CN102819667A - Method for optimizing launching time sequence of coordinated attack of aircraft based on time constraint library - Google Patents

Abstract

The invention discloses a method for optimizing a launching time sequence of a coordinated attack of an aircraft based on a time constraint library. The method is capable of accurately solving comprehensive problems on a launching time sequence plan in case of collision and a simultaneous attack of the aircraft on an object which are possibly exist in a flying process, and comprises the following steps of: step I, processing flight path data through a flight path cross-checking method; establishing a flight path cross-checking problem depending on the flight path data which is set, namely, judging whether any two flight path curves are crossed or are less than the minimal distance constraint at the same moment under the preset minimal distance constraint; step II, establishing a launching time sequence constraint library based on the preset flight path, wherein the constraint base describes possibility of path crossing of any two aircraft while launching at one time difference; and step III, on the basis of the launching time sequence constraint library which is obtained from the step II, extracting and simplifying the launching time sequence constraint, and establishing a launching time sequence plan model based on a purpose of avoiding crossing of the flight path.

Description

Aircraft concerted attack emission timing optimization method based on the time-constrain storehouse

Technical field

The present invention can be widely used in various collision and the concerted attack target emission sequential planning fields avoided, and relates to a kind of aircraft concerted attack emission timing optimization method based on the time-constrain storehouse.

Background technology

In the process of multi-aircraft concerted attack target; Because number of vehicles is more, may occur that one's own side's aircraft bumps or the situation of hypotelorism aloft, in addition; Arrive the time of target through emission sequential control aircraft; Make it can be as far as possible in the synchronization target of attack, this penetration ability that can improve aircraft with injure effect, promote efficient.

Collision check in the aircraft flight process is the problem that when practical applications, often runs into the planning of emission sequential.In the document of having published, still there is not solution preferably.Major defect is 1) the common flying speed of aircraft is big, flying distance is longer, because the restriction of launch preparation time and computer computation ability can not be carried out the pointwise check to flight path in actual engineering; 2) after aircraft collision check, do not have to the aircraft that possibly launch collision and to plan criterion preferably, can't realize accomplishing in the short time planning of emission sequential; 3) collide this global question to avoiding in aircraft while target of attack and the flight course and do not propose solution efficiently as yet, it can be used in engineering fast.

Summary of the invention

The present invention is directed to collision situation that flight course possibly occur and the aircraft emission sequential planning global question of target of attack simultaneously; Propose a kind of aircraft concerted attack emission timing optimization method, can address the above problem quickly and accurately based on the time-constrain storehouse.

Should specifically may further comprise the steps based on the aircraft concerted attack emission timing optimization method in time-constrain storehouse:

The first step: adopt flight path crosscheck method to handle the flight path data; Through given flight path data; Set up flight path crosscheck problem; Promptly judging in given minor increment constraint, whether any two the flight path curves of synchronization intersect or less than the minor increment constraint, when having the intersection situation, got into for second step;

The above-mentioned first step under the hypothesis of emission, is carried out segmentation with all flight path curves according to identical time step at the same time in flight path crosscheck problem; At first check at the horizontal plane upper curve whether to occur intersecting,, reduce the calculated amount of judging if the crossing on the same level situation is then carried out the i.e. check of height of perpendicular again; If the distance of two aircraft of synchronization, confirms then that these two aircraft occur flight path constantly at this and intersect less than given minor increment constraint.

Second step: set up emission temporal constraint storehouse, wherein retrain the possibility that has track cross when any two aircraft are described in the storehouse with poor emission sometime based on given flight path;

Wherein retrain the storehouse set up to adopt below rule: if there is not the situation of intersection in two flight path curves; Then these two aircraft are launched the situation that can not occur intersecting with the random time difference; Therefore each section curve of every flight path and all sections of other flight path are all judged; When a certain section curve of one section curve on the flight path and another flight path takes place to intersect or when retraining less than minor increment; Write down the time series of these two sections curves on flight path separately; These two seasonal effect in time series differences represent that these two aircraft can not launch according to this transmission interval, when the planning of emission sequential, should satisfy this emission temporal constraint; When carrying out crosscheck; Dynamics according to trajectory class aircraft; When the curve of one section curve of certain flight path and another flight path appear away from trend or this curve existed and intersected, then need not again this curve and this flight path to be judged.

