Method for controlling a sensor-effector system

Abstract

The invention relates to a method for controlling a sensor-effector system (10), in which a trajectory (12) of a target (14) to be attacked is predicted. Furthermore, at least one section of a first type of the predicted trajectory (12) is determined, which section is located within the range of an effector (16) of the sensor-effector system (10). A hit probability of the effector (16) is determined for different points along the at least one section of the first type. In addition, at least one section of a second type of the predicted trajectory (12) is determined (112), which section overlaps with a field of view of a sensor (18) of the sensor-effector system (10). With regard to the sensor (18), a quality of visibility at different points of the at least one section of the second type is then determined. Along a region of the predicted trajectory (12) in which the section of the first type and the at least one section of the second type of the predicted trajectory (12) overlap, a combat point (20) is then selected on the basis of the determined hit probability and on the basis of the determined quality of visibility.

Description

[0001] Method for controlling a sensor-effector system

[0002] The invention relates to a method for controlling a sensor-effector system, a sensor-effector system for carrying out the method, a computer program and a computer-readable medium.

[0003] Sensor-effector systems are frequently used for airspace surveillance and defense. Associated system components can be located at a single site or distributed across multiple locations. Furthermore, sensor-effector systems can comprise one or more sensors and one or more effectors, particularly of various types. A sensor within the sensor-effector system can detect objects entering the monitored airspace and, if necessary, classify or identify them. Additionally, the trajectory of such an object can be predicted. In this way, for example, it is possible to distinguish between stationary, dynamic, and / or ballistic objects in the monitored airspace. If the detected object is identified as a hostile aircraft, it can be intercepted by the sensor-effector system.Based on the information about the aircraft acquired by one or more sensors, the system then intends to neutralize it. Depending on the type and / or trajectory of the enemy aircraft, various effectors with different ranges can usually be used to intercept it. Generally, the effector with the highest probability of a hit is selected from the available options. This selected effector is then guided toward the target based on the information acquired by the sensor(s) of the sensor-effector system. However, the interception probability of the sensor-effector system can differ significantly from the effector's hit probability due to malfunctions in the sensor controlling the effector.For example, interference from other sensors or an active jammer, multipath propagation of sensor signals, reflections, shadowing, or a trajectory of the target tangential to the sensor's field of view can significantly reduce the interception probability. Furthermore, different sensors with varying characteristics, such as range, signal-to-noise ratio, or resolution, are often used. Therefore, detecting and tracking a target with a sensor for the purpose of controlling the effector can lead to a reduced interception probability, depending on the sensor's visibility of the target.

[0004] The object of the present invention is to provide an improved method for controlling a sensor-effector system.

[0005] This problem is solved by a method having the features of independent claim 1.

[0006] Furthermore, the invention is based on the objective of providing a sensor-effector system which is designed to carry out the method according to the invention.

[0007] This task is solved by a sensor-effector system with the features of the subordinate system claim.

[0008] Furthermore, the invention is based on the objectives of providing a computer program and a computer-readable medium.

[0009] These tasks are solved by a computer program having the features of the dependent computer program claim and by a computer-readable medium having the features of dependent claim 15.

[0010] Advantageous further training courses are each the subject of dependent sub-claims.

[0011] In the inventive method for controlling a sensor-effector system, the trajectory of a target to be engaged is first predicted. This trajectory is to be understood in a physical sense as a path, a track, a trajectory, or a route of an object in three-dimensional space.

[0012] For this purpose, the target to be engaged is detected by a sensor of the sensor-effector system. Advantageously, this sensor is configured to acquire information regarding the direction, distance, type, and / or position of the target. Preferably, the sensor acquires data based on electro-optical rangefinding and / or radio-based positioning. For example, the sensor can be a radar or a lidar. If the sensor is a radar, for instance, information regarding the radar cross-section or Doppler characteristics of the detected target can be acquired and used to determine the type of target. This allows, for example, differentiation between stationary, dynamic, and ballistic targets. Preferably, the target to be engaged is classified based on the information acquired by the sensor.A trajectory prediction can therefore be generated based on information acquired by the sensor, a classification of the target, information regarding possible attack scenarios and / or targets, and / or information concerning the typical movement or flight behavior of the target to be engaged. In specific applications, the trajectory prediction can be determined directly from the sensor. Furthermore, information acquired by the sensor can be output via a communication network. This information is expediently output to system components of the sensor-effector system. Alternatively or additionally, this information can be output to a higher-level tactical and / or combat network, such as Link-16.In a particularly preferred application, various flight scenarios are considered when determining the trajectory prediction, and statistical and / or deterministic errors are also taken into account. In this way, deviations from the most probable trajectory can be considered for the purpose of controlling the sensor-effector system, in addition to the most probable trajectory. Specifically, multiple trajectories for different flight scenarios can be predicted and considered when controlling the sensor-effector system.

