CN102819667B - Timing optimization method is launched in aircraft concerted attack based on time-constrain storehouse - Google Patents

Abstract

The present invention proposes a kind of aircraft concerted attack based on time-constrain storehouse and launches timing optimization method, can accurately the flight course collision situation that may occur and aircraft while target of attack transmitting dynamic layout global question.The first step: adopt flight path crosscheck method process flight path data; By given flight path data, set up flight path crosscheck problem, under the constraint of given minor increment, namely judge whether any two flight path curves of synchronization intersect or be less than minor increment constraint; Second step: set up the transmitting temporal constraint storehouse based on given flight path, wherein retrains storehouse and describes any two aircraft there is the possibility of track cross during poor transmitting sometime; 3rd step: on the basis in the transmitting temporal constraint storehouse that second step obtains, extracting and launches temporal constraint with simplification, setting up the transmitting dynamic layout model based on avoiding flight path to intersect.

Description

Timing optimization method is launched in aircraft concerted attack based on time-constrain storehouse

Technical field

The present invention can be widely used in various collision free and concerted attack objective emission dynamic layout field, relates to a kind of aircraft concerted attack based on time-constrain storehouse and launches timing optimization method.

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 collides or the situation of hypotelorism aloft, in addition, the time of target is arrived by launching sequential control aircraft, can as far as possible in synchronization target of attack, this can improve penetration ability and the damage effectiveness of aircraft, raising efficiency.

Collision detection in aircraft flight process is the problem often run into when engineer applied with launching dynamic layout.Good solution is there is no in the document published.Major defect is 1) the usual flying speed of aircraft is comparatively large, flying distance is longer, due to the restriction of launch preparation time and computer computation ability, can not carry out pointwise inspection for flight path in Practical Project; 2) after aircraft Collision detection, for the aircraft of collision may be launched without good criteria for planning, cannot realize completing transmitting dynamic layout in the short time; 3) not yet propose efficient solution for this global question of collision free in target of attack while of aircraft and flight course, can apply fast in engineering.

Summary of the invention

The present invention is directed to the transmitting dynamic layout global question of collision situation that flight course may occur and aircraft target of attack simultaneously, propose a kind of aircraft concerted attack based on time-constrain storehouse and launch timing optimization method, can solve the problem quickly and accurately.

Timing optimization method should be launched based on the aircraft concerted attack in time-constrain storehouse, specifically comprise the following steps:

The first step: adopt flight path crosscheck method process flight path data; By given flight path data, set up flight path crosscheck problem, namely under the constraint of given minor increment, judge whether any two flight path curves of synchronization intersect or be less than minor increment constraint, when there is crossing instances, enter second step;

All flight path curves, in flight path crosscheck problem, under the hypothesis of launching at the same time, are carried out segmentation according to identical time step by the above-mentioned first step; First check and whether occur intersecting at horizontal plane upper curve, if there is crossing on the same level situation, then carry out the inspection of the i.e. height of perpendicular again, reduce the calculated amount judged; If the distance of synchronization two aircraft is less than given minor increment constraint, then determine in this moment, these two aircraft occur that flight path is intersected.

Second step: set up the transmitting temporal constraint storehouse based on given flight path, wherein retrains storehouse and describes any two aircraft there is the possibility of track cross during poor transmitting sometime;

Wherein retrain storehouse to set up and adopt following rule: if two flight path curves do not exist the situation of intersection, then these two aircraft launch with random time difference the situation that all there will not be intersection, therefore each section of curve of every bar flight path and all sections of other flight path are all judged, when one section of curve in a flight path and a certain section of curve of another flight path occur to intersect or distance be less than minor increment retrain time, record the time series of these two sections of curves in respective flight path, these two seasonal effect in time series differences represent that these two aircraft can not be launched according to this transmission interval, should be met this when launching dynamic layout and launch temporal constraint, when carrying out crosscheck, according to the dynamics of trajectory class aircraft, when one section of curve and the curve of another flight path of certain flight path present away from trend or this curve existed and intersected, then without the need to judging this curve and this flight path again.

3rd step: on the basis in the transmitting temporal constraint storehouse that second step obtains, extracting and launches temporal constraint with simplification, setting up the transmitting dynamic layout model based on avoiding flight path to intersect; If one of them aircraft sets out, the moment is reference instant t _s, the moment arriving target is reference instant t _d, the departure time of a jth aircraft is t with the mistiming of the reference instant that takes off _sj, the flight time is t _pj, the constrain set about the departure time in constraint storehouse is Φ, and 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 in the hope of meeting the t of optimal performance index by optimized algorithm _sj, and then try to achieve 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 transmitting timing optimization under the conditions such as quantity is many, predict flight trajectory characteristic is similar.Utilize the method can determine fast and accurately to launch temporal constraint, solve the optimum transmitting sequential meeting and arrive target as far as possible simultaneously.

Embodiment

The present invention is described in detail below with a specific embodiment.

