CN110687930B - Multi-user collaborative planning system - Google Patents
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Abstract
The invention belongs to the technical field of unmanned aerial vehicle control, and discloses a multi-user collaborative planning system, which is suitable for the collaborative operation planning of different stations and multiple machines and comprises a main control end and at least one collaborative end, wherein the multi-user collaborative planning system comprises: the system comprises a task decomposition module, a collaborative demand analysis module, a collaborative constraint checking module, an outline plan generation module and a plan synthesis module; the multi-unmanned aerial vehicle and multi-task collaborative planning function of the unmanned aerial vehicle ground control station can be realized, and the planning efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to a multi-user cooperation planning system.
Background
When facing to modern high-confrontation and wide-area complex task environments, the task efficiency of the traditional single machine mode is greatly reduced, the robustness of a single machine pre-planning strategy is poor, and emergency and variable environments and tasks are difficult to deal with. Moreover, the task success rate of unit is low, and in high confrontation environment, ground often has powerful air defense firepower, can cause huge threat to unmanned aerial vehicle, if unmanned aerial vehicle is destroyed by enemy firepower to do not have other unmanned aerial vehicle in time to support, will lead to the failure of whole combat task.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a collaborative planning system for multiple users, so as to achieve a multi-unmanned-plane and multi-task collaborative planning function of an unmanned-plane ground control station and improve planning efficiency.
In order to achieve the purpose, the invention provides the following technical scheme:
a multi-user collaborative planning system is suitable for planning the heterogeneous multi-machine collaborative operation including a main control end and at least one collaborative end, and comprises: the system comprises a task decomposition module, a collaborative demand analysis module, a collaborative constraint checking module, an outline plan generation module and a plan synthesis module;
the task decomposition module is used for dividing all the unmanned aerial vehicles which move into a plurality of formation according to the task content and determining the flying starting point and the target point of each formation;
the collaborative demand analysis module is used for determining collaborative key points, load use demands, weapon attack demands, electronic countermeasure use demands and link demands of each formation; the cooperative key point comprises an arrival time requirement and an arrival position requirement;
the cooperative constraint checking module comprises a single-formation cooperative constraint checking submodule and a multi-formation cooperative constraint checking submodule; the system comprises a single-formation cooperative constraint checking submodule, a multi-formation cooperative constraint checking submodule and a multi-formation cooperative constraint checking submodule, wherein the single-formation cooperative constraint checking submodule is used for checking whether a cooperative key point, a load use requirement, a weapon attack requirement, an electronic countermeasure use requirement and a link requirement of each formation are reasonable or not, and the multi-formation cooperative constraint checking submodule is used for checking whether all the formations are reasonable in cooperation of time, space and frequency or not;
the summary plan generating module is used for determining a summary plan of each formation, and the summary plan at least comprises: a general airline plan, weapon use plan, sensor use plan, electronic warfare use plan, and communication plan;
and the plan synthesis module is used for obtaining a corresponding detailed plan according to the general plan of each formation.
The technical scheme of the invention has the characteristics and further improvements that:
(1) the load use requirement at least comprises the following quantitative parameter indexes: searching direction, searching angle range, searching height range and continuous searching time;
the weapon attack requirement at least comprises the following quantitative parameter indexes: weapon firing position, weapon type, number of weapons fired, and weapon firing time;
the electronic countermeasure usage requirements at least include quantitative parameter indicators: pressing orientation, pressing distance and duration;
link requirements include at least quantitative parameter indicators: an operating frequency band and an operating mode.
(2) The single-formation cooperative constraint checking submodule is used for checking whether the arrival time and the arrival position of each formation are reasonable;
if the formation is not reasonable, adjusting the arrival time and the arrival position of the formation in a collaborative demand analysis module;
if the detection range is reasonable, determining whether the weapon attack requirement is reasonable according to the weapon power range, checking whether the load use requirement is reasonable according to the detection range, checking whether the electronic countermeasure use requirement is reasonable according to the electronic countermeasure action range, and checking whether the link requirement is reasonable according to the link use range;
when any one of the weapon attack requirement, the load use requirement, the electronic countermeasure use requirement and the link requirement is unreasonable, adjusting the corresponding requirement in a collaborative requirement analysis module;
and when the weapon attack requirement, the load use requirement, the electronic countermeasure use requirement and the link requirement are reasonable, obtaining the cooperative key point, the detection range and the attack range of the single formation.
