store data used by processor 402 during operation.

[0089] Based on the same inventive concept, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, cause the processor to perform the steps of the aforementioned method.

[0090] Based on the same inventive concept, embodiments of this application provide a computer program product, including a computer program, which, when executed by a processor, causes the processor to perform the steps of the method described above.

[0091] Based on the same inventive concept, this application provides a control system for a loitering munition, including: a loitering munition 501 and a control device 502 for the loitering munition as described above; wherein, the loitering munition 501 is used to determine the target breakthrough axis from multiple pending breakthrough axes based on an axis risk binary table and form a penetration queue corresponding to the target breakthrough axis; wherein, each penetration queue includes multiple loitering munitions.

[0092] In some embodiments, determining the target breakthrough axis from multiple undetermined breakthrough axes based on an axis risk binary table and forming a penetration queue corresponding to the target breakthrough axis includes: selecting the axis with the lowest risk level from multiple undetermined breakthrough axes as the target breakthrough axis; and determining the penetration queue formed by the airborne munition and adjacent airborne munitions with the same target breakthrough axis as the penetration queue corresponding to the target breakthrough axis.

[0093] In some embodiments, if the airborne ammunition 501 is the leader, then the airborne ammunition 501 is used to control the deflection of other airborne ammunition in the penetration queue according to the adjusted risk level.

[0094] For details of the airborne munitions not disclosed in the embodiments of this application, please refer to the embodiments of the airborne munitions control method described above in this application, which will not be repeated here.

[0095] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Furthermore, the functional units may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0096] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0097] The units described as separate components may or may not be physically separate. Similarly, the components of the control device may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0098] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing computer program instructions, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0099] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for a loitering munition, characterized in that, include: A risk binary table is determined based on the enemy's radar beam coverage area and the area reachable by the interceptor missile. The risk binary table includes multiple undetermined breakthrough axes and the risk level corresponding to each undetermined breakthrough axis. The axis risk binary table is sent to all airborne munitions, so that the airborne munitions determine the target breakthrough axis from the multiple undetermined breakthrough axes based on the axis risk binary table and form a penetration queue corresponding to the target breakthrough axis; wherein, each penetration queue includes multiple airborne munitions; If any information indicating an increase in the enemy radar beam coverage area or an increase in interceptor missiles is received from any captain, the risk level of the target breakthrough axis corresponding to the penetration queue to which the captain belongs is adjusted according to the angular increment of the enemy radar beam coverage area and the increment of the interception tangential distance of the captain relative to the interceptor missile; wherein, the captain is the loitering munition closest to the center point of the target breakthrough axis in each penetration queue; The adjusted risk level is sent to the team leader so that the team leader can control the deflection of other airborne munitions in the penetration queue according to the adjusted risk level.

2. The control method for airborne munitions according to claim 1, characterized in that, The binary table for determining axis risk based on the enemy radar beam coverage area and the interceptor missile reach area includes: Obtain a three-dimensional threat map containing the coverage area of ​​the enemy radar beam and the reachable area of ​​the interceptor missile; wherein the three-dimensional threat map is generated based on real-time reconnaissance data and historical combat data; Based on the three-dimensional threat map, the azimuth angle of the loitering munition, the elevation angle of the loitering munition, and the entry time of the loitering munition, multiple undetermined breakthrough axes are determined; wherein, the entry time is the moment when the loitering munition enters the enemy radar beam coverage area or the reachable area of ​​the interceptor missile; Based on the aforementioned three-dimensional threat map, our remaining ammunition quantity, and the enemy's remaining interceptor quantity, the expected survival value for each of the aforementioned undetermined breakthrough axes is determined; The risk level of each pending breakthrough axis is determined based on the range in which the expected survival value of each pending breakthrough axis falls.