The 3rd step: go on foot on the basis in the emission temporal constraint storehouse that obtains second, extract and simplification emission temporal constraint, foundation is based on the emission sequential plan model of avoiding flight path to intersect; If setting out, one of them aircraft is benchmark moment t constantly _s, the moment that arrives target is benchmark t constantly _d, be t with the benchmark mistiming constantly of taking off the departure time of j aircraft _Sj, the flight time is t _Pj, the constrain set about the departure time in the constraint storehouse is Φ, the maximum departure time is t _Max, then set up following optimization problem:

$\min J=\underset{j=1}{\overset{X-1}{\mathrm{\Σ}}}|t_{\mathrm{sj}}+t_s+t_{\mathrm{pj}}-t_d|$

$s.t.\left\{\begin{array}{c}{t}_{\mathrm{sj}}\∈\mathrm{\Φ}\\ 0\≤t_{\mathrm{sj}}\≤t_{\max }\end{array}\right\},$

Can be through optimized Algorithm in the hope of satisfying the t of optimal performance index _Sj, and then try to achieve the optimum launch time and the order of each aircraft.

Beneficial effect of the present invention:

Method proposed by the invention can be widely used in the collision avoidance algorithm design of unmanned vehicle, is particularly useful for the emission timing optimization under the conditions such as quantity is many, predict flight trajectory characteristic is similar.Utilize this method can confirm the emission temporal constraint fast and accurately, find the solution and satisfy the optimum emission sequential that arrives target as far as possible simultaneously.

Embodiment

Specify the present invention with a specific embodiment below.

One, finds the solution each aircraft flight track data according to predict flight trajectory characteristic

If the launching site of side's distribution is positioned at the circle of 50 kilometers of radiuses, need 5 aircraft of emission to hit unfriendly targets.Relative position according to one's own side's aircraft performance and one's own side and enemy; Aircraft movements is regarded as the motion of may command particle; Set up the aircraft movements system of equations; The state of flight of exploratory flight device is drawn the flight path curve of aircraft airflight, finds the solution the flight path data that obtain each aircraft.

Two, be that node is set up flight path data recording matrix with time

Because the launching site position of each aircraft is different, the inertial coordinates system of when calculating, choosing will be different.Therefore need all flight path curve negotiating coordinate transform unifications in same inertial coordinates system.With the flight path data that conversion is found the solution, be that timing node carries out segmentation to the flight path curve with 1s, write down the position of aircraft of each moment point.Because the flight time of each aircraft is different, is that benchmark carries out segmentation with the maximum time at this, this example is intended hypothesis flight time 1000s.During the time, think promptly that aircraft has arrived at target and perhaps disappeared greater than other aircraft Live Flying when this maximum time, can this position of aircraft constantly be represented with infinity.Set up the flight path data of each aircraft of matrix record of same number of rows and columns through this step.

Three, flight path crosscheck algorithm

Suppose that 5 aircraft launch at synchronization, the flight path curve is judged in pointwise, and whether the calculated crosswise amount is comparatively huge.Therefore elder generation arrives same surface level with the flight path curve projection of 5 aircraft.Elder generation compares the curve of horizontal plane relatively the time, if curved intersection occurs at surface level, then carries out the check of perpendicular again, when the distance of two sections curves retrains less than the minor increment of setting, writes down the time series of these two sections curves.

Four, set up aircraft emission temporal constraint storehouse

Through geometric locus comparison in twos, can set up emission temporal constraint storehouse to 5 aircraft through 10001000 checks of 1/25 (5-1).

