CN108335024B - Shipboard aircraft continuous action task planning method and task planning description method - Google Patents
Shipboard aircraft continuous action task planning method and task planning description method Download PDFInfo
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Abstract
The invention discloses a shipboard aircraft continuous action task planning method and a task planning description method, wherein the task planning method comprises the following steps: decomposing the continuous movement tasks to be planned into wave-time take-off tasks and wave-time landing tasks according to the task information and the continuous execution times of the plurality of continuous movement tasks to be planned; initializing the predicted takeoff time of each wave and the predicted landing time of each wave by the task starting time and the task execution time corresponding to each continuous action task to be planned; sequencing wave-time takeoff and wave-time landing according to the sequence of the predicted time; and selecting wave-time takeoff or wave-time landing in sequence to plan tasks, updating the sequence until the wave-time takeoff task and the wave-time landing task are planned, and generating a continuous movement task action scheme. The invention considers the full protection process of the takeoff and landing of the carrier-based aircraft, guarantees the partial order relation between operations, guarantees the space constraint in the process and the safe distance in the transfer process, and can effectively ensure the execution of the task.
Description
Technical Field
The invention belongs to the field of operation management of aircraft carrier decks, and particularly relates to a method for solving a guarantee task plan of take-off and landing of carrier-based aircrafts on an aircraft carrier deck and a description method of a continuous action task plan of the carrier-based aircrafts, which are used for improving the efficiency of the carrier-based aircraft guarantee operation.
Background
At present, relevant researches for planning the continuous action mission of an aircraft carrier do not completely consider the whole process of the take-off and landing guarantee operation of the aircraft carrier, and do not fully consider the complex constraint conditions in the process of the actual guarantee operation, so that the method has strong limitation and is mainly embodied in the following aspects:
(1) only local work flows are considered. Only take-off guarantee, or ammunition mounting, or arrangement and other local problems are considered. In the actual process of the shipboard aircraft takeoff and landing guarantee operation, decisions in all stages are mutually coupled and influence each other, and simple splitting cannot be performed.
(2) The guarantee operation process of the carrier-based aircraft is highly simplified. A fixed linear assurance workflow is assumed. The actual shipboard aircraft guarantee operation process has the characteristic of diversity, and the temporal relation among operations is complex. The guarantee operation content is determined by the tasks to be completed by the shipboard aircraft, and the guarantee processes required by the same type of shipboard aircraft when different types of tasks are executed are different. In addition, the temporal relationship between the guarantee jobs is not a simple linear sequence relationship, but a partial sequence relationship, that is, a partial job has a first-subsequent relationship, a partial job cannot be performed simultaneously, and other jobs have no constraint of execution sequence.
(3) The space constraint is highly simplified. The limited space of the deck and the operation safety factor of the deck are not considered to lead to guarantee operation space constraint, and the actual requirements of deck operation are difficult to meet. Such space constraints include that when a carrier-based aircraft drives in or out of a parking space, the parking space which has an interference relationship with a driving or driving line of the carrier-based aircraft cannot stop the aircraft; in the process that the carrier-based aircraft guarantees a certain specific guarantee operation, the certain guarantee operation cannot be carried out on the aircraft position within a certain distance from the guarantee aircraft position due to safety considerations; when the carrier-based aircraft lands on a ship, the carrier-based aircraft cannot be stopped in the landing area, and the guarantee operation on the flight deck should be suspended.
(4) The process of the debugging and transferring of the carrier-based aircraft is omitted. The transfer process is only explored in the relevant work of specially researching path planning, but in the work, the relevant details of the guarantee operation are not fully considered. In the work of generating the research and guarantee operation scheme, the transfer process of the carrier-based aircraft on the deck is often ignored or simplified into that a fixed transfer time exists between two aircraft positions. In fact, during the process of transferring the carrier-based aircraft on the flight deck, all moving and static carrier-based aircraft need to keep a safe distance to avoid collision. Such constraints may result in a guaranteed job scenario that ignores this factor not performing as expected.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides a shipboard aircraft continuous action mission planning method and a mission planning description method, so that the technical problems that the whole process of the shipboard aircraft take-off and landing guarantee operation cannot be completely considered in the related research aiming at the problem of the shipboard aircraft continuous action mission planning of an aircraft carrier at present, the complex constraint conditions in the actual guarantee operation process are not fully considered, and the limitation is strong are solved.
To achieve the above object, according to an aspect of the present invention, there is provided a method for planning a continuous takeoff mission of a carrier-based aircraft, including:
reading task information of a plurality of continuous outbound tasks to be planned, and decomposing the continuous outbound tasks to be planned into wave takeoff tasks and wave landing tasks by combining the continuous execution times corresponding to the continuous outbound tasks to be planned;
initializing the expected takeoff time of each wave in the wave takeoff task and the expected landing time of each wave in the wave landing task by the task starting time and the task execution time corresponding to each to-be-planned continuous movement task;
sequencing all wave-time takeoff tasks and all wave-time landing tasks according to the sequence of the predicted takeoff time and the predicted landing time, wherein if the wave-time takeoff time is consistent with the wave-time landing time, the wave-time takeoff is placed in front;
and selecting the wave-time takeoff tasks or the wave-time landing tasks in sequence to plan the tasks, and updating the sequence of the wave-time takeoff tasks and the wave-time landing tasks until all the wave-time takeoff tasks and the wave-time landing tasks are planned to be finished, thereby generating a continuous action task action scheme.
Preferably, the selecting the wave-time takeoff task or the wave-time landing task in sequence for task planning includes:
if the selected wave time task type is a wave time landing task, planning a ship-based aircraft protection scheme to generate a wave time landing scheme after the landing area is cleared;
if the selected type of the wave-time task is the wave-time takeoff task, setting the estimated takeoff guarantee time of the wave times, selecting the carrier-based aircraft required by the wave-time takeoff, and sequencing the selected carrier-based aircraft to determine the planning sequence of the carrier-based aircraft;
finishing the planning of all selected shipboard aircraft support schemes in sequence, generating a set of wave-time takeoff schemes, if receiving a first backtracking instruction needing to perform wave-time backtracking, executing any one of changing the predicted takeoff support time, reselecting the shipboard aircraft required by the wave-time takeoff and reordering the planned sequence of the shipboard aircraft according to the operation indicated by the first backtracking instruction, and replanning the wave-time takeoff schemes;
and if an instruction that the wave-time backtracking is not needed is received, selecting a target wave-time takeoff scheme from the wave-time takeoff schemes, and updating the estimated takeoff time of the selected wave-time takeoff task and the estimated landing time of the corresponding wave-time landing task.