(3) The multi-formation cooperative constraint checking submodule is used for checking whether conflicts in time, space and frequency exist among the multi-formation according to the cooperative key point, the detection range and the attack range of each single formation obtained by the single-formation cooperative checking submodule;
if the conflict exists, the conflict requirement is adjusted in the collaborative requirement analysis module;
and if no conflict exists, submitting the cooperative key points, the detection range and the attack range of each single formation to the rough plan generation module.
(4) And the rough plan generating module is used for forming the collaborative key points of each single formation into a linked list by using the formation number as an index according to the time sequence of the airline points of the formation, adding flight segment information between two adjacent airline points, and associating each flight segment information with two airline points before and after the flight segment, thereby generating the rough airline plan.
(5) The system also comprises a battlefield situation plotting module which is used for plotting the situation according to the collaborative key points, the load use requirements, the weapon attack requirements, the electronic countermeasure use requirements and the link requirements of each formation determined by the collaborative requirement analysis module.
(6) At the cooperative end, the cooperative constraint checking module is used for adjusting cooperative key points, load use requirements, weapon attack requirements, electronic countermeasure requirements and link requirements of the single formation corresponding to the cooperative end, and feeding back the adjusted structure to the main control end;
at the master control end, the cooperative constraint checking module adopts a single formation cooperative constraint checking submodule to check whether the cooperative key point, the load use requirement, the weapon attack requirement, the electronic countermeasure use requirement and the link requirement of each formation are reasonable or not;
at the main control end, the cooperative constraint checking module adopts a multi-formation cooperative constraint checking submodule to check whether all formations are reasonable in coordination of time, space and frequency.
(7) The system also comprises a collaborative planner registration module used for associating the collaborative planner, the personnel permission, the unmanned aerial vehicle formation and the unmanned aerial vehicle model.
Compared with the prior art, the invention has the beneficial effects that:
the technical scheme of the invention provides a multi-user collaborative planning technical method which comprises six sub-functional structures of collaborative planner registration, task decomposition, collaborative demand analysis, collaborative constraint inspection, approximate plan generation and plan synthesis, and can determine collaborative coordination relations and requirements in the aspects of time (arrival time, duration time), space (key point/line/domain), frequency (equipment frequency coordination) and the like according to task requirements and a primary plan; the multi-station multi-machine collaborative operation planning of the ground control station of the unmanned aerial vehicle can be realized, the task data synchronization is realized among a plurality of planning stations, the same collaborative planning interface is shared, the use scene of multi-machine and multi-task operation of the modern unmanned aerial vehicle is met, and the collaborative planning capability and efficiency are improved.
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Fig. 1 is a schematic functional structure diagram of a collaborative planning system according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a collaborative constraint checking function according to an embodiment of the present invention;
FIG. 3 is a functional diagram of a schematic plan generation module according to an embodiment of the present invention;
FIG. 4 is a functional diagram of a plan composition module provided in an embodiment of the present invention;
fig. 5 is a schematic diagram of network collaborative planning according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a collaborative planning logic flow according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a basic flow of single-station multi-machine mission planning according to an embodiment of the present invention;
fig. 8 is a basic flowchart of the inter-station multi-machine mission planning according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Along with the trend of the command control mode of the modern unmanned aerial vehicle to be autonomous by remote control, the scale of executing tasks tends to be clustered by a single machine, and the cooperation of multiple machines becomes the main mode of the unmanned aerial vehicle. As the number of airborne sensors increases, and in addition to the cross-linking with external data links, the information collected by the aircraft platform is becoming more and more abundant. The airplane executing the task can not only execute a single task in a time slot because of being limited by a sensor or information any more, can track other targets while monitoring a certain target, and immediately switches to another tracked target after completing a reconnaissance task of one target to directly perform the next reconnaissance task. The multi-task working mode makes full use of resources, reduces attack time and improves task execution efficiency.
The ground control station of the unmanned aerial vehicle is a command control center of the unmanned aerial vehicle, is used for ensuring that all levels of command agencies implement scientific and efficient command control on affiliated unmanned aerial vehicle equipment, and is an important component force of information, monitoring, reconnaissance and striking capacity in the whole combat system. The core work of the unmanned aerial vehicle ground station task planning system is to combine task control instructions uploaded from a ground control station to an airplane into a logically related instruction queue, and the unmanned aerial vehicle ground station task planning system is an important guarantee for efficiently and smoothly completing a preset task. In a multi-unmanned aerial vehicle and multi-task battle scene under a complex environment, a plurality of ground planning stations can share resources and cooperate efficiently.