3. The control method for airborne munitions according to claim 2, characterized in that, The determination of the expected survival value for each of the proposed breakthrough axes based on the three-dimensional threat map, our remaining ammunition quantity, and the enemy's remaining interceptor quantity includes: For each of the aforementioned undetermined breakthrough axes, determine our delivery strategy set based on our remaining ammunition quantity; Determine the enemy's interception strategy set based on the remaining number of enemy interceptor missiles; Based on the set of our deployment strategies and the set of enemy interception strategies, a first adversarial matrix is ​​constructed; By integrating the three-dimensional threat map onto the undetermined breakthrough axis, the coupled threat intensity between the radar and the interceptor missile is obtained. Based on the coupled threat intensity and the average damage effectiveness coefficient of a single interceptor missile, the survival benefit function is obtained; The survival payoff for each element in the first adversarial matrix is ​​determined using the survival payoff function. With the goal of maximizing our survival gain and minimizing the enemy's survival gain, we perform alternating optimal response iterations on the first adversarial matrix after filling the survival gain, until the mixed strategy of our side and the enemy converges to an approximate solution of Nash equilibrium round by round. The Nash value obtained after convergence is determined as the survival expectation value of the undetermined breakthrough axis.

4. The control method for airborne munitions according to claim 3, characterized in that, The adjustment of the risk level of the target penetration axis corresponding to the penetration queue to which the captain belongs, based on the angular increment of the enemy radar beam coverage area and the increment of the interception tangential distance of the captain relative to the interceptor missile, includes: The increment of coupled threat intensity is determined based on the angular increment of the enemy radar beam coverage area; The increment of the remaining enemy interceptor missiles is determined based on the increment of the interception tangential distance between the captain and the interceptor missile; Based on the increase in the coupled threat intensity and the increase in the remaining amount of enemy interceptor missiles, determine the expected survival value of the target breakthrough axis corresponding to the team leader; The risk level of the target breakthrough axis corresponding to the penetration queue to which the team leader belongs is adjusted based on the survival expectation value.

5. The control method for airborne munitions according to claim 4, characterized in that, The step of determining the expected survival value of the target breakthrough axis corresponding to the team leader based on the increase in coupled threat intensity and the increase in the remaining amount of enemy interceptor missiles includes: A second adversarial matrix is ​​constructed based on the remaining amount of our ammunition, the remaining amount of enemy interceptor missiles, and the increment of the remaining amount of enemy interceptor missiles; The survival gain of each element in the second adversarial matrix is ​​updated based on the coupling threat strength increment; The second adversarial matrix after filling the survival benefit is subjected to alternating optimal response iterations until the mixed strategy of our side and the enemy converges to an approximate solution of Nash equilibrium round by round. The Nash value obtained after convergence is determined as the survival expectation value of the target breakthrough axis corresponding to the captain.

6. The control method for airborne munitions according to claim 1, characterized in that, Also includes: If the distance between any of the penetration queues and the target is less than a preset distance, then the remaining ammunition quantity of the penetration queue is obtained; If the remaining ammunition quantity of the penetration queue is less than the target damage threshold, a backup queue is determined based on the remaining range of the other penetration queues, and the backup queue is controlled to enter the end of the penetration queue along the same target breakthrough axis. If the remaining ammunition quantity in the penetration queue is greater than the target damage threshold, then the remaining penetration queue is controlled to transfer to a preset standby point.

7. A control device for a loitering munition, characterized in that, The method includes a processor and a memory, characterized in that the memory stores computer program instructions executable by the processor, and when the processor executes the computer program instructions, it implements the steps of the method as described in any one of claims 1 to 6.

8. A control system for a loitering munition, characterized in that, include: A lone-air munition and a control device for the lone-air munition according to claim 7; wherein the lone-air munition is used to determine a target breakthrough axis from the plurality of undetermined breakthrough axes based on the axis risk binary table and to form a penetration queue corresponding to the target breakthrough axis; wherein each penetration queue includes a plurality of the lone-air munitions.

9. The control system for the airborne munition according to claim 8, characterized in that, The process of determining the target breakthrough axis from the multiple undetermined breakthrough axes based on the axis risk binary table and forming the penetration queue corresponding to the target breakthrough axis includes: Select the axis with the lowest risk level from the multiple undetermined breakthrough axes as the target breakthrough axis; The penetration queue formed by the loitering munition and adjacent loitering munitions with the same target penetration axis as the loitering munition is determined as the penetration queue corresponding to the target penetration axis.

10. The control system for the airborne munition according to claim 8, characterized in that, If the airborne munition is the leader, then the airborne munition is used to control the deflection of other airborne munitions in the penetration queue according to the adjusted risk level.

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