CN104317305A - Preflight flight path confirmation method towards complex battleground menaces - Google Patents

Abstract

Disclosed is a preflight flight path confirmation method towards complex battleground menaces. The preflight flight path confirmation method towards the complex battleground menaces aims at achieving effective evading of a jump glide type trans-aerosphere vehicle for the complex battleground menaces, uses a calculation method based on spherical geometry to judge a relative position between the trans-aerosphere vehicle and a menace area, and intuitively displays the battleground menaces and a flight path of the trans-aerosphere vehicle. The preflight flight path confirmation method towards the complex battleground menaces achieves fast solving of a multiple constraint flight path planning problem by building a flight path planning object function and using a flight path iteration mechanism based on multiple algorithm adaptation optimization. The preflight flight path confirmation method towards the complex battleground menaces can plan out an optimal flight path strong in survival ability, high in defense penetration efficiency and high in striking speed by comprehensively considering battlefield environment constraints and flight performance constraints before launch of the trans-aerosphere vehicle, enables the trans-aerosphere vehicle to have ability of quickly striking a time sensitive target and evading the menaces in flight, and lays a foundation for generation of systematic fighting ability of the jump glide type trans-aerosphere vehicle.

Description

A kind of threaten towards complicated battlefield penetrate front flight path defining method

Technical field

The invention belongs to control field, relate to the defining method that front flight path penetrated by a kind of aircraft.

Background technology

IT-based warfare is the inexorable trend of information age war development.Network in Information Times system covers the scope expanding day on region of war, and real-time, the concertedness of operation constantly strengthen.The patterns such as effect operation, non-contact fighting, asymmetric war, long distance raid war, depth precision strike, cooperation and Integrative Joint Operations Simulation substantially increase fighting efficiency.Mission planning plays extremely important effect in IT-based warfare, and its application level decides level and the ability of information-based operation in very large meaning.

Since the eighties in 20th century, countries in the world have carried out the research work of aircraft mission planning technology one after another, and mission planning problem progressively comes into one's own in fields such as control science, air science, information sciences.Researchist is on the basis of the various planing method of research, by multi-disciplinary intersection and in conjunction with artificial intelligence, decision theory and modeling and optimization technology, solve a series of representative mission planning problem, and develop multiple-task planning system (Mission Planning System, MPS).

Trajectory planning is the basic problem of aircraft mission planning, its essence is in comprehensive consideration of flight vehicle time of arrival, oil consumption, threat and can under the prerequisite of the factor such as flight range, for aircraft cooks up optimum or satisfied flight track, to ensure to complete aerial mission satisfactorily and to come back to the base safely.Trajectory planning technology has been widely used in the navigational system of aircraft, surface ship, surface car and robot etc.

The U.S. is the country carrying out trajectory planning technical research the earliest.At first, USAF relies special aeronautical laboratory in order to alleviate the work load of pilot, improve the survivability of validity and the aircraft of executing the task, utilize experience and the achievement of civil aircraft flight management system, four-dimension navigation and energy management technology are used for the flight management of fighter plane, propose the concept of tactical flight management system.The core of tactical flight management system is Track Pick-up and track following, and its prerequisite is the generation of optimal trajectory, i.e. trajectory planning.At present, the task grouping of U.S. army's development develops into the third generation, and continues towards raising the efficiency and reducing the aspect development such as system cost.Other countries have also carried out corresponding trajectory planning technical research, and Britain has successively developed " pathfinder " 2000 task grouping and advanced mission planning device, and France has also carried out the development of three sequence of tasks planning systems.

Current trajectory planning technology has had Preliminary Applications on the weapon platform such as unmanned plane, cruise missile.Common path planning method threatens during district in process and is simplified by model, only considers the threaten estimate in two dimensional surface, namely supposes that aircraft altitude is constant, threat district is thought of as the round region in this plane.And for possessing the new aircraft of endoatmosphere jump glide, because it has the maneuvering flight on a large scale of transverse and longitudinal in flight course, the singularity of its trajectory form determines threatening the traditional treatment method in district no longer applicable.In addition, classic method is considered less to the constraint condition in aerocraft real flight course, causes the result of trajectory planning often to have larger deviation with actual conditions.