The embodiment of the invention provides a multi-user collaborative planning system, wherein a collaborative planning function is completed by combining a task decomposition module, a collaborative planner registration module, a collaborative demand analysis module, a collaborative constraint inspection module, a rough plan generation module and a plan synthesis module, as shown in fig. 1, the collaborative planning system is a functional structure diagram of the collaborative planning system, wherein the collaborative planner registration module, the collaborative demand analysis module, the collaborative constraint inspection module, the rough plan generation module, the plan synthesis module, a battlefield situation plotting module and a network collaborative data synchronization service form a network collaborative planning environment.
The collaborative planner registration module requires a mission planner to register or directly acquire related personal information (including unit name, airplane call number, network address and the like) of a planning operator when logging in a system before the mission planner joins in network collaborative planning, so as to realize the association of information such as pilots, machine types, machine numbers and performance models of the machine types. In the collaborative planning process, a planning manager centrally controls the access and modification permission of each user to the mission plan, when other personnel need to modify the planning data, the permission of the planning manager needs to be obtained, and the relevant information of the modifying personnel is marked on the modified content.
The task decomposition module divides the military forces of the. The task decomposition module is basically a frame number defined as a route, if the routes of a plurality of airplanes are basically the same, the common route can be considered, but the related formation types of the common route need to be remarked.
The collaborative requirements in the collaborative requirements analysis module include arrival time requirements, arrival location requirements, load usage requirements, link requirements, and the like. Firstly, the time of arrival requirement and the position of arrival requirement need to be analyzed, and the entering direction is determined; secondly, the reachable time and position are used as the input of load use requirements and link requirement analysis, the requirements are quantified, and the specific reconnaissance requirements are determined; in the process, the exposure time is calculated according to the defense deployment condition of the enemy; and analyzing whether multiple batches of scouts need to be planned or not according to the target characteristics and the grade requirements of the scout images. And finally, forming a specific index parameter according to the requirement analysis result.
Specifically, quantitative parameter indexes obtained by weapon attack requirements mainly comprise relevant parameters such as the position of emission, weapon type, emission quantity, emission time, target information and the like; the quantitative parameter indexes obtained by analyzing the load use requirements mainly comprise a search direction, a search angle range, a search height range, continuous search time and the like; the quantitative parameter indexes obtained by analyzing the use requirement of the electronic countermeasure mainly comprise pressing direction, pressing distance, duration time and the like; the quantitative parameter index obtained by link demand analysis mainly comprises related parameters such as frequency bands, working modes and the like.
The cooperative constraint checking module is divided into a single-formation cooperative constraint checking submodule and a multi-formation time/space/frequency constraint checking submodule.
(1) Single-formation cooperative constraint checking submodule
The single-formation collaborative constraint check comprises two steps of collaborative spatiotemporal constraint check and related collaborative operation constraint check, in any step, if an unreasonable situation exists, the situation is directly returned, corresponding adjustment is carried out according to requirements, and the collaborative constraint check function logic is shown in fig. 2.
The first step is to check whether single formation temporal and spatial synergy is reasonable. And the collaborative task formation takes the arrival time and the position requirement proposed by the main task formation as a collaborative key point. And (3) checking whether the collaborative task formation can meet the collaborative requirements of time and space proposed by the main task formation according to a performance model or other constraints (airspace use constraints, time use constraints and the like) of the collaborative task formation platform on the basis of the collaborative key points.
The second step is to check whether the individual formation of airborne weapons, sensors, and communication devices, etc. are used properly. The step is to check whether the cooperative formation operation can meet the requirements set by the main task formation under the condition that the first step constraint check is reasonable. The first constraint check is the basis for the second constraint check and is an important input for the second constraint check. After the cooperative task formation reaches the designated time and position, the corresponding weapon performance model, the reconnaissance load performance model, the electronic countermeasure performance model and the link performance model are respectively called to calculate the effective ranges of angles, distances and the like under the condition according to the cooperative demand type, and a plurality of constraint conditions are formed. And according to the constraint conditions obtained by calculation and the demand index parameters obtained by demand analysis, carrying out multi-constraint check on the constraint conditions and the demand index parameters to determine whether the summary plan of the collaborative task formation meets the demand of the main task.