[0013] Furthermore, the inventive method provides that at least one segment of the predicted trajectory is identified which lies within the range of an effector of the sensor-effector system. A hit probability for the effector is determined for various points along this at least one segment of the first kind. If several effectors are provided, it is determined for each effector whether at least one segment of the first kind is within its range. Suitable effectors can then be selected from among the several. In a preferred embodiment, a distance and / or a distribution of the points along the segment of the first kind, for which the hit probability of the effector is determined, are selected based on their respective relevance to different areas of the at least one segment of the first kind.In a section of the first type relevant to engaging the target, a large distance can be chosen at points with a presumed or predicted low probability of a hit. Conversely, a small distance can be chosen in an area where a high probability of a hit is presumed or predicted. This enables an efficient process flow. For example, it allows for the efficient use of available computing power. In specific applications, it may also be possible to determine the extent of damage to the target in addition to the probability of a hit. This makes it possible to identify in advance whether multiple hits are required to neutralize the target.

[0014] According to the invention, at least one second-order section of the predicted trajectory is determined, which overlaps with a field of view of a sensor of the sensor-effector system. For an affected sensor, the visibility quality is then determined for various points of the at least one second-order section. Furthermore, it is provided that along a region of the predicted trajectory in which the at least one first-order section and the at least one second-order section of the predicted trajectory overlap, a target point is selected based on the determined hit probability and the determined visibility quality.

[0015] In this way, the interception probability of the sensor-effector system can be increased. Furthermore, a high degree of accuracy can be achieved. Errors resulting from ideal assumptions about sensor behavior when determining interception probability can be reduced. By considering real sensor characteristics as well as spatially and / or temporally varying interference influences, the interception probability can be predicted more accurately. Consequently, the effector can be guided toward the target with increased reliability. This reduces the number of targets that are missed or only partially hit. Expensive or scarce effectors can therefore be used efficiently. Moreover, potential attack targets can be protected with a high degree of reliability against attacks from the airspace.

[0016] An advantageous refinement of the method involves determining the visibility quality at various points of the second type of section based on a measurement, a simulation, and / or an analytical method. The measurement preferably considers information regarding the size of the target, its distance, the sensor's signal-to-noise ratio, interference from other sensors, interference from active jammers, and / or a meteorological parameter such as precipitation, humidity, or temperature. This allows for the efficient consideration of spatially and temporally varying environmental influences on the sensor's field of view.Furthermore, the aforementioned simulation advantageously allows for the rapid and reliable consideration of topological properties of an environment, the type of sensor, multipath propagation, reflections, and / or shadowing. In the preferred application, the simulation, based on information obtained during measurement, enables the particularly rapid determination of the visibility quality at various points of at least one section of the second type. This allows the visibility quality to be determined with very high accuracy. Particularly preferably, the visibility quality is determined in this way faster than by real-time measurement. In contrast, the aforementioned analytical modeling allows for savings in computing resources.Based on measured information, it is possible to determine the visibility quality with sufficient reliability for various points of at least one section of the second type. A key parameter for visibility quality could be, for example, the sensor's detection probability with respect to the target being engaged, or an expected sensor malfunction relative to ideal sensor behavior. By considering visibility quality when controlling the sensor-effector system, the sensor's actual behavior can be taken into account in a simple and cost-effective manner to increase the interception probability.

[0017] A further advantageous development involves determining the visibility quality based on information concerning multipath propagation, shadowing, the trajectory within the sensor's field of view, the sensor's signal-to-noise ratio, the sensor type, the target's flight behavior, the target's size, target type, target's distance, target's speed, the surrounding topography, the influence of other sensors, and / or an active external interference signal, and / or based on a meteorological parameter such as precipitation, humidity, or temperature. This allows for a realistic assessment of the sensor's behavior when detecting and tracking the target. Furthermore, the sensor's quality and / or processing capabilities can be reliably considered. Hostile interference can then be quickly detected and countered.Furthermore, negative influences on a sensor designed as radar, such as the flight of the target to be combated tangentially to a field of view, can be reliably taken into account.