Summary of the invention

The technical matters that the present invention solves is: overcome the deficiencies in the prior art, provide a kind of gliding type Step atmospheric layers vehicle that jumps face complicated battlefield threaten under quick flight path defining method, can before vehicle launch, by the solid modelling to threat source, battlefield, propose and threaten with enemy, penetraton probability, flight time, the trajectory planning target function model of the multiparameters such as motor-driven number of times, battlefield surroundings constraint and flight performance constraint can considered, find out a viability strong, penetraton probability is high, the optimal trajectory that blow speed is fast, make flying instrument for rapid strike time critical target and the ability of evading threat in-flight.

Technical solution of the present invention is: a kind of threaten towards complicated battlefield penetrate front flight path defining method, comprise the steps:

(1) obtaining the launching site longitude and latitude of aircraft when launching, the longitude and latitude at impact point place, threatening the longitude and latitude of district center point, and threaten the radius in district;

(2) according to the condition that step (1) provides, determine that the flight track of an aircraft is as initial flight path;

(3) initial flight path is carried out segmentation, then with the initial flight path after segmentation for starting condition, minimum for target with the value of the cost function C of flight path performance, adopt trajectory planning searching algorithm to carry out Iterative, determine the optimum flight track of aircraft;

The cost function C of described flight path performance is expressed as:

$C=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}(w_1{f}_{\mathrm{TAi}}+w_2{P}_i+w_3{T}_i+w_4{A}_i)$

In formula, i=1,2 ... n is track segmentation; f _tAi, P _i, T _i, A _ibe respectively the enemy's threat on i-th section of track segmentation, penetraton probability, flight time and motor-driven number of times nondimensionalization represent, w ₁~ w ₄for threatening with enemy, penetraton probability, flight time and the corresponding weight coefficient of motor-driven number of times, meet w ₁+ w ₂+ w ₃+ w ₄=1;

$f_{\mathrm{TAi}}=\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}{P}_j,P_j=\left\{\begin{array}{cc}{\mathrm{\&beta;}}_j{C}_i/{\left(S_{\mathrm{CDj}}\right)}^4& S_{\mathrm{CDj}}<R_j\\ 0& S_{\mathrm{CDj}}>R_j\end{array}\right.$

β _jfor multiplier factor, the β when not receiving jth threat early warning information _j=1, otherwise β _j>1, j=1,2 ... m is threat district quantity relevant on i-th section of track segmentation, R _jfor jth threatens the radius in district, S _cDjfor threatening district center point to make the great circle arc length perpendicular to orthodrome to the orthodrome between launching site and impact point from jth, described orthodrome is that the earth's core is crossed in the center of circle, and radius is the circular arc of earth radius; C _ibe the target function value of i-th section of track segmentation, P _ispan between 0 to 1, the penetraton probability of aircraft is higher, P _ivalue is larger, T _ispan in level second, A _ivalue is between 0 to 10, and motor-driven number of times is more, A _ivalue is larger.

Described trajectory planning searching algorithm includes but not limited to the pseudo-spectrometry of direct shooting method, Gauss, adaptive Gauss pseudo-spectrometry, sparse A* algorithm, particle swarm optimization, simulated annealing or genetic algorithm.

The present invention's advantage is compared with prior art:

(1) the inventive method is based on the Computing Principle of spherical geometry, propose the three-dimensional modeling method for the source of threat, and give flight track and the decision method threatening district's relative position, thus compensate for the deficiency in prior art, threaten estimate being simplified to plane treatment, make flight track and threaten the judgement of zone position relation closer to true operation, accuracy is higher;

(2) the inventive method proposes the trajectory planning objective function defining method considering enemy's threat, penetraton probability, flight time, motor-driven number of times, above-mentioned parameter has been carried out dimensionless statement, to solve in prior art and only consider to threaten district, do not consider that aircraft is hidden to threaten in district's process and may occur increasing the flight time, too much cause the problems such as fault due to motor-driven number of times.Above-mentioned quadrinomial parameter considers by the inventive method, defines the trajectory planning of various dimensions, makes the result precision of planning higher, and the condition contained is wider, more fights close to true.

