CN105469139B - A kind of aerial real-time collaborative method of guidance of unmanned plane based on embedded Control - Google Patents

A kind of aerial real-time collaborative method of guidance of unmanned plane based on embedded Control Download PDF

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CN105469139B
CN105469139B CN201610014790.8A CN201610014790A CN105469139B CN 105469139 B CN105469139 B CN 105469139B CN 201610014790 A CN201610014790 A CN 201610014790A CN 105469139 B CN105469139 B CN 105469139B
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unmanned plane
guidance
guided missile
particle
calculate
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CN105469139A (en
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张晶
马晨
肖智斌
范洪博
吴晟
汤守国
李润鑫
孙俊
贾连印
潘盛旻
容会
崔毅
王剑平
张果
候明
车国霖
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Kunming University of Science and Technology
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Kunming University of Science and Technology
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/12—Target-seeking control

Abstract

The present invention relates to a kind of aerial real-time collaborative method of guidance of unmanned plane based on embedded Control, belongs to unmanned plane guidance field.The present invention includes：A, set objectives function and constraints；B, calculate our unmanned plane and guide priority and enemy's threat value；C, population is initialized；D, calculate guidance power and transfer price；E, calculate single particle is preferably adapted to angle value；F, population is updated；G, calculate integral particles is preferably adapted to angle value；H, precocity is judged whether, if otherwise going to step I, if then going to step F；I, whether end condition is met, if otherwise going to step F, if then terminating.The present invention transfers the deficiency of theory and technology means for current domestic air-to-air missile guidance power, based on modified particle swarm optiziation and auction algorithm, the all preferable population auction hybrid algorithm of a kind of distributed dynamic, real-time and global optimizing performance is proposed, the Optimization Solution of extensive air-to-air missile guidance power hand-off problem can be applied to.

Description

A kind of aerial real-time collaborative method of guidance of unmanned plane based on embedded Control
Technical field
The present invention relates to a kind of aerial real-time collaborative method of guidance of unmanned plane based on embedded Control, belong to unmanned mechanism Lead field.
Background technology
With the broad development of unmanned air vehicle technique, its purposes in war is also more and more crucial, especially with nobody Machine carries out dog fight, and not only lethality is big, and cost is cheap, and can effectively reduce one's own side's casualties.But when when guidance When unmanned plane is on the hazard, in order to realize strike target and reduce itself loss, it is necessary to by guidance power transfer to other wing planes after It is continuous to guide the guided missile launched, and it is the key point in problem to select which frame wing plane, its essence is a solution is global most The problem of excellent.
The content of the invention
Power hand-off problem is guided for unmanned plane, it is real in the air the invention provides a kind of unmanned plane based on embedded Control When cooperative guidance method.
The technical scheme is that：A kind of aerial real-time collaborative method of guidance of unmanned plane based on embedded Control, bag Include following steps：
A, set objectives function and constraints；
B, calculate our unmanned plane and guide priority and enemy's threat value；
C, population is initialized；
D, calculate guidance power and transfer price；
E, calculate single particle is preferably adapted to angle value；
F, population is updated；
G, calculate integral particles is preferably adapted to angle value；
H, precocity is judged whether, if otherwise going to step I, if then going to step F；
I, whether end condition is met, if otherwise going to step F, if then terminating.