One, each aircraft flight track data is solved according to predict flight trajectory characteristic

If the launching site that party B is scattered is positioned at the circle of radius 50 kilometers, transmitting 5 aircraft are needed to hit unfriendly target.According to the relative position of one's own side's aircraft performance and one's own side and enemy, aircraft movements is regarded as the motion that can control particle, set up aircraft movements system of equations, the state of flight of exploratory flight device, draw the flight path curve of aircraft airflight, solve the flight path data obtaining each aircraft.

Two, be that node sets up flight path data entry matrix with time

Because the launching site position of each aircraft is different, the inertial coordinates system chosen when calculating will be different.Therefore need all flight path curve negotiating coordinate transform unifications in same inertial coordinates system.By converting the flight path data solved, being that timing node carries out segmentation to flight path curve with 1s, recording the position of aircraft of each moment point.Because the flight time of each aircraft is different, be that benchmark carries out segmentation at this with maximum time, this example intends hypothesis flight time 1000s.When this maximum time is greater than other aircraft Live Flying time, namely think that aircraft has arrived at target or disappeared, the position of aircraft in this moment infinity can be represented.The flight path data of each aircraft of matrix record of same number of rows and columns are set up by this step.

Three, flight path crosscheck algorithm

Suppose that 5 aircraft are launched at synchronization, pointwise judges flight path curve, and whether calculated crosswise amount is comparatively huge.Therefore first by the flight path curve projection of 5 aircraft to same level.First the curve of horizontal plane is compared relatively time, if there is curved intersection at surface level, then carry out the inspection of perpendicular again, when the distance of two sections of curves is less than the minor increment constraint of setting, record the time series of these two sections of curves.

Four, vehicle launch temporal constraint storehouse is set up

Compared by geometric locus between two, check the transmitting temporal constraint storehouse can set up for 5 aircraft 10001000 times by 1/25 (5-1).

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

According to the transmitting temporal constraint storehouse set up, can determine that the launch time causing aircraft to collide is poor, in this, as the constraint of launching the set of dynamic layout solution, if x time is respectively t ₁, t ₂, t ₃, t ₄, t ₅, according to launching retraining in 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 on the basis in storehouse in launch time, target can be arrived using aircraft simultaneously set up optimization problem as optimizing index, using first aircraft as reference emission moment 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, the complete form of this optimization problem can be obtained:

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

Wherein ∨ presentation logic "or".

Can the above-mentioned optimization problem of rapid solving by linprog function in the Optimization Toolbox of matlab, solve the t obtained ₁, t ₂, t ₃, t ₄, t ₅meet the index J of minimum arrival object time difference, thus complete solving of this problem.

Claims (1)

1. timing optimization method is launched in the aircraft concerted attack based on time-constrain storehouse, it is characterized in that, comprises the following steps:

The first step: adopt flight path crosscheck method process flight path data; By given flight path data, set up flight path crosscheck problem, namely under the constraint of given minor increment, judge whether any two flight path curves of synchronization intersect or the distance of two aircraft is less than minor increment constraint, if the distance of synchronization two aircraft is less than given minor increment constraint, then determine in this moment, these two aircraft occur that flight path is intersected; When there is crossing instances, enter second step;

In flight path crosscheck problem, under the hypothesis of launching at the same time, all flight path curves are carried out segmentation according to identical time step; First check and whether occur intersecting at horizontal plane upper curve, if there is crossing on the same level situation, then carry out the inspection of the i.e. height of perpendicular again, reduce the calculated amount judged;

Second step: set up the transmitting temporal constraint storehouse based on given flight path, wherein retrains storehouse and describes any two aircraft there is the possibility of track cross during poor transmitting sometime;

Wherein retrain storehouse to set up and adopt following rule: if two flight path curves do not exist the situation of intersection, then these two aircraft launch with random time difference the situation that all there will not be intersection, therefore each section of curve of every bar flight path and all sections of other flight path are all judged, when one section of curve in a flight path and a certain section of curve of another flight path occur to intersect or distance be less than minor increment retrain time, record the time series of these two sections of curves in respective flight path, these two seasonal effect in time series differences represent that these two aircraft can not be launched according to this transmission interval, should be met this when launching dynamic layout and launch temporal constraint, when carrying out crosscheck, according to the dynamics of trajectory class aircraft, when one section of curve and the curve of another flight path of certain flight path present away from trend or this curve existed and intersected, then without the need to judging this curve and this flight path again,

3rd step: on the basis in the transmitting temporal constraint storehouse that second step obtains, extracting and launches temporal constraint with simplification, setting up the transmitting dynamic layout model based on avoiding flight path to intersect; If one of them aircraft sets out, the moment is reference instant t _s, the moment arriving target is reference instant t _d, the departure time of a jth aircraft is t with the mistiming of the reference instant that takes off _sj, the flight time is t _pj, the constrain set about the departure time in constraint storehouse is Φ, and the maximum departure time is t _max, then set up following optimization problem: $\min J=\underset{j=1}{\overset{X-1}{\Σ}}\left|t_{sj}+t_s+t_{pj}-t_d\right|$

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

The t meeting optimal performance index is tried to achieve by optimized algorithm _sj, and then try to achieve optimum launch time and the order of each aircraft.