Accompanying drawing explanation

Fig. 1 is the process flow diagram of the inventive method;

Fig. 2 is the illustraton of model that the present invention threatens district;

Fig. 3 is that the present invention threatens district and track points position relationship schematic diagram.

Embodiment

As shown in Figure 1, be the process flow diagram of the inventive method, concrete steps are as follows:

(1) before vehicle launch, first determine the initiation parameter of outside input, initialized object is for the enforcement of method prepares.Initiation parameter comprises " launching site longitude and latitude ", " impact point longitude and latitude ", " threatening district center point longitude and latitude " and " threatening district's radius ";

(2) set up threat section model, and determine whether flight path leaps the decision criteria threatening district.

There are two kinds of situations with threatening the relative position in district in flight track, namely flight track only threatens district and flight track to cross threat district.Concrete determining step is: calculate the distance threatening any point place orthodrome on district center point to flight path, and judge itself and the relation threatening district's radius, as arc length is greater than radius, namely flight path only threatens district, if arc length is less than radius, namely flight path crosses threat district.

Threaten section model schematic diagram as indicated with 2, according to initial input parameter, aircraft initial point is P ₀, its longitude and latitude is respectively θ ₀, φ ₀, distal point is P _f, its longitude and latitude is respectively θ _f, φ _f, arctic point is P _n, use A _frepresent initial point P ₀to distal point P _fthe angle of orthodrome (center of circle is the earth's core, and radius is earth radius) and initial point direct north, with direct north be benchmark clockwise for just, 0≤A _f<2 π, represents initial point P with σ ₀to distal point P _forthodrome, S _farc length corresponding to σ.

By the spherical triangle P in Fig. 2 ₀p _np _fcan obtain:

$\cos (\frac{\mathrm{\&pi;}}{2}-{\mathrm{\&phi;}}_f)=\cos (\frac{\mathrm{\&pi;}}{2}-{\mathrm{\&phi;}}_0)\cos S_f+\sin (\frac{\mathrm{\&pi;}}{2}-{\mathrm{\&phi;}}_0)\sin S_f\cos A_f---\left(1\right)$

$\frac{\sin \mathrm{\&Delta;\&theta;}}{\sin S_f}=\frac{\sin A_f}{\sin (\frac{\mathrm{\&pi;}}{2}-{\mathrm{\&phi;}}_f)}---\left(2\right)$

Then can be obtained by formula (1) and formula (2):

$\cos A_f=\frac{\sin {\mathrm{\&phi;}}_f-\sin {\mathrm{\&phi;}}_0\cos S_f}{\cos {\mathrm{\&phi;}}_0\sin S_f}---\left(3\right)$

$\sin A_f=\frac{\cos {\mathrm{\&phi;}}_f-\sin \mathrm{\&Delta;\&theta;}}{\sin S_f}---\left(4\right)$

Therefore association type (3) and formula (4) can obtain:

$\left\{\begin{array}{cc}{A}_f=\arccos \left(\frac{\sin {\mathrm{\&phi;}}_f-\sin {\mathrm{\&phi;}}_0\cos S_f}{\cos {\mathrm{\&phi;}}_0\sin S_f}\right)& \sin A_f\&GreaterEqual;0\\ A_f=2\mathrm{\&pi;}-\arccos \left(\frac{\sin {\mathrm{\&phi;}}_f-\sin {\mathrm{\&phi;}}_0\cos S_f}{\cos {\mathrm{\&phi;}}_0\sin S_f}\right)& \sin A_f<0\end{array}\right.---\left(5\right)$

Due to A _fgenerally all between 0 ~ π, so direct negate cosine, the longitude and latitude of current point be on the occasion of or negative value above formula all set up.