[0018] Preferably, the spacing and / or distribution of points along the at least one second-order section, for which a visibility quality is determined, is selected based on their respective relevance to different areas of the at least one second-order section. A narrower distribution of these points is advantageously chosen for areas of the at least one second-order section where the presumed or predicted visibility quality is higher than in areas of the at least one second-order section where the presumed or predicted visibility quality is low. For the purpose of predicting the visibility quality, previously known information concerning the sensor, its location, or empirical data can be used.In the preferred application, a Gaussian curve with predetermined parameters in three-dimensional space around the sensor's location can be used to predict the sensor's visibility quality. This allows for the efficient identification of areas of the at least one second type of section that exhibit increased or decreased relevance. Accordingly, the visibility quality determination can be adjusted for predetermined areas of the at least one second type of section by increasing or decreasing the density of the data. This enables a dense sampling of information along a preferred area of ​​the at least one second type of section for control purposes. Conversely, a lower point density can be provided for less relevant areas, thus saving computing power. This allows for a fast and efficient control method.Another advantageous further development involves performing the determination of the hit probability, the determination of the visibility quality, and / or the selection of the control point decentrally. This enables a high level of reliability in the control process. Preferably, the determination of the hit probability, the determination of the visibility quality, and / or the selection of the control point is performed decentrally by utilizing existing data processing devices of the sensor-effector system for this purpose. This allows for an energy-efficient and cost-saving method. Furthermore, distributing tasks across different system components can achieve high robustness.The decentralized determination or selection of the aforementioned parameters can thus be carried out decentrally by means of an effector, a sensor, another data processing device of the sensor-effector system, and / or by means of a communication participant of a communication network into which the sensor-effector system is integrated or which is superior to it. Such a communication network can be a tactical or combat network, such as Link-16.

[0019] Another advantageous enhancement involves simultaneously determining the hit probability and the quality of visibility. This enables a time-efficient control procedure. Furthermore, it allows for a rapid and reliable response to diverse targets or a large number of targets arriving in rapid succession or simultaneously. This can further increase the interception probability and the reliability of the sensor-effector system.

[0020] In an alternative, more advantageous training approach, the probability of a hit and the quality of visibility are determined sequentially. This allows for the efficient use of available computing capacity or network resources. Furthermore, it enables the effective execution of an interception operation even with limited or restricted computing resources.

[0021] Advantageously, several sensors of the sensor-effector system are provided, for each of which the visibility quality to various points of at least one associated second-order section is determined. Preferably, based on the hit probability of the effector of the sensor-effector system and on the visibility quality of the several sensors of the sensor-effector system to points of the respective associated at least one second-order section, a sensor-effector combination intended for engaging the target is selected. This allows information from different sensors to be combined for the purpose of controlling the process. The accuracy of the control process can be improved. Furthermore, the error in predicting the trajectory based on data from several sensors placed at different locations can be reduced.Advantageously, for the purpose of combating the target, beneficial combinations of one or more sensors with an effector can be determined in a cost-effective manner.

[0022] In an advantageous embodiment, several effectors are provided in addition to the multiple sensors. Preferably, several effectors with different ranges are provided. In this embodiment, those of the multiple effectors within whose range the predicted trajectory lies are first identified. Subsequently, for each of these identified effectors, a hit probability is determined for various points along at least one segment of the predicted trajectory. This allows for the consideration of different interception scenarios. Furthermore, it allows for the optimization of the selection of a suitable effector-sensor combination.

[0023] Advantageously, a sensor-effector combination is selected by considering not only the probability of a hit and the quality of visibility, but also information regarding the number of available effectors, the cost of using an effector, the type of effector used, predicted collateral damage, and / or the operational readiness of an effector. This allows for further optimization of the control procedure. Additional factors that negatively impact the interception probability or the overall defensive readiness of the sensor-effector system can be considered cost-effectively. This enables the provision of a reliable and effective sensor-effector system. Furthermore, this approach effectively mitigates the risk of the sensor-effector system being overwhelmed by a large number of consecutively arriving targets.Furthermore, this enables cost-efficient use of the sensor-effector system. Advantageously, a control process of the procedure is carried out until the target is hit. This allows deviations between the predicted and actual trajectories to be detected quickly. Additionally, changing hit probability or visibility quality at the selected target point can be continuously taken into account. In the preferred application, the control process is repeated until the target is hit by an effector. Short-term or unforeseen deviations of the target from the predicted trajectory can advantageously be considered when controlling an effector that has already been activated.

[0024] Furthermore, if the target is insufficiently hit or missed by the effector, another sensor-effector combination can be selected for engaging the target based on the determined hit probability along at least one segment of the first type of predicted trajectory and the determined visibility quality along at least one segment of the second type of predicted trajectory. Previously acquired information can be used to select and / or control the additional effector. This allows the selection of another sensor-effector combination and / or the control of an effector within that combination to be directly linked to existing information. The additional effector can thus be quickly made ready for deployment and, if necessary, activated based on the available information.Preparation time for a further interception attempt can thus be kept short. This makes it possible to deploy a responsive procedure for engaging the target. Protected objects can be defended against an enemy attack with a high degree of reliability.