Methods described comprises the following steps that：
Step1, set objectives function and constraints；
The function that sets objectives is calculated using the auction algorithm based on greediness, the function that sets objectives is：
Formulating constraints is：
(1)Represent that we at most guides I pieces of guided missile by the i-th frame unmanned plane, I is threshold value；
(2)Represent that one piece of guided missile is at most guided by a frame unmanned plane；
(3)Δ(T,j)≤Δi, i=1,2,3...M, represent that the detection range of unfriendly target T and jth piece guided missile must be The radar range Δ of our unmanned planeiIt is interior；
Wherein, N is the guided missile number for needing cooperative guidance, and M is our unmanned plane number, SijIt is preferential for our unmanned plane guidance Power, pijFor our guidance ability of the i-th frame unmanned plane to jth piece guided missile, xijIt is our the i-th frame unmanned plane to jth piece guided missile The element in power decision matrix is transferred in guidance, represents whether the i-th frame unmanned plane participates in guidance to jth piece guided missile, can only take 0 or 1,0 represents to be not involved in, and 1 represents to participate in；Power decision matrix is transferred in guidance：Take footmark i corresponding Any one frame in our M frame unmanned planes, footmark j correspond to any one piece in the N pieces of guided missile for needing cooperative guidance；
Step2, calculate our unmanned plane guidance priority and enemy's threat value；
Step2.1, first, we includes the guidance priority to enemy plane and the guidance to guided missile at unmanned plane guidance priority Priority：
Step2.1.1, our guidance priority of the unmanned plane to enemy plane are our the i-th frame unmanned plane to jth piece guided missile Guidance ability pij；
Step2.1.2, our guidance priority of the unmanned plane to guided missile include angle advantage and apart from advantage：
Angle advantage：Wherein, θijFor our the i-th frame Unmanned plane speed ViDeviate score d in directionijAngle；σijFor jth piece missile velocity VjDeviate score d in directionijExtended line Angle；For the effective working cone angle of jth piece missile's rearward-facing antenna, δiFor our the i-th frame unmanned plane radar maximum search cone angle； dijFor the score of our the i-th frame unmanned plane and jth piece guided missile；
Apart from advantage：Wherein, riFor our the i-th frame unmanned plane radar to guided missile most Big guidance range, e are exponential constant；
Comprehensive angle advantage, it can obtain our guidance priority of the unmanned plane to guided missile apart from advantage and be： Wherein, e1、e2For weight coefficient and e1+e2=1；
Draw, we guides priority by unmanned planeWherein, u1,u2For weight coefficient and u1+u2=1；
Step2.2, enemy's threat value include threatening and killing probability；Wherein, A is threat of the enemy plane to our unmanned plane, g For the killing probability of enemy plane guided missile；
Step3, initialization population：
Either element xij in decision matrix is mapped into any particle xij in population is in the positional representation of E dimension spaces PPij=(ppij1,ppij2,…ppijE), the desired positions that any particle xij passes through are PP, i.e. single particle degree of being preferably adapted to Value, the desired positions that integral particles are passed through are PPbest, i.e. integral particles are preferably adapted to angle value；Wherein, ppij1,ppij2,… ppijERepresent any particle xijComponent of the position in E dimension coordinates system in E reference axis；
Step4, calculate guidance power transfer price：
Calculating guidance power transfer price using the auction algorithm based on greediness, (auction algorithm needs the both sides auctioned to auction Side and auction side, auction side send the unmanned plane of transfer guidance power for us, and auction side participates in the nothing of guidance power transfer for us It is man-machine.), it is J to calculate our the guidance power transfer price of the i-th frame unmanned plane participation jth piece guided missileij=a1*Vij-a2*Kij；Its In, a1,a2For weight coefficient, for adjusting the ratio of interests and cost, and a1+a2=1；We participates in jth piece by the i-th frame unmanned plane The benefit transferred is weighed in the guidance of guided missileE is exponential constant；We participates in jth piece guided missile by the i-th frame unmanned plane Guidance power transfer cost be Kij=A*g；
Step5, calculate single particle and be preferably adapted to angle value：
First, the fitness function for defining particle is
Secondly, price J is transferred by guiding to weighijBeing preferably adapted to for single particle is calculated as the input of fitness function Angle value PP；
Step6, renewal population；
After being initialized by Step3 to population, define and update speed and the position of oneself per generation particle Formula be：
Speed：pvijk=cpvijk+d1·r1·ppijk+d2·r2·ppijk；Wherein, c is inertia weight, and value exists Between [0.1,0.9], d1、d2For Studying factors, r1、r2It is coefficient value between [0,1], footmark k is represented in E dimension coordinates system Each component in each reference axis, k=1,2,3...E, pvijkRepresent any particle xij speed E in E dimension coordinates system Component in reference axis；
(2) position：ppijk=ppijk+t·pvijkRepresent the position pp of previous generation particlesijkRefreshing with previous generation particles With speed pv in time tijkPosition pp of the position sum of change as particle of future generationijk；
Step7, calculate integral particles and be preferably adapted to angle value：
Define particle fitness function bePrice J is transferred by guiding to weighijAs The input of fitness function is preferably adapted to angle value PP calculate integral particlesbest；
Step8, judge whether precocity：
When there are a particle xijThe angle value PP that is preferably adapted to be preferably adapted to angle value PP more than integral particlesbest, then As precocity, then go to Step6 and continue to update population；Otherwise represent precocious without occurring, then into Step9；
Step9, judge whether to meet end condition：
By step Step8, draw in population without there is precocity, then obtain and particle xijBe preferably adapted to angle value PP Corresponding particle position PPij, according to PPijObtain element x in corresponding decision matrixijValue as transfer plan, then basis Whether step Step1 constraint IFs condition meets：
If being unsatisfactory for constraints, go to Step6 and continue to update population；
If meeting constraints, calculating target function F (x), final result is exported.