Five, set up optimization problem according to emission temporal constraint and minimum emission T.T. function

According to the emission temporal constraint storehouse of setting up, can confirm that the launch time that causes aircraft to bump is poor, plan the constraint of separating set with this as the emission sequential, establish x time and be respectively t ₁, t ₂, t ₃, t ₄, t ₅, according to retraining in the emission temporal constraint storehouse:

$\left\{\begin{array}{c}{t}_1-t_2\≠a\\ t_3-t_5\≠b\\ t_1-t_4\≠c\\ t_2-t_3\≠d\end{array}\right.$

Retrain in launch time on the basis in storehouse, can arrive target simultaneously with aircraft and set up optimization problem as optimizing index, with first aircraft as benchmark x time t _sWith benchmark due in t _d, the objective function of this optimization problem is:

$J=\underset{j=2}{\overset{5}{\mathrm{\Σ}}}|t_{\mathrm{sj}}+t_s+t_{\mathrm{pj}}-t_d|$

Based on above-mentioned analysis, can obtain the complete form of this optimization problem:

$\min J=\underset{j=2}{\overset{5}{\mathrm{\Σ}}}|t_{\mathrm{sj}}+t_s+t_{\mathrm{pj}}-t_d|$

Wherein the ∨ presentation logic " or ".

Can the above-mentioned optimization problem of rapid solving through linprog function in the optimization toolbox of matlab, find the solution the t that obtains ₁, t ₂, t ₃, t ₄, t ₅Satisfy the minimum index J that arrives the object time difference, thereby accomplish finding the solution of this problem.

Claims (3)

1. based on the aircraft concerted attack emission timing optimization method in time-constrain storehouse, it is characterized in that, may further comprise the steps:

The first step: adopt flight path crosscheck method to handle the flight path data; Through given flight path data; Set up flight path crosscheck problem; Promptly judging in given minor increment constraint, whether any two the flight path curves of synchronization intersect or less than the minor increment constraint, when having the intersection situation, got into for second step;

Second step: set up emission temporal constraint storehouse, wherein retrain the possibility that has track cross when any two aircraft are described in the storehouse with poor emission sometime based on given flight path;

The 3rd step: go on foot on the basis in the emission temporal constraint storehouse that obtains second, extract and simplification emission temporal constraint, foundation is based on the emission sequential plan model of avoiding flight path to intersect; If setting out, one of them aircraft is benchmark moment t constantly _s, the moment that arrives target is benchmark t constantly _d, be t with the benchmark mistiming constantly of taking off the departure time of j aircraft _Sj, the flight time is t _Pj, the constrain set about the departure time in the constraint storehouse is Φ, the maximum departure time is t _Max, then set up following optimization problem: $\begin{array}{c}\mathrm{Min}J=\underset{j=1}{\overset{X-1}{\mathrm{\Σ}}}|t_{\mathrm{Sj}}+t_s+t_{\mathrm{Pj}}-t_d|\\ s.t.\left\{\begin{array}{c}{t}_{\mathrm{Sj}}\∈\mathrm{\Φ}\\ 0\≤t_{\mathrm{Sj}}\≤t_{\mathrm{Max}}\end{array}\right\},\end{array}$

Try to achieve the t that satisfies optimal performance index through optimized Algorithm _Sj, and then try to achieve the optimum launch time and the order of each aircraft.

2. the aircraft concerted attack emission timing optimization method based on the time-constrain storehouse as claimed in claim 1; It is characterized in that; The above-mentioned first step under the hypothesis of emission, is carried out segmentation with all flight path curves according to identical time step at the same time in flight path crosscheck problem; At first check at the horizontal plane upper curve whether to occur intersecting,, reduce the calculated amount of judging if the crossing on the same level situation is then carried out the i.e. check of height of perpendicular again; If the distance of two aircraft of synchronization, confirms then that these two aircraft occur flight path constantly at this and intersect less than given minor increment constraint.

According to claim 1 or claim 2 based on the aircraft concerted attack in time-constrain storehouse emission timing optimization method; It is characterized in that; Wherein retrain the storehouse set up to adopt below rule: if there is not the situation of intersection in two flight path curves; Then these two aircraft are launched the situation that can not occur intersecting with the random time difference; Therefore each section curve that will every flight path all judges with all sections of other flight path, when a certain section curve generation of one section curve on the flight path and another flight path intersects perhaps apart from retrain less than minor increment, writes down the time series of these two sections curves on flight path separately; These two seasonal effect in time series differences represent that these two aircraft can not launch according to this transmission interval, when the planning of emission sequential, should satisfy this emission temporal constraint; When carrying out crosscheck; Dynamics according to trajectory class aircraft; When the curve of one section curve of certain flight path and another flight path appear away from trend or this curve existed and intersected, then need not again this curve and this flight path to be judged.