[0025] Furthermore, the invention provides a sensor-effector system configured to carry out the method according to the invention. The sensor-effector system is, in particular, one of the type described above in connection with the method.

[0026] The sensor-effector system according to the invention comprises at least one sensor for detecting a target to be engaged. Furthermore, at least one effector is provided which can be guided towards the target based on data from the at least one sensor. In this way, a sensor-effector system with a high interception probability can be provided.

[0027] Furthermore, the sensor-effector system exemplarily comprises several effectors with different ranges. It is also advantageously provided with various sensors by which a target to be engaged can be detected in different ways. In a preferred embodiment, several sensors and several effectors of the sensor-effector system are interconnected via a communication system for the purpose of data transmission. Furthermore, the sensor-effector system is advantageously integrated into a higher-level communication network. This communication network can, for example, be a tactical or combat network, such as Link-16.

[0028] Information from various system components of the sensor-effector system or communication participants of the communication system can be easily provided to other system components or communication participants of the sensor-effector system. This enables the implementation of a sensor-effector system with high reliability and robustness. Control processes can be performed decentrally. This allows the free computing resources of individual system components or communication participants to be used for controlling the sensor-effector system. Furthermore, various pieces of information from different system components can be combined and used to control the sensor-effector system. This enables a high-quality control process with low error rates. Additionally, this allows for a high interception probability of the sensor-effector system.

[0029] To ensure the highest possible effectiveness of the sensor-effector system, it is proposed to simulate various arrangement scenarios of the sensors and effectors within a given operational area to identify a configuration that offers a high probability of interception for various predetermined attack scenarios and / or targets. Advantageously, the visibility of the sensors is also taken into account. For example, various virtual arrangement scenarios can be simulated using Monte Carlo simulation, considering potential attack targets and / or attack scenarios. This allows for the cost-effective identification of optimized locations for the sensors and / or effectors of the sensor-effector system within a given operational area.

[0030] In a preferred embodiment, at least one sensor is implemented as a radar. This enables the provision of an efficient and reliable air defense system. Problematic areas of view for radar systems, which may be restricted due to topography or due to the predicted trajectory relative to the radar, thus limiting the visibility of the target, are reliably detectable.

[0031] Furthermore, the invention provides a computer program which, when executed, causes the sensor-effector system according to the invention to carry out the method according to the invention.

[0032] Furthermore, a computer-readable medium is provided according to the invention. This medium contains instructions that cause the sensor-effector system according to the invention to carry out the method according to the invention. The aforementioned computer-readable medium can be, for example, a CD-ROM, a DVD, a USB or flash memory device, or a non-physical medium such as a data stream and / or a digital carrier signal.

[0033] The preceding description of advantageous embodiments of the invention contains numerous features, some of which are summarized in several dependent claims. However, the features can also be expediently considered individually and combined into meaningful further combinations, particularly in the case of cross-references between claims, so that a single feature of a dependent claim can be combined with one, several, or all features of another dependent claim. Furthermore, these features can be combined with both the method and the system according to the invention, as defined in the respective independent claims. Thus, method features can also be interpreted as properties of the corresponding apparatus unit, and functional apparatus features as corresponding method features.The properties, features, and advantages of this invention described above, as well as the manner in which they are achieved, will become clearer and more readily understandable in connection with the following description of the exemplary embodiments, which are explained in more detail in conjunction with the drawings. The exemplary embodiments serve to illustrate the invention and do not limit it to the combination of features specified therein, including functional features. Furthermore, suitable features of each exemplary embodiment can also be explicitly considered in isolation, removed from one exemplary embodiment, incorporated into another exemplary embodiment to supplement it, and / or combined with any of the claims. The figures are schematic representations not to scale.

[0034] They show:

[0035] FIG 1 illustrates an example of the inventive method for controlling a sensor-effector system using a schematic flowchart;

[0036] FIG 2 illustrates a second example of the inventive method for controlling the inventive sensor-effector system using a further schematic flowchart;

[0037] FIG 3 shows an embodiment of the sensor-effector system according to the invention for carrying out the method according to the invention.

[0038] FIG 1 illustrates an example of a method 100a for controlling a sensor-effector system 10. An exemplary embodiment of the sensor-effector system 10 is shown schematically in FIG 3. By way of example, the sensor-effector system 10 is used for the defense of airspace against enemy aircraft.