The beneficial effects of the invention are as follows：
The deficiency of theory and technology means is transferred for current domestic air-to-air missile guidance power, is calculated based on improved population Method and auction algorithm, it is proposed that all preferable population auction of a kind of distributed dynamic, real-time and global optimizing performance Hybrid algorithm, the Optimization Solution of extensive air-to-air missile guidance power hand-off problem can be applied to.
Brief description of the drawings
Fig. 1 is the flow chart of the present invention；
Fig. 2 is the guided missile and our unmanned plane relative attitude figure of the present invention.
Embodiment
Embodiment 1：As shown in Figure 1-2,
A kind of aerial real-time collaborative method of guidance of unmanned plane based on embedded Control, comprises the following steps：
A, set objectives function and constraints；
B, calculate our unmanned plane and guide priority and enemy's threat value；
C, population is initialized；
D, calculate guidance power and transfer price；
E, calculate single particle is preferably adapted to angle value；
F, population is updated；
G, calculate integral particles is preferably adapted to angle value；
H, precocity is judged whether, if otherwise going to step I, if then going to step F；
I, whether end condition is met, if otherwise going to step F, if then terminating.
Methods described comprises the following steps that：
Step1, set objectives function and constraints；
The function that sets objectives is calculated using the auction algorithm based on greediness, the function that sets objectives is：
Formulating constraints is：
(1)Represent that we at most guides I pieces of guided missile by the i-th frame unmanned plane, I is threshold value；
(2)Represent that one piece of guided missile is at most guided by a frame unmanned plane；
(3)Δ(T,j)≤Δi, i=1,2,3...M, represent that the detection range of unfriendly target T and jth piece guided missile must be The radar range Δ of our unmanned planeiIt is interior；
Wherein, N is the guided missile number for needing cooperative guidance, and M is our unmanned plane number, SijIt is preferential for our unmanned plane guidance Power, pijFor our guidance ability of the i-th frame unmanned plane to jth piece guided missile, xijIt is our the i-th frame unmanned plane to jth piece guided missile The element in power decision matrix is transferred in guidance, represents whether the i-th frame unmanned plane participates in guidance to jth piece guided missile, can only take 0 or 1,0 represents to be not involved in, and 1 represents to participate in；Power decision matrix is transferred in guidance：Take footmark i corresponding Any one frame in our M frame unmanned planes, footmark j correspond to any one piece in the N pieces of guided missile for needing cooperative guidance；
Step2, calculate our unmanned plane guidance priority and enemy's threat value；
Step2.1, first, we includes the guidance priority to enemy plane and the guidance to guided missile at unmanned plane guidance priority Priority：
Step2.1.1, our guidance priority of the unmanned plane to enemy plane are our the i-th frame unmanned plane to jth piece guided missile Guidance ability pij；
Step2.1.2, our guidance priority of the unmanned plane to guided missile include angle advantage and apart from advantage：
Angle advantage：Wherein, θijFor our the i-th frame Unmanned plane speed ViDeviate score d in directionijAngle；σijFor jth piece missile velocity VjDeviate score d in directionijExtended line Angle；For the effective working cone angle of jth piece missile's rearward-facing antenna, δiFor our the i-th frame unmanned plane radar maximum search cone angle； dijFor the score of our the i-th frame unmanned plane and jth piece guided missile；
Apart from advantage：Wherein, riFor our the i-th frame unmanned plane radar to guided missile most Big guidance range, e are exponential constant；
Comprehensive angle advantage, it can obtain our guidance priority of the unmanned plane to guided missile apart from advantage and be： Wherein, e1、e2For weight coefficient and e1+e2=1；
Draw, we guides priority by unmanned planeWherein, u1,u2For weight coefficient and u1+u2=1；
Step2.2, enemy's threat value include threatening and killing probability；Wherein, A is threat of the enemy plane to our unmanned plane, g For the killing probability of enemy plane guided missile；
Step3, initialization population：