Make Δ θ=θ _f-θ ₀, can be obtained by formula (5):

$\cos S_f=\cos (\frac{\mathrm{\&pi;}}{2}-{\mathrm{\&phi;}}_f)\cos (\frac{\mathrm{\&pi;}}{2}-{\mathrm{\&phi;}}_0)+\sin (\frac{\mathrm{\&pi;}}{2}-{\mathrm{\&phi;}}_f)\sin (\frac{\mathrm{\&pi;}}{2}-{\mathrm{\&phi;}}_0)\cos \mathrm{\&Delta;\&theta;}---\left(6\right)$

Then have:

S _f＝arccos(sinφ _fsinφ ₀+cosφ _fcosφ ₀cosΔθ) (7)

As shown in Figure 3, C (L _c, B _c) point is the central point in threat source, its radius is R, and some D was that C point makes arc P ₀p _fvertical line and the intersection point of arc, if its coordinate is (L _d, B _d), the terrestrial coordinate of known C, D, can obtain S by formula (7) _cDif, S _cDbe greater than R, illustrate that D point is outside threat district, namely flight track place circular arc crosses threat district, but flight track only threatens district; Otherwise illustrate that D point is within threat district, namely flight track crosses threat district.

(3) for the population parameter of different aircraft, set up trajectory planning target function model, the influence factor of each side is transformed according to respective standard, then obtains in the weight of overall target the dimensionless number characterizing flight path overall target according to each single index.

According to mission requirements, the influence factor of flight path performance mainly consider following some: enemy's threat, penetraton probability, flight time, motor-driven number of times.

For the ease of analyzing, divide whole flight track into some sections, then the cost function model of flight path performance can be expressed as:

$C=\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}(w_1{f}_{\mathrm{TAi}}+w_2{P}_i+w_3{T}_i+w_4{A}_i)---\left(8\right)$

In formula, i=1,2 ... for track segmentation; f _tAi, P _i, T _i, A _ibe respectively enemy's threat on track segmentation, penetraton probability, flight time and motor-driven number of times nondimensionalization represent, w ₁~ w ₄for respective weight coefficient, meet:

w ₁+w ₂+w ₃+w ₄＝1

In formula, f _tAibe the threat index of i-th section of flight path section, its restriction aircraft is too not near with known ground based threats distance, makes aircraft as far as possible by threatening less region flight;

$f_{\mathrm{TAi}}=\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}{P}_j,P_j=\left\{\begin{array}{cc}{\mathrm{\&beta;}}_j{C}_i/{\left(S_{\mathrm{CDj}}\right)}^4& S_{\mathrm{CDj}}<R_j\\ 0& S_{\mathrm{CDj}}>R_j\end{array}\right.$

J=1,2 ... m is threat district quantity relevant on i-th section of track segmentation, R _jfor jth threatens the radius in district, S _cDjfor threatening district center point to make the great circle arc length perpendicular to orthodrome to the orthodrome between launching site and impact point, β from jth _jbe a multiplier factor, the β when a jth threat does not receive early warning information _j=1, otherwise β _j>1, here C _ifor segmentation flight path target function value, namely above-mentioned formula (8) is in the value of i section.P _ibe the penetraton probability of i-th section of flight path section, characterize the probability that this section of flight path breaks through enemy missile system of defense, P _iby aircraft characteristics determined, its span is between 0 to 1, and aircraft penetraton probability is higher here, and this value value is larger; T _ibe the flight time of i-th section of flight path section, total flight time is fewer, and fighting efficiency is more excellent, and the flight time of different aircraft in segmentation flight path is different, and its span is in level second; A _ibe the motor-driven number of times of i-th section of flight path section, the motor-driven number of times of aircraft is more, and failure rate is higher, therefore should select the flying method that motor-driven number of times is few here, A _ivalue is usually between 0 to 10, and motor-driven number of times is more, and value is larger.

The evaluation of flight path performance is exactly in fact the consolidated statement value indicative solving every bar flight path, i.e. f under selection C minimum _tAi, P _i, T _i, A _ivalue.Here the process solved is actual is calculate a flight path with aircraft movements, kinetic model, then carry out route evaluation according to above-mentioned formula, obtain target function value, then use the continuous iteration of Path Planning below, last iteration goes out optimum C value, f in fact _tAi, P _i, T _i, A _iin most importantly still pass through f _tAiinstead solve the track points D that flight path meets optimal trajectory, more all track points D are grouped together just have become optimal trajectory.