(2) Multi-formation time/space/frequency constraint checking submodule
And the multi-formation time/space/frequency constraint check is to uniformly check whether time/space/frequency conflicts exist among the multi-formation after each cooperative task formation completes the single-formation cooperative demand constraint check and submits check results, if not, the cooperative demand analysis function is returned, and if so, the cooperative key point data is submitted to the rough plan generation function for maintenance and management.
The rough plan generating module is used for determining the cooperative key points of each formation in the cooperative demand analysis module, converting the data structure of the waypoints related to the formation into the data structure of the waypoints by taking the formation number as an index, forming a linked list according to the time sequence, adding a flight segment information between two adjacent points, and associating each flight segment with the front waypoint and the rear waypoint of the flight segment to form a rough flight path, as shown in fig. 3. The general plan of each airplane consists of a general airline plan, a weapon use plan, a sensor use plan, an electronic warfare use plan and a communication plan, each plan forms a separate file, and if a plan is not needed, the content of the corresponding file is empty, but the file exists. After the summary plan generating function is completed, the summary plan is distributed to units and planners related to the tasks for detailed planning according to the tasks.
And the rough plan generating module is used for storing and managing the collaborative key points/lines/domain data after passing through the collaborative constraint checking module, and when the collaboration among all the airlines meets the requirement, the number of the general airlines is used as an index according to a defined data format, the collaborative key points related to the index number are organized in a form of a linked list, and finally a rough plan is generated and output.
When a general plan is formulated, a command control method, a cooperative attack/reconnaissance criterion, a separation and exit method, an accident situation handling criterion, a threat handling measure, an air re-aggregation method, a task termination criterion and the like are required to be added, and the method can be marked on a waypoint or a navigation section in a remark form and is associated with the waypoint or the navigation section.
The action priority is an important part of the rough plan generation module, is a constraint condition of the next detailed plan, and is required to strictly meet the requirement of the determined attack action priority when the detailed plan is prepared.
The plan synthesis module is used for submitting the detailed plan to a main control end (main task formation) for synthesis after each planning station participating in collaborative planning completes further detailed planning according to the received general plan. The plan synthesis module is responsible for inquiring according to the rough plan, carrying out detailed plan inspection according to the rough plan result of the inquiry, unifying the submitted detailed plans into a detailed plan list after the plan inspection passes, establishing a one-to-one mapping relation between the detailed plan and the rough plan, and providing task preparation for task rehearsal and detailed collaborative inspection. The plan composition module is shown in fig. 4.
The unmanned aerial vehicle task planning system supports collaborative planning based on a network collaborative planning environment, each planning station is physically equivalent, only a main control end (main task formation) and a collaborative end (collaborative task formation) are logically divided according to task requirements, and the composition structure is shown in fig. 5.
After determining the main task, the collaborative demand analysis module takes the main task formation as a core, puts forward collaborative demands to other collaborative formations, requires the collaborative task formation to reach a specified position at a specified time, executes related tasks and the like, and associates demand analysis results with the airline in the form of attachment points. The coordination constraint checking module is completed at the main control end, and the coordination end only adjusts the coordination requirement.
The co-planning logic flow is shown in fig. 6. And the task planner acquires the corresponding master control or cooperative identity authority through registering and inputting basic information by the cooperative personnel, starts the network cooperative data service and declares the ordered/issued data type. The collaborative demand analysis function of the main control end (main task) firstly creates a planning layer of collaborative planning and externally releases the state of the collaborative planning (including map type, map scale size and operation range). If the cooperative end (cooperative task) needs to perform network cooperative planning, identity registration is performed through cooperative personnel registration, and corresponding authority is obtained. Meanwhile, the cooperative end also needs to create a planning layer to receive and display the state information issued by the main control end, share a planning operation interface with the main control end in a read-only or read-write mode according to the obtained network synchronous planning data, and support the main control end and the cooperative end to perform cooperative planning under the state of the same map type, proportion and size.
The collaborative demand analysis module of the main control end needs to convert relevant contents of click operation and collaborative demand description setting (including specific collaborative task numbers) on a map into specific index parameters and submit the specific index parameters to the collaborative constraint checking module and the battlefield situation plotting module of the main control end, the collaborative constraint checking module checks whether collaborative points are reasonable or not by combining corresponding performance models and geographic analysis results, and publishes collaborative key points/lines/domains/operation parameters and checking results through network collaborative data synchronization service.