Preferably, the planning of the shipboard aircraft protection scheme includes:
determining the preference of selecting a transfer position, planning all safeguard actions according to the rules and the preference of the process, generating a set of shipboard aircraft safeguard schemes, and adding the shipboard aircraft safeguard schemes into a safeguard scheme set;
if a second backtracking instruction needing to backtrack the single carrier-based aircraft protection scheme is received, changing the position preference of the selected transfer aircraft, and replanning the single carrier-based aircraft protection scheme;
and if an instruction that the backtracking of the single carrier-based aircraft guarantee scheme is not required is received, selecting a target carrier-based aircraft guarantee scheme from the carrier-based aircraft guarantee scheme set.
Preferably, the planning of all safeguard actions according to the rules and preferences of the flow includes:
initializing an unplanned action queue according to a guarantee flow of the shipboard aircraft, and reading flow rules and preferences in a guarantee flow set to add corresponding constraints to all actions;
placing the action without the front constraint at the head of the action queue which is not planned, and setting the starting time of the action without the front constraint;
setting the start time of the unconstrained action as the estimated start guarantee time of the wave times for the carrier-based aircraft taking off at the wave times, and setting the start time of the unconstrained action as the estimated landing time of the wave times for the carrier-based aircraft landing at the wave times;
selecting a first guarantee action of a current unplanned action queue as a target action to be planned, if the target action has a front constraint, setting the latest ending time of the planned action with the front constraint on the target action as the predicted starting time of the target action, and deleting the front constraint of the planned action on the target action;
if the front constraint of the target action is not cleared, placing the target action at the tail of the queue;
if the front constraint of the target action is cleared, the action is consistent with the action without the front constraint, whether the current moment of the aircraft position where the carrier-based aircraft is located can meet the action requirement is judged according to resource facilities, aircraft position capacity and interference, if the action requirement can be met, resources are distributed for the target action or the action without the front constraint, and the target action or the action without the front constraint is deleted from an unplanned action queue;
if the action requirement cannot be met, deleting the target action or deleting the soft constraint generated by the action without the front constraint if the aircraft position capability of the carrier aircraft can meet the condition that the target action or the action without the front constraint is taken as the action of the supersggestPreOpe;
if the capability of the aircraft position where the carrier-based aircraft is located can meet the requirement that the target action or the action without the front constraint is taken as the action of the againstOpe, the action taken as the againstOpe is changed into the action to be planned currently and is placed at the head of an unplanned action queue;
if the capability of the aircraft position where the carrier-based aircraft is located can not meet the actions of the surveyPreOpe and the actions of the againsOpe, the aircraft position which can meet the action requirements of the target action or the action without the front constraint is found in all the aircraft positions according to the rule of selecting the aircraft position, the dispatching or in-place waiting is planned for the target action or the action without the front constraint, resources are distributed for the target action or the action without the front constraint, and the target action or the action without the front constraint is deleted from an unplanned action queue.
Preferably, the allocating resources for the target action or the action without the pre-constraint comprises:
calculating the combination of guarantee personnel required by the action, inquiring a station time axis, a personnel time axis and a station facility time axis, searching for common available time, adding guarantee action occupation and interference, adding interference to a path time axis interfered by the station, and completing guarantee that the action consumes resources and the quantity of the resources of the ship needs to be updated.
Preferably, the planning and dispatching for the target action or the action without the front constraint comprises:
giving a starting machine position, a target machine position and the start time of the dispatching of the carrier-based aircraft, searching an accessible route set from the starting machine position to the target machine position based on a route time axis, selecting an earliest arriving route from the accessible route set, and adding occupation and interference information on the time axis of a relevant route to finish the dispatching planning of the carrier-based aircraft.
According to another aspect of the present invention, there is provided a description method for a shipboard aircraft continuous-action mission planning based on any one of the above methods, including:
the shipboard aircraft continuous outbound task planning is described as Q ═ S, T, P, PR, P L, wherein S is a state set of aircraft carrier deck facilities and resources, T is a continuous outbound task set to be planned, P is a guarantee process set, PR is a resource selection preference, and P L is a continuous outbound task action scheme.
Preferably, the state set S is represented by S ═ (a, J, ST, N, R, C), and the continuous outbound task set T is represented by T ═ { T1,T2,T3,...,Ti…, the guaranteed flow set P is denoted as P ═ P1,P2,P3,...,Pi…, where a denotes a set of shipboard aircraft on an aircraft carrier, J denotes a set of aircraft positions on the aircraft carrier, ST denotes a set of gas stations and gas stations on the aircraft carrier, N denotes a set of quantity-type resources without ID attributes on the aircraft carrier, R denotes a set of paths and elevator resources when the shipboard aircraft is transferred, C denotes a set of resource constraints, T denotes a set of elevator resourcesi＝(IDt,TA,TS,TBT,EXT)，TiIndicating the ith task requirement, IDtThe ID of the ith task, TA is a carrier-based aircraft required by the ith task, TS is the execution duration of the ith task, TBT is the start time of the ith task, EXT is the continuous execution times of the ith task, and Pi＝{AC1,AC2,AC3,...,ACi,…,Ip}，ACiDenotes the action contained in the corresponding flow, IpIndicating the rules and preferences of the corresponding flow.