[0039] To carry out the example of method 100a, the sensor-effector system 10 can include one or more sensors 18. Furthermore, the sensor-effector system 10 can include one or more effectors 16. Depending on the deployment scenario or specific application, an effector 16 and a sensor 18 can be located at a common location. Alternatively or additionally, the effectors 16 and sensors 18 of the sensor-effector system 10 can be distributed across different locations. In the particularly preferred application, an optimized arrangement scenario for the sensors 18 and effectors 16 in an application area not shown in detail is selected in advance by means of a simulation such that an optimized interception probability can be achieved by the sensor-effector system 10 for various attack targets and / or attack scenarios.

[0040] For the defense of airspace, example 100a provides that a target 14 is first detected by means of a sensor 18 of the sensor-effector system 10 102. Furthermore, it is provided, by way of example, that the detected target 14 is classified 104. For this purpose, the sensor 18 detects the position, trajectory, and / or velocity of the target 14. In addition, the sensor 18 detects the size of the target and further information concerning the characteristic reflection properties of the target 14. This allows, for example, differentiation between dynamic, ballistic, and stationary targets 14. For the purpose of classification 104, this data detected by the sensor 18 can be transmitted to other system components of the sensor-effector system 10 or to communication participants of a higher-level communication network, such as a combat network.This makes it possible to utilize the free computing resources of various system components of the sensor-effector system 10. Furthermore, this approach enables fail-safe operation of the sensor-effector system 10 using the example of method 100a described herein. In a preferred embodiment, a classification 104 of the target 14 is performed using the sensor 18. This allows the target 14 to be identified, for example, as a ballistic missile, guided missile, airplane, helicopter, and / or unmanned drone.

[0041] Furthermore, the example of procedure 100a described here provides that a trajectory 12 of the detected and targeted target 14 is predicted 106. The trajectory 12 can be predicted, for example, based on information concerning a type of targeted target 14 and / or a potential attack target 106. In addition, information linked to a classification 104 of the target 14 can be used for the purpose of predicting 106 the trajectory 12. This allows, for example, various flight scenarios of the targeted target 14 to be considered when predicting the trajectory 12. Preferably, for a predicted trajectory 12, an error-related tolerance range around a most probable trajectory 12 is also determined. This allows possible deviations from the predicted trajectory 12 within predetermined value ranges to be taken into account when controlling the sensor-effector system 10.

[0042] Furthermore, at least one type I segment is determined along the predicted trajectory 12, which lies within the range of an effector 16 of the sensor-effector system 10. A hit probability of the effector 16 is then determined for various points of the at least one type I segment 110. If several effectors 16 are provided, at least one type I segment is determined along the predicted trajectory 12, which lies within the range of one or more of these effectors 16. For each affected effector 16 of the several effectors 16, a hit probability is then determined for various points along a respective associated type I segment 110.In addition to determining the probability of a hit, it may be provided that a so-called kill probability is determined, which makes it possible to state whether a respective effector can neutralize the target to be fought alone or whether another effector is required for this.

[0043] Furthermore, the example of procedure 100a described here provides that a spacing and distribution of the points along the at least one segment of the first kind, for which the probability of a hit is determined 110, is chosen based on a predicted relevance concerning different areas of the at least one segment of the first kind 124. For example, information concerning the type, speed, or size of the target 14 can be used to determine the predicted relevance for different areas of the at least one segment of the first kind. Furthermore, information concerning the range and / or the environmental topology can be used to predict the relevance of different areas of the at least one segment of the first kind.This allows a hit probability to be determined for a larger number and / or closely spaced points in areas of at least one section of the first type with high relevance 110. Relatively, a hit probability can be determined for a small number and / or widely spaced points in areas of at least one section of the first type with lower relevance 110. Determining the hit probability 110 can thus be made efficient. Partially or potentially limited computing capacity for determining the hit probability 110 can thus be used efficiently. Furthermore, the determination of the hit probability 110 can be carried out decentrally, for example, using an effector 16.Alternatively or additionally, system components of the sensor-effector system 10 or communication participants of a communication network can be used for the purpose of determining 110 the probability of success for different points along the at least one section of the first kind.

[0044] After determining the probability of a hit for various points along a first-order segment, the example of procedure 100a described here provides that at least one second-order segment of the predicted trajectory 12 is identified, which overlaps with the field of view of a sensor 18 of the sensor-effector system 10. This allows the identification of sensors 18 of the sensor-effector system 10 within whose theoretical field of view the predicted trajectory 12 lies. Subsequently, for each of the 112 sensors 18 thus identified, the visibility quality for various points of a corresponding second-order segment is determined.