By either element x in decision matrixijIt is mapped to any particle x in populationijIt is in the positional representation of E dimension spaces PPij=(ppij1,ppij2,…ppijE), the desired positions that any particle xij passes through are PP, i.e. single particle degree of being preferably adapted to Value, the desired positions that integral particles are passed through are PPbest, i.e. integral particles are preferably adapted to angle value；Wherein, ppij1,ppij2,… ppijERepresent any particle xijComponent of the position in E dimension coordinates system in E reference axis；
Step4, calculate guidance power transfer price：
Guidance power is calculated using the auction algorithm based on greediness and transfers price, our the i-th frame unmanned plane is calculated and participates in jth It is J that the guidance power of piece guided missile, which transfers price,ij=a1*Vij-a2*Kij；Wherein, a1,a2For weight coefficient, for adjusting interests and cost Ratio, and a1+a2=1；The guidance of our the i-th frame unmanned plane participation jth piece guided missile weighs the benefit transferred and ise For exponential constant；The cost that the guidance power that our the i-th frame unmanned plane participates in jth piece guided missile is transferred is Kij=A*g；
Step5, calculate single particle and be preferably adapted to angle value：
First, the fitness function for defining particle is
Secondly, price J is transferred by guiding to weighijBeing preferably adapted to for single particle is calculated as the input of fitness function Angle value PP；
Step6, renewal population；
After being initialized by Step3 to population, define and update speed and the position of oneself per generation particle Formula be：
Speed：pvijk=cpvijk+d1·r1·ppijk+d2·r2·ppijk；Wherein, c is inertia weight, and value exists Between [0.1,0.9], d1、d2For Studying factors, r1、r2It is coefficient value between [0,1], footmark k is represented in E dimension coordinates system Each component in each reference axis, k=1,2,3...E, pvijkRepresent any particle xijSpeed in E dimension coordinates system E Component in reference axis；
(2) position：ppijk=ppijk+t·pvijkRepresent the position pp of previous generation particlesijkRefreshing with previous generation particles With speed pv in time tijkPosition pp of the position sum of change as particle of future generationijk；
Step7, calculate integral particles and be preferably adapted to angle value：
Define particle fitness function bePrice J is transferred by guiding to weighijAs The input of fitness function is preferably adapted to angle value PP calculate integral particlesbest；
Step8, judge whether precocity：
When there are a particle xijThe angle value PP that is preferably adapted to be preferably adapted to angle value PP more than integral particlesbest, then As precocity, then go to Step6 and continue to update population；Otherwise represent precocious without occurring, then into Step9；
Step9, judge whether to meet end condition：
By step Step8, draw in population without there is precocity, then obtain and particle xijBe preferably adapted to angle value PP Corresponding particle position PPij, according to PPijObtain element x in corresponding decision matrixijValue as transfer plan, then basis Whether step Step1 constraint IFs condition meets：
If being unsatisfactory for constraints, go to Step6 and continue to update population；
If meeting constraints, calculating target function F (x), final result is exported.
Embodiment 2：As shown in Figure 1-2,
A kind of aerial real-time collaborative method of guidance of unmanned plane based on embedded Control, comprises the following steps：
A, set objectives function and constraints；
B, calculate our unmanned plane and guide priority and enemy's threat value；
C, population is initialized；
D, calculate guidance power and transfer price；
E, calculate single particle is preferably adapted to angle value；
F, population is updated；
G, calculate integral particles is preferably adapted to angle value；
H, precocity is judged whether, if otherwise going to step I, if then going to step F；
I, whether end condition is met, if otherwise going to step F, if then terminating.
Embodiment 3：As shown in Figure 1-2,
A kind of aerial real-time collaborative method of guidance of unmanned plane based on embedded Control, comprises the following steps：
A, set objectives function and constraints；
B, calculate our unmanned plane and guide priority and enemy's threat value；
C, population is initialized；
D, calculate guidance power and transfer price；
E, calculate single particle is preferably adapted to angle value；
F, population is updated；
G, calculate integral particles is preferably adapted to angle value；
H, precocity is judged whether, if otherwise going to step I, if then going to step F；
I, whether end condition is met, if otherwise going to step F, if then terminating.