Preferably, the resource selection preference PR is expressed as PR ═ { PR ═ PR1,PR2,PR3,PR4,PR5,PR6,PR7,PR8,PR9,PR10In which PR1When the carrier-based aircraft is selected, the carrier-based aircraft, PR (procedure response) on the aircraft position with the highest guarantee capability is preferentially selected on the premise of meeting task requirements2The method indicates that when the carrier-based aircraft is selected, the carrier-based aircraft, PR (program instruction) is randomly selected on the premise of meeting task requirements3The method indicates that when the carrier-based aircraft is selected, the carrier-based aircraft, PR (program instruction) is manually selected on the premise of meeting task requirements4Showing that when the planning sequence of the carrier-based aircraft is determined, the carrier-based aircraft is planned according to the adding sequence when the carrier-based aircraft is selected, and PR5Means that when the planning sequence of the carrier-based aircraft is determined, the carrier-based aircraft farthest from the ejector is planned preferentially, PR6The method indicates that when the carrier-based aircraft is transferred, the position with the highest guarantee capability, PR (procedure response) is preferentially selected on the premise that the rest guarantee actions of the current carrier-based aircraft can be completed or partially completed7The method indicates that when the carrier-based aircraft is transferred, on the premise that the residual guarantee action of the current carrier-based aircraft can be completed or partially completed, the position with the weakest guarantee capability, PR (procedure response) is preferentially selected8The method indicates that when the carrier-based aircraft is transferred, on the premise that the residual guarantee action of the current carrier-based aircraft can be completed or partially completed, the position with the earliest reachable time, PR (program register) is preferentially selected9Indicating alternate use of ejectors, PR, during catapult take-off10And the priority preference of selecting the transfer aircraft position after the carrier-based aircraft descends is shown.
Preferably, the continuous outbound task action plan P L is denoted as P L ═ { P L1,PL2,PL3,...,PLi,…},PLiRepresenting a wave takeoff scheme or a wave landing scheme, and P Li＝{APL1,APL2,APL3,...,APLi,…}，APLiRepresents a guarantee scheme of a single carrier-based aircraft in wave-time takeoff or wave-time landing, AP Li＝{AEX1,AEX2,AEX3,...,AEXi,…}，AEXiAnd the method represents the guarantee action or the transfer action of the single carrier-based aircraft in a certain time period.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
(1) in the work of generating the research and guarantee operation scheme, the invention considers the process of dispatching and transferring the carrier-based aircraft, so that a certain safety distance is kept between all moving and static carrier-based aircraft in the transferring process, and the collision is avoided. And the space constraint of guaranteeing the operation space caused by the limited space of the deck and the operation safety factor of the deck is considered, and the space constraint that the aircraft can not stop at the aircraft position which has interference relation with the driving or driving line when the carrier-based aircraft drives in or out of the aircraft position is added.
(2) The decisions for the phases, which are coupled to each other and influence each other, are not simply split but are considered as a whole. The method realizes the shipboard aircraft protection process with diversity characteristics and complex temporal relation among operations. The method is characterized in that the guarantee operation content is determined by tasks to be completed by the shipboard aircraft, and different guarantee processes are provided for the same type of shipboard aircraft when different types of tasks are executed.
(3) The temporal relationship between the guarantee operations is not a simple linear sequence relationship, but a partial sequence relationship, that is, a partial operation has a first subsequent relationship, and the partial operations cannot be performed simultaneously, or when the carrier-based aircraft is guaranteeing a certain guarantee operation at a certain position, for safety, the certain guarantee operation cannot be performed at the position within a certain distance from the guarantee position, and other operations are not constrained by the execution sequence.
(4) The number and the capacity of resource facilities on the carrier-based aircraft are fully considered. By combining the characteristics and attributes of the resources, different types of time axes are designed for the resources, and the use condition of the resources is considered from the global perspective. It records when and where a resource is, what operations are to be done or used, including whether it is occupied, whether it is interfered, whether it is in sufficient number, and whether there is a conflict between multiple operations invoking the same resource.
(5) Some resource constraints which are difficult to be simply solved through time axis design are independently designed in the mission planning method so as to ensure the practical feasibility of the final guarantee scheme.
Drawings
FIG. 1 is an overall flow chart of a method for planning a continuous launch task of a carrier-based aircraft according to the present invention;
FIG. 2 is a flow chart of a wave-time takeoff/landing planning method provided by the present invention;
FIG. 3 is a flow chart of a planning method for a guarantee scheme of a carrier-based aircraft provided by the invention;
FIG. 4 is a flow chart of a method for planning security actions according to flow rules and preferences, according to an embodiment of the present invention;
FIG. 5 is a flow chart of a method of performing actions provided by the present invention;
fig. 6 is a flowchart of a planning and dispatching method provided by 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. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention provides a method for generating a feasible guarantee scheme by considering the full guarantee flow of takeoff and landing of a carrier-based aircraft, the partial order relation among guarantee operations, the space constraint in the guarantee process and the safe distance in the transfer process.
To facilitate understanding of the present invention, the following explanation is made with respect to the noun terms appearing in the embodiments of the present invention:
wave-time takeoff: one or more carrier-based aircraft are launched to take off and enter formation to wait after the guarantee before taking off is finished, and air tasks are executed.
Wave number falling: one or more carrier-based aircrafts are formed to wait for landing and then are transferred to a designated aircraft position for maintenance.
Wave number predicted takeoff time: and (4) the expected catapult-assisted take-off time of the last carrier-based aircraft is measured.
Predicted falling time of wave number: the expected landing time of the first carrier-based aircraft is obtained in the wave times.
Predicted takeoff guarantee time: and (3) predicting the time spent by the carrier-based aircraft set in the wave number from the beginning flight guarantee to all catapult take-off, and subtracting the predicted take-off time of the wave number to obtain the starting moment of the pre-take-off guarantee.
Backtracking: and deleting information related to the wave-time takeoff/landing (aiming at wave-time backtracking) or the single carrier-based aircraft (aiming at single carrier-based aircraft backtracking) in the planner, so that the resources and facilities of the ship return to the state before the wave-time takeoff/landing is not planned or the single carrier-based aircraft is ensured.
mustPreOpe.the timing relationship rule in the assurance flow corresponds to the pre-constraint, indicating that one action must be completed before another.
and the againsOpe guarantees the againsOpe attribute of the action corresponding to the interference relation rule in the flow, and shows that the two actions cannot be performed simultaneously within a certain range.
And 4, supergiestpreope, wherein the preference of the time sequence relation in the guarantee process corresponds to soft constraint, and the suggestion that one action is completed before the other action is suggested. If the conditions do not allow, the soft constraint is relaxed.