[0045] Preferably, the visibility quality at various points of at least one section of the second type is determined based on a measurement. This measurement can, for example, be performed using the sensor 18 itself. Based on the aforementioned measurement, the visibility quality can be determined based on information concerning the trajectory within a field of view of the sensor 18, the signal-to-noise ratio of the sensor 18, the type of sensor 18, the size of the target 14, the type of target 14, the distance of the target 14, the speed of the target 14, and / or based on a meteorological parameter 114. Furthermore, the measurement can be used to determine the influence of other sensors 18 of the sensor-effector system 10 and / or an active external interference signal in order to take this into account when determining 114 the visibility quality.

[0046] Alternatively or additionally, the visibility quality for different points of the at least one section of the second kind can be determined by means of a simulation 114. In the simulation, multipath propagation, reflections, topological properties of an environment, and special characteristics of the sensor 18 are preferably taken into account. This makes it possible to determine the visibility quality for different points of the at least one section of the second kind quickly and efficiently, in particular faster than in real time 114. In a particularly preferred embodiment, it can be provided that the visibility quality for different points of the at least one section of the second kind is determined on the basis of an analytical method 114. The analytical modeling starts from measured information.This allows the quality of visibility to be determined even with limited computing capacity, based on the aforementioned measured information as well as on modeled information concerning multipath propagation, shadowing, sensor type, and topological properties of an environment 114. Preferably, a detection probability of a sensor 18 concerning the target 14 to be engaged is chosen as the parameter for the quality of visibility.

[0047] In a preferred embodiment, a distance and / or a distribution of points along the second-order section, for which the visibility quality is determined 114, is selected based on a relevance relating to different areas of the at least one second-order section 120. The relevance of different areas of the at least one second-order section can be predicted, for example, based on knowledge of specific properties of a considered sensor 18. Alternatively or additionally, a Gaussian curve with predetermined parameters can be provided around a location of the considered sensor 18 in order to determine a corresponding relevance based on a distance of predetermined areas of the at least one second-order section from the sensor 18.In areas of the second type of section for which high relevance is predicted, the spacing and distribution of the points for which the quality of visibility is determined can be chosen 114, narrower 120, than in areas of at least one second type of section for which low relevance is predicted.

[0048] Furthermore, the example of method 100a described here provides that, based on the determined hit probability of one or more effectors 16 of the sensor-effector system 10 and on the determined visibility quality of one or more sensors 18 of the sensor-effector system 10, a sensor-effector combination intended for engaging the target 14 is selected 118. This takes into account the real properties of one or more sensors 18 for the purpose of controlling the sensor-effector system 10. This makes it possible to significantly increase the interception probability of the sensor-effector system 10.In a preferred embodiment, for the purpose of selecting the sensor-effector combination, information regarding the number of available effectors, the cost of using an effector, the type and / or range of an effector, predicted collateral damage, and / or the operational readiness of an effector is also taken into account. This allows resources to be conserved. Furthermore, this enables efficient and cost-effective use of the sensor-effector system.

[0049] The example of method 100a described here for controlling the sensor-effector system 10 is preferably implemented decentrally. This allows free computing resources of system components of the sensor-effector system 10 to be used for the purpose of quickly and reliably determining 110 a hit probability, determining 114 the quality of visibility, and / or selecting 116 the target point. Furthermore, this enables the provision of a control method with high fault tolerance and high operational reliability. Preferably, the hit probability is determined decentrally 110 using an effector 16. It is also preferred that the quality of visibility at various points of the at least one section of the second type is determined decentrally 114 using the sensor 18.Furthermore, in a preferred embodiment, the decentralized information can be output to other system components of the sensor-effector system 10 and / or to a tactical network or a combat network. Advantageously, the information obtained regarding the probability of a hit, the quality of visibility, and / or the point of engagement is output to other system components of the sensor-effector system 10 so that, in the event of a failure of a single system component, the respective information can be accessed. In a specific application, the aforementioned information can be output to a higher-level combat network, such as Link 16. With a distributed sensor-effector system 10, this allows for the optimal selection 118 of a sensor-effector combination.

[0050] The selection of a suitable sensor-effector combination 118 expediently requires that at least one first-type section of the effector 16 and at least one second-type section of the sensor 18 overlap. Furthermore, based on the determined hit probability 110 and the determined visibility quality 114 in the aforementioned area where the at least one first-type section and the at least one second-type section of a selected sensor-effector combination 118 overlap, a combat point 20 is selected 116.