Specific experiment is as follows：
It is assumed that we has 6 frame unmanned planes, r1,r2,r3,r4,r5,r6, wherein r4Positive guidance M1, M2Attack enemy plane b1, b2, now r4Withdrawn by enemy plane locking needs, therefore abandon guidance power, it is desirable to which other wing planes carry out guidance power and transferred.In algorithm each parameter by Expertise is provided, and each flight parameter is provided by table 1, and transfer plan is provided by table 2.
The flight parameter of table 1.
Numbering Abscissa Ordinate Direction Speed Scope Distance by radar
r1 -140 -48 17.22 360 200 220
r2 -140 -120 35.43 385 200 220
r3 -120 -140 47.74 400 200 220
r4 -140 0 0 440 200 220
r5 -260 -255 49.17 400 200 220
r6 0 -160 100 400 200 220
b1 10 0 0 420 220 240
b2 -120 -20 0 400 220 240
M1 -120 0 0 1200
M2 -80 0 0 1200
As shown in Table 1, M=6, N=2, i=1,2,3,4,5,6, j=1,2.
The decision matrix weighed is transferred in guidance：
Step1, set objectives function and constraints；
The function that sets objectives is calculated using the auction algorithm based on greediness, the function that sets objectives is：
Formulating constraints is：
(1)Represent that we at most guides I pieces of guided missile by the i-th frame unmanned plane, I is threshold value；
(2)Represent that one piece of guided missile is at most guided by a frame unmanned plane；
(3)Δ(T,j)≤Δi, i=1,2,3,4,5,6, represent that the detection range of unfriendly target T and jth piece guided missile is necessary The radar range Δ of unmanned plane at this endiIt is interior；
Step2, calculate our unmanned plane guidance priority and enemy's threat value；
Step2.1, first, we includes the guidance priority to enemy plane and the guidance to guided missile at unmanned plane guidance priority Priority：
Step2.1.1, our guidance priority of the unmanned plane to enemy plane are our the i-th frame unmanned plane to jth piece guided missile Guidance ability pij；
Wherein, our guidance priority to enemy plane, without loss of generality, to take the system of our 6 frame unmanned planes to 2 pieces of guided missiles The ability of leading is 0.5, i.e. pij=0.5.
Step2.1.2, our guidance priority of the unmanned plane to guided missile include angle advantage and apart from advantage：
Wherein, our guidance priority of the unmanned plane to guided missile includes angle and distance advantage.Without loss of generality, to take me The effective working cone angle of trail antenna of the radar maximum search cone angle and 2 pieces of guided missiles of 6 frame unmanned planes of side is current accepted value.
Angle advantage：
Apart from advantage：
Comprehensive angle, can try to achieve our guidance priority of the unmanned plane to guided missile apart from advantage is：
Without loss of generality, to take e1=e2=0.5.
In summary, it can thus be concluded that going out us and guiding priority and be：
Without loss of generality, to take u1=u2=0.5.
Step2.2, enemy's threat value include threatening and killing probability.
Wherein, it is threat of the enemy plane to our unmanned plane to make 1, i.e. A=1, and 0.5 is the killing probability of enemy plane guided missile, i.e. g= 0.5。
Step3, initialization population：
Without loss of generality, to take E=3, i.e., in three dimensions, the speed of any particle and position are at three in population Component on axle is three random numbers.
Step4, calculate guidance power transfer price：
The guidance of our the i-th frame unmanned plane participation jth piece guided missile weighs the benefit transferred and is：
The guidance of our the i-th frame unmanned plane participation jth piece guided missile weighs the cost transferred and is：
K11=K12=K21=K22=K31=K32=K41=K42=K51=K52=K61=K62=0.5
The guidance power of our the i-th frame unmanned plane participation jth piece guided missile transfers price and is：
Without loss of generality, to take a1=a2=0.5, then
From N=2, only 2 pieces of guided missiles for needing cooperative guidance, then most two framves we participate in cooperative guidance by unmanned plane.Therefore table 2 is Participate in the unmanned plane numbering of 2 pieces of guided missile cooperative guidances.That is x31=x62=1, other elements are 0 in decision matrix.
The guidance power transfer plan of table 2.