As shown in fig. 1, the invention provides an overall flowchart of a planning method for a continuous launch task of a carrier-based aircraft, and the planning method generates a guarantee scheme by decomposing the continuous launch task of the carrier-based aircraft. The method can generate a shipboard aircraft takeoff and landing guarantee scheme meeting the related constraint of a guarantee flow and the constraint of space-time resources, and specifically comprises the following steps:
reading task information of a plurality of continuous outbound tasks to be planned, and decomposing the continuous outbound tasks to be planned into wave takeoff tasks and wave landing tasks by combining the continuous execution times EXT corresponding to the continuous outbound tasks to be planned;
initializing the expected takeoff time of each wave in the wave takeoff task and the expected landing time of each wave in the wave landing task by the task starting time TBT corresponding to each continuous movement task to be planned and the task execution time TS;
sequencing all wave-time takeoff tasks and all wave-time landing tasks according to the sequence of the predicted takeoff time and the predicted landing time, wherein if the wave-time takeoff time is consistent with the wave-time landing time, the wave-time takeoff is placed in front;
and selecting the wave-time takeoff tasks or the wave-time landing tasks in sequence to plan the tasks, and updating the sequence of the wave-time takeoff tasks and the wave-time landing tasks until all the wave-time takeoff tasks and the wave-time landing tasks are planned to be finished, thereby generating a continuous action task action scheme.
Fig. 2 is a flowchart of a wave-time takeoff/landing planning method provided by the present invention, which corresponds to reference numeral ① in fig. 1, and includes the following steps:
the wave time planning method flow is different according to the wave time task type. If the selected wave time task type is a wave time landing task, the landing area is cleared in advance, a shipboard aircraft guarantee scheme is planned, and the wave time landing scheme is generated. If the selected type of the wave-time task is the wave-time takeoff task, the estimated takeoff guarantee time of the wave-time is set firstly, the carrier-based aircraft required by the wave-time takeoff is selected by a user or a rule, and the planning sequence of the selected carrier-based aircraft is determined by sequencing. And planning all selected shipboard aircraft guarantee schemes in sequence to generate a set of wave secondary takeoff scheme and an added wave secondary takeoff scheme set. A backtracking mechanism is added in the wave-time takeoff planning method to adjust the wave-time takeoff scheme to be expected to achieve optimization. Whether to perform the secondary backtracking may be selected by the user. Three ways are available for carrying out the wave-time backtracking: changing the predicted take-off guarantee time; reselecting a carrier-based aircraft required by the wave-time takeoff; and reordering the planned sequence of the carrier-based aircraft. One of the modes can be selected by the user to retrace and then replan the wave-time takeoff scheme. And if the wave-time backtracking is not needed, selecting a satisfactory target scheme from the wave-time takeoff scheme set by the user as a final wave-time takeoff scheme, and updating the selected wave-time takeoff time for taking off and the expected landing time for landing corresponding to the wave time.
As shown in fig. 3, which is a flowchart of a planning method for a ship-based aircraft support scheme provided by the present invention, corresponding to reference numeral ③ in fig. 2, the method includes the following steps:
a select divert facility preference is determined. Planning all guarantee actions according to the rules and the preferences of the process, generating a set of shipboard aircraft guarantee schemes, and adding the scheme set into the guarantee schemes. A single carrier-based aircraft backtracking mechanism is added in the method for planning the carrier-based aircraft protection scheme to adjust the carrier-based aircraft protection scheme to be expected to achieve optimization. The user can select whether to backtrack the single carrier-based aircraft, if the backtrack is needed, the position preference of the selected transfer aircraft is changed, and the single carrier-based aircraft protection scheme is re-planned after the backtrack. If backtracking is not needed, a user can select a satisfactory target scheme from the shipboard aircraft guarantee scheme set as a final shipboard aircraft guarantee scheme.
Fig. 4 is a flowchart of a method for planning safeguard actions according to flow rules and preferences, which corresponds to reference numeral ⑤ in fig. 3, and includes the following steps:
initializing an unplanned action queue according to a guarantee flow of the shipboard aircraft, and reading a flow rule and a preference table to add corresponding constraints to all actions. And placing the unpreconstraint action at the head of the outstanding action queue, and setting the starting time of the unpreconstraint action. Aiming at a carrier-based aircraft taking off with a wave number, setting the start time of unconstrained action as the predicted start guarantee time of the wave number; and setting the start time of the unconstrained action as the expected landing time of the wave number aiming at the carrier-based aircraft landing the wave number.
And selecting the first guarantee action of the current unplanned action queue as a target action for planning. If the target action has the pre-constraint, setting the latest ending time of the planned action with the pre-constraint on the target action as the predicted starting time of the target action, and deleting the pre-constraint on the target action. And then judging whether the constraint before the target action is cleared or not, and if not, placing the target action at the tail of the queue.
If the ship-based aircraft is emptied, the operation is consistent with the operation without the front constraint, and whether the aircraft position where the ship-based aircraft is located can meet the operation requirement at the moment is judged (the judgment is carried out by considering resource facilities, the capability of the aircraft position and interference). If the action can be satisfied, the target action or the action without the front constraint is planned, resources are allocated to the target action or the action without the front constraint, and the target action or the action without the front constraint is deleted from the unplanned action queue.
And if the soft constraints cannot be met and the capability of the carrier-based aircraft in the aircraft position can meet certain actions (if any) of taking the target action or the action without the front constraint as the supersggestPreOpe, deleting the soft constraint generated by the current action.
If the capability of the aircraft position where the carrier-based aircraft is located can meet the requirement that the target action or the action without the front constraint is used as some actions (if the target action or the action without the front constraint is used as the againsOpe), the action used as the againsOpe is changed into the action to be planned currently, namely, the action is placed at the head of an unplanned action queue. If the machine position capability can not be met, searching the machine positions which can meet the action requirement of the target action or have no front constraint according to the rule of selecting the machine positions among all the machine positions (including the current machine position), and planning and dispatching or waiting in place for the target action or the action without the front constraint. And replanning the target action or the action without the front constraint, allocating resources for the target action or the action without the front constraint, and deleting the target action or the action without the front constraint from the unplanned action queue.
And taking the next action from the queue to continue planning until the unplanned action queue is empty, and finishing the single carrier-based aircraft protection process.