[0051] Advantageously, a control process of the example of procedure 100a described herein is carried out until the target 14 is hit. Deviations of an actual trajectory from the predicted trajectory 12, as well as changes in the probability of a hit or the quality of visibility at predetermined points along the predicted trajectory 12, can thus be continuously taken into account. Therefore, before the firing of an effector 16, a selection 118 of a preferred sensor-effector combination can also be changed. After the firing of a predetermined effector 16, further information for the purpose of guiding the effector 16 to the target 14 can be determined and communicated to it.In the event that the target 14 is insufficiently hit or even missed by the effector 16, another sensor-effector combination can be selected based on previously acquired information. 118 In this way, another effector 16 of the sensor-effector system 10 can be quickly selected based on previously acquired information regarding the probability of a hit and the quality of visibility. 122 Previously acquired data or information can be used efficiently and applied for the purpose of repeatedly engaging the target 14. This allows for the provision of an efficient sensor-effector system 10 that reacts quickly to changes.

[0052] FIG 2 schematically illustrates a second example of a method 100b for controlling the sensor-effector system 10 using a schematic flowchart.

[0053] In contrast to the example of method 100a illustrated in connection with FIG 1, the second example of method 100b described here performs a determination 110 of the hit probability and a determination 114 of the visibility quality concurrently. This allows method 100b to be accelerated. Preferably, the second example of method 100b is used when sufficiently high computing power is available. In specific applications, this enables a rapid and reliable response to fast-moving targets 14. A diversionary maneuver or the arrival of a large number of targets 14 to be engaged in close succession can be detected quickly. A high interception probability can be maintained despite a high workload on the sensor-effector system 10.

[0054] FIG. 3 shows a schematic representation of a sensor-effector system 10, which is configured to perform the example of method 100a, 100b described in connection with FIG. 1 or FIG. 2. The embodiment of the sensor-effector system 10 shown in FIG. 3 is, in particular, the sensor-effector system 10 described in more detail in connection with FIG. 1. By way of example, the embodiment of the sensor-effector system 10 has several sensors 18 by means of which the target 14 to be engaged can be detected 102. Furthermore, by way of example, an effector 16 is provided which can be directed towards the target 14 based on data from at least one of the several sensors 18. The sensor-effector system 10 can, in a manner not shown in detail, have several and / or different effectors with, for example, different ranges.Furthermore, various types of sensors 18 can be provided, by means of which a target 14 to be combated can be detected in different ways. In a preferred embodiment, the multiple sensors 18 shown are each implemented as a radar. In this way, an efficient and reliable air defense system can be provided. Furthermore, using the method 100a, 100b for controlling the sensor-effector system 10 in radar systems, problematic factors such as tangential flight, shadowing, multipath propagation and / or reflections can be reliably and safely taken into account when selecting 118 a sensor-effector combination based on the determined 114 visibility quality.

[0055] To ensure the highest possible effectiveness of the sensor-effector system 10, the exemplary locations of the sensors 18 and the effector 16 shown were determined using a simulation. Based on the simulation, various arrangement scenarios for the sensors 18 and the effector 16 were created within the intended operating area. For various predetermined attack scenarios and / or targets, an arrangement scenario was then selected that, taking into account the probability of the effector 16 hitting the target and the visibility quality of the sensors 18, achieves an optimized interception probability. This simulation of the arrangement scenarios was performed using a Monte Carlo simulation. In a preferred embodiment, the sensor-effector system 10 is integrated into a higher-level communication network, such as Link-16.In addition to decentralized control of the sensor-effector system 10 by means of system components of the sensor-effector system 10, computing power of a higher-level communication network can be used if required.

[0056] Furthermore, FIG. 3 shows an example of the predicted trajectory 12. For the sake of clarity, deviations due to errors have been omitted. The curved path of the predicted trajectory 12 is, in this example, due to the topography of the operational area, which is not shown in detail. The multiple sensors 18 are distributed throughout the operational area according to the aforementioned arrangement scenario. The range of the effector 16 is also illustrated by means of a dashed circle. A segment of the predicted trajectory 12 that lies within the dashed circle corresponds to a segment of the first kind that is within the range of the effector 16. The fields of view of the multiple sensors 18 are each illustrated by means of triangles bounded by semicolons.Sections of the predicted trajectory 12 running within the respective triangles each correspond to a second-type section of an associated sensor 18. Furthermore, the control point 20 is shown by way of example in an overlap area between a first-type section of the effector 16 and a second-type section of a sensor 18 of a sensor-effector combination 118 selected according to the example or the second example of method 100a, 100b.