Guided missile is numbered Unmanned plane is numbered Price
M1 r3 0.18595
M2 r6 0.195
Step5, calculate single particle and be preferably adapted to angle value：
First, the fitness function for defining particle is
Secondly, price J is transferred by guiding to weighijBeing preferably adapted to for single particle is calculated as the input of fitness function Angle value PP；
Step6, renewal population；
After being initialized by Step3 to population, define and update speed and the position of oneself per generation particle Formula be：
Speed：pvijk=cpvijk+d1·r1·ppijk+d2·r2·ppijk；Wherein, because E=3, therefore k=1,2,3； For without loss of generality, c=0.5, d might as well be set1=d2=0.5, r1=r2=0.5.
(2) position：ppijk=ppijk+t·pvijkRepresent the position pp of previous generation particlesijkRefreshing with previous generation particles With speed pv in time tijkPosition pp of the position sum of change as particle of future generationijk；Wherein, because E=3, therefore k=1, 2,3
Step7, calculate integral particles and be preferably adapted to angle value：
Define particle fitness function bePrice J is transferred by guiding to weighijAs The input of fitness function is preferably adapted to angle value PP calculate integral particlesbest；
Step8, judge whether precocity：
Step9, judge whether to meet end condition：
From the foregoing, for without loss of generality, all parameters all choose the conventional fixed value of convenient calculating in the present embodiment, And E=3 is taken in population, i.e., in three dimensions, while in population the speed of any particle and position on three axles Component be three random numbers.Therefore all meet PP≤PPbest, that is, be not in precocious phenomenon, and meet constraints certainly.
Then：
The decision matrix weighed is transferred in guidance：
Object function：F (x)=MAX { 0.29,0.275 }=0.29.
From table 2, the decision matrix of power is transferred in guidance, and object function can be seen that, this algorithm is considered when guidance power is transferred Interests and cost, have selected r3And r6As the cooperative guidance of guided missile, while guidance advantage and itself loss are taken into account, in addition often One frame unmanned plane can decide whether to be added in cooperative guidance according to the environment residing for itself, when certain frame unmanned plane is not joined When being transferred with guidance power, the traffic between the amount of calculation of algorithm and body can be effectively reduced.
Above in conjunction with accompanying drawing to the present invention embodiment be explained in detail, but the present invention be not limited to it is above-mentioned Embodiment, can also be before present inventive concept not be departed from those of ordinary skill in the art's possessed knowledge Put and make a variety of changes.

Claims (1)

  1. A kind of 1. aerial real-time collaborative method of guidance of unmanned plane based on embedded Control, it is characterised in that：Comprise the following steps：
    A, set objectives function and constraints；
    B, calculate our unmanned plane and guide priority and enemy's threat value；
    C, population is initialized；
    D, calculate guidance power and transfer price；
    E, calculate single particle is preferably adapted to angle value；
    F, population is updated；
    G, calculate integral particles is preferably adapted to angle value；
    H, precocity is judged whether, if otherwise going to step I, if then going to step F；
    I, whether end condition is met, if otherwise going to step F, if then terminating；
    Methods described comprises the following steps that：
    Step1, set objectives function and constraints；
    The function that sets objectives is calculated using the auction algorithm based on greediness, the function that sets objectives is：
    Formulating constraints is：
    (1)Represent that we at most guides I pieces of guided missile by the i-th frame unmanned plane, I is threshold value；
    (2)Represent that one piece of guided missile is at most guided by a frame unmanned plane；
    (3)Δ(T,j)≤Δi, i=1,2,3...M, represent that the detection range of unfriendly target T and jth piece guided missile must be at this end The radar range Δ of unmanned planeiIt is interior；
    Wherein, N is the guided missile number for needing cooperative guidance, and M is our unmanned plane number, SijPriority, p are guided for our unmanned planeij For our guidance ability of the i-th frame unmanned plane to jth piece guided missile, xijMoved for our guidance of the i-th frame unmanned plane to jth piece guided missile The element to hand power in decision matrix, represents whether the i-th frame unmanned plane participates in the guidance to jth piece guided missile, can only take 0 or 1,0 table Show and be not involved in, 1 represents to participate in；Power decision matrix is transferred in guidance：Footmark i is taken to correspond to our M framves Any one frame in unmanned plane, footmark j correspond to any one piece in the N pieces of guided missile for needing cooperative guidance；
    Step2, calculate our unmanned plane guidance priority and enemy's threat value；