Because trajectory planning searching algorithm is various, need here to set up Path Planning database simultaneously, specifically comprise direct shooting method, the pseudo-spectrometry of Gauss, adaptive Gauss pseudo-spectrometry, sparse A* algorithm, particle swarm optimization, simulated annealing, genetic algorithm etc.

(4) judge whether to enter trajectory planning Iterative, resolve if start and enter step (5); If battlefield surroundings or target information change, need to re-enter initial information or constraint condition, reenter step (2);

(5) from algorithm data-base, iterative algorithm is selected, because the optimal trajectory of the present invention's generation is for aircraft initial binding, therefore should with reliability, rapidity, practicality for principle to the selection of algorithm, if the algorithm selected iteration cannot go out optimum solution in step (6), iterative algorithm can be reselected from residue algorithm;

(6) if algorithm convergence obtains optimum solution enter step (7); If iteration cannot restrain, reenter step (5);

(7) trajectory planning terminates.

The content be not described in detail in instructions of the present invention belongs to the known technology of those skilled in the art.

Claims (2)

1. what threaten towards complicated battlefield penetrates a front flight path defining method, it is characterized in that comprising the steps:

(1) obtaining the launching site longitude and latitude of aircraft when launching, the longitude and latitude at impact point place, threatening the longitude and latitude of district center point, and threaten the radius in district;

(2) according to the condition that step (1) provides, determine that the flight track of an aircraft is as initial flight path;

(3) initial flight path is carried out segmentation, then with the initial flight path after segmentation for starting condition, minimum for target with the value of the cost function C of flight path performance, adopt trajectory planning searching algorithm to carry out Iterative, determine the optimum flight track of aircraft;

The cost function C of described flight path performance is expressed as:

$C=\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}(w_1{f}_{\mathrm{TAi}}+w_2{P}_i+w_3{T}_i+w_4{A}_i)$

In formula, i=1,2 ... n is track segmentation; f _tAi, P _i, T _i, A _ibe respectively the enemy's threat on i-th section of track segmentation, penetraton probability, flight time and motor-driven number of times nondimensionalization represent, w ₁~ w ₄for threatening with enemy, penetraton probability, flight time and the corresponding weight coefficient of motor-driven number of times, meet w ₁+ w ₂+ w ₃+ w ₄=1;

$f_{\mathrm{TAi}}=\underset{j=1}{\overset{m}{\mathrm{\&Sigma;}}}{P}_j,P_j=\left\{\begin{array}{cc}{\mathrm{\&beta;}}_j{C}_i/{\left(S_{\mathrm{CDj}}\right)}^4& S_{\mathrm{CDj}}<R_j\\ 0& S_{\mathrm{CDj}}>R_j\end{array}\right.$

β _jfor multiplier factor, the β when not receiving jth threat early warning information _j=1, otherwise β _j>1, j=1,2 ... m is threat district quantity relevant on i-th section of track segmentation, R _jfor jth threatens the radius in district, S _cDjfor threatening district center point to make the great circle arc length perpendicular to orthodrome to the orthodrome between launching site and impact point from jth, described orthodrome is that the earth's core is crossed in the center of circle, and radius is the circular arc of earth radius; C _ibe the target function value of i-th section of track segmentation, P _ispan between 0 to 1, the penetraton probability of aircraft is higher, P _ivalue is larger, T _ispan in level second, A _ivalue is between 0 to 10, and motor-driven number of times is more, A _ivalue is larger.

2. according to claim 1 a kind of threaten towards complicated battlefield penetrate front flight path defining method, it is characterized in that: described trajectory planning searching algorithm includes but not limited to the pseudo-spectrometry of direct shooting method, Gauss, adaptive Gauss pseudo-spectrometry, sparse A ^*algorithm, particle swarm optimization, simulated annealing or genetic algorithm.