[0057] List of reference signs

[0058] Sensor-effector system

[0059] Trajectory

[0060] Goal

[0061] effector

[0062] sensor

[0063] Point of attack a procedure b procedure

[0064] Target capture

[0065] Classify target

[0066] predict trajectory

[0067] Determine section of the first type

[0068] Determine the probability of a hit.

[0069] Determine section of the second type

[0070] Determine the quality of visibility

[0071] Select combat point

[0072] Select sensor-effector combination

[0073] Select points, select another effector

[0074] Select points

Claims

Patent claims 1. Method (100a, 100b) for controlling a sensor-effector system (10), wherein - a trajectory (12) of a target to be combated (14) is predicted (106); - at least one section of the first type of predicted trajectory (12) is determined (108) which is within range of an effector (16) of the sensor-effector system (10); - for various points along the at least one section of the first kind, a hit probability of the effector (16) is determined (110); - at least one section of the second type of predicted trajectory (12) is determined (112), which overlaps with a field of view of a sensor (18) of the sensor-effector system (10); - concerning the sensor (18) a quality of visibility to different points of at least one section of the second kind is determined (114); - along an area of ​​the predicted trajectory (12) in which the first-type section and at least one second-type section of the predicted trajectory (12) overlap, a control point (20) is selected (116) on the basis of the determined (110) probability of success and on the basis of the determined (114) quality of visibility.

2. Method (100a, 100b) according to claim 1, wherein the quality of visibility to different points of the section of the second type is determined on the basis of a measurement, a simulation and / or an analytical method (114).

3. Method (100a, 100b) according to claim 1 or 2, wherein the quality of visibility is based on information concerning multipath propagation, shadowing, the course of the trajectory (12) in the field of view of the sensor (18), the signal-to-noise ratio of the sensor (18), the type of sensor (18), the flight behavior of the target (14), a The size of the target (14), the type of target (14), the distance of the target (14), the speed of the target (14), the environmental topology, the influence of other sensors and / or an active external interference signal and / or is determined on the basis of a meteorological parameter (114).

4. Method (100a, 100b) according to one of the preceding claims, wherein a spacing and / or distribution of the points along the section of the second type, for which the quality of visibility is determined (114), is selected on the basis of a respective relevance concerning different areas of the at least one section of the second type (120).

5. Method (100a, 100b) according to one of the preceding claims, in which a determination (110) of the probability of success, a determination (114) of the quality of visibility and / or a selection (116) of the target point are carried out decentrally.

6. Method (100b) according to one of the preceding claims, wherein the probability of success (110) and the quality of visibility (114) are determined concurrently.

7. Method (100a) according to any one of claims 1 to 5, wherein the probability of success (110) and the quality of visibility (114) are determined successively.

8. Method (100a, 100b) according to one of the preceding claims, wherein - several sensors (18) of the sensor-effector system (10) are provided, for each of which the quality of visibility to different points of at least one associated section of the second type is determined (114); - based on a hit probability (110) of the effector (16) of the sensor-effector system (10) and on the basis of the quality of the visibility (114) of the multiple sensors (18) of the sensor-effector system (10) a sensor-effector combination intended for the purpose of combating the target (14) is selected (118).

9. Method (100a, 100b) according to claim 8, wherein the sensor-effector combination is selected (118) by taking into account, in addition to information concerning a hit probability (110) and the quality of visibility (114), information concerning a number of available effectors (16), costs for using an effector (16), a type of effector (16) used, predicted collateral damage and / or the operational readiness of an effector (16).

10. Method (100a, 100b) according to one of the preceding claims, in which a control operation of the method (100a, 100b) is carried out until the target (14) to be combated is hit.

11. Method (100a, 100b) according to one of the preceding claims, wherein, in the event that the target (14) to be combated is insufficiently hit or missed by means of the effector (16), a further sensor-effector combination is selected on the basis of the determined (110) hit probability along a section of the first type of the predicted trajectory (12) and the determined (114) quality of visibility along a section of the second type of the predicted trajectory (12) for the purpose of combating the target (14) (122).

12. Sensor-effector system (10) configured to perform the method (100a, 100b) according to any one of the preceding claims, comprising: - at least one sensor (18) for the purpose of detecting (102) a target to be combated (14); - at least one effector (16) which can be guided towards the target (14) on the basis of data from at least one sensor (18).

13. Sensor effector system (10) according to claim 12, characterized in that the at least one sensor (18) is designed as a radar.

14. Computer program which, when executed, causes the sensor effector system according to one of claims 12 or 13 to carry out the method according to one of claims 1 to 11.

15. Comprising a computer-readable medium containing instructions which cause the sensor-effector system (10) according to one of claims 12 or 13 to perform the method (100a, 100b) according to one of claims 1 to 11.

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