And (4) the constraint check of the cooperative end (cooperative task) receives data through the network cooperative data synchronization service, and judges whether to respond according to the formation number in the data. And the collaborative constraint checking module of the collaborative end submits the input collaborative key point/line/domain/operation parameter and checking result to the collaborative demand analysis module of the collaborative end. The collaborative demand analysis module submits the data to a battlefield situation plotting module, and the battlefield situation plotting module plots the situation according to the input parameters. The collaborative demand analysis module can adjust collaborative key points/lines/domains according to specific practical conditions, and after adjustment, the adjusted parameters need to be submitted to a local collaborative constraint inspection module again for constraint inspection of single formation. After the single formation constraint check is passed, the adjusted demand parameters and check results (including check results of azimuth, effective angle, distance and the like) are issued to a main control end (main task) through a network cooperation data service.
The main control end must combine all the related conditions fed back by the cooperative task formation and the specific conditions of the main task to perform space-time-frequency constraint check among multiple machines, and if reasonable, the main control end submits the requirement analysis data to the rough plan generating module. If unreasonable, need readjust cooperation demand etc. according to specific situation.
In the process of interaction analysis in cooperation, the main control end and the cooperation end can operate interaction information to carry out conversation through cooperation requirements, and problems possibly encountered in the cooperation process are coordinated. The interactive information is operated in coordination with the requirements to support forms of text, voice and video.
In the multi-user collaborative planning system provided by the embodiment of the invention, the ground station multi-machine collaborative planning mainly comprises the following two types:
(1) and planning single-station and double-machine tasks. The single-station double-machine mission planning is that essentially one mission planner executes mission planning on two unmanned aerial vehicles, the basic flow is as shown in fig. 7, the mission planner performs pre-mission planning on the unmanned aerial vehicles 1 and 2 according to mission instructions and situation information and performs conflict check respectively, if the conflict check of the two unmanned aerial vehicles is qualified, the two unmanned aerial vehicles are subjected to memorability cooperative check, if the conflict check is qualified, preview is performed, after the preview is qualified, the mission planning of the unmanned aerial vehicles 1 and 2 is reported to the commander, and after the review of the commander is passed, the mission planning of the unmanned aerial vehicles 1 and 2 is issued to the landing station;
if there is a failure or conflict in the process of conflict check, collaborative check and preview, the mission planner needs to adjust the mission plans of the drone 1 and the drone 2.
(2) And (5) planning the multi-machine cooperative operation of different stations. Under the condition of the task decomposition module, the cooperative completion of planning operation in different task planning systems is supported, and meanwhile, the cooperative task planning of a human-machine/unmanned aerial vehicle is supported. The mission planning of different stations and multiple machines is essentially the collaborative mission planning of multiple unmanned planes executed by multiple people by different mission planners, and the basic flow is shown in fig. 8.
The main task planner determines cooperative information and general air route planning according to the task instruction and situation information and distributes the cooperative information and general air route planning to other corresponding cooperative task planners, and the cooperative task planners carry out pre-task planning and conflict check on the unmanned aerial vehicles controlled by the cooperative task planners and report results to the main task end; the main task planner also carries out pre-mission planning on the unmanned aerial vehicle controlled by the main task planner; and the main task end carries out collaborative inspection and rehearsal on all unmanned aerial vehicle task plans, reports to a commander after the unmanned aerial vehicle task plans are qualified, and issues to the take-off and landing station after the commander passes the verification.
If unqualified or conflicting situations exist in the conflict checking, collaborative checking and previewing processes, the corresponding mission planner needs to adjust the mission plan of the unmanned aerial vehicle controlled by the corresponding mission planner.
Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.