As shown in fig. 5, it is a flowchart of an action execution method provided by the present invention, which includes the following steps:
the guarantee action is completed at the machine position JiStation facility STiN, a quantity type resourceiTherefore, the time axis T L of the airplane position is soughtjPerson (number) time axis T LnStation facility time axis T LstCan the guarantee action be completed within the common available time. The operating personnel on the ship have different professional skills, and the completion of a guarantee action needs the cooperation of the personnel with different professional skills, so that the required action is calculated firstlySupport personnel combination query position time axis T LjPerson (number) time axis T LnStation facility time axis T LstIn addition to finding the common availability time, adding guaranteed action engagement and interference, the time axis for the paths interfered by the flight is determined (T L)r) And adding interference to finish the guarantee that the action consumes resources and the quantity of the resources of the ship needs to be updated.
As shown in fig. 6, which is a flowchart of a planning and dispatching method provided by the present invention, corresponding to reference numeral ⑦ in fig. 4, the method includes the following steps:
giving the starting position, the destination position and the starting time of the dispatching of the carrier-based aircraft based on a path time axis T LrThe method comprises the steps of searching an reachable route set from a starting machine position to a target machine position, selecting a route which arrives earliest, adding occupation and interference information on a time axis of a related path to complete the transfer, dispatching and planning of the carrier-based aircraft, setting the moving direction of the carrier-based aircraft on each path in consideration of different angles of each machine position for parking the carrier-based aircraft, wherein the paths are divided into branches and main paths, the carrier-based aircraft is firstly transferred to the main path through the associated branch of the machine position and then transferred to the target machine position through the branch, and the routes, the machine positions and the routes are arranged through a route time axis T LrThe purpose of keeping a safe distance between carrier-based aircrafts and avoiding collision is achieved by adding interference.
The invention also provides a set of representation method for describing the planning field of the continuous outbound task of the shipboard aircraft based on the planning method of the continuous outbound task of the shipboard aircraft, which comprises a continuous outbound task, a deck, the shipboard aircraft, resources, a task decomposition method, a guarantee operation, a guarantee flow, temporal and spatial constraints between operation, a transfer route and an interference relationship thereof.
The shipboard aircraft continuous outbound task planning is described as Q ═ S, T, P, PR, P L, wherein S is a state set of aircraft carrier deck facilities and resources, T is a continuous outbound task set needing planning, P is a guarantee process set, PR is a resource selection preference, and P L is a continuous outbound task action scheme.
1) The facility and resource state set is represented as S ═ a, J, ST, N, R, C, where a represents the set of shipboard aircrafts on the aircraft carrier, J represents the set of seats on the aircraft carrier, ST represents the set of gas stations and gas stations on the aircraft carrier, N represents the quantitative resources without ID attributes such as workgroups and tractors on the aircraft carrier, R represents the path and elevator resources when the shipboard aircrafts are transferred, and C represents the resource constraint set.
Wherein, the shipboard aircraft set A ═ { A ═ A1,A2,A3,...,Ai,…}，Ai＝(IDa,TYa,TLab,TLaj,TT)，AiThe status of a single carrier-based aircraft is shown. IDaBeing ID, TY of the carrier-based aircraftaIs the model number of the carrier-based aircraft, T LabFor busy-free time axis of carrier-based aircraft, T LajIs the time axis of the aircraft position of the carrier-based aircraft, and TT is the number of times of executing the task, wherein T Lab＝{TLab1,TLab2,TLab3,...,TLabi…, recording all busy (guarantee, transfer, task) time periods for the carrier, T LabiRecorded is the start and end of a certain busy period, T Labi(ST, ET), ST is start time, ET is end time, T Laj＝{TLaj1,TLaj2,TLaj3,...,TLaji…, recording the information of the position transfer of the carrier-based aircraft at each moment, T Laji＝(ART,IDj) ART is the time when the carrier-based aircraft reaches a certain aircraft position, and the initial state is the system start time and IDjIs the ID of the airplane.
Set of machine positions J ═ { J ═ J1,J2,J3,...,Ji,…}，Ji＝(IDj,TLj,CA,JTYa,Lj)，JiThe state of a single machine bit is shown. IDjIs the ID of the airplane stand, T LjIs the time axis of the machine position, CA represents the security capability of the machine position, JTYaThe type of the carrier-based aircraft with the aircraft stand capable of being parked is shown, LjThe geographical position of the aircraft on the aircraft carrier is recorded T Lj＝{TLj1,TLj2,TLj3,...,TLji…, occupancy and interference of the recorder station at various times, T LjiIs a period of time, T Lji＝(TYtl,BT,ET,IDa,ACi)，TYtlIs the type of time period (occupied or interfered), BT is the start time, ET is the end time, IDaFor ID, AC, of carrier-based aircraft occupying (or interfering) aircraft positioniIndicating that the time period occupies the safeguard action performed by the aircraft seat (or the intervening aircraft seat). The ejector and the landing runway are processed into a machine position, and the machine position can only complete the ejection action and only complete the landing action. In addition, all the safeguard actions of the carrier-based aircraft cannot be carried out when the carrier-based aircraft lands, and interference needs to be added to all aircraft positions when the landing actions are planned.
Set of gas station and gas station ST ═ { ST ═ ST-1,ST2,ST3,...,STi,…}，STi＝(IDst,TYst,PN,R,TLst,Lst)，STiThe status of a single gas station or gas station is indicated. IDstIs the ID, TY, of a stationstFor the station type (whether it is a gas station or a gas station), PN denotes the number of pipes (i.e., the maximum number of simultaneous guaranteed stands), R denotes the length of the pipes (i.e., the maximum guaranteed stand distance), T LstIs the time axis of the station, LstThe geographical position of the station on the aircraft carrier is recorded T Lst＝{TLst1,TLst2,TLst3,...,TLsti…, recording the situation of stations guaranteeing the number of stations at various times, T Lsti＝(CHT,IDaRPN), CHT is the time when the number changes, and the initial state is the system start time, IDaTo use the station carrier ID, the RPN indicates the number of remaining pipes.