    Step2.1, first, our unmanned plane guidance priority includes the guidance priority to enemy plane and the guidance to guided missile is preferential Power：
    Step2.1.1, our guidance priority of the unmanned plane to enemy plane are our guidance of the i-th frame unmanned plane to jth piece guided missile Ability pij；
    Step2.1.2, our guidance priority of the unmanned plane to guided missile include angle advantage and apart from advantage：
    Angle advantage：Wherein, θijFor our the i-th frame unmanned plane Speed ViDeviate score d in directionijAngle；σijFor jth piece missile velocity VjDeviate score d in directionijThe angle of extended line；For the effective working cone angle of jth piece missile's rearward-facing antenna, δiFor our the i-th frame unmanned plane radar maximum search cone angle；dijFor me The score of the i-th frame unmanned plane of side and jth piece guided missile；
    Apart from advantage：Wherein, riThe maximum of guided missile is guided for our the i-th frame unmanned plane radar Distance, e are exponential constant；
    Comprehensive angle advantage, it can obtain our guidance priority of the unmanned plane to guided missile apart from advantage and be：Its In, e1、e2For weight coefficient and e1+e2=1；
    Draw, we guides priority by unmanned planeWherein, u1,u2For weight coefficient and u1+u2=1；
    Step2.2, enemy's threat value include threatening and killing probability；Wherein, A is threat of the enemy plane to our unmanned plane, and g is enemy The killing probability of machine guided missile；
    Step3, initialization population：
    By either element x in decision matrixijIt is mapped to any particle x in populationijIt is PP in the positional representation of E dimension spacesij= (ppij1,ppij2,…ppijE), any particle xijThe desired positions of process are PP, i.e. single particle is preferably adapted to angle value, overall The desired positions that particle passes through are PPbest, i.e. integral particles are preferably adapted to angle value；Wherein, ppij1,ppij2,…ppijERepresent Any particle xiComponent of the j position in E dimension coordinates system in E reference axis；
    Step4, calculate guidance power transfer price：
    Price is transferred using guidance power is calculated based on greedy auction algorithm, our the i-th frame unmanned plane participation jth piece is calculated and leads It is J that the guidance power of bullet, which transfers price,ij=a1*Vij-a2*Kij；Wherein, a1,a2For weight coefficient, for adjusting the ratio of interests and cost Example, and a1+a2=1；The guidance of our the i-th frame unmanned plane participation jth piece guided missile weighs the benefit transferred and isE is Exponential constant；The cost that the guidance power that our the i-th frame unmanned plane participates in jth piece guided missile is transferred is Kij=A*g；
    Step5, calculate single particle and be preferably adapted to angle value：
    First, the fitness function for defining particle is
    Secondly, price J is transferred by guiding to weighijAs the input of fitness function angle value is preferably adapted to calculate single particle PP；
    Step6, renewal population；
    After being initialized by Step3 to population, define and update the speed of oneself and the public affairs of position per generation particle Formula is：
    Speed：pvijk=cpvijk+d1·r1·ppijk+d2·r2·ppijk；Wherein, c is inertia weight, value [0.1, 0.9] between, d1、d2For Studying factors, r1、r2It is coefficient value between [0,1], footmark k represents each to sit in E dimension coordinates system Each component on parameter, k=1,2,3...E, pvijkRepresent any particle xijSpeed in E dimension coordinates system E reference axis On component；
    (2) position：ppijk=ppijk+t·pvijkRepresent the position pp of previous generation particlesijkWith previous generation particles in refresh time t It is interior with speed pvijkPosition pp of the position sum of change as particle of future generationijk；
    Step7, calculate integral particles and be preferably adapted to angle value：
    Define particle fitness function bePrice J is transferred by guiding to weighijAs fitness The input of function is preferably adapted to angle value PP calculate integral particlesbest；
    Step8, judge whether precocity：
    When there are a particle xiThe j angle value PP that is preferably adapted to is preferably adapted to angle value PP more than integral particlesbest, then turn into Precocity, then go to Step6 and continue to update population；Otherwise represent precocious without occurring, then into Step9；
    Step9, judge whether to meet end condition：
    By step Step8, draw in population without there is precocity, then obtain and particle xiJ to be preferably adapted to angle value PP institute right The particle position PP answeredij, according to PPijObtain element x in corresponding decision matrixijValue as transfer plan, then according to step Whether Step1 constraint IFs condition meets：
    If being unsatisfactory for constraints, go to Step6 and continue to update population；
    If meeting constraints, calculating target function F (x), final result is exported.
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