Claims (8)
1. A multi-user collaborative planning system, wherein the system is suitable for a heterogeneous multi-machine collaborative operation planning including a master control end and at least one collaborative end, the multi-user collaborative planning system comprises: the system comprises a task decomposition module, a collaborative demand analysis module, a collaborative constraint checking module, an outline plan generation module and a plan synthesis module;
the task decomposition module is used for dividing all the unmanned aerial vehicles which move into a plurality of formation according to the task content and determining the flying starting point and the target point of each formation;
the collaborative demand analysis module is used for determining collaborative key points, load use demands, weapon attack demands, electronic countermeasure use demands and link demands of each formation; the cooperative key point comprises an arrival time requirement and an arrival position requirement;
the cooperative constraint checking module comprises a single-formation cooperative constraint checking submodule and a multi-formation cooperative constraint checking submodule; the system comprises a single-formation cooperative constraint checking submodule, a multi-formation cooperative constraint checking submodule and a multi-formation cooperative constraint checking submodule, wherein the single-formation cooperative constraint checking submodule is used for checking whether a cooperative key point, a load use requirement, a weapon attack requirement, an electronic countermeasure use requirement and a link requirement of each formation are reasonable or not, and the multi-formation cooperative constraint checking submodule is used for checking whether all the formations are reasonable in cooperation of time, space and frequency or not;
the summary plan generating module is used for determining a summary plan of each formation, and the summary plan at least comprises: a general airline plan, weapons use plan, sensor use plan, electronic warfare use plan, communications plan, and attack action priority;
and the plan synthesis module is used for obtaining a corresponding detailed plan according to the rough plan of each formation and the attack action priority in the rough plan of each formation.
2. The multi-user collaborative planning system of claim 1,
the load use requirement at least comprises the following quantitative parameter indexes: searching direction, searching angle range, searching height range and continuous searching time;
the weapon attack requirement at least comprises the following quantitative parameter indexes: weapon firing position, weapon type, number of weapons fired, and weapon firing time;
the electronic countermeasure usage requirements at least include quantitative parameter indicators: pressing orientation, pressing distance and duration;
link requirements include at least quantitative parameter indicators: an operating frequency band and an operating mode.
3. The multi-user collaborative planning system of claim 2,
the single-formation cooperative constraint checking submodule is used for checking whether the arrival time and the arrival position of each formation are reasonable;
if the formation is not reasonable, adjusting the arrival time and the arrival position of the formation in a collaborative demand analysis module;
if the detection range is reasonable, determining whether the weapon attack requirement is reasonable according to the weapon power range, checking whether the load use requirement is reasonable according to the detection range, checking whether the electronic countermeasure use requirement is reasonable according to the electronic countermeasure action range, and checking whether the link requirement is reasonable according to the link use range;
when any one of the weapon attack requirement, the load use requirement, the electronic countermeasure use requirement and the link requirement is unreasonable, adjusting the corresponding requirement in a collaborative requirement analysis module;
and when the weapon attack requirement, the load use requirement, the electronic countermeasure use requirement and the link requirement are reasonable, obtaining the cooperative key point, the detection range and the attack range of the single formation.
4. The multi-user collaborative planning system of claim 2,
the multi-formation cooperative constraint checking submodule is used for checking whether conflicts in time, space and frequency exist among the multi-formation according to the cooperative key point, the detection range and the attack range of each single formation obtained by the single-formation cooperative checking submodule;
if the conflict exists, the conflict requirement is adjusted in the collaborative requirement analysis module;
and if no conflict exists, submitting the cooperative key points, the detection range and the attack range of each single formation to the rough plan generation module.
5. The multi-user collaborative planning system of claim 4,
and the rough plan generating module is used for forming the collaborative key points of each single formation into a linked list by using the formation number as an index according to the time sequence of the airline points of the formation, adding flight segment information between two adjacent airline points, and associating each flight segment information with two airline points before and after the flight segment, thereby generating the rough airline plan.
6. The system of claim 1, further comprising a battlefield situation plotting module for situation plotting the collaborative key points, load usage requirements, weapons attack requirements, electronic countermeasure usage requirements, and link requirements for each formation as determined by the collaborative requirements analysis module.
7. The multi-user collaborative planning system according to claim 1, wherein at the collaborative end, the collaborative constraint checking module is configured to adjust collaborative key points, load use requirements, weapon attack requirements, electronic countermeasure requirements, and link requirements of a single formation corresponding to the collaborative end, and feed back the adjusted structure to the master control end;
at the master control end, the cooperative constraint checking module adopts a single formation cooperative constraint checking submodule to check whether the cooperative key point, the load use requirement, the weapon attack requirement, the electronic countermeasure use requirement and the link requirement of each formation are reasonable or not;
at the main control end, the cooperative constraint checking module adopts a multi-formation cooperative constraint checking submodule to check whether all formations are reasonable in coordination of time, space and frequency.
8. The system according to claim 1, further comprising a collaborative planner registration module for associating collaborative planners, personnel privileges, unmanned aerial vehicle formation, unmanned aerial vehicle model.
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