N-N for a set of quantitative resources1,N2,N3,...,Ni,…},Ni＝(TYn,NN，TLn)，NiThe status of a single type of quantum resource is shown. TYnIs the type of the quantity type resource, NN is the quantity of the type resource, T LnFor the time axis of the type of resource, the change of the amount of the type of resource at each time is recorded T Ln＝{TLn1,TLn2,TLn3,...,TLni…, recording the number of resources at each time-guaranteed locationCase of quantity, T Lni＝(CHT,IDaRNN), CHT is the time when the number changes, and the initial state is the system start time, IDaTo use the resource carrier ID, the RNN indicates the amount of resources remaining.
Path resource set R ═ { R ═ R1,R2,R3,...,Ri,…},Ri＝(IDr,TYr，TLr,Lr,Ir)，RiThe state of a single path is represented. IDrIs ID, TY of the pathrFor the kind of path (e.g. main path, branch path, elevator, turntable), T LrIs the time axis of the path, LrRepresenting the geographical position of the path, IrThe interference relationship of the path with the aircraft stand or other path is recorded T Lr＝{TLr1,TLr2,TLr3,...,TLri…, recording the situation in which the path is occupied or interfered with at various times, T Lri＝(TYtl,BT,ET,IDa,Dr,Da)，TYtlIs the type of time period (occupied or interfered), ST is the start time, ET is the end time, IDaID, D, for using the resource carrierrIndicating the direction of the path of entry of the carrier-based aircraft, DaThe direction of the carrier-based aircraft nose is shown. I isr＝{Ir1,Ir2,Ir3,...,Iri,…}，Iri＝(TYr,IDi)，TYrID indicating whether the object of the path interference is a main path, a branch path or a stationiThe ID of the interfering object is indicated. In addition, all transfer actions of the carrier-based aircraft cannot be performed when the carrier-based aircraft lands, and interference needs to be added to all paths when landing actions are planned. In the work of generating the research and guarantee operation scheme, the process of dispatching and transferring the carrier-based aircraft is considered, so that a certain safety distance is kept between all moving and static carrier-based aircraft in the transferring process, and collision is avoided. And the constraint of the guaranteed operation space caused by the limited space of the deck and the operation safety factor of the deck is taken into consideration, such as a line which is driven in or out of the carrier-based aircraft when the carrier-based aircraft drives in or out of the parking positionThe stands with the interference relationship of the roads cannot stop with the space constraint of the airplane.
Resource constraint set C ═ { C ═ C1,C2,C3,C4Such constraints are related to ship design, typically due to space constraints or facility performance constraints, which are taken into account when planning the safeguard actions:
C1: ejector cooling time. After one ejection, the ejector needs to be cooled for a period of time before the next ejection can be carried out.
C2: and executing the carrier-based aircraft for times before the carrier-based aircraft enters overhaul. After a certain number of tasks are executed by the carrier-based aircraft, the carrier-based aircraft needs to enter an aircraft hangar for overhaul.
C3: a takeoff time interval. Due to the influence of air convection above ships, the ships need to wait for stable airflow after taking off for the next taking off.
C4: the landing time interval. Due to the influence of air convection above the ship, the next landing needs to be performed after the airflow is stable after the landing.
2) The continuous outbound task set is denoted as T ═ T1,T2,T3,...,Ti,…},Ti＝(IDt,TA,TS,TBT,EXT)，TiThe requirements of the ith task are indicated. IDtThe ID of the ith task, TA is a carrier-based aircraft required by the ith task, TS is the execution duration of the ith task, TBT is the start time of the ith task, and EXT is the continuous execution times of the ith task. Wherein TA ═ { TA ═ TA1,TA2,TA3,...,TAi,…},TAiThe representation is a certain carrier-based aircraft model, the number and the guarantee flow thereof, TA, required by the taski＝(TYa，AN，Pi，Pj)。TYaIs the model of the carrier-based aircraft, AN is the required number of the carrier-based aircraft, PiFor this purpose, the wave-time takeoff guarantee process, P, corresponding to the ship-based aircraftjTherefore, the wave-time landing guarantee process corresponding to the ship-based aircraft is provided.
3) The guaranteed flow set is denoted as P ═ P1,P2,P3,...,Pi… }. Wherein P isi＝{AC1,AC2,AC3,...,ACi,…,Ip}，ACiRepresenting the actions contained in the flow fragment, IpWhat is shown is the rules and preferences (i.e., determining timing or interference relationships between actions) for the flow. I isp＝{Ip1,Ip2,Ip3,...,Ipi,…}，Ipi＝(TYp1,TYp2,ACi,ACj,TYpara,PARA)，TYp1Indicating whether a rule or preference, TYp2Indicating a time-sequence relationship or an interference relationship, ACiAnd ACjRepresenting two guaranteed actions, TY, constrained by the relationshipparaPARA is the parameter value for this relationship, being the parameter type. Wherein ACi＝(IDac,TYpara,PARA,RES)，IDacIs ID, TY of an actionparaPARA is the parameter value and RES is the required resource for the parameter type. Wherein RES ═ { RES ═ RES1,RES2,RES3,...},RES＝(TYres,AM)，TYresFor a resource type, AM is the amount of resources needed. In the process of planning the takeoff and landing guarantee operation of the carrier-based aircraft, decisions of all stages which are mutually coupled and mutually influenced are not simply split but are considered on the whole. The method realizes the shipboard aircraft protection process with diversity characteristics and complex temporal relation among operations. The method is characterized in that the guarantee operation content is determined by tasks to be completed by the shipboard aircraft, and different guarantee processes are provided for the same type of shipboard aircraft when different types of tasks are executed. In addition, the temporal relationship between the guarantee operations is not a simple linear sequence relationship, but a partial sequence relationship, that is, a partial operation has a first subsequent relationship, and the partial operations cannot be performed simultaneously, or when the carrier-based aircraft is guaranteeing a certain guarantee operation at a certain position, for safety, the certain guarantee operation cannot be performed at the position within a certain distance from the guarantee position, and other operations are not constrained by the execution sequence.
4) The resource selection preference is expressed as PR ═ PR1,PR2,PR3,PR4,PR5,PR6,PR7,PR8,PR9,PR10And the resource selection preference is represented by the selection preference of the resource when the resource is needed in the process of guaranteeing, and the resource selection preference can be changed for replanning by a user when backtracking and planning:
PR1: when the carrier-based aircraft is selected, the carrier-based aircraft on the aircraft position with the highest guarantee capability is preferentially selected on the premise of meeting the task requirement.
PR2: and when the carrier-based aircraft is selected, the carrier-based aircraft is randomly selected on the premise of meeting the task requirement.
PR3: when the carrier-based aircraft is selected, the carrier-based aircraft is manually selected on the premise of meeting the task requirement.
PR4: and when the planning sequence of the carrier-based aircraft is determined, the carrier-based aircraft is planned according to the adding sequence when the carrier-based aircraft is selected.
PR5: and when the planning sequence of the shipboard aircrafts is determined, the shipboard aircrafts farthest away from the catapult are planned preferentially.
PR6: when the carrier-based aircraft is transferred, the aircraft position with the strongest guarantee capability is preferentially selected on the premise that the remaining guarantee actions of the current carrier-based aircraft can be completed or partially completed.
PR7: when the carrier-based aircraft is transferred, the aircraft position with the weakest guarantee capability is preferentially selected on the premise that the remaining guarantee actions of the current carrier-based aircraft can be completed or partially completed.
PR8: when the carrier-based aircraft is transferred, the aircraft position with the earliest reachable time is preferentially selected on the premise that the remaining guarantee actions of the current carrier-based aircraft can be completed or partially completed.
PR9: when in catapult takeoff, the catapults are used in turn.
PR10: and after the carrier-based aircraft descends, selecting the priority preference of the transfer aircraft position.
5) The action plan of the continuous outbound task is represented as P L, which is a set of action plans given by the planner after the continuous outbound task T is planned, P L is { P L { (P L) }1,PL2,PL3,...,PLi,…},PLiShowing a wave-by-wave takeoff scheme or a wave-by-wave landing scheme, P Li＝{APL1,APL2,APL3,...,APLi,…}，APLiThe proposal shows a guarantee scheme of a single carrier-based aircraft in the wave-time takeoff or wave-time landing, AP Li＝{AEX1,AEX2,AEX3,...,AEXi,…}，AEXiThe method is characterized in that guarantee actions or transfer actions of one carrier-based aircraft are shown in a certain time period.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A method for planning continuous action tasks of a carrier-based aircraft is characterized by comprising the following steps:
reading task information of a plurality of continuous outbound tasks to be planned, and decomposing the continuous outbound tasks to be planned into wave takeoff tasks and wave landing tasks by combining the continuous execution times corresponding to the continuous outbound tasks to be planned;
initializing the expected takeoff time of each wave in the wave takeoff task and the expected landing time of each wave in the wave landing task by the task starting time and the task execution time corresponding to each to-be-planned continuous movement task;
sequencing all wave-time takeoff tasks and all wave-time landing tasks according to the sequence of the predicted takeoff time and the predicted landing time, wherein if the wave-time takeoff time is consistent with the wave-time landing time, the wave-time takeoff is arranged in front;
selecting wave-time take-off tasks or wave-time landing tasks in sequence to carry out task planning, and updating the sequence of the wave-time take-off tasks and the wave-time landing tasks until all the wave-time take-off tasks and the wave-time landing tasks are planned and completed, so as to generate a continuous action task action scheme;
the method comprises the following steps of selecting a wave-time takeoff task or a wave-time landing task in sequence to carry out task planning, wherein the task planning comprises the following steps:
if the selected wave time task type is a wave time landing task, planning a ship-based aircraft protection scheme to generate a wave time landing scheme after the landing area is cleared;
if the selected type of the wave-time task is the wave-time takeoff task, setting the estimated takeoff guarantee time of the wave times, selecting the carrier-based aircraft required by the wave-time takeoff, and sequencing the selected carrier-based aircraft to determine the planning sequence of the carrier-based aircraft;
finishing the planning of all selected shipboard aircraft support schemes in sequence, generating a set of wave-time takeoff schemes, if receiving a first backtracking instruction needing to perform wave-time backtracking, executing any one of changing the predicted takeoff support time, reselecting the shipboard aircraft required by the wave-time takeoff and reordering the planned sequence of the shipboard aircraft according to the operation indicated by the first backtracking instruction, and replanning the wave-time takeoff schemes;
if an instruction that the wave-time backtracking is not needed is received, selecting a target wave-time takeoff scheme from the wave-time takeoff schemes, and updating the estimated takeoff time of the selected wave-time takeoff task and the estimated landing time of the corresponding wave-time landing task;
the scheme for planning the guarantee of the shipboard aircraft comprises the following steps:
determining the preference of selecting a transfer position, planning all safeguard actions according to the rules and the preference of the process, generating a set of shipboard aircraft safeguard schemes, and adding the shipboard aircraft safeguard schemes into a safeguard scheme set;
if a second backtracking instruction needing to backtrack the single carrier-based aircraft protection scheme is received, changing the position preference of the selected transfer aircraft, and replanning the single carrier-based aircraft protection scheme;
if an instruction that the backtracking of the single carrier-based aircraft guarantee scheme is not required is received, selecting a target carrier-based aircraft guarantee scheme from the carrier-based aircraft guarantee scheme set;
wherein, planning all safeguard actions according to the rules and preferences of the process comprises:
initializing an unplanned action queue according to a guarantee flow of the shipboard aircraft, and reading flow rules and preferences in a guarantee flow set to add corresponding constraints to all actions;
placing the action without the front constraint at the head of the action queue which is not planned, and setting the starting time of the action without the front constraint;
setting the start time of the unconstrained action as the estimated start guarantee time of the wave times for the carrier-based aircraft taking off at the wave times, and setting the start time of the unconstrained action as the estimated landing time of the wave times for the carrier-based aircraft landing at the wave times;
selecting a first guarantee action of a current unplanned action queue as a target action to be planned, if the target action has a front constraint, setting the latest ending time of the planned action with the front constraint on the target action as the predicted starting time of the target action, and deleting the front constraint of the planned action on the target action;
if the front constraint of the target action is not cleared, placing the target action at the tail of the queue;
if the front constraint of the target action is cleared, the action is consistent with the action without the front constraint, whether the current moment of the aircraft position where the carrier-based aircraft is located can meet the action requirement is judged according to resource facilities, aircraft position capacity and interference, if the action requirement can be met, resources are distributed for the target action or the action without the front constraint, and the target action or the action without the front constraint is deleted from an unplanned action queue;
if the action requirement cannot be met, deleting the target action or deleting the soft constraint generated by the action without the front constraint if the aircraft position capability of the carrier aircraft can meet the condition that the target action or the action without the front constraint is taken as the action of the supersggestPreOpe;
if the capability of the aircraft position where the carrier-based aircraft is located can meet the requirement that the target action or the action without the front constraint is taken as the action of the againstOpe, the action taken as the againstOpe is changed into the action to be planned currently and is placed at the head of an unplanned action queue;
if the capability of the aircraft position where the carrier-based aircraft is located can not meet the actions of the surveyPreOpe and the actions of the againsOpe, the aircraft position which can meet the action requirements of the target action or the action without the front constraint is found in all the aircraft positions according to the rule of selecting the aircraft position, the dispatching or in-place waiting is planned for the target action or the action without the front constraint, resources are distributed for the target action or the action without the front constraint, and the target action or the action without the front constraint is deleted from an unplanned action queue.
2. The method for planning the continuous action mission of the carrier-based aircraft according to claim 1, wherein the allocating resources for the target action or the action without the front constraint comprises:
calculating the combination of guarantee personnel required by the action, inquiring a station time axis, a personnel time axis and a station facility time axis, searching for common available time, adding guarantee action occupation and interference, adding interference to a path time axis interfered by the station, and completing guarantee that the action consumes resources and the quantity of the resources of the ship needs to be updated.
3. The method for planning the continuous movement mission of the carrier-based aircraft according to claim 1, wherein planning and dispatching the target movement or the movement without the front constraint comprises:
giving a starting machine position, a target machine position and the start time of the dispatching of the carrier-based aircraft, searching an accessible route set from the starting machine position to the target machine position based on a route time axis, selecting an earliest arriving route from the accessible route set, and adding occupation and interference information on the time axis of a relevant route to finish the dispatching planning of the carrier-based aircraft.
4. A description method of a shipboard aircraft continuous-action mission planning based on the shipboard aircraft continuous-action mission planning method of claim 1, characterized by comprising:
the shipboard aircraft continuous outbound task planning is described as Q ═ S, T, P, PR, P L, wherein S is a state set of aircraft carrier deck facilities and resources, T is a continuous outbound task set to be planned, P is a guarantee process set, PR is a resource selection preference, and P L is a continuous outbound task action scheme.
5. The method of claim 4, wherein the set of states S is represented as S ═ (A, J, ST, N, R, C), and the set of continuous outbound missions T is represented as T ═ T1, T2, T3,. the Ti, … }, and the set of assurance processes P is represented as P ═ P1, P2, P3,. the.pi, … }, where A represents the set of shipboard aircrafts on the aircraft, J represents the set of positions on the aircraft, ST represents the set of gas stations and gas stations on the aircraft, N represents the set of quantity-type resources without ID attribute on the aircraft, R represents the set of paths and elevator resources at the time of the transfer of the shipboard aircraft, C represents the set of resource constraints, Ti ═ IDt, TA, TS, TBT, EXT), Ti represents the ith mission requirement, T represents the ID of the ith mission, TA represents the ith mission requirement of the shipboard mission, TS is the execution time length of the ith task, TBT is the start time of the ith task, EXT is the number of times the ith task is executed continuously, Pi ═ AC1, AC2, AC3,....., ACi, …, Ip }, ACi indicates actions included in the corresponding flow, and Ip indicates rules and preferences of the corresponding flow.
6. The method for describing the shipboard aircraft continuous launch mission planning according to claim 4 or 5, wherein the resource selection preference PR is expressed as PR { PR1, PR2, PR3, PR4, PR5, PR6, PR7, PR8, PR9, PR10}, wherein PR1 represents that when a shipboard aircraft is selected, a shipboard aircraft with the strongest guarantee capability is preferentially selected on the premise that the mission requirement is met, PR2 represents that when a shipboard aircraft is selected, a shipboard aircraft is randomly selected on the premise that the mission requirement is met, PR3 represents that when a shipboard aircraft is selected, a shipboard aircraft is manually selected on the premise that the mission requirement is met, PR4 represents that when a shipboard aircraft planning sequence is determined, a shipboard aircraft is planned according to the adding sequence when a shipboard aircraft is selected, PR5 represents that when a shipboard aircraft planning sequence is determined, a shipboard aircraft with the farthest distance from the shipboard aircraft is preferentially selected, 6 represents that when a shipboard aircraft planning sequence is determined, a current shipboard aircraft action can be completed on the premise that the guarantee is met, the method comprises the steps of preferentially selecting a position with the strongest guarantee capability, PR7 indicating that the position with the weakest guarantee capability is preferentially selected on the premise that the current residual guarantee action of the carrier-based aircraft can be completed or partially completed when the carrier-based aircraft is transferred, PR8 indicating that the position with the earliest reachable time is preferentially selected on the premise that the current residual guarantee action of the carrier-based aircraft can be completed or partially completed when the carrier-based aircraft is transferred, PR9 indicating that ejectors are used in turn during ejection and take-off, and PR10 indicating that the priority preference of the transferred position is selected after the carrier-based aircraft falls down.
7. The method for describing the continuous takeoff mission plan of the carrier-based aircraft according to claim 6, wherein the continuous takeoff mission action plan P L is expressed as P L ═ { P L01, P L12, P L23, ·, P L3 i, … }, P L i represents a wave takeoff plan or a wave landing plan, and P L i ═ AP L1, AP L2, AP L3,. once, AP L i, … }, AP L i represents a guarantee plan of the single carrier-based aircraft in a wave landing or a wave landing, AP L i ═ AEX1, AEX2, AEX3,. once, AEXi, … }, and AEXi represents a guarantee action or a transfer action performed by the single carrier-based aircraft in a certain time period.
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| 人机合作决策中效率与信任问题的研究;张异繁、祁超、罗澜峻、朱元成;《第36届中国控制会议论文集（G）》;20170728;第10275页-10280页 * |
| 航母甲板任务规划方法研究;罗文达、祁超;《第36届中国控制会议论文集（B）》;20170728;第2967页-2972页 * |
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